CN112697070A - Narrow or hidden space three-dimensional data acquisition device and acquisition method - Google Patents
Narrow or hidden space three-dimensional data acquisition device and acquisition method Download PDFInfo
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Abstract
The invention discloses a device and a method for acquiring three-dimensional data in a narrow or hidden space, wherein the acquisition device comprises a laser probe assembly, a fixed support and a connecting support rod, and the laser probe assembly is connected with the fixed support through the connecting support rod and matched with the laser probe assembly to move and rotate; the laser probe assembly comprises a shell, a detection assembly, a control assembly and a data acquisition assembly, wherein the control assembly is arranged in the shell, the upper end and the lower end of the control assembly are respectively connected with the detection assembly and the data acquisition assembly, and the upper end and the lower end of the shell are provided with movable telescopic protective covers to expose and hide the control assembly and the data acquisition assembly; the narrow or hidden space three-dimensional data acquisition device integrates hardware and software, greatly accelerates the working efficiency, and can acquire the narrow or hidden space three-dimensional data in real time and carry out a series of human-computer interaction.
Description
Technical Field
The invention relates to the technical field of narrow or hidden space three-dimensional data acquisition, in particular to a narrow or hidden space three-dimensional data acquisition device and an acquisition method.
Background
With the increasing demand of various industries in the modern scientific information era on spatial data, the conventional data acquisition mode and data processing mode cannot meet the informatization demand, measured data is converted from a two-dimensional form to a three-dimensional form in a mapping system, digital urban three-dimensional reconstruction, ancient building protection, reverse engineering and the like, and three-dimensional point cloud data acquisition becomes an indispensable part as the basis of the system. The device has the advantages of high precision, portability, simple structure and easy construction, and the price is a plurality of key factors of the three-dimensional point cloud data acquisition system.
For some places with narrow spaces or where the space is concealed, the acquisition of data is very difficult. If the underground karst cave and the goaf have the conditions of small downward aperture, complex space form, large burial depth, unavailable access of personnel and measuring equipment, high safety risk and the like, conventional manual measurement cannot be carried out, however, common underground cavity detection means comprise geological drilling, borehole television, electrical method, transient electromagnetism, seismic reflection, ground penetrating radar and the like, the general positions of the underground cavities can be found by the conventional detection means, and the three-dimensional form and the volume of the underground cavities cannot be accurately found. In the three-dimensional digital research of the ancient architecture, the ancient architecture has the defects of different degrees in the three-dimensional model construction by using a single means due to the complex structure and the fine components. Although ground three-dimensional laser scanning can acquire three-dimensional point cloud data of the historic building rapidly, due to the limitation of erection of the ground laser scanner, a scanning blind area exists in a top component of the historic building. In the process of three-dimensional data acquisition of a large lava cave, due to the limitation of a platform and a ground-based equipment instrument which are carried in a water-land alternative way in the cave or the characteristics of strange shape and mutual shielding of stalactites of an object to be scanned, the acquired data often has an incomplete phenomenon. The three-dimensional point cloud data missing phenomenon not only affects the data integrity, but also affects subsequent data processing work such as three-dimensional model reconstruction, local space information extraction and the like.
And only a few corresponding instruments are available abroad aiming at the scene conditions of the underground cavity and the goaf. An Optech-CMS cave scanning system in Canada is mainly used for monitoring the displacement of a filling body, measuring the rock burst damage range of blasting efficiency, measuring an open mining area and the like, thereby improving the mining efficiency, increasing the mine benefit and ensuring safer operation. A mine fine (mieei) integrated three-dimensional laser measurement system, also from GeoSight, canada, can continuously assist in improving the production efficiency of a mine by using three-dimensional measurement data that accurately simulates the goaf structure of an ore body. There are also two instruments from the uk MDL company, one is a laser-based goaf measurement system-goaf scanner-probe rod type three-dimensional laser scanner VS150, which is specially produced for mine goaf measurement, and one is an underground space three-dimensional laser scanning system C-ALS, which can put a laser probe inside the goaf through a borehole extending from the earth's surface to the inside of the goaf, and rapidly and safely perform laser three-dimensional scanning on the goaf. Although the instruments are suitable for three-dimensional data acquisition of underground cavities and goafs, the instruments are suitable for three-dimensional data acquisition of underground cavities and goafs. The equipment is expensive, the basic price is between one million and two million, and the complexity of the operation and the cost generated by the whole detection process are high.
In summary, in the prior art, when three-dimensional data of a hidden space is acquired, an underground karst cave is detected, the general specification of the diameter of a drilling hole is 16.8cm, the hole diameter is small, the buried depth is large, the space form is complex, the form and the volume of the underground cavity cannot be accurately detected, the form and the volume of the underground cavity cannot be determined, and the detection limitation is large; when three-dimensional data of a narrow space are acquired and stalactite three-dimensional data of an ancient building or a lava cave are acquired, the ancient building is complex in structure and fine in components, and due to the fact that the shape of the stalactite is different, shielding is too much, and complete three-dimensional data cannot be acquired; meanwhile, the three-dimensional laser scanner aiming at the underground goaf only has a few foreign devices in the current market, and has the advantages of high price, complex operation and high detection cost.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a narrow or hidden space three-dimensional data acquisition device and an acquisition method, which directly acquire high-precision three-dimensional data in a narrow or hidden space in an active measurement mode.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
a three-dimensional data acquisition device for a narrow or hidden space comprises a laser probe assembly, a fixed support and a connecting support rod, wherein the laser probe assembly is connected with the fixed support through the connecting support rod and matched with the laser probe assembly to move and rotate; the laser probe assembly comprises a shell, a detection assembly and a data acquisition assembly, wherein a control assembly is arranged in the shell, the upper end and the lower end of the control assembly are respectively connected with the detection assembly and the data acquisition assembly, and the upper end and the lower end of the shell are provided with movable telescopic protective covers to expose and hide the detection assembly and the data acquisition assembly;
the detection assembly is used for searching a working area position and acquiring a video or a picture used for establishing a model through a 360-degree wireless infrared camera connected with a single-rod support, the data acquisition assembly comprises a laser radar and a water contact alarm, the laser radar is connected and installed with a control assembly through a transmission assembly and the single-rod support and is used for laser scanning to acquire three-dimensional point cloud data, and the control assembly is used for data transmission processing, voltage conversion stability and remote control operation.
Furthermore, the control assembly comprises an MPU, a voltage conversion and stabilizer, a data transmitter, a remote relay control remote switch, a speed reduction motor and a transmission gear, wherein the MPU, the voltage conversion and stabilizer, the data transmitter, the remote relay control remote switch, the speed reduction motor and the transmission gear are arranged in the middle of the alloy plate, one end of the speed reduction motor and the transmission gear is provided with the MPU and the data transmitter, and the other end of the speed reduction motor and the transmission gear is provided with the voltage conversion and stabilizer.
Further, the transmission gear in the middle of the alloy plate is meshed with a movable protective cover with a transmission rack on the shell, the movable protective cover comprises an upper end protective cover and a lower end protective cover, and the detection assembly and the data acquisition assembly are movably exposed and hidden up and down under the action of the transmission gear.
Furthermore, the alarm that touches water of data acquisition subassembly is installed in the lower extreme safety cover, and laser radar's drive assembly comprises two intermeshing's that control through the gear motor, and the drive gear after the meshing is connected the angle change that realizes the radar through pivot and laser radar and is surveyed.
Further, the fixed bolster includes that angle calibrated scale, flexible foot rest, gear motor and circuit board constitute, and gear motor is installed to flexible foot rest upper end, and gear motor passes through gear engagement with the angle calibrated scale and is connected, the fixed bolster is used for fixing and goes up and down to connect branch to the cooperation data scanning of rotating.
Furthermore, connecting branch is alloy material, and connecting branch is inside cavity, and the one side is equipped with the through-wire groove to divide into anodal and negative pole with both ends, connecting branch runs through in the angle calibrated scale of fixed bolster and sets up flexible locking mechanical system.
Another objective of the present invention is to provide a data acquisition method based on a narrow or hidden space three-dimensional data acquisition device;
the data acquisition method comprises the following steps:
s1: the fixed support is erected at a place where data needs to be acquired, the support rods are connected according to the required length, the communication line and the power line are connected to the laser probe along the communication line slot in the process, the north direction of each connecting support rod is aligned to one direction, and the connecting support rods are fixed on the fixed support;
s2: the laser probe is placed into the underground cavity by using the connecting support rod, and when the laser probe enters the cavity, the upper end protective cover is opened to expose the 360-degree wireless infrared camera to work, so that the position of the karst cave is searched, and a video is recorded for manufacturing a model of the lower cavity;
s3: when the position of the karst cave is found, stopping lowering the connecting supporting rod, opening the lower end protective cover to expose the laser radar and enter a working state, adjusting the motor to adjust the laser radar for scanning through the transmission gear according to the requirement, and processing data through the functional module to obtain space three-dimensional data;
s4: the three-dimensional form of the scanning target is gradually obtained through the control of the PC terminal.
Further, in S3, the data obtained by the lidar is processed by designing a functional module based on PCL and Open 3G, where the functional module includes:
a point cloud data module: the system is used for reading and storing point cloud files, converting point cloud formats and inquiring data information;
a visualization module: the method is used for point cloud style and three-dimensional point cloud interaction;
a point cloud filtering module: the data is used for point cloud data compression and data drying;
a point cloud registration module: the method is used for point cloud rough registration and point cloud fine registration;
a model reconstruction module: the method is used for establishing the triangulation network and the three-dimensional model;
an auxiliary function module: for model volume calculation, external calibration and interactive base operations;
and developing other modules on the basis of the point cloud data module, taking the point cloud filtering, point cloud registration and model reconstruction modules as main bodies of the whole application program, realizing the man-machine interaction of the other modules by using the visualization module, and supplementing the requirements of other functional modules by using the auxiliary function module.
Further, the S4 realizes PC-side control through an application program, that is, the man-machine interface of the PC-side controls the lidar to collect data through the application program, and the functional module performs data processing to obtain three-dimensional visual data.
The invention has the beneficial effects that:
the narrow or hidden space three-dimensional data acquisition device is reasonable and controllable in cost aiming at the device for detecting the narrow or hidden space, and does not need millions of costs of the existing equipment;
the scanning range of the narrow or hidden space three-dimensional data acquisition device is from 0.1m to 30m, so that the problems of small visual distance range of a drilling television and a blind area of a laser scanner are solved, and the functions of the drilling television and the laser scanner are combined. The device is used for accurately detecting the three-dimensional form of the underground cavity, acquiring videos or photos, and establishing a model for narrow drill holes and karst caves by combining the acquired three-dimensional data;
the device for acquiring the three-dimensional data in the narrow or hidden space solves the current situation that the current domestic market almost has no laser radar for detecting geological drilling. If the traditional method is used, an accurate model of the underground cavity can not be obtained, the construction safety is threatened, and the construction cost is greatly increased;
the device for acquiring the three-dimensional data of the narrow or hidden space overcomes the limitation of the traditional measurement technology, adopts a non-contact active measurement mode to directly acquire the high-precision three-dimensional data, and can automatically scan the narrow or hidden space layer by 360 degrees from top to bottom and from left to right.
The narrow or hidden space three-dimensional data acquisition device integrates hardware and software, greatly accelerates the working efficiency, and can acquire the narrow or hidden space three-dimensional data in real time and carry out a series of human-computer interaction.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic overall structure diagram of a narrow or hidden space three-dimensional data acquisition device according to an embodiment of the present invention;
FIG. 2 is a structural diagram illustrating an operating state of a laser probe assembly according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a laser probe assembly according to an embodiment of the present invention in a non-operating state;
FIG. 4 is a schematic structural diagram of a probe assembly according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a control assembly according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a data acquisition assembly according to an embodiment of the present invention;
FIG. 7 is a schematic view of a laser radar and transmission assembly according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a transmission assembly according to an embodiment of the present invention;
FIG. 9 is a schematic view of the connection between the housing and the movable protective cover according to the embodiment of the present invention;
FIG. 10 is a schematic structural view of a connecting strut according to an embodiment of the present invention;
FIG. 11 is a schematic view of the connection leg according to the embodiment of the present invention;
FIG. 12 is a schematic view of a mounting bracket according to an embodiment of the invention;
FIG. 13 is a schematic view of the attachment of the mounting bracket according to the embodiment of the present invention;
FIG. 14 is a flowchart illustrating operation of a laser probe assembly according to an embodiment of the present invention;
FIG. 15 is a block diagram of functional modules according to an embodiment of the present invention;
FIG. 16 is a schematic diagram of a PC side control according to an embodiment of the present invention;
the parts in the drawings are numbered as follows:
1-laser probe assembly, 101-detection assembly, 1011-plus-360-degree wireless infrared camera, 1012-single rod support, 102-control assembly, 1021-alloy plate, 1022-reduction motor, 1023-transmission gear, 1024-MPU, 1025-data transmitter, 1026-voltage conversion and stabilizer, 1027-remote relay control remote control switch, 103-data acquisition assembly, 1031-laser radar, 1032-water touch alarm, 1033-transmission assembly, 104-shell, 105-movable protective cover, 1051-upper protective cover, 1052-lower protective cover, 1053-rack, 2-connecting support rod, 201-through wire groove, 3-fixed support, 301-dial, 302-telescopic foot rest, 303-reduction motor and circuit board.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-16
Example 1
A three-dimensional data acquisition device for narrow or hidden space comprises a laser probe assembly 1, a fixed support 3 and a connecting support rod 2, wherein the laser probe assembly 1 is connected with the fixed support 3 through the connecting support rod 2 and is matched with the laser probe assembly 1 to move and rotate; the laser probe assembly 1 comprises a shell 104, a detection assembly 101, a control assembly 102 and a data acquisition assembly 103, wherein the control assembly 102 is installed in the shell 104, the upper end and the lower end of the control assembly 102 are respectively connected with and installed on the detection assembly 101 and the data acquisition assembly 103, and a movable telescopic movable protection cover 105 is installed at the upper end and the lower end of the shell 104 to expose and hide the detection assembly 101 and the data acquisition assembly 103;
the laser probe assembly 1 is a core part of the device, has the specification of 40cm in height and 10cm in diameter, and is divided into an upper end detection assembly 101, a middle end control assembly 102 and a lower end data acquisition assembly 103, as shown in fig. 2 and 3;
the detection assembly 101 is a 360-degree wireless infrared camera 1011 connected through a single-rod support, is 10cm high, is mainly used for searching a working area position (such as an underground karst cave or cavity area position), and consists of the 360-degree wireless infrared camera 101, the single-rod support and a protective cover with a rack;
the middle-end control assembly 102 is used for data transmission processing, voltage conversion stabilization and remote control operation, as shown in fig. 5:
the specification is 20cm high, and the device is mainly used for placing parts and comprises an MPU (micro processor unit) 1024, a voltage conversion (220V to 12V) and voltage stabilizer 1026, a data transmitter 1025, a remote relay control remote switch 1027, a speed reduction motor 1022, a transmission gear 1023 and an alloy plate 1021;
a voltage converter: the laser radar and the driving electrical appliance need about 12V voltage, but in consideration of the problem of long-distance voltage attenuation, 220V voltage is transmitted to the laser probe part from the ground, and a voltage converter is used for voltage transformation and power supply;
a voltage stabilizer: the voltage output is stabilized, the normal work of the laser radar and other electrical appliances is ensured, and the instrument damage is prevented;
a data transmitter: converting the serial port of the laser radar into Ethernet to output data;
reduction motor + gear: the gear is driven by the speed reducing motor to be brought to the protective covers at the upper end and the lower end, so that the two ends are in a working state;
remote relay control remote switch: two speed reducing motors for driving the protective cover and a speed reducing motor for driving the laser radar to rotate are remotely controlled through the switch;
MPU (microprocessor): all modules are connected to a microprocessor for programming development and are transmitted to a computer end, and the computer end is used for controlling modules such as voltage input, data transmission, electric appliance driving, compass rotation of a fixed support and the like;
alloy plate: for supporting and placing the appliance.
The lower end data acquisition assembly is 10cm high, is mainly used for laser scanning to acquire three-dimensional point cloud data, and consists of a laser radar (the scanning range is 360 degrees multiplied by 20 degrees, the diameter is 7.6cm, the height is 4cm, and the ranging range is 0.08-25m)1031, a water contact alarm 1032, a speed reduction motor, two gears, a single-rod support and a protective shell with a rack, and is used for laser scanning to acquire the three-dimensional point cloud data;
a transmission gear 1023 in the middle of the alloy plate 1021 is meshed with a movable protective cover 105 with a transmission rack on the shell 104, the movable protective cover 105 comprises an upper end protective cover 1051 and a lower end protective cover 1052, and the detection assembly 101 and the data acquisition assembly 103 are movably exposed and hidden up and down under the action of the transmission gear 1023;
the water contact alarm 1032 of the data acquisition assembly 103 is installed on the lower end protection cover 1052, the transmission assembly 1033 of the laser radar 1031 is composed of two gears which are controlled by a speed reduction motor and meshed with each other, and the meshed transmission gear is connected with the laser radar 1031 through a rotating shaft to realize radar angle change detection.
Fixed bolster 3 includes that angle calibrated scale 301, flexible foot rest 302, gear motor and circuit board 303 constitute, and flexible foot rest 302 upper end installation gear motor, gear motor pass through gear engagement with the angle calibrated scale and are connected, fixed bolster 3 is used for fixing and goes up and down to connect branch 2 to the cooperation data scanning of rotating.
The fixed bracket 3 is made of stainless steel and consists of an angle dial, a telescopic foot rest, a gear, a reduction motor and a circuit board. The connecting support rod is used for fixing and lifting the connecting support rod and is matched with data scanning in a rotating mode.
The using method comprises the following steps: and aligning the north direction of the connecting support rod to the 0 direction of the angle dial, and after the laser radar finishes scanning one surface, transferring the speed reduction motor to a specified scale to scan the next surface.
The connecting support rod is made of alloy materials, the connecting support rod is hollow, one surface of the connecting support rod is provided with a through line groove, the two ends of the connecting support rod are divided into a positive electrode and a negative electrode, and the connecting support rod penetrates through the angle dial of the fixed support and is provided with a telescopic locking mechanism;
the connecting support rod is made of alloy materials and has the characteristics of lightness, hardness and the like. The connecting support rod is 1m in specification and is divided into a positive electrode and a negative electrode, one surface of the support rod is provided with a through line groove, and the through line groove is arranged in the north direction. The passage slots occupy an interior space, thereby facilitating the lifting of the struts. And the wire through groove is exposed, which is mainly convenient for checking and smooth for the problem.
The using method comprises the following steps: according to actual conditions, the length of the anode and the cathode of the connecting support rod is increased to transmit the laser probe to a narrow or concealed space.
Example 2
A data acquisition method based on a narrow or hidden space three-dimensional data acquisition device;
the data acquisition method comprises the following steps:
s1: the fixed support is erected at a place where data needs to be acquired, the support rods are connected according to the required length, the communication line and the power line are connected to the laser probe along the communication line slot in the process, the north direction of each connecting support rod is aligned to one direction, and the connecting support rods are fixed on the fixed support;
s2: the laser probe is placed into the underground cavity by using the connecting support rod, and when the laser probe enters the cavity, the upper end protective cover is opened to expose the 360-degree wireless infrared camera to work, so that the position of the karst cave is searched, and a video is recorded for manufacturing a model of the lower cavity;
s3: when the position of the karst cave is found, stopping lowering the connecting supporting rod, opening the lower end protective cover to expose the laser radar and enter a working state, adjusting the motor to adjust the laser radar for scanning through the transmission gear according to the requirement, and processing data through the functional module to obtain space three-dimensional data;
s4: the three-dimensional form of the scanning target is gradually obtained through the control of the PC terminal.
The S3 processes data obtained by the lidar through a PCL and Open 3G-based design function module, where the function module includes:
a point cloud data module: the system is used for reading and storing point cloud files, converting point cloud formats and inquiring data information;
a visualization module: the method is used for point cloud style and three-dimensional point cloud interaction;
a point cloud filtering module: the data is used for point cloud data compression and data drying;
a point cloud registration module: the method is used for point cloud rough registration and point cloud fine registration;
a model reconstruction module: the method is used for establishing the triangulation network and the three-dimensional model;
an auxiliary function module: for model volume calculation, external calibration and interactive base operations;
and developing other modules on the basis of the point cloud data module, taking the point cloud filtering, point cloud registration and model reconstruction modules as main bodies of the whole application program, realizing the man-machine interaction of the other modules by using the visualization module, and supplementing the requirements of other functional modules by using the auxiliary function module.
And S4, the control of the PC end is realized through an application program, namely, the man-machine interaction interface of the PC end controls the laser radar to acquire data through the application program, and the functional module performs data processing to acquire three-dimensional visual data.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. A narrow or hidden space three-dimensional data acquisition device is characterized in that: the device comprises a laser probe assembly, a fixed support and a connecting support rod, wherein the laser probe assembly is connected with the fixed support through the connecting support rod and is matched with the laser probe assembly to move and rotate; the laser probe assembly comprises a shell, a detection assembly and a data acquisition assembly, wherein a control assembly is arranged in the shell, the upper end and the lower end of the control assembly are respectively connected with the detection assembly and the data acquisition assembly, and the upper end and the lower end of the shell are provided with movable telescopic protective covers to expose and hide the detection assembly and the data acquisition assembly;
the detection assembly is used for searching a working area position and acquiring a video or a picture used for establishing a model through a 360-degree wireless infrared camera connected with a single-rod support, the data acquisition assembly comprises a laser radar and a water contact alarm, the laser radar is connected and installed with a control assembly through a transmission assembly and the single-rod support and is used for laser scanning to acquire three-dimensional point cloud data, and the control assembly is used for data transmission processing, voltage conversion stability and remote control operation.
2. The narrow or hidden space three-dimensional data acquisition device of claim 1, wherein: the control assembly comprises an MPU, a voltage conversion and stabilizer, a data transmitter, a remote relay control remote switch, a speed reducing motor and a transmission gear which are arranged on the alloy plate, the speed reducing motor and the transmission gear are arranged in the middle of the alloy plate, one end of the speed reducing motor is provided with the MPU and the data transmitter, and the other end of the speed reducing motor is provided with the voltage conversion and stabilizer and the remote relay control remote switch.
3. The narrow or hidden space three-dimensional data acquisition device of claim 2, wherein: the transmission gear in the middle of the alloy plate is meshed with a movable protective cover with a transmission rack on the shell, the movable protective cover comprises an upper end protective cover and a lower end protective cover, and the detection assembly and the data acquisition assembly are movably exposed and hidden up and down under the action of the transmission gear.
4. The narrow or hidden space three-dimensional data acquisition device of claim 3, wherein: the water-contact alarm of the data acquisition assembly is installed on the lower end protection cover, the transmission assembly of the laser radar is composed of two gears which are controlled by a speed reduction motor and meshed with each other, and the transmission gear after meshing is connected with the laser radar through a rotating shaft to realize radar angle change detection.
5. The narrow or hidden space three-dimensional data acquisition device of claim 1, wherein: the fixed bolster includes angle calibrated scale, flexible foot rest, gear motor and circuit board constitution, and gear motor is installed to flexible foot rest upper end, and gear motor passes through gear engagement with the angle calibrated scale and is connected, the fixed bolster is used for fixing and lift connection branch to the clearance fit data scan.
6. The narrow or hidden space three-dimensional data acquisition device of claim 5, wherein: the connecting support rod is made of alloy materials, the connecting support rod is hollow inside, a through line groove is formed in one surface of the connecting support rod, the two ends of the connecting support rod are divided into a positive pole and a negative pole, and the connecting support rod penetrates through the angle dial of the fixed support and is provided with a telescopic locking mechanism.
7. A data acquisition method using the apparatus for acquiring three-dimensional data in narrow or hidden space of claim 1, wherein:
the data acquisition method comprises the following steps:
s1: the fixed support is erected at a place where data needs to be acquired, the support rods are connected according to the required length, the communication line and the power line are connected to the laser probe along the communication line slot in the process, the north direction of each connecting support rod is aligned to one direction, and the connecting support rods are fixed on the fixed support;
s2: the laser probe is placed into the underground cavity by using the connecting support rod, and when the laser probe enters the cavity, the upper end protective cover is opened to expose the 360-degree wireless infrared camera to work, so that the position of the karst cave is searched, and a video is recorded for manufacturing a model of the lower cavity;
s3: when the position of the karst cave is found, stopping lowering the connecting supporting rod, opening the lower end protective cover to expose the laser radar and enter a working state, adjusting the motor to adjust the laser radar for scanning through the transmission gear according to the requirement, and processing data through the functional module to obtain space three-dimensional data;
s4: the three-dimensional form of the scanning target is gradually obtained through the control of the PC terminal.
8. The data acquisition method of the apparatus for acquiring three-dimensional data in a narrow or hidden space according to claim 7, wherein:
the S3 processes data obtained by the lidar through a PCL and Open 3G-based design function module, where the function module includes:
a point cloud data module: the system is used for reading and storing point cloud files, converting point cloud formats and inquiring data information;
a visualization module: the method is used for point cloud style and three-dimensional point cloud interaction;
a point cloud filtering module: the data is used for point cloud data compression and data drying;
a point cloud registration module: the method is used for point cloud rough registration and point cloud fine registration;
a model reconstruction module: the method is used for establishing the triangulation network and the three-dimensional model;
an auxiliary function module: for model volume calculation, external calibration and interactive base operations;
and developing other modules on the basis of the point cloud data module, taking the point cloud filtering, point cloud registration and model reconstruction modules as main bodies of the whole application program, realizing the man-machine interaction of the other modules by using the visualization module, and supplementing the requirements of other functional modules by using the auxiliary function module.
9. The data acquisition method of the apparatus for acquiring three-dimensional data in a narrow or hidden space according to claim 7, wherein: and S4, the control of the PC end is realized through an application program, namely, the man-machine interaction interface of the PC end controls the laser radar to acquire data through the application program, and the functional module performs data processing to acquire three-dimensional visual data.
10. Use of the apparatus for acquiring three-dimensional data of a narrow or covered space according to claim 1 for narrow or covered space detection.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113721257A (en) * | 2021-07-26 | 2021-11-30 | 西北核技术研究所 | Underground explosion cavity morphology detection device and operation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113721257A (en) * | 2021-07-26 | 2021-11-30 | 西北核技术研究所 | Underground explosion cavity morphology detection device and operation method thereof |
| CN113721257B (en) * | 2021-07-26 | 2023-09-01 | 西北核技术研究所 | Underground explosion cavity morphology detection device and operation method thereof |
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