Laser scanner with internal dynamic balance calibration device

Abstract

The utility model provides a laser scanner with an internal dynamic balance calibration device, and relates to the field of laser scanners. The rotating assembly is rotationally installed on the base through a hollow rotary table, and the rotating assembly comprises a chassis rotationally connected with the base, a support fixedly installed on the chassis, a housing installed on the chassis and covering the periphery of the support, and a camera and radar system installed on the support; and the dynamic balance calibration mechanism is arranged on the chassis, and the dynamic balance calibration mechanism comprises a shell installed on the chassis, a plurality of balancing weights located on the peripheral side of the hollow rotary table and a driving assembly for driving the balancing weights to slide on the shell. The laser scanner has the effect of automatically calibrating the balance in the rotating process of the laser scanner.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser scanners, in particular to a laser scanner with an internal dynamic balance calibration device. BACKGROUND

[0002] As a revolutionary technology in the field of modern surveying and mapping, three-dimensional laser scanning technology has been widely used in engineering surveying, building surveying, industrial detection, digital twinning and other fields. With the progress of technology, laser scanners are developing towards high integration and miniaturization, and the core laser scanning head is sealed inside the rotor shell to improve reliability and prevent dust and water.

[0003] However, it is difficult to ensure the balance of the rotor during rotation at the beginning of manufacturing, which is caused by assembly and machining errors. If the rotor is not dynamically balanced, it may become unbalanced after a long period of operation, leading to increased vibration and decreased scanning accuracy.

[0004] Traditional dynamic balance calibration methods require disassembling the entire device shell or even removing the rotor from the device and placing it on a dedicated balancing machine. This process has significant drawbacks. Repeated disassembly and assembly may damage the sealing structure, affecting the dust and water resistance level of the device. The disassembly and assembly process is complex, time-consuming and tedious. Reinstalling the rotor may cause secondary errors due to stress changes. The device must be returned to a specialized maintenance unit, which cannot be quickly repaired on site. CONTENT OF THE INVENTION

[0005] To overcome the technical problems of the prior art described above, the present application provides a laser scanner with an internal dynamic balance calibration device.

[0006] The laser scanner with an internal dynamic balance calibration device provided by the present application adopts the following technical solution:

[0007] A laser scanner with an internal dynamic balance calibration device comprises

[0008] a base;

[0009] a rotating assembly rotatably mounted on the base via a hollow turntable, the rotating assembly comprising a base plate rotatably connected to the base, a support fixedly mounted on the base plate, a cover shell mounted on the base plate and covering the outer periphery of the support, and a camera and a radar system mounted on the support;

[0010] a dynamic balance calibration mechanism arranged on the base plate, the dynamic balance calibration mechanism comprising a housing mounted on the base plate, a plurality of counterweights located on the side of the hollow turntable, and a drive assembly for driving the counterweights to slide on the housing.

[0011] Further, the counterweight is provided with four, and the shell is provided with four sliding channels for the four counterweights to stably slide, respectively, the four sliding channels are uniformly distributed on the side of the hollow turntable, and the length direction of the sliding channel is consistent with the radial direction of the rotation axis of the hollow turntable.

[0012] Further, the driving assembly comprises a lead screw rotatably installed in the sliding channel and a motor for driving the lead screw to rotate, the counterweight is threadedly sleeved on the lead screw, and the counterweight is arranged in abutment with the inner wall of the sliding channel.

[0013] Further, the shell is provided with a groove at the center for placing the motor, and the shell is provided with a cover plate at the groove.

[0014] Further, the sliding channel is further provided with a limiting spring, the limiting spring is located at the end of the lead screw away from the motor, one end of the limiting spring is fixedly connected with the shell, and the other end of the limiting spring is sleeved on the lead screw and fixedly connected with the counterweight.

[0015] Further, the sliding channel is arranged through the shell, and the shell is detachably provided with a fixing seat at the port of the sliding channel, and one end of the limiting spring is fixedly connected with the fixing seat.

[0016] Further, the support comprises a radar support and a camera support, the radar support and the camera support are located on the two sides of the hollow turntable, respectively, the camera is installed on the camera support, the radar system is installed between the camera support and the radar support, and the radar support and the camera support are asymmetric in structure.

[0017] Further, the radar support and the camera support are connected with an adapter support.

[0018] Further, the cover is provided with a through hole for the camera to extend into, the camera support is fixedly provided with a sliding rail, the camera is fixedly provided with a movable plate, the movable plate is provided with a sliding groove for the sliding rail to slide, the length of the sliding groove is greater than the length of the sliding rail, and the movable plate is further provided with a locking member for locking the movable plate on the camera support, when one end of the sliding groove away from the through hole abuts against the end of the sliding rail, the camera slides and is inserted into the through hole.

[0019] Further, the base is provided with a lower mechanical interface at the bottom, and the base is provided with a hanging mechanical interface at the side edge.

[0020] In summary, the present application has at least one of the following beneficial technical effects:

[0021] 1. The laser scanner in the application is highly integrated, the dynamic balance calibration mechanism is built-in, the laser scanner is placed on the dynamic balance debugging table as a whole without disassembling the rotor, the laser scanner is started to rotate, the posture of the laser scanner during rotation is monitored and fed back by the dynamic balance debugging table, when imbalance occurs, the corresponding motor is started by the external control of the debugging personnel, the motor drives the counterweight to adjust the position through the screw rod, until the laser scanner is adjusted to the balanced state.

[0022] 2. Limiting springs are added outside the counterweight, during the rotation of the rotating assembly, due to the errors of machining and assembly, the counterweight will be affected by the centripetal force and deviate outward, at this time the limiting spring will generate a counteracting force to realize the dynamic balance limiting of the counterweight. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the technical scheme in the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0024] Figure 1 It is the overall structure schematic diagram of the embodiment of the application.

[0025] Figure 2 It is the structure schematic diagram of the base, hollow rotating platform and suspension mechanical interface in the embodiment of the application.

[0026] Figure 3 It is the structure schematic diagram of the chassis, radar support, camera support, camera, radar system, dynamic balance calibration mechanism and adapter support in the embodiment of the application.

[0027] Figure 4 It is the structure schematic diagram of the chassis, radar support, camera support, dynamic balance calibration mechanism and adapter support in the embodiment of the application.

[0028] Figure 5 It is the structure schematic diagram of the shell, motor, cover plate and fixing seat in the embodiment of the application.

[0029] Figure 6 It is the sectional structure schematic diagram of the dynamic balance calibration mechanism in the embodiment of the application.

[0030] Figure 7 It is the structure schematic diagram of the camera support, slide rail and locking hole in the embodiment of the application.

[0031] Figure 8 It is the exploded view of the movable plate and locking part in the embodiment of the application.

[0032] Label: 1, base; 2, hollow rotary table; 3, rotating assembly; 31, bottom disc; 32, cover; 33, radar support; 34, camera support; 35, camera; 36, radar system; 4, dynamic balance calibration mechanism; 41, shell; 42, counterweight; 43, screw rod; 44, motor; 5, sliding channel; 6, chassis; 7, groove; 8, cover plate; 9, limit spring; 10, fixing seat; 11, adapter support; 12, through hole; 13, sliding rail; 14, movable plate; 15, sliding groove; 16, locking piece; 17, lower mechanical interface; 18, suspension mechanical interface; 19, locking hole. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the present application more clear, the technical scheme of the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] The embodiments of the present application disclose a laser scanner with internal dynamic balance calibration device. Referring to Figure 1 , Figure 2 and Figure 3 , a laser scanner with internal dynamic balance calibration device comprises a base 1, a rotating assembly 3 rotatably installed above the base 1, and a dynamic balance calibration mechanism 4 arranged in the rotating assembly 3. The bottom of the base 1 is provided with a lower mechanical interface 17, through which the laser scanner can be stably placed on a mobile carrier; the side of the base 1 is provided with a suspension mechanical interface 18, through which the laser scanner can be stably suspended on the side wall of the mobile carrier.

[0035] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4The base 1 is provided with a hollow rotating table 2 for driving the rotation assembly 3 to rotate, the output end of the hollow rotating table 2 extends out of the base 1 and is fixedly connected with the center of the bottom of the rotation assembly 3. The rotation assembly 3 comprises a bottom disc 31 connected with the output end of the hollow rotating table 2, a support fixedly installed on the bottom disc 31, a cover 32 installed on the bottom disc 31 and covering the outer periphery of the support, a camera 35 installed on the support, and a radar system 36 installed on the support; two chassis 6 are fixedly connected on the two sides of the bottom disc 31, the support is installed on the two chassis 6, the support comprises a radar support 33 and a camera support 34 fixedly connected with the two chassis 6 respectively, the radar support 33 and the camera support 34 are located on the two sides of the hollow rotating table 2 respectively, and a switching support 11 is connected between the radar support 33 and the camera support 34, so that the radar support 33 and the camera support 34 can be stably connected as a whole through the switching support 11. The camera 35 is installed on the camera support 34, the radar system 36 is installed between the camera support 34 and the radar support 33, the radar support 33 and the camera support 34 are asymmetric in structure, so that the total weight of the camera support 34 and the parts installed thereon is the same as the total weight of the radar support 33, which to some extent guarantees the stability of the laser scanner in the process of rotating scanning.

[0036] Referring to Figure 3 , Figure 4 , Figure 5 and Figure 6The dynamic balance calibration mechanism 4 comprises a shell 41, a plurality of counterweights 42 located on the side of the hollow turntable 2, and a driving assembly for driving the counterweights 42 to slide on the shell 41. The shell 41 is located between the two chassis 6 and is fixedly installed at the bottom of the radar support 33 and the camera support 34. The center of the shell 41 is located on the extension line of the output end of the hollow turntable 2, and a groove 7 is formed at the center of the top of the shell 41. In the embodiment, four counterweights 42 are provided, and four sliding channels 5 for stably sliding the four counterweights 42 are arranged in the shell 41. The four sliding channels 5 are uniformly distributed on the side of the groove 7. The length direction of the sliding channel 5 is consistent with the radial direction of the rotation axis of the hollow turntable 2, and the sliding channel 5 penetrates through the shell 41. The driving assembly is provided with four groups corresponding to the four counterweights 42. The driving assembly comprises a lead screw 43 rotatably installed in the sliding channel 5 and a motor 44 for driving the lead screw 43 to rotate. The motor 44 is installed in the groove 7 at the center of the shell 41. A cover plate 8 is detachably arranged on the shell 41 at the groove 7. The cover plate 8 can ensure that the motor 44 is stably placed in the groove 7. The counterweight 42 is threadedly sleeved on the lead screw 43, and the counterweight 42 is arranged in close contact with the inner wall of the sliding channel 5. When dynamic balance detection of the laser scanner is needed, the laser scanner is first placed on the dynamic balance debugging table, and then the laser scanner is started to rotate. The dynamic balance debugging table monitors and feeds back the posture of the laser scanner during rotation. When imbalance occurs, the corresponding motor 44 is started by external control. The motor 44 drives the counterweight 42 to adjust the position through the lead screw 43, so as to adjust the gravity center position of the rotating assembly 3, so as to ensure that the hollow turntable 2 can drive the rotating assembly 3 to rotate stably, and then ensure the scanning accuracy of the laser scanner.

[0037] Considering that there is a size deviation in the machining of the counterweight 42, the lead screw 43 and the shell 41, resulting in an assembly gap during assembly, so that the counterweight 42 will be affected by the centrifugal force during the rotation of the hollow turntable 2, and will have a tendency to slide outward. Therefore, referring to Figure 5 and Figure 6 , a limiting spring 9 is further arranged in the sliding channel 5. The limiting spring 9 is located at the end of the lead screw 43 away from the motor 44. A fixed seat 10 is detachably installed at the port of the sliding channel 5 away from the motor 44 through a screw. One end of the limiting spring 9 is fixedly connected with the fixed seat 10, and the other end is sleeved on the lead screw 43 and fixedly connected with the counterweight 42. During the rotation of the rotating assembly 3, the counterweight 42 will be affected by the centripetal force and will deviate outward. At this time, the limiting spring 9 will generate a counteracting force to realize the dynamic balance limiting of the counterweight 42.

[0038] Referring to Figure 1 , Figure 3 , Figure 7 and Figure 8The front side of the cover 32 is provided with a through hole 12 for the camera 35 to extend into, the camera support 34 is fixed with a sliding rail 13, the camera 35 is fixed with a movable plate 14, the movable plate 14 is provided with a sliding groove 15 for the sliding rail 13 to slide, the length of the sliding groove 15 is greater than the length of the sliding rail 13, when the sliding rail 13 is located in the sliding groove 15, the movable plate 14 and the camera support 34 can slide towards or away from the through hole 12. The side plates of the cover 32 are detachable, when the camera 35 is installed, the side plates of the cover 32 are first detached, then the movable plate 14 is buckled on the camera support 34, so that the sliding rail 13 is located in the sliding groove 15, the movable plate 14 and the camera 35 are pushed to slide towards the through hole 12, until the end of the sliding groove 15 away from the through hole 12 abuts against the end of the sliding rail 13, at this time, the camera 35 extends into the through hole 12. The movable plate 14 is further provided with a locking piece 16 for locking the movable plate 14 on the camera support 34, in the embodiment of the application, the locking piece 16 is a locking bolt, the four corners of the mounting plate are provided with through holes for the locking bolt to pass through, the camera support 34 is provided with a locking hole 19 threadedly matched with the locking bolt; after the camera 35 extends into the through hole 12, the through hole is aligned with the locking hole 19, by passing the locking bolt through the through hole and threadedly connecting the locking hole 19, the installation of the movable plate 14 and the camera 35 is completed.

[0039] The implementation principle of the laser scanner with the internal dynamic balance calibration device is as follows: when the camera 35 is installed, the side plates of the cover 32 are first detached, then the movable plate 14 is buckled on the camera support 34, so that the sliding rail 13 is located in the sliding groove 15, the movable plate 14 and the camera 35 are pushed to slide towards the through hole 12, until the end of the sliding groove 15 away from the through hole 12 abuts against the end of the sliding rail 13, at this time, the camera 35 extends into the through hole 12, and the through hole is aligned with the locking hole 19, by passing the locking bolt through the through hole and threadedly connecting the locking hole 19, the installation of the movable plate 14 and the camera 35 is completed, finally, the side plates are buckled on the side of the cover 32.

[0040] After the adjustment and installation of the position of the camera 35 are completed, the dynamic balance detection of the laser scanner is needed, at this time, the laser scanner is first placed on the dynamic balance debugging table, then the laser scanner is started to rotate, the posture of the laser scanner in the rotating process is monitored and fed back by the dynamic balance debugging table, when imbalance occurs, the corresponding motor 44 is started by the external control, the motor 44 drives the counterweight 42 to adjust the position through the lead screw 43, so as to adjust the gravity center position of the rotating assembly 3, to ensure that the hollow rotating table 2 can drive the rotating assembly 3 to rotate stably, and to further ensure the scanning accuracy of the laser scanner.

[0041] It should be finally pointed out that: the above examples are only used to illustrate the technical solutions of the utility model, and not to limit them; although the utility model has been explained in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the utility model.

Claims

1. A laser scanner with internal dynamic balance calibration, characterized by, The base; The rotating assembly is rotatably installed on the base through a hollow turntable, and the rotating assembly comprises a base plate rotatably connected with the base, a support fixedly installed on the base plate, a cover shell installed on the base plate and covering the outer periphery of the support, and a camera and a radar system installed on the support; The dynamic balance calibration mechanism is arranged on the base plate, and the dynamic balance calibration mechanism comprises a shell installed on the base plate, a plurality of counterweights located on the side of the hollow turntable, and a driving assembly for driving the counterweights to slide on the shell. The counterweight is provided with four, and the shell is provided with four sliding channels for stable sliding of the four counterweights, respectively. The four sliding channels are uniformly distributed on the side of the hollow turntable, and the length direction of the sliding channel is consistent with the radial direction of the rotation axis of the hollow turntable.

2. A laser scanner with internal dynamic balance calibration according to claim 1, characterized in that, The driving assembly comprises a lead screw rotatably installed in the sliding channel and a motor for driving the lead screw to rotate. The counterweight is threadedly sleeved on the lead screw, and the counterweight is arranged in close contact with the inner wall of the sliding channel.

3. A laser scanner with internal dynamic balance calibration according to claim 2, characterized in that, A groove for placing the motor is formed at the center of the shell, and a cover plate is arranged on the shell at the groove.

4. A laser scanner with internal dynamic balance calibration according to claim 3, characterized in that, The sliding channel is also provided with a limiting spring, and the limiting spring is located at the end of the lead screw away from the motor. One end of the limiting spring is fixedly connected with the shell, and the other end of the limiting spring is sleeved on the lead screw and fixedly connected with the counterweight.

5. A laser scanner with internal dynamic balance calibration according to claim 3, characterized in that, The sliding channel is arranged through the shell, and a fixing seat is detachably installed on the shell at the port of the sliding channel. One end of the limiting spring is fixedly connected with the fixing seat.

6. A laser scanner with internal dynamic balance calibration according to claim 5, characterized in that, The support comprises a radar support and a camera support. The radar support and the camera support are located on the two sides of the hollow turntable, respectively. The camera is installed on the camera support, and the radar system is installed between the camera support and the radar support. The radar support and the camera support are asymmetric in structure.

7. A laser scanner with internal dynamic balance calibration according to claim 1, characterized in that, The radar support and the camera support are connected with an adapter support.

8. A laser scanner with internal dynamic balance calibration according to claim 7, characterized in that, A through hole is formed through the cover shell for the camera to extend into. A sliding rail is fixedly arranged on the camera support. An activity plate is fixedly arranged on the camera. A sliding groove is formed in the activity plate for the sliding rail to slide. The length of the sliding groove is greater than the length of the sliding rail. A locking member is arranged on the activity plate for locking the activity plate on the camera support. When the end of the sliding groove away from the through hole abuts against the end of the sliding rail, the camera slides and is inserted into the through hole.

9. A laser scanner with internal dynamic balance calibration according to claim 7, characterized in that, The bottom of the base is provided with a lower mechanical interface, and the side of the base is provided with a hanging mechanical interface.

10. The laser scanner with internal dynamic balance calibration according to claim 1, characterized in that, ​

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