CN219016612U - Three-dimensional scanning imager - Google Patents

Abstract

The application provides a three-dimensional scanning imager, relates to the technical field of engineering survey, and comprises a rotary probe, an ultrasonic detector, a laser detector, a signal receiver and a controller, wherein the rotary probe is used for extending into a measured space, the ultrasonic detector, the laser detector, the signal receiver and the controller are respectively arranged on the rotary probe, and the controller is respectively and electrically connected with the ultrasonic detector, the laser detector and the signal receiver; and the rotating probe rotates to scan the measured space, the ultrasonic detector and the laser detector emit signals towards the measured space, and the signal receiver receives the signals and feeds the signals back to the controller so as to acquire a three-dimensional morphological image in the measured space. The advantages of the ultrasonic detector and the laser detector are combined into a whole, the size specification of a conventional investigation drill hole is met, the filling-free karst cave can be detected, the three-dimensional shape and the three-dimensional actual image of the karst cave are acquired, and the detection time is shortened.

Description

Three-dimensional scanning imager

Technical Field

The application relates to the technical field of engineering exploration, in particular to a three-dimensional scanning imager.

Background

In engineering application, the karst cave has a great influence on hydraulic and hydroelectric engineering, railways and high-speed construction, and the detection of the karst cave is very important because the karst cave is avoided during construction. At present, the detection of the karst cave is rough, for example, when the distance of the karst cave is conventionally measured at home and abroad, most of the detection methods are laser range finders, and are instruments for accurately measuring the distance of a target by utilizing a certain parameter of modulated laser, but the detection methods have short action distance; when a three-dimensional laser scanner for drilling is used for karst cave detection, however, because phenomena such as refraction and scattering occur in water, huge defects exist when karst scale of semi-water filling and full water filling is measured, and the problem of inaccurate detection results is caused, so that the real landform of the karst cave cannot be accurately reflected, and potential safety hazards are caused for subsequent construction.

Disclosure of Invention

The embodiment of the application aims to provide a three-dimensional scanning imager, which combines the advantages of laser and ultrasonic detection, has high detection precision and can truly reflect the landform of a karst cave.

In one aspect of the embodiments of the present application, a three-dimensional scanning imager is provided, including a rotating probe for extending into a measured space, and an ultrasonic detector, a laser detector, a signal receiver and a controller which are respectively disposed on the rotating probe, wherein the controller is respectively electrically connected with the ultrasonic detector, the laser detector and the signal receiver; and the rotating probe rotates to scan the measured space, the ultrasonic detector and the laser detector emit signals towards the measured space, and the signal receiver receives the signals and feeds the signals back to the controller so as to acquire a three-dimensional morphological image in the measured space.

Optionally, the rotary probe is provided with a rotary shaft, and the rotary shaft is connected with a driver, and the rotary shaft is driven to rotate by the driver so as to drive the rotary probe to rotate.

Optionally, a confluence ring is sleeved on the rotating shaft, and the rotating shaft is connected with the driver through the confluence ring; the driver is also connected with an encoder, and the encoder is electrically connected with the controller.

Optionally, a signal transmitter is further arranged on the rotating probe, the signal transmitter is electrically connected with the ultrasonic detector, and a signal sent by the ultrasonic detector is sent out through the signal transmitter.

Optionally, the signal receiver includes a transducer for receiving energy emitted by the ultrasound probe reflected back from the inner wall of the measured space.

Optionally, the signal receiver includes a photoelectric sensor, and the photoelectric sensor is used for receiving energy emitted by the laser detector reflected by the inner wall of the measured space.

Optionally, a geomagnetic sensor electrically connected with the controller is further arranged on the rotating probe, and the geomagnetic sensor is used for recording the geomagnetic azimuth angle when the ultrasonic detector and the laser detector emit.

Optionally, the geomagnetic sensor is a gyroscope.

Optionally, a camera electrically connected with the controller is further arranged on the rotating probe, and the camera is used for collecting an actual image in the measured space.

Optionally, the camera is connected with a steering mechanism to drive the camera to steer relative to the rotary probe.

The three-dimensional scanning imager provided by the embodiment of the application is provided with an ultrasonic detector, a laser detector, a signal receiver and a controller on a rotating probe, and the rotating probe stretches into an underground karst cave to rotate 360 degrees to scan the three-dimensional form of the underground karst cave. The ultrasonic detector transmits ultrasonic pulse signals towards the wall of the underground karst cave by utilizing the propagation and reflection characteristics of ultrasonic waves in water, and measures the distance of karst scales of half water and full water in the underground karst cave; the laser detector emits a laser pulse signal toward the wall of the underground cavern, and the distance from the surveyor to the target is calculated using the time from the emission of the laser beam to the wall until the return signal to the wall is received. After the ultrasonic pulse signal and the laser pulse signal reach the wall of the cave, part of energy is reflected back by the wall of the cave, the reflected back signal is received by a signal receiver, the signal receiver feeds back the signal to a controller for processing, then an image of the echo of the wall of the cave during traveling can be obtained, and the accurate underground karst cave volume is obtained through software calculation. The advantages of the ultrasonic detector and the laser detector are combined into a whole, the size specification of a conventional investigation drill hole is met, the filling-free karst cave can be detected, the three-dimensional form size and the three-dimensional actual image of the karst cave are acquired, and the detection time is shortened; and the karst cave scale can be displayed and modeled in real time, so that the market gap is filled.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a three-dimensional scanning imager according to the present embodiment;

fig. 2 is a schematic diagram of a three-dimensional scanning imager according to the second embodiment.

Icon: 10-a ball head cover; 100 a-rotating the probe; 100 b-rotating seal structure; a 101-ultrasound probe; 102-a laser detector; 103-a camera; 103 a-steering mechanism; 103 b-a control circuit; 104-a signal receiving controller; 105-signal transmitter; 106-a signal transmission cable; 107-a control circuit; 108-a confluence ring; 109-an encoder; 110-a driver; a 111-control circuit; 112-gyroscopes.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

In the description of the present application, it should be noted that, the azimuth or positional relationship indicated by the terms "inner", "outer", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship that is commonly put when the product of the application is used, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

It should also be noted that the terms "disposed," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly coupled, detachably coupled, or integrally coupled, unless otherwise specifically defined and limited; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Referring to fig. 1 and 2, an embodiment of the present application provides a three-dimensional scanning imager, including: the ultrasonic probe comprises a rotary probe 100a which is used for extending into a measured space, and an ultrasonic detector 101, a laser detector 102, a signal receiver and a controller which are respectively arranged on the rotary probe 100a, wherein the controller is respectively and electrically connected with the ultrasonic detector 101, the laser detector 102 and the signal receiver; the rotation probe 100a rotates to scan the space to be measured, and the ultrasonic detector 101 and the laser detector 102 emit signals towards the space to be measured, and the signal receiver receives the signals and feeds back the signals to the controller to acquire a three-dimensional morphological image in the space to be measured.

The measured space is determined according to actual needs, and in the application, the measured space is an underground karst cave, and the detection process of the three-dimensional scanning imager is described below by taking the underground karst cave as an example. The rotary probe 100a extends into the underground karst cave, and scans the underground karst cave by rotation, so that the three-dimensional shape and the three-dimensional actual image of the underground karst cave are obtained.

Specifically, the tail end of the rotary probe 100a is provided with a ball head cover 10, the ball head cover 10 is made of glass, an ultrasonic detector 101 and a laser detector 102 are arranged on the tail end of the rotary probe 100a, a signal receiver and a controller are arranged near the front end, and the signal receiver and the controller are combined to form a signal receiving controller 104; the ultrasonic detector 101 emits ultrasonic pulse signals towards the wall of the underground karst cave, the laser detector 102 emits laser pulse signals towards the wall of the underground karst cave, part of energy after the signals reach the wall of the underground karst cave is reflected back by the wall of the underground karst cave and received by the signal receiver, the signal receiver feeds back the signals to the controller for processing, then images of echo travel of the wall of the underground karst cave can be obtained, and more accurate volume of the underground karst cave can be obtained through software calculation.

Because the action distance of other detection means is very short, the penetration capability of light in water is very limited, and even in the most clear seawater, people can only see objects within tens of meters to tens of meters; the electromagnetic wave also decays too fast in water, and the shorter the wavelength, the greater the loss, even with high-power low-frequency electromagnetic waves, only a few tens of meters can be propagated. However, the attenuation of sound waves propagating in water is much smaller, and sound waves of low frequency can also penetrate formations on the ocean floor of several kilometers and gain information in the formations.

It can be seen that the ultrasonic detector 101 can utilize the propagation and reflection characteristics of ultrasonic waves in water, perform navigation and ranging through electroacoustic conversion and information processing, and can also utilize the technology to detect (existence, position, property, movement direction and the like) and communicate underwater targets, so that the distance can be measured on the karst scale of semi-water and full-water in an underground karst cave through the ultrasonic detector 101, and the problem that laser cannot be measured in water is solved.

The rotary probe 100a is further provided with a signal transmitter 105, and the signal transmitter 105 is electrically connected to the ultrasonic probe 101, and a signal from the ultrasonic probe 101 is transmitted through the signal transmitter 105. The signal transmitter 105 is located near the front end of the rotary probe 100a and transmits a signal through the signal transmission cable 106, and the signal transmission cable 106 can also receive the signal. When the ultrasonic probe 101 detects, the emitted ultrasonic pulse signal is emitted toward the wall of the hole through the signal transmitter 105 at the front end of the rotary probe 100a, and the signal intensity can be increased. And the signals emitted by other sensors such as the laser detector 102, the geomagnetic sensor and the like are directly emitted towards the wall of the cave without conversion.

At the same time, the distance from the surveyor to the target is calculated by the laser detector 102, the laser detector 102 being used to detect the area without water, the laser detector 102 using the time of the laser beam from the transmission of the signal to the wall of the hole to the reception of the return signal to the wall of the hole. The advantage of the laser detector 102 in detection is that the brightness is high, the high requirement of detection on brightness can be met, the attenuation of returned optical signals is low, and the signal to noise ratio is high; the directivity is good, and the directional propagation can be realized for a great distance, so that the divergence is effectively reduced; the laser has excellent monochromaticity, and when detecting the return signal, the laser can effectively identify the optical signal with a certain emission frequency, thereby reducing interference.

Therefore, the three-dimensional scanning imager combines the advantages of the ultrasonic detector 101 and the laser detector 102, not only meets the size specification of a conventional investigation drilling hole, but also can detect a filling-free karst cave, acquires the three-dimensional form size and the three-dimensional actual image of the karst cave, and reduces the detection time.

In addition, the rotating probe 100a is further provided with a camera 103 electrically connected with a controller, the controller is connected with the camera 103 through a control circuit 103b, and the camera 103 is used for collecting actual images in the tested space. The camera 103 may be specifically an infrared camera 103, and the infrared camera 103 captures an actual image of the underground karst cave.

The camera 103 may also be connected to a steering mechanism 103a, for example, a steering control motor, to drive the camera 103 to rotate relative to the rotary probe 100a. In other words, even if the rotary probe 100a does not rotate, the camera 103 can rotate 360 ° by itself driven by the steering mechanism 103a, so as to capture actual images of different orientations in the underground karst cave.

The controller is electrically connected with the ultrasonic detector 101, the laser detector 102, the signal receiver and the camera 103 respectively, so as to control the ultrasonic detector 101 and the laser detector 102 to emit signals towards the wall of the hole, receive the signals fed back by the signal receiver and process the signals through software in the controller.

In addition, the controller can be connected with a display screen to display three-dimensional data, three-dimensional images and actual images shot by the camera 103 of the underground karst cave on the display screen in real time, so that the surveyor can conveniently check the images.

In summary, in the three-dimensional scanning imager provided in the embodiment of the present application, an ultrasonic detector 101, a laser detector 102, a signal receiver and a controller are disposed on a rotating probe 100a, and the rotating probe 100a extends into an underground karst cave to perform 360 ° rotation to scan a three-dimensional form of the underground karst cave. Wherein, the ultrasonic detector 101 transmits ultrasonic pulse signals towards the wall of the underground karst cave by utilizing the propagation and reflection characteristics of ultrasonic waves in water, and measures the distance of karst scale of half water and full water in the underground karst cave; the laser detector 102 emits a laser pulse signal toward the wall of the underground cavern, and the distance from the surveyor to the target is calculated using the time from the emission of the signal to the wall to the receipt of the return signal to the wall by the laser beam. After the ultrasonic pulse signal and the laser pulse signal reach the wall of the cave, part of energy is reflected back by the wall of the cave, the reflected back signal is received by a signal receiver, the signal receiver feeds back the signal to a controller for processing, then an image of the echo of the wall of the cave during traveling can be obtained, and the accurate underground karst cave volume is obtained through software calculation. The advantages of the ultrasonic detector 101 and the laser detector 102 are combined into a whole, the size specification of a conventional investigation drill hole is met, a non-filled karst cave can be detected, the three-dimensional form size and the three-dimensional actual image of the karst cave are acquired, and the detection time is shortened; and the karst cave scale can be displayed and modeled in real time, so that the market gap is filled.

Further, the rotary probe 100a is provided with a rotary shaft, and the rotary shaft is connected with a driver 110, and the driver 110 drives the rotary shaft to rotate so as to drive the rotary probe 100a to rotate.

The rotary probe 100a has a rotation shaft, and the rotation shaft is driven by the driver 110 to rotate the rotary probe 100 a; the driver 110 may be a motor connected to the controller via the control circuit 107 to control the rotational speed of the rotating probe 100a.

A rotary sealing structure 100b is further arranged near the tail end of the rotary probe 100a, a confluence ring 108 is further sleeved on the rotary shaft, and the rotary shaft is connected with a driver 110 through the confluence ring 108; the driver 110 is also connected to an encoder 109, and the encoder 109 is electrically connected to the controller.

The bus ring 108 has a communicating function, is installed at a rotation center (rotation axis) of the rotary probe 100a, and communicates a fixed structure of the rotary probe 100a with the rotary structure, so that electrical (electric and optical) signal continuous connection is formed between the fixed structure and the rotary structure of the rotary probe 100a, thereby achieving a normal rotation effect. The confluence ring 108 forms the safe and reliable rotary probe 100a by using ingenious movement structure and sealing structure design, reasonable material selection and the like.

Meanwhile, the movement of the rotating shaft of the rotating probe 100a requires an energy source to provide power for rotation. The bus ring 108 has a function of transmitting power, transmits current to the rotating shaft, and provides a functional power source for the rotating shaft to achieve the effect of rotating. At the same time, when the rotation shaft rotates, other movements can be freely performed, and the stability of the rotary probe 100a can be improved.

In addition, the rotation and stop of the rotating shaft are realized by transmitting control signals, and the bus ring 108 also has a signal transmission function, so that the problem of control signal transmission is well solved, the operation of the rotating shaft is efficiently controlled, and the working condition of the rotating shaft is ensured to be controlled and adjusted in time.

The encoder 109 converts the rotational displacement of the rotating probe 100a into a series of digital pulse signals that can be used to control the angular displacement; the encoder 109 is connected to the controller, and detects the movement direction, movement amount, and angle of the rotary machine.

Whereas for a signal receiver, the signal receiver includes a transducer for receiving energy emitted by the ultrasound probe 101 reflected back from the inner wall of the measured space.

The signal receiver comprises a photoelectric sensor for receiving the energy emitted by the laser detector 102 reflected back from the inner wall of the measured space.

It can be seen that the transducer corresponds to ultrasound probe 101, receiving energy returned from the cavity wall by ultrasound probe 101; the photo-sensor corresponds to the laser detector 102 and receives energy returned by the laser detector 102 from the cavity wall. And processing the returned energy signal through the controller to obtain the information in the karst cave.

The rotary probe 100a is further provided with a geomagnetic sensor electrically connected to the controller through a control circuit 111, and the geomagnetic sensor is used for recording a geomagnetic azimuth angle at the time of emission of the ultrasonic detector 101 and the laser detector 102 and is used for determining the azimuth of the underground karst cave.

Illustratively, the geomagnetic sensor is a gyroscope 112, and the gyroscope 112 can provide an accurate azimuth reference for measurement of the underground karst cave. In addition, the gyroscope 112 may also be used for angular motion detection, and may detect the rotational state of the rotating probe 100a.

In summary, the three-dimensional scanning imager provided by the embodiment of the application is matched with a plurality of sensors, once entering the karst cave, the rotary probe 100a rotates 360 degrees to scan the three-dimensional form of the underground karst cave; the integrated host controller arranged on the rotary probe 100a automatically controls the infrared camera 103 and a plurality of sensors such as three-dimensional laser scanning and ultrasonic scanning to detect and image, displays three-dimensional karst cave data on a host screen in real time, can collect three-dimensional morphological size and three-dimensional actual image of the karst cave through the sonar, laser and infrared camera 103, and reduces detection time.

When the three-dimensional scanning imager works, the rotary probe 100a is driven by a motor, and drives the ultrasonic detector 101, the laser detector 102 and the geomagnetic sensor to rotate at a fixed speed, so that the whole cave wall of the karst cave is scanned and measured. When the rotary probe 100a rotates, the ultrasonic probe 101 transmits ultrasonic pulses, when water or slurry exists in the karst cave, the slurry or the water propagates to reach the cave wall, and a part of energy is reflected by the cave wall to the transducer and received, and after signal processing, a travel time image of the cave wall echo is obtained. The rotary probe 100a transmits laser pulses simultaneously when rotating, when the karst cave has no water, the laser pulses reach the cave wall through the air, a part of energy is reflected back to the photoelectric sensor by the cave wall and received, and after signal processing, images of the cave wall during laser echo travel are obtained. Meanwhile, the geomagnetic sensor records the geomagnetic azimuth at this time at each ultrasonic emission and laser emission. During measurement, the rotating probe 100a is also lowered at a certain rate, and thus the instrument recording point is also lowered spirally. Through densely measured high-density point clouds, the volume of the karst cave can be accurately calculated through a software algorithm according to different karst cave environments.

The three-dimensional scanning imager provided by the embodiment of the application has the advantages of quick ranging, small volume, reliable performance and the like, and can be widely applied to the fields of industrial measurement and control, mines, ports and the like.

The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. A three-dimensional scanning imager, comprising: the ultrasonic probe is used for extending into a measured space, and the ultrasonic probe, the laser detector, the signal receiver and the controller are respectively arranged on the ultrasonic probe, and the controller is respectively and electrically connected with the ultrasonic probe, the laser detector and the signal receiver; and the rotating probe rotates to scan the measured space, the ultrasonic detector and the laser detector emit signals towards the measured space, and the signal receiver receives the signals and feeds the signals back to the controller so as to acquire a three-dimensional morphological image in the measured space.

2. The three-dimensional scanning imager of claim 1, wherein the rotating probe is provided with a rotating shaft, the rotating shaft being connected to a driver, the rotating shaft being rotated by the driver to drive the rotating probe to rotate.

3. The three-dimensional scanning imager according to claim 2, wherein a confluence ring is further sleeved on the rotation shaft, and the rotation shaft is connected with the driver through the confluence ring; the driver is also connected with an encoder, and the encoder is electrically connected with the controller.

4. A three-dimensional scanning imager as set forth in any one of claims 1-3 wherein a signal transmitter is further provided on the rotating probe, the signal transmitter being electrically connected to the ultrasound probe, the signal from the ultrasound probe being transmitted by the signal transmitter.

5. A three-dimensional scanning imager as claimed in any one of claims 1 to 3 wherein said signal receiver comprises a transducer for receiving energy emitted by said ultrasound probe reflected back from the interior wall of said space under test.

6. A three-dimensional scanning imager as claimed in any one of claims 1 to 3, wherein said signal receiver comprises a photosensor for receiving energy emitted by said laser detector reflected back from the inner wall of said measured space.

7. The three-dimensional scanning imager of claim 1, wherein the rotating probe is further provided with a geomagnetic sensor electrically connected to the controller, the geomagnetic sensor being configured to record a geomagnetic azimuth angle at the time of emission of the ultrasound probe and the laser probe.

8. The three-dimensional scanning imager of claim 7, wherein the geomagnetic sensor is a gyroscope.

9. The three-dimensional scanning imager of claim 1, wherein the rotating probe is further provided with a camera electrically connected to the controller, the camera being configured to collect an actual image in the measured space.

10. The three-dimensional scanning imager of claim 9, wherein the camera is coupled to a steering mechanism to steer the camera relative to the rotating probe.

Images