CN209559204U - Engineering truck with three-dimensional scanning function - Google Patents
Engineering truck with three-dimensional scanning function Download PDFInfo
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- CN209559204U CN209559204U CN201920182863.3U CN201920182863U CN209559204U CN 209559204 U CN209559204 U CN 209559204U CN 201920182863 U CN201920182863 U CN 201920182863U CN 209559204 U CN209559204 U CN 209559204U
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- 239000000523 sample Substances 0.000 claims abstract description 48
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 230000001681 protective effect Effects 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 11
- 238000010276 construction Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 230000001360 synchronised effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010606 normalization Methods 0.000 description 2
- 239000010453 quartz Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 239000005341 toughened glass Substances 0.000 description 2
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- 230000006872 improvement Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model provides an engineering van with three-dimensional scanning function, engineering van includes: a vehicle body; scanning device sets up in one side of automobile body towards machineshop car working direction, and scanning device includes: the mounting part is connected with the vehicle body and comprises a first rotating seat capable of rotating around a first shaft; the scanning part is arranged on the first rotating seat and comprises a scanning probe capable of rotating around a second shaft and a laser probe capable of rotating around a third shaft, the scanning probe is used for obtaining first coordinate data of the environment under a scanning coordinate system of the scanning device, and the laser probe is used for determining a distance value between the engineering truck and a reference positioning point; a tilt angle detector disposed on the scanning unit; the controller is connected with the scanning part and the inclination angle detector and is used for converting the first coordinate data from a scanning coordinate system to a reference coordinate system; and establishing point cloud information corresponding to the first coordinate data and the second coordinate data in the reference coordinate system.
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, comprising: car body；Scanning
Device is set to car body towards the side of engineering truck operative orientation, and scanning means includes: mounting portion, and mounting portion is connected with car body
It connects, mounting portion includes the first rotating seat that can be rotated around first axle；Scanner section, scanner section are set on the first rotating seat, scanning
Portion includes can be around the scanning head that the second axis rotates and the laser probe that can be rotated around third axis, and scanning head is for scanning engineering
The environment of vehicle operative orientation, to obtain first coordinate data of the environment under the scan coordinate system of scanning means, laser probe is used
In determining the distance between engineering truck and origin reference location point value；Tilt angle detector is set on scanner section, and tilt angle detector is used for
Obtain the angle information between scanning means and preset datum plane；Controller, controller and scanner section and tilt angle detector
It is connected, controller is used to determine the relativeness of scan coordinate system Yu the preset frame of reference according to angle information, with logical
It crosses relativeness and the first coordinate data is scaled to the frame of reference by scan coordinate system；And origin reference location point is obtained in benchmark
Preset coordinate data in coordinate system determine second of engineering truck in the frame of reference according to distance value and preset coordinate data
Coordinate data；The first coordinate data and the second coordinate data corresponding cloud letter in the frame of reference are established by preset algorithm
Breath；Wherein, the axis of the axis of first axle and the second axis is mutually perpendicular to, and the axis of first axle and the axis of third axis mutually hang down
Directly.
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
The scanning of 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 at this
The first coordinate data in cone space, under the scan coordinate system of scanning means.Scanning means is additionally provided with tilt angle detector.By
When engineering truck is constructed in tunnel, the ground in tunnel not necessarily keeps horizontal, therefore due to the change of engineering truck posture, scanning
The posture of device can also change.Therefore for the benchmark of the environment coordinate data and engineering construction that scan scanning means
Coordinate system is consistent, and obtains the angle information of scanning means and datum plane in real time by the way that tilt angle detector is arranged, and goes forward side by side one
Walk the relativeness determined between scan coordinate system and the frame of reference, the coordinate data obtained scanning by relativeness by
Scan coordinate system is converted to the frame of reference, to realize data normalization.Scanner section further includes that can rotate around third axis simultaneously
Laser probe, laser probe can realize that covering of the fan of measurement on the basis of by first axle and the covering of the fan on the basis of third axis are formed
Cone space in, engineering truck apart from the distance between any origin reference location point be worth, wherein origin reference location point is in the frame of reference
In preset coordinate data it is known that thus can calculate engineering truck in the frame of reference by distance value and preset coordinate data
Second coordinate data, to realize the precise positioning to engineering truck.Technical solution provided by the utility model is applied, on engineering truck
It is provided with scanning means, therefore can not need manually to be arranged with engineering truck synchronous marching, therefore can be same with project progress
Step scanning, while it can be accurately realized the positioning to engineering truck by the way that laser probe is arranged, and by setting tilt angle detector, it can
The coordinate that scanning obtains is included into the frame of reference, such as earth coordinates, and then greatly improves working efficiency.Engineering staff
The point cloud information of scanning means acquisition can be grasped directly in engineering truck, and then realizes the real-time control to Tunnel Engineering progress,
Realize efficient engineering construction.
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 is connected with car body, is provided on pedestal
The second rotating seat that can be rotated around the 4th axis；Support base is arranged on the second rotating seat, and the first rotating seat is connected with support base
It connects, support base is provided with the first cavity, and controller is set in the first cavity；Wherein, the axis of the axis of first axle and the 4th axis
Line is mutually perpendicular to.
In the technical scheme, mounting portion includes pedestal, and pedestal is connected with car body；Specifically, pedestal can be used welding,
Riveting realizes connection by connectors such as bolts；The second rotating seat is provided on pedestal, the second rotating seat can be revolved around the 4th axis
Turn, and then realizes the rotatability of scanning means entirety；Support base is connected by the second rotating seat with pedestal, the first rotating seat
It is connected with support base, wherein support base is provided with the first cavity for accommodating controller, to realize the protection to controller.
Wherein, the axis of first axle and the axis of the 4th axis are mutually perpendicular to, to improve the scanning accuracy of scanning head and laser probe.
In any of the above-described technical solution, further, mounting portion further include: first driving device is set to the first chamber
In vivo, the output end of first driving device is connected with the second rotating seat, for driving the second rotating seat to rotate around the 4th axis.
In the technical scheme, it is additionally provided with first driving device in the first cavity, it is preferable that first driving device is
Stepper motor；The output end of first driving device is connected with the second rotating seat, to realize the second rotating seat around the rotation of the 4th axis
Turn.
In any of the above-described technical solution, further, scanner section is provided with the second cavity and third chamber being separated
Body, scanner section further include: the second driving device is set in the second cavity, the output end of the second driving device and the first rotation
Seat is connected, for driving the first rotating seat to rotate around first axle；Third driving device is set in third cavity, and third is driven
The output end of dynamic device is connected with laser probe, for driving laser probe to rotate around third axis.
In the technical scheme, scanner section is provided with the second cavity and third cavity being separated, and is respectively used to accommodate
Second driving device and third driving device, the second driving device for driving the first rotating seat to rotate around first axle, drive by third
Dynamic device is for driving laser probe to rotate around third axis.By the way that the second cavity and third cavity that are separated is arranged, realize
To the reasonable distribution in space, while in the second driving device and third driving device taking reliable physical isolation, it is ensured that
Rotation control it is accurate, improve the reliability of scanning means, while ensuring that equipment inner structure science is compact.
In any of the above-described technical solution, further, scanner section further include: protective device, protective device include the 4th
Cavity, laser probe are set in the 4th cavity, and protective device can be rotated around third axis.
In the technical scheme, scanner section is provided with protective device, for protecting laser probe.Specifically, protective device
Including the 4th cavity, laser probe is set in the 4th cavity.Wherein, protective device can follow laser probe synchronous around third axis
Rotation.
In any of the above-described technical solution, further, scanner section further include: lid, lid are covered on the 4th cavity,
It is provided with the opening towards laser probe on lid, the eyeglass of light-transmitting materials is provided in opening.
In the technical scheme, scanner section is additionally provided with the lid for being covered in the 4th cavity, to realize to laser probe
Further protection.Wherein, it is provided with the opening towards laser probe on lid, and the eyeglass of light-transmitting materials is set in opening；
Eyeglass preferably uses tempered glass material or synthetic quartz material；So that the laser beam that laser probe projects can be penetrated via the place of opening
Out, the scanning to environment is realized.
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.
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:
The structure that Fig. 1 shows the engineering truck with 3-D scanning function of one embodiment according to the present utility model is shown
It is intended to；
Fig. 2 shows the structural schematic diagrams of the scanning means of one embodiment according to the present utility model；
Fig. 3 shows the structural schematic diagram of the scanning means of another embodiment according to the present utility model；
Fig. 4 shows the structural schematic diagram of the scanning means of another embodiment according to the present utility model；
Fig. 5 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model；
Fig. 6 shows the structural schematic diagram of the scanning means of further embodiment according to the present utility model.
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Fig. 6 are as follows:
1 car body, 2 scanning means, 20 mounting portions, 202 first rotating seats, 204 pedestals, 206 second rotating seats, 208 supports
Seat, 40 scanner sections, 402 scanning heads, 404 laser probes, 406 protective devices, 60 counter weight devices.
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.
Referring to Fig. 1 to Fig. 6 description with the work of 3-D scanning function according to some embodiments of the utility model
Journey vehicle.
As shown in Figures 1 to 6, in the embodiments of the present invention, a kind of work with 3-D scanning function is provided
Journey vehicle, comprising: car body 1；Scanning means 2 is set to car body 1 towards the side of engineering truck operative orientation, and scanning means 2 includes:
Mounting portion 20, mounting portion 20 are connected with car body 1, and mounting portion 20 includes the first rotating seat 202 that can be rotated around first axle；Scanning
Portion 40, scanner section 40 are set on the first rotating seat 202, and scanner section 40 includes 402 He of scanning head that can be rotated around the second axis
The laser probe 404 that can be rotated around third axis, scanning head 402 is used to scan the environment of engineering truck operative orientation, to obtain ring
First coordinate data of the border under the scan coordinate system of scanning means 2, laser probe 404 is for determining engineering truck and origin reference location
The distance between point value；Tilt angle detector is set on scanner section 40, and tilt angle detector is for obtaining scanning means 2 and presetting
Datum plane between angle information；Controller, controller are connected with scanner section 40 and tilt angle detector, and controller is used for
Determine the relativeness of scan coordinate system Yu the preset frame of reference, according to angle information to sit by relativeness by first
It marks data and the frame of reference is scaled to by scan coordinate system；And obtain preset coordinate of the origin reference location point in the frame of reference
Data determine second coordinate data of the engineering truck in the frame of reference according to distance value and preset coordinate data；By default
Algorithm establishes the first coordinate data and the second coordinate data corresponding point cloud information in the frame of reference；Wherein, first axle
The axis of axis and the second axis is mutually perpendicular to, and the axis of first axle and the axis of third 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 20, scanner section 40 and controller；Mounting portion 20
It is connected with car body 1, and is provided with rotating seat on mounting portion 20, rotating seat can be rotated around first axle；Scanner section 40 is set
It is placed on rotating seat, and includes scanning head 402 on scanner section 40, scanning head 402 can be rotated along the second axis, thus be swept
Retouching probe 402 can realize to cone space 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,
The first coordinate data to obtain ambient enviroment in the cone space, under the scan coordinate system of scanning means 2.Scanning means 2
It is additionally provided with tilt angle detector.When being constructed in tunnel due to engineering truck, the ground in tunnel not necessarily keeps horizontal, therefore due to
The change of engineering truck posture, the posture of scanning means 2 can also change.Therefore the environment in order to scan scanning means 2
Coordinate data and the frame of reference of engineering construction are consistent, by be arranged tilt angle detector obtain in real time scanning means 2 with
The angle information of datum plane, and further determine that the relativeness between scan coordinate system and the frame of reference, by opposite
The coordinate data that scanning obtains is converted to the frame of reference by scan coordinate system by relationship, to realize data normalization.It sweeps simultaneously
Retouching portion 40 further includes the laser probe 404 that can be rotated around third axis, and laser probe 404 can realize measurement on the basis of by first axle
Covering of the fan and covering of the fan on the basis of third axis composed by cone space, engineering truck is between any origin reference location point
Distance value, wherein thus preset coordinate data of the origin reference location point in the frame of reference are it is known that by distance value and can preset
Coordinate data calculates second coordinate data of the engineering truck in the frame of reference, to realize the precise positioning to engineering truck.Using
Technical solution provided by the utility model, is provided with scanning means 2 on engineering truck, thus can with engineering truck synchronous marching,
It does not need manually to be arranged, therefore can be with project progress synchronous scanning, while passing through setting laser probe 404 can be accurately
It realizes the positioning to engineering truck, and by setting tilt angle detector, the coordinate that scanning obtains can be included into the frame of reference, it is such as big
Ground coordinate system, and then greatly improve working efficiency.Engineering staff can grasp the acquisition of scanning means 2 directly in engineering truck
Point cloud information, and then realize to the real-time control of Tunnel Engineering progress, realize efficient engineering construction.
In one embodiment of the utility model, further, as shown in Figures 1 to 6, mounting portion 20 further include: bottom
Seat 204, is connected with car body 1, and the second rotating seat 206 that can be rotated around the 4th axis is provided on pedestal 204；Support base 208, if
It sets on the second rotating seat 206, the first rotating seat 202 is connected with support base 208, and support base 208 is provided with the first cavity, control
Device processed is set in the first cavity；Wherein, the axis of the axis of first axle and the 4th axis is mutually perpendicular to.
In this embodiment, mounting portion 20 includes pedestal 204, and pedestal 204 is connected with car body 1；Specifically, pedestal 204
Welding, riveting can be used or realize connection by connectors such as bolts；The second rotating seat 206, the second rotation are provided on pedestal 204
Swivel base 206 can be rotated around the 4th axis, and then realize the whole rotatability of scanning means 2；Support base 208 passes through the second rotating seat
206 are connected with pedestal 204, and the first rotating seat 202 is connected with support base 208, and wherein support base 208 is provided with for accommodating
First cavity of controller, to realize the protection to controller.Wherein, the axis of the axis of first axle and the 4th axis mutually hangs down
Directly, to improve the scanning accuracy of scanning head 402 and laser probe 404.
Preferably, support base 208 is set as two, is specifically configured to the first support base and the second support base, is respectively set
In the two sides of scanning means 2.
Preferably, support base 208 is set as one, and scanning means 2 and the first rotating seat 202 are located at the same of support base 208
Side is connected by shaft, wherein the carrying of redundancy is taken to be related at shaft, to ensure service life.
In one embodiment of the utility model, further, as shown in Figures 1 to 6, mounting portion 20 further include: the
One driving device is set in the first cavity, and the output end of first driving device is connected with the second rotating seat 206, for driving
Dynamic second rotating seat 206 is rotated around the 4th axis.
In this embodiment, it is additionally provided with first driving device in the first cavity, it is preferable that first driving device is step
Into motor；The output end of first driving device is connected with the second rotating seat 206, to realize the second rotating seat 206 around the 4th axis
Rotation.
In one embodiment of the utility model, further, as shown in Figures 1 to 6, scanner section 40 is provided with each other
The second cavity and third cavity separated, scanner section 40 further include: the second driving device is set in the second cavity, and second drives
The output end of dynamic device is connected with the first rotating seat 202, for driving the first rotating seat 202 to rotate around first axle；Third is driven
Dynamic device, is set in third cavity, the output end of third driving device is connected with laser probe 404, for driving laser
Probe 404 is rotated around third axis.
In this embodiment, scanner section 40 is provided with the second cavity and third cavity being separated, and is respectively used to accommodate
Second driving device and third driving device, the second driving device is for driving the first rotating seat 202 to rotate around first axle, third
Driving device is for driving laser probe 404 to rotate around third axis.By the way that the second cavity and third cavity that are separated is arranged,
The reasonable distribution to space is realized, while taking reliable physical isolation in the second driving device and third driving device,
It ensures the accurate of rotation control, improves the reliability of scanning means 2, while ensuring that equipment inner structure science is compact.In
In one embodiment of the utility model, further, as shown in Figures 1 to 6, scanner section 40 further include: protective device 406,
Protective device 406 includes the 4th cavity, and laser probe 404 is set in the 4th cavity, and protective device 406 can be revolved around third axis
Turn.
In this embodiment, scanner section 40 is provided with protective device 406, for protecting laser probe 404.Specifically, prevent
Protection unit 406 includes the 4th cavity, and laser probe 404 is set in the 4th cavity.Wherein, protective device 406 can follow laser
Probe 404 is synchronous to be rotated around third axis.
In one embodiment of the utility model, further, as shown in Figures 1 to 6, scanner section 40 further include: lid
Body, lid are covered on the 4th cavity, and the opening towards laser probe 404 is provided on lid, light transmission material is provided in opening
The eyeglass of matter.
In this embodiment, scanner section 40 is additionally provided with the lid for being covered in the 4th cavity, to realize to laser probe 404
Further protection.Wherein, it is provided with the opening towards laser probe 404 on lid, and light-transmitting materials are set in opening
Eyeglass；Eyeglass preferably uses tempered glass material or synthetic quartz material；So that the laser beam that laser probe 404 projects can be through
It is projected by opening, realizes the scanning to environment.
In one embodiment of the utility model, further, as shown in Figures 1 to 6, scanning means 2 further include: match
Refitting sets 60, is connected with scanner section 40, counter weight device 60 is disposed opposite to each other with scanning head 402.
In this embodiment, scanning means 2 is additionally provided with counter weight device 60, is set to the back side of scanner section 40, with scanning
Probe 402 is disposed opposite to each other, and in the rotary course of scanner section 40, counterweight part can make the center of gravity of scanner section 40 more stable, together
When the rotation of scanner section 40 is to special angle, counterweight part the power of specific direction can also be provided so that the rotation of scanner section 40 more
Add smooth.
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 the first rotation that can be rotated around first axle
Seat；
Scanner section, the scanner section are set on first rotating seat, and the scanner section includes that can sweep around what the second axis rotated
The laser probe retouching probe and can rotating around third axis, the scanning head are used to scan the ring of the engineering truck operative orientation
Border, to obtain first coordinate data of the environment under the scan coordinate system of the scanning means, the laser probe is used for
Determine the distance between the engineering truck and origin reference location point value；
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 used for according to institute
The relativeness that angle information determines the scan coordinate system Yu the preset frame of reference is stated, to incite somebody to action by the relativeness
First coordinate data is scaled to the frame of reference by the scan coordinate system；And
Preset coordinate data of the origin reference location point in the frame of reference are obtained, according to the distance value and described pre-
If coordinate data determines second coordinate data of the engineering truck in the frame of reference；
It is corresponding in the frame of reference that first coordinate data and second coordinate data are established by preset algorithm
Point cloud information；
Wherein, the axis of the axis of the first axle and second axis is mutually perpendicular to, the axis of the first axle and described
The axis of three 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 is connected with the car body, and the second rotating seat that can be rotated around the 4th axis is provided on the pedestal.
3. the engineering truck according to claim 2 with 3-D scanning function, which is characterized in that the mounting portion also wraps
It includes:
Support base is arranged on second rotating seat, and first rotating seat is connected with the support base, the support base
It is provided with the first cavity, the controller is set in first cavity；
Wherein, the axis of the axis of the first axle and the 4th axis is mutually perpendicular to.
4. the engineering truck according to claim 3 with 3-D scanning function, which is characterized in that the mounting portion also wraps
It includes:
First driving device is set in first cavity, the output end of the first driving device and second rotation
Seat is connected, for driving second rotating seat to rotate around the 4th axis.
5. the engineering truck according to claim 1 with 3-D scanning function, which is characterized in that the scanner section is provided with
The second cavity and third cavity being separated.
6. the engineering truck according to claim 5 with 3-D scanning function, which is characterized in that scanner section further include:
Second driving device is set in second cavity, the output end of second driving device and first rotation
Seat is connected, for driving first rotating seat to rotate around the first axle.
7. the engineering truck according to claim 5 with 3-D scanning function, which is characterized in that the scanner section also wraps
It includes:
Third driving device is set in the third cavity, the output end and the laser probe of the third driving device
It is connected, for driving the laser probe to rotate around the third axis.
8. the engineering truck according to claim 1 with 3-D scanning function, which is characterized in that the scanner section also wraps
It includes:
Protective device, the protective device include the 4th cavity, and the laser probe is set in the 4th cavity, described anti-
Protection unit can be rotated around the third axis.
9. the engineering truck according to claim 8 with 3-D scanning function, which is characterized in that the scanner section also wraps
It includes:
Lid, the lid are covered on the 4th cavity, and the opening towards the laser probe is provided on the lid,
The eyeglass of light-transmitting materials is provided in the opening.
10. the engineering truck according to any one of claim 1 to 9 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920182863.3U CN209559204U (en) | 2019-02-01 | 2019-02-01 | Engineering truck with three-dimensional scanning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920182863.3U CN209559204U (en) | 2019-02-01 | 2019-02-01 | Engineering truck with three-dimensional scanning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209559204U true CN209559204U (en) | 2019-10-29 |
Family
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109682359A (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 |
|---|---|---|---|---|
| CN109682359A (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 |
| CN109682359B (en) * | 2019-02-01 | 2024-03-12 | 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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