CN107957250A - A kind of underground space laser 3D imaging devices and imaging method - Google Patents
A kind of underground space laser 3D imaging devices and imaging method Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及地下空间几何形态检测领域，特别提供了一种地下空间激光3D成像装置及成像方法。The invention relates to the field of underground space geometric form detection, and in particular provides an underground space laser 3D imaging device and an imaging method.
背景技术Background technique
地下空区是由人为挖掘或者天然地质运动在地表下面产生的“空洞”，空区的存在使得矿山的安全生产面临很大的安全问题，激光探测3D成像技术可以直观准确的展现地下空间的几何形态，可以广泛应用探查。The underground empty area is a "cavity" created by human excavation or natural geological movement below the surface. The existence of the empty area makes the safe production of mines face a great safety problem. Laser detection 3D imaging technology can intuitively and accurately display the geometry of the underground space Morphology, which can be widely used for probing.
针对地下空间探测技术，我国主要以钻探为主物探为辅，国外以物探为主，近年来，电法，电磁法，微重力法，地震法都有较高的水平，但通过这些方法很难分析到地下空间具体的空间形态与几何特性，根据激光探测原理，实现对地下空区完整信息的采集，三维成像技术在地下空间探测应用较少。For the underground space detection technology, my country mainly uses drilling as the main method and geophysical prospecting as the supplement, and foreign countries mainly use geophysical prospecting. In recent years, electrical methods, electromagnetic methods, microgravity methods, and seismic methods have a relatively high level, but it is difficult to use these methods. Analyzing the specific spatial shape and geometric characteristics of the underground space, according to the principle of laser detection, the complete information collection of the underground space is realized, and the application of 3D imaging technology in underground space detection is seldom.
因此，研制一种地下空间激光3D成像装置及成像方法，成为人们亟待解决的问题。Therefore, developing a laser 3D imaging device and imaging method in underground space has become an urgent problem to be solved.
发明内容Contents of the invention
鉴于此，本发明的目的在于提供一种地下空间激光3D成像装置及成像方法，以解决现有地下空区探测装置不能展现地下空间几何特性完整信息的问题。In view of this, the purpose of the present invention is to provide an underground space laser 3D imaging device and imaging method to solve the problem that the existing underground space detection device cannot display complete information on the geometric characteristics of the underground space.
本发明一方面提供了一种地下空间激光3D成像装置，包括：竖直伸缩杆、控制盒、第一步进电机、第二步进电机、摇臂、激光发射接收器、磁力计和上位机，其中，控制盒连接于竖直伸缩杆的下端，控制盒内设置有控制器，第一步进电机连接于控制盒的下端，其输出轴竖直向下设置，第二步进电机设置于第一步进电机的下部且与第一步进电机的输出轴连接，可在第一步进电机的输出轴的带动下旋转，第二步进电机的输出轴水平设置于其左右两侧且与摇臂连接，用于带动摇臂在竖直方向上转动，激光发射接收器固定连接于摇臂的下部，磁力计与激光发射接收器固定连接，控制器分别与第一步进电机、第二步进电机、激光发射接收器和磁力计连接，用于控制第一步进电机、第二步进电机的启停、接收激光发射接收器和磁力计采集的距离和磁感应信息，上位机与控制器连接，用于向控制器发送控制信号及接收控制器发送来的数据信息并进行处理。One aspect of the present invention provides an underground space laser 3D imaging device, including: a vertical telescopic rod, a control box, a first stepping motor, a second stepping motor, a rocker, a laser transmitter receiver, a magnetometer and a host computer , wherein the control box is connected to the lower end of the vertical telescopic rod, the control box is provided with a controller, the first stepping motor is connected to the lower end of the control box, its output shaft is vertically set downwards, and the second stepping motor is set on The bottom of the first stepping motor is connected with the output shaft of the first stepping motor, and can rotate under the drive of the output shaft of the first stepping motor, and the output shaft of the second stepping motor is horizontally arranged on its left and right sides and It is connected with the rocker arm to drive the rocker arm to rotate in the vertical direction. The laser transmitter receiver is fixedly connected to the lower part of the rocker arm. The magnetometer is fixedly connected to the laser transmitter receiver. The controller is respectively connected to the first stepping motor and the second Two stepper motors, laser transmitter receivers and magnetometers are connected to control the start and stop of the first stepper motor and the second stepper motor, and receive the distance and magnetic induction information collected by the laser transmitter receiver and magnetometer. The controller connection is used to send control signals to the controller and receive and process the data information sent by the controller.
优选，所述第一步进电机和第二步进电机均设置于铝盒子内。Preferably, both the first stepping motor and the second stepping motor are arranged in an aluminum box.
进一步优选，上位机上设置有显示屏，可以显示激光发射接收器的方位信息，所述显示屏上还设置有复位键，用于控制第一步进电机及第二步进电机的复位。Further preferably, the upper computer is provided with a display screen, which can display the orientation information of the laser transmitter and receiver, and a reset key is also provided on the display screen, which is used to control the reset of the first stepping motor and the second stepping motor.
本发明还提供了一种地下空间激光3D成像方法，利用上述地下空间激光3D成像装置，包括如下步骤：The present invention also provides an underground space laser 3D imaging method, using the above-mentioned underground space laser 3D imaging device, comprising the following steps:
(1)、通过竖直伸缩杆将连接于其下部的部分伸入到地下待探测空间内，设置激光发射接收器的水平起始位置和竖直起始位置；(1), extend the part connected to its lower part into the underground space to be detected through the vertical telescopic rod, and set the horizontal starting position and the vertical starting position of the laser transmitting receiver;
(2)、通过第一步进电机和第二步进电机带动激光发射接收器做水平360度与竖直180度旋转，得到待检测空间的球形扫描数据，所述扫描数据为激光发射接收器距地下空间墙壁的直线距离，其中，磁力计用于辅助调整第一步进电机或第二步进电机回转至水平起始位置或竖直起始位置；(2), through the first stepper motor and the second stepper motor to drive the laser transmitter receiver to rotate 360 degrees horizontally and 180 degrees vertically, to obtain the spherical scanning data of the space to be detected, the scan data is the laser transmitter receiver The linear distance from the wall of the underground space, where the magnetometer is used to assist in adjusting the first stepping motor or the second stepping motor to rotate to the horizontal starting position or the vertical starting position;
(3)、上位机获得所述球形扫描数据，通过对所述数据进行处理，得到地下空间激光3D成像信息。(3) The host computer obtains the spherical scanning data, and processes the data to obtain laser 3D imaging information of the underground space.
优选，步骤(2)中球形扫描数据的获得过程如下：Preferably, the obtaining process of spherical scanning data in step (2) is as follows:
第一步进电机从水平起始位置旋转指定小角度后，第二步进电机自下而上旋转180度，激光发射接收器在第二步进电机旋转的过程中，实时获得其距地下空间墙壁的直线距离，实现对一个竖直平面的测量，之后通过第二步进电机与磁力计的配合，使激光发射接收器反向转回至竖直起始位置，第一步进电机再次旋转指定角度后，第二步进电机自下而上旋转180度，激光发射接收器实现对该竖直平面的测量，以此类推，第一步进电机完成水平360度旋转，最终获得球形扫描数据，之后通过第一步进电机与磁力计的配合，使激光发射接收器反向转回至水平起始位置，至此，完成一次球形扫描数据的获得。After the first stepping motor rotates a specified small angle from the horizontal starting position, the second stepping motor rotates 180 degrees from bottom to top. During the rotation of the second stepping motor, the laser transmitter and receiver can obtain the distance from the underground space in real time. The straight-line distance of the wall realizes the measurement of a vertical plane, and then through the cooperation of the second stepping motor and the magnetometer, the laser transmitter and receiver are turned back to the vertical starting position in reverse, and the first stepping motor rotates again After specifying the angle, the second stepper motor rotates 180 degrees from bottom to top, and the laser transmitter and receiver realizes the measurement of the vertical plane. By analogy, the first stepper motor completes the horizontal 360-degree rotation, and finally obtains the spherical scanning data , and then through the cooperation of the first stepping motor and the magnetometer, the laser transmitter and receiver are reversely turned back to the horizontal initial position, and thus, the acquisition of a spherical scanning data is completed.
进一步优选，上位机上设置有显示屏，用于显示激光发射接收器的方位信息和第一步进电机与第二步进电机旋转的角度信息、通过对球形扫描数据进行处理而得到的成像信息，所述显示屏上还设置有复位键，用于控制第一步进电机及第二步进电机的复位。Further preferably, the upper computer is provided with a display screen, which is used to display the orientation information of the laser transmitter receiver, the angle information of the rotation of the first stepping motor and the second stepping motor, and the imaging information obtained by processing the spherical scanning data, The display screen is also provided with a reset key for controlling the reset of the first stepping motor and the second stepping motor.
进一步优选，第一步进电机的水平360度旋转为均匀小角度旋转。Further preferably, the horizontal 360-degree rotation of the first stepper motor is a uniform small-angle rotation.
本发明提供的地下空间激光3D成像装置优化了其他地下探测装置的功能，可以直观准确的对地下空间的几何形态及空间变化进行探测，通过竖直伸缩杆可伸入地下空间，激光发射接收器可以测量其距地下空间墙壁的直线距离，第一步进电机和第二步进电机可带动激光发射接收器实现水平360度和竖直180度旋转，进而得到球形扫描数据，上位机通过对所述数据进行处理，可以得到地下空间激光3D成像信息，磁力计用于测量激光发射接收器的方位信息，可以对激光发射接收器的水平和竖直起始位置进行校准，以实现及时修正。The underground space laser 3D imaging device provided by the present invention optimizes the functions of other underground detection devices, and can intuitively and accurately detect the geometry and spatial changes of the underground space. It can be extended into the underground space through a vertical telescopic rod. It can measure the linear distance from the wall of the underground space. The first stepping motor and the second stepping motor can drive the laser transmitter and receiver to rotate 360 degrees horizontally and 180 degrees vertically to obtain spherical scanning data. The above data can be processed to obtain laser 3D imaging information in the underground space. The magnetometer is used to measure the orientation information of the laser transmitter and receiver, and can calibrate the horizontal and vertical starting positions of the laser transmitter and receiver to achieve timely correction.
本发明提供的地下空间激光3D成像方法利用所述地下空间激光3D成像装置，可以直观准确的对地下空间的几何形态及空间变化进行探测，通过竖直伸缩杆可伸入地下空间，激光发射接收器可以测量其距地下空间墙壁的直线距离，第一步进电机和第二步进电机可带动激光发射接收器实现水平360度和竖直180度旋转，得到球形扫描数据，上位机通过对所述数据进行处理，可以得到地下空间激光3D成像信息，磁力计用于测量激光发射接收器的方位信息，可以对激光发射接收器的水平和竖直起始位置进行校准，以实现及时修正。The underground space laser 3D imaging method provided by the present invention uses the underground space laser 3D imaging device to intuitively and accurately detect the geometry and spatial changes of the underground space. The sensor can measure its linear distance from the wall of the underground space. The first stepping motor and the second stepping motor can drive the laser transmitter and receiver to rotate 360 degrees horizontally and 180 degrees vertically to obtain spherical scanning data. The above data can be processed to obtain laser 3D imaging information in the underground space. The magnetometer is used to measure the orientation information of the laser transmitter and receiver, and can calibrate the horizontal and vertical starting positions of the laser transmitter and receiver to achieve timely correction.
附图说明Description of drawings
下面结合附图及实施方式对本发明作进一步详细的说明：Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:
图1为本发明提供的地下空间激光3D成像装置结构示意图；Fig. 1 is a schematic structural diagram of an underground space laser 3D imaging device provided by the present invention;
图2为本发明提供的地下空间激光3D成像装置的控制框图；Fig. 2 is the control block diagram of the underground space laser 3D imaging device provided by the present invention;
图3为三维坐标系的示意图。Fig. 3 is a schematic diagram of a three-dimensional coordinate system.
具体实施方式Detailed ways
下面将结合具体的实施方案对本发明进行进一步的解释，但并不局限本发明。The present invention will be further explained below in conjunction with specific embodiments, but the present invention is not limited thereto.
如图1、图2所示，本发明提供了一种地下空间激光3D成像装置，包括：竖直伸缩杆1、控制盒2、第一步进电机3、第二步进电机4、摇臂5、激光发射接收器6、磁力计7和上位机8，其中，控制盒2连接于竖直伸缩杆1的下端，控制盒2内设置有控制器21，第一步进电机3连接于控制盒2的下端，其输出轴竖直向下设置，第二步进电机4设置于第一步进电机3的下部且与第一步进电机3的输出轴连接，可在第一步进电机3的输出轴的带动下旋转，第二步进电机4的输出轴水平设置于其左右两侧且与摇臂5连接，用于带动摇臂5在竖直方向上转动，激光发射接收器6固定连接于摇臂5的下部，磁力计7与激光发射接收器6固定连接，控制器21分别与第一步进电机3、第二步进电机4、激光发射接收器6和磁力计7连接，用于控制第一步进电机3、第二步进电机4的启停、接收激光发射接收器6和磁力计7采集的距离和磁感应信息，上位机8与控制器21连接，用于向控制器21发送控制信号及接收控制器21发送来的数据信息并进行处理。As shown in Figure 1 and Figure 2, the present invention provides a laser 3D imaging device in underground space, including: a vertical telescopic rod 1, a control box 2, a first stepping motor 3, a second stepping motor 4, a rocker arm 5. Laser transmitter receiver 6, magnetometer 7 and host computer 8, wherein, control box 2 is connected to the lower end of vertical telescopic rod 1, and controller 21 is arranged in control box 2, and first stepping motor 3 is connected to control The lower end of box 2, its output shaft is arranged vertically downwards, and the second stepping motor 4 is arranged on the bottom of the first stepping motor 3 and is connected with the output shaft of the first stepping motor 3, can be in the first stepping motor Driven by the output shaft of 3 to rotate, the output shaft of the second stepper motor 4 is horizontally arranged on its left and right sides and connected with the rocker arm 5, which is used to drive the rocker arm 5 to rotate in the vertical direction, and the laser transmitter receiver 6 Fixedly connected to the bottom of the rocker arm 5, the magnetometer 7 is fixedly connected to the laser transmitter receiver 6, and the controller 21 is respectively connected to the first stepper motor 3, the second stepper motor 4, the laser transmitter receiver 6 and the magnetometer 7 , for controlling the start and stop of the first stepping motor 3 and the second stepping motor 4, receiving the distance and the magnetic induction information collected by the laser transmitter receiver 6 and the magnetometer 7, the host computer 8 is connected with the controller 21 for sending The controller 21 sends control signals and receives and processes data information sent by the controller 21 .
该地下空间激光3D成像装置优化了其他地下探测装置的功能，可以直观准确的对地下空间的几何形态及空间变化进行探测，通过竖直伸缩杆可伸入地下空间，激光发射接收器可以测量其距地下空间墙壁的直线距离，第一步进电机和第二步进电机可带动激光发射接收器实现水平360度和竖直180度旋转，得到球形扫描数据，上位机通过对所述数据进行处理，可以得到地下空间激光3D成像信息，磁力计用于测量激光发射接收器的方位信息，可以对激光发射接收器的水平和竖直起始位置进行校准，以实现及时修正。The underground space laser 3D imaging device optimizes the functions of other underground detection devices, and can intuitively and accurately detect the geometry and spatial changes of the underground space. It can be extended into the underground space through a vertical telescopic rod, and the laser transmitter and receiver can measure its The linear distance from the wall of the underground space, the first stepping motor and the second stepping motor can drive the laser transmitter and receiver to achieve horizontal 360-degree and vertical 180-degree rotation to obtain spherical scanning data, and the host computer processes the data , the laser 3D imaging information of the underground space can be obtained, the magnetometer is used to measure the orientation information of the laser transmitter and receiver, and the horizontal and vertical starting positions of the laser transmitter and receiver can be calibrated to achieve timely correction.
作为技术方案的改进，所述第一步进电机3和第二步进电机4均设置于铝盒子内。As an improvement of the technical solution, the first stepping motor 3 and the second stepping motor 4 are both arranged in an aluminum box.
作为技术方案的改进，上位机8上设置有显示屏，可以显示激光发射接收器6的方位信息，所述显示屏上还设置有复位键，用于控制第一步进电机3及第二步进电机4的复位。As an improvement of the technical solution, the upper computer 8 is provided with a display screen, which can display the orientation information of the laser transmitter receiver 6, and the display screen is also provided with a reset key, which is used to control the first stepper motor 3 and the second step. Enter the reset of motor 4.
本发明还提供了一种地下空间激光3D成像方法，利用上述地下空间激光3D成像装置，包括如下步骤：The present invention also provides an underground space laser 3D imaging method, using the above-mentioned underground space laser 3D imaging device, comprising the following steps:
(1)、通过竖直伸缩杆将连接于其下部的部分伸入到地下待探测空间内，设置激光发射接收器的水平起始位置和竖直起始位置；(1), extend the part connected to its lower part into the underground space to be detected through the vertical telescopic rod, and set the horizontal starting position and the vertical starting position of the laser transmitting receiver;
(2)、通过第一步进电机和第二步进电机带动激光发射接收器做水平360度与竖直180度旋转，得到待检测空间的球形扫描数据，所述扫描数据为激光发射接收器距地下空间墙壁的直线距离，其中，磁力计用于辅助调整第一步进电机或第二步进电机回转至水平起始位置或竖直起始位置；(2), through the first stepper motor and the second stepper motor to drive the laser transmitter receiver to rotate 360 degrees horizontally and 180 degrees vertically, to obtain the spherical scanning data of the space to be detected, the scan data is the laser transmitter receiver The linear distance from the wall of the underground space, where the magnetometer is used to assist in adjusting the first stepping motor or the second stepping motor to rotate to the horizontal starting position or the vertical starting position;
(3)、上位机获得所述球形扫描数据，通过对所述数据进行处理，得到地下空间激光3D成像信息。(3) The host computer obtains the spherical scanning data, and processes the data to obtain laser 3D imaging information of the underground space.
该地下空间激光3D成像方法利用所述地下空间激光3D成像装置，可以直观准确的对地下空间的几何形态及空间变化进行探测，通过竖直伸缩杆可伸入地下空间，激光发射接收器可以测量其距地下空间墙壁的直线距离，第一步进电机和第二步进电机可带动激光发射接收器实现水平360度和竖直180度旋转，得到球形扫描数据，上位机通过对所述数据进行处理，可以得到地下空间激光3D成像信息，磁力计用于测量激光发射接收器的方位信息，可以对激光发射接收器的水平和竖直起始位置进行校准，以实现及时修正。The underground space laser 3D imaging method uses the underground space laser 3D imaging device to intuitively and accurately detect the geometry and spatial changes of the underground space. The vertical telescopic rod can be extended into the underground space, and the laser transmitter and receiver can measure The straight-line distance from the wall of the underground space, the first stepping motor and the second stepping motor can drive the laser transmitter receiver to achieve a horizontal 360-degree and a vertical 180-degree rotation to obtain spherical scanning data. After processing, the laser 3D imaging information in the underground space can be obtained. The magnetometer is used to measure the orientation information of the laser transmitter and receiver, and can calibrate the horizontal and vertical starting positions of the laser transmitter and receiver to achieve timely correction.
上位机对球形扫描数据的处理具体为：将球形扫描数据转换到三维直角坐标系，如图3所示，XY表示水平面，Z表示与水平面垂直向上的方向，S表示激光发射接收器测得的至地下空间边侧的直线距离，θ角为第二步进电机旋转的角度，范围为0-180度，α角为第一步进电机旋转的角度，对距离S进行处理，可得到相应的(X，Y，Z)空间相应的坐标，最终，可得到地下空间3D几何图像，其中，三维坐标计算公式为：The processing of the spherical scanning data by the upper computer is as follows: converting the spherical scanning data to a three-dimensional rectangular coordinate system, as shown in Figure 3, XY represents the horizontal plane, Z represents the direction vertical to the horizontal plane, and S represents the measured value of the laser transmitter receiver. The linear distance to the side of the underground space, the θ angle is the rotation angle of the second stepping motor, the range is 0-180 degrees, and the α angle is the rotation angle of the first stepping motor, and the distance S can be processed to obtain the corresponding The corresponding coordinates in (X, Y, Z) space, finally, a 3D geometric image of the underground space can be obtained, where the formula for calculating the three-dimensional coordinates is:
X＝S cosθco sα；X = S cos θ co s α;
Y＝S cosθsinα；Y=S cos θ sin α;
Z＝S sinθ。Z = S sin θ.
其中，上位机对球形扫描数据的处理也可以通过在控制盒内设置中央处理器来实现。Wherein, the processing of the spherical scanning data by the upper computer can also be realized by setting a central processing unit in the control box.
作为技术方案的改进，所述地下空间激光3D成像方法中，As an improvement of the technical solution, in the underground space laser 3D imaging method,
步骤(2)中球形扫描数据的获得过程如下：The process of obtaining spherical scanning data in step (2) is as follows:
第一步进电机从水平起始位置旋转指定小角度后，第二步进电机自下而上旋转180度，激光发射接收器在第二步进电机旋转的过程中，实时获得其距地下空间墙壁的直线距离，实现对一个竖直平面的测量，之后通过第二步进电机与磁力计的配合，使激光发射接收器反向转回至竖直起始位置，第一步进电机再次旋转指定角度后，第二步进电机自下而上旋转180度，激光发射接收器实现对该竖直平面的测量，以此类推，第一步进电机完成水平360度旋转，最终获得球形扫描数据，之后通过第一步进电机与磁力计的配合，使激光发射接收器反向转回至水平起始位置，至此，完成一次球形扫描数据的获得，其中，磁力计可实现对位置的修正，使激光发射接收器得到正确的直线距离。After the first stepping motor rotates a specified small angle from the horizontal starting position, the second stepping motor rotates 180 degrees from bottom to top. During the rotation of the second stepping motor, the laser transmitter and receiver can obtain the distance from the underground space in real time. The straight-line distance of the wall realizes the measurement of a vertical plane, and then through the cooperation of the second stepping motor and the magnetometer, the laser transmitter and receiver are turned back to the vertical starting position in reverse, and the first stepping motor rotates again After specifying the angle, the second stepper motor rotates 180 degrees from bottom to top, and the laser transmitter and receiver realizes the measurement of the vertical plane. By analogy, the first stepper motor completes the horizontal 360-degree rotation, and finally obtains the spherical scanning data , and then through the cooperation of the first stepping motor and the magnetometer, the laser transmitter and receiver are reversely turned back to the horizontal initial position, so far, the acquisition of a spherical scanning data is completed, and the magnetometer can realize the correction of the position. Make the laser transmitter and receiver get the correct straight-line distance.
作为技术方案的改进，上位机上设置有显示屏，用于显示磁力计测得的角度信息和第一步进电机与第二步进电机旋转的角度信息、通过对球形扫描数据进行处理而得到的成像信息，所述显示屏上还设置有复位键，用于控制第一步进电机及第二步进电机的复位。As an improvement of the technical solution, the upper computer is provided with a display screen, which is used to display the angle information measured by the magnetometer and the rotation angle information of the first stepping motor and the second stepping motor, obtained by processing the spherical scanning data For imaging information, the display screen is also provided with a reset key for controlling the reset of the first stepping motor and the second stepping motor.
作为技术方案的改进，第一步进电机的水平360度旋转为均匀小角度旋转。As an improvement of the technical solution, the horizontal 360-degree rotation of the first stepping motor is a uniform small-angle rotation.
本发明的具体实施方式是按照递进的方式进行撰写的，着重强调各个实施方案的不同之处，其相似部分可以相互参见。The specific embodiments of the present invention are written in a progressive manner, emphasizing the differences of each embodiment, and the similar parts can be referred to each other.
上面结合附图对本发明的实施方式做了详细说明，但是本发明并不限于上述实施方式，在本领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Within the scope of knowledge of those of ordinary skill in the art, various modifications can be made without departing from the gist of the present invention. kind of change.
Claims (7)
- A kind of 1. underground space laser 3D imaging devices, it is characterised in that including：Vertical telescopic rod (1), control box (2), first Stepper motor (3), the second stepper motor (4), rocking arm (5), Laser emission receiver (6), magnetometer (7) and host computer (8), its In, control box (2) is connected to the lower end of vertical telescopic rod (1), and controller (21), the first stepping electricity are provided with control box (2) Machine (3) is connected to the lower end of control box (2), its output shaft is set straight down, and the second stepper motor (4) is arranged at the first stepping The lower part of motor (3) and with the output axis connection of the first stepper motor (3), can be in the band of the output shaft of the first stepper motor (3) Dynamic lower rotation, the output shaft of the second stepper motor (4) is horizontally placed on its left and right sides and is connected with rocking arm (5), for driving Rocking arm (5) in the vertical direction rotates, and Laser emission receiver (6) is fixedly connected on the lower part of rocking arm (5), magnetometer (7) with Laser emission receiver (6) is fixedly connected, controller (21) respectively with the first stepper motor (3), the second stepper motor (4), swash Light emitting receiver (6) and magnetometer (7) connection, for control the first stepper motor (3), the second stepper motor (4) start and stop, Receive the distance and magnetic induction information of Laser emission receiver (6) and magnetometer (7) collection, host computer (8) and controller (21) Connection, for the data message sent to controller (21) transmission control signal and reception controller (21) and is handled.
- 2. underground space laser 3D imaging devices described in accordance with the claim 1, it is characterised in that：First stepper motor (3) may be contained within the second stepper motor (4) in aluminium box.
- 3. underground space laser 3D imaging devices described in accordance with the claim 1, it is characterised in that：Host computer is provided with (8) Display screen, can show the azimuth information of Laser emission receiver (6), reset key is additionally provided with the display screen, for controlling Make the reset of the first stepper motor (3) and the second stepper motor (4).
- 4. a kind of underground space laser 3D imaging methods, utilize underground space laser as claimed any one in claims 1 to 3 3D imaging devices, it is characterised in that include the following steps：(1), the part for being connected to its underpart is extend into the space to be detected of underground by vertical telescopic rod, Laser emission is set The horizontal initial position and vertical initial position of receiver；(2), Laser emission receiver is driven to do horizontal 360-degree and vertical 180 by the first stepper motor and the second stepper motor Degree rotation, obtains the spherical scanning data in space to be detected, and the scan data is Laser emission receiver away from underground space wall The air line distance of wall, wherein, magnetometer is used to aid in the first stepper motor of adjustment or the second stepper motor to return back to horizontal starting Position or vertical initial position；(3), host computer obtains the spherical scanning data, by handling the data, obtains underground space laser 3D Image-forming information.
- 5. according to the underground space laser 3D imaging methods described in claim 4, it is characterised in that：The acquisition process of spherical scanning data is as follows in step (2)：After first stepper motor rotates specified low-angle from horizontal initial position, the second stepper motor rotates 180 degree from bottom to top, Laser emission receiver obtains its air line distance away from underground space wall in real time during the second stepper motor is rotating, Realize the measurement to a perpendicular, afterwards by the cooperation of the second stepper motor and magnetometer, make Laser emission receiver Vertical initial position is reversely transferred back to, after the first stepper motor rotates specified angle again, the second stepper motor revolves from bottom to top Turnback, Laser emission receiver realize the measurement to the perpendicular, and so on, the first stepper motor completes level 360 Degree rotation, it is final to obtain spherical scanning data, afterwards by the cooperation of the first stepper motor and magnetometer, receive Laser emission Device reversely transfers back to horizontal initial position, so far, completes the acquisition of a spherical scanning data.
- 6. according to the underground space laser 3D imaging methods described in claim 5, it is characterised in that：Display is provided with host computer Screen, for showing the azimuth information and the first stepper motor and the rotating angle letter of the second stepper motor of Laser emission receiver Cease, the image-forming information as obtained from handling spherical scanning data, be additionally provided with reset key on the display screen, be used for Control the reset of the first stepper motor and the second stepper motor.
- 7. according to the underground space laser 3D imaging methods described in claim 5 or 6, it is characterised in that：First stepper motor Horizontal 360-degree rotates to be uniform small angle rotation.
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