CN206292607U - Supervising device is filled in a kind of earthwork based on 3 D laser scanning - Google Patents
Supervising device is filled in a kind of earthwork based on 3 D laser scanning Download PDFInfo
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- CN206292607U CN206292607U CN201621437905.6U CN201621437905U CN206292607U CN 206292607 U CN206292607 U CN 206292607U CN 201621437905 U CN201621437905 U CN 201621437905U CN 206292607 U CN206292607 U CN 206292607U
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Abstract
Supervising device is filled the utility model discloses a kind of earthwork based on 3 D laser scanning, the monitoring module being monitored is filled including the data detection module on impact-rolling machine and to the constructed earthwork, the monitoring module includes on-site processing module, the remote monitoring module that is communicated with the on-site processing module and it is arranged on staff and the hand-held wireless terminals of control command is sent to impact-rolling machine, the on-site processing module include being arranged on the construct earthwork fill it is live and for storing the presence server of detection data and being connected with the presence server and the in-situ processing terminal of denoising is carried out to detection data, the remote monitoring module includes remote server and remote monitoring terminal, the data detection module includes 3 D laser scanning unit and speed detection unit.The utility model simple structure, it is easy to operate, can in real time, the constructed earthwork is filled be monitored exactly, and monitoring result is accurate.
Description
Technical field
The utility model belongs to the earthwork and fills monitoring technology field, more particularly, to a kind of soil based on 3 D laser scanning
Fill supervising device in side.
Background technology
Cubic metre of earth reclamation work build that deserted mountain barren hill area, topography and geomorphology be complicated, building time is short in, and excavation and filling scale is big, the earthwork
The compaction quality requirement for filling formed earthwork filling body is high.In cubic metre of earth filling construction frequently with engineering method be strong compaction method
And impact-rolling method, strong compaction method is heavy-tamping method, is exactly by 8 tons using giant caterpillar formula dynamic compaction machinery also known as dynamic consolidation method
~40 tons of weight freely falls from 6 meters~40 meters height, using powerful tamping energy, strong shock wave is produced in ground
And dynamic stress, strong compaction is carried out to soil layer；Impact-rolling method utilizes compaction theory, is rammed by cal rolling, soil layer ground
Base is compacted；Because impact-rolling method has production efficiency and economy higher than strong compaction method, the current earthwork is filled
It is to ensure that the earthwork is filled to rolling quality in earthwork filling construction and effectively monitor in construction especially based on impact-rolling method
The key of engineering safety, according to current specifications, the earthwork is filled during impact-rolling quality monitoring mainly fills including the earthwork
The compacting factor monitoring of layer is filled in impact-rolling parameter and the earthwork.Nowadays the supervising device for using, although filled to the earthwork
Certain supervisory function bit, but finally whether qualified monitoring result is can not judge the quality that integrated engineering is filled in the earthwork；In addition, native
Generally traditional core cutter method field sampling during layer fills in side, and the compacting factor of middle fill stratum is filled in the detection earthwork, typically with
A compacting factor for point is used as a compacting factor for aspect of banketing in fill stratum, then with the compacting factor of each aspect of banketing
The compacting factor of equivalent whole earthwork filling body is removed, is the detection of " Points replacing surfaces replace body by face ", testing result exists discrete
Property, its testing result can not truly react the compacting factor of whole earthwork filling body, and the entirely compacting system of earthwork filling body
Number is often depending on the quantity and frequency of sampling, and so operation is not only complicated, high cost, and every sub-sampling and all consumptions of detection
Take manpower and time, staff travels to and fro between job site and test cabinet, and testing efficiency is low, testing progress is unable to high efficiency satisfaction
Construction demand.
As shown in the above, when carrying out the earthwork using current supervising device and fill, not only complex operation, efficiency pole
It is low, it is impossible to meet construction demand, and detection data has deviateed, and the detection data degree of accuracy is relatively low, and measuring result error is larger,
The accurate demand of construction can not be met.
Utility model content
Technical problem to be solved in the utility model is to be directed to above-mentioned deficiency of the prior art, there is provided one kind is based on
Supervising device is filled in the earthwork of 3 D laser scanning, its simple structure, reasonable in design and low cost, uses easy to operate, energy reality
When, the constructed earthwork is filled be monitored exactly, and monitoring result is accurate.
In order to solve the above technical problems, the technical solution adopted in the utility model is：It is a kind of based on 3 D laser scanning
Supervising device is filled in the earthwork, it is characterised in that：Including the data detection module on impact-rolling machine and to soil of constructing
The monitoring module being monitored fills in side, and the monitoring module includes that on-site processing module and the on-site processing module are carried out
The remote monitoring module of communication and it is arranged on staff and the portable wireless of control command is sent to impact-rolling machine
Terminal, the on-site processing module includes being arranged on the constructed earthwork scene of filling and the Site Service for storing detection data
Device and it is connected with the presence server and the in-situ processing terminal of denoising is carried out to detection data, the remote monitoring mould
Block includes the remote server being connected with in-situ processing terminal and the remote monitoring terminal being connected with remote server, the scene
Server carries out RFDC, the Data Detection mould by a 3G wireless communication modules and the data detection module
Block includes 3 D laser scanning unit and the speed detection unit for detecting the rolling speed of the impact-rolling machine, described three
Dimension laser scan unit and speed detection unit connect with a 3G wireless communication modules.
Supervising device is filled in a kind of above-mentioned earthwork based on 3 D laser scanning, it is characterised in that：The Site Service
Device include with the 2nd 3G wireless communication modules of a 3G wireless communication module two-way communications and with the 2nd 3G wireless communication modules
The data storage for connecting, the data storage and in-situ processing terminal are connected.
Supervising device is filled in a kind of above-mentioned earthwork based on 3 D laser scanning, it is characterised in that：The remote monitoring
Terminal includes monitoring computer and the first gsm module connected with monitoring computer, the input termination of the monitoring computer
The output for having parameter set unit, the monitoring computer is terminated with the first display and alarm unit.
Supervising device is filled in a kind of above-mentioned earthwork based on 3 D laser scanning, it is characterised in that：The hand-held without
Line terminal includes main controller and the second gsm module connected with main controller, and the output of the main controller is terminated with second display,
The main controller sends control command to impact-rolling machine.
Supervising device is filled in a kind of above-mentioned earthwork based on 3 D laser scanning, it is characterised in that：The three-dimensional laser
The quantity of scanning element and speed detection unit quantity identical with the quantity of impact-rolling machine and three is multiple, multiple
The 3 D laser scanning unit and speed detection unit are separately mounted on multiple impact-rolling machines, multiple three-dimensional lasers
Scanning element and multiple speed detection units connect with a 3G wireless communication modules.
Supervising device is filled in a kind of above-mentioned earthwork based on 3 D laser scanning, it is characterised in that：The three-dimensional laser
Scanning element includes three-dimensional laser scanner and positioning and orientation module.
The utility model has advantages below compared with prior art：
1st, supervising device simple structure, the reasonable in design and installation laying simplicity for being used, input cost are relatively low.
2nd, the supervising device for being used using easy to operate, can in real time, the constructed earthwork is filled be monitored exactly,
And monitoring result is accurate.
3rd, use the detection efficiency of supervising device high, reduce the complexity of staff's field sampling and detection, not only
Low cost, and manpower and time consumption are reduced, raising detection efficiency is low, meets high efficiency construction demand.
4th, the supervising device using effect for being used is good and monitoring result is accurate, and first, the constructed earthwork can be filled
Each fill stratum in journey carries out real-time detection, reduces because each fill stratum detects the inaccurate error brought, and ensure most
End form into earthwork filling body meet construction quality requirement；Second, 3 D laser scanning unit is installed on impact-rolling machine, adopt
Real-time detection is carried out to each fill stratum with 3 D laser scanning unit, the monitoring afterwards for nowadays using is instead of, makes the earthwork
The detection of filling body is changed to the detection of each fill stratum, by ensureing the quality of each fill stratum, so as to ensure that the earthwork is filled
The quality of body, eliminates the error existed to the finally detection of earthwork filling body, it is ensured that meet construction requirement；3rd, using three
The compacting factor of laser scan unit fill stratum is tieed up, the detection method of current " Points replacing surfaces replace body by face " is instead of, dropped significantly
The error that low quantity and frequency due to sampling is improper and causes, causes the dry density detection to each fill stratum inaccurate；
4th, detection time and artificial energy consumption are saved：Install 3 D laser scanning unit and speed detection unit, it is not necessary to which work people
Member's on-site parameters, just can detect to each fill stratum in real time or periodically, and detection data are wirelessly transmitted to existing
Monitor terminal carries out denoising, and is eventually sent to remote monitoring terminal and carries out remote technical support system, and will monitoring with
Diagnostic process result is wirelessly transmitted to hand-held wireless terminals, and staff is sent to control by operating hand-held wireless terminals
Order is to construction requirement is met, and intelligence degree is high, improves monitoring efficiency, and so that earthwork filling construction process of constructing is easy
It is convenient in controlling and realizing.5th, denoising is carried out by setting in-situ processing terminal-pair detection data, reduces interference signal
The influence for bringing, improves the degree of accuracy of detection data.
In sum, the utility model is reasonable in design, easy to operate and using effect is good, can in real time, exactly to being applied
The work earthwork is filled and is monitored, and monitoring result is accurate.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Fig. 1 is schematic block circuit diagram of the present utility model.
Description of reference numerals:
1-3 D laser scanning unit；2-speed detection unit；3-presence server；
The 3G wireless communication modules of 3-1-the 2nd；3-2-data storage；
4-in-situ processing terminal；5-remote server；6-remote monitoring terminal；
6-1-the first display；6-2-alarm unit；6-3-parameter set unit；
6-4-the first gsm module；6-5-monitoring computer；
7-the one 3G wireless communication modules；8-hand-held control terminal；
8-1-second display；8-2-main controller；8-3-the second gsm module；
9-impact-rolling machine.
Specific embodiment
As shown in figure 1, the utility model includes the data detection module being arranged on impact-rolling machine 9 and to soil of constructing
The monitoring module being monitored fills in side, and the monitoring module includes that on-site processing module and the on-site processing module are carried out
The remote monitoring module of communication and it is arranged on staff and the portable wireless of control command is sent to impact-rolling machine 9
Terminal 8, the on-site processing module includes being arranged on the constructed earthwork scene of filling and the scene clothes for storing detection data
Business device 3 and it is connected with the presence server 3 and the in-situ processing terminal 4 of denoising is carried out to detection data, it is described long-range
Monitoring module includes the remote server 5 being connected with in-situ processing terminal 4 and the remote monitoring terminal being connected with remote server 5
6, the presence server 3 carries out RFDC by a 3G wireless communication modules 7 and the data detection module, institute
Stating data detection module includes 3 D laser scanning unit 1 and the speed for detecting the rolling speed of the impact-rolling machine 9
Detection unit 2, the 3 D laser scanning unit 1 and speed detection unit 2 connect with a 3G wireless communication modules 7.
In the present embodiment, by setting 3 D laser scanning unit 1 and speed detection unit 2, it is not necessary to which staff connects
Nearly Site Detection, just can detect to each fill stratum in real time.
In the present embodiment, 3 D laser scanning unit 1 is installed on impact-rolling machine 9, using 3 D laser scanning unit 1
Real-time detection is carried out to each fill stratum, the monitoring afterwards for nowadays using is instead of, the detection for filling the constructed earthwork changes
It is the detection of each fill stratum, by ensureing the quality of each fill stratum, so as to ensure that the soil to be formed is filled in the constructed earthwork
Weight fills in side, eliminates the error existed to the finally detection of earthwork filling body, it is ensured that meet construction requirement.
In the present embodiment, the compacting factor of fill stratum is calculated using 3 D laser scanning unit 1, instead of at present
The detection of " Points replacing surfaces replace body by face ", greatly reduces the error caused because the quantity and frequency of sampling are improper, causes
Compacting factor detection to each fill stratum is inaccurate.
In the present embodiment, the presence server 3 include with the 2nd 3G of the two-way communication of a 3G wireless communication modules 7 without
Line communication module 3-1 and the data storage 3-2 connected with the 2nd 3G wireless communication modules 3-1, the data storage 3-2 and
In-situ processing terminal 4 is connected.
In the present embodiment, the remote monitoring terminal 6 includes monitoring computer 6-5 and connects with monitoring computer 6-5
The input of the first gsm module 6-4, the monitoring computer 6-5 be terminated with parameter set unit 6-3, the monitoring computer
The output of 6-5 is terminated with the first display 6-1 and alarm unit 6-2.
In the present embodiment, the hand-held wireless terminals 8 include main controller 8-2 and the 2nd GSM connected with main controller 8-2
The output of module 8-3, the main controller 8-2 is terminated with second display 8-1, and the main controller 8-2 sends to impact-rolling machine 9
Control command.
In the present embodiment, rolling speed, number of rolling and the institute received to main controller 8-2 by second display 8-1
The compacting factor for stating fill stratum shown, is easy to staff to check.
In the present embodiment, the quantity of the 3 D laser scanning unit 1 and speed detection unit 2 with impact-rolling machine 9
Quantity it is identical and quantity of three is multiple, multiple 3 D laser scanning units 1 and speed detection unit 2 are pacified respectively
On multiple impact-rolling machines 9, multiple 3 D laser scanning units 1 and multiple speed detection units 2 are with
One 3G wireless communication modules 7 connect.
In the present embodiment, the 3 D laser scanning unit 1 includes three-dimensional laser scanner and positioning and orientation module.
In the present embodiment, the laser point cloud data of the fill stratum is adopted by setting the three-dimensional laser scanner
Collection, the compacting factor for finally obtaining the fill stratum is processed by remote monitoring terminal 6.By setting the positioning and orientation module
The track data that rolls to impacting roller 9 is acquired, and is processed by remote monitoring terminal 6 and finally obtains number of rolling.
When the utility model is embodied, the earthwork of constructing is filled as through-thickness placement in layers from the bottom to top rolls place
Reason, each layer of placement grinding treatment forms a fill stratum, the construction method all same of each fill stratum, wherein to any institute
When stating fill stratum and being monitored, 3 D laser scanning unit 1 and speed detection unit 2 are installed on impact-rolling machine 9, three-dimensional swashs
Light scanning unit 1 is in real time sent to first the cloud data for rolling track data and the fill stratum of impact-rolling machine 9
3G wireless communication modules 7, meanwhile, speed detection unit 2 in real time by the velocity information of impact-rolling machine 9 send to a 3G without
Line communication module 7, a 3G wireless communication modules 7 receive the speed data of impact-rolling machine 9,3 D laser scanning unit 1
Roll the cloud data of track data and the fill stratum and send, data storage 3-2 is by the in presence server 3
Two 3G wireless communication modules 3-1 receive the speed data that a 3G wireless communication modules 7 send, roll track data and described fill out
The cloud data of soil layer, and stored and updated, on-site supervision terminal 4 by speed data, roll track data and described fill out
The detection datas such as the cloud data of soil layer carry out denoising, reduce the influence that interference signal is brought, and improve detection data
The degree of accuracy, and the detection data after denoising is transmitted to remote server 5, remote server 5 is by the inspection after denoising
Survey data to be stored accordingly and upgraded in time, the detection data after denoising is sent to long-range prison by remote server 5
Control terminal 6, the detection data after the denoising that the monitoring computer 6-5 in remote monitoring terminal 6 will be obtained is analyzed place
Reason, obtains the compacting factor of the rolling speed, the number of rolling of impact-rolling machine 9 and the fill stratum of impact-rolling machine 9, monitors
Computer 6-5 controls one first display 6-1 to be shown；Staff sets minimum beforehand through parameter set unit 6-3
Rolling speed threshold value, maximum rolling speed threshold value, number of rolling threshold value and compacting factor threshold value, according to minimum stone roller set in advance
Pressure threshold speed and maximum velocity threshold, monitoring computer 6-5 is by the rolling speed detected by speed detection unit 2 and rolls
Threshold speed is judged, when rolling speed is more than maximum velocity threshold less than minimum speed threshold value or rolling speed, prison
Control computer 6-5 control alarm unit 6-2 output early warning signals, meanwhile, the rolling speed that monitoring computer 6-5 will be obtained sends
The hand-held wireless terminals 8 being arranged on staff are returned, staff's operation hand-held wireless terminals 8 give impact-rolling machine
9 send control command to the rolling speed of impact-rolling machine 9 is in minimum rolling speed threshold value set in advance and maximal rate
Between threshold value；According to number of rolling threshold value set in advance, computer 6-5 is monitored by resulting number of rolling and number of rolling
Threshold value is judged, when number of rolling is less than number of rolling threshold value, the 6-5 control alarm unit 6-2 outputs of monitoring computer are pre-
Alert signal, meanwhile, monitoring computer 6-5 resulting number of rolling is sent back the hand-held that is arranged on staff without
Line terminal 8, staff's operation hand-held wireless terminals 8 send order to impact-rolling machine 9, to rolling for impact-rolling machine 9
Pass meets number of rolling threshold value set in advance；When number of rolling is more than number of rolling threshold value, the 6-5 controls of monitoring computer
Alarm unit 6-2 exports early warning signal, meanwhile, resulting number of rolling is sent back and is arranged on work by monitoring computer 6-5
Hand-held wireless terminals 8 with personnel, staff's operation hand-held wireless terminals 8 send order to impact-rolling machine 9, make
Impact-rolling machine 9 stops rolling, and monitoring computer 6-5 determines whether whether the compacting factor of the fill stratum meets compacting system
Number threshold value；Monitoring computer 6-5 judges that the process whether compacting factor of the fill stratum meets compacting factor threshold value is：It is first
First, collected at the laser point cloud data of the fill stratum according to 3 D laser scanning unit 1 using remote monitoring terminal 6
Reason obtains the volume of the fill stratum, finally gives the compacting factor of the fill stratum；Then, monitoring computer 6-5 will be described
The compacting factor and compacting factor threshold value of fill stratum are judged, when the compacting factor of the fill stratum is more than or equal to compacting
During coefficient threshold, illustrate that rolling for the fill stratum meets the construction requirement that the earthwork of constructing is filled；When the pressure of the fill stratum
When real coefficient is less than compacting factor threshold value, illustrate that rolling for the fill stratum is unsatisfactory for the construction requirement that the constructed earthwork is filled,
Monitoring computer 6-5 control alarm unit 6-2 output early warning signals, meanwhile, computer 6-5 is monitored by resulting fill stratum
Compacting factor sends back the hand-held wireless terminals 8 being arranged on staff, staff's operation hand-held wireless terminals 8
Sent to impact-rolling machine 9 and ordered, adjusted to the compacting factor of the fill stratum and meet compacting factor threshold value, intelligence degree
Height, improves monitoring efficiency, and so that earthwork filling construction process of constructing is easily controllable and realization is convenient.Weigh successively until complete
Into the monitoring process that all constructed earthwork are filled.
In actual use, the monitoring computer 6-5 in remote monitoring terminal 6 passes through the first gsm module to hand-held
The compacting factor of rolling speed, number of rolling and the fill stratum is sent in wireless terminal 8, main controller 8-2 passes through the 2nd GSM moulds
Block 8-3 receives compacting factor of first gsm module to the rolling speed, number of rolling and the fill stratum for sending, and realizes remote
The RFDC of range monitoring terminal 6 and the hand-held wireless terminals 8 being arranged on staff.
As shown in the above, the utility model uses simple structure, reasonable in design and using effect good and monitoring result
Accurately, each fill stratum in being filled to the constructed earthwork carries out real-time detection, it is ensured that ground in each fill stratum work progress
The compacting factor of pressure speed, number of rolling and the fill stratum corresponds with rolling speed threshold value set in advance, number of rolling
Threshold value and compacting factor threshold value, it is ensured that the detection parameter of each fill stratum meets construction requirement, are reduced because of the detection of each fill stratum
The inaccurate error brought, so as to ensure that the earthwork filling body for ultimately forming meets construction quality requirement.By that analogy, until complete
Into the monitoring that the constructed earthwork is filled.
The above, is only preferred embodiment of the present utility model, and not the utility model is imposed any restrictions, every
Any simple modification, change and the equivalent structure change made to above example according to the utility model technical spirit, still
Belong in the protection domain of technical solutions of the utility model.
Claims (6)
1. supervising device is filled in a kind of earthwork based on 3 D laser scanning, it is characterised in that：Including installed in impact-rolling machine
(9) data detection module on and the monitoring module being monitored is filled to the constructed earthwork, the monitoring module includes scene
Remote monitoring module and be arranged on staff and to impact that processing module is communicated with the on-site processing module
Roller (9) sends the hand-held wireless terminals (8) of control command, and the on-site processing module includes being arranged on the constructed earthwork
The scene of filling and for storing the presence server (3) of detection data and be connected with the presence server (3) and to detecting number
According to the in-situ processing terminal (4) for carrying out denoising, the remote monitoring module includes remote with what in-situ processing terminal (4) was connected
Journey server (5) and the remote monitoring terminal (6) being connected with remote server (5), the presence server (3) is by a 3G
Wireless communication module (7) carries out RFDC with the data detection module, and the data detection module includes three-dimensional sharp
Light scanning unit (1) and the speed detection unit (2) for detecting the rolling speed of the impact-rolling machine (9), the three-dimensional
Laser scan unit (1) and speed detection unit (2) connect with a 3G wireless communication modules (7).
2. supervising device is filled according to a kind of earthwork based on 3 D laser scanning described in claim 1, it is characterised in that：Institute
Presence server (3) is stated including the 2nd 3G wireless communication modules (3-1) with 3G wireless communication modules (7) two-way communication and
The data storage (3-2) connected with the 2nd 3G wireless communication modules (3-1), the data storage (3-2) and in-situ processing
Terminal (4) is connected.
3. supervising device is filled according to a kind of earthwork based on 3 D laser scanning described in claim 1 or 2, its feature exists
In：The GSM moulds that the remote monitoring terminal (6) connects including monitoring computer (6-5) and with monitoring computer (6-5)
Block (6-4), the input of monitoring computer (6-5) is terminated with parameter set unit (6-3), monitoring computer (6-5)
Output be terminated with the first display (6-1) and alarm unit (6-2).
4. supervising device is filled according to a kind of earthwork based on 3 D laser scanning described in claim 3, it is characterised in that：Institute
The second gsm module (8-3) that hand-held wireless terminals (8) connect including main controller (8-2) and with main controller (8-2) is stated, it is described
The output of main controller (8-2) is terminated with second display (8-1), and the main controller (8-2) sends to impact-rolling machine (9) and controls
Order.
5. supervising device is filled according to a kind of earthwork based on 3 D laser scanning described in claim 1 or 2, its feature exists
In：Quantity of the quantity of the 3 D laser scanning unit (1) and speed detection unit (2) with impact-rolling machine (9) is identical
And the quantity of three is multiple, multiple 3 D laser scanning units (1) and speed detection unit (2) are separately mounted to many
On individual impact-rolling machine (9), multiple 3 D laser scanning units (1) and multiple speed detection units (2) are with
One 3G wireless communication modules (7) connect.
6. supervising device is filled according to a kind of earthwork based on 3 D laser scanning described in claim 1 or 2, its feature exists
In：The 3 D laser scanning unit (1) includes three-dimensional laser scanner and positioning and orientation module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621437905.6U CN206292607U (en) | 2016-12-26 | 2016-12-26 | Supervising device is filled in a kind of earthwork based on 3 D laser scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621437905.6U CN206292607U (en) | 2016-12-26 | 2016-12-26 | Supervising device is filled in a kind of earthwork based on 3 D laser scanning |
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| Publication Number | Publication Date |
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| CN206292607U true CN206292607U (en) | 2017-06-30 |
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ID=59153805
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621437905.6U Active CN206292607U (en) | 2016-12-26 | 2016-12-26 | Supervising device is filled in a kind of earthwork based on 3 D laser scanning |
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| CN (1) | CN206292607U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774069A (en) * | 2016-12-26 | 2017-05-31 | 机械工业勘察设计研究院有限公司 | Supervising device and method are filled in a kind of earthwork based on 3 D laser scanning |
-
2016
- 2016-12-26 CN CN201621437905.6U patent/CN206292607U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774069A (en) * | 2016-12-26 | 2017-05-31 | 机械工业勘察设计研究院有限公司 | Supervising device and method are filled in a kind of earthwork based on 3 D laser scanning |
| CN106774069B (en) * | 2016-12-26 | 2023-03-31 | 机械工业勘察设计研究院有限公司 | Three-dimensional laser scanning-based earthwork filling monitoring device and method |
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