CN207730163U - A kind of underground space laser 3D imaging devices - Google Patents
A kind of underground space laser 3D imaging devices Download PDFInfo
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- CN207730163U CN207730163U CN201820076390.4U CN201820076390U CN207730163U CN 207730163 U CN207730163 U CN 207730163U CN 201820076390 U CN201820076390 U CN 201820076390U CN 207730163 U CN207730163 U CN 207730163U
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- stepper motor
- laser emission
- underground space
- laser
- emission receiver
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Abstract
The utility model discloses a kind of underground space laser 3D imaging devices, including：Vertical telescopic rod, control box, first stepper motor, second stepper motor, rocking arm, Laser emission receiver, magnetometer and host computer, control box is connected to the lower end of vertical telescopic rod, first stepper motor and the second stepper motor are set to the lower end of control box, the rotation of Laser emission receiver level and vertical direction can be achieved, magnetometer is fixedly connected with Laser emission receiver, azimuth information for measuring Laser emission receiver, host computer is for receiving the spherical scanning data obtained by Laser emission receiver, and to obtaining image-forming information after the data processing.The underground space laser 3D imaging devices optimize the function of other subsurface investigation devices, can intuitively accurately be detected to the geometric shape of the underground space and spatial variations.
Description
Technical field
The utility model is related to underground space geometric shape detection field, specifically provide a kind of underground space laser 3D at
As device.
Background technology
Underground vacant areas is " cavity " by artificially excavating or natural geological movement generates below earth's surface, the presence of dead zone
So that the safety in production in mine faces prodigious safety problem, laser acquisition 3D imaging technique intuitively can accurately show underground
The geometric shape in space, can be extensively using detecting.
For underground space Detection Techniques, China mainly with probing be main physical prospecting supplemented by, foreign countries based on physical prospecting, in recent years
Come, electrical method, electromagnetic method, microgravity method, seismic wave method has higher level, but is difficult to analyze the underground space by these methods
Specific spatial shape and geometrical property realize the acquisition to underground vacant areas complete information according to laser acquisition principle, it is three-dimensional at
As technology is less in underground space detection application.
Therefore, a kind of underground space laser 3D imaging devices are developed, people's urgent problem to be solved is become.
Utility model content
In consideration of it, the purpose of this utility model is to provide a kind of underground space laser 3D imaging devices, it is existing to solve
Underground vacant areas detection device cannot show the problem of underground space geometrical property complete information.
The utility model provides a kind of underground space laser 3D imaging devices, including：Vertical telescopic rod, control box, the
One stepper motor, the second stepper motor, rocking arm, Laser emission receiver, magnetometer and host computer, wherein control box is connected to
The lower end of vertical telescopic rod is provided with controller in control box, and the first stepper motor is connected to the lower end of control box, output shaft
It is arranged straight down, the second stepper motor is set to the lower part of the first stepper motor and connects with the output shaft of the first stepper motor
It connects, can be rotated under the drive of the output shaft of the first stepper motor, the output shaft of the second stepper motor is horizontally placed on its left and right
It both sides and is connect with rocking arm, for driving rocking arm to rotate in the vertical direction, Laser emission receiver is fixedly connected on rocking arm
Lower part, magnetometer are fixedly connected with Laser emission receiver, controller respectively with the first stepper motor, the second stepper motor, swash
Light emitting receiver is connected with magnetometer, for controlling the start and stop of the first stepper motor, the second stepper motor, receiving Laser emission
The distance and magnetic induction information, host computer of receiver and magnetometer acquisition are connect with controller, are controlled for being sent to controller
It signal and receives the data information that sends of controller and is handled.
It is preferred that first stepper motor and the second stepper motor may be contained in aluminium box.
Further preferably, it is provided with display screen on host computer, can shows the azimuth information of Laser emission receiver, it is described
Reset key is additionally provided on display screen, the reset for controlling the first stepper motor and the second stepper motor.
Underground space laser 3D imaging devices provided by the utility model optimize the function of other subsurface investigation devices, can
Intuitively accurately to be detected to the geometric shape of the underground space and spatial variations, underground sky can be stretched by vertical telescopic rod
Between, Laser emission receiver can measure its air line distance away from underground space wall, the first stepper motor and the second stepping electricity
Machine can drive Laser emission receiver to realize horizontal 360-degree and the rotation of vertical 180 degree, and then obtain spherical scanning data, upper
Machine can obtain underground space laser 3D image-forming informations, magnetometer is for measuring laser hair by handling the data
Penetrate the azimuth information of receiver, the horizontal and vertical initial position of Laser emission receiver can be calibrated, with realize and
Shi Xiuzheng.
Description of the drawings
Below in conjunction with the accompanying drawings and embodiment is described in further detail the utility model：
Fig. 1 is underground space laser 3D image device structure schematic diagrames provided by the utility model；
Fig. 2 is the control block diagram of underground space laser 3D imaging devices provided by the utility model；
Fig. 3 is the schematic diagram of three-dimensional system of coordinate.
Specific implementation mode
The utility model is further explained below in conjunction with specific embodiment, but does not limit to this practicality
It is novel.
As shown in Figure 1 and Figure 2, the utility model provides a kind of underground space laser 3D imaging devices, including：It stretches vertically
Contracting bar 1, control box 2, the first stepper motor 3, the second stepper motor 4, Rocker arm 5, Laser emission receiver 6, magnetometer 7 and upper
Machine 8, wherein control box 2 is connected to the lower end of vertical telescopic rod 1, and controller 21, the first stepper motor 3 are provided in control box 2
It is connected to the lower end of control box 2, output shaft is arranged straight down, and the second stepper motor 4 is set under the first stepper motor 3
Portion and with the output axis connection of the first stepper motor 3, can be rotated under the drive of the output shaft of the first stepper motor 3, second step
The output shaft of stepper motor 4 is horizontally placed on its left and right sides and is connect with Rocker arm 5, for driving Rocker arm 5 to turn in the vertical direction
Dynamic, Laser emission receiver 6 is fixedly connected on the lower part of Rocker arm 5, and magnetometer 7 is fixedly connected with Laser emission receiver 6, control
Device 21 is connect with the first stepper motor 3, the second stepper motor 4, Laser emission receiver 6 and magnetometer 7 respectively, for controlling the
The distance and magnetic strength that one stepper motor 3, the start and stop of the second stepper motor 4, reception Laser emission receiver 6 and magnetometer 7 acquire
Information, host computer 8 is answered to be connect with controller 21, for sending control signal to controller 21 and receiving what controller 21 was sent
Data information is simultaneously handled.
The underground space laser 3D imaging devices optimize the function of other subsurface investigation devices, can be intuitively accurately right
The geometric shape and spatial variations of the underground space are detected, and can stretch into the underground space by vertical telescopic rod, Laser emission connects
Its air line distance away from underground space wall can be measured by receiving device, and the first stepper motor and the second stepper motor can drive laser to send out
Penetrate receiver and realize horizontal 360-degree and the rotation of vertical 180 degree, obtain spherical scanning data, host computer by the data into
Row processing can obtain underground space laser 3D image-forming informations, and magnetometer is used to measure the azimuth information of Laser emission receiver,
The horizontal and vertical initial position of Laser emission receiver can be calibrated, be corrected in time with realizing.
As the improvement of technical solution, first stepper motor, 3 and second stepper motor 4 may be contained in aluminium box.
As the improvement of technical solution, it is provided with display screen on host computer 8, can show the side of Laser emission receiver 6
Position information, is additionally provided with reset key on the display screen, the reset for controlling the first stepper motor 3 and the second stepper motor 4.
The imaging method of above-mentioned underground space laser 3D imaging devices, includes the following steps：
(1), the part for being connected to its underpart is extend into the space to be detected of underground by vertical telescopic rod, laser is set
The horizontal initial position and vertical initial position of transceiver；
(2), by the first stepper motor and the second stepper motor drive Laser emission receiver do horizontal 360-degree with it is vertical
180 degree rotates, and obtains the spherical scanning data in space to be detected, and the scan data is Laser emission receiver away from the underground space
The air line distance of wall, wherein magnetometer is for assisting the first stepper motor of adjustment or the second stepper motor to return back to horizontal rise
Beginning position or vertical initial position；
(3), host computer obtains the spherical scanning data, by handling the data, obtains the underground space and swashs
Light 3D image-forming informations.
The underground space laser 3D imaging methods utilize the underground space laser 3D imaging devices, can intuitively accurately
The geometric shape and spatial variations of the underground space are detected, the underground space, Laser emission can be stretched by vertical telescopic rod
Receiver can measure its air line distance away from underground space wall, and the first stepper motor and the second stepper motor can drive laser
Transceiver realizes horizontal 360-degree and the rotation of vertical 180 degree, obtains spherical scanning data, host computer passes through to the data
It is handled, underground space laser 3D image-forming informations can be obtained, magnetometer is used to measure the orientation letter of Laser emission receiver
Breath, can calibrate the horizontal and vertical initial position of Laser emission receiver, be corrected in time with realizing.
Host computer is specially to the processing of spherical scanning data：Spherical scanning data are transformed into three-dimensional cartesian coordinate system,
As shown in figure 3, XY indicates that horizontal plane, Z indicate to indicate what Laser emission receiver measured with horizontal plane upwardly direction, S
To the air line distance of underground space avris, the angles θ are the angle of the second stepper motor rotation, ranging from 0-180 degree, and the angles α are first
The angle of stepper motor rotation, S processing of adjusting the distance, the corresponding coordinate in corresponding space (X, Y, Z) can be obtained finally can
Obtain underground space 3D several pictures, wherein three-dimensional coordinate calculation formula is：
X=S cos θ cos α；
Y=S cos θ sin α；
Z=S sin θs.
Wherein, host computer can also be by being arranged central processing unit come real to the processing of spherical scanning data in control box
It is existing.
Wherein, in the underground space laser 3D imaging methods,
The acquisition process of spherical scanning data is as follows in step (2)：
After first stepper motor rotates specified low-angle from horizontal initial position, the second stepper motor rotates from bottom to top
180 degree, Laser emission receiver obtain its straight line away from underground space wall in real time during the second stepper motor rotates
Distance realizes that the measurement to a perpendicular makes Laser emission connect later by the cooperation of the second stepper motor and magnetometer
Receive device and reversely transfer back to vertical initial position, after the first stepper motor rotates specified angle again, the second stepper motor from lower and
Upper rotation 180 degree, Laser emission receiver realize the measurement to the perpendicular, and so on, the first stepper motor completes water
Flat 360 degree rotation, the final spherical scanning data that obtain make laser send out later by the cooperation of the first stepper motor and magnetometer
It penetrates receiver and reversely transfers back to horizontal initial position, so far, complete the acquisition of a spherical scanning data, wherein magnetometer can
It realizes the amendment to position, Laser emission receiver is made to obtain correct air line distance.
Wherein, it is provided with display screen on host computer, for showing angle information and the first stepper motor that magnetometer measures
It is described with angle information, the image-forming information as obtained from handling spherical scanning data of the rotation of the second stepper motor
Reset key is additionally provided on display screen, the reset for controlling the first stepper motor and the second stepper motor.
Wherein, the horizontal 360-degree of the first stepper motor rotates to be uniform small angle rotation.
Specific embodiment of the present utility model is write according to progressive mode, and each embodiment party is highlighted
The difference of case, similar portion can be with cross-reference.
The embodiment of the utility model is elaborated above in conjunction with attached drawing, but the utility model is not limited to
The above embodiment can also not depart from the utility model within the knowledge of a person skilled in the art
Various changes can be made under the premise of objective.
Claims (3)
1. a kind of underground space laser 3D imaging devices, which is characterized in that including：Vertical telescopic rod (1), control box (2), first
Stepper motor (3), the second stepper motor (4), rocking arm (5), Laser emission receiver (6), magnetometer (7) and host computer (8),
In, control box (2) is connected to the lower end of vertical telescopic rod (1), and controller (21), the first stepping electricity are provided in control box (2)
Machine (3) is connected to the lower end of control box (2), and output shaft is arranged straight down, and the second stepper motor (4) is set to the first stepping
The lower part of motor (3) and with the output axis connection of the first stepper motor (3), can be in the band of the output shaft of the first stepper motor (3)
The output shaft of dynamic lower rotation, the second stepper motor (4) is horizontally placed on its left and right sides and is connect with rocking arm (5), for driving
Rocking arm (5) rotates in the vertical direction, and Laser emission receiver (6) is fixedly connected on the lower part of rocking arm (5), magnetometer (7) with
Laser emission receiver (6) is fixedly connected, controller (21) respectively with the first stepper motor (3), the second stepper motor (4), swash
Light emitting receiver (6) and magnetometer (7) connection, for control the first stepper motor (3), the second stepper motor (4) start and stop,
Receive the distance and magnetic induction information of Laser emission receiver (6) and magnetometer (7) acquisition, host computer (8) and controller (21)
Connection, the data information for being used to send to controller (21) transmission control signal and reception controller (21) are simultaneously handled.
2. underground space laser 3D imaging devices described in accordance with the claim 1, it is characterised in that：First stepper motor
(3) it may be contained in aluminium box with the second stepper motor (4).
3. according to underground space laser 3D imaging devices as claimed in claim 1 or 2, it is characterised in that：Host computer is arranged on (8)
There is display screen, can show the azimuth information of Laser emission receiver (6), be additionally provided with reset key on the display screen, be used for
Control the reset of the first stepper motor (3) and the second stepper motor (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820076390.4U CN207730163U (en) | 2018-01-17 | 2018-01-17 | A kind of underground space laser 3D imaging devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820076390.4U CN207730163U (en) | 2018-01-17 | 2018-01-17 | A kind of underground space laser 3D imaging devices |
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| Publication Number | Publication Date |
|---|---|
| CN207730163U true CN207730163U (en) | 2018-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820076390.4U Expired - Fee Related CN207730163U (en) | 2018-01-17 | 2018-01-17 | A kind of underground space laser 3D imaging devices |
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| Country | Link |
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| CN (1) | CN207730163U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107957250A (en) * | 2018-01-17 | 2018-04-24 | 吉林大学 | A kind of underground space laser 3D imaging devices and imaging method |
-
2018
- 2018-01-17 CN CN201820076390.4U patent/CN207730163U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107957250A (en) * | 2018-01-17 | 2018-04-24 | 吉林大学 | A kind of underground space laser 3D imaging devices and imaging method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180814 Termination date: 20210117 |
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| CF01 | Termination of patent right due to non-payment of annual fee |