Three-dimensional scanning system driven by single motor to move synchronously

Abstract

The utility model provides a three-dimensional scanning system driven by a single motor to move synchronously, and relates to the technical field of three-dimensional scanning, the three-dimensional scanning system comprises a vertical movement module, and the vertical movement module rotates in the vertical direction; the horizontal movement module rotates in the horizontal direction; the scanning device is arranged on the vertical movement module or the horizontal movement module so as to realize three-dimensional scanning; the driving device is used for driving the vertical movement module and the horizontal movement module to rotate; the vertical movement module and the horizontal movement module rotate synchronously through a linkage transmission structure. According to the scanning device, rotation driven by the driving device is transmitted to rotation in the horizontal direction and the vertical direction through the linkage transmission structure, and then synchronous rotation of the scanning device in the horizontal direction and the vertical direction is achieved through single-motor driving, so that the scanning period can be greatly shortened, and the scanning efficiency is improved.

Description

Technical Field

[0001] This disclosure relates to the field of three-dimensional scanning technology, and more specifically, to a three-dimensional scanning system driven by a single motor for synchronous motion. Background Technology

[0002] 3D radar scanning systems have many advantages, including safety, efficiency, and environmental friendliness, and have therefore been widely promoted and applied in the scanning and monitoring of materials in containers such as silos and storage tanks.

[0003] Existing scanning devices can move in both the horizontal and vertical directions, but these movements are asynchronous. The horizontal direction has a defined angular range, which is achieved through limiting components and photoelectric switches, dividing the range into multiple sub-angles. The horizontal movement stops at a specific sub-angle, and then the scanning device performs a pitching motion. After one pitching cycle, the horizontal direction rotates by another sub-angle, and so on, repeating this cycle to complete a panoramic scan of the material surface. Because the horizontal and vertical movements are asynchronous, this scanning method results in a long scanning cycle.

[0004] In addition, the mechanical movement in both the horizontal and vertical directions is achieved through independent drive mechanisms. This setup is structurally complex, with a dense and complex cable layout, and the error during scanning is relatively high.

[0005] Therefore, there is a need in the art for a scanning system that is simple in structure and can improve scanning efficiency. Summary of the Invention

[0006] This disclosure provides a three-dimensional scanning system with synchronous motion driven by a single motor, which solves the technical problems of asynchronous horizontal and pitch motion in existing scanning devices and the resulting complex structure and long scanning cycle caused by the mechanical motion in the horizontal and pitch directions achieved by independent drive mechanisms.

[0007] To achieve the above objectives, this disclosure provides a three-dimensional scanning system with single-motor driven synchronous motion, comprising:

[0008] A vertical motion module that rotates in the vertical direction;

[0009] A horizontal motion module, which rotates in the horizontal direction;

[0010] A scanning device is mounted on the vertical motion module or the horizontal motion module to achieve three-dimensional scanning;

[0011] A driving device is used to drive the vertical motion module and the horizontal motion module to rotate;

[0012] The vertical motion module and the horizontal motion module rotate synchronously through a linkage transmission structure.

[0013] In one possible implementation of this disclosure, the linkage transmission structure includes a horizontal transmission component and a vertical transmission component.

[0014] The horizontal transmission component is used to convert the rotation of the rotating shaft driven by the drive device into the rotation of the horizontal motion module in the horizontal direction.

[0015] The vertical transmission component is used to convert the rotation of the rotating shaft driven by the drive device into the rotation of the vertical motion module in the vertical direction.

[0016] In one possible implementation of this disclosure, the horizontal motion module includes at least a first vertical rotation axis, and the vertical motion module performs circular motion in the horizontal direction around the first vertical rotation axis;

[0017] The vertical motion module includes at least a first horizontal rotation axis, and the scanning device is disposed on the output end of the first horizontal rotation axis. The scanning device performs circular motion in the vertical direction as the first horizontal rotation axis rotates.

[0018] In one possible implementation of this disclosure, the horizontal transmission component includes at least a second vertical rotation shaft, which rotates synchronously with the first vertical rotation shaft in the horizontal direction via a first transmission member.

[0019] In one possible implementation of this disclosure, the vertical transmission component includes at least a second horizontal rotation shaft, and the first horizontal rotation shaft and the second horizontal rotation shaft achieve synchronous rotation in the vertical direction through a second transmission component;

[0020] The second horizontal rotation axis is the rotation axis driven by the driving device; the second vertical rotation axis and the second horizontal rotation axis are connected by gear transmission to convert the vertical rotation into the horizontal rotation.

[0021] In one possible implementation of this disclosure, the first vertical rotation axis is arranged parallel to the second vertical rotation axis.

[0022] In one possible implementation of this disclosure, the first horizontal rotation axis is arranged parallel to the second horizontal rotation axis.

[0023] In one possible implementation of this disclosure, the first transmission component is a belt or a timing belt.

[0024] In one possible implementation of this disclosure, the second transmission component is a belt or a timing belt.

[0025] In one possible implementation of this disclosure, the horizontal motion module is fixed to a horizontal mounting plate, the vertical motion module is fixed to a vertical mounting plate, and the horizontal mounting plate is fixedly connected to the vertical mounting plate.

[0026] In one possible implementation of this disclosure, there is an angle between the horizontal mounting plate and the vertical mounting plate.

[0027] In one possible implementation of this disclosure, the horizontal mounting plate is vertically fixedly connected to the vertical mounting plate.

[0028] In one possible implementation of this disclosure, the center of the circular motion of the scanning device in the vertical direction may or may not be on the axis of the first vertical rotation axis.

[0029] In one possible implementation of this disclosure, the scanning device includes at least one of 3D microwave radar, 3D lidar, 2D microwave radar, 2D lidar, single-point microwave radar, and single-point lidar.

[0030] This disclosure provides a single-motor driven synchronous 3D scanning system, including a vertical motion module, a horizontal motion module, a scanning device, and a driving device. The vertical motion module rotates vertically; the horizontal motion module rotates horizontally; the scanning device is mounted on either the vertical or horizontal motion module to achieve 3D scanning; the driving device drives the vertical and horizontal motion modules to rotate; wherein the vertical and horizontal motion modules achieve synchronous rotation through a linkage transmission structure. This disclosure uses a linkage transmission structure to transmit the rotation driven by the driving device to both horizontal and vertical rotations, thereby achieving synchronous rotation of the scanning device in both directions using a single motor. This results in a simple 3D scanning system structure, significantly shortened scanning cycle, and greatly improved scanning efficiency. Attached Figure Description

[0031] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0032] Figure 1 This is a schematic diagram of the structure of a single-motor driven synchronous motion three-dimensional scanning system provided in this disclosure. Figure 1 ;

[0033] Figure 2 This is a schematic diagram of the structure of a single-motor driven synchronous motion three-dimensional scanning system provided in this disclosure. Figure 2 ;

[0034] Figure 3 This is a schematic diagram of the structure of a single-motor driven synchronous motion three-dimensional scanning system provided in this disclosure. Figure 3 ;

[0035] Figure 4 This is a schematic diagram of the transmission method between the second vertical rotation axis and the second horizontal rotation axis;

[0036] Figure 5 This is a schematic diagram of the scanning trajectory of the scanning device in the three-dimensional scanning system disclosed herein. Figure 1 ;

[0037] Figure 6 This is a schematic diagram of the scanning trajectory of the scanning device in the three-dimensional scanning system disclosed herein. Figure 2 ;

[0038] Figure 7 This is a schematic diagram of the scanning trajectory of the scanning device in the three-dimensional scanning system disclosed herein. Figure 3 ;

[0039] Figure 8 This is a schematic diagram of the scanning trajectory of the scanning device in the three-dimensional scanning system disclosed herein. Figure 4 .

[0040] Summary of attached image labels:

[0041] 1. Scanning device; 2. Driving device; 3. First vertical rotating shaft

[0042] 4. First horizontal rotation axis; 5. Second vertical rotation axis; 6. Second horizontal rotation axis

[0043] 7. Horizontal mounting plate 8. Vertical mounting plate Detailed Implementation

[0044] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0045] In existing technologies, scanning devices transmit and receive signals from the surface of materials to obtain point cloud data, which is then used to obtain measurement data. However, existing scanning devices move asynchronously in the horizontal and pitch directions. Specifically, a certain angle range is defined in the horizontal direction, and two limiting parts and photoelectric switches are used to achieve horizontal rotation within this preset angle range. This preset angle range is divided into multiple sub-angles. The horizontal movement stops at a certain sub-angle position, and then the scanning device performs a pitch movement. After one cycle of pitch movement, the horizontal movement is repeated by another sub-angle, and so on, completing a panoramic scan of the material surface. Because the rotation of the scanning device in the pitch direction only begins after stopping at a certain sub-angle position in the horizontal direction, and then continues to move to another sub-angle position in the horizontal direction before continuing the cyclical reciprocating motion, panoramic scanning is achieved. Therefore, existing scanning devices not only rotate within a certain angle range in the horizontal and pitch directions, but also move intermittently and asynchronously, resulting in a long data acquisition cycle and a relatively complex scanning system.

[0046] This disclosure provides a three-dimensional scanning system with single-motor driven synchronous motion, comprising: a vertical motion module that rotates in the vertical direction; a horizontal motion module that rotates in the horizontal direction; a scanning device 1 disposed on the vertical motion module or the horizontal motion module to realize three-dimensional scanning; and a driving device 2 for driving the vertical motion module and the horizontal motion module to rotate; wherein the vertical motion module and the horizontal motion module achieve synchronous rotation through a linkage transmission structure.

[0047] In this disclosure, the scanning device 1 is mounted on a horizontal motion module or a vertical motion module. The horizontal motion module and the vertical motion module rotate synchronously through a linkage transmission structure. The driving device 2 drives the rotation of the rotating shaft to achieve the rotation of the linkage transmission structure, thereby achieving synchronous rotation of the horizontal motion module and the vertical motion module. This enables the scanning device 1 to perform three-dimensional scanning of material surface data information, greatly shortening the scanning cycle and significantly improving scanning efficiency.

[0048] The linkage transmission structure includes a horizontal transmission component and a vertical transmission component. The horizontal transmission component is used to convert the rotation of the rotating shaft driven by the drive device 2 into the rotation of the horizontal motion module in the horizontal direction; the vertical transmission component is used to convert the rotation of the rotating shaft driven by the drive device 2 into the rotation of the vertical motion module in the vertical direction.

[0049] This disclosure uses a linkage transmission structure to convert the rotation of the rotating shaft driven by the drive device 2 into rotation in the horizontal and vertical directions respectively. Thus, the rotation of one rotating shaft drives the horizontal motion module and the vertical motion module to rotate synchronously. This enables the horizontal motion module and the vertical motion module to move synchronously by a single motor, thereby enabling the scanning device 1 installed on the horizontal motion module or the vertical motion module to perform three-dimensional scanning of the material inside the container.

[0050] The scanning device 1 in this disclosure can be set on the horizontal motion module or the vertical motion module. However, since the horizontal motion module and the vertical motion module can rotate synchronously through the linkage transmission structure, the scanning device 1 can achieve three-dimensional scanning of the material inside the container regardless of whether it is set on the horizontal motion module or the vertical motion module.

[0051] Figure 1 A three-dimensional structural diagram of a single-motor driven synchronous motion three-dimensional scanning system provided in this disclosure; Figure 2-3 This is a front view of the scanning device moving to different positions in a single-motor driven synchronous motion three-dimensional scanning system provided in this disclosure.

[0052] like Figure 1-3 As shown, the scanning device 1 is mounted on the vertical motion module, and the vertical motion module rotates around the rotation axis on the horizontal motion module, thereby realizing the synchronous movement of the scanning device 1 in the horizontal and vertical directions, and thus realizing the three-dimensional scanning of the material inside the container.

[0053] In a further embodiment of this disclosure, the horizontal motion module includes at least a first vertical rotation axis 3, and the vertical motion module performs circular motion in the horizontal direction around the first vertical rotation axis 3. The vertical motion module includes at least a first horizontal rotation axis 4, and the scanning device 1 is disposed on the output end of the first horizontal rotation axis 4. The scanning device 1 performs circular motion in the vertical direction as the first horizontal rotation axis 4 rotates.

[0054] In this embodiment, the scanning device 1 rotates in a circular motion in the vertical direction as the first horizontal rotation axis 4 on the vertical motion module rotates. At the same time, the vertical motion module rotates in a circular motion in the horizontal direction around the first vertical rotation axis 3 on the horizontal motion module. This enables the scanning device 1 to move synchronously in the horizontal and vertical directions, thereby achieving three-dimensional scanning of the material inside the container.

[0055] Specifically, the horizontal transmission component includes at least a second vertical rotation shaft 5, which rotates synchronously with the first vertical rotation shaft 3 in the horizontal direction via a first transmission member. The vertical transmission component includes at least a second horizontal rotation shaft 6, which rotates synchronously with the first horizontal rotation shaft 4 in the vertical direction via a second transmission member.

[0056] In this disclosure, a second vertical rotating shaft 5 corresponding to the first vertical rotating shaft 3 is provided in the horizontal direction, and a second horizontal rotating shaft 6 corresponding to the first horizontal rotating shaft 4 is provided in the vertical direction. The first vertical rotating shaft 3 and the second vertical rotating shaft 5 achieve synchronous rotation in the horizontal direction through a first transmission member, and the first horizontal rotating shaft 4 and the second horizontal rotating shaft 6 achieve synchronous rotation in the vertical direction through a second transmission member. The second horizontal rotating shaft 6 is the rotating shaft driven by the driving device 2. Figure 4 As shown, the second vertical rotating shaft 5 and the second horizontal rotating shaft 6 achieve the conversion of vertical rotation to horizontal rotation through gear transmission (gear meshing). Thus, synchronous rotation in the vertical and horizontal directions can be achieved through gear transmission (gear meshing).

[0057] Specifically, the first transmission component can be a belt or a timing belt, thereby enabling the first vertical rotating shaft 3 and the second vertical rotating shaft 5 to rotate synchronously; the second transmission component can also be a belt or a timing belt, thereby enabling the first horizontal rotating shaft 4 and the second horizontal rotating shaft 6 to rotate synchronously. Alternatively, the first and second transmission components can be other structures capable of synchronous movement, not limited to belts or timing belts.

[0058] Preferably, the first vertical rotation axis 3 is arranged parallel to the second vertical rotation axis 5; the first horizontal rotation axis 4 is arranged parallel to the second horizontal rotation axis 6.

[0059] like Figure 1-3 As shown, the horizontal motion module is fixed on the horizontal mounting plate 7, and the vertical motion module is fixed on the vertical mounting plate 8. The horizontal mounting plate 7 and the vertical mounting plate 8 are fixedly connected. The drive device 2 is also fixedly mounted on the vertical mounting plate 8.

[0060] In one possible implementation of this disclosure, the horizontal mounting plate 7 and the vertical mounting plate 8 form an angle. Since the horizontal motion module is fixedly mounted on the horizontal mounting plate 7 and the vertical motion module is fixedly mounted on the vertical mounting plate 8, and the scanning device 1 is mounted on the vertical motion module, the motion trajectory of the scanning device 1 is a continuous spiral line with the first vertical rotation axis 3 as its axis. The angle between the horizontal mounting plate 7 and the vertical mounting plate 8 can be set according to requirements; for example, the vertical mounting plate 8 and the horizontal mounting plate 7 can form an acute angle, an obtuse angle, or a right angle, depending on the specific circumstances such as the shape of the container containing the material or the presence of obstacles within the container. Preferably, the horizontal mounting plate 7 and the vertical mounting plate 8 are vertically fixedly connected. This installation method provides better stability during rotation and a longer service life compared to an installation method with the vertical mounting plate 8 tilted at a certain angle.

[0061] A scanning device 1 is fixedly installed on the first horizontal rotation axis 4 of the aforementioned vertical motion module. The distance between the plane of the vertical mounting plate 8 and the first vertical rotation axis 3 of the horizontal motion module installed on the horizontal mounting plate 7 determines the scanning range of the scanning device 1. Depending on the specific requirements of the container containing the material, the center of the circular motion of the scanning device 1 in the vertical direction may or may not be located on the axis of the first vertical rotation axis 3.

[0062] When denser point cloud data is required, the center of the vertical circular motion of the scanning device 1 can be positioned on the axis of the first vertical rotation axis 3. In this case, the scanning trajectory of the scanning device 1 resembles a sphere (e.g., ...). Figure 5 (As shown). If the center of the vertical circular motion of the scanning device 1 is not on the axis of the first vertical rotation axis 3, the scanning trajectory of the scanning device 1 is a spherical object with a through hole or cavity in the middle (e.g., Figure 6 (As shown).

[0063] Alternatively, when the vertical mounting plate 8 and the horizontal mounting plate 7 are set at a non-perpendicular angle, the motion trajectory of the scanning device 1 may be a bowl-shaped trajectory or an inverted bowl-shaped trajectory (e.g., Figure 7 and 8 (As shown).

[0064] In one possible implementation of this disclosure, the scanning device 1 includes at least one of 3D microwave radar, 3D lidar, 2D microwave radar, 2D lidar, single-point microwave radar, and single-point lidar.

[0065] This disclosure provides a single-motor driven synchronous 3D scanning system, including a vertical motion module that rotates vertically; a horizontal motion module that rotates horizontally; a scanning device 1 mounted on either the vertical or horizontal motion module to achieve 3D scanning; and a driving device 2 for driving the vertical and horizontal motion modules to rotate. The vertical and horizontal motion modules rotate synchronously via a linkage transmission structure. This disclosure uses a linkage transmission structure to transmit the rotation driven by the driving device 2 to both horizontal and vertical directions, thereby achieving synchronous rotation of the scanning device 1 in both directions using a single motor. This simplifies the structure, significantly shortens the scanning cycle, and greatly improves scanning efficiency.

[0066] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0067] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0068] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A three-dimensional scanning system with synchronous motion driven by a single motor, characterized in that, include: A vertical motion module that rotates in the vertical direction; A horizontal motion module, which rotates in the horizontal direction; A scanning device is mounted on the vertical motion module or the horizontal motion module to achieve three-dimensional scanning; A driving device is used to drive the vertical motion module and the horizontal motion module to rotate; The vertical motion module and the horizontal motion module rotate synchronously through a linkage transmission structure.

2. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 1, characterized in that, The linkage transmission structure includes a horizontal transmission component and a vertical transmission component. The horizontal transmission component is used to convert the rotation of the rotating shaft driven by the drive device into the rotation of the horizontal motion module in the horizontal direction. The vertical transmission component is used to convert the rotation of the rotating shaft driven by the drive device into the rotation of the vertical motion module in the vertical direction.

3. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 2, characterized in that, The horizontal motion module includes at least a first vertical rotation axis, and the vertical motion module performs circular motion in the horizontal direction around the first vertical rotation axis; The vertical motion module includes at least a first horizontal rotation axis, and the scanning device is disposed at the output end of the first horizontal rotation axis. The scanning device performs circular motion in the vertical direction as the first horizontal rotation axis rotates.

4. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 3, characterized in that, The horizontal transmission component includes at least a second vertical rotating shaft, which rotates synchronously with the first vertical rotating shaft in the horizontal direction via a first transmission component.

5. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 4, characterized in that, The vertical transmission component includes at least a second horizontal rotating shaft, and the first horizontal rotating shaft and the second horizontal rotating shaft are synchronously rotated in the vertical direction through a second transmission component; The second horizontal rotation axis is the rotation axis driven by the driving device; the second vertical rotation axis and the second horizontal rotation axis are connected by gear transmission to convert the vertical rotation into the horizontal rotation.

6. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 4, characterized in that, The first vertical rotation axis is arranged parallel to the second vertical rotation axis.

7. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 5, characterized in that, The first horizontal rotation axis is arranged parallel to the second horizontal rotation axis.

8. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 4, characterized in that, The first transmission component is a belt or a synchronous belt.

9. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 5, characterized in that, The second transmission component is a belt or a timing belt.

10. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 1, characterized in that, The horizontal motion module is fixed on the horizontal mounting plate, the vertical motion module is fixed on the vertical mounting plate, and the horizontal mounting plate and the vertical mounting plate are fixedly connected.

11. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 10, characterized in that, There is an angle between the horizontal mounting plate and the vertical mounting plate.

12. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 11, characterized in that, The horizontal mounting plate is vertically and fixedly connected to the vertical mounting plate.

13. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 3, characterized in that, The center of the circular motion of the scanning device in the vertical direction may or may not be on the axis of the first vertical rotation axis.

14. The three-dimensional scanning system with single-motor driven synchronous motion according to claim 1, characterized in that, The scanning device includes at least one of the following: 3D microwave radar, 3D lidar, 2D microwave radar, 2D lidar, single-point microwave radar, and single-point lidar.

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