CN209214617U - Engineering truck with 3-D scanning function - Google Patents
Engineering truck with 3-D scanning function Download PDFInfo
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- CN209214617U CN209214617U CN201920182869.0U CN201920182869U CN209214617U CN 209214617 U CN209214617 U CN 209214617U CN 201920182869 U CN201920182869 U CN 201920182869U CN 209214617 U CN209214617 U CN 209214617U
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Abstract
The utility model provides a kind of engineering truck with 3-D scanning function, and engineering truck includes car body and scanning means；Scanning means is set to car body towards the side of engineering truck operative orientation, and scanning means includes: that mounting portion is connected with car body, and mounting portion includes can be around the rotating seat that first axle rotates；Scanner section is set on rotating seat, including the scanning head that can be rotated around the second axis, for scanning the environment of engineering truck operative orientation to obtain the coordinate data of environment；Tilt angle detector is set on scanner section, for obtaining the angle information between scanning means and preset datum plane；Controller is connected with scanner section and the tilt angle detector, controller is for receiving coordinate data and angle information, the relativeness of scan coordinate system Yu the preset frame of reference is determined according to angle information, coordinate data is scaled to the frame of reference by scan coordinate system by relativeness, and the corresponding point cloud information of coordinate data is established by preset algorithm.
Description
Technical field
The utility model relates to technical field of tunnel construction, in particular to a kind of work with 3-D scanning function
Journey vehicle.
Background technique
For precision, the intelligence for realizing constructing tunnel, the point cloud model figure that tunnel is established by spatial digitizer becomes
It obtains particularly important.With tunnel construction machinery, digitlization and the iterative method of informationization, to realize accurate, intelligence construction, tunnel
The three-dimensional reconstruction in road is essential.3-D scanning is the key point for realizing three-dimensional reconstruction.3-D scanning is obtain tunnel three
Point cloud data is tieed up, because to have the angle of divergence small for laser, the characteristics of good directionality, the scanner based on laser technology is extensive
Applied to ranging, point data is obtained by transmitting laser and the time difference for receiving laser.
Tradition scanning, which uses commercial spatial digitizer or builds three-dimensional by Two Dimensional Rotating platform and one-dimensional laser range finder, to swash
Photoscanner is realized.Wherein, commercial spatial digitizer degree of protection is low, is usually used in field or indoor environment, is not used to tunnel
The vehicle-mounted operating condition of road engineering machinery, and structure is complicated, price is higher.Three-dimensional is built by Two Dimensional Rotating platform and one-dimensional laser range finder
Laser scanner, this scheme can realize that tunnel scans, but its single scan range is small, therefore scanning speed can not be simultaneous with scanning accuracy
?.
Requirement of the existing three-dimensional laser scanner to working environment is very harsh, needs to take a significant amount of time before use
Carry out environment arrangement, cannot achieve it is servo-actuated with engineering truck, can not progress synchronous with construction speed, working efficiency is low.
Therefore, a kind of technical solution that can follow the synchronous progress 3 D laser scanning of construction speed is needed at present.
Utility model content
The utility model aims to solve at least one of technical problems existing in the prior art or related technologies.
For this purpose, the utility model proposes a kind of engineering trucks with 3-D scanning function.
In view of this, the present invention provides a kind of engineering trucks with 3-D scanning function, including car body and scanning
Device；Scanning means is set to car body towards the side of engineering truck operative orientation, and scanning means includes: mounting portion, mounting portion with
Car body is connected, and mounting portion includes can be around the rotating seat that first axle rotates；Scanner section, scanner section are set on rotating seat, scanning
Portion includes the scanning head that can be rotated around the second axis, is filled for scanning the environment of engineering truck operative orientation with obtaining environment in scanning
Coordinate data under the scan coordinate system set；Tilt angle detector is set on scanner section, and tilt angle detector is for obtaining scanning dress
Set the angle information between preset datum plane；Controller, controller are connected with scanner section and the tilt angle detector,
Controller determines scan coordinate system and the preset frame of reference according to angle information for receiving coordinate data and angle information
Relativeness, coordinate data is scaled to the frame of reference by scan coordinate system by relativeness, and by imputing in advance
Method establishes coordinate data corresponding point cloud information in the frame of reference；Wherein, the axis phase of the axis of first axle and the second axis
It is mutually vertical.
In the technical scheme, it is provided with scanning means on the car body of engineering truck, can be realized by scanning means to engineering
The 3 D laser scanning of vehicle ambient enviroment.Scanning means specifically includes mounting portion, scanner section and controller；Mounting portion and car body phase
Connection, and rotating seat is provided on mounting portion, rotating seat can be rotated around first axle；Scanner section is set on rotating seat,
And include scanning head on scanner section, scanning head can be rotated along the second axis, and thus scanning head can be realized to first
Cone space composed by covering of the fan on the basis of axis and the covering of the fan on the basis of the second axis, to obtain ambient enviroment in taper sky
Between in, the coordinate data under the scan coordinate system of scanning means.Scanning means is additionally provided with tilt angle detector.Since engineering truck exists
When constructing in tunnel, the ground in tunnel not necessarily keeps horizontal, therefore due to the change of engineering truck posture, the posture of scanning means
Also can change.Therefore in order to which the frame of reference of the environment coordinate data and engineering construction that scan scanning means is kept
Unanimously, the angle information of scanning means and datum plane is obtained in real time by the way that tilt angle detector is arranged, and further determine that scanning
Relativeness between coordinate system and the frame of reference, the coordinate data for being obtained scanning by relativeness is by scan coordinate system
It is converted to the frame of reference, to realize data normalization.The axis perpendicular of the axis of first axle and the second axis, is swept with being formed
Retouch the vertical coordinate system that portion center is origin, i.e. scan coordinate system.Receive coordinate data by controller, and scan coordinate system
Earth coordinates are converted into, the point cloud information for establishing ambient enviroment by preset algorithm can be realized.Apply the utility model
The technical solution of offer is provided with scanning means on engineering truck, therefore can not need manually to set with engineering truck synchronous marching
It sets, therefore can be with project progress synchronous scanning, and passes through setting tilt angle detector, can will scan obtained coordinate and be included into base
Conventional coordinates, such as earth coordinates, and then greatly improve working efficiency.Two dimensional laser scanning can be selected in scanner section simultaneously,
And 3-D scanning is realized by adding rotating seat, cost is reduced while realizing quickly scanning, and engineering staff can directly exist
The point cloud information that scanning means obtains is grasped in engineering truck, and then realizes the real-time control to Tunnel Engineering progress, is realized efficient
Engineering construction.
Specifically, the headstock position of the car body of engineering truck is arranged in scanning means, towards the direction of travel of engineering truck.Rotation
Seat can rotate around the first axle of horizontal direction, scanning head can the second axis vertically rotate, the axis of first axle and the
The axis of two axis is mutually perpendicular to, therefore can be realized and be scanned to the conical surface space in front of engineering truck headstock.With constructing tunnel
Progress, engineering truck can at any time be scanned Tunnel ahead developing situation by the way that the scanning means of headstock is arranged in, and then in real time
Obtain the Construction State in tunnel.
In addition, the engineering truck in above-mentioned technical proposal provided by the utility model can also have following supplementary technology special
Sign:
In the above-mentioned technical solutions, further, mounting portion further include: pedestal, pedestal are connected with car body；Support base,
It is set on pedestal, rotating seat is connected with support base.
In the technical scheme, mounting portion includes pedestal and support base, and pedestal is connected with car body, to realize scanning means
With the connection of car body；Support base is provided on pedestal, rotating seat is arranged on support base, and scanner section can bypass overwinding in support base
Swivel base realizes rotation.
In any of the above-described technical solution, further, support base includes: support base ontology, and support base ontology is provided with
Cavity, controller are set in cavity；Lid is connected with support base ontology, and lid is covered on cavity.
In the technical scheme, the cavity of cavity is provided in support base ontology, control device is set in cavity, to keep away
The circuit part for exempting from control device is exposed to outside.Support base is additionally provided with lid simultaneously, and lid is covered on cavity, further protects
The control device in cavity is protected, the reliability of system is improved.
In any of the above-described technical solution, further, support base further include: cable hole is set on support base ontology,
Cable hole is for being pierced by the wire rod of controller via cable hole and being connected to scanner section.
In the technical scheme, be additionally provided with cable hole on support base ontology, for by the wire rod of controller through cable hole
It is connected to scanner section after being pierced by, to facilitate wiring, and then efficiently uses space, reduces the volume of scanning means, improves scanning dress
Set the flexibility of installation.
In any of the above-described technical solution, further, support base includes the first support base, is set to the side of scanner section
First support base is provided with driving device, and driving device is for driving rotating seat so that rotating seat is rotated around first axle.
In the technical scheme, support base includes the first support base, positioned at the side of scanner section；First support base is provided with
Driving device, scanner section are rotated around first axle under the drive of the drive, to realize the flexible control moved to scanner section.
In any of the above-described technical solution, further, support base includes the second support base, is set to the another of scanner section
Side, the second support base are provided with brake apparatus, and the brake apparatus is for braking the rotating seat so that the rotating seat stops
Rotation.
In the technical scheme, support base further includes the second support base, positioned at the other side of scanner section；Second support base is set
It is equipped with brake apparatus, scanner section stops rotating under the braking of brake apparatus, to realize to scanner section movement more flexibly control
System.
In any of the above-described technical solution, further, scanning means further include: counter weight device is connected with scanner section,
Counter weight device is disposed opposite to each other with scanning head.
In the technical scheme, scanning means is additionally provided with counter weight device, is set to the back side of scanner section, with scanning head
It is disposed opposite to each other, in the rotary course of scanner section, counterweight part can make the center of gravity of scanner section more stable, while revolve in scanner section
When going to special angle, counterweight part can also provide the power of specific direction so that the rotation of scanner section is more smooth.
In any of the above-described technical solution, further, engineering truck further include: protective device is set on car body, protection
Device includes: connecting plate, and connecting plate is connected with car body, and scanning means is set on connecting plate；Cover, cover can be opened and closed cover
Set on scanning means；Linear actuator is set on connecting plate, and the tache motorice of linear actuator is connected with cover, for leading to
It crosses the stretching of tache motorice or retracts and drive cover closure or openness.
In the technical scheme, engineering truck is additionally provided with the protective device that user protects scanning means.Protective device includes
The connecting plate being connect with car body, and the cover being radiated at outside scanning means；Cover opens and closes under the driving of linear actuator；Cover
When body is opened, scanning means is run to complete scanning work；After the completion of scanning work, cover is closed, to protect scanning.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will
Become obvious and be readily appreciated that, in which:
Fig. 1 shows the structural schematic diagram of the engineering truck of one embodiment according to the present utility model；
Fig. 2 shows the structural schematic diagrams of the engineering truck of another embodiment according to the present utility model；
Fig. 3 shows the structural schematic diagram of the engineering truck of another embodiment according to the present utility model；
Fig. 4 shows the structural schematic diagram of the engineering truck of further embodiment according to the present utility model；
Fig. 5 shows the structural schematic diagram of the scanning means of one embodiment according to the present utility model；
Fig. 6 shows the structural schematic diagram of the scanning means of another embodiment according to the present utility model；
Fig. 7 shows the structural schematic diagram of the scanning means of another embodiment according to the present utility model；
Fig. 8 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Fig. 9 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Figure 10 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Figure 11 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Figure 12 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Figure 13 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Figure 14 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Figure 15 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Figure 16 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Figure 17 shows the structural schematic diagrams of the scanning means of further embodiment according to the present utility model；
Figure 18 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Figure 19 shows the structural schematic diagram of the protective device of the scanning means of one embodiment according to the present utility model；
Figure 20 shows the structural representation of the protective device of the scanning means of another embodiment according to the present utility model
Figure；
Figure 21 shows the structure of the cover of the protective device of the scanning means of one embodiment according to the present utility model
Schematic diagram；
Figure 22 shows cover shown in Figure 21 along the sectional view of A-A.
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Figure 22 are as follows:
Car body 1, scanning means 2, mounting portion 22, scanner section 24, pedestal 26, support base 28, support base ontology 2802, cabling
Hole 2804, lid 2806, driving device 2808, brake apparatus 2810, rotating seat 2812, counter weight device 30, protective device 32, even
Fishplate bar 3202, cover 3204.
Specific embodiment
In order to be more clearly understood that the above objects, features, and advantages of the utility model, with reference to the accompanying drawing and have
The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen
The feature in embodiment and embodiment please can be combined with each other.
Many details are explained in the following description in order to fully understand the utility model, still, this is practical
Novel to be implemented using other than the one described here other modes, therefore, the protection scope of the utility model is simultaneously
It is not limited by the specific embodiments disclosed below.
The engineering truck according to the utility model some embodiments is described referring to Fig. 1 to Figure 22.
As shown in Figures 1 to 4, in the embodiments of the present invention, a kind of work with 3-D scanning function is provided
Journey vehicle, including car body 1 and scanning means 2；Scanning means 2 is set to car body 1 towards on the side of engineering truck operative orientation, scanning
Device 2 includes: mounting portion 22, and mounting portion 22 is connected with car body 1, and mounting portion 22 includes can be around the rotating seat that first axle rotates
2812；Scanner section 24, scanner section 24 are set on rotating seat 2812, and scanner section 24 includes that the scanning that can be rotated around the second axis is visited
Head, for scanning the environment of engineering truck operative orientation to obtain coordinate data of the environment under the scan coordinate system of scanning means 2；
Controller, controller are connected with scanner section 24, and controller establishes number of coordinates by preset algorithm for receiving coordinate data
According to corresponding point cloud information；Wherein, first axle and the second axis are mutually perpendicular to.
In this embodiment, it is provided with scanning means 2 on the car body 1 of engineering truck, can be realized by scanning means 2 to engineering
The 3 D laser scanning of vehicle ambient enviroment.Scanning means 2 specifically includes mounting portion 22, scanner section 24 and controller；Mounting portion 22
It is connected with car body 1, and is provided with rotating seat 2812 on mounting portion 22, rotating seat 2812 can be rotated around first axle；It sweeps
It retouches portion 24 to be set on rotating seat 2812, and includes scanning head on scanner section 24, scanning head can be rotated along the second axis,
Thus scanning head can be realized to the sky of taper composed by the covering of the fan on the basis of first axle and the covering of the fan on the basis of the second axis
Between, to obtain coordinate data of the ambient enviroment in the cone space, under the scan coordinate system of scanning means 2.The axis of first axle
The axis perpendicular of line and the second axis, to be formed using scanner section center as the vertical coordinate system of origin, i.e. scan coordinate system.Pass through
Controller receives coordinate data, and scan coordinate system is converted into earth coordinates, can be realized and establishes week by preset algorithm
The point cloud information in collarette border.Technical solution provided by the utility model is applied, scanning means 2 is provided on engineering truck, therefore
It can not need manually to be arranged with engineering truck synchronous marching, therefore can be greatly improved with project progress synchronous scanning
Working efficiency.Two dimensional laser scanning can be selected in scanner section 24 simultaneously, and realizes 3-D scanning by adding rotating seat 2812, in reality
Cost is reduced while now quickly scanning, and engineering staff can grasp the point cloud letter of the acquisition of scanning means 2 directly in engineering truck
Breath, and then realize to the real-time control of Tunnel Engineering progress, realize efficient engineering construction.
Specifically, the headstock position of the car body 1 of engineering truck is arranged in scanning means 2, towards the direction of travel of engineering truck.Rotation
Swivel base 2812 can be rotated around the first axle of horizontal direction, to realize the scanning of 110 ° of ranges of horizontal direction；Scanning head can be along vertical
Histogram to the second axis rotation, to realize the scanning of 110 ° of ranges of vertical direction, while the axis of the axis of first axle and the second axis
Line is mutually perpendicular to, therefore can be realized and be scanned to the conical surface space in front of engineering truck headstock.With Tunnel Construction Schedule, engineering
Vehicle can at any time be scanned Tunnel ahead developing situation by the way that the scanning means 2 of headstock is arranged in, and then obtain tunnel in real time
Construction State.
Preferably, control device is rotary encoder.
In one embodiment of the utility model, further, as shown in Fig. 5 to Figure 18, scanning means 2 further include:
Tilt angle detector is set on scanner section 24, is connected with controller, and tilt angle detector is for obtaining scanning means 2 and presetting
Datum plane between angle information；And controller is also used to determine scan coordinate system and preset base according to angle information
The relativeness of conventional coordinates, coordinate data is scaled to the frame of reference by scan coordinate system by relativeness.
In this embodiment, scanning means 2 is provided with tilt angle detector.When being constructed in tunnel due to engineering truck, tunnel
Ground not necessarily keep horizontal, therefore due to the change of engineering truck posture, the posture of scanning means 2 can also change.Therefore it is
The frame of reference of the environment coordinate data and engineering construction that scan scanning means 2 is consistent, and passes through setting
Tilt angle detector obtains the angle information of scanning means 2 Yu datum plane in real time, and further determines that scan coordinate system and benchmark
The coordinate data that scanning obtains is converted to benchmark by scan coordinate system by relativeness and sat by the relativeness between coordinate system
Mark system, to realize data normalization.
In one embodiment of the utility model, further, as shown in Fig. 5 to Figure 18, mounting portion 22 further include: bottom
Seat 26, pedestal 26 is connected with car body 1；Support base 28 is set on pedestal 26, and rotating seat 2812 is connected with support base 28.
In this embodiment, mounting portion 22 includes pedestal 26 and support base 28, and pedestal 26 is connected with car body 1, to realize
The connection of scanning means 2 and car body 1；Support base 28 is provided on pedestal 26, rotating seat 2812 is arranged on support base 28, scanning
Portion 24 can realize rotation by rotating seat 2812 by support base 28.
In one embodiment of the utility model, further, as shown in Fig. 5 to Figure 18, support base 28 includes: support
Seat ontology 2802, support base ontology 2802 are provided with cavity, and controller is set in cavity；Lid 2806, with support base ontology
2802 are connected, and lid 2806 is covered on cavity.
In this embodiment, the cavity of cavity is provided in support base ontology 2802, control device is set in cavity, with
The circuit part of control device is avoided to be exposed to outer.Support base 28 is additionally provided with lid 2806 simultaneously, and lid 2806 is covered in chamber
On body, the control device in cavity is further protected, the reliability of system is improved.
In one embodiment of the utility model, further, as shown in Fig. 5 to Figure 18, support base 28 further include: walk
String holes 2804 is set on support base ontology 2802, and cable hole 2804 is for wearing the wire rod of controller via cable hole 2804
Out and it is connected to scanner section 24.
In this embodiment, while on support base ontology 2802 it is additionally provided with cable hole 2804, for by the line of controller
Material is connected to scanner section 24 after cable hole 2804 is pierced by, and to facilitate wiring, and then efficiently uses space, reduces scanning means 2
Volume, improve scanning means 2 install flexibility.
In one embodiment of the utility model, further, as shown in Fig. 5 to Figure 18, support base 28 includes first
Support base, positioned at the side of scanner section 24；First support base is provided with driving device 2808, and driving device 2808 is for driving rotation
Swivel base 2812 is so that rotating seat 2812 is rotated around first axle.
In this embodiment, support base 28 includes the first support base, positioned at the side of scanner section 24；The setting of first support base
There is driving device 2808, scanner section 24 rotates under the driving of driving device 2808 around first axle, transports to realize to scanner section 24
Dynamic flexible control.
In one embodiment of the utility model, further, as shown in Fig. 5 to Figure 18, support base 28 further includes
Two support bases, positioned at the other side of scanner section 24；Second support base is provided with brake apparatus 2810, and brake apparatus 2810 is for making
Rotating seat 2812 is moved so that rotating seat 2812 stops rotating.
In this embodiment, support base 28 further includes the second support base, positioned at the other side of scanner section 24；Second support base
It is provided with brake apparatus 2810, scanner section 24 stops rotating under the braking of brake apparatus 2810, transports to realize to scanner section 24
Dynamic more flexibly control.
In one embodiment of the utility model, further, as shown in Fig. 5 to Figure 18, scanning means 2 further include:
Counter weight device 30 is connected with scanner section 24, and counter weight device 30 is disposed opposite to each other with scanning head.
In this embodiment, scanning means 2 is additionally provided with counter weight device 30, is set to the back side of scanner section 24, with scanning
Probe is disposed opposite to each other, and in the rotary course of scanner section 24, counterweight part can make the center of gravity of scanner section 24 more stable, while
When the rotation of scanner section 24 to special angle, counterweight part can also provide the power of specific direction so that the rotation of scanner section 24 is more suitable
Freely.
In one embodiment of the utility model, further, as shown in Fig. 5 to Figure 22, engineering truck further include: protection
Device 32 is set on car body 1, and protective device 32 includes: connecting plate 3202, and connecting plate 3202 is connected with car body 1, scanning dress
2 are set to be set on connecting plate 3202；Cover 3204, cover 3204 can be opened and closed to cover at scanning means 2；Linear actuator, if
It is placed on connecting plate 3202, the tache motorice of linear actuator is connected with cover 3204, for passing through the stretching or contracting of tache motorice
Rewind dynamic 3204 closure or openness of cover.
In this embodiment, engineering truck is additionally provided with the protective device that user protects scanning means 2.Protective device include with
The connecting plate 3202 that car body 1 connects, and the cover 3204 being radiated at outside scanning means 2；Cover 3204 is in linear actuator
The lower folding of driving；When cover 3204 is opened, scanning means 2 is run to complete scanning work；After the completion of scanning work, cover
3204 close, to protect scanning.
In one embodiment of the utility model, specifically, in engineering truck production, scanning means is installed on first
On vertical metope so that at this time the axis oriented normal of scan coordinate system in horizontal plane, further set the zero-bit of scanning head as
Perpendicular to metope, i.e. direction horizontal direction, the horizontal axis of scan coordinate system is parallel with horizontal plane at this time, to current scanning coordinate
System carries out Zero calibration, and scanning means is installed on engineering truck after Zero calibration.It comes into operation in engineering truck, drives into tunnel for the first time
Behind road, an anchor point is respectively set on the first support base, the second support base and car body 1, and set total station, by complete
Instrument of standing obtains coordinate position of three anchor points in earth coordinates, and then obtains coordinate of the engineering truck in earth coordinates
Current Scan coordinate system and the earth can be obtained in conjunction with the angle information of tilt angle detector as medium by engineering truck in position
Relationship between coordinate system, so that the earth that the coordinate data for the environment that scanning means scans can be scaled to standard is sat
In mark system.
Preferably, for convenience of installation anchor point, the brake apparatus of the driving device of the first support base and the second support base is set
It is equipped with circular housing, anchor point is socketed on circular housing.
In the description of the utility model, term " multiple " then refers to two or more, unless otherwise restricted clearly, art
The orientation or positional relationship of the instructions such as language "upper", "lower" is to be merely for convenience of based on orientation or positional relationship described in attached drawing
Describe the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention；Term " connection ", " installation ", " Gu
It is fixed " etc. shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally connect
It connects；It can be directly connected, it can also be indirectly connected through an intermediary.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
Term " one embodiment ", " some embodiments ", " specific embodiment " etc. are retouched in the description of the present invention,
It states and means that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained in the utility model at least
In one embodiment or example.In the present invention, schematic expression of the above terms are not necessarily referring to identical reality
Apply example or example.Moreover, the particular features, structures, materials, or characteristics of description can in any one or more embodiments or
It can be combined in any suitable manner in example.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of engineering truck with 3-D scanning function characterized by comprising
Car body；
Scanning means is set to the car body towards the side of the engineering truck operative orientation, and the scanning means includes:
Mounting portion, the mounting portion are connected with the car body, and the mounting portion includes can be around the rotating seat that first axle rotates；
Scanner section, the scanner section are set on the rotating seat, and the scanner section includes that the scanning that can be rotated around the second axis is visited
Head, for scanning the environment of the engineering truck operative orientation to obtain the environment under the scan coordinate system of the scanning means
Coordinate data；
Tilt angle detector is set on the scanner section, the tilt angle detector for obtain the scanning means with it is preset
Angle information between datum plane；
Controller, the controller are connected with the scanner section and the tilt angle detector, and the controller is for receiving institute
Coordinate data and the angle information are stated, the scan coordinate system and the preset frame of reference are determined according to the angle information
Relativeness, the coordinate data is scaled to the reference coordinate by the scan coordinate system by the relativeness
System, and the coordinate data corresponding point cloud information in the frame of reference is established by preset algorithm；
Wherein, the axis of the axis of the first axle and second axis is mutually perpendicular to.
2. the engineering truck according to claim 1 with 3-D scanning function, which is characterized in that the mounting portion also wraps
It includes:
Pedestal, the pedestal are connected with the car body；
Support base is set on the pedestal, and the rotating seat is connected with the support base.
3. the engineering truck according to claim 2 with 3-D scanning function, which is characterized in that the support base includes:
Support base ontology, the support base ontology are provided with cavity, and the controller is set in the cavity；
Lid is connected with the support base ontology, and the lid is covered on the cavity.
4. the engineering truck according to claim 3 with 3-D scanning function, which is characterized in that the support base also wraps
It includes:
Cable hole is set on the support base ontology, the cable hole for make the wire rod of the controller via it is described walk
String holes is pierced by and is connected to the scanner section.
5. the engineering truck according to claim 2 with 3-D scanning function, which is characterized in that the support base includes:
First support base, is set to the side of the scanner section, and first support base is provided with driving device, the driving dress
It sets for driving the rotating seat so that the rotating seat is rotated around the first axle.
6. the engineering truck according to claim 5 with 3-D scanning function, which is characterized in that the support base also wraps
It includes:
Second support base, is set to the other side of the scanner section, and second support base is provided with brake apparatus, the braking
Device is for braking the rotating seat so that the rotating seat stops rotating.
7. the engineering truck according to any one of claim 1 to 6 with 3-D scanning function, which is characterized in that described
Scanning means further include:
Counter weight device is connected with the scanner section, and the counter weight device is disposed opposite to each other with the scanning head.
8. the engineering truck according to any one of claim 1 to 6 with 3-D scanning function, which is characterized in that also wrap
It includes:
Protective device is set on the car body.
9. the engineering truck with 3-D scanning function according to claim 8, which is characterized in that the protection dress
It sets and includes:
Connecting plate, the connecting plate are connected with the car body, and the scanning means is set on the connecting plate.
10. the engineering truck according to claim 9 with 3-D scanning function, which is characterized in that the protective device is also
Include:
Cover, the cover can be opened and closed to cover at the scanning means；
Linear actuator is set on the connecting plate, and the tache motorice of the linear actuator is connected with the cover, is used for
The cover closure or openness are driven by the stretching or retraction of the tache motorice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920182869.0U CN209214617U (en) | 2019-02-01 | 2019-02-01 | Engineering truck with 3-D scanning function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920182869.0U CN209214617U (en) | 2019-02-01 | 2019-02-01 | Engineering truck with 3-D scanning function |
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| Publication Number | Publication Date |
|---|---|
| CN209214617U true CN209214617U (en) | 2019-08-06 |
Family
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| CN201920182869.0U Active CN209214617U (en) | 2019-02-01 | 2019-02-01 | Engineering truck with 3-D scanning function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109682358A (en) * | 2019-02-01 | 2019-04-26 | 中国铁建重工集团有限公司 | Engineering truck and scanning processing method with 3-D scanning function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109682358A (en) * | 2019-02-01 | 2019-04-26 | 中国铁建重工集团有限公司 | Engineering truck and scanning processing method with 3-D scanning function |
| CN109682358B (en) * | 2019-02-01 | 2024-03-08 | 中国铁建重工集团股份有限公司 | Engineering truck with three-dimensional scanning function and scanning processing method |
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