技术领域technical field
本实用新型涉及计算机视觉领域，特别是一种场景扫描装置。The utility model relates to the field of computer vision, in particular to a scene scanning device.
背景技术Background technique
目前的场景扫描装置采用3D传感器进行扫描。3D传感器可让硬件设备拥有一双感知环境的“智慧之眼”，可实现人脸识别、手势识别、人体骨架识别、三维测量、环境感知、三维地图重建等数十项功能，在人工智能、手机、电视、机器人、VR/AR、智能家居、智能安防、汽车驾驶辅助等多领域广泛应用。Current scene scanning devices use 3D sensors for scanning. 3D sensors allow hardware devices to have a pair of "wisdom eyes" that perceive the environment, and can realize dozens of functions such as face recognition, gesture recognition, human skeleton recognition, 3D measurement, environment perception, and 3D map reconstruction. , TV, robot, VR/AR, smart home, smart security, car driving assistance and many other fields are widely used.
由于目前3D传感器感知区域和可视角度有限，要实现传感器全景和深度扫描，现在主流的实现方式是3个传感器模块按照40～45度的固定角度分布，形成一个辐射夹角为80～90度的模组。然后水平旋转360度来实现全景和深度扫描。这样的实现方式需要3个传感器模块，成本高，设备笨重。Due to the limited sensing area and viewing angle of the current 3D sensor, to realize sensor panorama and depth scanning, the current mainstream implementation method is that three sensor modules are distributed at a fixed angle of 40 to 45 degrees to form a radiation angle of 80 to 90 degrees. of modules. It then rotates 360 degrees horizontally for panorama and depth scan. Such an implementation requires three sensor modules, which is costly and bulky.
申请号为201720899340.1的实用新型专利在水平旋转360度的自由度基础上，增加一个垂直方向旋转的自由度，仅利用1个传感器模块的旋转来实现全景和深度扫描，辐射角度比三个固定模组更大，成本更低，设备轻便，拆装方便。但此专利存在如下缺陷：传感器部分悬空，仅和转动支架相连接，结构稳固性较差。The utility model patent with application number 201720899340.1 adds a degree of freedom of vertical rotation on the basis of the degree of freedom of horizontal rotation of 360 degrees, and only uses the rotation of one sensor module to achieve panorama and depth scanning. The radiation angle is larger than that of three fixed modules. The group is larger, the cost is lower, the equipment is light, and it is easy to disassemble and assemble. However, this patent has the following defects: the sensor part is suspended in the air, and is only connected with the rotating bracket, so the structural stability is relatively poor.
实用新型内容Utility model content
本实用新型所要解决的技术问题是，针对现有技术不足，提供一种场景扫描装置，提高扫描装置的稳固性。The technical problem to be solved by the utility model is to provide a scene scanning device to improve the stability of the scanning device in view of the deficiencies of the prior art.
为解决上述技术问题，本实用新型所采用的技术方案是：一种场景扫描装置，包括传感器模块、第一转动机构和第二转动机构；所述第一转动机构与所述传感器模块连接，且所述第一转动机构能驱动所述传感器模块绕第一轴线旋转；所述第一转动机构安装于旋转支架一端；所述第二转动机构与所述旋转支架连接，且所述第二转动机构能驱动所述旋转支架绕第二轴线旋转；所述第一轴线与所述第二轴线成预定的夹角；所述旋转支架另一端安装有支撑件；所述支撑件与所述传感器模块连接。In order to solve the above technical problems, the technical solution adopted by the utility model is: a scene scanning device, including a sensor module, a first rotation mechanism and a second rotation mechanism; the first rotation mechanism is connected with the sensor module, and The first rotating mechanism can drive the sensor module to rotate around the first axis; the first rotating mechanism is mounted on one end of the rotating bracket; the second rotating mechanism is connected to the rotating bracket, and the second rotating mechanism The rotating bracket can be driven to rotate around the second axis; the first axis and the second axis form a predetermined angle; the other end of the rotating bracket is equipped with a support; the support is connected to the sensor module .
优选地，所述第一转动机构通过第一连接轴与所述传感器模块连接；所述第二转动机构通过第二连接轴与所述旋转支架连接。Preferably, the first rotating mechanism is connected to the sensor module through a first connecting shaft; the second rotating mechanism is connected to the rotating bracket through a second connecting shaft.
优选地，本实用新型的场景扫描装置还包括限位装置；所述限位装置包括弹弓圈；所述弹弓圈外圈设有向外伸出的弹性棘齿；所述弹性棘齿与齿圈内圈上的内齿棘轮啮合；所述齿圈外圈设有多个限位槽；所述齿圈附近设置有限位开关，且当所述限位开关伸出时，限位开关的凸起与对应位置的限位槽啮合；Preferably, the scene scanning device of the present invention also includes a limiting device; the limiting device includes a slingshot ring; the outer ring of the slingshot ring is provided with an elastic ratchet protruding outward; the elastic ratchet and the ring gear The internal tooth ratchet on the inner ring is engaged; the outer ring of the ring gear is provided with a plurality of limit slots; a limit switch is set near the ring gear, and when the limit switch is stretched out, the protrusion of the limit switch Engage with the limit groove at the corresponding position;
其中，所述弹弓圈安装于第一连接轴上且能随所述第一连接轴转动；或者所述弹弓圈安装于第二连接轴上且能随所述第二连接轴转动；或者所述第一连接轴、第二连接轴上均安装有所述弹弓圈；或者所述弹弓圈安装于所述传感器模块上；或者所述弹弓圈安装于所述旋转支架上；或者所述传感器模块、旋转支架上均安装有所述弹弓圈；Wherein, the slingshot ring is installed on the first connecting shaft and can rotate with the first connecting shaft; or the slingshot ring is installed on the second connecting shaft and can rotate with the second connecting shaft; or the The first connecting shaft and the second connecting shaft are equipped with the sling ring; or the sling ring is installed on the sensor module; or the sling ring is installed on the rotating bracket; or the sensor module, The slingshot rings are installed on the rotating brackets;
对于第一转动机构，当所述限位开关的凸起与对应位置的限位槽啮合时，所述传感器模块停止绕第一轴线转动；对于第二转动机构，当所述限位开关的凸起与对应位置的限位槽啮合时，所述传感器模块停止绕第二轴线转动。For the first rotation mechanism, when the protrusion of the limit switch engages with the limit slot at the corresponding position, the sensor module stops rotating around the first axis; for the second rotation mechanism, when the protrusion of the limit switch When engaging with the limit slot at the corresponding position, the sensor module stops rotating around the second axis.
所述第一转动机构和/或第二转动机构上安装有止转开关；对于第一转动机构，当所述传感器模块处于第一预设位置时，所述止转开关与对应位置的限位部件接触；对于第二转动机构，当所述传感器模块处于第二预设位置时，所述止转开关与对应位置的限位部件接触。A detent switch is installed on the first rotation mechanism and/or the second rotation mechanism; for the first rotation mechanism, when the sensor module is in the first preset position, the limit position between the detent switch and the corresponding position Component contact; for the second rotation mechanism, when the sensor module is at the second preset position, the stop switch is in contact with the limit component at the corresponding position.
优选地，对于所述第一转动机构，所述限位部件安装于传感器模块上；对于所述第二转动机构，所述限位部件安装于所述旋转支架上。Preferably, for the first rotating mechanism, the limiting component is installed on the sensor module; for the second rotating mechanism, the limiting component is installed on the rotating bracket.
优选地，所述限位部件为L形，该L形的水平部与所述传感器模块或旋转支架固定连接；当所述传感器模块处于第一预设位置时，所述L形的垂直部末端与所述第一转动机构传感器模块上的止转开关接触；当所述传感器模块处于第二预设位置时，所述L形的垂直部末端与所述第二转动机构旋转支架上的止转开关接触。Preferably, the limiting component is L-shaped, and the horizontal portion of the L-shape is fixedly connected to the sensor module or the rotating bracket; when the sensor module is in the first preset position, the end of the vertical portion of the L-shape Contact with the anti-rotation switch on the sensor module of the first rotation mechanism; when the sensor module is in the second preset position, the end of the vertical part of the L shape is in contact with the anti-rotation switch on the rotation bracket of the second rotation mechanism Switch contacts.
优选地，所述传感器模块远离所述第一转动机构的一侧端面上固定有磁性发射器；该磁性发射器的有效发射范围内设置有安装盘；所述安装盘上安装有多个感应开关；当所述磁性发射器位置与任一感应开关位置相对时，该相对位置的感应开关发出姿态信息指令。Preferably, a magnetic emitter is fixed on the end surface of the sensor module away from the first rotating mechanism; a mounting plate is arranged within the effective emission range of the magnetic emitter; a plurality of induction switches are installed on the mounting plate ; When the position of the magnetic transmitter is opposite to that of any inductive switch, the inductive switch at the relative position sends an attitude information instruction.
所述传感器模块包括至少一个传感器单元；所述传感器单元包括三维数据采集传感器和/或彩色图像数据采集传感器。The sensor module includes at least one sensor unit; the sensor unit includes a three-dimensional data acquisition sensor and/or a color image data acquisition sensor.
所述传感器模块为球体或多面体。The sensor module is a sphere or a polyhedron.
与现有技术相比，本实用新型所具有的有益效果为：本实用新型传感器模块远离第一转动机构的一侧设置了支撑件，提高了扫描装置的稳固性；本实用新型的第一转动机构和/或第二转动机构上设置有限位装置、止转开关、感应开关等结构，极大地提高了旋转控制精度。Compared with the prior art, the utility model has the beneficial effects as follows: the sensor module of the utility model is provided with a support on the side away from the first rotating mechanism, which improves the stability of the scanning device; the first rotating mechanism of the utility model The mechanism and/or the second rotating mechanism are provided with structures such as a limit device, a stop switch, and an induction switch, which greatly improves the precision of rotation control.
附图说明Description of drawings
图1为本实用新型实施例结构示意图；Fig. 1 is the structural representation of the utility model embodiment;
图2为本实用新型支架部分结构示意图；Fig. 2 is a schematic diagram of the structure of the utility model support part;
图3为本实用新型复位结构部分示意图；Fig. 3 is a partial schematic diagram of the reset structure of the utility model;
图4为本实用新型限位装置结构示意图；Fig. 4 is the structural schematic diagram of the limiting device of the present invention;
图5为本实用新型一种传感器模块示意图；Fig. 5 is a schematic diagram of a sensor module of the present invention;
图6为本实用新型另一种传感器模块示意图。Fig. 6 is a schematic diagram of another sensor module of the present invention.
具体实施方式Detailed ways
如图1所示，本实用新型扫描装置包括传感器模块1、第一转动机构2和第二转动机构3；所述第一转动机构2与所述传感器模块1连接，且所述第一转动机构2能驱动所述传感器模块1绕第一轴线旋转；所述第一转动机构2安装于旋转支架4一端；所述第二转动机构3与所述旋转支架4连接，且所述第二转动机构3能驱动所述旋转支架4绕第二轴线旋转；所述第一轴线与所述第二轴线成预定的夹角；所述旋转支架4另一端安装有支撑件8；所述支撑件8与所述传感器模块1连接。As shown in Figure 1, the scanning device of the present invention includes a sensor module 1, a first rotating mechanism 2 and a second rotating mechanism 3; the first rotating mechanism 2 is connected with the sensor module 1, and the first rotating mechanism 2 can drive the sensor module 1 to rotate around the first axis; the first rotating mechanism 2 is mounted on one end of the rotating bracket 4; the second rotating mechanism 3 is connected to the rotating bracket 4, and the second rotating mechanism 3 can drive the rotating bracket 4 to rotate around the second axis; the first axis and the second axis form a predetermined angle; the other end of the rotating bracket 4 is equipped with a support 8; the support 8 and The sensor module 1 is connected.
本实用新型中，第一转动机构2通过第一连接轴6与所述传感器模块1连接；第二转动机构3通过第二连接轴5与旋转支架4连接。In the present invention, the first rotating mechanism 2 is connected with the sensor module 1 through the first connecting shaft 6 ; the second rotating mechanism 3 is connected with the rotating bracket 4 through the second connecting shaft 5 .
本实用新型中，第一轴线01可以为水平方向的轴线，第二轴线02可以为竖直方向的轴线，第二轴线与第一轴线可以成90°夹角。In the present invention, the first axis 01 may be a horizontal axis, the second axis 02 may be a vertical axis, and the second axis and the first axis may form an included angle of 90°.
优选地，第一转动机构、第二转动机构均包括电机。Preferably, both the first rotating mechanism and the second rotating mechanism include motors.
本实用新型的连接轴，可以是电机的输出轴，此种方案中，第一转动机构的电机输出轴即第一连接轴，第二转动机构的电机连接轴即第二连接轴。The connecting shaft of the present invention can be the output shaft of the motor. In this scheme, the motor output shaft of the first rotating mechanism is the first connecting shaft, and the motor connecting shaft of the second rotating mechanism is the second connecting shaft.
本实用新型的连接轴还可以是与电机输出轴连接的轴，第一转动机构电机的输出轴与第一轴连接，该第一轴即第一连接轴；第二转动机构电机的输出轴与第二轴连接，该第二轴即第二连接轴；电机的输出轴可以通过联轴器与对应轴连接起来。The connecting shaft of the present utility model can also be the shaft connected with the motor output shaft, the output shaft of the first rotating mechanism motor is connected with the first shaft, and the first shaft is the first connecting shaft; the output shaft of the second rotating mechanism motor is connected with the first connecting shaft. The second shaft is connected, and the second shaft is the second connecting shaft; the output shaft of the motor can be connected with the corresponding shaft through a coupling.
本实用新型中，支撑件8通过第三连接轴7与所述传感器模块连接。In the present invention, the support member 8 is connected to the sensor module through the third connecting shaft 7 .
需要说明的是，在第一转动机构2驱动传感器模块转动时，传感器模块也可以绕第三伸缩轴7转动。It should be noted that when the first rotating mechanism 2 drives the sensor module to rotate, the sensor module can also rotate around the third telescopic axis 7 .
优选地，第二转动机构设置于旋转支架4中部的下方或上方。Preferably, the second rotating mechanism is arranged below or above the middle part of the rotating bracket 4 .
本实用新型所称第一方向，是指传感器模块绕第一轴线转动的方向；第二方向，是指传感器模块绕第二轴线转动的方向。例如，传感器模块可以绕第一轴线顺时针转动或逆时针转动，此时绕第一轴线顺时针转动或逆时针转动的方向为第一方向；传感器模块可以绕第二轴线顺时针转动或逆时针转动，此时绕第二轴线顺时针转动或逆时针转动的方向为第二方向。如图2和图3所示，本实用新型的安装盘可以为安装法兰12，传感器模块、第一转动机构、第二转动机构均安装于支架15上；其中传感器模块安装于支架15一侧，传感器模块一端与安装法兰12连接，安装法兰12与支架15固定连接；传感器模块另一端靠近第一转动机构，第一转动机构与支架15固定连接。The first direction referred to in the present invention refers to the direction in which the sensor module rotates around the first axis; the second direction refers to the direction in which the sensor module rotates around the second axis. For example, the sensor module can rotate clockwise or counterclockwise around the first axis, and the direction of clockwise rotation or counterclockwise rotation around the first axis is the first direction; the sensor module can rotate clockwise or counterclockwise around the second axis. Rotate, at this time, the direction of clockwise rotation or counterclockwise rotation around the second axis is the second direction. As shown in Figure 2 and Figure 3, the mounting plate of the present utility model can be the mounting flange 12, and the sensor module, the first rotating mechanism, and the second rotating mechanism are all installed on the bracket 15; wherein the sensor module is installed on the side of the bracket 15 , one end of the sensor module is connected to the mounting flange 12, and the mounting flange 12 is fixedly connected to the bracket 15; the other end of the sensor module is close to the first rotating mechanism, and the first rotating mechanism is fixedly connected to the bracket 15.
第一转动机构包括法兰16，该法兰16为U型(或者C型)，U型(或者C型)上设置止转开关10(如鼠标微动开关、其他轻触式按键开关)，传感器模块靠近第一转动机构的一端固定有限位部件9，该限位部件9为L形，该L形包括水平部和垂直部，L形的水平部与传感器模块固定连接，当传感器模块1处于预设位置(包括传感器模块1绕第一轴线转动的终点位置)时，此处所指预设位置，是指第一预设位置，所述L形的垂直部末端与所述止转开关10接触，此时止转开关10向用于控制第一转动机构转动的控制器(如单片机)输出复位信号，使该控制器控制第一转动机构驱动传感器模块复位至传感器模块绕第一轴线转动的预设位置。The first rotating mechanism comprises flange 16, and this flange 16 is U-shaped (or C-shaped), and U-shaped (or C-shaped) is provided with anti-rotation switch 10 (as mouse microswitch, other light-touch key switch), One end of the sensor module close to the first rotating mechanism is fixed with a limiter 9, the limiter 9 is L-shaped, the L-shape includes a horizontal part and a vertical part, and the L-shaped horizontal part is fixedly connected with the sensor module, when the sensor module 1 is in When the preset position (including the terminal position where the sensor module 1 rotates around the first axis), the preset position referred to here refers to the first preset position, and the end of the L-shaped vertical part is in contact with the stop switch 10 Contact, at this time, the stop switch 10 outputs a reset signal to the controller (such as a single-chip microcomputer) used to control the rotation of the first rotating mechanism, so that the controller controls the first rotating mechanism to drive the sensor module to reset to the position where the sensor module rotates around the first axis. Default position.
止转开关10也可以安装于第一转动机构的其余位置上，只要保证止转开关不转动，且能够与限位部件配合使用即可。The anti-rotation switch 10 can also be installed on other positions of the first rotating mechanism, as long as it is ensured that the anti-rotation switch does not rotate and can be used in conjunction with the limiting component.
同样地，也可以在第二转动机构上安装止转开关(需保证止转开关不转动，即止转开关应安装于第二转动机构的固定部分(该固定部分是指相对于转动部分，不会发生位置变化的部分，例如，对于电机，其输出轴会转动，那么电机的固定部分即电机除输出轴之外的本体部分))，旋转支架4的对应位置安装限位部件9(该限位部件可以为L形，该L形的水平部与旋转支架固定连接)，控制第二转动机构的转动角度。对于第二转动机构3，当传感器模块1处于第二预设位置(包括传感器模块1绕第二轴线转动的终点位置)时，止转开关10与第二转动机构固定部分的限位部件9的垂直部末端接触，此时止转开关10向用于控制第二转动机构转动的控制器(如单片机)输出复位信号，使该控制器控制第二转动机构驱动传感器模块复位至传感器模块绕第二轴线转动的预设位置。Similarly, the anti-rotation switch can also be installed on the second rotating mechanism (need to ensure that the anti-rotation switch does not rotate, that is, the anti-rotation switch should be installed on the fixed part of the second rotating mechanism (this fixed part refers to the rotating part, not The part that can change in position, for example, for the motor, its output shaft can rotate, then the fixed part of the motor is the body part of the motor except the output shaft)), and the corresponding position of the rotating bracket 4 is installed with a limit part 9 (the limit The bit part can be L-shaped, and the horizontal part of the L-shaped is fixedly connected with the rotating bracket) to control the rotation angle of the second rotating mechanism. For the second rotating mechanism 3, when the sensor module 1 is in the second preset position (including the end position where the sensor module 1 rotates around the second axis), the stop switch 10 and the limit member 9 of the fixed part of the second rotating mechanism The end of the vertical part contacts, and now the stop switch 10 outputs a reset signal to a controller (such as a single-chip microcomputer) for controlling the rotation of the second rotating mechanism, so that the controller controls the second rotating mechanism to drive the sensor module to reset until the sensor module rotates around the second rotating mechanism. Preset position for axis rotation.
上述末端，是指L形的垂直部远离水平部的一端。The aforementioned end refers to the end of the L-shaped vertical part away from the horizontal part.
为了提高控制精度，在安装法兰12上安装多个感应开关14(本实用新型的感应开关为霍尔开关)，传感器模块靠近安装法兰的端面上安装磁性发射器13，当传感器模块旋转时，磁性发射器随传感器模块一起旋转，当磁性发射器旋转到与某一感应开关位置重合时，感应开关触发，发出姿态信息指令给外部控制器，外部控制器根据该姿态信息指令确定传感器模块的姿态，并根据传感器模块的姿态调整电机的转动角度。霍尔开关和磁性发射器是非接触式的，相比机械复位和限位，其精度更高，且元件不会出现疲劳衰减的问题，寿命更长，更可靠。In order to improve the control accuracy, a plurality of induction switches 14 (the induction switch of the utility model is a Hall switch) are installed on the mounting flange 12, and the magnetic transmitter 13 is installed on the end face of the sensor module near the mounting flange, when the sensor module rotates , the magnetic emitter rotates together with the sensor module, when the magnetic emitter rotates to coincide with the position of a certain sensor switch, the sensor switch triggers and sends an attitude information command to the external controller, and the external controller determines the position of the sensor module according to the attitude information command attitude, and adjust the rotation angle of the motor according to the attitude of the sensor module. Hall switches and magnetic transmitters are non-contact. Compared with mechanical reset and limit, their precision is higher, and the components will not suffer from fatigue attenuation, and their lifespan is longer and more reliable.
本实用新型中，第一转动机构驱动传感器模块复位，是指传感器模块从当前位置绕第一轴线旋转到预设位置(可以为传感器模块绕第一轴线旋转的起始位置或者终点位置)；第二转动机构驱动传感器模块复位，是指传感器模块从当前位置绕第二轴线旋转到预设位置(可以为传感器模块绕第二轴线旋的起始位置或者终点位置)。In the present invention, the first rotation mechanism drives the sensor module to reset, which means that the sensor module rotates from the current position around the first axis to the preset position (which can be the initial position or the end position of the sensor module around the first axis); the second The second turning mechanism drives the sensor module to reset, which means that the sensor module rotates from the current position around the second axis to a preset position (which may be the initial position or the end position of the sensor module around the second axis).
本实用新型中，第二转动机构驱动传感器模块绕第二轴线转动时，会带动第一转动机构、旋转支架、传感器模块、支架15、支撑件一起绕第二轴线转动。In the utility model, when the second rotating mechanism drives the sensor module to rotate around the second axis, it will drive the first rotating mechanism, the rotating bracket, the sensor module, the bracket 15 and the support to rotate around the second axis together.
如图4所示，本实用新型的限位装置包括弹弓圈51；所述弹弓圈51外圈设有向外伸出的弹性棘齿511；所述弹性棘齿511与齿圈52内圈上的内齿棘轮啮合；所述齿圈52外圈设有多个限位槽522；所述齿圈52侧边设置有限位开关53，且当所述限位开关53伸出时，限位开关53的凸起与对应位置的限位槽522啮合。限位槽522的个数根据视场角大小、传感器个数确定。限位开关53包括一竖直部和与该竖直部连接的水平部(即凸起)，该水平部可以伸缩，当水平部伸入限位槽内时，转动机构停止旋转。As shown in Figure 4, the limiting device of the present invention includes a slingshot ring 51; the outer ring of the slingshot ring 51 is provided with an elastic ratchet 511 protruding outward; The internal tooth ratchet meshes; the outer ring of the ring gear 52 is provided with a plurality of limit grooves 522; the side of the ring gear 52 is provided with a limit switch 53, and when the limit switch 53 is stretched out, the limit switch The protrusion of 53 is engaged with the limiting slot 522 at the corresponding position. The number of limiting grooves 522 is determined according to the size of the field of view and the number of sensors. The limit switch 53 includes a vertical part and a horizontal part (protrusion) connected with the vertical part. The horizontal part can be stretched. When the horizontal part stretches into the limit groove, the rotating mechanism stops rotating.
对于图2和图3的结构，弹弓圈51安装于第一连接轴6上且能随所述第一连接轴6转动，或者所述弹弓圈51安装于第二连接轴5上且能随所述第二连接轴5转动；或者所述第一连接轴6、第二连接轴5上均安装有所述弹弓圈51。2 and 3, the slingshot ring 51 is installed on the first connecting shaft 6 and can rotate with the first connecting shaft 6, or the slingshot ring 51 is installed on the second connecting shaft 5 and can rotate with the first connecting shaft 6. The second connecting shaft 5 rotates; or the first connecting shaft 6 and the second connecting shaft 5 are equipped with the spring ring 51 .
对于第一连接轴上安装弹弓圈的情况，限位开关应安装于支架15上，对于第二连接轴上安装弹弓圈的情况，限位开关应安装于第二转动机构的固定部分。For the situation that the slingshot ring is installed on the first connecting shaft, the limit switch should be installed on the support 15, and for the situation that the slingshot ring is installed on the second connecting shaft, the limit switch should be installed on the fixed part of the second rotating mechanism.
当然，所述弹弓圈51还安装于所述传感器模块1靠近第一转动机构的位置上(例如，可以在传感器模块靠近第一转动机构的一端加设一根安装轴，将弹弓圈安装于该安装轴上，当然，也可以直接将弹弓圈套设在传感器模块靠近第一转动机构的一端)；或者所述弹弓圈51安装于所述旋转支架4上(此时可以在旋转支架上加设一固定轴，将弹弓圈安装于该固定轴上)；或者所述传感器模块1、旋转支架4上均安装有所述弹弓圈51。Of course, the slingshot ring 51 is also installed on the position of the sensor module 1 close to the first rotating mechanism (for example, an installation shaft can be added at the end of the sensor module near the first rotating mechanism, and the slingshot ring is installed on the position of the first rotating mechanism. On the installation shaft, of course, the slingshot ring can also be directly set on the end of the sensor module close to the first rotating mechanism); or the slingshot ring 51 is installed on the rotating bracket 4 (at this time, a slingshot ring can be added on the rotating bracket fixed shaft, the slingshot ring is installed on the fixed shaft); or the slingshot ring 51 is installed on the sensor module 1 and the rotating bracket 4.
对于传感器模块1上安装弹弓圈的情况，限位开关安装于第一转动机构的固定部分(该固定部分是指相对于第一转动机构的转动部分，不会发生位置变化的部分，例如，对于电机，其输出轴会转动，那么电机的固定部分即电机除输出轴之外的本体部分)；对于弹弓圈51安装于所述旋转支架4上的情况，限位开关53应安装于所述第二转动机构的固定部分。For the situation that the slingshot ring is installed on the sensor module 1, the limit switch is installed on the fixed part of the first rotating mechanism (the fixed part refers to the part that does not change position relative to the rotating part of the first rotating mechanism, for example, for The motor, its output shaft can rotate, so the fixed part of the motor is the body part of the motor except the output shaft); for the situation that the slingshot ring 51 is installed on the rotating bracket 4, the limit switch 53 should be installed on the second 2. The fixed part of the rotating mechanism.
本实用新型的弹弓圈还可以通过支架套512安装于电机输出轴20上。例如，本实用新型中，第一转动机构2包括第一电机；所述第二转动机构3包括第二电机；所述第一电机的输出轴与所述传感器模块1连接；所述第二电机的输出轴与所述旋转支架4连接；所述第一电机的输出轴(即第一连接轴)、第二电机的输出轴(即第二连接轴)上均安装有上述弹弓圈51；所述弹弓圈51外圈设有向外伸出的弹性棘齿511；所述弹性棘齿511与齿圈52内圈上的内齿棘轮啮合；所述齿圈52外圈设有多个限位槽522；所述齿圈52附近设置有限位开关53，且当所述限位开关53伸出时，限位开关53的凸起与对应位置的限位槽522啮合；对于所述第一电机，所述限位开关安装于支架15上；对于所述第二电机，所述限位开关安装于第二电机的本体上。The slingshot ring of the present utility model can also be installed on the motor output shaft 20 through the bracket sleeve 512 . For example, in the utility model, the first rotating mechanism 2 includes a first motor; the second rotating mechanism 3 includes a second motor; the output shaft of the first motor is connected to the sensor module 1; the second motor The output shaft of the first motor is connected to the rotating bracket 4; the output shaft of the first motor (i.e. the first connection shaft) and the output shaft of the second motor (i.e. the second connection shaft) are all equipped with the above-mentioned slingshot ring 51; The outer ring of the slingshot ring 51 is provided with an elastic ratchet 511 protruding outward; the elastic ratchet 511 meshes with the internal tooth ratchet on the inner ring of the ring gear 52; the outer ring of the ring gear 52 is provided with a plurality of limit positions Slot 522; a limit switch 53 is arranged near the ring gear 52, and when the limit switch 53 stretches out, the protrusion of the limit switch 53 engages with the limit groove 522 at the corresponding position; for the first motor , the limit switch is installed on the bracket 15; for the second motor, the limit switch is installed on the body of the second motor.
当然，对于上述第一连接轴上安装弹弓圈、第二连接轴上安装弹弓圈、传感器模块上安装弹弓圈、旋转支架4上安装弹弓圈的所有情况，还可以在靠近齿圈的其余位置另设一个固定支架安装限位开关，只要保证限位开关的水平部伸出时可以与齿圈上相应位置的限位槽啮合即可。Of course, for all the situations where the slingshot ring is installed on the first connecting shaft, the slingshot ring is installed on the second connecting shaft, the slingshot ring is installed on the sensor module, and the slingshot ring is installed on the rotating bracket 4, other positions close to the ring gear can also be used. A fixed bracket is provided to install the limit switch, as long as the horizontal part of the limit switch is stretched out, it can be engaged with the limit groove at the corresponding position on the ring gear.
本实用新型传感器模块包括一个传感器单元1-2，该传感器单元1-2可包括深度相机，或者，深度相机和彩色相机；具体的，该传感器单元可以为深度传感器，或者，深度传感器中的深度相机加上普通RGB相机。当然如果传感器模块只包括一个传感器单元，那么相对于由多个传感器单元构成的传感器模块而言，成本要低很多，且通过多次转动(包括但不限于垂直转动和水平转动)同样能实现全场景扫描。The sensor module of the present utility model includes a sensor unit 1-2, and the sensor unit 1-2 may include a depth camera, or a depth camera and a color camera; specifically, the sensor unit may be a depth sensor, or the depth sensor in the depth sensor Camera plus normal RGB camera. Of course, if the sensor module only includes one sensor unit, then the cost will be much lower than that of a sensor module composed of multiple sensor units, and full rotation can also be achieved through multiple rotations (including but not limited to vertical rotation and horizontal rotation). scene scan.
如图5和图6所示，传感器模块还可以包括多个传感器单元，每个传感器单元可包括三维数据采集传感器和/或彩色图像数据采集传感器；具体的，该传感器单元可以为深度传感器，或者，深度传感器中的深度相机加上普通RGB相机。As shown in Figure 5 and Figure 6, the sensor module can also include a plurality of sensor units, and each sensor unit can include a three-dimensional data acquisition sensor and/or a color image data acquisition sensor; specifically, the sensor unit can be a depth sensor, or , the depth camera in the depth sensor plus the normal RGB camera.
如图6所示，本实用新型的整个传感器模块还可以呈球形。当然还可以为其他多面体的形态，但不管整个传感器模块的形态如何，不对传感器模块所包含的传感器单元的数量进行限定，因为，为满足全场景扫描，若单个传感器单元的的视场角够大，那么就可以减少传感器单元的数量。以球形形态为例，可以包括12个传感器单元，此时相邻两个传感器单元的夹角可以为90度；还可以包括18个传感器单元，此时相邻两个传感器单元的夹角可以为60度；还可以包括21个传感器单元，此时相邻两个传感器单元的夹角可以为51.42度；还可以包括24个传感器单元，此时相邻两个传感器单元的夹角可以为45度。As shown in Figure 6, the entire sensor module of the present invention can also be spherical. Of course, it can also be in other polyhedron shapes, but no matter what the shape of the entire sensor module is, the number of sensor units contained in the sensor module is not limited, because, in order to meet the full scene scanning, if the field of view of a single sensor unit is large enough , then the number of sensor units can be reduced. Taking the spherical shape as an example, it can include 12 sensor units, and the angle between two adjacent sensor units can be 90 degrees; it can also include 18 sensor units, and the angle between two adjacent sensor units can be 60 degrees; it can also include 21 sensor units, at this time the angle between two adjacent sensor units can be 51.42 degrees; it can also include 24 sensor units, at this time the angle between two adjacent sensor units can be 45 degrees .
由多个传感器单元构成的传感器模块，相对于由单个传感器单元构成的传感器模块而言，其单次采集图像信息的区域更大，因而能减少传感器模块的转动次数，进而缩短扫描时间。Compared with a sensor module composed of a single sensor unit, a sensor module composed of a plurality of sensor units has a larger area for single-time acquisition of image information, so the number of rotations of the sensor module can be reduced, thereby shortening the scanning time.
本实用新型中，三维数据采集传感器可以是深度传感器、激光雷达、Kinect传感器等，彩色图像数据采集传感器可以是彩色相机等。In the utility model, the three-dimensional data acquisition sensor can be a depth sensor, laser radar, Kinect sensor, etc., and the color image data acquisition sensor can be a color camera or the like.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920075965.5UCN209587559U (en) | 2019-01-17 | 2019-01-17 | A kind of scene scanning means |
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| CN201920075965.5UCN209587559U (en) | 2019-01-17 | 2019-01-17 | A kind of scene scanning means |
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