CN109682359A - Engineering truck and scanning processing method with 3-D scanning function - Google Patents
Engineering truck and scanning processing method with 3-D scanning function Download PDFInfo
- Publication number
- CN109682359A CN109682359A CN201910104722.4A CN201910104722A CN109682359A CN 109682359 A CN109682359 A CN 109682359A CN 201910104722 A CN201910104722 A CN 201910104722A CN 109682359 A CN109682359 A CN 109682359A
- Authority
- CN
- China
- Prior art keywords
- scanning
- engineering truck
- axis
- coordinate data
- scanner section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003672 processing method Methods 0.000 title claims abstract description 19
- 239000000523 sample Substances 0.000 claims abstract description 50
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 230000001681 protective effect Effects 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 11
- 238000010408 sweeping Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 description 16
- 230000001360 synchronised effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000010606 normalization Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000010453 quartz Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 239000005341 toughened glass Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of engineering truck and scanning processing method with 3-D scanning function, engineering truck includes: car body；Scanning means is set to car body towards the side of engineering truck operative orientation, and scanning means includes: mounting portion, and mounting portion is connected with car body, and mounting portion includes the first rotating seat that can be rotated around first axle；Scanner section, scanner section is set on the first rotating seat, scanner section includes can be around the scanning head that the second axis rotates and the laser probe that can be rotated around third axis, scanning head is for obtaining first coordinate data of the environment under the scan coordinate system of scanning means, and laser probe is for determining the distance between engineering truck and origin reference location point value；Tilt angle detector is set on scanner section；Controller, controller are connected with scanner section and tilt angle detector, and controller is scaled to the frame of reference by scan coordinate system for the first coordinate data；And establish the first coordinate data and the second coordinate data corresponding point cloud information in the frame of reference.
Description
Technical field
The present invention relates to technical field of tunnel construction, in particular to a kind of engineering truck with 3-D scanning function
With a kind of scanning processing method.
Background technique
For precision, the intelligence for realizing constructing tunnel, the point cloud model figure that tunnel is established by spatial digitizer becomes
It obtains particularly important.With tunnel construction machinery, digitlization and the iterative method of informationization, to realize accurate, intelligence construction, tunnel
The three-dimensional reconstruction in road is essential.3-D scanning is the key point for realizing three-dimensional reconstruction.3-D scanning is obtain tunnel three
Point cloud data is tieed up, because to have the angle of divergence small for laser, the characteristics of good directionality, the scanner based on laser technology is extensive
Applied to ranging, point data is obtained by transmitting laser and the time difference for receiving laser.
Tradition scanning, which uses commercial spatial digitizer or builds three-dimensional by Two Dimensional Rotating platform and one-dimensional laser range finder, to swash
Photoscanner is realized.Wherein, commercial spatial digitizer degree of protection is low, is usually used in field or indoor environment, is not used to tunnel
The vehicle-mounted operating condition of road engineering machinery, and structure is complicated, price is higher.Three-dimensional is built by Two Dimensional Rotating platform and one-dimensional laser range finder
Laser scanner, this scheme can realize that tunnel scans, but its single scan range is small, therefore scanning speed can not be simultaneous with scanning accuracy
?.
Requirement of the existing three-dimensional laser scanner to working environment is very harsh, needs to take a significant amount of time before use
Carry out environment arrangement, cannot achieve it is servo-actuated with engineering truck, can not progress synchronous with construction speed, working efficiency is low.
Therefore, a kind of technical solution that can follow the synchronous progress 3 D laser scanning of construction speed is needed at present.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
For this purpose, the first aspect of the present invention proposes a kind of engineering truck with 3-D scanning function.
The second aspect of the present invention proposes a kind of scanning processing method.
In view of this, the first aspect of the present invention provides a kind of engineering truck with 3-D scanning function, comprising: vehicle
Body；Scanning means is set to car body towards the side of engineering truck operative orientation, and scanning means includes: mounting portion, mounting portion and vehicle
Body is connected, and mounting portion includes the first rotating seat that can be rotated around first axle；Scanner section, scanner section are set to the first rotating seat
On, scanner section includes that can be used for around the scanning head that the second axis rotates and the laser probe that can be rotated around third axis, scanning head
The environment of engineering truck operative orientation is scanned, to obtain first coordinate data of the environment under the scan coordinate system of scanning means, is swashed
Light probe is for determining the distance between engineering truck and origin reference location point value；Tilt angle detector is set on scanner section, inclination angle inspection
Device is surveyed to be used to obtain the angle information between scanning means and preset datum plane；Controller, controller and scanner section and inclines
Angle detector is connected, and controller is used to determine that scan coordinate system and the opposite of the preset frame of reference are closed according to angle information
System, the first coordinate data is scaled to the frame of reference by scan coordinate system by relativeness；And obtain origin reference location
Preset coordinate data of the point in the frame of reference, determine engineering truck in the frame of reference according to distance value and preset coordinate data
In the second coordinate data；It is corresponding in the frame of reference that the first coordinate data and the second coordinate data are established by preset algorithm
Point cloud information；Wherein, the axis of the axis of first axle and the second axis is mutually perpendicular to, the axis of first axle and the axis of third axis
It is mutually perpendicular to.
In the technical scheme, it is provided with scanning means on the car body of engineering truck, can be realized by scanning means to engineering
The 3 D laser scanning of vehicle ambient enviroment.Scanning means specifically includes mounting portion, scanner section and controller；Mounting portion and car body phase
Connection, and rotating seat is provided on mounting portion, rotating seat can be rotated around first axle；Scanner section is set on rotating seat,
And include scanning head on scanner section, scanning head can be rotated along the second axis, and thus scanning head can be realized to first
The scanning of cone space composed by covering of the fan on the basis of axis and the covering of the fan on the basis of the second axis, to obtain ambient enviroment at this
The first coordinate data in cone space, under the scan coordinate system of scanning means.Scanning means is additionally provided with tilt angle detector.By
When engineering truck is constructed in tunnel, the ground in tunnel not necessarily keeps horizontal, therefore due to the change of engineering truck posture, scanning
The posture of device can also change.Therefore for the benchmark of the environment coordinate data and engineering construction that scan scanning means
Coordinate system is consistent, and obtains the angle information of scanning means and datum plane in real time by the way that tilt angle detector is arranged, and goes forward side by side one
Walk the relativeness determined between scan coordinate system and the frame of reference, the coordinate data obtained scanning by relativeness by
Scan coordinate system is converted to the frame of reference, to realize data normalization.Scanner section further includes that can rotate around third axis simultaneously
Laser probe, laser probe can realize that covering of the fan of measurement on the basis of by first axle and the covering of the fan on the basis of third axis are formed
Cone space in, engineering truck apart from the distance between any origin reference location point be worth, wherein origin reference location point is in the frame of reference
In preset coordinate data it is known that thus can calculate engineering truck in the frame of reference by distance value and preset coordinate data
Second coordinate data, to realize the precise positioning to engineering truck.Technical solution provided by the invention is applied, is arranged on engineering truck
There is scanning means, therefore can not need manually to be arranged with engineering truck synchronous marching, therefore can synchronize and sweep with project progress
It retouches, while the positioning to engineering truck can be accurately realized by the way that laser probe is arranged, and by setting tilt angle detector, can will sweep
The coordinate retouched is included into the frame of reference, such as earth coordinates, and then greatly improves working efficiency.Engineering staff can be straight
It connects and grasps the point cloud information that scanning means obtains in engineering truck, and then realize the real-time control to Tunnel Engineering progress, realize
Efficient engineering construction.
In addition, the engineering truck in above-mentioned technical proposal provided by the invention can also have following additional technical feature:
In the above-mentioned technical solutions, further, mounting portion further include: pedestal is connected with car body, is provided on pedestal
The second rotating seat that can be rotated around the 4th axis；Support base is arranged on the second rotating seat, and the first rotating seat is connected with support base
It connects, support base is provided with the first cavity, and controller is set in the first cavity；Wherein, the axis of the axis of first axle and the 4th axis
Line is mutually perpendicular to.
In the technical scheme, mounting portion includes pedestal, and pedestal is connected with car body；Specifically, pedestal can be used welding,
Riveting realizes connection by connectors such as bolts；The second rotating seat is provided on pedestal, the second rotating seat can be revolved around the 4th axis
Turn, and then realizes the rotatability of scanning means entirety；Support base is connected by the second rotating seat with pedestal, the first rotating seat
It is connected with support base, wherein support base is provided with the first cavity for accommodating controller, to realize the protection to controller.
Wherein, the axis of first axle and the axis of the 4th axis are mutually perpendicular to, to improve the scanning accuracy of scanning head and laser probe.
In any of the above-described technical solution, further, mounting portion further include: first driving device is set to the first chamber
In vivo, the output end of first driving device is connected with the second rotating seat, for driving the second rotating seat to rotate around the 4th axis.
In the technical scheme, it is additionally provided with first driving device in the first cavity, it is preferable that first driving device is
Stepper motor；The output end of first driving device is connected with the second rotating seat, to realize the second rotating seat around the rotation of the 4th axis
Turn.
In any of the above-described technical solution, further, scanner section is provided with the second cavity and third chamber being separated
Body, scanner section further include: the second driving device is set in the second cavity, the output end of the second driving device and the first rotation
Seat is connected, for driving the first rotating seat to rotate around first axle；Third driving device is set in third cavity, and third is driven
The output end of dynamic device is connected with laser probe, for driving laser probe to rotate around third axis.
In the technical scheme, scanner section is provided with the second cavity and third cavity being separated, and is respectively used to accommodate
Second driving device and third driving device, the second driving device for driving the first rotating seat to rotate around first axle, drive by third
Dynamic device is for driving laser probe to rotate around third axis.By the way that the second cavity and third cavity that are separated is arranged, realize
To the reasonable distribution in space, while in the second driving device and third driving device taking reliable physical isolation, it is ensured that
Rotation control it is accurate, improve the reliability of scanning means, while ensuring that equipment inner structure science is compact.
In any of the above-described technical solution, further, scanner section further include: protective device, protective device include the 4th
Cavity, laser probe are set in the 4th cavity, and protective device can be rotated around third axis.
In the technical scheme, scanner section is provided with protective device, for protecting laser probe.Specifically, protective device
Including the 4th cavity, laser probe is set in the 4th cavity.Wherein, protective device can follow laser probe synchronous around third axis
Rotation.
In any of the above-described technical solution, further, scanner section further include: lid, lid are covered on the 4th cavity,
It is provided with the opening towards laser probe on lid, the eyeglass of light-transmitting materials is provided in opening.
In the technical scheme, scanner section is additionally provided with the lid for being covered in the 4th cavity, to realize to laser probe
Further protection.Wherein, it is provided with the opening towards laser probe on lid, and the eyeglass of light-transmitting materials is set in opening；
Eyeglass preferably uses tempered glass material or synthetic quartz material；So that the laser beam that laser probe projects can be penetrated via the place of opening
Out, the scanning to environment is realized.
In any of the above-described technical solution, further, scanning means further include: counter weight device is connected with scanner section,
Counter weight device is disposed opposite to each other with scanning head.
In the technical scheme, scanning means is additionally provided with counter weight device, is set to the back side of scanner section, with scanning head
It is disposed opposite to each other, in the rotary course of scanner section, counterweight part can make the center of gravity of scanner section more stable, while revolve in scanner section
When going to special angle, counterweight part can also provide the power of specific direction so that the rotation of scanner section is more smooth.
The second aspect of the present invention provides a kind of scanning processing method, comprising: obtains origin reference location point in preset base
Preset coordinate data in conventional coordinates；Control scanning means scanning origin reference location point with determine engineering truck and origin reference location point it
Between distance value, and the positional relationship between engineering truck and origin reference location point is determined according to distance value；According to preset coordinate data and
Positional relationship determines second coordinate data of the engineering truck in the frame of reference.
In the technical scheme, preset coordinate data of the origin reference location point in the preset frame of reference are obtained first,
And control scanning means, specially laser probe scan origin reference location point, with determine between engineering truck and origin reference location point away from
From value.Preferably, origin reference location point is set as three, is particularly located on laser probe different directions；It is fixed with benchmark getting
It is the positional relationship that can determine between engineering truck and origin reference location point according to distance value, and have band after the value of the distance between site
The preset coordinate data for entering origin reference location point calculate to obtain engineering truck in reference coordinate by positional relationship and preset coordinate data
System, i.e., the second coordinate data under earth coordinates, and then realize the accurate positionin to engineering truck.
In the above-mentioned technical solutions, further, scanning processing method further include: control tilt angle detector obtains scanning dress
Set the angle information between datum plane；Environment locating for control scanning means scanning engineering truck is filled with obtaining environment in scanning
The first coordinate data under the scan coordinate system set；Determine that scan coordinate system and the opposite of the frame of reference are closed according to angle information
System, the first coordinate data is scaled to the frame of reference by scan coordinate system by relativeness；It is established by preset algorithm
First coordinate data corresponding point cloud information in the frame of reference；Corresponding image information is generated according to point cloud information；It shows
Image information.
In the technical scheme, before obtaining the step of surveying the first coordinate data of environment in week, control inclination angle inspection first
Survey device and obtain angle information between scanning means and preset datum plane, and according to angle information determine scan coordinate system with
The relativeness of the preset frame of reference, and then scan coordinate system is included into the frame of reference by converting, and then make to scan
The frame of reference that the coordinate information and engineering that device obtains give, if earth coordinates keep unified, to realize data standard
Change.After completing coordinate system conversion, control scanning means first scans environment locating for engineering truck, to be obtained by scanning means
First coordinate data of the current environment under scan coordinate system；After getting the first coordinate data, established by preset algorithm
The corresponding point cloud data of current environment further generates the image information with point cloud data, and shows image information.Apply this
The technical solution provided is invented, by be set to the scanning means real time scan engineering truck local environment in front of engineering truck first
Coordinate data, and generate corresponding image information；Engineering staff can be current by image information acquisition in real time in engineering truck
Ambient conditions, and then realize to the real-time control of Tunnel Engineering progress, realize efficient engineering construction.
In any of the above-described technical solution, further, scanning processing method further include: generate the corresponding text of point cloud information
Notebook data；Corresponding daily record data, and storing daily record data are generated according to text data.
In the technical scheme, after generating point cloud information, the corresponding text data of point cloud information is further generated, with
The form of daily record data saves the text data for implementing to generate in engineering construction and storage, to retain the details of engineering construction
For subsequent use.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 shows the structural representation of the engineering truck according to an embodiment of the invention with 3-D scanning function
Figure；
Fig. 1 .1 shows the structural schematic diagram of scanning means according to an embodiment of the invention；
Fig. 2 shows the structural schematic diagrams of scanning means according to another embodiment of the invention；
Fig. 3 shows the structural schematic diagram of scanning means according to still another embodiment of the invention；
Fig. 4 shows the structural schematic diagram of the scanning means of still another embodiment in accordance with the present invention；
Fig. 5 shows the structural schematic diagram of the scanning means of still another embodiment in accordance with the present invention；
Fig. 6 shows the flow chart of scanning processing method according to an embodiment of the invention；
Fig. 7 shows the flow chart of scanning processing method according to another embodiment of the invention；
Fig. 8 shows the flow chart of scanning processing method according to still another embodiment of the invention.
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Fig. 5 are as follows:
1 car body, 2 scanning means, 20 mounting portions, 202 first rotating seats, 204 pedestals, 206 second rotating seats, 208 supports
Seat, 40 scanner sections, 402 scanning heads, 404 laser probes, 406 protective devices, 60 counter weight devices.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Referring to Fig. 1 to Fig. 8 description engineering truck with 3-D scanning function described according to some embodiments of the invention
And scanning processing method.
As shown in Figures 1 to 5, in the embodiment of first aspect present invention, the work with 3-D scanning function is provided
Journey vehicle, comprising: car body 1；Scanning means 2 is set to car body 1 towards the side of engineering truck operative orientation, and scanning means 2 includes:
Mounting portion 20, mounting portion 20 are connected with car body 1, and mounting portion 20 includes the first rotating seat 202 that can be rotated around first axle；Scanning
Portion 40, scanner section 40 are set on the first rotating seat 202, and scanner section 40 includes 402 He of scanning head that can be rotated around the second axis
The laser probe 404 that can be rotated around third axis, scanning head 402 is used to scan the environment of engineering truck operative orientation, to obtain ring
First coordinate data of the border under the scan coordinate system of scanning means 2, laser probe 404 is for determining engineering truck and origin reference location
The distance between point value；Tilt angle detector is set on scanner section 40, and tilt angle detector is for obtaining scanning means 2 and presetting
Datum plane between angle information；Controller, controller are connected with scanner section 40 and tilt angle detector, and controller is used for
Determine the relativeness of scan coordinate system Yu the preset frame of reference, according to angle information to sit by relativeness by first
It marks data and the frame of reference is scaled to by scan coordinate system；And obtain preset coordinate of the origin reference location point in the frame of reference
Data determine second coordinate data of the engineering truck in the frame of reference according to distance value and preset coordinate data；By default
Algorithm establishes the first coordinate data and the second coordinate data corresponding point cloud information in the frame of reference；Wherein, first axle
The axis of axis and the second axis is mutually perpendicular to, and the axis of first axle and the axis of third axis are mutually perpendicular to.
In this embodiment, it is provided with scanning means 2 on the car body 1 of engineering truck, can be realized by scanning means 2 to engineering
The 3 D laser scanning of vehicle ambient enviroment.Scanning means 2 specifically includes mounting portion 20, scanner section 40 and controller；Mounting portion 20
It is connected with car body 1, and is provided with rotating seat on mounting portion 20, rotating seat can be rotated around first axle；Scanner section 40 is set
It is placed on rotating seat, and includes scanning head 402 on scanner section 40, scanning head 402 can be rotated along the second axis, thus be swept
Retouching probe 402 can realize to cone space composed by the covering of the fan on the basis of first axle and the covering of the fan on the basis of the second axis,
The first coordinate data to obtain ambient enviroment in the cone space, under the scan coordinate system of scanning means 2.Scanning means 2
It is additionally provided with tilt angle detector.When being constructed in tunnel due to engineering truck, the ground in tunnel not necessarily keeps horizontal, therefore due to
The change of engineering truck posture, the posture of scanning means 2 can also change.Therefore the environment in order to scan scanning means 2
Coordinate data and the frame of reference of engineering construction are consistent, by be arranged tilt angle detector obtain in real time scanning means 2 with
The angle information of datum plane, and further determine that the relativeness between scan coordinate system and the frame of reference, by opposite
The coordinate data that scanning obtains is converted to the frame of reference by scan coordinate system by relationship, to realize data normalization.It sweeps simultaneously
Retouching portion 40 further includes the laser probe 404 that can be rotated around third axis, and laser probe 404 can realize measurement on the basis of by first axle
Covering of the fan and covering of the fan on the basis of third axis composed by cone space, engineering truck is between any origin reference location point
Distance value, wherein thus preset coordinate data of the origin reference location point in the frame of reference are it is known that by distance value and can preset
Coordinate data calculates second coordinate data of the engineering truck in the frame of reference, to realize the precise positioning to engineering truck.Using
Technical solution provided by the invention is provided with scanning means 2 on engineering truck, therefore can be not required to engineering truck synchronous marching
Manually to be arranged, therefore can be accurately realized pair with project progress synchronous scanning, while by the way that laser probe 404 is arranged
The positioning of engineering truck, and by setting tilt angle detector, the coordinate that scanning obtains can be included into the frame of reference, such as geodetic coordinates
System, and then greatly improve working efficiency.Engineering staff can grasp the point cloud letter of the acquisition of scanning means 2 directly in engineering truck
Breath, and then realize to the real-time control of Tunnel Engineering progress, realize efficient engineering construction.
In one embodiment of the invention, further, as shown in Figures 1 to 5, mounting portion 20 further include: pedestal
204, it is connected with car body 1, the second rotating seat 206 that can be rotated around the 4th axis is provided on pedestal 204；Support base 208, setting
On the second rotating seat 206, the first rotating seat 202 is connected with support base 208, and support base 208 is provided with the first cavity, control
Device is set in the first cavity；Wherein, the axis of the axis of first axle and the 4th axis is mutually perpendicular to.
In this embodiment, mounting portion 20 includes pedestal 204, and pedestal 204 is connected with car body 1；Specifically, pedestal 204
Welding, riveting can be used or realize connection by connectors such as bolts；The second rotating seat 206, the second rotation are provided on pedestal 204
Swivel base 206 can be rotated around the 4th axis, and then realize the whole rotatability of scanning means 2；Support base 208 passes through the second rotating seat
206 are connected with pedestal 204, and the first rotating seat 202 is connected with support base 208, and wherein support base 208 is provided with for accommodating
First cavity of controller, to realize the protection to controller.Wherein, the axis of the axis of first axle and the 4th axis mutually hangs down
Directly, to improve the scanning accuracy of scanning head 402 and laser probe 404.
Preferably, support base 208 is set as two, is specifically configured to the first support base and the second support base, is respectively set
In the two sides of scanning means 2.
Preferably, support base 208 is set as one, and scanning means 2 and the first rotating seat 202 are located at the same of support base 208
Side is connected by shaft, wherein the carrying of redundancy is taken to be related at shaft, to ensure service life.
In one embodiment of the invention, further, as shown in Figures 1 to 5, mounting portion 20 further include: first drives
Dynamic device, is set in the first cavity, and the output end of first driving device is connected with the second rotating seat 206, for driving the
Two rotating seats 206 are rotated around the 4th axis.
In this embodiment, it is additionally provided with first driving device in the first cavity, it is preferable that first driving device is step
Into motor；The output end of first driving device is connected with the second rotating seat 206, to realize the second rotating seat 206 around the 4th axis
Rotation.
In one embodiment of the invention, further, as shown in Figures 1 to 5, scanner section 40, which is provided with, is separated
The second cavity and third cavity, scanner section 40 further include: the second driving device is set in the second cavity, second driving dress
The output end set is connected with the first rotating seat 202, for driving the first rotating seat 202 to rotate around first axle；Third driving dress
It sets, is set in third cavity, the output end of third driving device is connected with laser probe 404, for driving laser probe
404 rotate around third axis.
In this embodiment, scanner section 40 is provided with the second cavity and third cavity being separated, and is respectively used to accommodate
Second driving device and third driving device, the second driving device is for driving the first rotating seat 202 to rotate around first axle, third
Driving device is for driving laser probe 404 to rotate around third axis.By the way that the second cavity and third cavity that are separated is arranged,
The reasonable distribution to space is realized, while taking reliable physical isolation in the second driving device and third driving device,
It ensures the accurate of rotation control, improves the reliability of scanning means 2, while ensuring that equipment inner structure science is compact.?
In one embodiment of the present of invention, further, as shown in Figures 1 to 5, scanner section 40 further include: protective device 406, protection
Device 406 includes the 4th cavity, and laser probe 404 is set in the 4th cavity, and protective device 406 can be rotated around third axis.
In this embodiment, scanner section 40 is provided with protective device 406, for protecting laser probe 404.Specifically, prevent
Protection unit 406 includes the 4th cavity, and laser probe 404 is set in the 4th cavity.Wherein, protective device 406 can follow laser
Probe 404 is synchronous to be rotated around third axis.
In one embodiment of the invention, further, as shown in Figures 1 to 5, scanner section 40 further include: lid, lid
Body is covered on the 4th cavity, and the opening towards laser probe 404 is provided on lid, the mirror of light-transmitting materials is provided in opening
Piece.
In this embodiment, scanner section 40 is additionally provided with the lid for being covered in the 4th cavity, to realize to laser probe 404
Further protection.Wherein, it is provided with the opening towards laser probe 404 on lid, and light-transmitting materials are set in opening
Eyeglass；Eyeglass preferably uses tempered glass material or synthetic quartz material；So that the laser beam that laser probe 404 projects can be through
It is projected by opening, realizes the scanning to environment.
In one embodiment of the invention, further, as shown in Figures 1 to 5, scanning means 2 further include: with refitting
60 are set, is connected with scanner section 40, counter weight device 60 is disposed opposite to each other with scanning head 402.
In this embodiment, scanning means 2 is additionally provided with counter weight device 60, is set to the back side of scanner section 40, with scanning
Probe 402 is disposed opposite to each other, and in the rotary course of scanner section 40, counterweight part can make the center of gravity of scanner section 40 more stable, together
When the rotation of scanner section 40 is to special angle, counterweight part the power of specific direction can also be provided so that the rotation of scanner section 40 more
Add smooth.
As shown in fig. 6, providing a kind of scanning processing method in the embodiment of the second aspect of the present invention, comprising:
S602 obtains preset coordinate data of the origin reference location point in the preset frame of reference；
S604, control scanning means scanning origin reference location point to determine the distance between engineering truck and origin reference location point value,
And the positional relationship between engineering truck and origin reference location point is determined according to distance value；
S606 determines second number of coordinates of the engineering truck in the frame of reference according to preset coordinate data and positional relationship
According to.
In this embodiment, preset coordinate data of the origin reference location point in the preset frame of reference are obtained first, and
Scanning means is controlled, specially laser probe scans origin reference location point, to determine the distance between engineering truck and origin reference location point
Value.Preferably, origin reference location point is set as three, is particularly located on laser probe different directions；It is getting and origin reference location
It is the positional relationship that can determine between engineering truck and origin reference location point according to distance value, and have and bring into after the distance between point value
The preset coordinate data of origin reference location point calculate to obtain engineering truck in reference coordinate by positional relationship and preset coordinate data
System, i.e., the second coordinate data under earth coordinates, and then realize the accurate positionin to engineering truck.
In one embodiment of the invention, further, as shown in fig. 7, scanning processing method further include:
S702, control tilt angle detector obtain the angle information between scanning means and preset datum plane；
S704, control scanning means scan environment locating for engineering truck to obtain environment in the scan coordinate system of scanning means
Under the first coordinate data；
S706 determines the relativeness of scan coordinate system Yu the preset frame of reference according to angle information, to pass through phase
The frame of reference is scaled to by scan coordinate system by the first coordinate data to relationship；
S708 establishes the first coordinate data corresponding point cloud information in the frame of reference by preset algorithm；
S710 generates corresponding image information according to point cloud information；
S712 shows image information.
In this embodiment, before obtaining the step of surveying the first coordinate data of environment in week, inclination angle detection is controlled first
Device obtains the angle information between scanning means and preset datum plane, and determines scan coordinate system and pre- according to angle information
If the frame of reference relativeness, and then scan coordinate system is included into the frame of reference by converting, and then fill scanning
The frame of reference that the coordinate information and engineering set give, if earth coordinates keep unified, to realize data normalization.
After completing coordinate system conversion, control scanning means first scans environment locating for engineering truck, to be worked as by scanning means
First coordinate data of the preceding environment under scan coordinate system；After getting the first coordinate data, worked as by preset algorithm foundation
The corresponding point cloud data of preceding environment further generates the image information with point cloud data, and shows image information.Apply this hair
The technical solution of bright offer is sat by be set to the scanning means real time scan engineering truck local environment in front of engineering truck second
Data are marked, and generate corresponding image information；Engineering staff can work as front ring by image information acquisition in real time in engineering truck
Border situation, and then realize to the real-time control of Tunnel Engineering progress, realize efficient engineering construction.
In one embodiment of the invention, further, as shown in figure 8, scanning processing method further include:
S802 generates the corresponding text data of point cloud information；
S804 generates corresponding daily record data, and storing daily record data according to text data.
In the technical scheme, after generating point cloud information, the corresponding text data of point cloud information is further generated, with
The form of daily record data saves the text data for implementing to generate in engineering construction and storage, to retain the details of engineering construction
For subsequent use.
In description of the invention, term " multiple " then refers to two or more, unless otherwise restricted clearly, term
The orientation or positional relationship of the instructions such as "upper", "lower" is to be merely for convenience of retouching based on orientation or positional relationship described in attached drawing
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention；Term " connection ", " installation ", " fixation " etc. should all
It is interpreted broadly, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be straight
Connect it is connected, can also be indirectly connected through an intermediary.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of the present invention, the description meaning of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Refer to that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present invention, schematic expression of the above terms are not necessarily referring to identical embodiment or example.And
And the particular features, structures, materials, or characteristics of description can be in any one or more of the embodiments or examples with suitable
Mode combines.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of engineering truck with 3-D scanning function characterized by comprising
Car body；
Scanning means is set to the car body towards the side of the engineering truck operative orientation, and the scanning means includes:
Mounting portion, the mounting portion are connected with the car body, and the mounting portion includes the first rotation that can be rotated around first axle
Seat；
Scanner section, the scanner section are set on first rotating seat, and the scanner section includes that can sweep around what the second axis rotated
The laser probe retouching probe and can rotating around third axis, the scanning head are used to scan the ring of the engineering truck operative orientation
Border, to obtain first coordinate data of the environment under the scan coordinate system of the scanning means, the laser probe is used for
Determine the distance between the engineering truck and origin reference location point value；
Tilt angle detector is set on the scanner section, the tilt angle detector for obtain the scanning means with it is preset
Angle information between datum plane；
Controller, the controller are connected with the scanner section and the tilt angle detector, and the controller is used for according to institute
The relativeness that angle information determines the scan coordinate system Yu the preset frame of reference is stated, to incite somebody to action by the relativeness
First coordinate data is scaled to the frame of reference by the scan coordinate system；And
Preset coordinate data of the origin reference location point in the frame of reference are obtained, according to the distance value and described pre-
If coordinate data determines second coordinate data of the engineering truck in the frame of reference；
It is corresponding in the frame of reference that first coordinate data and second coordinate data are established by preset algorithm
Point cloud information；
Wherein, the axis of the axis of the first axle and second axis is mutually perpendicular to, the axis of the first axle and described
The axis of three axis is mutually perpendicular to.
2. the engineering truck according to claim 1 with 3-D scanning function, which is characterized in that the mounting portion also wraps
It includes:
Pedestal is connected with the car body, and the second rotating seat that can be rotated around the 4th axis is provided on the pedestal；
Support base is arranged on second rotating seat, and first rotating seat is connected with the support base, the support base
It is provided with the first cavity, the controller is set in first cavity；
Wherein, the axis of the axis of the first axle and the 4th axis is mutually perpendicular to.
3. the engineering truck according to claim 2 with 3-D scanning function, which is characterized in that the mounting portion also wraps
It includes:
First driving device is set in first cavity, the output end of the first driving device and second rotation
Seat is connected, for driving second rotating seat to rotate around the 4th axis.
4. the engineering truck according to claim 1 with 3-D scanning function, which is characterized in that the scanner section is provided with
The second cavity and third cavity being separated, the scanner section further include:
Second driving device is set in second cavity, the output end of second driving device and first rotation
Seat is connected, for driving first rotating seat to rotate around the first axle；
Third driving device is set in the third cavity, the output end and the laser probe of the third driving device
It is connected, for driving the laser probe to rotate around the third axis.
5. the engineering truck according to claim 1 with 3-D scanning function, which is characterized in that the scanner section also wraps
It includes:
Protective device, the protective device include the 4th cavity, and the laser probe is set in the 4th cavity, described anti-
Protection unit can be rotated around the third axis.
6. the engineering truck according to claim 5 with 3-D scanning function, which is characterized in that the scanner section also wraps
It includes:
Lid, the lid are covered on the 4th cavity, and the opening towards the laser probe is provided on the lid,
The eyeglass of light-transmitting materials is provided in the opening.
7. the engineering truck according to any one of claim 1 to 6 with 3-D scanning function, which is characterized in that described
Scanning means further include:
Counter weight device is connected with the scanner section, and the counter weight device is disposed opposite to each other with the scanning head.
8. a kind of scanning processing method, for the engineering with 3-D scanning function as described in any one of claims 1 to 7
Vehicle, which is characterized in that the scanning processing method includes:
Obtain preset coordinate data of the origin reference location point in the preset frame of reference；
It controls scanning means and scans the origin reference location point to determine the distance between engineering truck and the origin reference location point value, and
The positional relationship between the engineering truck and origin reference location point is determined according to the distance value；
Second of the engineering truck in the frame of reference is determined according to the preset coordinate data and the positional relationship
Coordinate data.
9. scanning processing method according to claim 8, which is characterized in that further include:
Control tilt angle detector obtains the angle information between the scanning means and the datum plane；
It controls the scanning means and scans environment locating for the engineering truck to obtain the environment sweeping in the scanning means
Retouch the first coordinate data under coordinate system；
Determine the relativeness of the scan coordinate system Yu the frame of reference, according to the angle information to pass through the phase
The frame of reference is scaled to by the scan coordinate system by first coordinate data to relationship；
First coordinate data corresponding point cloud information in the frame of reference is established by preset algorithm；
Corresponding image information is generated according to the point cloud information；
Show described image information.
10. scanning processing method according to claim 8 or claim 9, which is characterized in that further include:
Generate the corresponding text data of the point cloud information；
Corresponding daily record data is generated according to the text data, and stores the daily record data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104722.4A CN109682359B (en) | 2019-02-01 | 2019-02-01 | Engineering truck with three-dimensional scanning function and scanning processing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104722.4A CN109682359B (en) | 2019-02-01 | 2019-02-01 | Engineering truck with three-dimensional scanning function and scanning processing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109682359A true CN109682359A (en) | 2019-04-26 |
| CN109682359B CN109682359B (en) | 2024-03-12 |
Family
ID=66195603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910104722.4A Active CN109682359B (en) | 2019-02-01 | 2019-02-01 | Engineering truck with three-dimensional scanning function and scanning processing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109682359B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111964653A (en) * | 2020-09-02 | 2020-11-20 | 石家庄铁道大学 | Railway construction station building positioning data measuring device and positioning method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3264134A1 (en) * | 2016-06-30 | 2018-01-03 | Topcon Corporation | Laser scanner system and registration method of point cloud data |
| CN108507466A (en) * | 2018-03-29 | 2018-09-07 | 大连理工大学 | The method that three-dimensional precise information is obtained using two-dimentional line laser scanner |
| CN108535736A (en) * | 2017-03-05 | 2018-09-14 | 苏州中德睿博智能科技有限公司 | Three dimensional point cloud acquisition methods and acquisition system |
| CN108844490A (en) * | 2018-06-25 | 2018-11-20 | 中国铁建重工集团有限公司 | A kind of tunnel contour positioning scanning device and relevant apparatus and method |
| CN209559204U (en) * | 2019-02-01 | 2019-10-29 | 中国铁建重工集团股份有限公司 | Engineering truck with 3-D scanning function |
-
2019
- 2019-02-01 CN CN201910104722.4A patent/CN109682359B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3264134A1 (en) * | 2016-06-30 | 2018-01-03 | Topcon Corporation | Laser scanner system and registration method of point cloud data |
| CN108535736A (en) * | 2017-03-05 | 2018-09-14 | 苏州中德睿博智能科技有限公司 | Three dimensional point cloud acquisition methods and acquisition system |
| CN108507466A (en) * | 2018-03-29 | 2018-09-07 | 大连理工大学 | The method that three-dimensional precise information is obtained using two-dimentional line laser scanner |
| CN108844490A (en) * | 2018-06-25 | 2018-11-20 | 中国铁建重工集团有限公司 | A kind of tunnel contour positioning scanning device and relevant apparatus and method |
| CN209559204U (en) * | 2019-02-01 | 2019-10-29 | 中国铁建重工集团股份有限公司 | Engineering truck with 3-D scanning function |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111964653A (en) * | 2020-09-02 | 2020-11-20 | 石家庄铁道大学 | Railway construction station building positioning data measuring device and positioning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109682359B (en) | 2024-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7081606B2 (en) | Position measuring system | |
| KR101835514B1 (en) | Image processing system for enhancement of the accuracy of air photograph | |
| US7742176B2 (en) | Method and system for determining the spatial position of a hand-held measuring appliance | |
| CN103438829B (en) | A kind of intelligent laser three-dimensional information measurement instrument | |
| US20030137449A1 (en) | GPS-enhanced system and method for automatically capturing and co-registering virtual models of a site | |
| CN106199626A (en) | Based on the indoor three-dimensional point cloud map generation system and the method that swing laser radar | |
| Barber et al. | Laser Scanning and Photogrammetry-21^ t^ h Century Metrology | |
| KR101349116B1 (en) | Editing system of digital map image with developed land scope image | |
| CN109425307A (en) | For scanning the measuring instrument of object and projection information | |
| US12011081B2 (en) | Frame for at least one scanning device and spatial detection device with at least one scanning device | |
| WO2019197064A1 (en) | Construction machine guidance system | |
| KR101905011B1 (en) | Numerical map manufacturing system for posting of reality building based on GPS using a precise height data of reality building | |
| CN109682359A (en) | Engineering truck and scanning processing method with 3-D scanning function | |
| CN209559204U (en) | Engineering truck with 3-D scanning function | |
| KR101259921B1 (en) | Image drawing management system for numerical map based on synthesis positioning information and captured image | |
| CN109682358A (en) | Engineering truck and scanning processing method with 3-D scanning function | |
| CN209214617U (en) | Engineering truck with 3-D scanning function | |
| CN109682360A (en) | Engineering truck and scanning processing method with 3-D scanning function | |
| KR101097898B1 (en) | Drawing system be able to edit the image by gps | |
| CN114894167B (en) | Automatic cave mapping system and method based on multi-sensor technology | |
| CN212903049U (en) | Portable three-dimensional laser scanning system | |
| US10422864B2 (en) | 3D measurement device with rotor in a nested configuration | |
| EP4012333A1 (en) | Stable mobile platform for coordinate measurement | |
| CN209639717U (en) | Engineering truck with 3-D scanning function | |
| KR101099012B1 (en) | Plotting system be able to picture by the aerial cinematography |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 410100 No. 88 East 7 Line of Changsha Economic and Technological Development Zone, Hunan Province Applicant after: China Railway Construction Heavy Industry Co.,Ltd. Address before: 410100 88 East seven road, Changsha economic and Technological Development Zone, Hunan Applicant before: China Railway Construction Heavy Industry Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |