Vehicle-mounted pavement three-dimensional laser scanning equipment and scanning method thereof

Abstract

The vehicle-mounted road surface three-dimensional laser scanning equipment comprises a mounting base, a central control data box is arranged in the middle of the upper end of the mounting base, a vertical telescopic mechanism capable of vertically stretching out and drawing back is upwards arranged at the upper end of the front portion of the mounting base, and a rotating base is arranged in the middle of the upper end of the vertical telescopic mechanism; a U-shaped stabilizing strip capable of rotating left and right is rotationally connected to the front end of the rotating seat, a stable mounting strip capable of rotating front and back is rotationally connected into the U-shaped stabilizing strip, and a first laser scanner and a first CCD camera are mounted at the front end of the stable mounting strip; a horizontal telescopic mechanism capable of horizontally stretching out and drawing back is horizontally arranged at the upper end of the rear portion of the installation base, a horizontal installation strip is arranged at the end, away from the vertical telescopic mechanism, of the horizontal telescopic mechanism, and a second laser scanner is downwards installed on the horizontal installation strip. When three-dimensional road surface scanning is carried out, a three-dimensional model of the surrounding environment of the road surface is generated through scanning, so that maintenance personnel can quickly position the position of the road surface defect by taking the roadside environment as a reference.

Description

Technical Field

[0001] The present invention relates to the technical field of road maintenance, and in particular to a vehicle-mounted road surface three-dimensional laser scanning device and a scanning method thereof. Background Art

[0002] With the acceleration of urbanization and the continuous growth of traffic volume, pavement maintenance has become an increasingly important issue. Traditional pavement inspection methods often rely on manual inspections, which is not only inefficient but also difficult to ensure the accuracy and integrity of data. In recent years, with the development of 3D modeling technology, more and more research and applications have begun to use 3D modeling technology for pavement maintenance management.

[0003] 3D modeling technology can efficiently collect road information by integrating sensors such as LiDAR and panoramic cameras onto mobile platforms. These sensors can quickly obtain high-precision point cloud data and image information of the road surface during driving, and then build a 3D model containing road surface details. This 3D model can not only intuitively display the current status of the road surface, but also accurately obtain the GPS coordinates of road surface defects, thereby providing accurate data support for subsequent maintenance work.

[0004] Existing pavement 3D modeling technology can automatically identify common defects such as cracks and potholes by analyzing and processing point cloud data, and accurately mark their location information. However, although 3D modeling technology can accurately obtain the GPS coordinates of pavement defects, in actual operation, since the 3D model or picture is only for the pavement, maintenance personnel often encounter the problem of difficulty in quickly locating the specific location of the defect after arriving at the site due to the lack of reference to the surrounding environment. Summary of the invention

[0005] The purpose of the present invention is to provide a vehicle-mounted road surface three-dimensional laser scanning device and a scanning method thereof. When performing three-dimensional road surface scanning, a three-dimensional model of the road surface surrounding environment is also scanned and generated, so that maintenance personnel can use the roadside environment as a reference to quickly locate the location of road surface defects.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] A vehicle-mounted road surface three-dimensional laser scanning device comprises a mounting seat, wherein mounting blocks are arranged on both left and right sides of the lower end of the mounting seat, a fixed C-shaped clip is arranged at the lower end of each mounting block, a T-shaped slide groove is provided inwardly at one end of the fixed C-shaped clip opening of each mounting block, a connecting hole penetrating the corresponding mounting block is provided at the bottom of each T-shaped slide groove, each T-shaped slide groove is slidably connected with a T-shaped slide bar, a movable C-shaped clip matched with the corresponding fixed C-shaped clip is arranged at the lower end of each T-shaped slide bar, a threaded hole matched with the corresponding connecting hole is provided through each T-shaped slide bar, and each connecting hole is movably connected with a connecting bolt threadedly connected with the corresponding threaded hole;

[0008] A vertical telescopic mechanism capable of vertical telescopic extension is disposed upwardly at the upper end of the front portion of the mounting seat, a rotating seat is disposed in the middle of the upper end of the vertical telescopic mechanism, a U-shaped stabilizing bar capable of left and right rotation is rotatably connected to the front end of the rotating seat, a stabilizing mounting bar capable of forward and backward rotation is rotatably connected inside the U-shaped stabilizing bar, and a first laser scanner and a first CCD camera are mounted at the front end of the stabilizing mounting bar;

[0009] A horizontal telescopic mechanism capable of horizontal extension and retraction is horizontally arranged at the upper end of the rear portion of the mounting seat, a horizontal mounting bar is arranged at one end of the horizontal telescopic mechanism away from the vertical telescopic mechanism, and a second laser scanner is mounted downwardly on the horizontal mounting bar;

[0010] A central control data box is arranged in the middle of the upper end of the mounting seat, and a processing chip, a storage module, a GPS module, and a network transmission module are arranged in the central control data box. The first laser scanner, the first CCD camera, and the second laser scanner are all electrically connected to the processing chip.

[0011] By adopting the above technical solution, the equipment is moved to the roof, and the roof beams on both sides of the main vehicle are clamped with fixed C-type clamps. The fixed C-type clamps are elastic, and they can be pressed down to clamp the main roof beams. Then, the connecting bolts are screwed with a screwdriver to slide the T-shaped slide groove to drive the movable C-type clamp to cooperate with the fixed C-type clamp to clamp the roof beams.

[0012] Before scanning the road surface, according to the vehicle situation, the vertical telescopic mechanism is controlled to drive the first laser scanner and the first CCD camera to rise so that the roof cannot be seen in their field of view, and the horizontal telescopic mechanism is controlled to drive the second laser scanner to extend backward so that the roof cannot be seen in its field of view and the road surface can be scanned vertically downward.

[0013] The present invention is further configured as follows: the vertical telescopic mechanism and the horizontal telescopic mechanism both include a telescopic sleeve connected to the mounting seat and open at one end, and a hollow telescopic table slidably connected to the inner wall of the telescopic sleeve, a lifting mechanism is arranged between the bottom of each hollow telescopic table and the bottom of the corresponding telescopic sleeve, the rotating seat is arranged at the upper end of the corresponding hollow telescopic table, and the horizontal mounting bar is arranged at the free end of the corresponding hollow telescopic table.

[0014] The present invention is further configured as follows: the lifting mechanism is a scissor-type lifting mechanism, and an electric hydraulic telescopic rod electrically connected to the processing chip is rotatably connected between the bottom of each telescopic housing and the corresponding scissor-type lifting mechanism.

[0015] The present invention is further configured as follows: rubber anti-collision pads matching with the two ends of the U-shaped stabilizing bar are arranged on both sides of the upper end of the vertical telescopic mechanism.

[0016] The present invention also provides a vehicle-mounted road surface three-dimensional scanning method, comprising the following steps:

[0017] S1. As the vehicle is traveling, the first laser scanner located at the front end scans the road surface in front of the vehicle and the environment on both sides of the road, and establishes a three-dimensional model of the environment through calculation and processing by the processing chip;

[0018] S2, the first CCD camera located at the front end takes pictures of the road surface in front of the vehicle and the environment on both sides of the road, and compares the pictures with the three-dimensional model through the processing chip, and colors the three-dimensional model of the environment according to the pictures;

[0019] S3, the second laser scanner located at the rear end scans the road surface vertically downwards during the driving of the vehicle, accurately obtains road surface defect data, and establishes a three-dimensional model of the road surface through calculation and processing by the processing chip;

[0020] S4, obtaining the distance between the second laser scanner and the first laser scanner, overlapping the three-dimensional environment model with the three-dimensional road surface model according to the distance, and then combining with the GPS module to accurately obtain the location and GPS coordinates of the road surface defect;

[0021] S5. Send the three-dimensional model of the environment, the three-dimensional model of the road surface and the GPS coordinates to the cloud through the network transmission module for viewing at any time.

[0022] In summary, the present invention has the following beneficial effects:

[0023] First, the present invention is equipped with laser scanners at the front and rear of the vehicle. The front laser scanner is used to scan and model the road surface and the surrounding environment, and a CCD camera is used to take pictures to color the environmental model of the road surface. The rear laser scanner is used to vertically scan the road surface downward and model it, and the road surface defect data is accurately obtained. After the three-dimensional environmental model and the three-dimensional road surface model are overlapped, a three-dimensional model of the road surface surrounding environment can be generated, which is convenient for maintenance personnel to use the roadside environment as a reference to quickly locate the road surface defect position;

[0024] Secondly, the present invention is installed on the roof of the car, which is easy to install. The laser scanner or CCD camera can be freely controlled to be extended or raised as needed to ensure that it obtains the best scanning position, and can be retracted when not in use, which can prevent the laser scanner or CCD camera from protruding from the car body and being scratched. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 Mainly used to demonstrate the second laser scanner on the horizontal mounting bar;

[0027] Figure 3 Used to demonstrate the connection between the fixed C-clip and the movable C-clip;

[0028] Figure 4 Used to display the internal structure of the vertical telescopic mechanism and the first laser scanner and the first CCD camera on the fixed mounting bar;

[0029] Figure 5 It is the control principle diagram of the present invention.

[0030] In the figure: 1. Mounting seat; 2. Mounting block; 21. Fixed C-clip; 22. T-slide; 23. Connecting hole; 3. T-slide; 31. Movable C-clip; 32. Threaded hole; 33. Connecting bolt; 41. Telescopic cover; 42. Hollow telescopic table; 43. Scissor-type lifting mechanism; 44. Electric hydraulic telescopic rod; 5. Rotating seat; 51. U-shaped stabilizing bar; 52. Stabilizing mounting bar; 53. First laser scanner; 54. First CCD camera; 6. Rubber anti-collision pad; 7. Horizontal mounting bar; 71. Second laser scanner; 8. Central control data box. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0032] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0033] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0034] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" 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, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of 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.

[0035] Example, see Figure 1-5 , a vehicle-mounted road surface three-dimensional laser scanning equipment, including a mounting seat 1, two mounting blocks 2 are arranged on the left and right sides of the lower end of the mounting seat 1, and a fixed C-shaped clamp 21 is arranged at the lower end of each mounting block 2, and a T-shaped slide groove 22 is opened inward at one end of the opening of the fixed C-shaped clamp 21 of each mounting block 2, and a connecting hole 23 penetrating the corresponding mounting block 2 is opened at the bottom of each T-shaped slide groove 22, and a T-shaped slide bar 3 is slidably connected to each T-shaped slide groove 22, and a movable C-shaped clamp 31 matched with the corresponding fixed C-shaped clamp 21 is arranged at the lower end of each T-shaped slide bar 3, and a threaded hole 32 matched with the corresponding connecting hole 23 is opened through each T-shaped slide bar 3, and each connecting hole 23 is movably connected with a connecting bolt 33 threadedly connected with the corresponding threaded hole 32, and the fixed C-shaped clamp 21 and the movable C-shaped clamp 31 are used to clamp the roof beam to install the mounting seat 1 on the roof.

[0036] A vertical telescopic mechanism capable of vertical extension and retraction is upwardly arranged at the upper end of the front portion of the mounting seat 1, and a horizontal telescopic mechanism capable of horizontal extension and retraction is horizontally arranged at the upper end of the rear portion of the mounting seat 1. Both the vertical telescopic mechanism and the horizontal telescopic mechanism include a telescopic cover 41 connected to the mounting seat 1 and open at one end, and a hollow telescopic platform 42 slidably connected to the inner wall of the telescopic cover 41. A lifting mechanism is arranged between the bottom of each hollow telescopic platform 42 and the bottom of the corresponding telescopic cover 41. The lifting mechanism is a scissor-type lifting mechanism 43. An electric hydraulic telescopic rod 44 is rotatably connected between the bottom of each telescopic cover 41 and the corresponding scissor-type lifting mechanism 43. The telescopic extension of the hollow telescopic platform 42 is controlled by the telescopic extension of the electric hydraulic telescopic rod 44.

[0037] A rotating seat 5 is provided in the middle of the upper end of the hollow telescopic platform 42 of the vertical telescopic mechanism, and a U-shaped stabilizing bar 51 that can be rotated left and right is rotatably connected to the front end of the swivel seat 5 to balance the left and right shaking of the vehicle. Rubber anti-collision pads 6 that match the two ends of the U-shaped stabilizing bar 51 are provided on both sides of the upper end of the vertical telescopic mechanism. A stabilizing mounting bar 52 that can be rotated forward and backward is rotatably connected inside the U-shaped stabilizing bar 51 to balance the front and rear bumps of the vehicle. A first laser scanner 53 and a first CCD camera 54 are installed at both ends of the front side of the stabilizing mounting bar 52. A horizontal mounting bar 7 is provided at the free end of the hollow telescopic platform 42 of the horizontal telescopic mechanism, and a second laser scanner 71 is installed downward at both ends of the horizontal mounting bar 7.

[0038] A central control data box 8 is provided in the middle of the upper end of the mounting base 1. The central control data box 8 is provided with a processing chip, a storage module, a GPS module, and a network transmission module. Each electric hydraulic telescopic rod 44, the first laser scanner 53, the first CCD camera 54 and the second laser scanner 71 are electrically connected to the processing chip.

[0039] Usage: Move the device to the roof, and clamp the roof beams on both sides of the main vehicle with the fixed C-type clamp 21. The fixed C-type clamp 21 is elastic, and it can be pressed down to clamp the main roof beam. Then use a screwdriver to tighten the connecting bolt 33, so that the T-shaped slide 22 slides and drives the movable C-type clamp 31 to cooperate with the fixed C-type clamp 21 to clamp the roof beam.

[0040] Before scanning the road surface, according to the vehicle situation, the vertical telescopic mechanism is controlled to drive the first laser scanner 53 and the first CCD camera 54 to rise so that the roof cannot be seen in their field of view, and the horizontal telescopic mechanism is controlled to drive the second laser scanner 71 to extend backward so that the roof cannot be seen in its field of view and the road surface can be scanned vertically downward.

[0041] The working principle includes the following steps:

[0042] S1. As the vehicle is traveling, the first laser scanner 53 at the front end scans the road surface in front of the vehicle and the environment on both sides of the road, and establishes a three-dimensional model of the environment through calculation processing by a processing chip;

[0043] S2, the first CCD camera 54 located at the front end takes pictures of the road surface in front of the vehicle and the environment on both sides of the road, and compares the pictures with the three-dimensional model through the processing chip, and colors the three-dimensional model of the environment according to the pictures;

[0044] S3, the second laser scanner 71 at the rear end scans the road surface vertically downwards as the vehicle travels, accurately obtains road surface defect data, and establishes a three-dimensional road surface model through calculation and processing on a processing chip;

[0045] S4, obtaining the distance between the second laser scanner 71 and the first laser scanner 53, and aligning the three-dimensional environment model with the three-dimensional road surface model according to the distance, and then combining with the GPS module to accurately obtain the location and GPS coordinates of the road surface defect;

[0046] S5. Send the three-dimensional model of the environment, the three-dimensional model of the road surface and the GPS coordinates to the cloud through the network transmission module for viewing at any time.

[0047] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A vehicle-mounted road surface three-dimensional laser scanning device, comprising a mounting seat (1), characterized in that: The left and right sides of the lower end of the mounting seat (1) are provided with mounting blocks (2), the lower end of each mounting block (2) is provided with a fixed C-shaped clip (21), each mounting block (2) is provided with a T-shaped slide groove (22) inwardly at the end of the opening of the fixed C-shaped clip (21), the bottom of each T-shaped slide groove (22) is provided with a connecting hole (23) penetrating the corresponding mounting block (2), each T-shaped slide groove (22) is slidably connected with a T-shaped slide bar (3), the lower end of each T-shaped slide bar (3) is provided with a movable C-shaped clip (31) matched with the corresponding fixed C-shaped clip (21), a threaded hole (32) matched with the corresponding connecting hole (23) is provided through each T-shaped slide bar (3), and each connecting hole (23) is movably connected with a connecting bolt (33) threadedly connected with the corresponding threaded hole (32); A vertical telescopic mechanism capable of vertical telescopic extension is disposed upward at the upper end of the front portion of the mounting seat (1); a rotating seat (5) is disposed in the middle of the upper end of the vertical telescopic mechanism; a U-shaped stabilizing bar (51) capable of left-right rotatability is rotatably connected to the front end of the rotating seat (5); a stabilizing mounting bar (52) capable of forward and backward rotatability is rotatably connected inside the U-shaped stabilizing bar (51); a first laser scanner (53) and a first CCD camera (54) are mounted at the front end of the stabilizing mounting bar (52); A horizontal telescopic mechanism capable of horizontal extension and contraction is horizontally arranged at the upper end of the rear portion of the mounting seat (1); a horizontal mounting bar (7) is arranged at one end of the horizontal telescopic mechanism away from the vertical telescopic mechanism; a second laser scanner (71) is mounted downwardly on the horizontal mounting bar (7); A central control data box (8) is arranged in the middle of the upper end of the mounting seat (1), and a processing chip, a storage module, a GPS module, and a network transmission module are arranged in the central control data box (8), and the first laser scanner (53), the first CCD camera (54), and the second laser scanner (71) are all electrically connected to the processing chip.

2. The vehicle-mounted road surface three-dimensional laser scanning device according to claim 1, characterized in that: The vertical telescopic mechanism and the horizontal telescopic mechanism both comprise a telescopic casing (41) connected to the mounting seat (1) and having one end open, and a hollow telescopic platform (42) slidably connected to the inner wall of the telescopic casing (41); a lifting mechanism is arranged between the bottom of each hollow telescopic platform (42) and the bottom of the corresponding telescopic casing (41); the rotating seat (5) is arranged at the upper end of the corresponding hollow telescopic platform (42); and the horizontal mounting bar (7) is arranged at the free end of the corresponding hollow telescopic platform (42).

3. The vehicle-mounted road surface three-dimensional laser scanning device according to claim 2, characterized in that: The lifting mechanism is a scissor-type lifting mechanism (43), and an electric hydraulic telescopic rod (44) electrically connected to the processing chip is rotatably connected between the bottom of each telescopic shell (41) and the corresponding scissor-type lifting mechanism (43).

4. The vehicle-mounted road surface three-dimensional laser scanning device according to claim 1, characterized in that: Both sides of the upper end of the vertical telescopic mechanism are provided with rubber anti-collision pads (6) that match the two ends of the U-shaped stabilizing strip (51).

5. A vehicle-mounted road surface three-dimensional scanning method, using a vehicle-mounted road surface three-dimensional laser scanning device according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1. As the vehicle is traveling, the first laser scanner (53) located at the front end scans the road surface in front of the vehicle and the environment on both sides of the road, and establishes a three-dimensional model of the environment through calculation and processing by the processing chip; S2, the first CCD camera (54) located at the front end takes pictures of the road surface in front of the vehicle and the environment on both sides of the road, and compares the pictures with the three-dimensional model through the processing chip, and colors the three-dimensional model of the environment according to the pictures; S3, the second laser scanner (71) located at the rear end scans the road surface vertically downwards during the driving of the vehicle, accurately obtains road surface defect data, and establishes a three-dimensional road surface model through calculation and processing by the processing chip; S4, obtaining the distance between the second laser scanner (71) and the first laser scanner (53), overlaying the three-dimensional environment model with the three-dimensional road surface model according to the distance, and then combining with the GPS module to accurately obtain the location and GPS coordinates of the road surface defect; S5. Send the three-dimensional model of the environment, the three-dimensional model of the road surface and the GPS coordinates to the cloud through the network transmission module for viewing at any time.

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