CN212180644U - Three-dimensional laser scanning outer wall detection system - Google Patents
Three-dimensional laser scanning outer wall detection system Download PDFInfo
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- CN212180644U CN212180644U CN202020798349.5U CN202020798349U CN212180644U CN 212180644 U CN212180644 U CN 212180644U CN 202020798349 U CN202020798349 U CN 202020798349U CN 212180644 U CN212180644 U CN 212180644U
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Abstract
The utility model provides a three-dimensional laser scanning outer wall detection system, which comprises a scanning device, a controller, a data acquisition device, a signal processing device and a portable computer; the portable computer, the controller and the scanning device are connected in sequence; the scanning device, the data acquisition device, the signal processing device and the portable computer are sequentially connected; the scanning device comprises a shell, and a laser transmitter, a laser receiver, a driving mechanism and at least two reflectors which are fixed on the shell; the reflector is in transmission connection with the driving mechanism and is respectively arranged adjacent to the laser transmitter and the laser receiver; the controller is connected with the laser transmitter, the laser receiver and the driving mechanism. The utility model discloses a three-dimensional laser scanning outer wall detecting system, non-contact, detection speed are fast, defect identification rate is high, provide technical support for detection object quality assessment and restoration.
Description
Technical Field
The utility model relates to a building detection device field especially relates to a three-dimensional laser scanning outer wall detecting system.
Background
Under the influence of construction quality and environmental factors, the building finish coat or the external heat insulation system has the quality problems of hollowing, cracking, falling and the like, and the falling of building materials is easy to happen, so that the falling accident is caused, and therefore, effective measures need to be taken to quickly and accurately detect the position and the size of the defect in the external vertical surface. The conventional methods for detecting the outer vertical surface include a manual striking method, a drawing method and an infrared thermal imaging method. The striking strength and the judgment criterion in the manual striking method have no quantitative standard, the subjective judgment of a detector is required, and the result has certain randomness; the drawing method is a micro-damage detection method, and the size of the defect cannot be judged. Meanwhile, the two detection methods are contact detection methods, so that the detection efficiency is low, and the danger coefficient is high during high-altitude detection. The infrared thermal imaging is a non-contact nondestructive testing technology, has important significance for large-area general investigation of the facade, but cannot realize accurate identification of defects.
Disclosure of Invention
To the not enough among the above-mentioned prior art, the utility model provides a three-dimensional laser scanning outer wall detecting system, non-contact, detection speed are fast, defect identification rate is high, provides technical support for detection object quality assessment and repair.
In order to achieve the above object, the present invention provides a three-dimensional laser scanning exterior wall detection system, which comprises a scanning device, a controller, a data acquisition device, a signal processing device and a portable computer; the portable computer, the controller and the scanning device are connected in sequence; the scanning device, the data acquisition device, the signal processing device and the portable computer are sequentially connected; the scanning device comprises a shell, and a laser transmitter, a laser receiver, a driving mechanism and at least two reflectors which are fixed on the shell; the reflector is in transmission connection with the driving mechanism and is respectively arranged adjacent to the laser transmitter and the laser receiver; the controller is connected with the laser transmitter, the laser receiver and the driving mechanism.
Preferably, the driving mechanism comprises two rotating mechanisms and at least one motor, and the two reflectors are in transmission connection with the motor through one rotating mechanism respectively; the controller is connected with the motor.
Preferably, the controller comprises a single chip microcomputer.
Preferably, the signal processing device comprises a computer, a tablet computer and a smart phone.
Preferably, the data acquisition device comprises a data acquisition card.
Preferably, the scanner further comprises a fixing frame, and the scanning device is mounted on the fixing frame.
The utility model discloses owing to adopted above technical scheme, make it have following beneficial effect:
the scanning device is used for carrying out three-dimensional laser scanning on an object to be detected; the portable computer is used for controlling the scanning device and displaying the detection information; the controller is used for receiving a control instruction of the portable computer to control the scanning device; through the cooperation of a portable computer, a controller, a driving mechanism and a reflector, a hardware basis is provided for realizing the scanning of a detection interval by automatically rotating the reflector to obtain point cloud data; the data acquisition device is used for storing point cloud data and processing the point cloud data through signals; the signal processing device is used for post-processing the point cloud data and sending the processed information to the portable computer. Through the cooperation of the portable computer, the scanning device, the data acquisition device and the signal processing device, the three-dimensional laser scanning outer wall detection with non-contact type, high detection speed and high defect recognition rate can be realized, and technical support is provided for quality evaluation and repair of the detected object.
Drawings
Fig. 1 is a schematic structural diagram of a three-dimensional laser scanning exterior wall detection system according to an embodiment of the present invention;
fig. 2 is a detection flow chart of the three-dimensional laser scanning exterior wall detection system according to the embodiment of the present invention;
fig. 3 is an imaging diagram of a protruding area of a building facade according to an embodiment of the present invention.
Detailed Description
The following description of the preferred embodiments of the present invention will be given with reference to the accompanying drawings 1 to 3, and will make the functions and features of the present invention better understood.
Referring to fig. 1, a three-dimensional laser scanning exterior wall detection system according to an embodiment of the present invention includes a scanning device 1, a controller 2, a data acquisition device 3, a signal processing device 4, a portable computer 5 and a fixing frame 6; the portable computer 5, the controller 2 and the scanning device 1 are connected in sequence; the scanning device 1, the data acquisition device 3, the signal processing device 4 and the portable computer 5 are connected in sequence; the scanning device 1 comprises a shell, a laser transmitter 11, a laser receiver 12, a driving mechanism 13 and at least two reflectors, wherein the laser transmitter 11, the laser receiver 12, the driving mechanism 13 and the at least two reflectors are fixed on the shell; the reflector is in transmission connection with the driving mechanism 13 and is respectively arranged adjacent to the laser transmitter 11 and the laser receiver 12; the controller 2 is connected with a laser transmitter 11, a laser receiver 12 and a driving mechanism 13. The scanning device 1 is mounted on a stationary frame 6.
In this embodiment, the safety level of the laser transmitter 11 is 1 level, and the wavelength range of the laser pulse emitted by the laser transmitters 11 of different types is 256nm to 1550 nm. The scanning device 1 is a three-dimensional laser scanning device, three-dimensional laser scanning obtains a three-dimensional space data source of a target object by measuring the horizontal direction, the slant distance and the reflection intensity of the surface of an object contacted by a laser spot, is a non-contact active detection technology, and has the advantages of high sampling rate, high scanning speed, high measurement precision, long measurement range and the like. Through the cooperation of the portable computer 5, the controller 2, the driving mechanism 13 and the reflector, a hardware basis is provided for realizing the automatic rotation of the reflector to scan the detection interval to obtain point cloud data.
The driving mechanism 13 comprises two rotating mechanisms and at least one motor, and the two reflectors are respectively in transmission connection with the motor through one rotating mechanism; the controller 2 is connected with the motor.
In this embodiment, the controller 2 includes a single chip microcomputer. The signal processing device 4 includes a computer, a tablet computer, and a smartphone. The data acquisition device 3 comprises a data acquisition card.
When the three-dimensional laser scanning outer wall detection system provided by the embodiment of the utility model is used, the laser emitter 11 is utilized to send out pulse signals; when the pulse signal is transmitted to the surface of the object to be detected 7, a diffuse reflection phenomenon occurs, part of the signal is transmitted back to the laser receiver 12, and signal acquisition and storage are carried out through the data acquisition device 3, so that the distance and the angle of the object to be detected 7 are acquired; simultaneously measuring the transverse scanning angle and the longitudinal scanning angle of each pulse laser, and acquiring the three-dimensional coordinates of the point to be detected on the object to be detected 7; the reflector is automatically rotated, so that the point cloud data of the whole object 7 to be detected can be automatically acquired; and then, post-processing the point cloud data by using the signal processing device 4, wherein the post-processing can comprise adopting a nearest point iterative registration method, a k-nearest neighbor point cloud denoising algorithm, point cloud imaging and a defect automatic identification algorithm to determine whether the outer surface of the object 7 to be detected has defects and sizes and provide guidance for safety evaluation of the object.
The utility model discloses a three-dimensional laser scanning outer wall detecting system has following beneficial effect:
1. and the non-contact detection is realized by adopting three-dimensional laser scanning, and the detection efficiency is high.
2. The method is suitable for nondestructive testing of the outer vertical surface of the high-rise building, and has wide application range and high safety factor.
3. The detection precision is high.
In the detection process, firstly, the detection distance and the scanning range are determined according to the environment of the object to be detected 7 and the laser propagation theory. The controller 2 sends a command to the laser emitter 11 to generate pulsed laser, and simultaneously commands the scanning device 1 to start the driving mechanism 13 to rotate the reflector, so as to scan the detection area. In the scanning process, the scanning device 1 measures the distance S between each scanning point and each scanning point by using a phase difference method, simultaneously measures the transverse scanning angle α and the longitudinal scanning angle θ of each laser pulse, calculates the coordinates (x, y, z) of each scanning point relative to the scanning device 1, namely point cloud data, and stores the point cloud data in the data acquisition device 3 for signal processing. The signal processing device 4 carries out post-processing on the point cloud data, system software based on C + + language in the portable computer 5 is used for controlling and displaying the whole scanning system, and the position and the size of the defect are automatically identified by setting a threshold value, so that quantitative nondestructive detection of the outer surface of the detected object is realized.
Referring to fig. 2, the operation steps of the three-dimensional laser scanning exterior wall detection system according to the embodiment of the present invention are as follows:
s1: selecting a detection system placement point, arranging a detection area on the outer surface of a detection object, and setting parameters such as wavelength, sampling frequency, scanning speed and the like according to a laser propagation theory;
s2: measuring the distance S between the detection system and the detection point through laser ranging, recording the horizontal and longitudinal scanning angles alpha and theta, and calculating the coordinates (x, y, z) of the scanning point;
s3: the reflector is automatically rotated by the driving mechanism 13 to scan the detection section to obtain point cloud data, and the point cloud data is stored by the data acquisition device 3;
s4: selecting a point in a detection area as a coordinate origin, registering point cloud data based on a nearest point iterative registration method and a coordinate transformation technology, denoising by using a k-nearest neighbor point cloud denoising algorithm, and resampling the point cloud data by setting a distance threshold d to simplify the data;
s5: setting a z-coordinate threshold z1And z2(z1>z2) Keeping the coordinates x, y unchanged, if:
(i) coordinate values z > z1If the z value is not changed, otherwise, the z value is 0 and is stored as a new data set JTIndicating a detection region projecting portion;
(ii) coordinate value z < z2If the z value is not changed, otherwise, the z value is 0 and is stored as a new data set JAIndicating a detection region recess portion;
(iii) coordinate value z2＜z＜z1If the z value is not changed, otherwise, the z value is 0 and is stored as a new data set JzAnd indicates a normal portion of the detection region.
S6: new data set J by using k-nearest neighbor point cloud denoising algorithmT、JAAnd JzAfter denoising, imaging by using detection software compiled by C + + language, and respectively representing the positions of convex, concave and normal areas on the outer surface of the detection object;
s7: the image is converted into a binary image based on an adaptive threshold segmentation principle, and areas of convex, concave and normal regions are automatically extracted in a mode of calculating pixel points of the binary image.
In step S1, a pulsed laser is used as the transmitter, the laser safety level is level 1, the detection distance can reach 500m, and the scanning resolution can be adjusted by the dot pitch, the spot size and the distance resolution.
In step S5, if there is a defect such as empty drum, crack, or fall-off on the outer surface of the detected object, the z-coordinate value of the region has a large difference with the corresponding value of the surrounding normal region, and the threshold z is selected1And z2It is possible to judge whether or not a defect exists. At the same time, the threshold z is for different detection environments1And z2And differently, the calibration needs to be performed in advance according to the specific conditions with defects.
In step S6, the height of the convex region and the depth of the concave region may be quantitatively analyzed from the three-dimensional laser imaging map and the z-coordinate value.
For example:
the utility model discloses three-dimensional laser scanning outer wall detecting system, the operating procedure in the facade defect detection outside the building is as follows:
s1: selecting detection system placement points, arranging a detection area (3.75m multiplied by 20.0m) on the outer facade of a building, selecting green light according to a laser propagation theory, setting the wavelength of the green light to be 532nm, the scanning speed to be 200000 points per second, setting the point spacing to be 1mm and the detection distance to be 20 m;
s2: measuring the distance S between the detection system and the detection point through laser ranging, recording the horizontal and longitudinal scanning angles alpha and theta, and calculating the coordinates (x, y, z) of the scanning point;
s3: the reflector is automatically rotated by the driving mechanism 13 to scan the detection section to obtain point cloud data, and the point cloud data is stored by the data acquisition device 3;
s4: selecting a point in a detection area as a coordinate origin, registering point cloud data based on a nearest point iterative registration method and a coordinate transformation technology, denoising by using a k-nearest neighbor point cloud denoising algorithm, and resampling point cloud data by setting a distance threshold of 2mm, so as to simplify the data;
s5: setting a z-coordinate threshold z110mm and z2＝-10mm(z1>z2) Keeping the coordinates x, y unchanged, if:
(i) coordinate values z > z1If the z value is not changed, otherwise, the z value is 0 and is stored as a new data set JTIndicating a detection region projecting portion;
(ii) coordinate value z < z2If the z value is not changed, otherwise, the z value is 0 and is stored as a new data set JAIndicating a detection region recess portion;
(iii) coordinate value z2＜z＜z1If the z value is not changed, otherwise, the z value is 0 and is stored as a new data set JzAnd indicates a normal portion of the detection region.
S6: new data set J by using k-nearest neighbor point cloud denoising algorithmT、JAAnd JzAfter denoising, imaging is carried out by using detection software compiled by C + + language, and positions of a convex area, a concave area and a normal area of the outer facade of the building are represented respectively, wherein the convex area is shown in figure 3.
S7: converting the image into a binary image based on an adaptive threshold segmentation principle, and automatically extracting the areas of convex, concave and normal regions by calculating pixel points of the binary image, wherein the area of the convex region is 0.45m2The area of the recessed region is 0m2The normal region area is 74.55m2The actual size of the defects is consistent with that of the outer vertical surface of the building.
The present invention has been described in detail with reference to the embodiments shown in the drawings, and those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details of the embodiments should not be construed as limitations of the invention, which are intended to be covered by the following claims.
Claims (6)
1. A three-dimensional laser scanning outer wall detection system is characterized by comprising a scanning device, a controller, a data acquisition device, a signal processing device and a portable computer; the portable computer, the controller and the scanning device are connected in sequence; the scanning device, the data acquisition device, the signal processing device and the portable computer are sequentially connected; the scanning device comprises a shell, and a laser transmitter, a laser receiver, a driving mechanism and at least two reflectors which are fixed on the shell; the reflector is in transmission connection with the driving mechanism and is respectively arranged adjacent to the laser transmitter and the laser receiver; the controller is connected with the laser transmitter, the laser receiver and the driving mechanism.
2. The three-dimensional laser scanning exterior wall detection system according to claim 1, wherein the driving mechanism comprises two rotating mechanisms and at least one motor, and the two reflective mirrors are in transmission connection with the motor through one rotating mechanism respectively; the controller is connected with the motor.
3. The three-dimensional laser scanning exterior wall detection system according to claim 1, wherein the controller comprises a single chip microcomputer.
4. The three-dimensional laser scanning outer wall detection system according to claim 1, wherein the signal processing device comprises a computer, a tablet computer and a smart phone.
5. The three-dimensional laser scanning facade detection system according to claim 1, wherein the data acquisition device comprises a data acquisition card.
6. The three-dimensional laser scanning exterior wall detection system according to claim 1, further comprising a fixing frame, wherein the scanning device is mounted on the fixing frame.
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| CN114324038A (en) * | 2021-09-26 | 2022-04-12 | 中国海洋石油集团有限公司 | Erosion measurement system and detection method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114324038A (en) * | 2021-09-26 | 2022-04-12 | 中国海洋石油集团有限公司 | Erosion measurement system and detection method thereof |
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