A three-dimensional scanning device for a confined space

Abstract

The application provides a narrow space three-dimensional scanning device, and belongs to the technical field of building scanning. The narrow space three-dimensional scanning device comprises a shell, the shell is a cylindrical barrel-shaped shell, a plurality of vertical grooves in rows are formed in the shell, vertical rolling wheels are installed in the vertical grooves, horizontal grooves are distributed between the vertical grooves on the shell, horizontal rolling wheels are installed in the horizontal grooves, a searchlight guide lamp is installed on the tail end of the shell and irradiates backward, a photosensitive device is installed in the shell, a driving mechanism, a scanning camera, a control center, a power supply, a data collector, a communication device, an ultrasonic low-frequency tomography scanner and a radar positioning device are installed in the shell, the ultrasonic low-frequency tomography scanner performs detection work through a detection hole formed in the front end of the shell, and the control center is provided with a path searching module. The application can solve the problem that the scanning device cannot move autonomously when the scanning device loses a signal.

Description

Technical Field

[0001] This invention belongs to the field of building scanning technology, and more specifically, relates to a three-dimensional scanning device for confined spaces. Background Technology

[0002] Pre-construction surveys are crucial for building repairs, effectively preventing potential safety hazards and irreversible damage to the building structure. Ultrasonic low-frequency tomography scanners are multifunctional ultrasonic non-destructive testing instruments. Using a matrix of 48 (4×12) ceramic wear-resistant low-frequency broadband shear wave dry-point contacts, they combine pulse echo technology and synthetic aperture focusing technology to perform internal imaging of concrete, reinforced concrete, stone, and wood. This allows for the detection of inclusions, cavities, cracks, fissures, honeycombing, embedded pipes, etc., and can also be used to measure thickness and assess concrete strength, with a measurement capacity of up to 2 meters. 3D LiDAR scanners can measure the actual distance to an object.

[0003] Chinese invention patent (application number: CN201811149520.3) with publication number CN110966921B discloses an indoor 3D scanning device and method. The indoor 3D scanning device includes a drone, a rotating disk, a laser rangefinder, a 3D scanning device, and a processing device. The laser rangefinder measures the distance between the device and surrounding obstacles. The processing device draws an indoor planar outline based on the data measured by the laser rangefinder and selects several scanning points in the indoor planar outline according to pre-set rules. The drone drives the 3D scanning device to fly sequentially to each of the scanning points based on their position information. The 3D scanning device performs a 360-degree spatial scan around each scanning point to generate a depth map and a 3D map.

[0004] As can be seen from the above patents, when using this kind of self-driving scanning instrument, the device scans and detects the interior space of the building. The instrument needs to be equipped with an indoor positioning device. Indoor positioning refers to the location positioning in the indoor environment. It mainly adopts a combination of technologies such as wireless communication, base station positioning, inertial navigation positioning, and motion capture to form an indoor position positioning system, thereby realizing the location monitoring of people, objects, etc. in the indoor space. However, when the device goes deep into the interior of the building, it may lose control due to signal loss and be unable to move autonomously. Summary of the Invention

[0005] In view of this, the present invention provides a three-dimensional scanning device for confined spaces, which can solve the problem that the scanning device cannot autonomously find its way and move when it loses a signal.

[0006] This invention is implemented as follows:

[0007] This invention provides a three-dimensional scanning device for confined spaces, comprising a housing, wherein the housing is a cylindrical barrel-shaped outer shell, and the housing has multiple rows of vertical wheel grooves, in which vertical rolling wheels are installed, and the vertical rolling wheels are used to move the housing forward or backward; the housing has horizontal wheel grooves distributed between the vertical wheel grooves, in which horizontal rolling wheels are installed, and the horizontal rolling wheels are used to move the housing left or right; the vertical rolling wheels and the horizontal rolling wheels each include a wheel body and a wheel axle, the wheel axle being located at the center of the wheel body, and the wheel body itself being higher than the opening of the vertical or horizontal wheel grooves;

[0008] The rear end of the housing is equipped with a rearward-facing searchlight;

[0009] The housing is made of transparent material, and a photosensor is installed inside the housing;

[0010] The housing contains a drive mechanism, a scanning camera, a control center, a power supply, a data acquisition unit, a communication device, an ultrasonic low-frequency tomography scanner, and a radar positioning system. The scanning camera scans the interior space of the building, the ultrasonic low-frequency tomography scanner detects objects within the space (using a detection port at the front of the housing), and the radar positioning system detects obstacles within the space. The data acquisition unit stores data collected by the scanning camera, the ultrasonic low-frequency tomography scanner, and the radar positioning system. The scanning camera, the ultrasonic low-frequency tomography scanner, and the radar positioning system are electrically connected to the data acquisition unit. The drive mechanism, the scanning camera, the data acquisition unit, the communication device, the ultrasonic low-frequency tomography scanner, the radar positioning system, and the photosensor are electrically connected to the control center. The power supply is electrically connected to and powers the drive mechanism, the scanning camera, the searchlight, the control center, the data acquisition unit, the communication device, the ultrasonic low-frequency tomography scanner, the radar positioning system, and the photosensor.

[0011] The control center is equipped with the pathfinding module, which is used to automatically calculate the shortest travel path of the three-dimensional scanning device in a confined space when the device loses communication control signal in the space. The pathfinding module includes a recording module, a side-segmentation recording module, a calculation module, and a reconstruction module.

[0012] The technical advantages of the three-dimensional scanning device for confined spaces provided by this invention are as follows: The cylindrical shell prevents the device from tipping over upon encountering obstacles; the searchlight provides a bright field of vision for operation and a basis for the pathfinding module to make forward and backward judgments; the combination of an ultrasonic low-frequency tomography scanner, radar positioning, and a scanning camera enables the device to complete scanning and detection work within building spaces, avoiding the inconvenience of manually handling multiple devices; the device can replace manual labor in spaces where it is inconvenient to enter and hold the equipment, saving manpower and improving scanning and detection efficiency through remote control; and the pathfinding module allows the device to actively seek its way and continue working even when the signal is lost.

[0013] Furthermore, the control center has a wireless communication module;

[0014] The vertical wheel grooves are aligned in rows on the circumference of the housing and in columns on the housing.

[0015] Based on the above technical solution, the three-dimensional scanning device for confined spaces of the present invention can be further improved as follows:

[0016] The pathfinding module is used to execute the following algorithm steps:

[0017] S10: The recording module records the original path information to the backup path library for backup;

[0018] S20: The edge splitting module obtains the newly revised path information based on the original edges of the path obtained from the image captured by the scanning camera. If there are n original edges between two nodes of the path, except for the original edge with the shortest weight, a dummy node is added to each of the remaining n-1 original edges, dividing the original edge between the nodes into two sub-segments; each sub-segment forms a new edge, and the weight of the new edge is obtained by splitting the weight of the original edge.

[0019] S30: The calculation module calculates the K shortest path between specified nodes based on the newly revised path information;

[0020] S40: The restoration module sequentially checks each path in the calculated K shortest paths: restoring the hop jumps belonging to the false node and the new edge to the original path data recorded in the backup path library;

[0021] S50: The control center controls the drive mechanism to drive the vertical or horizontal roller to roll toward the bright side of the light received by the photosensitive sensor, based on the original path data restored in S40.

[0022] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: by setting up a pathfinding module, the device can calculate and obtain a new shortest route when the signal is lost, so that the device can avoid obstacles while moving forward, save power, and improve the working efficiency of the device.

[0023] Furthermore, the method for obtaining the original edge of the path from the ground image captured by the scanning camera in step S20 includes the following steps:

[0024] Step 1: Process the ground image to obtain the corresponding grayscale image;

[0025] Step 2: Extract regions with uniform grayscale from the grayscale image;

[0026] Step 3: Extract the texture features of the ground image from the grayscale image;

[0027] Step 4: Merge adjacent grayscale regions based on the color and texture features of the ground image to obtain the region with the largest area, which serves as the path.

[0028] The step of extracting uniform grayscale regions from the grayscale image includes:

[0029] Based on the size of the pixel grayscale value, all pixels in the grayscale image are sorted, and the grayscale image is binarized to obtain the connected regions in the grayscale image;

[0030] The local minimum value of the connected region is obtained by calculating according to a preset algorithm, and the corresponding calculation formula is as follows:

[0031] q(i)=(|Qi+△|-|Qi-△|) / |Qi|,

[0032] Where i is a preset binarization threshold, |Qi| represents the area of ​​the connected region corresponding to the binarization threshold i, △ is a preset constant, Qi+△ represents the area of ​​the connected region corresponding to the binarization threshold i+△, and Qi-△ represents the area of ​​the connected region corresponding to the binarization threshold i-△.

[0033] The region with uniform grayscale in the grayscale image is obtained by using the local minimum values ​​of multiple connected regions.

[0034] Furthermore, the process of processing the ground image in step 1 includes: uniformly processing the ground image format into an image of appropriate size, and then performing image processing steps such as image format shaping, histogram equalization, and image filtering to make the image features more obvious, and grayscale processing.

[0035] Furthermore, the scanning camera is a dual-camera system. One is a short-focal-length, wide-field-of-view camera, and the other is a long-focal-length, narrow-field-of-view camera.

[0036] Furthermore, the long-focal-length small-field-of-view camera is included within the short-focal-length large-field-of-view camera.

[0037] Furthermore, after the radar positioning detects obstacles in space, the scanning camera identifies the size of the obstacles. The identification method includes the following steps:

[0038] Step 1: Obtain the threshold corresponding to the shape of the obstacle based on the pre-set correspondence between shape and threshold;

[0039] Step 2: Activate the scanning camera to capture images of the obstacles;

[0040] Step 3: Extract feature points exceeding the threshold from the images captured by the two cameras of the scanning camera, and use them as strong feature points;

[0041] Step 4: The size of the obstacle in the long-focal-length, small-field-of-view camera can be calculated based on the ratio between the pixels of the two cameras.

[0042] Furthermore, there are standard parts of known dimensions in front of the camera.

[0043] The drive mechanism includes a vertical wheel drive mechanism and a horizontal wheel drive mechanism. The vertical wheel drive mechanism includes a vertical wheel drive motor, a first active bevel gear, a first driven bevel gear, and a belt. The belt is sleeved on the axle of each row of vertical rolling wheels. The belt has belt teeth on its inner side. The axle of each vertical rolling wheel has shaft teeth that can mesh with the belt teeth of the belt. The first driven bevel gear is connected to the rear end of the axle of the foremost vertical rolling wheel in one row of vertical rolling wheels inside the housing. The first driven bevel gear meshes with the first active bevel gear. The first active bevel gear is fixedly connected to the output end of the vertical wheel drive motor.

[0044] The horizontal wheel drive mechanism includes a horizontal wheel drive motor, a second active bevel gear and a second driven bevel gear. The second driven bevel gear is fixed to the rear end of the wheel axle of the horizontal rolling wheel. The second driven bevel gear meshes with the second active bevel gear. The second active bevel gear is fixedly connected to the output end of the horizontal wheel drive motor.

[0045] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: by setting up a vertical wheel power mechanism that can be driven by a belt, a vertical wheel drive motor can drive a row of vertical rolling wheels, thereby improving transmission efficiency.

[0046] Furthermore, every 2 to 4 of the horizontal rolling wheels in each row within the housing are connected to the horizontal wheel drive mechanism.

[0047] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: through the above-mentioned arrangement, while ensuring that the horizontal rolling wheel can turn the housing, it can also save space inside the housing and provide sufficient assembly space for other devices inside the housing.

[0048] The scanning camera, the ultrasonic low-frequency tomographic scanner, and the radar positioning are mounted on the housing via a hovering mechanism.

[0049] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: by setting a hovering mechanism, the scanning camera, ultrasonic low-frequency tomography scanner, and radar positioning are prevented from following the rotation of the housing when it rolls, thus avoiding inaccurate scanning and detection data and images.

[0050] Furthermore, the hovering device includes an outer sleeve and an inner sleeve. The inner sleeve is rolled inside the outer sleeve. The connection between the inner sleeve and the outer sleeve has ball bearings. A counterweight is embedded at the bottom of the inner sleeve. The counterweight is used to keep the bottom of the inner sleeve facing downwards. The scanning camera, the ultrasonic low-frequency tomography scanner, and the radar positioning are installed inside the inner sleeve. The front end of the inner sleeve has a detection window. The detection window provides space for the scanning camera, the ultrasonic low-frequency tomography scanner, and the radar positioning to perform detection work.

[0051] The beneficial effects of adopting the above-mentioned improvement scheme are: by setting a counterweight, the inner sleeve can be kept with its bottom facing down, thus preventing the inner sleeve from flipping over with the outer sleeve.

[0052] Compared with existing technologies, the beneficial effects of the three-dimensional scanning device for confined spaces provided by this invention are as follows: By using a cylindrical shell, the device is prevented from tipping over upon encountering obstacles; by using a searchlight, a bright field of vision is provided for the device during operation, while also providing a basis for the pathfinding module to make forward and backward judgments; by using an ultrasonic low-frequency tomography scanner, radar positioning, and a scanning camera, the device can complete scanning and detection work within building spaces, avoiding the inconvenience of manually carrying multiple devices; this device can replace manual labor, entering spaces where it is inconvenient to enter and hold the equipment, saving manpower and improving scanning and detection efficiency through remote control; by using a pathfinding module, the device can calculate a new shortest route when a signal is lost, allowing it to avoid obstacles while saving power and improving its working efficiency. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This invention provides a schematic diagram of a three-dimensional scanning device for confined spaces;

[0055] Figure 2 A schematic diagram of a searchlight guide light in a three-dimensional scanning device for confined spaces provided by the present invention;

[0056] Figure 3 This invention provides an electrical connection diagram for a three-dimensional scanning device in a confined space.

[0057] Figure 4 This invention provides a schematic diagram of a vertical wheel drive mechanism in a three-dimensional scanning device for confined spaces.

[0058] Figure 5 for Figure 4 Enlarged view of section A;

[0059] Figure 6 This invention provides a schematic diagram of a horizontal wheel drive mechanism in a three-dimensional scanning device for confined spaces.

[0060] Figure 7 This invention provides a schematic diagram of a hovering device in a three-dimensional scanning device for confined spaces.

[0061] Figure 8 Example of a graph path scenario with multiple edges between nodes;

[0062] Figure 9 This is a modified graph path scenario with multiple edges between adjacent nodes;

[0063] The attached diagram lists the components represented by each number as follows:

[0064] 021. Wheel body; 022. Axle; 10. Housing; 20. Vertical rolling wheel; 21. Horizontal rolling wheel; 30. Scanning camera; 40. Searchlight; 42. Control center; 43. Power supply; 44. Data acquisition unit; 45. Communication device; 46. Ultrasonic low-frequency tomography scanner; 47. Radar positioning; 48. Photosensitive sensor; 51. Vertical wheel drive motor; 52. First active bevel gear; 53. First driven bevel gear; 54. Belt; 55. Horizontal wheel drive motor; 56. Second driven bevel gear; 57. Second active bevel gear; 61. Outer sleeve; 611. Ball bearing; 62. Inner sleeve; 621. Counterweight; 622. Detection window. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0067] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0068] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0070] like Figure 1The image shows a first embodiment of a three-dimensional scanning device for confined spaces provided by the present invention. In this embodiment, a housing 10 is included, wherein the housing 10 is a cylindrical barrel-shaped outer shell. The housing 10 has multiple rows of vertical wheel grooves, in which vertical rollers 20 are installed. The vertical rollers 20 are used to move the housing 10 forward or backward. Horizontal wheel grooves are distributed on the housing 10 between the vertical wheel grooves, in which horizontal rollers 21 are installed. The horizontal rollers 21 move the housing 10 to the left or right. The vertical rollers 20 and the horizontal rollers 21 each include a wheel body 021 and a wheel axle 022. The wheel axle 022 is located at the center of the wheel body 021, and the wheel body 021 itself is higher than the opening of the vertical or horizontal wheel groove.

[0071] A rear-facing searchlight 40 is installed at the tail end of the housing 10;

[0072] The housing 10 is made of transparent material, and a photosensitive sensor 48 is installed inside the housing 10;

[0073] The housing 10 houses a drive mechanism, a scanning camera 30, a control center 42, a power supply 43, a data acquisition unit 44, a communication device 45, an ultrasonic low-frequency tomography scanner 46, and a radar positioning system 47. The scanning camera 30 scans the interior space of the building, the ultrasonic low-frequency tomography scanner 46 detects objects within the space (it operates through a detection port at the front of the housing 10), and the radar positioning system 47 detects obstacles within the space. The data acquisition unit 44 stores data from the scanning camera 30 and the ultrasonic low-frequency tomography scanner 46. 6. The data collected by radar positioning 47 is electrically connected to scanning camera 30, ultrasonic low-frequency tomography scanner 46, radar positioning 47 and data acquisition unit 44. The drive mechanism, scanning camera 30, data acquisition unit 44, communication device 45, ultrasonic low-frequency tomography scanner 46, radar positioning 47, photosensitive device 48 and control center 42 are electrically connected. The power supply 43 is electrically connected to and supplies power to the drive mechanism, scanning camera 30, searchlight 40, control center 42, data acquisition unit 44, communication device 45, ultrasonic low-frequency tomography scanner 46, radar positioning 47 and photosensitive device 48.

[0074] The control center 42 is equipped with a pathfinding module, which is used to automatically calculate the shortest travel path of the 3D scanning device in a confined space when the device loses communication control signal in the space. The pathfinding module includes a recording module, a side recording module, a calculation module, and a reconstruction module.

[0075] In operation, the control center 42 is manually controlled, which drives the vertical and horizontal rollers 20 and 21 to propel the housing 10 along a set path. When the desired area is reached, the control center 42 stops the drive mechanism, and the device remains stationary. The control center 42 then activates the scanning camera 30, the ultrasonic low-frequency tomography scanner 46, and the radar positioning system 47. These devices send detection data to the data acquisition unit 44, which processes the data and sends it back to the control center 42. The control center 42 then transmits the processed detection data to the host computer at the operator's end via the communication device 45 for review and viewing by staff. The scanning camera 30 remains on throughout the device's operation, allowing staff to assess and clear obstacles encountered by the device, ensuring its continued operation.

[0076] When the control center 42 loses the control signal, the pathfinding module calculates the shortest effective travel route of the device, and the control center 42 controls the drive mechanism to continue to drive the device to work.

[0077] The spotlight 40 is positioned at the rear of the housing 10, illuminating from the rear of the housing 10, resulting in a lower brightness at the front of the housing 10 compared to the rear.

[0078] In the above technical solution, the pathfinding module is used to execute the following algorithm steps:

[0079] S10: The recording module records the original path information to the backup path library for backup;

[0080] S20: The edge splitting module obtains the newly revised path information based on the original edges of the path obtained from the image captured by the scanning camera 30. If there are n original edges between two nodes in the path, except for the original edge with the shortest weight, a dummy node is added to each of the remaining n-1 original edges, dividing the original edge between the nodes into two sub-segments; each sub-segment forms a new edge, and the weight of the new edge is obtained by splitting the weight of the original edge.

[0081] S30: The calculation module calculates the K shortest path between specified nodes based on the newly revised path information;

[0082] S40: The restoration module checks each path in the calculated K shortest path in turn: hop jumps that belong to false nodes and new edges are restored to the original path data recorded in the backup path library;

[0083] S50: The control center 42 controls the drive mechanism to drive the vertical roller 20 or the horizontal roller 21 to roll towards the bright side of the light received by the photosensitive sensor 48, based on the original path data restored by S40.

[0084] The k-shortest path problem is an extension and variation of the shortest path problem. It was first proposed by Hoffman and Pavley in a 1959 paper. The k-shortest path problem generally includes two classes: the restricted k-shortest path problem and the unrestricted k-shortest path problem. The former requires that the set of shortest paths does not contain cycles, while the latter has no restriction on the set of shortest paths obtained.

[0085] The edges present in the original path information are referred to as original edges in this specification;

[0086] Weight (also called weight, cost, length, etc.) is the value that each edge has. For example, when vertices represent certain physical locations, the weight of an edge between two vertices can be set as the driving distance in the road network. Sometimes, to deal with special cases, the weight of an edge can be zero or a negative number.

[0087] The algorithm steps executed by the pathfinding module are essentially implemented by iteratively calling Dijkstra's algorithm;

[0088] The number of original edges n ≥ the number of nodes m; the number of original edges n > 2; the weights of the original edges and new edges are integers, and the weight w > 0; the calculated path between any two points is not allowed to form a cycle, that is, the path does not contain duplicate nodes;

[0089] For example: for the K-shortest path algorithm according to Figure 9 The shortest path from node 3 to node 5, given as node 3-25-node L-25-node 7-15-node K-15-node 5, can be obtained by following... Figure 8 The corresponding topological path structure based on the K-shortest algorithm is restored to the path information of node 3-50-node 7-30-node 5.

[0090] Furthermore, in the above technical solution, the method for obtaining the original edge of the path from the ground image captured by the scanning camera 30 in step S20 includes the following steps:

[0091] Step 1: Process the ground image to obtain the corresponding grayscale image;

[0092] Step 2: Extract regions with uniform grayscale from the grayscale image;

[0093] Step 3: Extract texture features of the ground image from the grayscale image;

[0094] Step 4: Merge adjacent grayscale regions with uniform color and texture features based on the ground image to obtain the region with the largest area, which will serve as the path.

[0095] Furthermore, in the above technical solution, the process of processing the ground image in step 1 includes: uniformly processing the ground image format into an image of appropriate size, and then performing image processing steps such as image format shaping, histogram equalization, and image filtering to make the image features more obvious, and grayscale processing.

[0096] Histogram equalization adjusts the histogram by contrast stretching, thereby "expanding" the difference between the foreground and background gray levels to enhance contrast. This method can be implemented using linear or non-linear methods. Histogram equalization, on the other hand, uses a cumulative function to "adjust" the gray values ​​to enhance contrast.

[0097] Image filtering, which involves suppressing noise in a target image while preserving as much detail as possible, is an indispensable operation in image preprocessing. The quality of its processing directly affects the effectiveness and reliability of subsequent image processing and analysis.

[0098] Furthermore, in the above technical solution, after the radar positioning 47 detects obstacles in the space, the scanning camera 30 identifies the size of the obstacles. The identification method includes the following steps:

[0099] Step 1: Obtain the threshold corresponding to the shape of the obstacle based on the pre-set correspondence between shape and threshold;

[0100] Step 2: Activate the scanning camera 30 to capture images of the obstacles;

[0101] Step 3: Extract feature points exceeding the threshold from the images captured by the two cameras of scanning camera 30, and use them as strong feature points;

[0102] Step 4: The size of the obstacle in the long-focal-length, small-field-of-view camera can be calculated based on the ratio between the pixels of the two cameras.

[0103] Short-focal-length, wide-field-of-view cameras have a larger field of view, allowing them to capture a small number of standard components on-site. Long-focal-length, narrow-field-of-view cameras capture images with a smaller field of view, but the images contain more pixels representing strong feature points of obstacles, making it easier to identify them. Since the dimensions of the standard components are known, the image from the short-focal-length, wide-field-of-view camera can be used to calculate the size represented by each pixel (or the number of pixels per unit length). By comparing the pixel ratio between the two cameras, the size of the obstacle in the image from the long-focal-length, narrow-field-of-view camera can be calculated. By comparing the size of the obstacle with the size of the device itself, the control center 42 determines whether the device is passable.

[0104] Some shapes such as squares, triangles, and polygons can be preset, and corresponding thresholds can be set for different shapes. When measuring the shape of an obstacle, it is determined which of the preset shapes it is similar to, and the corresponding temporary threshold is obtained according to the similar shape.

[0105] In the above technical solution, the drive mechanism includes a vertical wheel drive mechanism and a horizontal wheel drive mechanism. The vertical wheel drive mechanism includes a vertical wheel drive motor 51, a first active bevel gear 52, a first driven bevel gear 53, and a belt 54. The belt 54 is sleeved on the axle 022 of each row of vertical rolling wheels 20. The inner side of the belt 54 has belt teeth. The axle 022 of the vertical rolling wheel 20 has shaft teeth that can mesh with the belt teeth of the belt 54. The first driven bevel gear 53 is connected to the rear end of the axle 022 of the foremost vertical rolling wheel 20 in one row of vertical rolling wheels 20 inside the housing 10. The first driven bevel gear 53 meshes with the first active bevel gear 52. The first active bevel gear 52 is fixedly connected to the output end of the vertical wheel drive motor 51.

[0106] The horizontal wheel drive mechanism includes a horizontal wheel drive motor 55, a second active bevel gear 57 and a second driven bevel gear 56. The second driven bevel gear 56 is fixed to the rear end of the wheel axle 022 of the horizontal rolling wheel 21. The second driven bevel gear 56 is meshed with the second active bevel gear 57. The second active bevel gear 57 is fixedly connected to the output end of the horizontal wheel drive motor 55.

[0107] In use, the vertical wheel drive motor 51 is controlled by the control center 42, which drives the first active bevel gear 52 to start rotating. The rotation of the first active bevel gear 52 drives the first driven bevel gear 53 that meshes with it to rotate. This causes the foremost vertical roller 20 in one row of vertical rollers 20 in the housing 10 to be driven by the first driven bevel gear 53. The rotation of the axle 022 of the vertical roller 20 drives the belt 54 on it to start rotating. When the belt 54 rotates, the row of vertical rollers 20 behind the vertical roller 20 starts to rotate, causing the device to move forward or backward.

[0108] The horizontal wheel drive motor 55 is controlled by the control center 42, which drives the second active bevel gear 57 to start rotating. The rotation of the second active bevel gear 57 drives the second driven bevel gear 56, which meshes with it, to rotate. The second driven bevel gear 56 drives the horizontal rolling wheel 21 connected with it to rotate, so that the device can complete left and right or turning operations.

[0109] Furthermore, in the above technical solution, every 2 to 4 of the horizontal rolling wheels 21 in each row inside the housing 10 are connected to the horizontal wheel drive mechanism.

[0110] In the above technical solution, the scanning camera 30, the ultrasonic low-frequency tomographic scanner 46, and the radar positioning 47 are mounted on the housing 10 via a hovering mechanism.

[0111] Furthermore, in the above technical solution, the hovering device includes an outer sleeve 61 and an inner sleeve 62. The inner sleeve 62 is rolled inside the outer sleeve 61. The connection between the inner sleeve 62 and the outer sleeve 61 has a ball bearing 611. A counterweight 621 is embedded at the bottom of the inner sleeve 62. The counterweight 621 is used to keep the bottom of the inner sleeve 62 facing downwards. The scanning camera 30, the ultrasonic low-frequency tomography scanner 46, and the radar positioning 47 are installed inside the inner sleeve 62. The front end of the inner sleeve 62 has a detection window 622. The detection window 622 is used to provide space for the scanning camera 30, the ultrasonic low-frequency tomography scanner 46, and the radar positioning 47 to perform detection work.

[0112] When in use, when the housing 10 is flipped, the inner sleeve 62 rotates in the outer sleeve 61 under the action of the ball bearing 611. Due to the large mass of the bottom of the counterweight 621, the bottom of the counterweight 621 is subjected to a downward gravity, and the counterweight 621 eventually keeps its bottom facing downward.

[0113] Among them, the scanning camera 30 can be the YJX-GC2385 from Shenzhen Yongjixing Optoelectronics Co., Ltd.; +GC0312 dual camera; the ultrasonic low-frequency tomography scanner 46 can be the A1020MIRALite concrete ultrasonic tomography scanner from Beijing Kesi Instruments Co., Ltd.; the searchlight guide light 40 can be the PD-QP012 from Zhongshan Puda Zhiguang Lighting Co., Ltd.; the control center 42 can be the GZ-104TCX from Guangzhou Guanze Information Technology Co., Ltd.; the power supply 43 can be the YM-PC from Yangzhou Yuming Power Supply Co., Ltd.; the data acquisition unit 44 can be the EDA51K from Qingdao Deling Intelligent Technology Co., Ltd.; the radar positioning 47 can be the KST-021 from Shenzhen Keshuotai Electronics Technology Co., Ltd.; the photosensitive sensor 48 can be the SPM-18-1000-221 from Beijing Zhihong Hengtuo Technology Co., Ltd.; the vertical wheel drive motor 51 and the horizontal wheel drive motor 55 can be the JX7134 from Shanghai Chicheng Automation Equipment Co., Ltd.; and the wireless communication module can be the SZ02-C1-232 / 485 from Shanghai Shunzhou Intelligent Technology Co., Ltd.

[0114] Furthermore, in the above technical solution, the scanning camera 30 is a dual-camera setup. One is a short-focal-length, wide-field-of-view camera, and the other is a long-focal-length, narrow-field-of-view camera.

[0115] A telephoto lens is a lens with a focal length longer than the standard focal length, and vice versa. The shorter the focal length, the wider the angle of view and the larger the field of view. Conversely, a telephoto lens has a smaller field of view as the focal length increases.

[0116] Telephoto lenses have a narrower field of view, capturing a small section of a vast scene and projecting that section onto the film or image sensor. Therefore, the captured area appears larger. Telephoto lenses are often used to photograph details of distant objects, such as birds, race cars, airplanes, and sailboats. Short focal lengths, on the other hand, offer a wider field of view, capturing a broader panorama on the film. They are suitable for photographing grand architecture, group photos, and expansive landscapes.

[0117] Specifically, the principle of this invention is as follows: The control center 42 is manually controlled, and the control drive mechanism drives the vertical rolling wheel 20 and the horizontal rolling wheel 21, so that the housing 10 moves forward along the set path. When it reaches the required area, the control center 42 controls the drive mechanism to stop working, and the device stays in place. The control center 42 controls the scanning camera 30, the ultrasonic low-frequency tomography scanner 46, and the radar positioning 47 to start working. The scanning camera 30, the ultrasonic low-frequency tomography scanner 46, and the radar positioning 47 send the detection data to the data acquisition unit 44. The data acquisition unit 44 processes the detection data and sends it back to the control center 42. The control center 42 sends the processed detection data to the host computer at the operating end through the communication device 45 for the staff to retrieve and view. The scanning camera 30 remains on during the operation of the device, so that when the device encounters an obstacle that cannot be passed, the staff can judge and go to the site to clear the obstacle, ensuring the operation of the device.

[0118] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A three-dimensional scanning device for confined spaces, comprising a housing (10), characterized in that, The housing (10) is a cylindrical barrel-shaped shell. The housing (10) has multiple rows of vertical wheel grooves. Vertical rolling wheels (20) are installed in the vertical wheel grooves. The vertical rolling wheels (20) are used to move the housing (10) forward or backward. Horizontal wheel grooves are distributed on the housing (10) between the vertical wheel grooves. Horizontal rolling wheels (21) are installed in the horizontal wheel grooves. The horizontal rolling wheels (21) move the housing (10) to the left or right. The vertical rolling wheels (20) and the horizontal rolling wheels (21) include wheel bodies (021) and wheel axles (022). The wheel axles (022) are located at the center of the wheel bodies (021). The wheel bodies (021) themselves are higher than the opening of the vertical wheel grooves or horizontal wheel grooves. The rear end of the housing (10) is equipped with a rearward-illuminating searchlight (40); The housing (10) is made of transparent material, and a photosensitive sensor (48) is installed inside the housing (10); The housing (10) houses a drive mechanism, a scanning camera (30), a control center (42), a power supply (43), a data acquisition unit (44), a communication device (45), an ultrasonic low-frequency tomography scanner (46), and a radar positioning device (47). The scanning camera (30) scans the interior space of the building. The ultrasonic low-frequency tomography scanner (46) detects objects within the space and operates through a detection hole at the front end of the housing (10). The radar positioning device (47) detects obstacles within the space. The data acquisition unit (44) stores data collected by the scanning camera (30), the ultrasonic low-frequency tomography scanner (46), and the radar positioning device (47). The scanning camera (30), the ultrasonic low-frequency tomography scanner (46), the radar positioning (47) and the data acquisition unit (44) are electrically connected. The drive mechanism, the scanning camera (30), the data acquisition unit (44), the communication device (45), the ultrasonic low-frequency tomography scanner (46), the radar positioning (47), the photosensitive unit (48) and the control center (42) are electrically connected. The power supply (43) is electrically connected to and supplies power to the drive mechanism, the scanning camera (30), the searchlight (40), the control center (42), the data acquisition unit (44), the communication device (45), the ultrasonic low-frequency tomography scanner (46), the radar positioning (47) and the photosensitive unit (48). The control center (42) is equipped with a pathfinding module, which is used to automatically calculate the shortest walking path of the three-dimensional scanning device in a confined space when the device loses communication control signal in the space. The pathfinding module includes a recording module, a side recording module, a calculation module and a restoration module.

2. The three-dimensional scanning device for confined spaces according to claim 1, characterized in that, The pathfinding module is used to execute the following algorithm steps: S10: The recording module records the original path information to the backup path library for backup; S20: The edge splitting module obtains the newly revised path information based on the original edges of the path obtained from the image captured by the scanning camera (30). If there are n original edges between two nodes of the path, except for the original edge with the shortest weight, a dummy node is added to each of the remaining n-1 original edges, dividing the original edge between the nodes into two sub-segments. Each sub-segment forms a new edge, and the weight of the new edge is obtained by splitting the weight of the original edge. S30: The calculation module calculates the K shortest path between specified nodes based on the newly revised path information; S40: The restoration module sequentially checks each path in the calculated K shortest paths: restoring the hop jumps belonging to the false node and the new edge to the original path data recorded in the backup path library; S50: The control center (42) controls the drive mechanism to drive the vertical roller (20) or the horizontal roller (21) to roll towards the bright side of the light received by the photosensitive sensor (48) according to the original path data restored in S40.

3. The three-dimensional scanning device for confined spaces according to claim 2, characterized in that, The method for obtaining the original edge of the path from the ground image captured by the scanning camera (30) in step S20 includes the following steps: Step 1: Process the ground image to obtain the corresponding grayscale image; Step 2: Extract regions with uniform grayscale from the grayscale image; Step 3: Extract the texture features of the ground image from the grayscale image; Step 4: Merge adjacent grayscale regions with uniform size based on the color and texture features of the ground image to obtain the region with the largest area, which will be used as the path.

4. The three-dimensional scanning device for confined spaces according to claim 3, characterized in that, The process of processing the ground image in step 1 includes: unifying the ground image format into an image of appropriate size, and then performing image format shaping, histogram equalization, and image filtering to make the image features more obvious.

5. A three-dimensional scanning device for confined spaces according to claim 4, characterized in that, The scanning camera (30) is a dual camera, one of which is a short focal length wide field of view camera and the other is a long focal length small field of view camera.

6. A three-dimensional scanning device for confined spaces according to claim 5, characterized in that, The radar positioning (47) is used to detect obstacles in the space, and the scanning camera (30) identifies the size of the obstacles. The identification method includes the following steps: Step 1: Obtain the threshold corresponding to the shape of the obstacle based on the pre-set correspondence between shape and threshold; Step 2: Activate the scanning camera (30) to capture images of the obstacles; Step 3: Extract feature points exceeding the threshold from the images captured by the two cameras of the scanning camera (30) respectively, and use them as strong feature points; Step 4: The size of the obstacle in the long-focal-length, small-field-of-view camera can be calculated based on the ratio between the pixels of the two cameras.

7. A three-dimensional scanning device for confined spaces according to claim 1, characterized in that, The drive mechanism includes a vertical wheel drive mechanism and a horizontal wheel drive mechanism. The vertical wheel drive mechanism includes a vertical wheel drive motor (51), a first active bevel gear (52), a first driven bevel gear (53), and a belt (54). The belt (54) is sleeved on the axle (022) of each row of vertical rollers (20). The belt (54) has belt teeth on its inner side. The axle (022) of the vertical roller (20) has shaft teeth that can mesh with the belt teeth of the belt (54). The first driven bevel gear (53) is connected to the rear end of the axle (022) of the foremost vertical roller (20) in one row of vertical rollers (20) in the housing (10). The first driven bevel gear (53) meshes with the first active bevel gear (52). The first active bevel gear (52) is fixedly connected to the output end of the vertical wheel drive motor (51). The horizontal wheel drive mechanism includes a horizontal wheel drive motor (55), a second active bevel gear (57), and a second driven bevel gear (56). The second driven bevel gear (56) is fixed to the rear end of the wheel axle (022) of the horizontal rolling wheel (21). The second driven bevel gear (56) meshes with the second active bevel gear (57), and the second active bevel gear (57) is fixedly connected to the output end of the horizontal wheel drive motor (55).

8. A three-dimensional scanning device for confined spaces according to claim 7, characterized in that, Every 2 to 4 of the horizontal rolling wheels (21) in each row of the housing (10) are connected to the horizontal wheel drive mechanism.

9. A three-dimensional scanning device for confined spaces according to claim 1, characterized in that, The scanning camera (30), the ultrasonic low-frequency tomographic scanner (46), and the radar positioning (47) are mounted on the housing (10) via a hovering mechanism.

10. A three-dimensional scanning device for confined spaces according to claim 9, characterized in that, The hovering mechanism includes an outer sleeve (61) and an inner sleeve (62). The inner sleeve (62) is rolled inside the outer sleeve (61). There are ball bearings (611) at the connection between the inner sleeve (62) and the outer sleeve (61). A counterweight (621) is embedded at the bottom of the inner sleeve (62). The counterweight (621) is used to keep the bottom of the inner sleeve (62) facing down. The scanning camera (30), the ultrasonic low-frequency tomography scanner (46), and the radar positioning (47) are installed inside the inner sleeve (62). The front end of the inner sleeve (62) has a detection window (622). The detection window (622) is used to provide space for the scanning camera (30), the ultrasonic low-frequency tomography scanner (46), and the radar positioning (47) to perform detection work.

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