Three-dimensional laser scanning device

Abstract

The utility model provides a three-dimensional laser scanning device. The three-dimensional laser scanning device comprises a substrate; the laser scanner is used for measuring a workpiece, and the laser scanner is arranged on the substrate; the at least two mounting mechanisms are arranged at the two opposite ends of the base plate respectively, each mounting mechanism comprises a mounting plate, the mounting plates are fixedly connected to the base plate, a supporting shaft is fixedly arranged on the side, back to the base plate, of each mounting plate, a movable block is arranged on the outer side of each supporting shaft in a sleeving mode, and the movable blocks are fixedly connected to the base plate. The movable block rotates in the axial direction of the supporting shaft, the movable block is further provided with a supporting rod, the supporting rod is arranged in the radial direction of the supporting shaft, and an adsorption assembly is arranged at the end, away from the movable block, of the supporting rod and used for being adsorbed to the ground. According to the three-dimensional laser scanning device, more accurate three-dimensional information can be obtained when laser scanning is carried out on a workpiece.

Description

Technical Field

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

[0002] In the prior art, the three-dimensional laser scanning system is mainly composed of a three-dimensional laser scanner, a computer, a power supply system, a bracket and system supporting software. As the main component of the three-dimensional laser scanning system, the laser scanner is composed of a laser transmitter, a receiver, a time counter, a motor-controlled rotatable filter, a control circuit board, a microcomputer, a CCD machine and software. It is a technological revolution in the field of surveying and mapping after the GPS technology. The three-dimensional laser scanning system is equipped on the production line, and the laser scanner is used in conjunction with the conveyor belt on the production line to perform an overall scan of the surface of the moving product or component to obtain the three-dimensional information of the product or component. The three-dimensional laser scanner in the prior art is usually handheld, and the scanner is installed in the handheld structure. However, the handheld scanner has a certain weight, and the three-dimensional laser scanner may shake when held by a person, and the stability is poor, so that the three-dimensional laser scanning result of the product has errors, and the accuracy is not high, which affects the use of the staff. At the same time, when the laser scanner is set on the production line, the vibration of the production line will also affect the results of the laser scanner. Therefore, a new three-dimensional laser scanning device is needed to solve the above problems. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a three-dimensional laser scanning device, which can obtain more accurate three-dimensional information when performing laser scanning on a workpiece.

[0004] According to the first aspect of the utility model, the three-dimensional laser scanning device includes: a substrate; a laser scanner, the laser scanner is used to measure a workpiece, the laser scanner is arranged on the substrate; a mounting mechanism, at least two of the mounting mechanisms are respectively arranged at opposite ends of the substrate, the mounting mechanism includes a mounting plate, the mounting plate is fixedly connected to the substrate, a support shaft is fixedly arranged on the side of the mounting plate facing away from the substrate, a movable block is sleeved on the outer side of the support shaft, the movable block rotates along the axial direction of the support shaft, a support rod is also arranged on the movable block, the support rod is arranged along the radial direction of the support shaft, and an adsorption component is arranged on the end of the support rod away from the movable block, and the adsorption component is used to adsorb the ground.

[0005] According to the three-dimensional laser scanning device of the first embodiment of the utility model, at least the following beneficial effects are achieved: the laser scanner is directly mounted on the ground through the mounting mechanism, so that the measuring accuracy of the laser scanner is not affected by the hand-held operation of the staff or the vibration of the machine. By setting up an adsorption component, the mounting mechanism can be adsorbed at any position on the ground without setting up a connecting structure on the ground, thus avoiding damage to the ground. The support rod can be rotated relative to the base plate through a rotatable movable block, so that the direction of the laser scanner can be adjusted during use, and the support rod can be folded during storage to reduce the storage space.

[0006] According to some embodiments of the utility model, the adsorption assembly includes a suction cup and a negative pressure pump, the suction cup is used to adsorb the ground, the negative pressure pump is used to provide negative pressure, and a through hole is opened in the support rod, and the through hole connects the negative pressure pump and the suction cup.

[0007] According to some embodiments of the utility model, a height adjustment mechanism is further included, and the height adjustment mechanism includes a track and a slider, the track is arranged in a vertical direction, the slider is slidably arranged on the track, and the laser scanner is arranged on the slider.

[0008] According to some embodiments of the utility model, racks are provided on both sides of the slider in the vertical direction, and two gears respectively matched with the two racks are rotatably provided on the track, and the gears rotate to make the slider slide along the track.

[0009] According to some embodiments of the present utility model, a stopper is further provided on the track, and when the stopper is in a first state, it blocks the gear from rotating so that the slider is fixed on the track.

[0010] According to some embodiments of the present invention, a rotating mechanism is further included, wherein a fixed end of the rotating mechanism is fixedly connected to the sliding block, and a rotating end of the rotating mechanism is fixedly connected to the laser scanner.

[0011] According to some embodiments of the present invention, the rotating mechanism includes a ratchet, and the ratchet is used to make the laser scanner rotate in a single direction relative to the slider.

[0012] According to some embodiments of the present utility model, the rotating mechanism further includes a locking member, and the locking member is used to fix the fixed end of the rotating mechanism and the rotating end of the rotating mechanism.

[0013] According to some embodiments of the utility model, a plurality of positioning holes are arranged on the movable block along the axial direction of the support shaft, and a positioning pin is slidably arranged on the mounting plate. When the positioning pin enters the positioning hole, the movable block is fixed relative to the mounting plate.

[0014] According to some embodiments of the utility model, a fixed baffle, a spring, a sliding baffle and a guide rail are provided on the mounting plate, the guide rail is fixedly provided on the mounting plate in a vertical direction, the fixed baffle is fixedly provided at the upper end of the guide rail, the sliding baffle is slidably provided on the guide rail, one end of the spring is connected to the fixed baffle, the other end of the spring is fixedly connected to the sliding baffle, and the positioning pin is provided on the sliding baffle.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0017] Figure 1 This is a schematic structural diagram of a three-dimensional laser scanning device in one embodiment of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of a rotating mechanism in one embodiment of the utility model;

[0019] Figure 3 This is a structural schematic diagram of a height adjustment mechanism in one embodiment of the utility model;

[0020] Figure 4 for Figure 3 An enlarged schematic diagram of the mounting mechanism area.

[0021] Reference numerals:

[0022] 1. Base plate; 2. Optical scanner; 3. Mounting mechanism; 31. Mounting plate; 32. Support shaft; 33. Movable block; 34. Support rod; 35. Adsorption assembly; 36. Positioning pin; 37. Positioning hole; 4. Height adjustment mechanism; 41. Track; 42. Slider; 43. Rack; 44. Gear; 5. Rotating mechanism; 51. Ratchet; 52. Locking piece; 61. Fixed baffle; 62. Spring; 63. Sliding baffle; 64. Guide rail. DETAILED DESCRIPTION

[0023] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0024] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the mechanism or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0025] In the description of the present utility model, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0026] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0027] The working principle of 3D laser scanner is an advanced measurement technology based on laser technology and triangulation principle. It is widely used in many fields such as architecture, geology, archaeology, etc. due to its high precision, high efficiency and high speed.

[0028] First, the 3D laser scanner illuminates the surface of the object by emitting a precise laser beam. This laser beam has extremely high directivity and monochromaticity, which can ensure the accuracy of the measurement results. When the laser beam is reflected on the surface of the object, the receiver will quickly capture the reflected laser signal. In this process, the receiver will accurately record the emission time and reception time of the laser beam, as well as the intensity of the laser signal. Next, based on the time difference between the emission and reception of the laser beam, combined with the known value of the speed of light, the propagation distance of the laser beam in space can be calculated. This distance reflects the actual distance from a certain point on the surface of the object to the scanner. This distance data is crucial for the subsequent triangulation process. Then, by using the principle of triangulation, the 3D laser scanner can accurately calculate the 3D coordinate information of each point on the surface of the object. In this process, the scanner measures the angle and side length of the triangle formed by the emission point, the receiving point and the point on the surface of the object, and uses the knowledge of trigonometric geometry to calculate the 3D coordinates of each point on the surface of the object. This calculation process requires the help of efficient algorithms and powerful computing power to ensure the accuracy and reliability of the measurement results. Finally, the 3D laser scanner will integrate and process the collected 3D coordinate information to generate a 3D model of the object. This process may involve a large number of data points, so appropriate filtering, alignment, and splicing techniques are required to ensure that the generated 3D model is of high quality and accuracy. At the same time, with the advancement of technology and changes in application requirements, modern 3D laser scanners also have more functions, such as automatic recognition of surfaces of different materials, automatic adjustment of scanning speed, automatic splicing of data from multiple scanning sites, etc., to improve scanning efficiency and accuracy.

[0029] In summary, 3D laser scanners use the principles of laser ranging and triangulation to achieve fast and accurate 3D measurement of the surface of an object. Its high precision, high efficiency and high speed make it widely used in many fields. However, in some usage scenarios, such as measuring workpieces on a conveyor belt, the measurement accuracy of the laser scanner will be affected by the hand-held measurement and the vibration of the machine.

[0030] The impact of vibration on laser scanners is mainly reflected in their accuracy and stability. Laser scanners measure the shape, size and position of objects or environments by emitting laser beams and receiving the signals reflected back. In this process, any external interference, including vibration, may affect the emission and reception of laser beams, and thus affect the accuracy of the measurement results. First, vibration may cause the emission direction of the laser beam to be unstable. When the scanner is vibrated, the laser emitter inside it may undergo a slight displacement or angle change, which will cause the emission direction of the laser beam to deviate from the predetermined trajectory. This deviation may be very small, but in precision measurement work, such a small change may cause significant errors. Secondly, vibration may also affect the reception of the laser beam. When the reflected laser beam is received by the receiver, if the receiver is vibrated, it may not receive the laser beam accurately, or the received signal may be disturbed. This will also lead to deviations in the measurement results. In addition, vibration may also affect the internal structure and components of the laser scanner, such as optical components, electronic components, etc. Long-term or frequent vibrations may cause these components to loosen, damage or degrade, thus affecting the overall performance and stability of the scanner. Therefore, when using a laser scanner for precision measurement, the scanner should be kept as stable as possible to avoid the influence of external vibrations.

[0031] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4The three-dimensional laser scanning device of the first embodiment of the utility model comprises: a substrate 1, a laser scanner 2 and a mounting mechanism 3, the laser scanner 2 is used to measure the workpiece, and the laser scanner 2 is arranged on the substrate 1; at least two mounting mechanisms 3 are respectively arranged at two opposite ends of the substrate 1, and the mounting mechanism 3 comprises a mounting plate 31, and the mounting plate 31 is fixedly connected to the substrate 1, and a support shaft 32 is fixedly arranged on the side of the mounting plate 31 facing away from the substrate 1, and a movable block 33 is sleeved on the outer side of the support shaft 32, and the movable block 33 rotates along the axial direction of the support shaft 32, and a support rod 34 is also arranged on the movable block 33, and the support rod 34 is arranged along the radial direction of the support shaft 32, and an adsorption component 35 is arranged on the end of the support rod 34 away from the movable block 33, and the adsorption component 35 is used to adsorb the ground. During use, the ground is first adsorbed by the adsorption component 35, so that the support rod 34 is fixed on the ground vertically or obliquely. The negative pressure of the adsorption component 35 allows the adsorption component 35 to be firmly fixed on the ground and only needs to be adsorbed on the flat ground. There is no need to set an auxiliary connection structure on the ground, which can better and more completely preserve the ground and prevent the ground from being damaged. After the adsorption component and the support rod 34 are set, the movable block 33 is rotated relative to the support shaft 32 by rotating the movable block 33, that is, the mounting plate 31 is rotated relative to the ground, thereby adjusting the scanning angle of the laser scanning mechanism on the substrate 1. After adjusting the scanning angle of the laser scanning mechanism, the workpiece can be stably scanned. The mounting mechanisms 3 are respectively set on both sides of the substrate 1, and multiple mounting mechanisms 3 are used, so that the substrate 1 is more stable and not easy to shake. When the three-dimensional laser scanning device is stored, the support rod 34 can also be folded by rotating the movable block 33, so that the overall length of the three-dimensional laser scanning device is reduced, thereby making it more convenient to store the three-dimensional laser scanning device. In some environments, the support rod 34 can also be fixed to a wall or other stationary objects through the adsorption assembly 35.

[0032] According to some embodiments of the utility model, the adsorption component 35 includes a suction cup and a negative pressure pump, the suction cup is used to adsorb the ground, the negative pressure pump is used to provide negative pressure, and a through hole is provided in the support rod 34, the through hole connecting the negative pressure pump and the suction cup. The support rod 34 is set to be tubular, and the through hole inside it connects the suction cup and the negative pressure pump. After the negative pressure is generated, the negative pressure pump transmits it to the suction cup through the through hole. At the same time, in order to improve the stability of the character component, multiple suction cups can be set to adsorb and fix the ground.

[0033] According to some embodiments of the utility model, a height adjustment mechanism 4 is further included, and the height adjustment mechanism 4 includes a track 41 and a slider 42. The track 41 is arranged in a vertical direction, the slider 42 is slidably arranged on the track 41, and the laser scanner 2 is arranged on the slider 42. In order to facilitate the adjustment of the height of the laser scanner 2 so that the laser scanner 2 can better scan workpieces of different heights, the height adjustment mechanism 4 is arranged to adjust the height of the laser scanner 2 relative to the substrate 1.

[0034] According to some embodiments of the utility model, racks 43 are provided on both sides of the slider 42 in the vertical direction, and two gears 44 respectively matched with the two racks 43 are rotatably provided on the track 41, and the gears 44 rotate to make the slider 42 slide along the track 41. Further, a stopper is also provided on the track 41, and when the stopper is in the first state, the gear 44 is blocked from rotating so that the slider 42 is fixed on the track 41, and when the stopper is in the second state, it does not interfere with the gear 44 and the slider 42, so that the gear 44 can rotate freely and drive the slider 42 to move. The track 41 is clamped between the two gears 44 by two gears 44, and according to the meshing characteristics of the gears 44, there is no gap between the gears 44 and the track 41 during transmission, and it is not easy to shake, and the connection can be more stable, and when the height of the slider 42 is adjusted, the wear caused by friction is avoided. If there is more sliding friction between the slider 42 and the rail 41, more wear will be generated, and a larger gap will be generated after wear, which will cause vibration between the slider 42 and the rail 41, causing the laser scanner 2 to shake and thus affecting the scanning accuracy of the laser scanner 2. After the laser scanner 2 is adjusted to a suitable height by rotating the gear 44, a stopper is used to block the rotation of the gear 44, so that the slider 42 is fixed on the rail 41.

[0035] According to some embodiments of the utility model, a rotating mechanism 5 is also included, wherein the fixed end of the rotating mechanism 5 is fixedly connected to the slider 42, and the rotating end of the rotating mechanism 5 is fixedly connected to the laser scanner 2. Further, the rotating mechanism 5 includes a ratchet 51, and the ratchet 51 is used to make the laser scanner 2 rotate in one direction relative to the slider 42. The scanning direction of the laser scanner 2 is adjusted by rotating the rotating mechanism 5, and the ratchet 51 makes the laser scanner 2 rotate in one direction, so as to facilitate the adjustment of the angle of the laser scanning mechanism. Further, the rotating mechanism 5 also includes a locking member 52, and the locking member 52 is used to fix the fixed end of the rotating mechanism 5 and the rotating end of the rotating mechanism 5. After the rotating mechanism 5 is rotated to a suitable angle, the locking member is used to lock the rotating mechanism 5 to fix it, so as to prevent the angle of the laser scanning mechanism from deflecting during the measurement process.

[0036] According to some embodiments of the utility model, a plurality of positioning holes 37 are provided on the movable block 33 along the axial direction of the support shaft 32, and a positioning pin 36 is slidably provided on the mounting plate 31. When the positioning pin 36 enters the positioning hole 37, the movable block 33 is fixed relative to the mounting plate 31. Specifically, a fixed baffle 61, a spring 62, a sliding baffle 63 and a guide rail 64 are provided on the mounting plate 31. The guide rail 64 is fixedly provided on the mounting plate 31 along the vertical direction, the fixed baffle 61 is fixedly provided at the upper end of the guide rail 64, the sliding baffle 63 is slidably provided on the guide rail 64, one end of the spring 62 is connected to the fixed baffle 61, the other end of the spring 62 is fixedly provided on the sliding baffle 63, and the positioning pin 36 is provided on the sliding baffle 63. When the axial direction of the support rod 34 and the height adjustment mechanism 4 are both in the vertical direction, a positioning hole 37 is set to correspond to the positioning pin 36; when the axial direction of the support rod 34 is perpendicular to the direction of the track 41 on the height adjustment mechanism 4, a positioning hole 37 is also set to correspond to the positioning pin 36. Specifically, before the movable block 33 rotates, the spring 62 is compressed so that the sliding baffle 63 moves in the guide rail 64 and approaches the fixed baffle 61, so that the positioning pin 36 moves out of the positioning hole 37, so that the movable block 33 can rotate along the support shaft 32. When the movable block 33 rotates to a certain angle, such as 90°, the spring 62 is released so that the sliding baffle 63 moves along the guide rail 64 and away from the fixed baffle 61, so that the positioning pin 36 enters the positioning hole 37.

[0037] In the description of the utility model, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A three-dimensional laser scanning device, characterized in that: include: substrate; A laser scanner, the laser scanner is used to measure the workpiece, and the laser scanner is arranged on the substrate; The mounting mechanism comprises at least two mounting mechanisms respectively arranged at opposite ends of the substrate, the mounting mechanism comprising a mounting plate, the mounting plate being fixedly connected to the substrate, a support shaft being fixedly arranged on the side of the mounting plate facing away from the substrate, a movable block being sleeved on the outer side of the support shaft, the movable block being rotated along the axial direction of the support shaft, a support rod being further arranged on the movable block, the support rod being arranged along the radial direction of the support shaft, an adsorption component being arranged on the end of the support rod away from the movable block, the adsorption component being used for adsorbing the ground.

2. The three-dimensional laser scanning device according to claim 1, characterized in that: The adsorption assembly includes a suction cup and a negative pressure pump, the suction cup is used to adsorb the ground, the negative pressure pump is used to provide negative pressure, and a through hole is opened in the support rod, and the through hole connects the negative pressure pump and the suction cup.

3. The three-dimensional laser scanning device according to claim 1, characterized in that: It also includes a height adjustment mechanism, which includes a track and a slider. The track is arranged in a vertical direction, the slider is slidably arranged on the track, and the laser scanner is arranged on the slider.

4. The three-dimensional laser scanning device according to claim 3, characterized in that: Racks are arranged on both sides of the slider in the vertical direction, and two gears respectively matched with the two racks are rotatably arranged on the track. The gears rotate to make the slider slide along the track.

5. The three-dimensional laser scanning device according to claim 4, characterized in that: A stopper is also provided on the track, and when the stopper is in a first state, it blocks the gear from rotating, so that the slider is fixed on the track.

6. The three-dimensional laser scanning device according to claim 3, characterized in that: It also includes a rotating mechanism, a fixed end of the rotating mechanism is fixedly connected to the sliding block, and a rotating end of the rotating mechanism is fixedly connected to the laser scanner.

7. The three-dimensional laser scanning device according to claim 6, characterized in that: The rotating mechanism includes a ratchet, and the ratchet is used to make the laser scanner rotate in one direction relative to the slider.

8. The three-dimensional laser scanning device according to claim 7, characterized in that: The rotating mechanism further includes a locking member, and the locking member is used to fix the fixed end of the rotating mechanism and the rotating end of the rotating mechanism.

9. The three-dimensional laser scanning device according to claim 1, characterized in that: The movable block is provided with a plurality of positioning holes along the axial direction of the support shaft, and a positioning pin is slidably provided on the mounting plate. When the positioning pin enters the positioning hole, the movable block is fixed relative to the mounting plate.

10. The three-dimensional laser scanning device according to claim 9, characterized in that: A fixed baffle, a spring, a sliding baffle and a guide rail are provided on the mounting plate. The guide rail is fixedly provided on the mounting plate in the vertical direction. The fixed baffle is fixedly provided on the upper end of the guide rail. The sliding baffle is slidably provided on the guide rail. One end of the spring is connected to the fixed baffle, and the other end of the spring is fixedly connected to the sliding baffle. The positioning pin is provided on the sliding baffle.

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