CN118031069A - Intelligent laser scanning equipment for building structure mapping - Google Patents

Intelligent laser scanning equipment for building structure mapping Download PDF

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Publication number
CN118031069A
CN118031069A CN202410444474.9A CN202410444474A CN118031069A CN 118031069 A CN118031069 A CN 118031069A CN 202410444474 A CN202410444474 A CN 202410444474A CN 118031069 A CN118031069 A CN 118031069A
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CN
China
Prior art keywords
frame
mapping
scanning
balancing weight
laser scanning
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Granted
Application number
CN202410444474.9A
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Chinese (zh)
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CN118031069B (en
Inventor
肖培庆
邱永生
王祯
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Rizhao Xincai Construction Engineering Co ltd
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Rizhao Xincai Construction Engineering Co ltd
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Priority to CN202410444474.9A priority Critical patent/CN118031069B/en
Publication of CN118031069A publication Critical patent/CN118031069A/en
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Publication of CN118031069B publication Critical patent/CN118031069B/en
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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/045—Allowing translations adapted to left-right translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses intelligent laser scanning equipment for surveying and mapping of a building structure, which particularly relates to the field of surveying and mapping, and is applied to step surveying and mapping scanning of stairs. The invention is suitable for continuous scanning mapping of steps of stairs, and can automatically position the scanning assembly according to the position distribution of steps of each level, so that the height difference and horizontal distance between the scanning assembly and the steps of each level are kept constant, thereby ensuring that the scanning path is consistent with the corner P path of the steps, avoiding deviation of the scanning path, and simultaneously dynamically adjusting the gravity center position of the balancing weight by utilizing the balance mechanism, so that the scanning assembly always maintains a stable posture, and the consistency and precision of scanning mapping of each step are ensured.

Description

Intelligent laser scanning equipment for building structure mapping
Technical Field
The invention relates to the technical field of surveying and mapping, in particular to intelligent laser scanning equipment for surveying and mapping a building structure.
Background
The laser scanning device is widely applied to building mapping, the accuracy and reliability of mapping data can be greatly improved, the laser scanning device can capture the information of the external structure and the internal space of a building, a high-precision three-dimensional model is generated, and data support is provided for safety evaluation and maintenance of the building.
The laser scanning surveying and mapping of the stairway after preliminary pouring is a common construction quality detection and engineering acceptance means in the building construction process, various dimension data of the stairway can be rapidly and accurately obtained through the laser scanning surveying and mapping, key parameters including the height, width, stepping distance and the like of the stairway are included, the surveying and mapping data are compared with a design drawing, and deviation and quality problems possibly existing in the construction process of the stairway can be timely found and solved.
At present, a surveying staff uses handheld laser scanning equipment to scan and survey stairs step by step, and because the stair environment after preliminary pouring is disordered, certain protective measures are lacked, the surveying staff has large potential safety hazards in the moving process, and the surveying staff can cause the lens to shake randomly when holding the laser scanning equipment, and the scanning process is lacked stable reference positioning, so that the consistency of the surveying environment during the surveying and mapping of each step cannot be guaranteed, and the accuracy and reliability of surveying and mapping results are further affected.
Disclosure of Invention
The invention aims to provide intelligent laser scanning equipment for surveying and mapping a building structure, which aims to solve the problem that the consistency of surveying and mapping environments cannot be ensured in the existing handheld laser surveying and mapping.
The aim of the invention can be achieved by the following technical scheme:
An intelligent laser scanning device for mapping a building structure is applied to step mapping scanning of a stair, wherein the stair comprises a plurality of steps, each step comprises a horizontal plane a and a vertical plane b, and the intersection position of the horizontal plane a and the vertical plane b is marked as a corner P;
The intelligent laser scanning equipment for building structure mapping comprises a frame, travelling mechanisms arranged on two sides of the frame, a balance mechanism arranged above the frame, an adjusting mechanism arranged at the bottom of the balance mechanism and a scanning mechanism connected with the adjusting mechanism;
the balancing mechanism comprises a supporting rod horizontally fixed on the frame and a balancing weight rotationally sleeved on the supporting rod;
the adjusting mechanism comprises a lifting assembly and a traversing assembly, the lifting assembly is used for adjusting the vertical distance between the scanning mechanism and the step horizontal plane a, and the traversing assembly is used for adjusting the horizontal distance between the scanning mechanism and the step vertical plane b;
the scanning mechanism comprises a mounting frame connected with the transverse moving assembly, a scanning assembly arranged on the lower end face of the mounting frame and positioning assemblies symmetrically arranged at two ends of the mounting frame.
As a further scheme of the invention: the walking mechanism comprises driving wheels, walking tracks and a walking motor, wherein the driving wheels are provided with a plurality of groups and are rotatably arranged on the frame, and the walking tracks are movably sleeved on the driving wheels; the walking motor is arranged on the frame and used for driving one group of driving wheels to rotate.
As a further scheme of the invention: the walking track is provided with a plurality of anti-slip teeth, and tooth grooves of the anti-slip teeth are matched with corners P of the steps.
As a further scheme of the invention: the lifting assembly comprises a vertical guide rod, a lifting block and a limiting block, wherein the vertical guide rod is vertically fixed on the lower end face of the balancing weight, the lifting block is vertically sleeved on the vertical guide rod in a sliding manner, and the limiting block is arranged at the lower end part of the vertical guide rod;
The transverse moving assembly comprises a transverse guide rod, a transverse moving block and a spring, wherein the transverse guide rod is horizontally fixed on the lifting block, the transverse moving block is horizontally sleeved on the transverse guide rod in a sliding mode, and the spring is movably sleeved on the transverse guide rod.
As a further scheme of the invention: the scanning assembly comprises a chute arranged on the mounting frame, a laser scanner which is embedded in the chute in a sliding manner, a transmission belt which is installed on the mounting frame in a rotating manner, and a mobile motor for driving the transmission belt, wherein the mobile motor is fixedly installed on the mounting frame, a connecting block is arranged on one side of the laser scanner, and the connecting block is fixedly connected with the transmission belt.
As a further scheme of the invention: the middle part of the mounting frame is provided with a rotating seat, and the rotating seat is rotationally connected with the transverse moving block.
As a further scheme of the invention: a cavity is formed in the balancing weight, a rotating shaft is rotatably arranged in the cavity, a leveling motor for driving the rotating shaft is mounted on the balancing weight, an elastic telescopic shifting fork is fixedly sleeved on the rotating shaft, a leveling shaft is arranged on the bottom surface of the cavity in a rolling mode, and the elastic telescopic shifting fork is matched with the leveling shaft;
The balancing weight is provided with a level gauge for detecting levelness, and the rack is provided with a controller;
The controller is used for controlling the leveling motor to drive the rotating shaft to rotate when the level gauge detects that the balancing weight is offset towards one side, so that the leveling shaft rolls towards the opposite direction of the offset side of the balancing weight until the level gauge detects that the balancing weight is level.
As a further scheme of the invention: the front end of the frame is provided with a propping mechanism, the propping mechanism comprises a first fixing frame fixed on the frame, a cylinder is mounted on the first fixing frame, and a roller is rotatably mounted at the extending end of the cylinder.
As a further scheme of the invention: the positioning assembly comprises a rotating seat arranged on the mounting frame in a rotating way, a positioning rod fixed on the rotating seat and a rotating motor for driving the rotating seat, wherein the rotating motor is fixedly arranged on the mounting frame, and a ball is movably embedded in the tail end of the positioning rod away from the rotating seat.
As a further scheme of the invention: the device is characterized in that the front end of the frame is also provided with an obstacle removing mechanism, the obstacle removing mechanism comprises second fixing frames symmetrically fixed on two sides of the frame, a blowing pump is mounted on the second fixing frames, an air nozzle is connected to the blowing pump, and the air nozzle is located at the front end of the walking crawler belt.
The invention has the beneficial effects that:
The automatic positioning device is suitable for continuous scanning mapping of steps of all levels of stairs, and can automatically position a scanning assembly according to the position distribution of the steps of all levels, so that the height difference and the horizontal distance between the scanning assembly and the steps of all levels are kept constant, the consistency of a scanning path and a corner P path of the steps is ensured, the deviation of the scanning path is avoided, and meanwhile, the gravity center position of a balancing weight is dynamically adjusted by utilizing a balancing mechanism, so that the scanning assembly always keeps a stable posture, and the consistency and the precision of scanning mapping of all the steps are ensured.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a diagram showing a first position distribution of a laser scanning apparatus and a stair according to the present invention;
FIG. 2 is a second position distribution diagram of a laser scanning device and stairs according to the invention;
FIG. 3 is a schematic view of the structure of the stair according to the present invention;
FIG. 4 is a schematic diagram of a laser scanning apparatus according to the present invention;
FIG. 5 is a schematic diagram of a laser scanning apparatus according to a second embodiment of the present invention;
FIG. 6 is a schematic view of a part of the structure of a laser scanning apparatus according to the present invention;
FIG. 7 is an enlarged view of FIG. 6A in accordance with the present invention;
FIG. 8 is a schematic diagram of the structure of the adjustment mechanism and the scanning mechanism of the present invention;
FIG. 9 is a cross-sectional view of a balancing mechanism of the present invention;
FIG. 10 is a schematic view of the construction of the jacking mechanism and the obstacle clearance mechanism of the present invention;
FIG. 11 is a schematic view showing a state in which the laser scanning apparatus of the present invention transitions from a level ground to a stairs;
fig. 12 is a schematic view showing a state of the laser scanning device according to the invention mapped along a stair climbing.
In the figure:
100. A frame;
200. A walking mechanism; 210. a driving wheel; 220. a walking track; 221. anti-slip teeth; 230. a walking motor;
300. A balancing mechanism; 310. a support rod; 320. balancing weight; 321. a cavity; 322. a rotating shaft; 323. an elastic telescopic fork; 324. leveling shafts; 325. a level gauge;
400. An adjusting mechanism; 410. a vertical guide rod; 420. a lifting block; 430. a limiting block; 440. a transverse guide rod; 450. a transverse moving block; 460. a spring;
500. a scanning mechanism; 510. a rotating seat; 520. a mounting frame; 530. a scanning assembly; 531. a chute; 532. a laser scanner; 533. a transmission belt; 534. a moving motor; 535. a connecting block; 540. a positioning assembly; 541. a rotating seat; 542. a positioning rod; 543. a rotating electric machine; 544. a ball;
600. A jacking mechanism; 610. a first fixing frame; 620. a cylinder; 630. a roller;
700. An obstacle clearing mechanism; 710. the second fixing frame; 720. an air blowing pump; 730. an air tap;
800. A controller; 900. stairs.
Detailed Description
The subject matter described herein will now be discussed with reference to example embodiments. It is to be understood that these embodiments are merely discussed so that those skilled in the art may better understand and implement the subject matter described herein and that changes may be made in the function and arrangement of the elements discussed without departing from the scope of the disclosure herein. Various examples may omit, replace, or add various procedures or components as desired. In addition, features described with respect to some examples may be combined in other examples as well.
Referring to fig. 1 and 2, the invention discloses an intelligent laser scanning device for mapping building structures, which is applied to step mapping scanning of stairs 900;
Referring to fig. 3, the stair 900 includes a plurality of steps, each step includes a horizontal plane a and a vertical plane b, and the intersection position of the horizontal plane a and the vertical plane b is referred to as a corner P, and the invention aims to map and scan the contours of the horizontal plane a and the vertical plane b of each step along the corner P by using the scanning mechanism 500, and obtain a three-dimensional point cloud model of each step through scanning and mapping, so as to intuitively obtain the flatness of the horizontal plane a and the perpendicularity of the vertical plane b of each step, and facilitate the subsequent trimming of the stair 900.
Referring to fig. 4 and 5, the intelligent laser scanning device for mapping building structures includes a frame 100, travelling mechanisms 200 disposed on two sides of the frame 100, a balancing mechanism 300 disposed above the frame 100, an adjusting mechanism 400 disposed at the bottom of the balancing mechanism 300, and a scanning mechanism 500 connected to the adjusting mechanism 400;
Referring to fig. 6, the balancing mechanism 300 includes a supporting rod 310 horizontally fixed on the frame 100 and a balancing weight 320 rotatably sleeved on the supporting rod 310;
The adjusting mechanism 400 comprises a lifting assembly and a traversing assembly, wherein the lifting assembly is used for adjusting the vertical distance between the scanning mechanism 500 and the step horizontal plane a, and the traversing assembly is used for adjusting the horizontal distance between the scanning mechanism 500 and the step vertical plane b;
the scanning mechanism 500 comprises a mounting frame 520 connected with the traversing assembly, a scanning assembly 530 arranged on the lower end surface of the mounting frame 520, and positioning assemblies 540 symmetrically arranged at two ends of the mounting frame 520;
Specifically, the whole frame 100 is climbed up step by step along steps of the stair 900 by the travelling mechanism 200, and in the climbing process, the balancing weight 320 can rotate freely relative to the supporting rod 310, so that the balancing weight 320, the adjusting mechanism 400 below and the scanning mechanism 500 are always kept in a vertical state;
When a certain step of the stair 900 needs to be scanned and mapped, the travelling mechanism 200 drives the frame 100 to climb to the step, the balancing weight 320 is just above the step, and under the action of the lifting assembly, the bottom of the positioning assembly 540 is just contacted with the horizontal plane a below the step, so that the height between the scanning assembly 530 and the horizontal plane a of the step is constant; the travelling mechanism 200 continues to climb upwards for a certain distance along the stair 900 until the lateral sides of the two-side positioning assemblies 540 are attached to the vertical surface b of the step, under the action of the traversing assemblies, so that the horizontal distance between the scanning assembly 530 and the vertical surface b of the step is ensured to be constant;
The bottom of the positioning component 540 is contacted with the horizontal plane a below the step of the stage by the double adjustment of the lifting component and the traversing component, and meanwhile, the side edge of the positioning component 540 is attached to the vertical plane b of the step of the stage, so that the scanning mechanism 500 is positioned at a position with a constant height right above the corner P of the step of the stage, the positioning of the scanning mechanism 500 is realized, and the consistency and the scanning precision of scanning and mapping of each stage of the step are ensured;
it should be noted that, because the gravity center of the balancing weight 320 is located under the supporting rod 310, no matter how the gradient of the stair 900 is, correspondingly, no matter how the inclination angle of the frame 100 is, the balancing weight 320 can rotate freely relative to the supporting rod 310, so as to maintain the posture of the balancing weight to be unchanged, and further the postures of the adjusting mechanism 400 and the scanning mechanism 500 below the balancing weight are not changed due to the inclination of the frame 100, so that the stability of the laser scanning process is ensured;
In addition, in practical applications, the weight of the balancing weight 320 should be greater than the sum of the weights of the adjusting mechanism 400 and the scanning mechanism 500, alternatively, the weight of the balancing weight 320 may be several times the sum of the weights of the adjusting mechanism 400 and the scanning mechanism 500, so that the weight of the balancing weight 320 itself is much greater than the sum of the weights of the adjusting mechanism 400 and the scanning mechanism 500, and the adjusting mechanism 400 has a negligible effect on the center of gravity of the balancing weight 320 when adjusting the position of the scanning mechanism 500.
In one embodiment, referring to fig. 6, considering the stability of the frame 100 when climbing along the stairs 900, the travelling mechanism 200 includes driving wheels 210, a travelling crawler 220 and a travelling motor 230, the driving wheels 210 are provided with a plurality of groups and are rotatably mounted on the frame 100, and the travelling crawler 220 is movably sleeved on each driving wheel 210; the travelling motor 230 is mounted on the frame 100 and is used for driving one group of driving wheels 210 to rotate;
Specifically, when climbing along the stair 900, the walking tracks 220 on two sides are in contact with the corners P of the multi-stage steps, and the driving wheel 210 is driven to rotate by the walking motor 230, so that the walking tracks 220 are driven to move, and the climbing of the walking tracks 220 is realized by utilizing the friction between the walking tracks 220 and the steps, and the crawler-type stair climbing machine in the prior art can be referred to specifically;
It should be noted that, under the weight of the whole frame 100, the belt surface of the walking track 220 contacted with the multi-stage steps can be deformed completely in a self-adaptive manner, so that the walking track 220 can be ensured to be contacted with the corners P of the multi-stage steps, and in practical application, the length of the walking track 220 can be adjusted, so that the walking track 220 can be contacted with the corners P of at least three groups of steps all the time, sufficient gripping force is provided between the walking track 220 and the stairs 900, and slippage between equipment and the steps in the climbing process is avoided;
in addition, in practical application, the center of gravity distribution of the rack 100 can be adjusted, so that the overall center of gravity of the rack 100 is close to the front end, and backward turning caused by tilting of the front end in the equipment climbing process is avoided.
Further, in order to enable the walking track 220 to better interact with the steps, referring to fig. 7, a plurality of anti-slip teeth 221 are provided on the walking track 220, and tooth grooves of the anti-slip teeth 221 are adapted to corners P of the steps; when the walking crawler 220 climbs to a designated position along the stair 900, the corner P of each step is clamped into the tooth groove corresponding to the anti-skid tooth 221, and the contact area of the walking crawler 220 and the step can be greatly increased due to the contour adaptation of the tooth groove and the corner P, so that the friction force of the walking crawler 220 and the step is increased, and the anti-skid performance is improved.
In yet another embodiment, referring to fig. 6, 8 and 9, the lifting assembly includes a vertical guide 410, a lifting block 420 and a stopper 430, the vertical guide rod 410 is vertically fixed on the lower end surface of the balancing weight 320, the lifting block 420 is vertically sleeved on the vertical guide rod 410 in a sliding manner, and the limiting block 430 is arranged at the lower end part of the vertical guide rod 410;
The transverse moving assembly comprises a transverse guide rod 440, a transverse moving block 450 and a spring 460, wherein the transverse guide rod 440 is horizontally fixed on the lifting block 420, the transverse moving block 450 is horizontally sleeved on the transverse guide rod 440 in a sliding manner, and the spring 460 is movably sleeved on the transverse guide rod 440;
Specifically, the lifting block 420 can be lifted and adjusted along the vertical guide rod 410, so as to adjust the overall height of the scanning mechanism 500, and under the action of gravity, the scanning mechanism 500 drives the lifting block 420 to descend until the bottom of the positioning component 540 contacts with the horizontal plane a of a certain step; similarly, the traversing block 450 can slide horizontally along the transverse guide rod 440, so as to adjust the horizontal position of the scanning mechanism 500, when the frame 100 climbs up along the stairs 900, the traversing block 450 always moves towards the feeding direction of the frame 100 under the elastic force of the spring 460 until the side edge of the positioning component 540 contacts with the vertical surface b of a certain step;
In summary, under the dual actions of the lifting assembly and the traversing assembly, the bottom of the positioning assembly 540 can always contact with the horizontal plane a of a certain step, and meanwhile, the side edge of the positioning assembly 540 contacts with the vertical plane b of a certain step, and the scanning assembly 530 is located just above the corner P of the corresponding step, so that the automatic positioning of the scanning assembly 530 can be realized only by climbing the frame 100 to a rough position, so as to ensure the consistency and precision of scanning and mapping of each step;
When the scanning and mapping of a group of steps are completed, the travelling mechanism 200 drives the frame 100 to climb upwards by approximately one step distance, at this time, the balancing weight 320 is lifted upwards synchronously, the moving path of the balancing weight 320 can be decomposed into a vertical lifting path and a horizontal feeding path, on the horizontal feeding path, the lifting block 420 can also move horizontally synchronously, at this time, the side edge of the positioning component 540 still abuts against the vertical surface b of the step, so that the traversing block 450 cannot move horizontally synchronously, the traversing block 450 and the lifting block 420 slide relatively, and the spring 460 is compressed; on the vertical lifting path, the balancing weight 320 drives the vertical guide rod 410 to move upwards relative to the lifting block 420 until the limiting block 430 contacts with the lifting block 420, so that the lifting block 420 is driven to move upwards synchronously, meanwhile, the positioning assembly 540 also moves upwards along with the lifting block until the bottom of the positioning assembly 540 is higher than the corner P of the step, and then the positioning assembly 540 can be lifted to the step on the previous layer, and then the positioning of the positioning assembly 540 and the step on the previous layer is completed again under the action of the regulating mechanism 400; by means of the circulation, continuous scanning mapping of steps on the stair 900 can be achieved.
In an embodiment, referring to fig. 6 and 8, the scanning assembly 530 includes a chute 531 formed on the mounting frame 520, a laser scanner 532 slidably embedded in the chute 531, a driving belt 533 rotatably mounted on the mounting frame 520, and a moving motor 534 for driving the driving belt 533, wherein the moving motor 534 is fixedly mounted on the mounting frame 520, a connecting block 535 is disposed at one side of the laser scanner 532, and the connecting block 535 is fixedly connected with the driving belt 533;
Specifically, the driving belt 533 is driven to move by the moving motor 534, and the laser scanner 532 can be driven to slide back and forth along the chute 531 under the driving of the connecting block 535;
After the positioning assembly 540 completes positioning the scanning assembly 530, the laser scanner 532 can be driven by the moving motor 534 to move horizontally along the path of the corner P, so as to perform mapping scanning on different positions of the step.
The laser scanner 532 is a prior art, and the specific model is not limited.
Further, considering that there is a certain error in the width of the two ends of each step, especially the rotating stairs, the steps are in a sector shape, and the difference in the width of the two ends of the same step is large, for the above situation, when the frame 100 climbs up the stairs 900, it is likely that the positioning component 540 on one side of the scanning component 530 is already attached to the vertical surface b of the step, and the positioning component 540 on the other side of the scanning component 530 is not yet attached to the vertical surface b of the step, so that the scanning path of the subsequent laser scanner 532 cannot be consistent with the corner P path of the step, thereby causing deviation of the scanning path;
For this purpose, a rotating seat 510 is disposed in the middle of the mounting rack 520, and the rotating seat 510 is rotationally connected with the traversing block 450; when the frame 100 climbs up the stairs 900, the positioning component 540 on one side of the scanning component 530 will first engage with the vertical surface b of the step, and as the frame 100 continues to climb, under the thrust of the spring 460, the positioning component 540 engaged with the vertical surface b of the step cannot move continuously, so as to drive the mounting frame 520 to rotate relative to the rotating seat 510 until the positioning component 540 on the other side engages with the vertical surface b of the step;
That is, regardless of the form of the stair 900, that is, regardless of whether the widths of the two ends of the step are consistent, the mounting rack 520 can adaptively rotate during the positioning process, so that the two side positioning assemblies 540 can be attached to the vertical surface b of the step, thereby ensuring that the scanning path of the laser scanner 532 is consistent with the corner P path of the step, and avoiding the deviation of the scanning path.
In a further embodiment, considering that when the adjusting mechanism 400 performs positioning adjustment on the scanning mechanism 500, the scanning mechanism 500 is entirely deviated to one side of the balancing weight 320, although the weight of the balancing weight 320 can be adjusted, so that the influence of deviation of the scanning mechanism 500 on the gravity center change of the balancing weight 320 is reduced, but the scanning posture of the scanning mechanism 500 is inevitably affected to a certain extent, for this purpose, referring to fig. 9, a cavity 321 is formed in the balancing weight 320, a rotating shaft 322 is rotationally arranged in the cavity 321, a leveling motor (not shown in the drawing) for driving the rotating shaft 322 is mounted on the balancing weight 320, an elastic telescopic fork 323 is fixedly sleeved on the rotating shaft 322, a leveling shaft 324 is rollingly arranged on the bottom surface of the cavity 321, and the elastic telescopic fork 323 is adapted to the leveling shaft 324; the balancing weight 320 is provided with a level meter 325 for detecting levelness;
Referring to fig. 5, the rack 100 is provided with a controller 800; the controller 800 is configured to control the leveling motor to drive the rotating shaft 322 to rotate when the level gauge 325 detects that the balancing weight 320 is offset to one side, so that the leveling shaft 324 rolls in the opposite direction of the offset side of the balancing weight 320 until the level gauge 325 detects that the balancing weight 320 is level;
specifically, when the center of gravity of the balancing weight 320 deviates due to the deviation of the scanning mechanism 500, the leveling motor is utilized to drive the rotating shaft 322 to rotate, so as to drive the elastic telescopic shifting fork 323 to rotate, and the elastic telescopic shifting fork 323 drives the leveling shaft 324 to roll towards the opposite direction of the deviation of the center of gravity of the balancing weight 320, so as to compensate the center of gravity distribution of the balancing weight 320, and the whole center of gravity of the balancing weight 320 is returned to the centering state again, so that the scanning assembly 530 is ensured to always keep a vertical and stable posture for scanning and mapping;
it should be noted that, the elastic telescopic fork 323 can be adaptively telescopic and adjustable, so that the lower end portion thereof can be always in stable contact with the leveling shaft 324, so as to drive the leveling shaft 324 to roll and adjust.
The level 325 is of the prior art, and its specific model is not limited.
In a further embodiment, considering that the equipment transits from the horizontal ground to the climbing stair 900, due to the height limitation of the first stage step, even if the front end of the walking track 220 is tilted upward, the equipment may not climb onto the step by itself, for this reason, referring to fig. 4 and 10, the front end of the frame 100 is provided with a jacking mechanism 600, the jacking mechanism 600 includes a first fixing frame 610 fixed on the frame 100, a cylinder 620 is mounted on the first fixing frame 610, and a roller 630 is rotatably mounted at an extended end of the cylinder 620;
Specifically, referring to fig. 11 and 12, when the equipment needs to be transferred from the horizontal ground to the inclined stair 900, the extending end of the cylinder 620 is pushed out until the roller 630 contacts the horizontal ground, so that the front end of the frame 100 is lifted up to a certain height, at this time, the front end of the walking track 220 is higher than the height of the first stage step, the walking motor 230 drives the walking track 220 to move forward, the roller 630 rolls along the horizontal ground synchronously until the front end of the walking track 220 reaches the position above the first stage step, then the extending end of the cylinder 620 is retracted, so that the roller 630 is separated from the ground, that is, the front end of the walking track 220 is supported on the first stage step, then the walking track 220 continues to feed, that is, the walking track 220 climbs upward step by step along the stair 900;
In particular, even if the walking crawler 220 cannot continue climbing up by itself after reaching the first stage step, the front end of the frame 100 can still be tilted by the jacking mechanism 600, and then the frame 100 is driven to feed forward by the walking crawler 220 for a certain distance until the front end of the walking crawler 220 reaches above the second stage step; this is repeated until the entire walking track 220 transitions completely to the stair 900.
Further, during the process of transferring the apparatus from the horizontal ground to the inclined stair 900, the positioning assembly 540 may interfere with the movement of the apparatus, for this purpose, referring to fig. 6 and 8, the positioning assembly 540 includes a rotating base 541 rotatably disposed on the mounting frame 520, a positioning rod 542 fixed on the rotating base 541, and a rotating motor 543 for driving the rotating base 541, where the rotating motor 543 is fixedly mounted on the mounting frame 520, and a ball 544 is movably embedded in an end of the positioning rod 542 away from the rotating base 541;
When the equipment is transferred to the inclined stair 900 from the horizontal ground, the rotating seat 541 is driven to rotate by the rotating motor 543, so that the positioning rod 542 is rotated and folded to be in a horizontal state, and interference of the positioning rod 542 on normal movement of the equipment is avoided; after the equipment is completely transited to the stair 900, the rotating seat 541 is driven to reversely rotate by the rotating motor 543, so that the positioning rod 542 is rotated and stretched to be in a vertical state, and the subsequent positioning function is realized;
The ball 544 is arranged at the end part of the positioning rod 542, so that when the end part of the positioning rod 542 and the step relatively move, the ball 544 can be driven to roll in a self-adaptive manner, thereby reducing the resistance between the positioning rod 542 and the step and avoiding the conditions of jamming or causing abrasion of the positioning rod 542.
It should be noted that, the stair 900 generally includes multiple sections, where a certain corner exists between adjacent sections, when the equipment reaches the corner of the stair 900, since the running tracks 220 on two sides of the frame 100 are independently controlled by the running motors 230 on the same side, the running travel of the running tracks 220 on two sides of the frame 100 can be controlled, that is, the travel of the inner-ring running track 220 is small, and the travel of the outer-ring running track 220 is large, so as to complete the turning of the equipment.
Furthermore, considering that the surface of the poured stair 900 has more dust and broken stone impurities, the climbing stability of the walking track 220 is seriously affected, for this reason, referring to fig. 4 and 10, the front end of the frame 100 is further provided with an obstacle removing mechanism 700, the obstacle removing mechanism 700 includes a second fixing frame 710 symmetrically fixed on two sides of the frame 100, a blowing pump 720 is installed on the second fixing frame 710, a gas nozzle 730 is connected to the blowing pump 720, and the gas nozzle 730 is located at the front end of the walking track 220;
The steps on the stair 900 are blown by the air tap 730 on the blowing pump 720, so that dust, broken stone sundries and the like at the front end of the walking track 220 are cleaned, the walking track 220 can be contacted with the steps more stably, and the overall stability is improved.
The embodiment has been described above with reference to the embodiment, but the embodiment is not limited to the above-described specific implementation, which is only illustrative and not restrictive, and many forms can be made by those of ordinary skill in the art, given the benefit of this disclosure, are within the scope of this embodiment.

Claims (10)

1. An intelligent laser scanning device for mapping a building structure is characterized by being applied to step mapping scanning of a stair (900), wherein the stair (900) comprises a plurality of steps, each step comprises a horizontal plane a and a vertical plane b, and the intersection position of the horizontal plane a and the vertical plane b is marked as a corner P;
The intelligent laser scanning equipment for building structure mapping comprises a frame (100), travelling mechanisms (200) arranged on two sides of the frame (100), a balancing mechanism (300) arranged above the frame (100), an adjusting mechanism (400) arranged at the bottom of the balancing mechanism (300) and a scanning mechanism (500) connected with the adjusting mechanism (400);
The balancing mechanism (300) comprises a supporting rod (310) horizontally fixed on the frame (100), and a balancing weight (320) rotatably sleeved on the supporting rod (310);
the adjusting mechanism (400) comprises a lifting assembly and a traversing assembly, wherein the lifting assembly is used for adjusting the vertical distance between the scanning mechanism (500) and the step horizontal plane a, and the traversing assembly is used for adjusting the horizontal distance between the scanning mechanism (500) and the step vertical plane b;
the scanning mechanism (500) comprises a mounting frame (520) connected with the transverse moving assembly, a scanning assembly (530) arranged on the lower end face of the mounting frame (520) and positioning assemblies (540) symmetrically arranged at two ends of the mounting frame (520).
2. The intelligent laser scanning device for mapping building structures according to claim 1, wherein the travelling mechanism (200) comprises driving wheels (210), travelling caterpillar tracks (220) and a travelling motor (230), the driving wheels (210) are provided with a plurality of groups and are rotatably mounted on the frame (100), and the travelling caterpillar tracks (220) are movably sleeved on the driving wheels (210); the walking motor (230) is arranged on the frame (100) and is used for driving one group of driving wheels (210) to rotate.
3. The intelligent laser scanning device for mapping building structures according to claim 2, wherein a plurality of anti-slip teeth (221) are arranged on the walking crawler belt (220), and tooth grooves of the anti-slip teeth (221) are matched with corners P of steps.
4. The intelligent laser scanning device for mapping of building structures according to claim 1, wherein the lifting assembly comprises a vertical guide rod (410), a lifting block (420) and a limiting block (430), the vertical guide rod (410) is vertically fixed on the lower end face of the balancing weight (320), the lifting block (420) is vertically sleeved on the vertical guide rod (410) in a sliding manner, and the limiting block (430) is arranged at the lower end part of the vertical guide rod (410);
The transverse moving assembly comprises a transverse guide rod (440), a transverse moving block (450) and a spring (460), wherein the transverse guide rod (440) is horizontally fixed on the lifting block (420), the transverse moving block (450) is horizontally sleeved on the transverse guide rod (440) in a sliding mode, and the spring (460) is movably sleeved on the transverse guide rod (440).
5. The intelligent laser scanning device for mapping building structures according to claim 1, wherein the scanning assembly (530) comprises a chute (531) formed in the mounting frame (520), a laser scanner (532) slidably embedded in the chute (531), a transmission belt (533) rotatably mounted on the mounting frame (520) and a moving motor (534) for driving the transmission belt (533), the moving motor (534) is fixedly mounted on the mounting frame (520), a connecting block (535) is arranged on one side of the laser scanner (532), and the connecting block (535) is fixedly connected with the transmission belt (533).
6. The intelligent laser scanning device for mapping building structures according to claim 4, wherein a rotating seat (510) is arranged in the middle of the mounting frame (520), and the rotating seat (510) is rotationally connected with the transverse moving block (450).
7. The intelligent laser scanning device for building structure mapping according to claim 1, wherein a cavity (321) is formed in the balancing weight (320), a rotating shaft (322) is rotationally arranged in the cavity (321), a leveling motor for driving the rotating shaft (322) is arranged on the balancing weight (320), an elastic telescopic shifting fork (323) is fixedly sleeved on the rotating shaft (322), a leveling shaft (324) is arranged on the bottom surface of the cavity (321) in a rolling mode, and the elastic telescopic shifting fork (323) is matched with the leveling shaft (324);
the balancing weight (320) is provided with a level meter (325) for detecting levelness, and the frame (100) is provided with a controller (800);
The controller (800) is used for controlling the leveling motor to drive the rotating shaft (322) to rotate when the level meter (325) detects that the balancing weight (320) is offset towards one side, so that the leveling shaft (324) rolls towards the opposite direction of the offset side of the balancing weight (320) until the level meter (325) detects that the balancing weight (320) is level.
8. The intelligent laser scanning device for mapping building structures according to claim 1, wherein a jacking mechanism (600) is arranged at the front end of the frame (100), the jacking mechanism (600) comprises a first fixing frame (610) fixed on the frame (100), an air cylinder (620) is mounted on the first fixing frame (610), and a roller (630) is rotatably mounted at the extending end of the air cylinder (620).
9. The intelligent laser scanning device for mapping building structures according to claim 8, wherein the positioning assembly (540) comprises a rotating seat (541) rotatably arranged on the mounting frame (520), a positioning rod (542) fixed on the rotating seat (541), and a rotating motor (543) for driving the rotating seat (541), the rotating motor (543) is fixedly arranged on the mounting frame (520), and a ball (544) is movably embedded at the end of the positioning rod (542) far away from the rotating seat (541).
10. The intelligent laser scanning device for mapping of building structures according to claim 1, wherein an obstacle removing mechanism (700) is arranged at the front end of the frame (100), the obstacle removing mechanism (700) comprises second fixing frames (710) symmetrically fixed on two sides of the frame (100), an air blowing pump (720) is installed on the second fixing frames (710), an air nozzle (730) is connected to the air blowing pump (720), and the air nozzle (730) is located at the front end of the walking crawler belt (220).
CN202410444474.9A 2024-04-15 2024-04-15 Intelligent laser scanning equipment for building structure mapping Active CN118031069B (en)

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