A real scene three-dimensional modeling acquisition robot

Abstract

The utility model discloses a kind of real scene three-dimensional modeling collection robots, belong to three-dimensional modeling field, including walking robot and three-dimensional scanner, further include: adjusting assembly, it is set on walking robot, wherein, adjusting assembly includes support platform, the top of walking robot is rotatably connected with support platform, the top of support platform is fixed with fixing part, the middle part of fixing part is hinged with first support, one end of first support is rotatably connected with rotating shaft, the outer surface of rotating shaft is fixed with second support, the both ends of rotating shaft are fixed with gear, the inside of first support is equipped with sliding slot, the top of walking robot is equipped with circular ring groove, the inner wall of circular ring groove is slidably connected with sliding block, by the cooperation of above each device, the limitation of traditional vertical lifting mode is completely solved, can flexibly adjust collection angle and height, the modeling object of tall building, complex space structure can be comprehensively collected information.

Description

Technical Field

[0001] This utility model relates to the field of 3D modeling technology, specifically a real-scene 3D modeling and acquisition robot. Background Technology

[0002] A spatial 3D modeling information acquisition device, disclosed in Chinese Patent Publication No. CN214790289U, includes a housing. A protective box is fixedly connected to the right side of the housing, and a first motor is fixedly connected to the inner cavity of the protective box. The output shaft of the first motor is fixedly connected to a first threaded rod. This invention expands the information acquisition range by activating the first motor, the first threaded rod, a pulley, a transmission belt, a second threaded rod, a threaded sleeve, and a first movable block. The cooperation of the first movable block, the connecting rod, and the second movable block drives a movable plate upward. Simultaneously, activating the second motor rotates the acquisition platform, which in turn rotates the camera and color sensor, thus acquiring information from multiple angles. This solves the problem of incomplete information acquisition and reduced acquisition efficiency in existing spatial 3D modeling information acquisition devices due to the inconvenience of acquiring modeled object information from multiple angles. However, this device still has certain limitations. Its camera uses a vertical lifting mechanism, which not only lacks flexibility but also limits the lifting height. In practical applications, for larger models or objects with unique spatial positions, vertical lifting alone is insufficient to allow the camera to acquire ideal frontal information. When collecting modeling information from tall buildings, the insufficient vertical lifting height may prevent the complete and clear acquisition of detailed information from the upper floors, resulting in incomplete and low-detailed frontal information. Furthermore, the combination of rotating the acquisition platform and vertically lifting the camera is insufficient for comprehensively and efficiently covering all areas and angles requiring information acquisition when dealing with complex spatial structures, failing to fully meet the diverse and complex needs of spatial 3D modeling information acquisition.

[0003] Therefore, this invention provides a real-scene 3D modeling and data acquisition robot to solve the above problems. Summary of the Invention

[0004] (a) Technical problems to be solved This invention provides a real-scene 3D modeling and data acquisition robot, which aims to solve the problems mentioned in the background art.

[0005] (II) Technical Solution To achieve the above objectives, this utility model provides the following technical solution: a real-scene 3D modeling and acquisition robot, comprising a walking robot and a 3D scanner, and further comprising: an adjustment component, which is disposed on the walking robot and used to adjust the angle at which the 3D scanner acquires modeling information; wherein, the adjustment component includes a support platform, the support platform being rotatably connected to the top of the walking robot, a fixing member being fixed to the top of the support platform, a first bracket being hinged to the middle of the fixing member, a rotating shaft being rotatably connected to one end of the first bracket, a second bracket being fixed to the outer surface of the rotating shaft, gears being fixed to both ends of the rotating shaft, a sliding groove being provided on the inner side of the first bracket, an annular groove being provided on the top of the walking robot, a slider being slidably connected to the inner wall of the annular groove, a first hydraulic rod being hinged to the top of the slider, a connecting shaft being fixed to the telescopic end of the first hydraulic rod, a second hydraulic rod being fixed to the upper part of the first bracket, and a movable frame being fixed to the telescopic end of the second hydraulic rod.

[0006] As a preferred technical solution of this application, a servo motor is fixed inside the walking robot, and the output shaft of the servo motor is connected to the support platform.

[0007] As a preferred technical solution of this application, the 3D scanner is fixed to the top of the second bracket with bolts.

[0008] As a preferred technical solution of this application, the bottom surface of the movable frame is toothed, and the movable frame is meshed with a gear.

[0009] As a preferred technical solution of this application, the connecting shaft is slidably connected to the sliding groove.

[0010] As a preferred technical solution of this application, the 3D scanner is equipped with a storage device, and the walking robot is equipped with a wireless transmission module. The storage device is electrically connected to the wireless transmission module.

[0011] As a preferred technical solution of this application, the wireless transmission module is communicatively connected to an external control device.

[0012] (III) Beneficial Effects This real-scene 3D modeling and acquisition robot uses a servo motor to drive the support platform to rotate, a first hydraulic rod to adjust the tilt angle of the first support, and a second hydraulic rod in conjunction with gear transmission to achieve multi-angle rotation of the 3D scanner. It breaks through the limitations of the traditional vertical lifting mode and can flexibly adjust the acquisition angle and height. It can comprehensively acquire information on modeled objects such as tall buildings and complex spatial structures. In addition, it transmits data in real time with the help of a wireless transmission module, which greatly improves the efficiency and accuracy of real-scene 3D modeling and meets diverse acquisition needs. Attached Figure Description

[0013] Figure 1This is a schematic diagram of the three-dimensional structure of a real-scene 3D modeling and data acquisition robot. Figure 2 This is a schematic diagram of a partial cross-sectional view of the side of a robot used for real-scene 3D modeling and data acquisition. Figure 3 This is a schematic diagram of the rear structure of a real-scene 3D modeling and data acquisition robot. Figure 4 This is a schematic diagram of the structure of a real-scene 3D modeling and data acquisition robot.

[0014] 1. Walking robot; 2. Support platform; 3. Fixture; 4. First bracket; 5. Rotating shaft; 6. Second bracket; 7. Gear; 8. Slide groove; 9. Circular groove; 10. Slider; 11. First hydraulic rod; 12. Connecting shaft; 13. 3D scanner; 14. Second hydraulic rod; 15. Movable frame; 16. Servo motor. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model. The present utility model provides a real-scene 3D modeling and acquisition robot, such as... Figures 1-4 As shown, the real-scene 3D modeling and acquisition robot includes a walking robot 1 and a 3D scanner 13, and also includes an adjustment component for adjusting the angle of the 3D scanner 13 for acquiring modeling information.

[0016] The adjustment assembly is mounted on the walking robot 1 and includes a support platform 2. The support platform 2 is rotatably connected to the top of the walking robot 1. To enable the rotation of the support platform 2, a servo motor 16 is fixed inside the walking robot 1. The output shaft of the servo motor 16 is connected to the support platform 2. Driven by the servo motor 16, the support platform 2 can be rotated horizontally on the top of the walking robot 1. By coordinating the rotation of the support platform 2 with the adjustment of other components, a wider range of angle coverage can be achieved. Specifically, a fixing member 3 is fixed to the top of the support platform 2, and a first bracket 4 is hinged to the middle of the fixing member 3. The first bracket 4 can rotate around the fixing member 3 at a certain angle. A rotating shaft 5 is rotatably connected to one end of the first bracket 4, and a second bracket 6 is fixed to the outer surface of the rotating shaft 5. The 3D scanner 13 is fixed to the top of the second bracket 6 with bolts. This fixing method is both stable and convenient for the disassembly, assembly, and maintenance of the 3D scanner 13. Gears 7 are fixed at both ends of the rotating shaft 5, and a sliding groove 8 is provided on the inner side of the first bracket 4. A circular groove 9 is provided on the top of the walking robot 1, and a slider 10 is slidably connected to the inner wall of the circular groove 9. A first hydraulic rod 11 is hinged to the top of the slider 10, and a connecting shaft 12 is fixed to the telescopic end of the first hydraulic rod 11, and the connecting shaft 12 is slidably connected to the sliding groove 8. When the first hydraulic rod 11 extends or retracts, the connecting shaft 12 slides in the sliding groove 8, which can drive the first bracket 4 to rotate around the fixing member 3, thereby adjusting the tilt angle of the first bracket 4.

[0017] Specifically, this adjustment method breaks through the limitations of the vertical lifting mode in the background technology. By changing the tilt angle of the first support 4, the 3D scanner 13 can be driven to adjust to different heights and tilt angles, which is more flexible. At the same time, the slider 10 can slide in the annular groove 9, and in conjunction with the rotation of the support platform 2, it ensures that the first hydraulic rod 11 can always provide effective support and adjustment for the first support 4. The upper part of the first bracket 4 is fixed with a second hydraulic rod 14, and the telescopic end of the second hydraulic rod 14 is fixed with a movable frame 15. The bottom surface of the movable frame 15 is toothed, and the movable frame 15 is meshed with the gear 7.

[0018] Specifically, when the second hydraulic rod 14 extends or retracts, the movable frame 15 moves accordingly. Since it meshes with the gear 7, it drives the gear 7 to rotate, which in turn drives the second bracket 6 and the 3D scanner 13 to rotate through the rotating shaft 5, thereby realizing the angle adjustment of the 3D scanner 13 in another dimension.

[0019] Compared with the prior art which only involves rotating the acquisition stage, the 3D scanner 13 in this application can achieve more complex and comprehensive angle adjustments through a combination of various adjustment methods, and can handle modeling objects with complex spatial structures. In addition, the 3D scanner 13 has an internal storage device that can temporarily store the collected modeling information. The walking robot 1 has an internal wireless transmission module. The storage device is electrically connected to the wireless transmission module, and the wireless transmission module is also connected to external control equipment. This allows the information collected by the 3D scanner 13 to be transmitted to the external control equipment in real time through the wireless transmission module, so that the staff can understand the collection status in a timely manner and perform corresponding operation and control. In practical use, staff send commands through external control devices, and the servo motor 16 drives the support platform 2 to rotate, enabling the 3D scanner 13 to be adjusted at multiple angles in the horizontal direction. Controlling the extension and retraction of the first hydraulic rod 11 can adjust the tilt angle of the first support 4, thereby changing the pitch angle of the 3D scanner 13. For large-sized modeling objects such as tall buildings, the 3D scanner 13 can reach a suitable position by adjusting the tilt angle of the first support 4, and collect detailed information of the front of the higher floors of the building completely and clearly. Controlling the extension and retraction of the second hydraulic rod 14, through the meshing transmission of the movable frame 15 and the gear 7, allows the 3D scanner 13 to rotate around the rotating shaft 5, achieving more flexible angle adjustment. Through the combination of these adjustment methods, it can be ensured that the 3D scanner 13 can collect comprehensive and accurate information of the target scene from multiple angles, fully meeting the diverse and complex spatial 3D modeling information collection needs, and overcoming the problems of lack of flexibility, limited lifting height, and difficulty in fully covering the collection area and angle in the background technology.

[0020] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A real-scene 3D modeling and acquisition robot, comprising a walking robot (1) and a 3D scanner (13), characterized in that, Also includes: An adjustment component, which is mounted on the walking robot (1), is used to adjust the angle at which the 3D scanner (13) collects modeling information; The adjustment component includes a support platform (2), which is rotatably connected to the top of the walking robot (1). A fixing member (3) is fixed to the top of the support platform (2). A first bracket (4) is hinged to the middle of the fixing member (3). A rotating shaft (5) is rotatably connected to one end of the first bracket (4). A second bracket (6) is fixed to the outer surface of the rotating shaft (5). Gears (7) are fixed to both ends of the rotating shaft (5). A sliding groove (8) is opened on the inner side of the first bracket (4). A circular groove (9) is opened on the top of the walking robot (1). A slider (10) is slidably connected to the inner wall of the circular groove (9). A first hydraulic rod (11) is hinged to the top of the slider (10). A connecting shaft (12) is fixed to the telescopic end of the first hydraulic rod (11). A second hydraulic rod (14) is fixed to the upper part of the first bracket (4). A movable frame (15) is fixed to the telescopic end of the second hydraulic rod (14).

2. The real-scene 3D modeling and acquisition robot according to claim 1, characterized in that: The walking robot (1) has a servo motor (16) fixed inside, and the output shaft of the servo motor (16) is connected to the support platform (2).

3. The real-scene 3D modeling and acquisition robot according to claim 1, characterized in that: The 3D scanner (13) is fixed to the top of the second bracket (6) with bolts.

4. The real-scene 3D modeling and acquisition robot according to claim 1, characterized in that: The bottom surface of the movable frame (15) is toothed, and the movable frame (15) is meshed with the gear (7).

5. The real-scene 3D modeling and acquisition robot according to claim 1, characterized in that: The connecting shaft (12) is slidably connected to the slide groove (8).

6. The real-scene 3D modeling and acquisition robot according to claim 1, characterized in that: The 3D scanner (13) is equipped with a storage device, and the walking robot (1) is equipped with a wireless transmission module. The storage device is electrically connected to the wireless transmission module.

7. A real-scene 3D modeling and acquisition robot according to claim 6, characterized in that: The wireless transmission module is connected to external control equipment for communication.

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