A three-dimensional measuring device for indoor ground inclination

Abstract

The present invention provides a three-dimensional measuring device for indoor ground inclination, which relates to the field of measurement technology, including a laser emitting component for emitting a laser reference surface; a positioning component for intersecting with the laser reference surface at a positioning point to form a laser image; an image acquisition component for acquiring the laser image and processing it into image data to be sent to a data processing component; a displacement measurement component for measuring the distance and angle of multiple measurement points, and sending the angle data and distance data to the data processing component; a data processing component for processing the above data to calculate and generate a three-dimensional view of the ground; and a control component for automatically controlling the above components. The ground height of the measurement point is obtained by the cooperation of the image acquisition component and the positioning component; the plane two-dimensional data of the measurement point is measured by the displacement measurement component to form a three-dimensional view of the ground, and each component is wirelessly controlled by the control component to complete the corresponding work, without the need for human eye observation and manual recording and processing of data, and the operation is convenient.

Description

Technical Field

[0001] The invention relates to the field of measurement technology, and in particular to a three-dimensional measurement device for indoor ground inclination. Background Art

[0002] The three-dimensional measurement of indoor floors is the main basis for the material construction budget before indoor floor decoration and the quality assessment after decoration. The accuracy and automation level of its measurement directly affect the quality and efficiency of house construction and decoration. At present, the measurement of indoor area in China mainly relies on tape measures or handheld laser rangefinders. The measurement of ground level is to use a two-meter-long ruler manually, measure the inclination of the ground for each two-meter section, and then add up the sections; the second is to use a tape measure and a horizontal laser reference surface to observe and measure the height of each point on the ground relative to the horizontal laser, and then connect the points to form the ground level. In addition, most of the patents for ground level measurement are based on various rods, and a contact-type ground level manual measurement device is formed by a combination of rods and reflectors. The prior art proposes an intelligent highway construction level detector, which uses mounting rods, guide rails, water bubbles and reflectors to achieve the amplification of ground level and improve the accuracy of detection. However, the measurement is still based on guide rail adjustment, human eye observation and manual recording and processing of data, with slow speed and few measurement points. In recent years, a small number of patents have combined laser length measurement, image processing and optoelectronic technology for horizontal measurement in civil engineering. Similar prior art has proposed a three-dimensional displacement measurement method based on laser spot imaging technology, which uses two laser transmitters to emit light beams to the imaging target surface, and the imaging lens focuses the laser beam into a spot image, and then uses an imaging photoelectric device to receive the spot image. The signal processing unit uses a graphic processing algorithm to find the coordinate position of the center point of the two spots relative to the imaging system. In this way, the three-dimensional displacement of the two target points is measured. However, it is difficult to aim the focusing mirror of the laser at the target surface at a long distance, and most of the work is still based on hand-eye observation and recording, and the main disadvantages are slow speed and low efficiency. Summary of the invention

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and provide a three-dimensional measurement device for indoor ground inclination.

[0004] The present invention provides the following technical solutions: a three-dimensional measuring device for indoor ground inclination, comprising a laser emitting component for emitting a laser reference line or a laser reference plane, wherein the laser reference line or the laser reference plane is used to intersect with a positioning component to generate a laser image of a measuring position; a positioning component for intersecting with the laser reference line or the laser reference plane at a positioning point to form the laser image; an image acquisition component for acquiring the laser image, processing it into image data and sending it to a data processing component; a displacement measurement component for measuring the angle between a plurality of the laser images and generating angle data, and measuring the distance between the laser image and the displacement measurement component and generating distance data, wherein the displacement measurement component sends the angle data and the distance data to a data processing component; and a data processing component for receiving the image data, the angle data and the distance data, calculating the three-dimensional data of the plurality of laser images according to the image data, the angle data and the distance data and generating a three-dimensional view of the ground.

[0005] Furthermore, the laser emitting assembly includes a laser and a level, the laser includes one or more of a gas laser, a solid laser or a semiconductor laser, and is used to emit the laser reference line or the laser reference plane; the level includes an automatic level or a manual level, and is used to sense the horizontal angle of the laser reference line or the laser reference plane, and cooperate with the laser to adjust the emitted laser reference line or laser reference plane to a horizontal state.

[0006] Furthermore, the laser is a semiconductor laser, and the semiconductor laser is used to emit the laser reference plane; the level is an automatic level, and is used to adjust the laser reference plane to a horizontal state.

[0007] Furthermore, the positioning component is a mobile target rod, the top of the mobile target rod is higher than the laser reference line or laser reference plane, and the bottom of the mobile target rod is connected to the mobile component.

[0008] Furthermore, the mobile component is a universal wheel or an AGV trolley.

[0009] Furthermore, the image acquisition component is a camera, which is fixedly connected to the positioning component, and the lens of the camera is aimed at the position where the positioning component intersects the laser reference line or laser reference plane to obtain the laser image.

[0010] Furthermore, the displacement measurement component includes a target position measurer and an angle sensor connected to the target position measurer, the target position measurer is used to measure the distance between the laser image and the target position measurer, and the angle sensor is used to measure the angle between each of the laser images.

[0011] Furthermore, the data processing component includes a three-dimensional data processing program and a wireless communication module. The three-dimensional data processing program is used to calculate the three-dimensional data of multiple laser images based on the image data, the angle data and the distance data and generate a three-dimensional view of the ground; the wireless communication module is used to establish a wireless connection between the data processing component and the image acquisition component and the displacement measurement component.

[0012] Furthermore, it also includes a control component, which is connected to the data processing component, the displacement measurement component, the image acquisition component, the positioning component and the laser emission component by wire or wirelessly.

[0013] Furthermore, the control component includes a main controller, a remote control connected to the main controller, and a display, the remote control is used to control the data processing component, the displacement measurement component, the image acquisition component, the positioning component, and the laser emission component through the main controller; the display is used to display the three-dimensional view of the ground.

[0014] The embodiments of the present invention have the following advantages: the laser image formed by the positioning component on the laser reference plane emitted by the laser emitting component is acquired by the image acquisition component, and transmitted to the data processing component for processing to obtain the ground height of the laser image; the distance and angle to each laser image are measured by the displacement measurement component, and the data is transmitted to the data processing component for processing to obtain two-dimensional data of each laser image, thereby forming three-dimensional data, which is then sorted to form a three-dimensional view of the ground; the control component wirelessly controls each component to complete the corresponding work, without the need for human observation and manual recording of processed data, and the operation is convenient, with fast measurement speed and high accuracy.

[0015] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A connection structure block diagram of a three-dimensional measurement device for indoor floor inclination is shown;

[0018] Figure 2 A schematic diagram of the working structure of a laser emission component and a positioning component of an indoor ground inclination three-dimensional measurement device is shown;

[0019] Figure 3 The present invention shows three working principle schematic diagrams of an image acquisition component of an indoor ground inclination three-dimensional measurement device acquiring laser images;

[0020] Figure 4 The present invention shows a schematic diagram of the working structure of a displacement measuring component of a three-dimensional measuring device for indoor ground inclination.

[0021] Description of main component symbols:

[0022] 1- semiconductor laser; 2- moving target pole; 3- camera; 4- loosening screw; 5- moving component; 6- laser image; 7- cross cursor. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0024] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0025] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0028] Example 1

[0029] The present invention provides a three-dimensional measuring device for indoor ground inclination, which is used to measure the inclination of the ground. First, the three-dimensional coordinate data of each measuring point is obtained by measurement, and then the multiple three-dimensional coordinate data are sorted into a three-dimensional image of the ground, which can intuitively reflect the inclination of the ground. Figure 1 As shown, the indoor ground inclination three-dimensional measuring device comprises:

[0030] The laser emission component is used to emit a laser reference line or a laser reference plane as a measurement basis; the laser reference line or the laser reference plane is the basis for forming the measurement point information. For the convenience of measurement, the present invention chooses to use the laser reference plane as the measurement basis.

[0031] The positioning component is used to intersect the laser reference line or laser reference plane at the positioning point (measuring point) to form a laser image 6. The formed laser image 6 is used to reflect the ground height of the measuring point. Although the laser images 6 formed at different measuring points are the same, the laser image 6 acquired by the image acquisition component and the laser image 6 measured by the displacement measurement component may have different distances or angles.

[0032] The image acquisition component is used to acquire the laser image 6, and process it into image data and send it to the data processing component; the image acquisition component is installed on the positioning component, and the relative positions are kept fixed. The laser reference plane emitted by the laser emission component is horizontal and the height is fixed. When the positioning component is at different measuring points, the ground height between the measuring points may be different, so the height position of the laser reference plane irradiated on the positioning component may also be different, and the light spot height in the formed laser image 6 is different. The laser image 6 captured by the image acquisition component is at different distances, and the display position of the light spot in the captured image is also different. According to the different positions of the light spot in the laser image, the change of the ground height of each measuring point is obtained.

[0033] The displacement measurement component is used to measure the angle between each laser image 6 and the distance between the laser image 6 and the displacement measurement component, and send the measured angle data and distance data to the data processing component. The displacement measurement component determines the coordinates of the measurement point in the horizontal direction according to the distance between the measurement point and the angle between the multiple measurement points.

[0034] The data processing component is used to receive the image data sent by the image acquisition component, the angle data and the distance data sent by the displacement measurement component, and automatically calculate the three-dimensional ground data formed by each laser image 6. The relative height measurement data of the measuring point can be obtained based on the image data sent by the image acquisition component, and the displacement measurement component is used to obtain the measurement data of the measuring point in the horizontal direction to form the three-dimensional data of all the measuring points. Finally, the three-dimensional data is processed to form a three-dimensional view of the ground, which can intuitively reflect the degree of inclination of the measured ground.

[0035] The control component is used to connect and control the data processing component, the displacement measurement component, the image acquisition component, the positioning component, and the laser emission component. At the same time, the control component can also be used to display the three-dimensional view of the ground composed of the three-dimensional data of the ground. The above-mentioned components can be connected to the control component by wire or wirelessly, and the working state of each component is controlled by the control component to form an automatic manual control, which saves the trouble of operating each component separately; in order to make it more convenient to control the above-mentioned components, the present invention chooses to use wireless control to operate each component, and installs a wireless communication module on each component, which can be one or more modules such as a Bluetooth module and a WIFI module.

[0036] In some feasible embodiments, the laser emission component includes a laser and a level. The laser can be one or more of a gas laser, a solid laser or a semiconductor laser, and is used to emit a laser reference plane; the level can be an automatic level or a manual level, and is used to sense the horizontal angle of the laser reference plane, and cooperate with the laser to adjust the emitted laser reference plane to a horizontal state. The laser emission component can adjust the angle of the laser reference plane through one or more of an electronic inclinometer, an automatic level or a manual level, so that the laser reference plane is adjusted to a horizontal state. In order to speed up work efficiency, the present invention selects an automatic level, which can automatically adjust the laser reference plane to a horizontal state. The above-mentioned laser can be one or more of a gas laser, a solid laser or a semiconductor laser, and can also be connected to a laser angle display screen to display the angle between the current laser reference plane and the horizontal plane. The electronic angle sensor is used in conjunction with the laser angle display screen to adjust the laser reference plane emitted by the laser to a horizontal state. In the present invention, a semiconductor laser 1 is selected to emit a laser reference plane. In order to ensure the accuracy of measurement, the laser reference plane needs to be adjusted to a horizontal state. The corresponding adjustment mechanism (not shown in the figure) can be selected to operate and control to adjust the emission angle of the semiconductor laser 1. The electronic angle sensor will measure the horizontal angle of the laser reference plane in real time, and the laser angle display screen will display the horizontality of the laser reference plane in real time until the displayed angle is adjusted to zero and the laser reference plane is in a horizontal state.

[0037] The positioning component is a mobile target rod 2, the top of the mobile target rod 2 is higher than the laser reference plane, and the bottom of the mobile target rod 2 is connected to a mobile component 5. In actual measurement, multiple positions need to be measured to accurately reflect the changes in the ground, so the position of the mobile target rod 2 needs to be frequently changed. In order to facilitate the transfer of the mobile target rod 2, the mobile target rod 2 can be driven by the mobile component 5 connected to the bottom of the mobile target rod 2 to change the measurement position. The mobile component 5 can be, but is not limited to, a universal wheel, and the mobile target rod 2 can be manually pushed by hand, and the mobile target rod 2 can be measured while being pushed to obtain the three-dimensional data of each measurement point along the path.

[0038] In order to clearly reflect the laser image 6 on the moving target rod 2, a reflective layer or a specific laser-sensitive coating is coated on the surface of the moving target rod 2.

[0039] like Figure 2 As shown, the image acquisition component is a camera 3, which is fixedly connected to the positioning component, and the lens of the camera 3 is aligned with the position where the positioning component intersects with the laser reference surface to obtain the laser image 6. Figure 3 As shown, the shooting range width of the camera 3 is H. Since the present invention is mainly suitable for indoor ground measurement, the inclination of the indoor ground is generally not very large, so the deviation of the laser imaging is relatively small and usually does not deviate beyond the shooting range H of the camera 3 lens. Figure 3 The black horizontal bar in the figure is a laser image formed on the moving target pole 2, and the cross cursor 7 is the center point captured by the lens of the camera 3. The camera 3 transmits the captured image to the data processing component, and the data processing component automatically calculates the distance between the center point and the black horizontal bar. According to the value of the distance, the height of the measuring point can be reflected.

[0040] like Figure 3 As shown in (a), when the mobile target rod 2 moves to a measuring position with higher terrain, the position of the camera 3 becomes higher relative to the laser reference plane, and the height of the laser image 6 formed by the laser reference plane shining on the mobile target rod 2 remains unchanged. However, the cross cursor 7 of the camera 3 is above the laser image, and the calculation system of the data processing component can automatically set the positive and negative values ​​of the distance. When the center of the cross cursor 7 is displayed above the center of the laser image, the distance calculated by the data processing component is a positive value; when the center of the cross cursor 7 is displayed below the center of the laser image, the distance calculated by the data processing component is a negative value; when the center of the cross cursor 7 completely coincides with the center of the laser image, the distance calculated by the data processing component is zero. Figure 3 As shown in (b), the center of the cross cursor 7 completely coincides with the center of the laser image, and the distance calculated by the data processing component is zero, indicating that the ground at the measurement point is the reference height. Figure 3As shown in (c), when the mobile target rod 2 moves to a measuring position with lower terrain, the position of the camera 3 relative to the laser reference plane becomes lower, and when the center of the cross cursor 7 is displayed below the center of the laser image, the distance calculated by the data processing component is a negative value.

[0041] During the movement of the mobile target rod 2, the sampling frequency of the camera 3 can be set by the user. The sampling frequency can be set according to the moving speed and measurement density of the mobile target rod 2, with the purpose of measuring the inclination of each small piece of ground as evenly as possible. The camera 3 moves along with the movement of the mobile target rod, and takes photos at the set frequency and sends them to the data processing component for processing. The data processing component automatically calculates the distance between the focus of the camera 3 and the center of the laser image based on the photos, thereby obtaining the height data of each measurement position 8.

[0042] The displacement measurement component includes a target position measuring device and an angle sensor connected to the target position measuring device. The target position measuring device is used to measure the distance between the laser image 6 and the target position measuring device, and the angle sensor is used to measure the angle between each laser image 6. The target position measuring device can be a laser rangefinder, which is fixedly connected to the angle sensor. When working, the laser rangefinder projects a laser beam onto the mobile target rod 2 by rotating to form a laser image, and measures the distance one from the laser rangefinder to the laser image by the phase or pulse of the laser. When the laser rangefinder rotates from one measuring point to the next measuring point, the angle sensor synchronously measures the angle of rotation of the laser rangefinder at this time, that is, the angle of movement of the mobile target rod; and at the same time, measures the distance two between the mobile target rod and the laser rangefinder at the new position. When the distance one, the distance two and the angle of rotation are determined, the displacement between the two measuring points can also be determined. By analogy, the distance between each measuring point and the laser rangefinder and the angle formed by each measuring point and the straight line of the laser rangefinder can be obtained. Through the above measurement information, the position of each measuring point on the plane can be determined, and the position information of the measuring point on the horizontal plane can be obtained.

[0043] A, B, and C are three measuring points on the measurement track. The light outlet of the laser rangefinder is taken as the origin O. The triangle formed by AOB and BOC can directly obtain the lengths of OA, OB, and OC through the laser rangefinder. The angle between OA and OB, and the angle between OB and OC can be obtained through the angle sensor. Therefore, the lengths of AB and BC can be determined, thereby obtaining the position information of A, B, and C in the horizontal plane.

[0044] In some feasible embodiments, in addition to realizing the above functions, the target position measuring device can also act as the semiconductor laser 1 mentioned above, and is used to emit a laser reference line or a laser reference surface. This is equivalent to combining the displacement measurement component and the laser emission component into one, which is more convenient to use and operate, and also saves costs.

[0045] The data processing component includes a three-dimensional data processing program and a wireless communication module wirelessly connected to the image acquisition component, the displacement measurement component and the control component. When the data processing component receives the ground height information data of the measurement point transmitted by the image acquisition component and the horizontal plane position information data of the measurement point on the laser reference plane transmitted by the displacement measurement component, the three-dimensional data processing program organizes the above data into three-dimensional data and forms a three-dimensional view of the ground.

[0046] The control component includes a main controller, a remote controller connected to the main controller, and a display. The remote controller is used to control the data processing component, displacement measurement component, image acquisition component, positioning component, and laser emission component through the main controller. For easy operation, a Bluetooth module is set on the remote controller, and the remote controller is manually operated to wirelessly control the operation of the above components, such as controlling whether the laser emission component emits a laser reference surface or adjusts the angle of the laser reference surface, and controlling the shooting frequency of the camera 3. The display is used to connect with the above data processing component to display the above-formed three-dimensional ground view for reference.

[0047] Example 2

[0048] In some feasible embodiments, the moving component 5 disposed at the bottom of the moving target pole 2 may also be an AGV vehicle.

[0049] When the mobile component 5 is an AGV, the control component can be used to automatically control the movement of the AGV, thereby controlling the position of the mobile target rod 2. For ease of operation, the path to be measured can be determined in advance, and then the moving trajectory of the AGV is set to be consistent with the path. The AGV drives the mobile target rod 2 to move along the path, and the measurement is performed while moving to obtain all the three-dimensional data of the path.

[0050] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A three-dimensional measuring device for indoor floor inclination, characterized in that: include: A laser emitting assembly, used for emitting a laser reference line or a laser reference plane, wherein the laser reference line or the laser reference plane is used to intersect with the positioning assembly to generate a laser image of the measured position; the laser emitting assembly includes a laser and a level; A positioning component, used to intersect with the laser reference line or laser reference plane at a positioning point to form the laser image; the positioning component is a mobile target pole; An image acquisition component is used to acquire the laser image, process it into image data and send it to a data processing component; a displacement measurement component, used to measure the angles between the plurality of laser images and generate angle data, and to measure the distance between the laser image and the displacement measurement component and generate distance data, wherein the displacement measurement component sends the angle data and the distance data to a data processing component; The data processing component is used to receive the image data, the angle data and the distance data, calculate the three-dimensional data of the multiple laser images according to the image data, the angle data and the distance data, and generate a three-dimensional ground view.

2. The indoor floor inclination three-dimensional measuring device according to claim 1, characterized in that: The laser includes one or more of a gas laser, a solid laser or a semiconductor laser, and is used to emit the laser reference line or the laser reference plane; The level includes an automatic level or a manual level, which is used to sense the horizontal angle of the laser reference line or the laser reference plane, and cooperate with the laser to adjust the emitted laser reference line or the laser reference plane to a horizontal state.

3. The indoor floor inclination three-dimensional measuring device according to claim 2, characterized in that: The laser is a semiconductor laser, and the semiconductor laser is used to emit the laser reference plane; the level is an automatic level, and is used to adjust the laser reference plane to a horizontal state.

4. The indoor floor inclination three-dimensional measuring device according to claim 1, characterized in that: The top of the movable target rod is higher than the laser reference line or the laser reference plane, and the bottom of the movable target rod is connected to the movable component.

5. The indoor floor inclination three-dimensional measuring device according to claim 4, characterized in that: The mobile component is a universal wheel or an AGV trolley.

6. The indoor floor inclination three-dimensional measuring device according to claim 1, characterized in that: The image acquisition component is a camera, which is fixedly connected to the positioning component. The lens of the camera is aimed at the position where the positioning component intersects with the laser reference line or laser reference plane to acquire the laser image.

7. The indoor floor inclination three-dimensional measuring device according to claim 1, characterized in that: The displacement measurement assembly includes a target position measurer and an angle sensor connected to each other. The target position measurer is used to measure the distance between the laser image and the target position measurer, and the angle sensor is used to measure the angle between a plurality of the laser images.

8. The indoor floor inclination three-dimensional measuring device according to claim 1, characterized in that: The data processing component includes a three-dimensional data processing program and a wireless communication module. The three-dimensional data processing program is used to calculate the three-dimensional data of multiple laser images based on the image data, the angle data and the distance data and generate a three-dimensional ground view; the wireless communication module is used to establish a wireless connection between the data processing component and the image acquisition component and the displacement measurement component.

9. The indoor floor inclination three-dimensional measuring device according to claim 1, characterized in that: It also includes a control component, which is wirelessly or wiredly connected to the data processing component, the displacement measurement component, the image acquisition component, the positioning component and the laser emission component.

10. The indoor floor inclination three-dimensional measuring device according to claim 9, characterized in that: The control component includes a main controller, a remote controller connected to the main controller, and a display, wherein the remote controller is used to control the data processing component, the displacement measurement component, the image acquisition component, the positioning component, and the laser emission component through the main controller; The display is used to display the ground three-dimensional view.

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