Tunnel segment scanning platform and tunnel segment scanning method

Abstract

The invention discloses a tunnel segment scanning platform and a tunnel segment scanning method, and relates to the technical field of tunnel segment scanning, the tunnel segment scanning platform comprises a frame, a bracket, a moving assembly, a scanning assembly and a detection piece, and the frame defines a scanning area; the bracket is arranged in the scanning area, and the bracket can support the duct piece in a lifting mode; the moving assembly is movably connected to the top of the frame; the scanning assembly is installed on the moving assembly and comprises a connecting framework, a scanner and a plurality of target balls, the connecting framework is hollow, the scanner is arranged in the connecting framework, the target balls are arranged on the connecting framework at intervals, reflection points are arranged on the target balls, and the scanner is used for scanning segments; the detection part is used for obtaining the position and posture of each target ball. A final model is obtained by fitting a plurality of scanning models of the duct piece at different height positions, the influence of different scanning angles and different ambient light on a scanning result is eliminated as far as possible, and the scanning precision is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel segment scanning, and in particular to a tunnel segment scanning platform and a tunnel segment scanning method. Background Art

[0002] The tunnel segment is an important part of the tunnel structure. The accuracy of the tunnel segment directly affects the safety and stability of the tunnel. By scanning the tunnel segment with 3D scanning technology, the geometric size, shape deviation and splicing quality of the segment can be accurately detected, thereby ensuring the quality control of tunnel construction. When the existing 3D scanning equipment scans different positions of the segment, the scanning results will also be different due to different scanning angles and different ambient light, which affects the scanning accuracy of the segment and the scanning results are inconsistent with the actual situation. Summary of the invention

[0003] The main purpose of the present invention is to propose a tunnel segment scanning platform and a tunnel segment scanning method, which aims to solve the technical problem that when the three-dimensional scanning equipment in the prior art scans different positions of the segment, the scanning results will be different due to different scanning angles and different ambient light, which will affect the scanning accuracy of the segment and the scanning results will not be consistent with the actual situation.

[0004] To achieve the above-mentioned purpose, the tunnel segment scanning platform proposed in the present invention includes a frame, a bracket, a mobile assembly, a scanning component and a detection component, wherein the frame encloses a scanning area; the bracket is arranged in the scanning area, and the bracket can lift and lower the segment; the mobile assembly is movably connected to the top of the frame; the scanning component is installed on the mobile assembly, and the scanning component includes a connecting skeleton, a scanner and a plurality of target balls, the interior of the connecting skeleton is hollow, the scanner is arranged in the connecting skeleton, and a plurality of target balls are arranged on the connecting skeleton at intervals, each of the target balls is provided with a reflection point, the emission end of the scanner faces the scanning area and is used to scan the segment supported on the bracket; the detection component is used to emit detection light to each of the target balls and receive the detection light reflected by the corresponding reflection point to obtain the position and posture of each of the target balls.

[0005] In one embodiment, the bracket includes a base plate, a telescopic support and a side support, wherein the telescopic support and the side support are both vertically arranged on the base plate, the telescopic support can be telescopically supported on the bottom of the pipe segment, and the side support abuts against the side of the pipe segment.

[0006] In one embodiment, the telescopic support includes a support rod, a sleeve and a driving member, the bottom of the support rod extends into the sleeve and cooperates with the sleeve telescopically, the top of the support rod is supported on the bottom of the pipe segment, and the driving member is arranged in the sleeve and is used to drive the support rod to telescope relative to the sleeve.

[0007] In one embodiment, a pad is provided on the top of the support rod, the top of the pad forms an arc-shaped support surface, the curvature of the support surface matches the curvature of the pipe segment, and a gasket is provided between the pad and the pipe segment.

[0008] In one embodiment, the moving assembly includes a moving beam and a moving column, the moving beam extends along a first horizontal direction, two ends of the moving beam are slidably connected to two sides of the top of the frame along the first horizontal direction, and the moving beam can slide along a second horizontal direction; the first horizontal direction and the second horizontal direction are perpendicular to each other; the moving column is slidably connected to the moving beam, the moving column can slide along the moving beam, and the moving column can be lifted and lowered vertically, and the scanning component is installed at the lower end of the moving column.

[0009] In one embodiment, the moving column is connected to the moving beam through a slider, the slider includes a horizontally arranged sliding portion and a vertically arranged clamping portion, the sliding portion is slidably matched with the moving beam, the clamping portion is clamped on the side of the moving column, and the moving column is slidably matched with the clamping portion.

[0010] In one embodiment, a three-axis robotic arm is connected to the lower end of the moving column, and the scanning assembly is installed on the three-axis robotic arm.

[0011] In one embodiment, the tunnel segment scanning platform further includes a truss, two sides of the truss are respectively installed on two sides of the top of the frame along the first horizontal direction, and the truss is staggered with the movable beam, and the detection component is installed on the truss.

[0012] In one embodiment, the connection frame is hemispherical, a plurality of the target balls are distributed at intervals on the spherical surface of the connection frame, each of the target balls is a regular polyhedron, and a plurality of the reflection points are arranged on the surface of the target balls.

[0013] The present invention also proposes a tunnel segment scanning method, which is applied to the above-mentioned tunnel segment scanning platform, and the tunnel segment scanning method includes: placing the segment on the bracket; the mobile assembly drives the scanner to scan the segment from different positions and angles to obtain multiple scanning results, and the detection component obtains the position and posture of each target ball when the scanner is at different positions; multiple scanning results are spliced ​​using the position and posture of each target ball to form a scanning model of the segment; the height of the bracket is adjusted so that the segment is located at another height position; return to execute the step of the mobile assembly driving the scanner to scan the segment from different positions and angles to obtain multiple scanning results, and the detection component obtains the position and posture of each target ball when the scanner is at different positions, until multiple scanning models are formed; fit multiple scanning models to form a final model.

[0014] The tunnel segment scanning platform and tunnel segment scanning method proposed by the present invention are characterized in that the frame of the tunnel segment scanning platform encloses a scanning area, and the segment is placed on a bracket and is located in the scanning area. The mobile assembly can move relative to the frame and drive the scanning assembly installed on the mobile assembly to move in the scanning area, so that the scanning assembly can scan the segment from different positions and angles. The scanner and multiple target balls in the scanning assembly are combined into one by connecting the skeleton. When the scanner scans the segment and obtains the scanning result, the detection component emits detection light to each target ball and receives the detection light reflected by the corresponding reflection point on the target ball to obtain the position and posture of each target ball; when the scanning assembly is driven by the mobile assembly to move to another position, the segment is scanned again and the next scanning result is obtained; when the scanning assembly scans the segment from different positions and angles, multiple scanning results can be obtained, and corresponding to each scanning result, the detection component obtains the corresponding target ball position and posture; the target ball is used as a common point between the scanning data at different positions and postures, and multiple scanning results are spliced ​​through the common point to form a scanning model of the segment.

[0015] Since the bracket can be raised and lowered, after the scanning component scans and obtains the scanning model of the pipe segment at one height position, the lifting bracket drives the pipe segment to move to another height position, and then the scanning component is used to scan and obtain the scanning model of the pipe segment at another height position; repeat the above steps to obtain multiple scanning models of the pipe segment at multiple height positions; and fit the multiple scanning models to form the final model. Since the pipe segment is in different ambient light irradiation environments at different height positions, and the scanner has different scanning angles when scanning the pipe segment at different height positions, the final model is obtained by fitting multiple scanning models of the pipe segment at different height positions, so that the final model is as close to the actual situation of the pipe segment as possible, and the influence of different scanning angles and different ambient light on the scanning results is eliminated as much as possible, effectively improving the scanning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 A schematic structural diagram of an embodiment of a tunnel segment scanning platform provided by the present invention at a viewing angle;

[0018] Figure 2 A schematic structural diagram of an embodiment of a tunnel segment scanning platform provided by the present invention at another viewing angle;

[0019] Figure 3 A schematic diagram of the partial structure of an embodiment of a tunnel segment scanning platform provided by the present invention;

[0020] Figure 4 A schematic structural diagram of an embodiment of a three-axis mechanical arm and a scanning component in a tunnel segment scanning platform provided by the present invention;

[0021] Figure 5 A schematic structural diagram of an embodiment of a scanning component in a tunnel segment scanning platform provided by the present invention;

[0022] Figure 6 A schematic structural diagram of an embodiment of a telescopic support in a tunnel segment scanning platform provided by the present invention;

[0023] Figure 7 A schematic flow chart of an embodiment of a tunnel segment scanning method provided by the present invention.

[0024] Description of Figure Numbers:

[0025] 10. Frame; 20. Bracket; 21. Bottom plate; 22. Telescopic support; 221. Support rod; 222. Sleeve; 223. Driving member; 224. Pad; 225. Gasket; 23. Side support; 30. Moving assembly; 31. Moving beam; 32. Moving column; 33. Slider; 331. Sliding part; 332. Clamping part; 34. Three-axis robotic arm; 40. Scanning assembly; 41. Connecting frame; 42. Scanner; 43. Target ball; 431. Reflection point; 50. Detection member; 60. Truss; 70. Segment.

[0026] 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

[0027] 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.

[0028] 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.

[0029] 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.

[0030] In the present invention, the descriptions of directions such as "up", "down", "front", "back", "left", and "right" are as follows: Figure 1 and Figure 2 The directions shown are for reference only and are used to explain the Figure 1 and Figure 2 The relative position relationship between the components in the shown posture. If the specific posture changes, the directional indication will also change accordingly.

[0031] When existing three-dimensional scanning equipment scans different positions of a pipe segment, the scanning results will be different due to different scanning angles and different ambient light, which will affect the scanning accuracy of the pipe segment and make the scanning results inconsistent with the actual situation.

[0032] The present invention proposes a tunnel segment scanning platform, comprising a frame, a bracket, a moving assembly, a scanning component and a detection component, wherein the frame encloses a scanning area; the bracket is arranged in the scanning area, and the bracket can lift and lower the segment; the moving assembly is movably connected to the top of the frame; the scanning component is installed on the moving assembly, and the scanning component comprises a connecting frame, a scanner and a plurality of target balls, the interior of the connecting frame is hollow, the scanner is arranged in the connecting frame, a plurality of target balls are arranged on the connecting frame at intervals, each target ball is provided with a reflection point, the emission end of the scanner faces the scanning area and is used to scan the segment supported on the bracket; the detection component is used to emit detection light to each target ball and receive the detection light reflected by the corresponding reflection point, so as to obtain the position and posture of each target ball.

[0033] See also Figure 1 and Figure 2 , the frame encloses to form a scanning area, and the pipe segment is placed on the bracket and is located in the scanning area. The mobile assembly can move relative to the frame and drive the scanning component installed on the mobile assembly to move in the scanning area, so that the scanning component can scan the pipe segment from different positions and angles. The scanner and multiple target balls in the scanning component are combined into one by connecting the skeleton. When the scanner scans the pipe segment and obtains the scanning result, the detection component emits detection light to each target ball and receives the detection light reflected by the corresponding reflection point on the target ball to obtain the position and posture of each target ball; when the scanning component is driven by the mobile assembly to move to another position, it scans the pipe segment again and obtains the next scanning result; when the scanning component scans the pipe segment from different positions and angles, multiple scanning results can be obtained, and corresponding to each scanning result, the detection component obtains the corresponding target ball position and posture; the target ball is used as a common point between the scanning data at different positions and postures, and multiple scanning results are spliced ​​through the common point to form a scanning model of the pipe segment.

[0034] Since the bracket can be raised and lowered, after the scanning component scans and obtains the scanning model of the pipe segment at one height position, the lifting bracket drives the pipe segment to move to another height position, and then the scanning component is used to scan and obtain the scanning model of the pipe segment at another height position; repeat the above steps to obtain multiple scanning models of the pipe segment at multiple height positions; and fit the multiple scanning models to form a final model. Since the pipe segment is in different ambient light irradiation environments at different height positions, and the scanner has different scanning angles when scanning the pipe segment at different height positions, the final model is obtained by fitting multiple scanning models of the pipe segment at different height positions, so that the final model fits the actual situation of the pipe segment as closely as possible, and the influence of different scanning angles and different ambient light on the scanning results is eliminated as much as possible, so as to effectively improve the scanning accuracy. It can be explained that the fitting algorithm for fitting multiple scanning models can adopt the intelligent algorithm in the prior art.

[0035] In one embodiment, the bracket includes a base plate, a telescopic support and a side support, the telescopic support and the side support are both vertically arranged on the base plate, the telescopic support can be telescopically supported at the bottom of the pipe segment, and the side support abuts against the side of the pipe segment.

[0036] It can be understood that the bottom of the telescopic support is connected to the bottom plate, and the top of the telescopic support is supported on the bottom of the pipe segment to provide vertical support force for the pipe segment. The height of the pipe segment can be adjusted by the telescopic support itself. The side support abuts against the side of the pipe segment to provide lateral support for the pipe segment to prevent the pipe segment from lateral displacement. In one embodiment, the number of telescopic supports and side supports is multiple, and the multiple telescopic supports are arranged at intervals and jointly provide stable support for the pipe segment. The multiple side supports are respectively arranged on opposite sides of the pipe segment to clamp the pipe segment to the bracket to ensure that the pipe segment remains stable during the scanning process.

[0037] In one embodiment, the telescopic support includes a support rod, a sleeve and a driving member. The bottom of the support rod extends into the sleeve and cooperates with the sleeve for telescopic operation. The top of the support rod is supported on the bottom of the pipe segment. The driving member is arranged in the sleeve and is used to drive the support rod to telescope relative to the sleeve.

[0038] See also Figure 6 The bottom of the support rod extends into the sleeve and realizes telescopic cooperation with the sleeve. The driving member is arranged in the sleeve and connected to the support rod. The driving member drives the support rod to move relative to the sleeve to adjust the length of the bottom of the support rod extending into the sleeve, thereby adjusting the length of the telescopic support. In one embodiment, the driving member is an oil cylinder, and the output end of the oil cylinder is connected to the bottom of the support rod.

[0039] In one embodiment, a pad is provided on the top of the support rod, the top of the pad forms an arc-shaped support surface, the curvature of the support surface matches the curvature of the pipe segment, and a gasket is provided between the pad and the pipe segment.

[0040] Furthermore, the top of the pad matches the curvature of the segment, so that the pad and the segment are in closer and smoother contact, providing a more uniform support force, thereby enhancing the stability of the entire bracket. The pad is a flexible pad that can buffer the impact of the segment on the pad, and helps to disperse the pressure, reduce local stress concentration, and protect the segment from damage.

[0041] In one embodiment, the moving assembly includes a moving beam and a moving column. The moving beam extends along a first horizontal direction. Both ends of the moving beam are slidably connected to both sides of the top of the frame along the first horizontal direction, and the moving beam can slide along a second horizontal direction. The first horizontal direction and the second horizontal direction are perpendicular to each other. The moving column is slidably connected to the moving beam, the moving column can slide along the moving beam, and the moving column can be lifted and lowered vertically. The scanning component is installed at the lower end of the moving column.

[0042] See also Figure 1 and Figure 2 , Figure 1 and Figure 2 The left and right direction in is the first horizontal direction. Figure 1 and Figure 2 The front-to-back direction in is the second horizontal direction. Figure 1 and Figure 2 The up and down direction in the figure is the vertical direction. The two ends of the moving beam are slidably connected to the left and right sides of the top of the frame, so that the two ends of the moving beam can slide synchronously in the front-to-back direction. The moving column is connected to the moving beam, and the moving column can move with the front-to-back movement of the moving beam, and can move in the left-to-right direction relative to the moving beam, and the moving column can also be lifted and lowered vertically, so that the scanning assembly installed on the moving column can be moved to any position in the scanning area to perform full coverage scanning of the pipe segment. Through the mutual cooperation of the moving beam and the moving column, the flexibility of the movement of the scanning assembly is effectively improved.

[0043] In one embodiment, the moving column is connected to the moving beam through a slider, the slider includes a horizontally arranged sliding part and a vertically arranged clamping part, the sliding part slides with the moving beam, the clamping part is clamped on the side of the moving column, and the moving column slides with the clamping part.

[0044] See also Figure 3The sliding part and the clamping part are connected to each other, the sliding part is slidably matched on the moving beam, the clamping part is clamped on the left and right sides of the moving column and slidably matched with the moving column, the sliding part slides along the moving beam to realize the movement of the moving column in the left and right direction, and the moving column and the clamping part are slidably matched to realize the up and down movement of the moving column, thereby realizing the flexible movement of the scanning component in the left and right direction and the up and down direction, effectively improving the flexibility of the scanner.

[0045] In one embodiment, the lower end of the moving column is connected to a three-axis robotic arm, and the scanning assembly is installed on the three-axis robotic arm.

[0046] See also Figure 4 The scanning assembly is installed at the lower end of the moving column through a three-axis mechanical arm. The three-axis mechanical arm can move and rotate in any direction and position in the scanning area, so that the scanning assembly can be moved to any position in the scanning area and scan the pipe segment from any angle. When the scanner proposed by the present invention is used to scan the pipe segment, the scanner is first driven by the moving assembly to move quickly and position initially, and then the scanner is driven by the three-axis mechanical arm to accurately position, which effectively improves the scanning accuracy and coverage while ensuring the flexibility of the scanner movement.

[0047] In one embodiment, the tunnel segment scanning platform further includes a truss, two sides of the truss are respectively installed on two sides of the top of the frame along the first horizontal direction, and the truss is staggered with the moving beam, and the detection component is installed on the truss.

[0048] It can be understood that the truss is installed on two sliding seats on both sides along the first horizontal direction, and is staggered with the moving beam, so as to avoid mutual interference between the truss and the moving beam. The detection member is installed on the truss, and when the sliding seat slides along the second horizontal direction, the moving beam and the truss move synchronously, ensuring the accurate detection of the position and posture of the target ball by the detection member, and effectively improving the scanning accuracy.

[0049] In one embodiment, the connection frame is hemispherical, a plurality of target balls are distributed at intervals on the spherical surface of the connection frame, each target ball is a regular polyhedron, and a plurality of reflection points are arranged on the surface of the target ball.

[0050] See also Figure 5The spherical surface of the connecting frame is set away from the three-axis mechanical arm, the output end of the scanner faces the side away from the three-axis mechanical arm, and scans the pipe segment through the pores of the connecting frame. Multiple target balls are distributed along the spherical surface of the connecting frame, so that the multiple target balls are evenly distributed at different positions and angles, providing multiple common points for the detection part, so that when the scanning component moves to any position and angle, the detection part can detect at least one target ball, thereby accurately positioning the scanning component, which helps to improve the scanning accuracy. By setting multiple reflection points on the regular polyhedron-shaped target ball, it helps to improve the visibility of the target ball in different directions, thereby ensuring that when the scanning component is in any position and angle, the detection part can accurately obtain the position and posture information of the target ball, even when some reflection points are blocked or the light conditions are not ideal, thereby ensuring the continuity and reliability of the scanning process.

[0051] The present invention also proposes a tunnel segment scanning method, which is applied to the above-mentioned tunnel segment scanning platform. The specific structure of the tunnel segment scanning platform refers to the above-mentioned embodiment. Since the present tunnel segment scanning method adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here. Among them, the tunnel segment scanning method proposed by the present invention includes the steps of:

[0052] S10: placing the tube segment on the bracket;

[0053] S20: The moving assembly drives the scanner to scan the pipe segment from different positions and angles to obtain a plurality of scanning results accordingly, and the detection component obtains the position and posture of each target ball when the scanner is at different positions;

[0054] S30: splicing the plurality of scanning results using the position and posture of each target sphere to form a scanning model of the pipe segment;

[0055] S40: adjusting the height of the bracket so that the pipe segment is located at another height position;

[0056] S50: Return to execute S20 until multiple scanning models are formed;

[0057] S60: Fitting multiple scan models to form a final model.

[0058] See also Figure 7When the tunnel segment scanning platform proposed in the present invention scans the segment, after the scanning component scans and obtains the scanning model of the segment at one height position, the segment is moved to another height position by the lifting bracket, and then the scanning component is used to scan and obtain the scanning model of the segment at another height position; repeat the above steps to obtain multiple scanning models of the segment at multiple height positions; and fit the multiple scanning models to form a final model. Since the segment is in different ambient light irradiation environments at different height positions, and the scanner has different scanning angles when scanning the segment at different height positions, the final model is obtained by fitting multiple scanning models of the segment at different height positions, so that the final model fits the actual situation of the segment as closely as possible, and the influence of different scanning angles and different ambient light on the scanning results is eliminated as much as possible, effectively improving the scanning accuracy.

[0059] 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 tunnel segment scanning platform, characterized in that: include: A frame, wherein the frame encloses a scanning area; A bracket, the bracket being arranged in the scanning area and supporting the tube segment in a liftable manner; a moving assembly movably connected to the top of the frame; A scanning component, the scanning component is installed on the moving assembly, the scanning component comprises a connecting frame, a scanner and a plurality of target balls, the connecting frame is hollow inside, the scanner is arranged in the connecting frame, a plurality of target balls are arranged on the connecting frame at intervals, a reflection point is arranged on each of the target balls, the emission end of the scanner faces the scanning area and is used to scan the tube segment supported on the bracket; A detection member is used to emit detection light to each of the target balls and receive the detection light reflected by the corresponding reflection point to obtain the position and posture of each of the target balls.

2. The tunnel segment scanning platform according to claim 1, characterized in that: The bracket includes a bottom plate, a telescopic support and a side support, wherein the telescopic support and the side support are both vertically arranged on the bottom plate, the telescopic support can be telescopically supported on the bottom of the pipe segment, and the side support abuts against the side of the pipe segment.

3. The tunnel segment scanning platform according to claim 2, characterized in that: The telescopic support includes a support rod, a sleeve and a driving member. The bottom of the support rod extends into the sleeve and cooperates with the sleeve for telescopic operation. The top of the support rod is supported on the bottom of the pipe segment. The driving member is arranged in the sleeve and is used to drive the support rod to telescope relative to the sleeve.

4. The tunnel segment scanning platform according to claim 3, characterized in that: A pad is provided on the top of the support rod, and an arc-shaped support surface is formed on the top of the pad. The curvature of the support surface matches the curvature of the pipe segment, and a gasket is provided between the pad and the pipe segment.

5. The tunnel segment scanning platform according to any one of claims 1 to 4, characterized in that: The moving assembly includes a moving beam and a moving column. The moving beam extends along a first horizontal direction. Two ends of the moving beam are slidably connected to two sides of the top of the frame along the first horizontal direction, and the moving beam can slide along a second horizontal direction. The first horizontal direction and the second horizontal direction are perpendicular to each other. The moving column is slidably connected to the moving beam, and the moving column can slide along the moving beam and can be lifted and lowered vertically. The scanning component is installed at the lower end of the moving column.

6. The tunnel segment scanning platform according to claim 5, characterized in that: The moving column is connected to the moving beam through a slider, and the slider includes a horizontally arranged sliding part and a vertically arranged clamping part. The sliding part is slidably matched with the moving beam, and the clamping part is clamped on the side of the moving column, and the moving column is slidably matched with the clamping part.

7. The tunnel segment scanning platform according to claim 5, characterized in that: The lower end of the moving column is connected to a three-axis mechanical arm, and the scanning component is installed on the three-axis mechanical arm.

8. The tunnel segment scanning platform according to claim 5, characterized in that: The tunnel segment scanning platform also includes a truss, two sides of which are respectively installed on two sides of the top of the frame along the first horizontal direction, and the truss is staggered with the moving beam, and the detection component is installed on the truss.

9. The tunnel segment scanning platform according to any one of claims 1 to 4, characterized in that: The connecting frame is in a hemispherical shape, and a plurality of target balls are distributed on the spherical surface of the connecting frame at intervals. Each target ball is in a regular polyhedron shape, and a plurality of reflection points are arranged on the surface of the target ball.

10. A tunnel segment scanning method, characterized in that: The tunnel segment scanning platform according to any one of claims 1 to 9, wherein the tunnel segment scanning method comprises: placing the tube segment on the bracket; The moving assembly drives the scanner to scan the pipe segment from different positions and angles to obtain a plurality of scanning results accordingly, and the detection component obtains the position and posture of each target ball when the scanner is at different positions; Using the position and posture of each target ball to stitch together the plurality of scanning results to form a scanning model of the pipe segment; Adjusting the height of the bracket so that the pipe segment is located at another height position; Returning to the step of driving the scanner to scan the pipe segment from different positions and angles by the moving assembly to obtain a plurality of scanning results, and the detection component obtaining the position and posture of each target ball when the scanner is at different positions, until a plurality of scanning models are formed; Multiple scan models are fitted to form a final model.

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