Prefabricated segment reconstruction modeling system and modeling method

Abstract

The invention relates to a prefabricated segment reconstruction modeling system and method, in particular to the technical field of shield segment manufacturing, and adopts a terminal, a rack and a scanning mechanism. During use, the scanning mechanism is mounted on the rack, so that a surface scanning part and an internal scanning part in the scanning mechanism synchronously move and respectively scan the prefabricated segment to obtain surface image data of the prefabricated segment and internal scanning data corresponding to the surface image data; and performing reconstruction modeling on the prefabricated duct piece by using the terminal according to the scanned surface image data and the internal scanning data. Therefore, the function of acquiring surface image data and internal structure data of the prefabricated segment can be realized by utilizing synchronous movement of the internal scanning component and the external scanning component when the device is used, so that a surface and internal structure three-dimensional model of the prefabricated segment can be established; and therefore, the three-dimensional reconstruction function of the overall structure of the prefabricated duct piece is realized.

Description

Technical Field

[0001] The invention relates to the technical field of shield segment manufacturing, and in particular to a prefabricated segment reconstruction modeling system and a modeling method. Background Art

[0002] As an important branch of computer vision, 3D reconstruction technology has a long history of development and is widely used. With the continuous advancement of science and technology, 3D reconstruction technology has developed from the initial geometric modeling to today's image-based modeling, and then to the use of advanced sensing technologies such as structured light and laser scanning for high-precision 3D data acquisition. The development of these technologies has enabled 3D reconstruction to be widely used in many fields such as industrial design, cultural relics protection, medical imaging, and virtual reality. In particular, in high-precision 3D reconstruction scenarios, multi-frequency phase-shifted array structured light technology based on sinusoidal fringes has been valued for its fast scanning and dense point cloud data acquisition capabilities.

[0003] At present, the 3D reconstruction technology mainly adopts the structured light stripe projection method, which projects the structured light stripes onto the surface of the object to be measured through a projection device, and then uses a camera to collect images on the object. These images are then used to calculate the point cloud data of the object surface, thereby realizing 3D reconstruction. In this process, commonly used techniques include single horizontal and vertical stripe projection or single optimal direction stripe projection. These technologies work well when processing simple object surfaces, but when facing complex object surfaces, especially surfaces with subtle undulations, stripes in a single direction are often difficult to fully capture the detailed features of the object surface, resulting in limited accuracy and completeness of the reconstruction results.

[0004] Although existing 3D reconstruction technology has been applied in many fields, 3D reconstruction is mainly performed on the surface of the object to be reconstructed (such as prefabricated pipe segments, etc.), and it is often impossible to reconstruct the interior of the object to be reconstructed. Summary of the invention

[0005] The main purpose of the present invention is to propose a prefabricated pipe segment reconstruction modeling system and modeling method, which aims to solve the technical problem that when the related technology performs three-dimensional reconstruction, it is mainly to perform three-dimensional reconstruction of the object to be reconstructed (such as a prefabricated pipe segment, etc.), it is often only possible to perform three-dimensional reconstruction on the surface of the object to be reconstructed, but it is impossible to perform three-dimensional reconstruction on the interior of the object to be reconstructed.

[0006] To achieve the above-mentioned purpose, the present invention proposes a prefabricated segment reconstruction modeling system, comprising:

[0007] terminal;

[0008] A frame, wherein a scanning space is formed in the frame, a walking mechanism is arranged on the top of the frame, the walking mechanism can move along the top of the frame, and a mounting position is arranged on the walking mechanism, the walking mechanism is communicatively connected with the terminal, and the terminal can control the walking mechanism to move, so that the mounting position can enter or leave the scanning space from any position;

[0009] A scanning mechanism is installed at the installation position, and the scanning mechanism includes a surface scanning component and an internal scanning component installed on the surface scanning component. Both the surface scanning component and the internal scanning component are communicatively connected to the terminal. The surface scanning component can transmit the image data of the prefabricated pipe segment obtained by scanning to the terminal, and the internal scanning component can simultaneously transmit the scanning data of the prefabricated pipe segment obtained by scanning to the terminal, so as to reconstruct the three-dimensional model of the prefabricated pipe segment at the terminal.

[0010] In one embodiment, the scanning component comprises:

[0011] a scanning component, the scanning component being installed at the installation position with a gap between the scanning component and the internal scanning component; and

[0012] A tracking component is installed on the scanning component, and the tracking component moves synchronously with the scanning component.

[0013] In one embodiment, the scanning component comprises:

[0014] a base, the base being mounted at the mounting position; and

[0015] A detection module is installed on the base.

[0016] In one embodiment, the detection module includes:

[0017] A connecting piece, one end of which is detachably connected to the base, and the other end of which is connected to a mounting base;

[0018] an image acquisition component, the image acquisition component being mounted on the mounting seat; and

[0019] A spherical laser cage is arranged around the outer periphery of the image acquisition component and is connected to the mounting seat. The terminal can control the spherical laser hole to emit a grid-shaped detection laser toward the prefabricated pipe segment to scan each surface of the prefabricated pipe segment, and synchronously control the image acquisition component to follow and collect the image data of the corresponding surface.

[0020] In one embodiment, the spherical laser cage includes a connecting frame and a plurality of laser emitters distributed in a circumferential array on the connecting frame. The connecting frame is arranged around the periphery of the mounting seat and connected to the mounting seat, and each of the laser emitters is arranged in a direction away from the mounting seat.

[0021] In one embodiment, the tracking assembly includes a rotating frame and a capturer, wherein the rotating frame and the connecting member are spaced apart on the base, the capturer is mounted on the rotating frame, the capturer is communicatively connected to the terminal, the capture direction of the capturer is consistent with the capture direction of the image acquisition member, and the rotating frame is used to drive the capturer to rotate, and the capturer can capture the current scanning area of ​​the laser to determine the current position of the image acquisition member.

[0022] In one embodiment, the internal scanning component includes:

[0023] A first connecting seat, the first connecting seat and the base are spaced apart and distributed at the installation position; and

[0024] A CT scanner is installed on the first connecting seat, and the scanning direction of the CT scanner is consistent with the acquisition direction of the image acquisition component. The CT scanner is communicatively connected with the terminal to transmit the scanned CT data to the terminal to establish the internal structure model of the prefabricated pipe segment.

[0025] In one embodiment, the walking mechanism comprises:

[0026] A guide rail, wherein the guide rail is installed on the top of the frame along a first direction, and the number of the guide rails is two, and the two guide rails are spaced apart and arranged on both sides of the scanning space along a second direction;

[0027] A sliding drive member, wherein the sliding drive member is in sliding cooperation with the guide rail;

[0028] A connecting beam, wherein the connecting beam is disposed transversely above the scanning space along the second direction, and both ends of the connecting beam are respectively connected to the sliding driving members on the corresponding sides, and a slide rail extending along the extending direction of the connecting beam is disposed on the connecting beam;

[0029] a slide seat, the slide seat being in sliding cooperation with the slide rail; and

[0030] A lifting motion module is installed on the sliding seat, and the installation position is located at the bottom of the lifting motion module.

[0031] In one embodiment, the lifting motion module comprises:

[0032] A slide seat, the slide seat is mounted on the base, and a vertically arranged slideway is formed on the slide seat, a driving gear is arranged in the slideway, the driving gear is connected to the output shaft of the rotating driving member, and the rotating driving member is in communication connection with the terminal;

[0033] A slide column, wherein the slide column is slidably matched with the slide seat, and a spur rack capable of meshing with the driving gear is formed on the slide column, and the spur rack and the slide column extend in the same direction, and the terminal can control the rotary drive member to drive the driving gear to rotate, so as to drive the slide column to rise and fall along the slide seat through the spur rack; and,

[0034] A multi-joint robotic arm is installed at the bottom of the sliding column, the multi-joint robotic arm is communicatively connected to the terminal, and one end of the multi-joint robotic arm away from the sliding column forms the installation position.

[0035] Based on the same technical concept, in a second aspect, the present invention further proposes a prefabricated segment reconstruction modeling method, which uses the prefabricated segment reconstruction modeling system described in the first aspect;

[0036] The prefabricated segment reconstruction modeling method comprises the following steps:

[0037] Using the terminal to control the scanning mechanism to scan the prefabricated pipe segment placed in the scanning space, so as to respectively obtain image data and scanning data of the prefabricated pipe segment;

[0038] Performing coordinate mapping according to the image data and the scan data to extract a point cloud data set of the prefabricated segment;

[0039] A three-dimensional model of the prefabricated pipe segment is reconstructed and established based on the point cloud data set; wherein the three-dimensional model includes a surface structure model of the prefabricated pipe segment and an internal model of the prefabricated pipe segment.

[0040] The technical solution of the present invention adopts a terminal, a frame and a scanning mechanism. When in use, the scanning mechanism is installed on the frame, so that the surface scanning component and the internal scanning component in the scanning mechanism move synchronously and scan the prefabricated pipe segment respectively to obtain the surface image data of the prefabricated pipe segment and the internal scanning data corresponding to the surface image data, and the terminal is used to reconstruct and model the prefabricated pipe segment according to the scanned surface image data and the internal scanning data. Therefore, when in use, the present invention can utilize the synchronous movement of the internal scanning component and the external scanning component to realize the function of obtaining the surface image data and internal structure data of the prefabricated pipe segment, thereby making it possible to establish a three-dimensional model of the surface and internal structure of the prefabricated pipe segment, thereby realizing the three-dimensional reconstruction function of the overall structure of the prefabricated pipe segment. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0042] Figure 1 A schematic diagram of the structure of the prefabricated segment reconstruction modeling system provided by the present invention;

[0043] Figure 2 A structural schematic diagram of a prefabricated segment reconstruction modeling system provided by the present invention from one perspective;

[0044] Figure 3 for Figure 2 A schematic diagram of the structure of the enlarged portion A of the example;

[0045] Figure 4 for Figure 2 A schematic diagram of the structure of the scanning mechanism carrying a multi-joint robotic arm in the example;

[0046] Figure 5 for Figure 2 A schematic diagram of the structure of the scanning mechanism of the example;

[0047] Figure 6 for Figure 5 A schematic diagram of the structure of the spherical laser cage shown in the example;

[0048] Figure 7 for Figure 5 A schematic structural diagram of the spherical laser cage from another perspective;

[0049] Figure 8 for Figure 7 A schematic structural diagram of an embodiment of a laser transmitter in a spherical laser cage as exemplified in FIG.

[0050] Fig. 9 A schematic structural diagram of another embodiment of the laser transmitter provided by the present invention;

[0051] Fig.10 A schematic structural diagram of another embodiment of the laser transmitter provided by the present invention;

[0052] Fig.11 A schematic structural diagram of an embodiment of a ring-shaped bracket provided by the present invention;

[0053] Fig.12 A schematic structural diagram of an embodiment of a mounting ring provided by the present invention;

[0054] Fig.13A schematic structural diagram of an embodiment of a vibration reduction mechanism provided by the present invention;

[0055] Fig.14 A structural schematic diagram of an embodiment of a hook mechanism provided by the present invention;

[0056] Fig.15 A schematic structural diagram of another embodiment of the hook mechanism provided by the present invention;

[0057] Fig.16 A schematic structural diagram of another embodiment of the vibration reduction mechanism provided by the present invention;

[0058] Fig.17 The figure is a flow chart of a pipe segment detection method according to an example of the present invention.

[0059] Description of Figure Numbers:

[0060] 1000, terminal; 2000, rack; 3000, scanning space; 4000, walking mechanism; 5000, scanning mechanism; 5100, surface scanning component; 5200, internal scanning component; 5110, scanning component; 5120, tracking component; 5130, base; 5140, detection module; 5111, connector; 5112, mounting seat; 5113, image acquisition component; 5114, spherical laser cage; 5115, connecting frame; 5116, laser transmitter; 5121, rotating frame; 5122, catcher; 5210, first connecting seat; 5220, CT scanner; 4100, guide rail; 4200, sliding drive member; 4300, connecting beam; 4400, sliding seat; 4500, lifting motion module; 4510, sliding seat; 4520, driving gear; 4530, rotating drive member; 4540, sliding column; 4550, spur rack; 4560, multi-joint robotic arm;

[0061] 100, mounting ring; 200, limiting plate; 300, clamping mechanism; 400, buffer; 500, limiting ring; 600, vibration reduction mechanism; 700, grating lens; 800, hook mechanism; 900, annular bracket; 910, light source; 210, limiting part; 301, clamping space; 310, guide column; 320, elastic reset member; 330, clamping plate; 501, accommodating space; 502, Through slot; 610, connecting seat; 620, compression spring; 630, clamping claw assembly; 631, arc plate; 632, limiting strip; 601, assembly space; 810, hook assembly; 820, hinged seat; 830, guide strip; 840, axial displacement driving member; 811, mounting plate; 812, hook member; 801, hook space; 821, first rotating shaft; 822, second rotating shaft; 823, connecting strip.

[0062] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0065] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0066] The present invention provides a prefabricated pipe segment reconstruction modeling system and a modeling method.

[0067] See also Figures 1 to 17 In one embodiment of the present invention, the prefabricated segment reconstruction modeling system comprises:

[0068] Terminal 1000;

[0069] A rack 2000, a scanning space 3000 is formed in the rack 2000, a walking mechanism 4000 is arranged on the top of the rack 2000, the walking mechanism 4000 can walk along the top of the rack 2000, and a mounting position is arranged on the walking mechanism 4000, the walking mechanism 4000 is communicatively connected with the terminal 1000, and the terminal 1000 can control the walking mechanism 4000 to walk, so that the mounting position can enter or leave the scanning space 3000 from any position;

[0070] The scanning mechanism 5000 is installed at the installation position. The scanning mechanism 5000 includes a surface scanning component 5100 and an internal scanning component 5200 installed on the surface scanning component 5100. The surface scanning component 5100 and the internal scanning component 5200 are both communicatively connected with the terminal 1000. The surface scanning component 5100 can transmit the image data of the scanned prefabricated pipe segment to the terminal 1000 and the internal scanning component 5200 can simultaneously transmit the scan data of the scanned prefabricated pipe segment to the terminal 1000, so as to reconstruct the three-dimensional model of the prefabricated pipe segment at the terminal 1000.

[0071] In this embodiment, by using the terminal 1000, the frame 2000 and the scanning mechanism 5000, when in use, the scanning mechanism 5000 is installed on the frame 2000, so that the surface scanning component 5100 and the internal scanning component 5200 in the scanning mechanism 5000 move synchronously and respectively scan the prefabricated pipe segment to obtain the surface image data of the prefabricated pipe segment and the internal scanning data corresponding to the surface image data, and the terminal 1000 is used to reconstruct and model the prefabricated pipe segment according to the scanned surface image data and the internal scanning data, so that when in use, the present invention can utilize the synchronous movement of the internal scanning component 5200 and the external scanning component to realize the function of obtaining the surface image data and internal structure data of the prefabricated pipe segment, and thus also makes it possible to establish a three-dimensional model of the surface and internal structure of the prefabricated pipe segment, thereby realizing the three-dimensional reconstruction function of the overall structure of the prefabricated pipe segment.

[0072] It should be particularly and clearly stated that, in this embodiment, the internal scanning component 5200 is preferably a device or apparatus capable of performing perspective scanning or acquisition functions on the interior of the structure. In this embodiment, the internal scanning component 5200 is preferably made of a CT scanner 5220. In this embodiment, the terminal 1000 is preferably a mobile phone, a computer display, a server with a display function, and other devices.

[0073] In some specific embodiments, the scanning component includes:

[0074] A scanning component 5110, the scanning component 5110 and the internal scanning component 5200 are installed at a mounting position at intervals; and,

[0075] Tracking component 5120 , the tracking component 5120 is installed on the scanning component 5110 , and the tracking component 5120 moves synchronously with the scanning component 5110 .

[0076] In this embodiment, by providing the scanning component 5110 and the tracking component 5120, when in use, the present invention can use the provided scanning component 5110 and the tracking component 5120 to perform scanning operations on the prefabricated pipe segment. At the same time, since the tracking component 5120 is provided, the present invention can also use the provided tracking component 5120 to follow the movement of the scanning component 5110 when in specific use, and then the present invention can use the scanning component 5110 to perform scanning operations on the surface of the prefabricated pipe segment in the process of using the scanning component 5110 to perform scanning operations, and the current scanning position of the scanning component 5110 can be recorded in real time through the tracking of the tracking component 5120, thereby avoiding repeated scanning and improving the detection efficiency.

[0077] More specifically, when the terminal 1000 controls the scanning component 5110 and the tracking component 5120 in the scanning part to perform the inspection operation on the prefabricated pipe segment, the terminal 1000 can be used to control the scanning component 5110 to drive the tracking component 5120 to scan and inspect the prefabricated pipe segment. During scanning, since the tracking component 5120 is set to move synchronously with the scanning component 5110, the present invention can immediately determine the current inspection position of the prefabricated pipe segment by the scanning component 5110 during specific use, and can also determine whether each surface on the prefabricated pipe segment has been inspected, and can avoid repeated inspection of the prefabricated pipe segment, thereby ensuring the inspection efficiency of the prefabricated pipe segment.

[0078] It needs to be further emphasized and clarified that, in the present embodiment, when the scanning component 5110 is used to scan and detect the prefabricated pipe segment, image acquisition or laser scanning operation may be performed on the prefabricated pipe segment.

[0079] In some preferred embodiments, the scanning component 5110 includes:

[0080] A base 5130, the base 5130 is installed at the installation position; and,

[0081] Detection module 5140 , the detection module 5140 is installed on the base 5130 .

[0082] In this embodiment, a base 5130 and a detection module 5140 are provided, and the detection module 5140 is installed on the base 5130, so that the base 5130 is connected to the installation end, so that the present invention can use the set detection module 5140 to quickly scan and detect the prefabricated pipe segments in specific situations, thereby ensuring the scanning and detection efficiency of the prefabricated pipe segments.

[0083] In some optional implementations, the detection module 5140 includes:

[0084] A connecting member 5111, one end of which is detachably connected to the base 5130, and the other end of which is connected to the mounting base 5112;

[0085] An image acquisition component 5113, the image acquisition component 5113 is mounted on a mounting seat 5112; and,

[0086] The spherical laser cage 5114 is arranged around the outer periphery of the image acquisition component 5113, and the spherical laser cage 5114 is connected to the mounting seat 5112. The terminal 1000 can control the spherical laser hole to emit a grid-shaped detection laser toward the prefabricated pipe segment to scan the surfaces of the prefabricated pipe segment, and synchronously control the image acquisition component 5113 to follow and collect image data of the corresponding surface.

[0087] In this embodiment, by providing a connecting piece 5111, an image acquisition piece 5113 and a spherical laser cage 5114, when in use, the function of quickly scanning the surface of the prefabricated pipe segment is achieved by utilizing the cooperation of the provided image acquisition piece 5113 and the spherical laser cage 5114.

[0088] At the same time, the walking mechanism 4000 can drive the detection component installed at its installation end to descend and enter the scanning space 3000, and when the detection component enters the scanning space 3000, the detection component is controlled to perform detection operations on the prefabricated pipe segments. As a result, when in use, the present invention has the ability to allow the detection component to enter the scanning space 3000 at any position above the scanning space 3000 and perform detection operations on the prefabricated pipe segments, effectively improving the flexibility and adaptability of the pipe segment detection system.

[0089] In some specific embodiments, the spherical laser cage 5114 includes a connecting skeleton 5115 and a plurality of laser emitters 5116 distributed in a circumferential array on the connecting skeleton 5115. The connecting skeleton 5115 is arranged around the periphery of the mounting seat 5112 and is connected to the mounting seat 5112. Each laser emitter 5116 is arranged in a direction away from the mounting seat 5112.

[0090] In this embodiment, by providing a connecting skeleton 5115 and a laser emitter 5116, the present invention can utilize the provided connecting skeleton 5115 to install the laser emitter 5116 on the connecting piece 5111 when in use, thereby enabling the present invention to utilize the provided multiple laser emitters 5116 to emit a grid-shaped laser beam to the surface to be inspected of the prefabricated pipe segment when in use, thereby ensuring the synchronous acquisition of the grid-shaped beam and the image acquisition component 5113, thereby ensuring the accuracy of data acquisition.

[0091] It should be particularly and clearly stated that, in this embodiment, the exemplary image acquisition component 5113 is preferably a CCD visual camera.

[0092] Example laser emitters 5116 include:

[0093] The invention comprises a limiting ring 500, a mounting ring 100, a limiting sheet 200, a clamping mechanism 300, a grating lens 700 and a plurality of hook mechanisms 800. The mounting ring 100 is coaxially arranged with the limiting ring 500, and an accommodating space 501 is formed between the outer wall of the mounting ring 100 and the inner wall of the limiting ring 500; the limiting sheet 200 is arranged on the mounting ring 100; the clamping mechanism 300 is slidably arranged on the mounting ring 100 along the radial direction of the mounting ring 100, the clamping mechanism 300 is arranged opposite to the limiting sheet 200, and the clamping mechanism 300 and the limiting sheet 200 jointly form a clamping space 301; the grating lens 700 is arranged in the clamping space 301, and the clamping mechanism 300 can be moved away from the grating lens 70 along the radial direction of the mounting ring 100. 0 and a clamping position close to the grating lens 700, and correspondingly releases or clamps the grating lens 700; a plurality of hook mechanisms 800 are arranged at intervals along the circumference of the limiting ring 500; each hook mechanism 800 extends along the axial direction of the limiting ring 500, and each hook mechanism 800 has a connecting portion and a hook portion at both ends along its extension direction, and the connecting portion of each hook mechanism 800 is slidably connected to the limiting ring 500 along the axial direction of the limiting ring 500, and the hook portion of each hook mechanism 800 extends into the accommodating space 501 and is detachably connected to the mounting ring 100, and each hook mechanism 800 is used to drive a portion of the mounting ring 100 to tilt toward the limiting ring 500, so as to drive a portion of the grating lens 700 to tilt toward the limiting ring 500.

[0094] Specifically, a plurality of hook mechanisms 800 are arranged at intervals along the circumference of the limiting ring 500, and the connection portion of each hook mechanism 800 can slide along the axial direction of the limiting ring 500, so that the hook mechanism 800 can maintain flexibility during the position and angle adjustment process of the grating lens 700. The hook portion extends into the accommodating space 501 and is detachably connected to the mounting ring 100, ensuring that force can be effectively transmitted during the fine-tuning process and preventing the hook portions from interfering with each other, that is, preventing any hook portion from causing friction and loss between the other hook portion and the mounting ring 100 when driving the mounting ring 100 to tilt, that is, each hook portion is hinged to the mounting ring 100.

[0095] During the implementation process, the hook mechanism 800 can drive part of the mounting ring 100 to tilt toward the limit ring 500, thereby driving the corresponding part of the grating lens 700 to tilt toward the limit ring 500. The fine-tuning accuracy of the grating lens 700 is improved, so that the laser transmitter can more accurately align the target prefabricated segment when performing the laser positioning task, thereby improving the overall performance of the laser positioning system. The reaction speed and accuracy of the laser transmitter can also be flexibly adjusted by setting the number and interval of the hook mechanism 800, and can be adjusted according to the needs of different application scenarios to meet the actual prefabrication requirements of various segments. In addition, the hook mechanism 800 can be slidably connected to the limit ring 500, which also effectively reduces the error caused by improper installation and ensures the stability and accuracy of the grating lens 700.

[0096] In addition, by coaxially arranging the mounting ring 100 and the limiting ring 500 , the formed accommodation space 501 can provide space for making way for the mounting ring 100 and the grating lens 700 during the tilting process.

[0097] It should be noted that the power source for adjusting the clamping mechanism 300 between the release position away from the grating lens 700 and the clamping position close to the grating lens 700 is manual adjustment or a driving motor in the prior art.

[0098] During implementation, when the grating lens 700 is installed in the clamping space 301, the edge of the grating lens 700 is located on the limiting piece 200 and is abutted by the mounting ring 100 to limit the axial displacement of the grating lens 700 on the mounting ring 100; the combined action of the clamping mechanism 300 and the limiting portion 210 limits the radial displacement of the grating lens 700 on the mounting ring 100, and therefore, the position of the grating lens 700 placed in the clamping space 301 is fixed by the limiting piece 200, the mounting ring 100 and the clamping mechanism 300.

[0099] More specifically, the clamping mechanism 300 can move radially along the mounting ring 100, and can be adjusted between a release position away from the grating lens 700 and a clamping position close to the grating lens 700, so as to quickly install and disassemble the grating lens 700, ensuring that it is firmly clamped during operation and easy to release during maintenance or replacement.

[0100] It should be understood that the setting of the mounting ring 100 provides a stable base for the grating lens 700, and the limiting piece 200 thereon can provide a stable mounting point, thereby enhancing the stability and accuracy of the grating lens 700. The limiting piece 200 enables the grating lens 700 to be reliably positioned in the clamping space 301, avoiding the light deviation caused by vibration or other external forces when the laser positioning system is working, thereby improving the overall correction effect. In addition, the clamping mechanism 300 is slidably arranged on the mounting ring 100 along the radial direction of the mounting ring 100, which not only enables the clamping mechanism 300 to be flexibly moved to the clamping position and the release position, but also facilitates the operator to make quick adjustments. In actual operation, the clamping mechanism 300 can effectively control the clamping force of the grating lens 700, ensuring that the grating lens 700 will not be damaged due to excessive pressure during the clamping process. At the same time, the clamping mechanism 300 and the limiting piece 200 are arranged relative to each other to form the clamping space 301 together, further ensuring the stability of the grating lens 700. In addition, the grating lens 700 is arranged in the clamping space 301, and can be released or clamped under the control of the clamping mechanism 300, which greatly simplifies the installation and replacement process of the grating lens 700 and eliminates the inconvenience and risks brought by the traditional threaded connection method. The operator can complete the release and installation of the grating lens 700 in a shorter time, reducing the loss caused by frequent adjustments, thereby effectively improving work efficiency. Through the coordinated setting of the mounting ring 100, the limit plate 200 and the clamping mechanism 300, the convenience and reliability of the grating lens 700 are significantly improved, which not only improves the stability of the grating lens 700, but also enhances its accuracy during calibration operations, effectively preventing the laser positioning system from causing light deviation due to vibration or external force interference during operation, thereby improving the correction effect of the laser light of the laser positioning system. At the same time, the clamping mechanism 300 can slide along the radial direction of the mounting ring 100, so that the grating lens 700 can be easily released or clamped under the control of the clamping mechanism 300, simplifying the installation and replacement process of the grating lens 700 and eliminating the complexity and potential risks brought by the traditional threaded connection method. In addition, the operator can complete the installation and release of the grating lens 700 in a shorter time, reducing the wear of components caused by frequent adjustments, effectively improving work efficiency, making the use experience of the laser positioning system smoother, and better meeting the requirements for high precision and high efficiency of prefabricated segments in modern tunnel construction.

[0101] As an optional implementation of this embodiment, the laser transmitter also includes a plurality of vibration damping mechanisms 600, and the plurality of vibration damping mechanisms 600 are alternately arranged with a plurality of hook mechanisms 800; the plurality of vibration damping mechanisms 600 are arranged on the limiting ring 500 at intervals along the circumference of the limiting ring 500, and each vibration damping mechanism 600 extends along the axial direction of the limiting ring 500; the two ends of each vibration damping mechanism 600 along its extension direction are respectively a free end and a connecting end, the connecting end of each vibration damping mechanism 600 is connected to the limiting ring 500, and the free end of each vibration damping mechanism 600 extends into the accommodating space 501 and is connected to the mounting ring 100.

[0102] As an optional embodiment of the vibration reduction mechanism 600, the vibration reduction mechanism 600 includes a second connecting seat 610, a compression spring 620 and a clamping jaw assembly 630. The second connecting seat 610, the compression spring 620 and the clamping jaw assembly 630 are arranged at intervals along the circumference of the limiting ring 500. The second connecting seat 610 is connected to the inner wall of the limiting ring 500 to form a connecting end. One end of the compression spring 620 is connected to the second connecting seat 610, and the other end of the compression spring 620 is connected to the clamping jaw assembly 630. The clamping jaw assembly 630 can detachably clamp the outer wall of the mounting ring 100 to form a free end.

[0103] Specifically, the second connection seat 610 is connected to the inner wall of the limiting ring 500 to form the connection end of the vibration reduction mechanism 600, thereby ensuring the reliability and stability of the vibration reduction mechanism 600 during operation. One end of the compression spring 620 is connected to the second connection seat 610, and the other end is connected to the clamping jaw assembly 630. The function of the compression spring 620 is to provide a moderate elastic force so that the clamping jaw assembly 630 can maintain flexibility and recovery ability when subjected to external vibration, thereby effectively absorbing and buffering vibration.

[0104] More specifically, the clamping jaw assembly 630 is detachably clamped to the outer wall of the mounting ring 100, which improves the convenience of maintenance. When the staff is maintaining or replacing the grating lens 700, the clamping jaw can be quickly released for easy operation without disassembling the entire structure. At the same time, the clamping jaw assembly 630 can firmly clamp the grating lens 700, ensuring that it is not disturbed unnecessarily in the working state, further reducing the risk of wear.

[0105] As another optional implementation of the vibration reduction mechanism 600, the compression spring 620 in the vibration reduction mechanism 600 not only provides a structural basis for the reset of the mounting ring 100 after tilting, but also ensures that the side of the mounting ring 100 facing the limit ring 500 is always kept in a tensioned state. This design enhances the stability of the mounting ring 100 when tilting, thereby improving the tilt control accuracy of the grating lens 700.

[0106] In specific implementation, when a certain hook mechanism 800 hooks one side of the mounting ring 100, the mounting ring 100 will be affected and tilted. Meanwhile, the other unaffected hook mechanisms 800 remain stationary. During the tilting process of the mounting ring 100, the compression spring 620 of the vibration reduction mechanism 600 will apply tension to ensure the stability of the mounting ring 100.

[0107] When the hook mechanism 800 is reset, the compression spring 620 will return to the initial state, so that the mounting ring 100 is also reset along with the hook mechanism 800. The main function of the hook mechanism 800 is to achieve the tilting of the mounting ring 100 without the need for complex connections or adjustments, which can effectively reduce the contact area and assembly points between the hook mechanism 800 and the mounting ring 100, and improve the durability of the hook mechanism 800 and the mounting ring 100. The stability and long-term reliability of the laser positioning system during use are ensured, while simplifying the assembly and maintenance process.

[0108] As an optional embodiment of the clamping jaw assembly 630, the clamping jaw assembly 630 includes an arc plate 631 and a limiting bar 632. The limiting bar 632 is L-shaped. One end of the limiting bar 632 is connected to the arc plate 631. The other end of the limiting bar 632 and the arc plate 631 are spaced apart to form an assembly space 601. Part of the mounting ring 100 is arranged in the assembly space 601. The arc plate 631 has a curvature that is compatible with the mounting ring 100.

[0109] Specifically, the limiting strip 632 is L-shaped, one end of which is connected to the arc plate 631 and the other end is spaced apart from the arc plate 631 to form an assembly space 601, so that the clamping jaw assembly 630 can flexibly adapt to the shape of the mounting ring 100 during the clamping process.

[0110] The assembly space 601 allows part of the mounting ring 100 to be smoothly placed therein, thereby ensuring a good fit between the clamping jaw assembly 630 and the mounting ring 100. The curvature of the arc plate 631 is adapted to the mounting ring 100. This matching design not only enhances the stability of the clamping, but also ensures that the clamping jaw assembly 630 can apply pressure evenly during clamping, thereby reducing potential damage to the grating lens 700. Through the combination of the arc plate 631 and the limit bar 632, the clamping jaw assembly 630 can provide a smooth and reliable operating experience during the clamping and releasing process. Especially when maintaining or replacing the grating lens 700, the user can easily adjust the clamping jaw assembly 630 to achieve quick release or clamping without affecting the overall stability of the laser positioning system.

[0111] In addition, a vibration isolation pad is provided on the side of the limiting strip 632 and the arc plate 631 facing the mounting ring 100 .

[0112] Specifically, the vibration isolation pad can effectively isolate the vibration from the robot arm or other external sources and play a buffering role. The vibration isolation pad is combined with the limit bar 632 and the arc plate 631 to form a multi-level shock absorption system. The vibration isolation pad can further absorb and dissipate the vibration energy and reduce the possibility of them being transmitted to the mounting ring 100 and the grating lens 700.

[0113] In addition, when the clamping jaw assembly 630 clamps the grating lens 700, the vibration isolation pad can provide more uniform pressure and avoid slight displacement caused by vibration, thereby further protecting the accuracy and stability of the grating lens 700.

[0114] In an embodiment of the present invention, the clamping mechanism 300 includes a guide column 310 and a clamping plate 330, and the clamping plate 330 and the limiting plate 200 together form a clamping space 301; the guide column 310 extends along the radial direction of the mounting ring 100, and the guide column 310 is installed on the outer wall of the mounting ring 100, and the clamping plate 330 is slidably installed on the guide column 310, and can move between a release position and a clamping position, correspondingly releasing or clamping the grating lens 700.

[0115] Specifically, the clamping piece 330 and the limiting portion 210 of the limiting piece 200 together form a clamping space 301 for accommodating the grating lens 700. The clamping piece 330 can move between a release position and a clamping position to achieve the release or clamping of the grating lens 700. The guide post 310 extends along the radial direction of the mounting ring 100 and is mounted on the outer wall of the mounting ring 100. The clamping piece 330 can be slidably mounted on the guide post 310 to guide the movement of the clamping piece 330 in the radial direction of the mounting ring 100, thereby improving the clamping stability of the grating lens 700. The elastic reset member 320 is sleeved on the guide post 310 and is located between the clamping piece 330 and the mounting ring 100. To provide elastic force, the clamping piece 330 automatically returns to the preset position after release, ensuring that the clamping piece 330 can stably clamp the grating lens 700.

[0116] In an embodiment of the present invention, the clamping mechanism 300 further includes a radial displacement rotary driving member, which is mounted on the mounting ring 100 . The radial displacement rotary driving member is connected to the clamping plate 330 and is used to drive the clamping plate 330 to move between a release position and a clamping position, thereby releasing or clamping the grating lens 700 accordingly.

[0117] Specifically, the radial displacement rotary drive provides power support for the clamping mechanism 300, so that the operator can quickly adjust the position of the clamping piece 330 through simple operations, and can easily complete the clamping or release of the grating lens 700, greatly reducing the complexity and time cost of manual operation. In addition, the radial displacement rotary drive also ensures the stability of the clamping piece 330 during the movement process, avoiding damage to the grating lens 700 due to unnecessary shaking during clamping or release. In addition, the use of the radial displacement rotary drive also effectively improves the accuracy of the operation, allowing the grating lens 700 to be accurately positioned in the clamping space 301, further enhancing the overall performance of the laser positioning system.

[0118] In an embodiment of the present invention, the clamping mechanism 300 also includes an elastic return member 320 , which is sleeved on the guide column 310 , and one end of the elastic return member 320 is connected to the clamping plate 330 , and the other end of the elastic return member 320 is connected to the mounting ring 100 .

[0119] Specifically, the provision of the elastic reset member 320 greatly enhances the automation function of the clamping mechanism 300. When the operator moves the clamping plate 330 to the release position, the elastic reset member 320 will restore the clamping plate 330 to the clamping position through its elastic properties. This automatic reset function not only reduces the operator's manual intervention and improves work efficiency, but also ensures that the grating lens 700 will not fall off due to accidental collision in the non-clamped state. In addition, the elastic reset member 320 can absorb external shocks or vibrations, further enhancing the stability of the clamping plate 330, so as to effectively avoid the position displacement of the grating lens 700 caused by vibration, and ensure the accuracy and stability of the laser light.

[0120] More specifically, the elastic reset member 320 is a spring, one end of the elastic reset member 320 is connected to the side of the clamping piece 330 facing the mounting ring 100, and the other end of the elastic reset member 320 is connected to the outer wall of the mounting ring 100. In this embodiment, the guide column 310 is used to provide a stable sliding path for the clamping piece 330, and combined with the deformation reset function of the elastic reset member 320, it is ensured that the clamping piece 330 can be quickly and reliably moved to the desired position, thereby enhancing the convenience and stability of the assembly and disassembly operation of the grating lens 700.

[0121] In an embodiment of the clamping mechanism 300 , a buffer 400 is disposed on both the clamping piece 330 and the side of the limiting portion 210 of the limiting piece 200 facing the grating lens 700 .

[0122] It should be noted that the buffer member 400 is a rubber member in the prior art.

[0123] Specifically, the buffer 400 can effectively absorb the impact force between the clamping piece 330 and the grating lens 700, reduce the damage caused by collision during the clamping or releasing process, and thus protect the grating lens 700 and its optical properties. In addition, during the operation of the laser transmitter, vibration or external impact may occur, and the buffer 400 can provide additional shock absorption effect to ensure that the grating lens 700 always maintains a stable working state. In addition, by using the buffer 400 to provide a soft contact surface during the clamping process, it helps to prevent the grating lens 700 from being offset or inaccurately positioned during the clamping process, thereby improving the overall calibration accuracy of the laser positioning system. In addition, the use of the buffer 400 can reduce the wear and tear on the clamping mechanism 300 and the grating lens 700 caused by frequent operations, thereby extending the service life.

[0124] In an embodiment of the limiting piece 200 , there are multiple limiting pieces 200 , and the multiple limiting pieces 200 are arranged at intervals along the circumference of the mounting ring 100 , and the clamping mechanism 300 is arranged opposite to any limiting piece 200 .

[0125] Specifically, the plurality of stoppers 200 are distributed along the circumference of the mounting ring 100, which can provide more uniform support for the grating lens 700 when clamping it, ensuring that the grating lens 700 can be stably fixed during the clamping process, reducing local stress concentration. In addition, the provision of the plurality of stoppers 200 makes the adjustment of the clamping space 301 more flexible, and can adapt to grating lenses 700 of different types or sizes, thereby enhancing the compatibility of the laser transmitter.

[0126] It should be noted that the relative setting in this embodiment refers to the relative positional relationship, including but not limited to a symmetrical relationship. The relative setting may also refer to the setting of the clamping piece 330 relative to the gap between two adjacent limiting pieces 200.

[0127] In an embodiment of the present invention, each hook mechanism 800 includes a hook assembly 810, a hinge seat 820, a guide bar 830 and an axial displacement driving member 840. The hook assembly 810 forms a hook portion, and the guide bar 830 forms a connecting portion. One end of the hook assembly 810 is hinged to the guide bar 830 through the hinge seat 820, and the other end of the hook assembly 810 is detachably connected to the mounting ring 100. The axial displacement driving member 840 is installed on the limiting ring 500. The axial displacement driving member 840 is connected to the guide bar 830 and is used to drive the guide bar 830 to slide axially along the limiting ring 500, so as to drive a portion of the mounting ring 100 to tilt toward the limiting ring 500, and to make a portion of the grating lens 700 tilt toward the limiting ring 500.

[0128] Specifically, at the beginning of the implementation process, the axial displacement driving member 840 receives a control signal, and after being activated, the axial displacement driving member 840 drives the guide bar 830 to slide along the axial direction of the limiting ring 500. One end of the hook assembly 810 is hinged to the guide bar 830, and the other end is detachably connected to the mounting ring 100. As the guide bar 830 moves, the hook assembly 810 tilts through the hinge seat 820, so that the hook assembly 810 can be flexibly rotated during adjustment, thereby effectively adjusting the angle of the mounting ring 100. When the guide bar 830 slides along the limiting ring 500, the hook part is connected to the mounting ring 100, causing part of the mounting ring 100 to tilt toward the limiting ring 500, thereby causing the corresponding part of the grating lens 700 to tilt toward the limiting ring 500.

[0129] More specifically, the axial displacement driving member 840 can be used to drive the guide bar 830 to perform reciprocating linear motion along the circumference of the mounting ring 100 and the limiting ring 500 , so that the mounting ring 100 drives the grating lens 700 to tilt or reset.

[0130] This embodiment significantly improves the fine-tuning accuracy of the grating lens 700, so that the laser transmitter can be more accurately aligned with the target prefabricated segment when performing the laser positioning task. In addition, the hook mechanism 800 not only enhances the stability during the fine-tuning process, but also ensures the flexibility and accuracy of the adjustment process of the grating lens 700, thereby effectively improving the overall performance of the laser positioning system.

[0131] In an embodiment of the present invention, the hook assembly 810 includes a mounting plate 811 and a hook member 812. The mounting plate 811 is spaced apart from the inner wall of the mounting ring 100. The hook member 812 is L-shaped. One end of the hook member 812 is connected to the mounting plate 811. The other end of the hook member 812 is spaced apart from the mounting plate 811 to form a hook space 801. Part of the mounting ring 100 is disposed in the hook space 801.

[0132] Specifically, the hook space 801 not only ensures the stability of the mounting ring 100 during the adjustment process, but also provides the necessary flexibility for fine-tuning the grating lens 700. When adjusting, part of the grating lens 700 can be tilted in the hook space 801 at the non-powered end, thereby avoiding friction and loss between part of the grating lens 700 and the hook assembly 810.

[0133] In an embodiment of the present invention, the articulated seat 820 includes a first rotating shaft 821, a second rotating shaft 822 and a connecting strip 823. The first rotating shaft 821 and the second rotating shaft 822 are arranged at radial intervals along the limiting ring 500. The first rotating shaft 821 is installed on the guide strip 830, and the second rotating shaft 822 is installed on the hook member 812. The first rotating shaft 821 is rotatably connected to one end of the connecting strip 823, and the second rotating shaft 822 is rotatably connected to the other end of the connecting strip 823.

[0134] Specifically, the first rotating shaft 821 is mounted on the guide bar 830, and the second rotating shaft 822 is mounted on the hook member 812. The first rotating shaft 821 is rotatably connected to one end of the connecting bar 823, and the second rotating shaft 822 is also rotatably connected to the other end of the connecting bar 823, so that the hook member 812 can rotate freely during the adjustment process, thereby improving the flexibility and accuracy of the hook mechanism 800. Through the hinge seat 820, the hook assembly 810 can effectively cooperate with the guide bar 830 to achieve fine adjustment of the grating lens 700. It ensures that the grating lens 700 can be accurately adjusted in angle when the laser transmitter is in operation, thereby improving the performance and reliability of the laser positioning system.

[0135] In the embodiment of the present invention, a through slot 502 is formed on the limiting ring 500 , and the through slot 502 extends along the axial direction of the limiting ring 500 . The guide bar 830 extends into the through slot 502 and is slidably connected to the limiting ring 500 .

[0136] Specifically, a through groove 502 is formed on the limiting ring 500, and the through groove 502 extends along the axial direction of the limiting ring 500, and the guide bar 830 can slide therein. The through groove 502 structure of the limiting ring 500 provides a stable guide for the guide bar 830, thereby improving the accuracy of the grating lens 700 during the adjustment process.

[0137] In an embodiment of the present invention, the laser emitter also includes a light source 910 and an annular bracket 900. The annular bracket 900 is coaxially arranged with the limiting ring 500. The annular bracket 900 is opposite to the mounting ring 100 and is arranged at intervals. The light source 910 is installed on the annular bracket 900 corresponding to the position of the grating lens 700.

[0138] Specifically, the annular bracket 900 is coaxially arranged with the limiting ring 500, and is opposite to and spaced from the mounting ring 100. The light source 910 is mounted on the annular bracket 900, and its position corresponds to the grating lens 700, so that the light source 910 can directly illuminate the grating lens 700, ensuring that the light transmission path is accurate.

[0139] The annular bracket 900, the limiting ring 500 and the mounting ring 100 together form a stable frame, providing a reliable fixed position for the light source 910. This is beneficial to reduce the movement or offset of the light source 910 during operation, ensuring that the light is always aligned with the grating lens 700, and improving the light transmission efficiency.

[0140] In addition, the installation position of the light source 910 matches the position of the grating lens 700, ensuring that the light source 910 can illuminate the grating lens 700 at the optimal angle, maximizing the light utilization and reducing light loss, so that the laser positioning system can maintain efficient light transmission in complex environments.

[0141] More specifically, based on the axial displacement driver 840 in the above embodiment, the annular bracket 900 also provides a mounting base for the axial displacement driver 840 to ensure that the entire laser transmitter has a compact structure and is easy to use and install.

[0142] As an optional embodiment of the annular bracket 900, the annular bracket 900 includes a plurality of long rods and connecting rings, each of the long rods extending along the axial direction of the limiting ring 500, one end of each limiting rod being connected to the limiting ring 500, and the other end of each limiting rod being connected to the outer wall of the connecting ring, the connecting ring is coaxially arranged with the limiting ring 500 and the mounting ring 100, and the light source 910 is mounted on the connecting ring.

[0143] In addition, a hook mechanism 800 is provided between two adjacent long rods, and the guide bar 830 of the hook mechanism 800 slides with the long rod through the slide groove on the outer wall of the long rod to further improve the sliding stability of the guide bar 830, thereby improving the reliability of the laser positioning system when in use.

[0144] In addition, the light source 910 is a laser light source in the prior art.

[0145] In one embodiment, the tracking component 5120 includes a rotating frame 5121 and a capturer 5122. The rotating frame 5121 and the connecting member 5111 are spaced apart on the base 5130. The capturer 5122 is installed on the rotating frame 5121. The capturer 5122 is communicatively connected to the terminal 1000. The capturing direction of the capturer 5122 is consistent with the capturing direction of the image acquisition component 5113, and the rotating frame 5121 is used to drive the capturer 5122 to rotate. The capturer 5122 can capture the current scanning area of ​​the laser to determine the current position of the image acquisition component 5113.

[0146] In this embodiment, by setting a rotating frame 5121 and a catcher 5122, the rotating frame 5121 is installed on the base 5130, and the catcher 5122 is installed on the rotating frame 5121, so that when the present invention is used, the set rotating frame 5121 can be used to drive the catcher 5122 to rotate autonomously, and then the present invention can have the function of adjusting the capturing direction of the catcher 5122 when in use.

[0147] It should be particularly and clearly stated that, in the present embodiment, the rotating frame 5121 of the example is preferably a device or apparatus with an automatic rotation function, which is only applied in the present embodiment, and therefore, it will not be described one by one here. At the same time, the capturer 5122 of the example is preferably a device or apparatus capable of realizing the light capture and position measurement functions in the prior art, which is only applied in the present embodiment, and its own structure has not been improved and designed, and therefore, it will not be described one by one here. Of course, in the exemplary embodiment, in order to achieve the moving stroke of the sliding assembly, in the specific implementation, a plurality of equally spaced positioning blocks are also provided on one side of the guide member provided on the frame 2000. In the specific operation, the provided capturer 5122 can be used to instantly capture the positioning blocks to achieve the purpose of quickly determining the specific position of the sliding assembly.

[0148] Of course, in this embodiment, it can be further clarified and explained that the example capturer 5122 can be but is not limited to an oblique photography camera or a CCD visual camera in the prior art.

[0149] In one embodiment, the internal scanning component 5200 includes:

[0150] A first connecting seat 5210, the first connecting seat 5210 and the base 5130 are spaced apart and distributed at the installation position; and,

[0151] CT scanner 5220, the CT scanner 5220 is installed on the first connecting seat 5210, and the scanning direction of the CT scanner 5220 is consistent with the acquisition direction of the image acquisition component 5113. The CT scanner 5220 is communicatively connected with the terminal 1000 to transmit the scanned CT data to the terminal 1000 to establish the internal structure model of the prefabricated pipe segment.

[0152] In this embodiment, by setting up a first connecting seat 5210 and a CT scanner 5220, when in use, the CT scanner 5220 is installed on the mounting seat 5112 using the first connecting seat 5210, so that the present invention can use the CT scanner 5220 to realize the function of scanning the inside of the prefabricated pipe segment when in use.

[0153] It should be particularly and clearly stated that, in this embodiment, the CT scanner 5220 used as an example is a prior art, which is only applied in this embodiment and will not be described in detail.

[0154] In one embodiment, the walking mechanism 4000 includes:

[0155] A guide rail 4100, the guide rail 4100 is installed on the top of the rack 2000 along the first direction, and the number of the guide rails 4100 is two, and the two guide rails 4100 are spaced apart and arranged on both sides of the scanning space 3000 along the second direction;

[0156] A sliding driving member 4200, the sliding driving member 4200 is slidably matched with the guide rail 4100;

[0157] A connecting beam 4300, the connecting beam 4300 is horizontally arranged above the scanning space along the second direction, and both ends of the connecting beam 4300 are respectively connected to the sliding driving member 4200 on the corresponding side, and a slide rail extending along the extending direction of the connecting beam 4300 is arranged on the connecting beam 4300;

[0158] A sliding seat 4400, the sliding seat 4400 slidingly cooperates with the slide rail; and,

[0159] The lifting motion module 4500 is installed on the sliding seat 4400 , and the installation position is located at the bottom of the lifting motion module 4500 .

[0160] In this embodiment, by providing a guide rail 4100, a sliding drive member 4200, a connecting beam 4300, a sliding seat 4400 and a lifting motion module 4500, the present invention can drive the lifting motion module 4500 to drive the scanning mechanism 5000 to move freely above the scanning space 3000 when in use, thereby ensuring that the lifting motion module 4500 can drive the scanning mechanism 5000 to descend into the scanning space 3000 at any position, thereby ensuring the automation effect of the scanning mechanism 5000.

[0161] It should be noted that the lifting motion module 4500 includes:

[0162] The slide 4400 is mounted on the base 5130, and a vertical slide is formed on the slide 4400, a driving gear 4520 is arranged in the slide, and the driving gear 4520 is connected to the output shaft of the rotating driving member 4530, and the rotating driving member 4530 is connected to the terminal 1000 for communication;

[0163] The slide post 4540 is slidably matched with the slide seat 4400, and a spur rack 4550 is formed on the slide post 4540 and can mesh with the driving gear 4520. The spur rack 4550 and the slide post 4540 extend in the same direction. The terminal 1000 can control the rotary drive member 4530 to drive the driving gear 4520 to rotate, so as to drive the slide post 4540 to rise and fall along the slide seat 4400 through the spur rack 4550; and,

[0164] The multi-joint robotic arm 4560 is installed at the bottom of the sliding column 4540 . The multi-joint robotic arm 4560 is communicatively connected with the terminal 1000 , and an end of the multi-joint robotic arm 4560 away from the sliding column 4540 forms an installation position.

[0165] In this embodiment, by setting a sliding seat 4400, a sliding column 4540 and a multi-joint robotic arm 4560, during use, the sliding column 4540 is used to drive the multi-joint robotic arm 4560 and the detection module 5140 installed on the mounting end of the multi-joint robotic arm 4560 to descend, so that the present invention can have the function of allowing the detection component to rise and fall autonomously when in use.

[0166] Based on the same technical concept, in a second aspect, the present invention further proposes a prefabricated segment reconstruction modeling method, which uses the prefabricated segment reconstruction modeling system described in the first aspect;

[0167] The prefabricated segment reconstruction modeling method comprises the following steps:

[0168] S100, using the terminal to control the scanning mechanism to perform a scanning operation on the prefabricated pipe segment placed in the scanning space, so as to respectively obtain image data and scanning data of the prefabricated pipe segment;

[0169] S200, performing coordinate mapping according to the image data and the scan data to extract a point cloud data set of the prefabricated segment;

[0170] S300. Reconstruct and establish a three-dimensional model of the prefabricated pipe segment according to the point cloud data set; wherein the three-dimensional model includes a surface structure model of the prefabricated pipe segment and an internal model of the prefabricated pipe segment.

[0171] The present invention also proposes a prefabricated pipe segment reconstruction modeling method, which includes a prefabricated pipe segment reconstruction modeling system. The specific structure of the prefabricated pipe segment reconstruction modeling method refers to the above embodiment. Since the prefabricated pipe segment reconstruction modeling method adopts all the technical solutions of all the above embodiments, it can solve the technical problem that when the related technology performs three-dimensional reconstruction, it is mainly to perform three-dimensional reconstruction on the surface of the object to be reconstructed (such as prefabricated pipe segments, etc.), but it is often impossible to perform three-dimensional reconstruction on the inside of the object to be reconstructed. Therefore, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0172] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A prefabricated segment reconstruction modeling system, characterized in that: include: terminal; A frame, wherein a scanning space is formed in the frame, a walking mechanism is arranged on the top of the frame, the walking mechanism can move along the top of the frame, and a mounting position is arranged on the walking mechanism, the walking mechanism is communicatively connected with the terminal, and the terminal can control the walking mechanism to move, so that the mounting position can enter or leave the scanning space from any position; A scanning mechanism is installed at the installation position, and the scanning mechanism includes a surface scanning component and an internal scanning component installed on the surface scanning component. Both the surface scanning component and the internal scanning component are communicatively connected to the terminal. The surface scanning component can transmit the image data of the prefabricated pipe segment obtained by scanning to the terminal, and the internal scanning component can simultaneously transmit the scanning data of the prefabricated pipe segment obtained by scanning to the terminal, so as to reconstruct the three-dimensional model of the prefabricated pipe segment at the terminal.

2. The prefabricated segment reconstruction modeling system according to claim 1, characterized in that: The scanning component comprises: a scanning component, the scanning component being installed at the installation position with a gap between the scanning component and the internal scanning component; and A tracking component is installed on the scanning component, and the tracking component moves synchronously with the scanning component.

3. The prefabricated segment reconstruction modeling system according to claim 2, characterized in that: The scanning component comprises: a base, the base being mounted at the mounting position; and A detection module is installed on the base.

4. The prefabricated segment reconstruction modeling system according to claim 3, characterized in that: The detection module comprises: A connecting piece, one end of which is detachably connected to the base, and the other end of which is connected to a mounting base; an image acquisition component, the image acquisition component being mounted on the mounting seat; and A spherical laser cage is arranged around the outer periphery of the image acquisition component and is connected to the mounting seat. The terminal can control the spherical laser hole to emit a grid-shaped detection laser toward the prefabricated pipe segment to scan each surface of the prefabricated pipe segment, and synchronously control the image acquisition component to follow and collect the image data of the corresponding surface.

5. The prefabricated segment reconstruction modeling system according to claim 4, characterized in that: The spherical laser cage includes a connecting frame and a plurality of laser emitters distributed on the connecting frame in a circumferential array. The connecting frame is arranged around the periphery of the mounting seat and connected to the mounting seat. Each of the laser emitters is arranged in a direction away from the mounting seat.

6. The prefabricated segment reconstruction modeling system according to claim 4, characterized in that: The tracking component includes a rotating frame and a capturer. The rotating frame and the connecting member are spaced apart on the base. The capturer is installed on the rotating frame. The capturer is communicatively connected with the terminal. The capturing direction of the capturer is consistent with the capturing direction of the image acquisition member, and the rotating frame is used to drive the capturer to rotate. The capturer can capture the current scanning area of ​​the laser to determine the current position of the image acquisition member.

7. The prefabricated segment reconstruction modeling system according to claim 4, characterized in that: The internal scanning component comprises: A first connecting seat, the first connecting seat and the base are spaced apart and distributed at the installation position; and A CT scanner is installed on the first connecting seat, and the scanning direction of the CT scanner is consistent with the acquisition direction of the image acquisition component. The CT scanner is communicatively connected with the terminal to transmit the scanned CT data to the terminal to establish the internal structure model of the prefabricated pipe segment.

8. The prefabricated segment reconstruction modeling system according to any one of claims 1 to 7, characterized in that: The walking mechanism comprises: A guide rail, wherein the guide rail is installed on the top of the frame along a first direction, and the number of the guide rails is two, and the two guide rails are spaced apart and arranged on both sides of the scanning space along a second direction; A sliding drive member, wherein the sliding drive member is in sliding cooperation with the guide rail; A connecting beam, wherein the connecting beam is disposed transversely above the scanning space along the second direction, and both ends of the connecting beam are respectively connected to the sliding driving members on the corresponding sides, and a slide rail extending along the extending direction of the connecting beam is disposed on the connecting beam; a slide seat, the slide seat being in sliding cooperation with the slide rail; and A lifting motion module is installed on the sliding seat, and the installation position is located at the bottom of the lifting motion module.

9. The prefabricated segment reconstruction modeling system according to claim 8, characterized in that: The lifting motion module comprises: A slide seat, the slide seat is mounted on the base, and a vertically arranged slideway is formed on the slide seat, a driving gear is arranged in the slideway, the driving gear is connected to the output shaft of the rotating driving member, and the rotating driving member is in communication connection with the terminal; A slide column, wherein the slide column is slidably matched with the slide seat, and a spur rack capable of meshing with the driving gear is formed on the slide column, and the spur rack and the slide column extend in the same direction, and the terminal can control the rotary drive member to drive the driving gear to rotate, so as to drive the slide column to rise and fall along the slide seat through the spur rack; and, A multi-joint robotic arm is installed at the bottom of the sliding column, the multi-joint robotic arm is communicatively connected to the terminal, and one end of the multi-joint robotic arm away from the sliding column forms the installation position.

10. A prefabricated segment reconstruction modeling method, characterized in that: Applying the prefabricated segment reconstruction modeling system according to any one of claims 1 to 9; The prefabricated segment reconstruction modeling method comprises the following steps: Using the terminal to control the scanning mechanism to scan the prefabricated pipe segment placed in the scanning space, so as to respectively obtain image data and scanning data of the prefabricated pipe segment; Performing coordinate mapping according to the image data and the scan data to extract a point cloud data set of the prefabricated segment; A three-dimensional model of the prefabricated pipe segment is reconstructed and established based on the point cloud data set; wherein the three-dimensional model includes a surface structure model of the prefabricated pipe segment and an internal model of the prefabricated pipe segment.

Images