CN204757984U - Three -dimensional measurement system is removed in integration - Google Patents
Three -dimensional measurement system is removed in integration Download PDFInfo
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- CN204757984U CN204757984U CN201520215963.3U CN201520215963U CN204757984U CN 204757984 U CN204757984 U CN 204757984U CN 201520215963 U CN201520215963 U CN 201520215963U CN 204757984 U CN204757984 U CN 204757984U
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- laser scanner
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- inertial navigation
- panorama camera
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Abstract
The utility model discloses a three -dimensional measurement system is removed in integration, take into account and control the computer including module of satellite position, panorama camera, laser scanner, inertial navigation device, integrated control module, mileage, laser scanner is used for acquireing space point cloud, the inertial navigation device is used for acquireing measurement system's gesture, and the odometer is used for acquireing the functioning speed and the distance of vehicle, the panorama camera is used for acquireing peripheral image, it inside carrying the car, controls the computer and acquires the data of transmission and store through network interface visit integrated control module to control the computer installation to control three -dimensional measurement system is removed in integration. This three -dimensional measurement system is removed in integration can dismantle and the dismouting process simply convenient, stability is high, two kinds of modes of vertical installation and horizontal installation can be realized according to customer's requirement to the scanner mode of gathering controllable.
Description
Technical field
The utility model belongs to the field of Instrument Science and Technology, relates to the device that a kind of space three-dimensional laser rapid scanning based on multiple-sensor integration is measured.
Background technology
Mobile laser scanning measurement system easily can complete the mapping of infrastructure, City Modeling, road surface measurement, buildings quick surveying, opencast survey etc., is widely used in the fields such as three-dimensional digital city, streetscape Map Services, municipal administration's general investigation for components, traffic infrastructure measurement, the measurement of mine three-dimensional measurement, navigation channel embankment, sea island reef water front three-dimensional measurement.
Mobile laser scanning measurement system domestic is at present fixed on carrier tool by components and parts such as laser scanner, IMU, GPS, panorama camera, odometers, is not depend in compact set on a construction package between each components and parts.The shortcoming of this mode is: system modules disperses, and be rigidly connected deficiency each other, causes precision not high, and each module independent utility is not strong, seriously constrains the application extension of each module.
Meanwhile, the traverse measurement system of most domestic, be all single 2D scan pattern, whole system can only be carried out according to single mode of operation, and dirigibility is not strong.
On the other hand, high-performance computer board has been integrated into internal system by domestic many mobile laser scanning measurement system, so, the labile factor of whole system can be increased, when computing machine goes wrong, due to packed, cause maintenance difficult.
Utility model content
The purpose of this utility model is to provide integrated mobile three-dimension measuring system, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the utility model provides following technical scheme:
Integrated mobile three-dimension measuring system, comprise satellite positioning module, panorama camera, laser scanner, inertial navigation unit, integrated control module, mileage take into account manipulation computing machine, satellite positioning module, panorama camera and laser scanner connect successively, and inertial navigation unit, integrated control module and odometer are arranged in agent structure; Described laser scanner is for obtaining spatial point cloud, and described inertial navigation unit is for obtaining the attitude of measuring system, and odometer is for obtaining travelling speed and the distance of vehicle, and described panorama camera is for obtaining side images; Manipulation computing machine is arranged on and carries car inside, and manipulation computing machine obtains the data of transmission by network interface access integrated control module and stores, and controls integrated mobile three-dimension measuring system.
As preferably, laser scanner is vertical installation or horizontal installation as required.
As preferably, horizontal installation laser scanner arranges fixed support.
Compared with prior art, advantage of the present utility model:
Integration: all the sensors highly compact integrates, realizes integration truly.
The controllability of scanner drainage pattern: laser scanner can realize vertical installation and horizontal installation two kinds of patterns according to the requirement of client;
Detachable: all the sensors works independently after being all disassembled, and dismounting and installation process simple and convenient.
Stability is high: system eliminates the relatively high high-performance computer board of instability, client and service end is integrated in the manipulation computing machine in car.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model schematic diagram;
Fig. 3 is software workflow figure of the present utility model;
In figure: 1, satellite positioning module, 2, panorama camera, 3, laser scanner, 4, agent structure, 5, fixed support, 6, manipulation computing machine.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is further elaborated.
As shown in Figure 1, integrated mobile three-dimension measuring system, comprise satellite positioning module 1, panorama camera 2, laser scanner 3, inertial navigation unit, integrated control module, mileage take into account manipulation computing machine 6, satellite positioning module 1, panorama camera 2 and laser scanner 3 connect successively, and inertial navigation unit, integrated control module and odometer are arranged in agent structure 4; Described laser scanner is for obtaining spatial point cloud, and described inertial navigation unit is for obtaining the attitude of measuring system, and odometer is for obtaining travelling speed and the distance of vehicle, and described panorama camera is for obtaining side images; Manipulation computing machine 6 is arranged on and carries car inside, and manipulation computing machine 6 obtains the data of transmission by network interface access integrated control module and stores, and controls integrated mobile three-dimension measuring system.Laser scanner is vertical installation or horizontal installation as required, and horizontal installation laser scanner arranges fixed support 5.
As shown in Figure 2, the principle of integrated mobile three-dimension measuring system, satellite positioning module, inertial navigation unit and high-performance board form double antenna POS system, and this system can make gps signal restrain faster; Each sensor is adopted and is carried out time synchronized control with the following method: the gps time that satellite positioning module and inertial navigation unit calculate directly inputs in high-performance GPS board, and GPS board provides GPS lock in time for laser scanner.Laser scanner sends synchronizing pulse to panorama camera, completes the synchronous recording of response, also can send synchronizing pulse by integrated control module to panorama camera, obtains the GPS lock in time of panorama camera.
As shown in Figure 3, the software workflow of integrated mobile three-dimension measuring system, software mainly divides POS data collecting thread, laser data collecting thread, affects data acquisition thread.After POS data and laser data collection complete, put cloud in real time through real-time processes and displays, splice with image data in the poster processing soft simultaneously, obtain panorama.
Obviously, embodiment described above is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Claims (3)
1. integrated mobile three-dimension measuring system, comprise satellite positioning module, panorama camera, laser scanner, inertial navigation unit, integrated control module, mileage take into account manipulation computing machine, it is characterized in that, satellite positioning module, panorama camera and laser scanner connect successively, and inertial navigation unit, integrated control module and odometer are arranged in agent structure; Described laser scanner is for obtaining spatial point cloud, and described inertial navigation unit is for obtaining the attitude of measuring system, and odometer is for obtaining travelling speed and the distance of vehicle, and described panorama camera is for obtaining side images; Manipulation computing machine is arranged on and carries car inside, and manipulation computing machine obtains the data of transmission by network interface access integrated control module and stores, and controls integrated mobile three-dimension measuring system.
2. integrated mobile three-dimension measuring system according to claim 1, is characterized in that, laser scanner is vertical installation or horizontal installation as required.
3. integrated mobile three-dimension measuring system according to claim 2, is characterized in that, horizontal installation laser scanner arranges fixed support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201520215963.3U CN204757984U (en) | 2015-04-13 | 2015-04-13 | Three -dimensional measurement system is removed in integration |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520215963.3U CN204757984U (en) | 2015-04-13 | 2015-04-13 | Three -dimensional measurement system is removed in integration |
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| CN204757984U true CN204757984U (en) | 2015-11-11 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107246876A (en) * | 2017-07-31 | 2017-10-13 | 中北智杰科技（北京）有限公司 | A kind of method and system of pilotless automobile autonomous positioning and map structuring |
| WO2017197617A1 (en) * | 2016-05-19 | 2017-11-23 | 深圳市速腾聚创科技有限公司 | Movable three-dimensional laser scanning system and movable three-dimensional laser scanning method |
| CN107764202A (en) * | 2017-10-25 | 2018-03-06 | 深圳天眼激光科技有限公司 | Airborne medium-sized laser radar three-dimensional mapping device |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家林业局昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
| CN108287337A (en) * | 2018-01-31 | 2018-07-17 | 吉鸥信息技术（杭州）有限公司 | A kind of laser radar apparatus, system, storage medium and Real-time Data Processing Method |
| CN110163067A (en) * | 2018-12-11 | 2019-08-23 | 腾讯科技（深圳）有限公司 | Panoramic view data acquisition device, collecting vehicle and acquisition method |
| CN111696159A (en) * | 2020-06-15 | 2020-09-22 | 湖北亿咖通科技有限公司 | Feature storage method of laser odometer, electronic device and storage medium |
| CN112154347A (en) * | 2018-04-23 | 2020-12-29 | 布莱克莫尔传感器和分析有限责任公司 | Method and system for controlling autonomous vehicle using coherent range-doppler optical sensor |
-
2015
- 2015-04-13 CN CN201520215963.3U patent/CN204757984U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017197617A1 (en) * | 2016-05-19 | 2017-11-23 | 深圳市速腾聚创科技有限公司 | Movable three-dimensional laser scanning system and movable three-dimensional laser scanning method |
| CN107246876A (en) * | 2017-07-31 | 2017-10-13 | 中北智杰科技（北京）有限公司 | A kind of method and system of pilotless automobile autonomous positioning and map structuring |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家林业局昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
| CN107764202A (en) * | 2017-10-25 | 2018-03-06 | 深圳天眼激光科技有限公司 | Airborne medium-sized laser radar three-dimensional mapping device |
| CN108287337A (en) * | 2018-01-31 | 2018-07-17 | 吉鸥信息技术（杭州）有限公司 | A kind of laser radar apparatus, system, storage medium and Real-time Data Processing Method |
| CN112154347A (en) * | 2018-04-23 | 2020-12-29 | 布莱克莫尔传感器和分析有限责任公司 | Method and system for controlling autonomous vehicle using coherent range-doppler optical sensor |
| CN112154347B (en) * | 2018-04-23 | 2022-05-10 | 布莱克莫尔传感器和分析有限责任公司 | Method and system for controlling autonomous vehicle using coherent range-doppler optical sensor |
| CN110163067A (en) * | 2018-12-11 | 2019-08-23 | 腾讯科技（深圳）有限公司 | Panoramic view data acquisition device, collecting vehicle and acquisition method |
| CN110163067B (en) * | 2018-12-11 | 2022-04-15 | 腾讯科技（深圳）有限公司 | Panoramic data acquisition device, acquisition vehicle and acquisition method |
| CN111696159A (en) * | 2020-06-15 | 2020-09-22 | 湖北亿咖通科技有限公司 | Feature storage method of laser odometer, electronic device and storage medium |
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