CN109682359B - Engineering truck with three-dimensional scanning function and scanning processing method - Google Patents
Engineering truck with three-dimensional scanning function and scanning processing method Download PDFInfo
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- CN109682359B CN109682359B CN201910104722.4A CN201910104722A CN109682359B CN 109682359 B CN109682359 B CN 109682359B CN 201910104722 A CN201910104722 A CN 201910104722A CN 109682359 B CN109682359 B CN 109682359B
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- 238000010276 construction Methods 0.000 description 14
- 238000006243 chemical reaction Methods 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 3
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- 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
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- 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
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- 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
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides an engineering vehicle with a three-dimensional scanning function and a scanning processing method, wherein the engineering vehicle comprises the following components: a vehicle body; the scanning device is arranged on one side of the vehicle body facing the working direction of the engineering vehicle, and comprises: the mounting part is connected with the vehicle body and comprises a first rotating seat capable of rotating around a first shaft; the scanning part is arranged on the first rotating seat and comprises a scanning probe capable of rotating around a second shaft and a laser probe capable of rotating around a third shaft, the scanning probe is used for obtaining first coordinate data of the environment under a scanning coordinate system of the scanning device, and the laser probe is used for determining a distance value between the engineering truck and a reference positioning point; the dip angle detector is arranged on the scanning part; the controller is connected with the scanning part and the inclination angle detector and is used for converting the first coordinate data from a scanning coordinate system to a reference coordinate system; and establishing point cloud information corresponding to the first coordinate data and the second coordinate data in the reference coordinate system.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to an engineering truck with a three-dimensional scanning function and a scanning processing method.
Background
In order to achieve the precision and the intellectualization of tunnel construction, it becomes important to establish a point cloud model diagram of a tunnel through a three-dimensional scanner. Along with the gradual promotion of the mechanization, the digitalization and the informatization of tunnel construction, the three-dimensional reconstruction of the tunnel is indispensable for realizing accurate and intelligent construction. Three-dimensional scanning is a key place for realizing three-dimensional reconstruction. Three-dimensional scanning is to acquire three-dimensional point cloud data of a tunnel, and because laser has the characteristics of small divergence angle and good directivity, scanners based on laser technology are widely applied to ranging, and point data is obtained through time difference between laser emission and laser reception.
The traditional scanning is realized by adopting a commercial three-dimensional scanner or constructing a three-dimensional laser scanner by a two-dimensional rotating platform and a one-dimensional laser range finder. The commercial three-dimensional scanner is low in protection level, is commonly used in the field or indoor environment, cannot be used for the vehicle-mounted working condition of the tunnel engineering machinery, and is complex in structure and high in price. The three-dimensional laser scanner is built by the two-dimensional rotating platform and the one-dimensional laser range finder, tunnel scanning can be realized by the scheme, but the one-time scanning range is small, so that the scanning speed and the scanning precision cannot be achieved.
The existing three-dimensional laser scanner has very strict requirements on the working environment, needs to spend a great deal of time for environment arrangement before use, cannot realize follow-up with engineering vehicles, cannot be synchronously carried out with construction progress, and has low working efficiency.
Therefore, a technical scheme capable of synchronously performing three-dimensional laser scanning along with the construction progress is needed at present.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art or related art.
To this end, a first aspect of the present invention proposes an engineering vehicle having a three-dimensional scanning function.
A second aspect of the present invention proposes a scanning processing method.
In view of this, a first aspect of the present invention provides an engineering vehicle with a three-dimensional scanning function, including: a vehicle body; the scanning device is arranged on one side of the vehicle body facing the working direction of the engineering vehicle, and comprises: the mounting part is connected with the vehicle body and comprises a first rotating seat capable of rotating around a first shaft; the scanning part is arranged on the first rotating seat and comprises a scanning probe capable of rotating around a second shaft and a laser probe capable of rotating around a third shaft, the scanning probe is used for scanning the environment of the working direction of the engineering truck so as to obtain first coordinate data of the environment under a scanning coordinate system of the scanning device, and the laser probe is used for determining a distance value between the engineering truck and a reference positioning point; the inclination angle detector is arranged on the scanning part and is used for acquiring angle information between the scanning device and a preset reference plane; the controller is connected with the scanning part and the inclination angle detector and is used for determining the relative relation between the scanning coordinate system and a preset reference coordinate system according to the angle information so as to convert the first coordinate data from the scanning coordinate system to the reference coordinate system through the relative relation; the method comprises the steps of obtaining preset coordinate data of a reference positioning point in a reference coordinate system, and determining second coordinate data of the engineering vehicle in the reference coordinate system according to a distance value and the preset coordinate data; establishing point cloud information corresponding to the first coordinate data and the second coordinate data in a reference coordinate system through a preset algorithm; wherein, the axis of the first axle and the axis of the second axle are mutually perpendicular, and the axis of the first axle and the axis of the third axle are mutually perpendicular.
In the technical scheme, the vehicle body of the engineering vehicle is provided with the scanning device, and three-dimensional laser scanning of the surrounding environment of the engineering vehicle can be realized through the scanning device. The scanning device specifically comprises an installation part, a scanning part and a controller; the installation part is connected with the vehicle body, and a rotating seat is arranged on the installation part and can rotate around a first shaft; the scanning part is arranged on the rotating seat and comprises a scanning probe, the scanning probe can rotate along a second axis, so that the scanning probe can scan a conical space formed by a sector taking the first axis as a reference and a sector taking the second axis as a reference, and first coordinate data of the surrounding environment in the conical space under a scanning coordinate system of the scanning device can be obtained. The scanning device is also provided with an inclination detector. Because the ground of the tunnel is not necessarily kept horizontal when the engineering truck is constructed in the tunnel, the posture of the scanning device can be changed due to the change of the posture of the engineering truck. Therefore, in order to keep the environmental coordinate data scanned by the scanning device consistent with the reference coordinate system of engineering construction, the inclination angle detector is arranged to acquire the angle information of the scanning device and the reference plane in real time, the relative relation between the scanning coordinate system and the reference coordinate system is further determined, and the coordinate data scanned by the relative relation is converted from the scanning coordinate system to the reference coordinate system, so that data standardization is realized. Meanwhile, the scanning part further comprises a laser probe capable of rotating around a third shaft, the laser probe can measure the distance value between any reference positioning point of the engineering vehicle in a conical space formed by a sector taking the first shaft as a reference and a sector taking the third shaft as a reference, wherein preset coordinate data of the reference positioning point in a reference coordinate system are known, and therefore second coordinate data of the engineering vehicle in the reference coordinate system can be calculated through the distance value and the preset coordinate data, so that accurate positioning of the engineering vehicle is achieved. By applying the technical scheme provided by the invention, the engineering vehicle is provided with the scanning device, so that the engineering vehicle can synchronously travel with the engineering vehicle without manual setting, the engineering vehicle can synchronously scan along with the engineering progress, meanwhile, the engineering vehicle can be accurately positioned by arranging the laser probe, and the scanned coordinates can be classified into a reference coordinate system, such as a geodetic coordinate system by arranging the inclination angle detector, so that the working efficiency is greatly improved. The engineering personnel can directly master the point cloud information acquired by the scanning device in the engineering vehicle, so that the real-time control of the tunnel engineering progress is realized, and the efficient engineering construction is realized.
In addition, the engineering truck in the technical scheme provided by the invention can also have the following additional technical characteristics:
in the above technical solution, further, the mounting portion further includes: the base is connected with the vehicle body and is provided with a second rotating seat which can rotate around a fourth shaft; the support seat is arranged on the second rotating seat, the first rotating seat is connected with the support seat, the support seat is provided with a first cavity, and the controller is arranged in the first cavity; wherein the axis of the first shaft and the axis of the fourth shaft are perpendicular to each other.
In the technical scheme, the mounting part comprises a base, and the base is connected with the vehicle body; specifically, the base can be connected by adopting a connecting piece such as welding, riveting or a bolt; the base is provided with a second rotating seat, and the second rotating seat can rotate around a fourth shaft, so that the whole rotatability of the scanning device is realized; the supporting seat is connected with the base through the second rotating seat, and the first rotating seat is connected with the supporting seat, wherein the supporting seat is provided with a first cavity for accommodating the controller, so that the controller is protected. The axes of the first shaft and the fourth shaft are mutually perpendicular, so that the scanning precision of the scanning probe and the laser probe is improved.
In any of the above embodiments, further, the mounting portion further includes: the first driving device is arranged in the first cavity, and the output end of the first driving device is connected with the second rotating seat and used for driving the second rotating seat to rotate around the fourth shaft.
In the technical scheme, a first driving device is further arranged in the first cavity, and preferably, the first driving device is a stepping motor; the output end of the first driving device is connected with the second rotating seat so as to realize the rotation of the second rotating seat around the fourth shaft.
In any of the above solutions, further, the scanning portion is provided with a second cavity and a third cavity separated from each other, and the scanning portion further includes: the second driving device is arranged in the second cavity, and the output end of the second driving device is connected with the first rotating seat and is used for driving the first rotating seat to rotate around the first shaft; the third driving device is arranged in the third cavity, and the output end of the third driving device is connected with the laser probe and used for driving the laser probe to rotate around a third shaft.
In the technical scheme, the scanning part is provided with a second cavity and a third cavity which are separated from each other and are respectively used for accommodating a second driving device and a third driving device, the second driving device is used for driving the first rotating seat to rotate around the first shaft, and the third driving device is used for driving the laser probe to rotate around the third shaft. Through setting up second cavity and the third cavity of separating each other, realized the reasonable distribution of space, adopted reliable physical isolation in second drive arrangement and the third drive arrangement simultaneously, ensured rotation control's accuracy, improved scanning device's reliability, ensured equipment internal structure scientific and compact simultaneously.
In any of the above aspects, further, the scanning unit further includes: the protection device comprises a fourth cavity, the laser probe is arranged in the fourth cavity, and the protection device can rotate around a third shaft.
In this technical scheme, the scanning portion is provided with protector for protecting the laser probe. Specifically, the protection device comprises a fourth cavity, and the laser probe is arranged in the fourth cavity. The protection device can synchronously rotate around the third shaft along with the laser probe.
In any of the above aspects, further, the scanning unit further includes: the cover body covers the fourth cavity, an opening facing the laser probe is formed in the cover body, and a lens made of a light-transmitting material is arranged on the opening.
In the technical scheme, the scanning part is further provided with a cover body covering the fourth cavity so as to further protect the laser probe. Wherein, the cover body is provided with an opening facing the laser probe, and a lens made of light-transmitting material is arranged on the opening; the lens is preferably made of toughened glass or artificial crystal; so that the laser rays emitted by the laser probe can be emitted through the opening, and the environment is scanned.
In any of the foregoing solutions, further, the scanning device further includes: the counterweight device is connected with the scanning part and is arranged opposite to the scanning probe.
In this technical scheme, scanning device still is provided with counterweight, sets up in the back of scanning portion, sets up with scanning probe in opposite directions, and in the rotatory in-process of scanning portion, counterweight can make the focus of scanning portion more stable, and simultaneously when scanning portion rotated to specific angle, counterweight can also provide the power of specific direction in order to make the rotation of scanning portion more smooth and easy.
A second aspect of the present invention provides a scanning processing method, including: acquiring preset coordinate data of a reference positioning point in a preset reference coordinate system; the scanning device is controlled to scan the reference positioning point to determine a distance value between the engineering vehicle and the reference positioning point, and the position relationship between the engineering vehicle and the reference positioning point is determined according to the distance value; and determining second coordinate data of the engineering vehicle in the reference coordinate system according to the preset coordinate data and the position relation.
In the technical scheme, preset coordinate data of a reference positioning point in a preset reference coordinate system is firstly obtained, and a scanning device, particularly a laser probe, is controlled to scan the reference positioning point so as to determine a distance value between the engineering vehicle and the reference positioning point. Preferably, three datum positioning points are arranged, and are particularly positioned in different directions of the laser probe; after the distance value between the engineering truck and the reference positioning point is obtained, the position relation between the engineering truck and the reference positioning point can be determined according to the distance value, the engineering truck is provided with preset coordinate data carried into the reference positioning point, and second coordinate data of the engineering truck in a reference coordinate system, namely a geodetic coordinate system, is obtained through calculation by the position relation and the preset coordinate data, so that the accurate positioning of the engineering truck is realized.
In the above technical solution, further, the scanning processing method further includes: controlling an inclination angle detector to acquire angle information between the scanning device and a reference plane; controlling the scanning device to scan the environment of the engineering vehicle to obtain first coordinate data of the environment under a scanning coordinate system of the scanning device; determining a relative relation between the scanning coordinate system and the reference coordinate system according to the angle information, so as to convert the first coordinate data from the scanning coordinate system to the reference coordinate system through the relative relation; establishing point cloud information corresponding to the first coordinate data in a reference coordinate system through a preset algorithm; generating corresponding image information according to the point cloud information; and displaying the image information.
In the technical scheme, before the step of acquiring first coordinate data of a circumference measurement environment, an inclination angle detector is controlled to acquire angle information between a scanning device and a preset reference plane, the relative relation between a scanning coordinate system and the preset reference coordinate system is determined according to the angle information, the scanning coordinate system is classified into the reference coordinate system through conversion, and coordinate information obtained by the scanning device is kept uniform with a reference coordinate system given by engineering, such as a geodetic coordinate system, so that data standardization is realized. After coordinate system conversion is completed, firstly controlling a scanning device to scan the environment where the engineering vehicle is located so as to obtain first coordinate data of the current environment under a scanning coordinate system through the scanning device; after the first coordinate data is obtained, point cloud data corresponding to the current environment is established through a preset algorithm, image information of the point cloud data is further generated, and the image information is displayed. By applying the technical scheme provided by the invention, the first coordinate data of the environment where the engineering truck is positioned is scanned in real time through the scanning device arranged in front of the engineering truck, and corresponding image information is generated; the engineering personnel can acquire the current environment condition in real time through the image information in the engineering truck, so that the real-time control of the tunnel engineering progress is realized, and the efficient engineering construction is realized.
In any of the above technical solutions, further, the scanning processing method further includes: generating text data corresponding to the point cloud information; and generating corresponding log data according to the text data, and storing the log data.
In the technical scheme, after the point cloud information is generated, text data corresponding to the point cloud information is further generated, and the text data generated in the implementation of the engineering is saved and stored in a log data mode so as to preserve the details of the engineering construction for subsequent use.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 illustrates a schematic structural diagram of an engineering vehicle with three-dimensional scanning function according to one embodiment of the present invention;
fig. 1.1 shows a schematic structural diagram of a scanning device according to an embodiment of the invention;
fig. 2 shows a schematic structural view of a scanning device according to another embodiment of the present invention;
fig. 3 shows a schematic structural view of a scanning device according to a further embodiment of the present invention;
fig. 4 shows a schematic structural view of a scanning device according to still another embodiment of the present invention;
fig. 5 shows a schematic structural view of a scanning device according to still another embodiment of the present invention;
FIG. 6 shows a flow chart of a scan processing method according to an embodiment of the invention;
FIG. 7 shows a flow chart of a scan processing method according to another embodiment of the invention;
fig. 8 shows a flow chart of a scanning processing method according to a further embodiment of the invention.
Wherein, the correspondence between the reference numerals and the component names in fig. 1 to 5 is:
1 car body, 2 scanning device, 20 installation department, 202 first swivel mount, 204 base, 206 second swivel mount, 208 supporting seat, 40 scanning portion, 402 scanning probe, 404 laser probe, 406 protector, 60 counter weight device.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
An engineering truck having a three-dimensional scanning function and a scanning processing method according to some embodiments of the present invention are described below with reference to fig. 1 to 8.
As shown in fig. 1 to 5, in an embodiment of the first aspect of the present invention, there is provided an engineering vehicle having a three-dimensional scanning function, including: a vehicle body 1; the scanning device 2 is arranged on one side of the vehicle body 1 facing the working direction of the engineering vehicle, and the scanning device 2 comprises: a mounting portion 20, the mounting portion 20 being connected to the vehicle body 1, the mounting portion 20 including a first swivel base 202 rotatable about a first axis; the scanning part 40 is arranged on the first rotating seat 202, the scanning part 40 comprises a scanning probe 402 capable of rotating around a second axis and a laser probe 404 capable of rotating around a third axis, the scanning probe 402 is used for scanning the environment of the working direction of the engineering truck so as to obtain first coordinate data of the environment under a scanning coordinate system of the scanning device 2, and the laser probe 404 is used for determining a distance value between the engineering truck and a reference positioning point; the inclination detector is arranged on the scanning part 40 and is used for acquiring angle information between the scanning device 2 and a preset reference plane; a controller connected to the scanning section 40 and the tilt detector, the controller determining a relative relationship between the scanning coordinate system and a preset reference coordinate system according to the angle information, so as to convert the first coordinate data from the scanning coordinate system to the reference coordinate system through the relative relationship; the method comprises the steps of obtaining preset coordinate data of a reference positioning point in a reference coordinate system, and determining second coordinate data of the engineering vehicle in the reference coordinate system according to a distance value and the preset coordinate data; establishing point cloud information corresponding to the first coordinate data and the second coordinate data in a reference coordinate system through a preset algorithm; wherein, the axis of the first axle and the axis of the second axle are mutually perpendicular, and the axis of the first axle and the axis of the third axle are mutually perpendicular.
In this embodiment, the vehicle body 1 of the engineering vehicle is provided with a scanning device 2, and three-dimensional laser scanning of the surrounding environment of the engineering vehicle can be realized by the scanning device 2. The scanner 2 specifically includes a mounting portion 20, a scanner portion 40, and a controller; the mounting part 20 is connected with the vehicle body 1, and a rotating seat is arranged on the mounting part 20 and can rotate around a first shaft; the scanning unit 40 is disposed on the rotating base, and the scanning unit 40 includes a scanning probe 402, and the scanning probe 402 can rotate along a second axis, so that the scanning probe 402 can implement a conical space formed by a sector with a first axis as a reference and a sector with a second axis as a reference, so as to obtain first coordinate data of the surrounding environment in the conical space under a scanning coordinate system of the scanning device 2. The scanning device 2 is also provided with an inclination detector. Because the ground of the tunnel is not necessarily kept horizontal when the engineering truck is constructed in the tunnel, the posture of the scanning device 2 is changed due to the change of the posture of the engineering truck. Therefore, in order to keep the environmental coordinate data scanned by the scanning device 2 consistent with the reference coordinate system of engineering construction, the inclination angle detector is arranged to acquire the angle information of the scanning device 2 and the reference plane in real time, and further determine the relative relation between the scanning coordinate system and the reference coordinate system, and coordinate data obtained by scanning is converted from the scanning coordinate system to the reference coordinate system through the relative relation, so that data standardization is realized. Meanwhile, the scanning part 40 further comprises a laser probe 404 capable of rotating around a third axis, the laser probe 404 can measure a distance value between any reference positioning point of the engineering truck distance in a conical space formed by a sector taking the first axis as a reference and a sector taking the third axis as a reference, wherein preset coordinate data of the reference positioning point in a reference coordinate system are known, and therefore second coordinate data of the engineering truck in the reference coordinate system can be calculated through the distance value and the preset coordinate data, so that accurate positioning of the engineering truck is realized. By applying the technical scheme provided by the invention, the engineering truck is provided with the scanning device 2, so that the engineering truck can synchronously travel with the engineering truck without manual setting, and the engineering truck can synchronously scan along with the engineering progress, meanwhile, the engineering truck can be accurately positioned by arranging the laser probe 404, and the scanned coordinates can be classified into a reference coordinate system, such as a geodetic coordinate system by arranging the dip angle detector, so that the working efficiency is greatly improved. The engineering personnel can directly master the point cloud information acquired by the scanning device 2 in the engineering vehicle, so that the real-time control of the tunnel engineering progress is realized, and the efficient engineering construction is realized.
In one embodiment of the present invention, further, as shown in fig. 1 to 5, the mounting portion 20 further includes: a base 204 connected to the vehicle body 1, the base 204 being provided with a second rotating seat 206 rotatable about a fourth axis; the supporting seat 208 is arranged on the second rotating seat 206, the first rotating seat 202 is connected with the supporting seat 208, the supporting seat 208 is provided with a first cavity, and the controller is arranged in the first cavity; wherein the axis of the first shaft and the axis of the fourth shaft are perpendicular to each other.
In this embodiment, the mounting portion 20 includes a base 204, the base 204 being connected to the vehicle body 1; specifically, the base 204 may be connected by welding, riveting, or a connecting member such as a bolt; the base 204 is provided with a second rotating seat 206, and the second rotating seat 206 can rotate around a fourth axis, so that the whole rotatability of the scanning device 2 is realized; the supporting seat 208 is connected with the base 204 through the second rotating seat 206, and the first rotating seat 202 is connected with the supporting seat 208, wherein the supporting seat 208 is provided with a first cavity for accommodating a controller, so as to realize protection of the controller. Wherein the axis of the first shaft is perpendicular to the axis of the fourth shaft to improve the scanning accuracy of the scanning probe 402 and the laser probe 404.
Preferably, two support seats 208, specifically, a first support seat and a second support seat, are provided on two sides of the scanning device 2.
Preferably, the support 208 is provided as one, the scanning device 2 and the first rotation seat 202 being located on the same side of the support 208, connected by a rotation shaft, where redundant bearing references are taken to ensure the service life.
In one embodiment of the present invention, further, as shown in fig. 1 to 5, the mounting portion 20 further includes: the first driving device is disposed in the first cavity, and an output end of the first driving device is connected to the second rotating seat 206 and is used for driving the second rotating seat 206 to rotate around the fourth axis.
In this embodiment, a first driving device is also provided in the first cavity, preferably a stepper motor; the output of the first driving device is connected to the second rotating base 206 to enable the second rotating base 206 to rotate around the fourth axis.
In one embodiment of the present invention, further, as shown in fig. 1 to 5, the scanning part 40 is provided with a second cavity and a third cavity separated from each other, and the scanning part 40 further includes: the second driving device is arranged in the second cavity, and the output end of the second driving device is connected with the first rotating seat 202 and is used for driving the first rotating seat 202 to rotate around the first shaft; and the third driving device is arranged in the third cavity, and the output end of the third driving device is connected with the laser probe 404 and is used for driving the laser probe 404 to rotate around a third axis.
In this embodiment, the scanning section 40 is provided with a second cavity and a third cavity separated from each other for accommodating a second driving means for driving the first rotation seat 202 to rotate about the first axis and a third driving means for driving the laser probe 404 to rotate about the third axis, respectively. Through setting up second cavity and the third cavity of separating each other, realized the reasonable distribution of space, adopted reliable physical isolation in second drive arrangement and the third drive arrangement simultaneously, ensured the accuracy of rotation control, improved the reliability of scanning device 2, ensured equipment internal structure scientific and compact simultaneously. In one embodiment of the present invention, further, as shown in fig. 1 to 5, the scanning section 40 further includes: and a guard 406, the guard 406 including a fourth cavity, the laser probe 404 being disposed in the fourth cavity, the guard 406 being rotatable about a third axis.
In this embodiment, the scanning section 40 is provided with a guard 406 for protecting the laser probe 404. Specifically, the guard 406 includes a fourth cavity, and the laser probe 404 is disposed in the fourth cavity. Wherein the guard 406 is rotatable about the third axis in synchronism with the laser probe 404.
In one embodiment of the present invention, further, as shown in fig. 1 to 5, the scanning section 40 further includes: the cover body covers on the fourth cavity, is provided with the opening towards laser probe 404 on the cover body, is provided with the lens of printing opacity material on the opening.
In this embodiment, the scanning portion 40 is further provided with a cover covering the fourth cavity to achieve further protection of the laser probe 404. Wherein, the cover body is provided with an opening facing the laser probe 404, and a lens made of light-transmitting material is arranged on the opening; the lens is preferably made of toughened glass or artificial crystal; so that the laser beam emitted from the laser probe 404 can be emitted through the opening, thereby realizing the scanning of the environment.
In one embodiment of the present invention, further, as shown in fig. 1 to 5, the scanning apparatus 2 further includes: the counterweight device 60 is connected to the scanning unit 40, and the counterweight device 60 is disposed opposite to the scanning probe 402.
In this embodiment, the scanning device 2 is further provided with a weight device 60 disposed on the back of the scanning portion 40 and opposite to the scanning probe 402, and the weight portion can make the center of gravity of the scanning portion 40 more stable during the rotation of the scanning portion 40, and can provide a force in a specific direction to make the rotation of the scanning portion 40 smoother when the scanning portion 40 rotates to a specific angle.
As shown in fig. 6, in an embodiment of the second aspect of the present invention, there is provided a scanning processing method including:
s602, acquiring preset coordinate data of a reference positioning point in a preset reference coordinate system;
s604, controlling a scanning device to scan a reference positioning point to determine a distance value between the engineering vehicle and the reference positioning point, and determining the position relationship between the engineering vehicle and the reference positioning point according to the distance value;
s606, determining second coordinate data of the engineering truck in the reference coordinate system according to the preset coordinate data and the position relation.
In this embodiment, first, preset coordinate data of a reference positioning point in a preset reference coordinate system is acquired, and a scanning device, specifically a laser probe, is controlled to scan the reference positioning point to determine a distance value between the engineering vehicle and the reference positioning point. Preferably, three datum positioning points are arranged, and are particularly positioned in different directions of the laser probe; after the distance value between the engineering truck and the reference positioning point is obtained, the position relation between the engineering truck and the reference positioning point can be determined according to the distance value, the engineering truck is provided with preset coordinate data carried into the reference positioning point, and second coordinate data of the engineering truck in a reference coordinate system, namely a geodetic coordinate system, is obtained through calculation by the position relation and the preset coordinate data, so that the accurate positioning of the engineering truck is realized.
In one embodiment of the present invention, further, as shown in fig. 7, the scanning processing method further includes:
s702, controlling an inclination detector to acquire angle information between a scanning device and a preset reference plane;
s704, controlling the scanning device to scan the environment where the engineering vehicle is located so as to obtain first coordinate data of the environment under a scanning coordinate system of the scanning device;
s706, determining the relative relation between the scanning coordinate system and a preset reference coordinate system according to the angle information, so as to convert the first coordinate data from the scanning coordinate system to the reference coordinate system through the relative relation;
s708, establishing point cloud information corresponding to the first coordinate data in a reference coordinate system through a preset algorithm;
s710, generating corresponding image information according to the point cloud information;
s712, displaying the image information.
In this embodiment, before the step of acquiring the first coordinate data of the circumference measurement environment, the inclination angle detector is controlled to acquire the angle information between the scanning device and the preset reference plane, and the relative relation between the scanning coordinate system and the preset reference coordinate system is determined according to the angle information, so that the scanning coordinate system is classified into the reference coordinate system through conversion, and the coordinate information obtained by the scanning device is kept uniform with the reference coordinate system given by the engineering, such as the geodetic coordinate system, so as to realize data standardization. After coordinate system conversion is completed, firstly controlling a scanning device to scan the environment where the engineering vehicle is located so as to obtain first coordinate data of the current environment under a scanning coordinate system through the scanning device; after the first coordinate data is obtained, point cloud data corresponding to the current environment is established through a preset algorithm, image information of the point cloud data is further generated, and the image information is displayed. By applying the technical scheme provided by the invention, the second coordinate data of the environment where the engineering truck is positioned is scanned in real time through the scanning device arranged in front of the engineering truck, and corresponding image information is generated; the engineering personnel can acquire the current environment condition in real time through the image information in the engineering truck, so that the real-time control of the tunnel engineering progress is realized, and the efficient engineering construction is realized.
In one embodiment of the present invention, further, as shown in fig. 8, the scanning processing method further includes:
s802, generating text data corresponding to point cloud information;
s804, generating corresponding log data according to the text data and storing the log data.
In the technical scheme, after the point cloud information is generated, text data corresponding to the point cloud information is further generated, and the text data generated in the implementation of the engineering is saved and stored in a log data mode so as to preserve the details of the engineering construction for subsequent use.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are orientation or positional relationship based on the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An engineering vehicle with a three-dimensional scanning function, which is characterized by comprising:
a vehicle body;
the scanning device is arranged on one side of the vehicle body facing the working direction of the engineering vehicle, and comprises:
the mounting part is connected with the vehicle body and comprises a first rotating seat capable of rotating around a first shaft;
the scanning part is arranged on the first rotating seat and comprises a scanning probe capable of rotating around a second shaft and a laser probe capable of rotating around a third shaft, the scanning probe is used for scanning the environment in the working direction of the engineering truck so as to obtain first coordinate data of the environment under a scanning coordinate system of the scanning device, and the laser probe is used for determining a distance value between the engineering truck and a reference positioning point;
the inclination detector is arranged on the scanning part and is used for acquiring angle information between the scanning device and a preset reference plane;
the controller is connected with the scanning part and the inclination angle detector and is used for determining the relative relation between the scanning coordinate system and a preset reference coordinate system according to the angle information so as to convert the first coordinate data from the scanning coordinate system to the reference coordinate system through the relative relation; and
acquiring preset coordinate data of the reference positioning point in the reference coordinate system, and determining second coordinate data of the engineering vehicle in the reference coordinate system according to the distance value and the preset coordinate data;
establishing point cloud information corresponding to the first coordinate data and the second coordinate data in the reference coordinate system through a preset algorithm;
wherein the axis of the first shaft and the axis of the second shaft are perpendicular to each other, and the axis of the first shaft and the axis of the third shaft are perpendicular to each other;
the scanning section further includes:
the protection device comprises a fourth cavity, the laser probe is arranged in the fourth cavity, and the protection device can rotate around the third shaft;
the mounting portion further includes:
the base is connected with the vehicle body, and a second rotating seat capable of rotating around a fourth shaft is arranged on the base;
the support seat is arranged on the second rotating seat, the first rotating seat is connected with the support seat, the support seat is provided with a first cavity, and the controller is arranged in the first cavity;
wherein the axis of the first shaft and the axis of the fourth shaft are perpendicular to each other.
2. The three-dimensional scanning-function-equipped working vehicle according to claim 1, wherein the mounting portion further comprises:
the first driving device is arranged in the first cavity, and the output end of the first driving device is connected with the second rotating seat and used for driving the second rotating seat to rotate around the fourth shaft.
3. The three-dimensional scanning-function-equipped working vehicle according to claim 1, wherein the scanning section is provided with a second cavity and a third cavity that are separated from each other, the scanning section further comprising:
the second driving device is arranged in the second cavity, and the output end of the second driving device is connected with the first rotating seat and is used for driving the first rotating seat to rotate around the first shaft;
the third driving device is arranged in the third cavity, and the output end of the third driving device is connected with the laser probe and used for driving the laser probe to rotate around the third shaft.
4. The three-dimensional scanning-enabled engineering vehicle according to claim 1, wherein the scanning section further comprises:
the cover body covers on the fourth cavity, be provided with on the cover body towards laser probe's opening, be provided with the lens of printing opacity material on the opening.
5. The three-dimensional scanning-enabled engineering vehicle according to any one of claims 1 to 4, wherein the scanning device further comprises:
and the counterweight device is connected with the scanning part and is arranged opposite to the scanning probe.
6. A scanning processing method for the engineering vehicle with a three-dimensional scanning function according to any one of claims 1 to 5, characterized in that the scanning processing method comprises:
acquiring preset coordinate data of a reference positioning point in a preset reference coordinate system;
the scanning device is controlled to scan the reference positioning point to determine a distance value between the engineering vehicle and the reference positioning point, and the position relationship between the engineering vehicle and the reference positioning point is determined according to the distance value;
and determining second coordinate data of the engineering vehicle in the reference coordinate system according to the preset coordinate data and the position relation.
7. The scan processing method according to claim 6, further comprising:
controlling an inclination angle detector to acquire angle information between the scanning device and the reference plane;
controlling the scanning device to scan the environment where the engineering vehicle is located so as to obtain first coordinate data of the environment under a scanning coordinate system of the scanning device;
determining a relative relationship between the scanning coordinate system and the reference coordinate system according to the angle information, so as to convert the first coordinate data from the scanning coordinate system to the reference coordinate system through the relative relationship;
establishing point cloud information corresponding to the first coordinate data in the reference coordinate system through a preset algorithm;
generating corresponding image information according to the point cloud information;
and displaying the image information.
8. The scan processing method according to claim 6 or 7, characterized by further comprising:
generating text data corresponding to the point cloud information;
and generating corresponding log data according to the text data, and storing the log data.
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| 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 |
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