CN219016612U - Three-dimensional scanning imager - Google Patents

Abstract

The application provides a three-dimensional scanning imager, relates to the technical field of engineering survey, and comprises a rotary probe, an ultrasonic detector, a laser detector, a signal receiver and a controller, wherein the rotary probe is used for extending into a measured space, the ultrasonic detector, the laser detector, the signal receiver and the controller are respectively arranged on the rotary probe, and the controller is respectively and electrically connected with the ultrasonic detector, the laser detector and the signal receiver; and the rotating probe rotates to scan the measured space, the ultrasonic detector and the laser detector emit signals towards the measured space, and the signal receiver receives the signals and feeds the signals back to the controller so as to acquire a three-dimensional morphological image in the measured space. The advantages of the ultrasonic detector and the laser detector are combined into a whole, the size specification of a conventional investigation drill hole is met, the filling-free karst cave can be detected, the three-dimensional shape and the three-dimensional actual image of the karst cave are acquired, and the detection time is shortened.

Description

A three-dimensional scanning imager

technical field

The present application relates to the technical field of engineering exploration, in particular to a three-dimensional scanning imager.

Background technique

In engineering applications, karst caves have a great influence on water conservancy and hydropower projects, railways, and high-speed construction. Since karst caves should be avoided during construction, the detection of karst caves is extremely important. At present, the detection of karst caves is relatively rough. For example, when measuring the distance of karst caves at home and abroad, most of them use laser rangefinders, which are instruments that use a certain parameter of the modulated laser to accurately measure the distance of the target. However, this detection method The working distance is very short; there are also three-dimensional drilling laser scanners used for cave detection, but due to the refraction and scattering of laser light in water, it will be difficult to measure the scale of semi-water-filled and fully-water-filled karsts. There are huge defects, which cause the problem of inaccurate detection results, so that it cannot accurately reflect the real landform of the karst cave, and cause safety hazards to subsequent construction.

Utility model content

The purpose of the embodiments of the present application is to provide a three-dimensional scanning imager, which combines the advantages of laser and ultrasonic detection, has high detection accuracy, and can truly reflect the topography of the cave.

An aspect of the embodiment of the present application provides a three-dimensional scanning imager, including a rotating probe for extending into the space to be measured, and ultrasonic detectors, laser detectors, and signal receiving probes respectively arranged on the rotating probes. and a controller, the controller is electrically connected to the ultrasonic detector, the laser detector, and the signal receiver respectively; the rotating probe is rotated to scan the measured space, and the The ultrasonic detector and the laser detector emit signals toward the measured space, and the signal receiver receives the signal and feeds it back to the controller to obtain a three-dimensional image of the measured space .

Optionally, the rotating probe is provided with a rotating shaft, the rotating shaft is connected with a driver, and the rotating shaft is driven to rotate by the driver, so as to drive the rotating probe to rotate.

Optionally, a slip ring is also sleeved on the rotating shaft, and the rotating shaft is connected to the driver through the slip ring; the driver is also connected to an encoder, and the encoder is electrically connected to the controller .

Optionally, a signal transmitter is also provided on the rotating probe, the signal transmitter is electrically connected to the ultrasonic probe, and the signal sent by the ultrasonic probe is sent through the signal transmitter.

Optionally, the signal receiver includes a transducer, and the transducer is configured to receive the energy emitted by the ultrasonic probe reflected back by the inner wall of the measured space.

Optionally, the signal receiver includes a photoelectric sensor, and the photoelectric sensor is used to receive the energy emitted by the laser detector reflected back by the inner wall of the measured space.

Optionally, the rotating probe is further provided with a geomagnetic sensor electrically connected to the controller, and the geomagnetic sensor is used to record the current geomagnetic azimuth when the ultrasonic detector and the laser detector emit.

Optionally, the geomagnetic sensor is a gyroscope.

Optionally, the rotating probe is also provided with a camera electrically connected to the controller, and the camera is used to collect actual images in the measured space.

Optionally, the camera is connected to a steering mechanism to drive the camera to turn relative to the rotating probe.

The three-dimensional scanning imager provided by the embodiment of the present application is provided with an ultrasonic detector, a laser detector, a signal receiver and a controller on the rotating probe, and the rotating probe is inserted into the underground cave to perform a 360° rotation to scan the three-dimensional shape of the underground cave. Among them, the ultrasonic detector uses the propagation and reflection characteristics of ultrasonic waves in water to emit ultrasonic pulse signals towards the wall of the underground cave to measure the distance of the half-filled and fully water-filled karst in the underground cave; the laser detector is directed towards the underground cave. The laser pulse signal is emitted from the wall of the cave, and the distance from the surveyor to the target is calculated by using the time from the laser beam sending the signal to the cave wall to receiving the return signal from the cave wall. After the ultrasonic pulse signal and laser pulse signal reach the cave wall, part of the energy is reflected back by the cave wall, and the reflected signal is received by the signal receiver, which feeds the signal back to the controller for processing, and the travel time of the cave wall echo can be obtained. The image is calculated by software to obtain a more accurate volume of the underground cave. Combining the advantages of ultrasonic detectors and laser detectors, it meets the size specifications of conventional survey drilling, and can also detect unfilled caves, collect 3D shape and size of karst caves and 3D actual images, and reduce the detection time; Real-time display and modeling of the scale of the cave, filling the gap in the market.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings that need to be used in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, so It should not be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings according to these drawings without creative work.

Fig. 1 is one of the structural schematic diagrams of the three-dimensional scanning imager provided in this embodiment;

Fig. 2 is the second schematic diagram of the structure of the three-dimensional scanning imager provided in this embodiment.

Icons: 10-ball head cover; 100a-rotating probe; 100b-rotating sealing structure; 101-ultrasonic detector; 102-laser detector; 103-camera; 103a-steering mechanism; 103b-control circuit; 104-signal receiving control 105-signal transmitter; 106-signal transmission cable; 107-control circuit; 108-slip ring; 109-encoder; 110-driver; 111-control circuit; 112-gyroscope.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

In the description of this application, it should be noted that the orientation or positional relationship indicated by the terms "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the usual placement of the application product when it is used. Orientation or positional relationship is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. In addition, the terms "first", "second", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

It should also be noted that, unless otherwise clearly specified and limited, the terms "setting" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct It can also be connected indirectly through an intermediary, or it can be the internal communication of two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.

Please refer to FIG. 1 and FIG. 2, the embodiment of the present application provides a three-dimensional scanning imager, including: a rotating probe 100a for extending into the measured space, and ultrasonic probes 101 respectively arranged on the rotating probe 100a , a laser detector 102, a signal receiver and a controller, the controller is electrically connected to the ultrasonic detector 101, the laser detector 102, and the signal receiver respectively; the rotating probe 100a is rotated to scan the measured space, and the ultrasonic The detector 101 and the laser detector 102 emit signals toward the measured space, and the signal receiver receives the signals and feeds them back to the controller, so as to obtain a three-dimensional shape image in the measured space.

The measured space is determined according to actual needs. In this application, the measured space is an underground karst cave. The following uses an underground karst cave as an example to illustrate the detection process of the 3D scanning imager. The rotating probe 100a extends into the underground karst cave, scans the underground karst cave by rotating, and then acquires the three-dimensional shape and size and three-dimensional actual image of the underground karst cave.

Specifically, the tail end of the rotating probe 100a has a ball head cover 10, the ball head cover 10 is made of glass, an ultrasonic detector 101 and a laser detector 102 are arranged on the tail end of the rotating probe 100a, and a signal receiver and a laser detector are arranged near the front end. Controller, signal receiver and controller are combined to form signal receiving controller 104; Wherein, ultrasonic probe 101 transmits ultrasonic pulse signal towards the cave wall of underground cave, laser probe 102 transmits laser pulse signal towards the cave wall of underground cave, these After the signal reaches the cave wall, part of the energy is reflected back by the cave wall and received by the signal receiver. The signal receiver feeds the signal back to the controller for processing, and then the travel time image of the cave wall echo can be obtained, which can also be calculated more accurately by software. volume of underground caverns.

Since the working distance of other detection methods is very short, the penetration ability of light in water is very limited. Even in the clearest sea water, people can only see objects within tens to tens of meters; electromagnetic waves also attenuate too much in water. Faster, and the shorter the wavelength, the greater the loss. Even with high-power low-frequency electromagnetic waves, they can only travel tens of meters. However, the attenuation of sound waves propagating in water is much smaller, and low-frequency sound waves can also penetrate thousands of meters of the seabed and obtain information in the formations.

It can be seen that the ultrasonic detector 101 can use the propagation and reflection characteristics of ultrasonic waves in water to perform navigation and ranging through electro-acoustic conversion and information processing, and can also use this technology to detect underwater targets (existence, position, nature, movement, etc.) direction, etc.) and communication, so the ultrasonic detector 101 can measure the distance of the half-filled and fully-filled karst scale in the underground cave, which solves the problem that the laser cannot be measured in water.

It should be noted that a signal transmitter 105 is also provided on the rotating probe 100 a, and the signal transmitter 105 is electrically connected to the ultrasonic probe 101 , and the signal sent by the ultrasonic probe 101 is sent through the signal transmitter 105 . The signal transmitter 105 is close to the front end of the rotating probe 100a, and sends out a signal through the signal transmission cable 106, and the signal transmission cable 106 can also receive the signal. When the ultrasonic probe 101 detects, the ultrasonic pulse signal sent is sent toward the cave wall through the signal transmitter 105 at the front end of the rotating probe 100a, which can increase the signal strength. And laser detector 102, geomagnetic sensor and other sensors transmit signals directly towards the cave wall without conversion.

Simultaneously, also detect by laser detector 102, and laser detector 102 is used for detecting the area without water, and laser detector 102 utilizes the time from sending signal to cave wall to receiving the return signal of cave wall by laser beam, calculates The distance from the person to the target. The advantage of the laser detector 102 during detection is that it has high brightness, which can meet the high requirements of detection for brightness, the returned optical signal has low attenuation, and the signal-to-noise ratio is high; the directionality is good, and it can be directional and propagate a large distance, effectively reducing divergence; The laser has excellent monochromaticity. When detecting the return signal, it can effectively identify the optical signal of a certain emission frequency and reduce interference.

Therefore, the three-dimensional scanning imager of the present application combines the advantages of the ultrasonic detector 101 and the laser detector 102 into one body, which not only meets the size specifications of the conventional survey drilling, but also can detect unfilled caves, and collect the three-dimensional shape and size of the caves. 3D realistic image, reducing probing time.

In addition, the rotating probe 100a is also provided with a camera 103 electrically connected to the controller. The controller is connected to the camera 103 through a control circuit 103b. The camera 103 is used to collect actual images in the measured space. The camera 103 can specifically be an infrared camera 103, and the infrared camera 103 takes actual images of underground caves.

The camera 103 can also be connected to a steering mechanism 103a. For example, the rotating mechanism can be a steering control motor to drive the camera 103 to rotate and steer relative to the rotating probe 100a. In other words, even when the rotating probe 100a is not rotating, the camera 103 can be driven by the steering mechanism 103a to rotate 360° by itself to capture actual images in different directions in the underground cave.

The controller is electrically connected with the ultrasonic detector 101, the laser detector 102, the signal receiver, and the camera 103 respectively, so as to control the ultrasonic detector 101 and the laser detector 102 to transmit signals toward the cave wall, and receive the signal fed back by the signal receiver, and then The signal is processed by software in the controller.

In addition, the controller can also be connected to a display screen to display in real time the 3D data, 3D images and actual images taken by the camera 103 of the underground cave on the display screen, which is convenient for surveyors to view.

To sum up, the three-dimensional scanning imager provided by the embodiment of the present application is provided with an ultrasonic detector 101, a laser detector 102, a signal receiver and a controller on the rotating probe 100a, and the rotating probe 100a extends into the underground cave for 360° rotation Scan the 3D form of underground caverns. Among them, the ultrasonic detector 101 uses the propagation and reflection characteristics of ultrasonic waves in water to emit ultrasonic pulse signals towards the wall of the underground cave to measure the distance of the half-filled and fully water-filled karst scales in the underground cave; the laser detector 102 is directed towards The cave wall of the underground cave emits a laser pulse signal, and the distance from the surveyor to the target is calculated by using the time from the laser beam sending the signal to the cave wall to receiving the return signal from the cave wall. After the ultrasonic pulse signal and laser pulse signal reach the cave wall, part of the energy is reflected back by the cave wall, and the reflected signal is received by the signal receiver, which feeds the signal back to the controller for processing, and the travel time of the cave wall echo can be obtained. The image is calculated by software to obtain a more accurate volume of the underground cave. Combining the advantages of the ultrasonic detector 101 and the laser detector 102, it meets the size specifications of conventional survey drilling, and can also detect unfilled caves, collect three-dimensional shapes and three-dimensional actual images of caves, and reduce the detection time; It can display the scale of caves in real time and build models to fill the gap in the market.

Further, the rotating probe 100a is provided with a rotating shaft, and the rotating shaft is connected with a driver 110, and the rotating shaft is driven to rotate by the driver 110, so as to drive the rotating probe 100a to rotate.

The rotary probe 100a has a rotating shaft, which is driven by the driver 110 to drive the rotating probe 100a to rotate; the driver 110 can be a motor, and the motor is connected to the controller through the control circuit 107 to control the rotation speed of the rotary probe 100a.

A rotary sealing structure 100b is also set near the tail end of the rotary probe 100a, and a slip ring 108 is sleeved on the rotating shaft, and the rotating shaft is connected to the driver 110 through the slip ring 108; the driver 110 is also connected to the encoder 109, the encoder 109 and the control electrical connection.

The bus ring 108 has the function of communication, and is installed on the rotation center (rotation shaft) of the rotating probe 100a, and connects the fixed structure of the rotating probe 100a with the rotating structure, so that electric energy is formed between the fixed structure and the rotating structure of the rotating probe 100a ( Electrical and optical) signals are connected continuously to achieve the effect of normal rotation. The slip ring 108 utilizes ingenious design of the movement structure and sealing structure, reasonable material selection, etc., to form a safe and reliable rotating probe 100a.

At the same time, the movement of the rotating shaft of the rotating probe 100a requires energy to provide rotational power. The slip ring 108 has the function of transmitting energy, and transmits the current to the rotating shaft to provide functional power for it to achieve the effect of rotating. At the same time, when the rotating shaft is rotated, other motions can be performed freely, which improves the stability of the rotating probe 100a.

In addition, the rotation and stop of the rotating shaft needs to be realized by transmitting control signals, and the bus ring 108 also has the function of signal transmission, which can solve the problem of control signal transmission, efficiently control the operation of the rotating shaft, and ensure the smoothness of the rotating shaft. The working conditions can be controlled and adjusted in time.

The encoder 109 converts the rotational displacement of the rotary probe 100a into a series of digital pulse signals, and these pulses can be used to control the angular displacement; the encoder 109 is connected to the controller to detect the moving direction, moving amount, and angle of the rotating motion machine.

As for the signal receiver, the signal receiver includes a transducer for receiving the energy emitted by the ultrasonic probe 101 reflected by the inner wall of the measured space.

The signal receiver includes a photoelectric sensor for receiving the energy emitted by the laser detector 102 reflected back by the inner wall of the measured space.

It can be seen that the transducer corresponds to the ultrasonic probe 101 and receives the energy returned by the ultrasonic probe 101 from the cave wall; the photoelectric sensor corresponds to the laser detector 102 and receives the energy returned by the laser probe 102 from the cave wall. Process the returned energy signal through the controller to obtain information in the cave.

The rotating probe 100a is also provided with a geomagnetic sensor electrically connected to the controller through the control circuit 111. The geomagnetic sensor is used to record the geomagnetic azimuth at that time when the ultrasonic detector 101 and the laser detector 102 are launched, and is used to determine the azimuth of the underground karst cave. judge.

Exemplarily, the geomagnetic sensor is the gyroscope 112, and the gyroscope 112 can provide an accurate azimuth reference for the measurement of the underground cave. In addition, the gyroscope 112 can also be used for angular motion detection, and can detect the rotation state of the rotating probe 100a.

In summary, the 3D scanning imager provided by the embodiment of the present application is equipped with multiple sensors. Once inside the cave, the rotating probe 100a rotates 360° to scan the three-dimensional shape of the underground cave; the integrated host control set on the rotating probe 100a It automatically controls the infrared camera 103 and many sensors such as three-dimensional laser scanning and ultrasonic scanning to detect and form images, and displays the three-dimensional cave data in real time on the host screen, and can simultaneously collect the three-dimensional shape and size of the cave through the sonar, laser, and infrared cameras 103. 3D realistic image, reducing probing time.

When the 3D scanning imager of the present application is working, the rotating probe 100a is driven by a motor to drive the ultrasonic probe 101, the laser probe 102 and the geomagnetic sensor to rotate at a fixed speed to scan and measure the entire cave wall. When the rotating probe 100a rotates, the ultrasonic probe 101 sends ultrasonic pulses. When there is water or mud in the cave, it propagates through the mud or water to the cave wall, and a part of the energy is reflected back to the transducer by the cave wall and received. After signal processing Finally, the travel-time image of the cave wall echo is obtained. When the rotating probe 100a rotates, it also sends laser pulses. When there is no water in the cave, it passes through the air to reach the cave wall, and a part of the energy is reflected by the cave wall back to the photoelectric sensor and received. After signal processing, the travel time of the laser echo on the cave wall is obtained. image. At the same time, the geomagnetic sensor records the geomagnetic azimuth at each ultrasonic emission and laser emission. During measurement, the rotating probe 100a is also lowered at a certain rate, so the recording points of the instrument also spiral down. Through the densely measured high-density point cloud, the volume of the cave can be calculated more accurately through software algorithms according to different cave environments.

The three-dimensional scanning imager provided in the embodiment of the present application has the advantages of fast ranging, small size, and reliable performance, and can be widely used in industrial measurement and control, mines, ports and other fields.

The above descriptions are only examples of the present application, and are not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (10)

1. A three-dimensional scanning imager, comprising: the ultrasonic probe is used for extending into a measured space, and the ultrasonic probe, the laser detector, the signal receiver and the controller are respectively arranged on the ultrasonic probe, and the controller is respectively and electrically connected with the ultrasonic probe, the laser detector and the signal receiver; and the rotating probe rotates to scan the measured space, the ultrasonic detector and the laser detector emit signals towards the measured space, and the signal receiver receives the signals and feeds the signals back to the controller so as to acquire a three-dimensional morphological image in the measured space.

2. The three-dimensional scanning imager of claim 1, wherein the rotating probe is provided with a rotating shaft, the rotating shaft being connected to a driver, the rotating shaft being rotated by the driver to drive the rotating probe to rotate.

3. The three-dimensional scanning imager according to claim 2, wherein a confluence ring is further sleeved on the rotation shaft, and the rotation shaft is connected with the driver through the confluence ring; the driver is also connected with an encoder, and the encoder is electrically connected with the controller.

4. A three-dimensional scanning imager as set forth in any one of claims 1-3 wherein a signal transmitter is further provided on the rotating probe, the signal transmitter being electrically connected to the ultrasound probe, the signal from the ultrasound probe being transmitted by the signal transmitter.

5. A three-dimensional scanning imager as claimed in any one of claims 1 to 3 wherein said signal receiver comprises a transducer for receiving energy emitted by said ultrasound probe reflected back from the interior wall of said space under test.

6. A three-dimensional scanning imager as claimed in any one of claims 1 to 3, wherein said signal receiver comprises a photosensor for receiving energy emitted by said laser detector reflected back from the inner wall of said measured space.

7. The three-dimensional scanning imager of claim 1, wherein the rotating probe is further provided with a geomagnetic sensor electrically connected to the controller, the geomagnetic sensor being configured to record a geomagnetic azimuth angle at the time of emission of the ultrasound probe and the laser probe.

8. The three-dimensional scanning imager of claim 7, wherein the geomagnetic sensor is a gyroscope.

9. The three-dimensional scanning imager of claim 1, wherein the rotating probe is further provided with a camera electrically connected to the controller, the camera being configured to collect an actual image in the measured space.

10. The three-dimensional scanning imager of claim 9, wherein the camera is coupled to a steering mechanism to steer the camera relative to the rotating probe.

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