CN109682360B - Engineering truck with three-dimensional scanning function and scanning processing method - Google Patents
Engineering truck with three-dimensional scanning function and scanning processing method Download PDFInfo
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- CN109682360B CN109682360B CN201910105448.2A CN201910105448A CN109682360B CN 109682360 B CN109682360 B CN 109682360B CN 201910105448 A CN201910105448 A CN 201910105448A CN 109682360 B CN109682360 B CN 109682360B
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- 238000003672 processing method Methods 0.000 title claims abstract description 14
- 239000000523 sample Substances 0.000 claims abstract description 56
- 238000009434 installation Methods 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 7
- 238000007639 printing Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 6
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- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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- 239000005341 toughened glass Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
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- 230000001012 protector Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an engineering vehicle with a three-dimensional scanning function and a scanning processing method, wherein the engineering vehicle comprises the following components: a vehicle body; the scanning device is arranged on one side of the vehicle body facing the working direction of the engineering vehicle, and comprises: the mounting part is connected with the vehicle body and can rotate around the first shaft; the laser probe is connected with the mounting part and can rotate around the second axis, and is used for scanning the reference positioning point to determine the distance value between the engineering vehicle and the reference positioning point, determining the first coordinate data of the reference positioning point under the scanning coordinate system and scanning the environment of the working direction of the engineering vehicle to obtain the second coordinate data of the environment under the scanning coordinate system of the scanning device; and the controller is used for determining third coordinate data of the engineering vehicle in the reference coordinate system according to the distance value, the encoder value and the preset coordinate data of the reference positioning point in the preset reference coordinate system, and establishing corresponding point cloud information of the second coordinate data in the reference coordinate system through a preset algorithm.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to an engineering truck with a three-dimensional scanning function and a scanning processing method.
Background
In order to achieve the precision and the intellectualization of tunnel construction, it becomes important to establish a point cloud model diagram of a tunnel through a three-dimensional scanner. Along with the gradual promotion of the mechanization, the digitalization and the informatization of tunnel construction, the three-dimensional reconstruction of the tunnel is indispensable for realizing accurate and intelligent construction. Three-dimensional scanning is a key place for realizing three-dimensional reconstruction. Three-dimensional scanning is to acquire three-dimensional point cloud data of a tunnel, and because laser has the characteristics of small divergence angle and good directivity, scanners based on laser technology are widely applied to ranging, and point data is obtained through time difference between laser emission and laser reception.
The traditional scanning is realized by adopting a commercial three-dimensional scanner or constructing a three-dimensional laser scanner by a one-dimensional rotating platform and a two-dimensional laser range finder. The commercial three-dimensional scanner is low in protection level, is commonly used in the field or indoor environment, cannot be used for the vehicle-mounted working condition of the tunnel engineering machinery, and is complex in structure and high in price. The three-dimensional laser scanner is built by the one-dimensional rotating platform and the two-dimensional laser range finder, tunnel scanning can be achieved through the scheme, but the precision of the tunnel scanning is dependent on the two-dimensional laser range finder, and cost and precision are difficult to achieve.
The existing three-dimensional laser scanner has very strict requirements on the working environment, needs to spend a great deal of time for environment arrangement before use, cannot realize follow-up with engineering vehicles, cannot be synchronously carried out with construction progress, and has low working efficiency.
Therefore, a technical scheme capable of synchronously performing three-dimensional laser scanning along with the construction progress is needed at present.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art or related art.
To this end, a first aspect of the present invention proposes an engineering vehicle having a three-dimensional scanning function.
A second aspect of the present invention proposes a scanning processing method.
In view of this, a first aspect of the present invention provides an engineering vehicle with a three-dimensional scanning function, including: a vehicle body; the scanning device is arranged on one side of the vehicle body facing the working direction of the engineering vehicle, and comprises: the mounting part is connected with the vehicle body and can rotate around the first shaft; the laser probe is connected with the mounting part and can rotate around the second axis, and is used for scanning the reference positioning point to determine the distance value between the engineering vehicle and the reference positioning point, determining the first coordinate data of the reference positioning point under the scanning coordinate system and scanning the environment of the working direction of the engineering vehicle to obtain the second coordinate data of the environment under the scanning coordinate system of the scanning device; the controller is used for determining third coordinate data of the engineering vehicle in the reference coordinate system according to the distance value and preset coordinate data of the reference positioning point in the preset reference coordinate system, determining the relative relation between the scanning coordinate system and the reference coordinate system according to the preset coordinate data and the first coordinate data, converting the second coordinate data into the reference coordinate system according to the relative relation, and establishing point cloud information corresponding to the second coordinate data in the reference coordinate system through a preset algorithm; wherein the axis of the first shaft and the axis of the second shaft are perpendicular to each other.
In the technical scheme, the vehicle body of the engineering vehicle is provided with the scanning device, and three-dimensional laser scanning of the surrounding environment of the engineering vehicle can be realized through the scanning device. The scanning device specifically comprises a mounting part, a laser probe and a controller; the mounting part is connected with the vehicle body and can rotate around a first shaft; the laser probe is arranged on the mounting part and can rotate around the second shaft, and because the axes of the first shaft and the second shaft are mutually perpendicular, the laser probe can scan a three-dimensional space with the direction of the first shaft as the x-axis, the direction of the second shaft as the y-axis and the advancing direction of laser emitted by the laser probe as the z-axis, so that second coordinate data of the surrounding environment in the three-dimensional space under the scanning coordinate system of the scanning device can be obtained. Meanwhile, the laser probe can also scan a reference positioning point, wherein the reference positioning point is arranged in the environment where the engineering vehicle is located, and the coordinate data of the reference positioning point in a reference coordinate system is known preset coordinate data, when the laser probe scans the reference coordinate point, an accurate distance value of the engineering vehicle from the reference coordinate point can be obtained, so that the accurate positioning of the engineering vehicle can be realized by obtaining the distance values of the engineering vehicle from a plurality of reference positioning points, namely third coordinate data of the engineering vehicle in the reference coordinate system, namely the ground coordinate system, through consistent preset coordinate data. Meanwhile, after the laser probe scans the reference coordinate point, first coordinate data of the reference coordinate point under a scanning coordinate system of the scanning device can be obtained, the relative relation between the scanning coordinate system and the preset reference coordinate system is determined by comparing mathematical relation between preset coordinate data and the first coordinate data, second coordinate data under the scanning coordinate system is converted into the reference coordinate system through the relative relation, and point cloud information corresponding to the second coordinate data in the reference coordinate system is established through a preset algorithm. By applying the technical scheme provided by the invention, the engineering vehicle is provided with the scanning device, so that the engineering vehicle can synchronously travel with the engineering vehicle without manual setting, the engineering vehicle can synchronously scan along with the engineering progress, the engineering vehicle can be accurately positioned by scanning the reference positioning point, and the environment coordinates obtained by scanning can be classified into the reference coordinate system by the preset coordinate data of the reference positioning point in the reference coordinate system, so that the working efficiency is greatly improved. Meanwhile, the laser probe has lower cost, mature application technology and low cost and high efficiency engineering construction.
In addition, the engineering truck with the three-dimensional scanning function in the technical scheme provided by the invention can also have the following additional technical characteristics:
In the above technical solution, further, the mounting portion includes: a mounting part body; the first connecting seat is connected with the vehicle body; the first rotating seat, the one end and the installation department body of first rotating seat are connected, and the other end and the first connecting seat of first rotating seat are connected, and first rotating seat can rotate around first axle.
In this technical scheme, the installation department includes installation department body, first connecting seat and first roating seat, and first connecting seat is connected with the automobile body, specifically can adopt welding, riveting or realize connecting through connecting pieces such as bolt, and the installation department body is connected with the connecting seat rotation through the roating seat that can rotate around first axle to realize the installation department body and rotate around first axle.
In any of the above technical solutions, further, the mounting portion body is provided with a first cavity, and the controller is disposed in the first cavity; the mounting portion further includes: the first cover body is connected with the installation part body and covers the first cavity.
In the technical scheme, a first cavity is formed in a mounting part body, and a controller is arranged in the first cavity; the first cover body covers the first cavity body so as to realize the protection effect on the controller and improve the reliability of the system. Preferably, the mounting part body can be provided with a wiring hole for enabling wires of the controller to pass out through the wiring hole and be connected with the laser probe, so that wiring is convenient.
In any of the above embodiments, further, the mounting portion further includes: the first driving device is arranged in the first cavity, and the output end of the first driving device is connected with the first rotating seat; the first rotary encoder is arranged in the first cavity and connected with the controller and the first driving device, and the first rotary encoder is used for controlling the first driving device according to a first control signal sent by the controller so as to drive the first rotary seat to rotate around the first shaft.
In this technical solution, a first driving device, in particular a motor, preferably a servomotor, and a first rotary encoder are arranged in the first cavity. The first encoder receives a first control signal sent by the control device and compiles the first control signal into an electric signal for driving the first driving device so that the first driving device rotates under the driving of the electric signal to realize the rotation of the first rotating seat around the first shaft.
In any of the above embodiments, further, the mounting portion further includes: the second connecting seat is connected with the laser probe; the second rotating seat, one end of second rotating seat is connected with the installation department body, and the other end of second rotating seat is connected with the second connecting seat, and the second rotating seat can rotate around the second axle.
In the technical scheme, the mounting part further comprises a second connecting seat and a second rotating seat; the both ends of second roating seat are connected with installation department body and second connecting seat respectively, and laser probe sets up on the second connecting seat simultaneously, realizes through the second roating seat that laser probe is rotatory around the second shaft.
In any of the above embodiments, further, the mounting portion further includes: the second driving device is arranged in the first cavity, and the output end of the second driving device is connected with the second rotating seat; the second rotary encoder is arranged in the first cavity and connected with the controller and the second driving device, and the second rotary encoder is used for controlling the second driving device according to a second control signal sent by the controller so as to drive the second rotary seat to rotate around the second shaft.
In this technical solution, a second driving device and a second rotary encoder are arranged in the first cavity, the second driving device being in particular a motor, preferably a servomotor. The second rotary encoder receives a second control signal sent by the control device and compiles the second control signal into an electric signal for driving the second driving device so that the second driving device rotates under the driving of the electric signal to realize the rotation of the second rotary seat around the second shaft.
Preferably, the driving device is connected with the corresponding rotating shaft through belt transmission, so that noise generated by the driving device is reduced, and meanwhile, the vibration absorbing effect is achieved, so that the vibration resistance, the protection level and the service life of the scanning device are improved. Meanwhile, the belt transmission structure is simple, the occupied space is less, the space utilization rate can be effectively improved, and when power is overloaded, the belt transmission can slip due to overlarge torsion, parts can not be damaged, and the safety and reliability of the equipment are effectively improved.
In any of the foregoing solutions, further, the scanning device further includes: a guard, the guard comprising: the cover body comprises a second cavity, and the laser probe is arranged in the second cavity; the second cover body is connected with the cover body, covers on the second cavity body, is provided with the opening towards the laser probe on the second cover body, is provided with the lens of printing opacity material on the opening.
In the technical scheme, a protective device is arranged outside the laser probe, and comprises a cover body and a second cover body, wherein the cover body is provided with a second cavity for accommodating the laser probe and used for protecting the laser probe; the second cover body covers the cavity, an opening facing the laser probe is arranged on the second cover body, and a lens made of a light-transmitting material is arranged on the opening; the lens is preferably made of toughened glass or artificial crystal; so that the laser rays emitted by the laser probe can be emitted through the opening to realize the scanning of the environment.
In any of the foregoing solutions, further, the scanning device further includes: the remote control device is connected with the controller and used for sending a control instruction to the controller so that the controller can control the scanning device to acquire the first coordinate data, the second coordinate data and the distance value according to the control instruction.
In the technical scheme, the scanning device is provided with a remote control device, the remote control device can be specifically provided with a wired remote control device or a wireless remote control device, and engineering personnel send control instructions to the scanning device through the remote control device, so that a controller of the scanning device controls the laser probe to acquire required coordinate data and distance values according to the control instructions.
Preferably, the remote control device is arranged in the engineering vehicle cockpit or control cabin.
A second aspect of the present invention provides a scanning processing method, including: acquiring preset coordinate data of a reference positioning point in a preset reference coordinate system; controlling the scanning device to scan the environments of the reference positioning point and the working direction of the engineering vehicle so as to acquire first coordinate data of the reference positioning point and second coordinate data of the environments under a scanning coordinate system of the scanning device; determining the relative relation between the scanning coordinate system and a preset reference coordinate system according to the preset coordinate data and the first coordinate data, so as to convert the second coordinate data from the scanning coordinate system to the reference coordinate system through the relative relation; establishing point cloud information corresponding to the second coordinate data in a reference coordinate system through a preset algorithm; generating corresponding image information according to the point cloud information; and displaying the image information.
According to the technical scheme, preset coordinate data of a reference positioning point in a preset reference coordinate system is firstly obtained, a scanning device is controlled to scan the reference positioning point to obtain first coordinate data of the reference positioning point in the scanning coordinate system, the relative relation between the scanning coordinate system and the reference coordinate system is determined according to the first coordinate data and the preset coordinate data of the reference positioning point in the reference coordinate system, second coordinate data of an environment obtained by scanning in the scanning coordinate system is converted into the reference coordinate system according to the relative relation between the scanning coordinate system and the reference coordinate system, the second coordinate data of the environment in the working direction of an engineering vehicle is further obtained, then point cloud information corresponding to the second coordinate data in the reference coordinate system is established through a preset algorithm, and image information corresponding to the point cloud information is generated and displayed, so that engineering personnel can master and control construction progress in real time according to the image information, and construction efficiency is improved.
In the above technical solution, further, the scanning processing method further includes: controlling a scanning device to scan a reference positioning point to determine a distance value between the engineering truck and the reference positioning point, and acquiring a corresponding encoder value; determining the position relation between the engineering vehicle and the reference positioning point according to the distance value and the encoder value; and determining third coordinate data of the engineering vehicle in the reference coordinate system according to the preset coordinate information and the position relation.
In the technical scheme, preset coordinate data of a reference positioning point in a preset reference coordinate system is firstly obtained, and a scanning device, particularly a laser probe, is controlled to scan the reference positioning point so as to determine a distance value between the engineering vehicle and the reference positioning point. Preferably, three datum positioning points are arranged, and are particularly positioned in different directions of the laser probe; after the distance value between the engineering truck and the reference positioning point is obtained, the position relation between the engineering truck and the reference positioning point can be determined according to the distance value and the corresponding encoder value, the engineering truck has preset coordinate data brought into the reference positioning point, and third coordinate data of the engineering truck in a reference coordinate system, namely a geodetic coordinate system, is obtained through calculation of the position relation and the preset coordinate data, so that accurate positioning of the engineering truck is realized.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 shows a schematic diagram of a scanning device according to an embodiment of the invention;
fig. 2 shows a schematic structural view of a scanning device according to another embodiment of the present invention;
FIG. 3 illustrates a schematic structural diagram of an engineering vehicle with three-dimensional scanning function according to one embodiment of the present invention;
FIG. 4 shows a schematic structural view of a guard according to an embodiment of the present invention;
fig. 5 shows a schematic structural view of a remote control device according to an embodiment of the present invention;
FIG. 6 shows a flow chart of a scan processing method according to an embodiment of the invention;
fig. 7 shows a flow chart of a scanning processing method according to another embodiment of the invention.
Wherein, the correspondence between the reference numerals and the component names in fig. 1 to 5 is:
1 car body, 2 scanning device, 20 laser probe, 40 installation department, 402 installation department body, 404 first connecting seat, 406 first rotary seat, 408 first drive arrangement, 410 first rotary encoder, 412 second rotary seat, 414 second drive arrangement, 416 second rotary encoder, 60 protector, 602 cover, 604 second lid, 606 lens, 80 remote control device.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
The following describes an engineering truck and a scanning processing method according to some embodiments of the present invention with reference to fig. 1 to 7.
As shown in fig. 1 to 3, in an embodiment of a first aspect of the present invention, there is provided an engineering vehicle having a three-dimensional scanning function, including: a vehicle body 1; the scanning device 2 is arranged on one side of the vehicle body 1 facing the working direction of the engineering vehicle, and the scanning device 2 comprises: a mounting portion 40 connected to the vehicle body 1, the mounting portion 40 being rotatable about a first axis; the laser probe 20 is connected with the mounting part 40, the laser probe 20 can rotate around a second axis, the laser probe 20 is used for scanning a reference positioning point to determine a distance value between the engineering vehicle and the reference positioning point, determining first coordinate data of the reference positioning point under a scanning coordinate system, and scanning the environment of the working direction of the engineering vehicle to obtain second coordinate data of the environment under the scanning coordinate system of the scanning device 2; the controller is connected with the laser probe 20 and is used for determining third coordinate data of the engineering vehicle in a reference coordinate system according to the distance value and preset coordinate data of the reference positioning point in the preset reference coordinate system, determining the relative relation between the scanning coordinate system and the reference coordinate system according to the preset coordinate data and the first coordinate data, converting the second coordinate data into the reference coordinate system according to the relative relation, and establishing point cloud information corresponding to the second coordinate data in the reference coordinate system through a preset algorithm; wherein the axis of the first shaft and the axis of the second shaft are perpendicular to each other.
In this embodiment, the vehicle body 1 of the engineering vehicle is provided with a scanning device 2, and three-dimensional laser scanning of the surrounding environment of the engineering vehicle can be realized by the scanning device 2. The scanning device 2 specifically includes a mounting portion 40, a laser probe 20, and a controller; the mounting portion 40 is connected to the vehicle body 1 and rotatable about a first axis; the laser probe 20 is disposed on the mounting portion 40, and the laser probe 20 is rotatable about a second axis, and since the axes of the first axis and the second axis are perpendicular to each other, the laser probe 20 can scan a three-dimensional space in which the direction in which the first axis is located is the x-axis, the direction in which the second axis is located is the y-axis, and the traveling direction of the laser light emitted from the laser probe 20 is the z-axis, so as to obtain second coordinate data in the scanning coordinate system of the scanning device 2 in the three-dimensional space. Meanwhile, the laser probe 20 can also scan a reference positioning point, wherein the reference positioning point is arranged in the environment where the engineering vehicle is located, and the coordinate data of the reference positioning point in the reference coordinate system is known preset coordinate data, when the laser probe 20 scans the reference coordinate point, an accurate distance value of the engineering vehicle from the reference coordinate point can be obtained, so that the accurate positioning of the engineering vehicle in the reference coordinate system, namely, the third coordinate data in the geodetic coordinate system can be calculated through consistent preset coordinate data by obtaining the distance value of the engineering vehicle from a plurality of reference positioning points. Meanwhile, after the laser probe 20 scans the reference coordinate point, the first coordinate data of the reference coordinate point under the scanning coordinate system of the scanning device 2 can be obtained, the relative relation between the scanning coordinate system and the preset reference coordinate system is determined by comparing the mathematical relation between the preset coordinate data and the first coordinate data, the second coordinate data under the scanning coordinate system is converted into the reference coordinate system through the relative relation, and the point cloud information corresponding to the second coordinate data in the reference coordinate system is established through a preset algorithm. By applying the technical scheme provided by the invention, the engineering vehicle is provided with the scanning device 2, so that the engineering vehicle can synchronously travel with the engineering vehicle without manual setting, and can synchronously scan along with the engineering progress, the engineering vehicle can be accurately positioned by scanning the reference positioning point, and the environment coordinates obtained by scanning can be classified into the reference coordinate system by the preset coordinate data of the reference positioning point in the reference coordinate system, so that the working efficiency is greatly improved. Meanwhile, the laser probe 20 has lower cost, mature application technology and low cost and high efficiency engineering construction.
In one embodiment of the present invention, further, as shown in fig. 1 and 2, the mounting portion 40 includes: a mounting portion body 402; a first connecting seat 404 connected to the vehicle body 1; the first rotating seat 406, one end of the first rotating seat 406 is connected with the mounting portion body 402, the other end of the first rotating seat 406 is connected with the first connecting seat 404, and the first rotating seat 406 can rotate around the first shaft.
In this embodiment, the mounting portion 40 includes a mounting portion body 402, a first connecting seat 404, and a first rotating seat 406, where the first connecting seat 404 is connected to the vehicle body 1, specifically, may be welded, riveted, or connected by a connecting member such as a bolt, and the mounting portion body 402 is rotatably connected to the connecting seat by the rotating seat rotatable about the first axis, so as to realize rotation of the mounting portion body 402 about the first axis.
In one embodiment of the present invention, further, as shown in fig. 1 and 2, the mounting portion body 402 is provided with a first cavity, and the controller is provided in the first cavity; the mounting portion 40 further includes: the first cover body is connected with the mounting part body 402 and covers the first cavity body.
In this embodiment, the mounting portion body 402 is provided with a first cavity in which the controller is disposed; the first cover body covers the first cavity body so as to realize the protection effect on the controller and improve the reliability of the system. Preferably, the mounting portion body 402 may be provided with a wire hole for allowing a wire of the controller to pass out through the wire hole and be connected to the laser probe 20, so as to facilitate wiring.
In one embodiment of the present invention, further, as shown in fig. 1 and 2, the mounting portion 40 further includes: the first driving device 408 is disposed in the first cavity, and an output end of the first driving device 408 is connected to the first rotating seat 406; the first rotary encoder 410 is disposed in the first cavity and connected to the controller and the first driving device 408, and the first rotary encoder 410 is configured to control the first driving device 408 according to a first control signal sent by the controller, so as to drive the first rotary seat 406 to rotate around the first axis.
In this embodiment, a first driving device 408 and a first rotary encoder 410 are provided in the first chamber, and the first driving device 408 is specifically a motor, preferably a servo motor. The first encoder receives the first control signal sent by the control device, and compiles the first control signal into an electrical signal for driving the first driving device 408, so that the first driving device 408 rotates under the driving of the electrical signal, and the first rotating seat 406 rotates around the first axis.
In one embodiment of the present invention, further, as shown in fig. 1 and 2, the mounting portion 40 further includes: the second connecting seat is connected with the laser probe 20; the second rotating seat 412, one end of the second rotating seat 412 is connected with the mounting portion body 402, the other end of the second rotating seat 412 is connected with the second connecting seat, and the second rotating seat 412 can rotate around the second axis.
In this embodiment, the mounting portion 40 further includes a second connection seat and a second swivel seat 412; the two ends of the second rotating seat 412 are respectively connected with the mounting portion body 402 and the second connecting seat, and meanwhile, the laser probe 20 is arranged on the second connecting seat, and the rotation of the laser probe 20 around the second axis is realized through the second rotating seat 412.
In one embodiment of the present invention, further, as shown in fig. 1 and 2, the mounting portion 40 further includes: the second driving device 414 is disposed in the first cavity, and an output end of the second driving device 414 is connected to the second rotating seat 412; the second rotary encoder 416 is disposed in the first cavity and connected to the controller and the second driving device 414, and the second rotary encoder 416 is configured to control the second driving device 414 according to a second control signal sent by the controller, so as to drive the second rotary seat 412 to rotate around the second axis.
In this embodiment, a second driving means 414 and a second rotary encoder 416 are provided in the first chamber, the second driving means 414 being in particular a motor, preferably a servo motor. The second rotary encoder 416 receives the second control signal sent by the control device, and compiles the second control signal into an electrical signal for driving the second driving device 414, so that the second driving device 414 rotates under the driving of the electrical signal, so as to realize the rotation of the second rotary seat 412 around the second axis.
Preferably, the driving device is connected with the corresponding rotating shaft through belt transmission, so that noise generated by the driving device is reduced, and meanwhile, the vibration absorbing effect is achieved, so that the vibration resistance, the protection level and the service life of the scanning device 2 are improved. Meanwhile, the belt transmission structure is simple, the occupied space is less, the space utilization rate can be effectively improved, and when power is overloaded, the belt transmission can slip due to overlarge torsion, parts can not be damaged, and the safety and reliability of the equipment are effectively improved.
In one embodiment of the present invention, further, as shown in fig. 4, the scanning apparatus 2 further includes: guard 60, guard 60 includes: the cover 602, the cover 602 includes a second cavity, and the laser probe 20 is disposed in the second cavity; the second cover 604 is connected to the cover 602, the second cover 604 covers the second cavity, an opening facing the laser probe 20 is provided on the second cover 604, and a lens 606 made of a light-transmitting material is provided on the opening. In this embodiment, the laser probe 20 is provided with a protecting device 60, the protecting device 60 includes a cover 602 and a second cover 604, the cover 602 is provided with a second cavity for accommodating the laser probe 20, for protecting the laser probe 20; the second cover 604 covers the cavity, and an opening facing the laser probe 20 is arranged on the second cover 604, and a lens 606 made of light-transmitting material is arranged on the opening; the lens 606 is preferably made of toughened glass or artificial crystal; so that the laser beam emitted from the laser probe 20 can be emitted through the opening to realize the scanning of the environment.
In one embodiment of the present invention, further, as shown in fig. 1 and 5, the scanning apparatus 2 further includes: the remote control device 80 is connected with the controller, and the remote control device 80 is used for sending a control instruction to the controller so that the controller can control the scanning device 2 to acquire the first coordinate data, the second coordinate data and the distance value according to the control instruction.
In this embodiment, the scanning device 2 is provided with a remote control device 80, and the remote control device 80 may be specifically provided with a wired remote control device or a wireless remote control device, and an engineer issues a control instruction to the scanning device 2 through the remote control device 80, so that the controller of the scanning device 2 controls the laser probe 20 to acquire the required coordinate data and distance value according to the control instruction.
Preferably, the remote control 80 is located within the engineering vehicle cockpit or control cabin.
As shown in fig. 6, in an embodiment of the second aspect of the present invention, a scanning processing method includes:
s602, acquiring preset coordinate data of a reference positioning point in a preset reference coordinate system;
S604, controlling the scanning device to scan the reference positioning point and the environment of the working direction of the engineering truck so as to acquire first coordinate data of the reference positioning point and second coordinate data of the environment under the scanning coordinate system of the scanning device;
s606, determining the relative relation between the scanning coordinate system and a preset reference coordinate system according to the preset coordinate data and the first coordinate data, so as to convert the second coordinate data from the scanning coordinate system to the reference coordinate system through the relative relation;
s608, establishing point cloud information corresponding to the second coordinate data in a reference coordinate system through a preset algorithm;
S610, corresponding image information is generated according to the point cloud information;
S612, displaying the image information.
In the embodiment, first, preset coordinate data of a reference positioning point in a preset reference coordinate system is acquired, a scanning device is controlled to scan the reference positioning point to acquire first coordinate data of the reference positioning point in the scanning coordinate system, the relative relation between the scanning coordinate system and the reference coordinate system is determined according to the first coordinate data and the preset coordinate data of the reference positioning point in the reference coordinate system, second coordinate data of an environment obtained by scanning in the scanning coordinate system is converted into the reference coordinate system according to the relative relation between the scanning coordinate system and the reference coordinate system, further second coordinate data of the environment in the working direction of an engineering vehicle in the reference coordinate system is obtained, then point cloud information corresponding to the second coordinate data in the reference coordinate system is established through a preset algorithm, and image information corresponding to the point cloud information is generated and displayed, so that engineering personnel can master and control construction progress in real time according to the image information, and construction efficiency is improved.
In one embodiment of the present invention, further, as shown in fig. 7, the scanning processing method further includes:
s702, controlling a scanning device to scan a reference positioning point to determine a distance value between the engineering truck and the reference positioning point, and acquiring a corresponding encoder value;
s704, determining the position relationship between the engineering truck and a reference positioning point according to the distance value and the encoder value;
S706, determining third coordinate data of the engineering truck in the reference coordinate system according to the preset coordinate information and the position relation.
In this embodiment, first, preset coordinate data of a reference positioning point in a preset reference coordinate system is acquired, and a scanning device, specifically a laser probe, is controlled to scan the reference positioning point to determine a distance value between the engineering vehicle and the reference positioning point. Preferably, three datum positioning points are arranged, and are particularly positioned in different directions of the laser probe; after the distance value between the engineering truck and the reference positioning point is obtained, the position relation between the engineering truck and the reference positioning point can be determined according to the distance value, the engineering truck is provided with preset coordinate data carried into the reference positioning point, and third coordinate data of the engineering truck in a reference coordinate system, namely a geodetic coordinate system, is obtained through calculation by the position relation and the preset coordinate data, so that the accurate positioning of the engineering truck is realized.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are orientation or positional relationship based on the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An engineering vehicle with a three-dimensional scanning function, which is characterized by comprising:
a vehicle body;
the scanning device is arranged on one side of the vehicle body facing the working direction of the engineering vehicle, and comprises:
A mounting portion connected to the vehicle body, the mounting portion being rotatable about a first axis;
The laser probe is connected with the mounting part and can rotate around a second axis, and is used for scanning a reference positioning point to determine a distance value between the engineering truck and the reference positioning point, determining first coordinate data of the reference positioning point under a scanning coordinate system and scanning an environment of the engineering truck in a working direction to obtain second coordinate data of the environment under the scanning coordinate system of the scanning device;
The controller is used for determining third coordinate data of the engineering vehicle in a preset reference coordinate system according to the distance value, the encoder value and preset coordinate data of the reference positioning point in the preset reference coordinate system, determining a relative relation between the scanning coordinate system and the reference coordinate system according to the preset coordinate data and the first coordinate data, converting the second coordinate data into the reference coordinate system according to the relative relation, and establishing point cloud information corresponding to the second coordinate data in the reference coordinate system through a preset algorithm;
wherein the axis of the first shaft and the axis of the second shaft are perpendicular to each other;
The mounting portion includes:
a mounting part body; the mounting part body is provided with a first cavity, and the controller is arranged in the first cavity;
one end of the first rotating seat is connected with the mounting part body;
The first driving device is arranged in the first cavity, and the output end of the first driving device is connected with the first rotating seat;
the first rotary encoder is arranged in the first cavity and connected with the controller and the first driving device, and is used for controlling the first driving device according to a first control signal sent by the controller so as to drive the first rotary seat to rotate around the first shaft;
one end of the second rotating seat is connected with the mounting part body;
The second driving device is arranged in the first cavity, and the output end of the second driving device is connected with the second rotating seat;
the second rotary encoder is arranged in the first cavity and connected with the controller and the second driving device, and is used for controlling the second driving device according to a second control signal sent by the controller so as to drive the second rotary seat to rotate around the second shaft;
The scanning device further includes:
the remote control device is connected with the controller and is used for sending a control instruction to the controller so that the controller controls the scanning device to acquire the first coordinate data, the second coordinate data and the distance value according to the control instruction;
the remote control device is arranged in the engineering vehicle cockpit or the control cabin.
2. The three-dimensional scanning-function-equipped working vehicle according to claim 1, wherein the mounting portion includes:
the first connecting seat is connected with the vehicle body;
the other end of the first rotating seat is connected with the first connecting seat, and the first rotating seat can rotate around the first shaft.
3. The engineering vehicle with three-dimensional scanning function according to claim 2, wherein,
The mounting portion further includes: the first cover body is connected with the installation part body and covers the first cavity.
4. The three-dimensional scanning-function-equipped working vehicle according to claim 3, wherein the mounting portion further comprises:
The second connecting seat is connected with the laser probe;
The other end of the second rotating seat is connected with the second connecting seat, and the second rotating seat can rotate around the second shaft.
5. The three-dimensional scanning-enabled engineering vehicle according to any one of claims 1 to 4, wherein the scanning device further comprises:
a guard, the guard comprising:
the cover body comprises a second cavity, and the laser probe is arranged in the second cavity;
The second cover body is connected with the cover body, the second cover body covers on the second cavity, be provided with on the second cover body towards the opening of laser probe, be provided with the lens of printing opacity material on the opening.
6. A scanning processing method for the engineering vehicle with a three-dimensional scanning function according to any one of claims 1 to 5, characterized in that the scanning processing method comprises:
acquiring preset coordinate data of a reference positioning point in a preset reference coordinate system;
The remote control device sends a control instruction to the controller so that the controller controls the scanning device according to the control instruction;
Controlling a scanning device to scan the environments of the reference positioning points and the working direction of the engineering truck so as to acquire first coordinate data of the reference positioning points and second coordinate data of the environments under a scanning coordinate system of the scanning device;
determining a relative relation between the scanning coordinate system and the reference coordinate system according to the preset coordinate data and the first coordinate data, so as to convert the second coordinate data from the scanning coordinate system to the preset reference coordinate system through the relative relation;
establishing point cloud information corresponding to the second coordinate data in the reference coordinate system through a preset algorithm;
Generating corresponding image information according to the point cloud information;
Displaying the image information;
controlling the scanning device to scan the reference positioning point to determine a distance value between the engineering truck and the reference positioning point, and acquiring a corresponding encoder value;
determining the position relation between the engineering vehicle and the reference positioning point according to the value and the encoder value;
And determining third coordinate data of the engineering vehicle in the reference coordinate system according to the preset coordinate information and the position relation.
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| CN108535736A (en) * | 2017-03-05 | 2018-09-14 | 苏州中德睿博智能科技有限公司 | Three dimensional point cloud acquisition methods and acquisition system |
| CN108844490A (en) * | 2018-06-25 | 2018-11-20 | 中国铁建重工集团有限公司 | A kind of tunnel contour positioning scanning device and relevant apparatus and method |
| CN209639717U (en) * | 2019-02-01 | 2019-11-15 | 中国铁建重工集团股份有限公司 | Engineering truck with three-dimensional scanning function |
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| DE102007037162A1 (en) * | 2007-08-07 | 2009-02-19 | Gottfried Wilhelm Leibniz Universität Hannover | Artificial and natural objects detection method for vehicle, involves converting measuring information in common standard time, synchronizing information on trigger points, and orienting information on clock signal |
| TWI358606B (en) * | 2007-12-28 | 2012-02-21 | Ind Tech Res Inst | Method for three-dimension (3d) measurement and an |
| WO2011127375A1 (en) * | 2010-04-09 | 2011-10-13 | Pochiraju Kishore V | Adaptive mechanism control and scanner positioning for improved three-dimensional laser scanning |
| JP6120521B2 (en) * | 2012-10-19 | 2017-04-26 | 株式会社トプコン | 3D surveying device and 3D surveying system |
| JP6771994B2 (en) * | 2016-08-17 | 2020-10-21 | 株式会社トプコン | Measurement method and laser scanner |
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| CN108535736A (en) * | 2017-03-05 | 2018-09-14 | 苏州中德睿博智能科技有限公司 | Three dimensional point cloud acquisition methods and acquisition system |
| CN108844490A (en) * | 2018-06-25 | 2018-11-20 | 中国铁建重工集团有限公司 | A kind of tunnel contour positioning scanning device and relevant apparatus and method |
| CN209639717U (en) * | 2019-02-01 | 2019-11-15 | 中国铁建重工集团股份有限公司 | Engineering truck with three-dimensional scanning function |
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