Ecological riparian zone three-dimensional change scanning equipment and control method thereof

Abstract

The invention provides ecological riparian zone three-dimensional change scanning equipment and a control method thereof, and relates to the technical field of water area ecological monitoring systems.The ecological riparian zone three-dimensional change scanning equipment comprises a fixing assembly, a vertical frame, a scanning mechanism, a water level detection mechanism, a flow velocity detection device and a control module, and the fixing assembly is configured to stretch across a river channel; the vertical frame is installed between the two ends of the fixing assembly. The scanning mechanism is installed on the vertical frame and used for conducting three-dimensional scanning operation on scanning areas of ecological riparian zones on the two sides of the riverway. The water level detection mechanism is installed on the vertical frame and used for obtaining water surface height data. The flow velocity detection device is mounted on the vertical frame, is positioned below the water surface and is used for acquiring water body flow velocity data of the scanning area; the control module is electrically connected with the scanning mechanism, the water level detection mechanism and the flow velocity detection device. The method can effectively ensure accurate quantitative analysis of the ecological evolution process.

Description

Technical Field

[0001] This invention relates to the field of aquatic ecological monitoring system technology, and more specifically, to a three-dimensional change scanning device for ecological riverbank zones and its control method. Background Technology

[0002] The riparian zone is an important component of the river ecosystem, and the stability and evolution of its spatial morphology directly reflect the effectiveness of water environment remediation projects. To assess the remediation effect, long-term, quantitative three-dimensional morphological changes in the riparian zone need to be monitored.

[0003] In related technologies, deploying 3D scanning equipment on one side of the riverbank can avoid construction in water, but due to river width, bank slope obstruction, and viewing angle limitations, it is often difficult to simultaneously cover both banks of the river, easily causing scanning blind spots or uneven measurement accuracy, thus affecting the assessment results of overall riverbank zone changes. If the scanning equipment is deployed directly in the middle of the river, it will be affected by multiple factors such as water level changes, water flow impact, and riverbed evolution, resulting in unstable scanning benchmarks and insufficient comparability between previous scanning results, thereby affecting the accurate quantitative analysis of ecological evolution processes. Summary of the Invention

[0004] The problem addressed by this invention is how to effectively ensure accurate quantitative analysis of ecological evolution processes.

[0005] To address the aforementioned problems, this invention provides a three-dimensional change scanning device for ecological riverbank zones and its control method.

[0006] In a first aspect, the present invention provides a three-dimensional change scanning device for ecological riverbank zones, comprising: A fixed component, configured to span the river channel; A support frame is installed between the two ends of the fixing component; A scanning mechanism, installed on the support frame, is used to perform three-dimensional scanning of the ecological riverbank zone on both sides of the river. A water level detection mechanism, installed on the support frame, is used to acquire water level height data; A flow velocity detection device, which is mounted on the stand and positioned below the water surface, is used to acquire water flow velocity data in the scanning area; A control module is electrically connected to the scanning mechanism, the water level detection mechanism, and the flow velocity detection device, respectively; wherein, the control module is configured to: According to the first preset conditions, the scanning mechanism is controlled to perform a three-dimensional scanning operation on the scanning area to obtain three-dimensional point cloud data; wherein, the first preset conditions include: the change range of the water surface height data obtained by the water level detection mechanism is less than a first threshold, and the water flow velocity data obtained by the flow velocity detection device is in a slow flow state. The target water surface height data recorded by the water level detection mechanism at the corresponding time during the scanning process is obtained, and the target water surface height data is correlated and corrected with the three-dimensional point cloud data.

[0007] Optionally, the support frame includes a support frame body and a first sealing structure, the first sealing structure being installed at the top of the support frame body, and the top of the first sealing structure having an opening; The scanning mechanism includes a scanning device, a lifting motor, and a transmission assembly. The lifting motor is mounted on the upright frame. The two ends of the transmission assembly are respectively connected to the output shaft of the lifting motor and the scanning device, and are used to convert the rotational motion of the lifting motor into the lifting motion of the scanning device, so as to switch the non-scanning state of the scanning device within the first sealed structure and the scanning state when it rises from the first sealed structure through the opening.

[0008] Optionally, the transmission assembly includes a threaded rod, a threaded cylinder, and a movable plate. The output shaft of the lifting motor is connected to the bottom end of the threaded rod, the top end of the threaded rod is threadedly connected to the threaded cylinder, the top end of the threaded cylinder is connected to the movable plate, and the scanning device is mounted on the top of the movable plate.

[0009] Optionally, the scanning mechanism further includes a blocking assembly, which includes a blocking motor, a linkage structure, and a cover plate. The blocking motor is mounted on the outer wall of the first sealing structure. The two ends of the linkage structure are fixedly connected to the output shaft of the blocking motor and the cover plate, respectively. The linkage structure is used to convert the rotational motion of the blocking motor into a flipping motion of the cover plate blocking or opening the opening.

[0010] Optionally, the water level detection mechanism includes a fixed plate, a first angle encoder, a bob, a reset structure, a pull rope, and a float. The fixed plate is installed on the top of the upright frame, and the bob is connected to the fixed plate through the reset structure. One end of the pull rope is fixedly connected to the bob and is wound around the bob. The other end of the pull rope is connected to the float, which is configured to contact the water surface and move the pull rope wound around the bob as the water level changes. The detection end of the first angle encoder is connected to the bob and is used to detect the rotation angle of the bob.

[0011] Optionally, a hollow area is provided between the two ends of the support frame, and the flow velocity detection device is installed in the hollow area and arranged along the water flow direction of the river.

[0012] Optionally, the three-dimensional change scanning equipment for ecological riverbanks also includes a riverbed detection mechanism, which is installed on the frame and used to acquire data on changes in riverbed height at different times; The control module is electrically connected to the riverbed detection mechanism and is used to perform correlation analysis between the riverbed height change data acquired multiple times and the three-dimensional point cloud data to output three-dimensional change data of the ecological riverbank zone.

[0013] Optionally, the riverbed detection mechanism includes an air supply component, a floating component, a second angle encoder, and a rotating wheel. The floating component includes a lifting structure and a lower airbag. The lifting structure is connected to the lower airbag, and the bottom end of the lifting structure is configured to connect to the riverbed. The second angle encoder is installed at the bottom end of the frame body. The rotating wheel is rotatably connected to the lifting structure. The detection end of the second angle encoder is connected to the rotating wheel for detecting the angle change data of the rotating wheel. The top end of the air supply component is connected to the threaded cylinder, and the air supply component is in communication with the lower airbag. It is used to perform air extraction or inflation operations on the lower airbag as the threaded cylinder moves up or down.

[0014] Optionally, the support frame further includes a second sealing structure, which is installed below the first sealing structure; The air supply assembly includes a pressure ring, an upper airbag, and an air tube. The threaded cylinder is fixedly connected to the pressure ring. The upper airbag is installed inside the second sealing structure and is located outside the threaded rod. The pressure ring is fixedly connected to the top of the upper airbag. The upper airbag is connected to the lower airbag through the air tube.

[0015] Secondly, the present invention provides a control method for a three-dimensional change scanning device for ecological riverbanks, applied to the three-dimensional change scanning device for ecological riverbanks. The three-dimensional change scanning device for ecological riverbanks includes a fixed component, a frame, a scanning mechanism, a water level detection mechanism, a flow velocity detection device, and a control module. The fixed component is configured to span the river channel, the frame is mounted on the fixed component, and the scanning mechanism, the water level detection mechanism, and the flow velocity detection device are all mounted on the frame. The control method includes the following steps: According to the first preset conditions, the scanning mechanism is controlled to perform a three-dimensional scanning operation on the scanning area to obtain three-dimensional point cloud data; wherein, the first preset conditions include: the change range of the water surface height data obtained by the water level detection mechanism is less than a first threshold, and the water flow velocity data obtained by the flow velocity detection device is in a slow flow state. The target water surface height data recorded by the water level detection mechanism at the corresponding time during the scanning process is obtained, and the target water surface height data is correlated and corrected with the three-dimensional point cloud data.

[0016] The beneficial effects of the ecological riverbank three-dimensional change scanning device and its control method of the present invention are: The fixed component is set across the river channel, and the stand is installed between the two ends of the fixed component. This allows the scanning reference of the scanning mechanism to be positioned in the middle of the river channel. This enables the scanning mechanism installed on the stand to simultaneously cover the ecological riverbank zone scanning area on both sides of the river channel. This avoids the scanning blind spots and uneven measurement accuracy problems caused by placing the 3D scanning equipment on only one side of the riverbank in related technologies, and ensures the complete acquisition of the overall morphological changes of the riverbank zone.

[0017] The water level detection mechanism is installed on the frame and used to acquire water surface height data. The flow velocity detection device is installed on the frame and located below the water surface, and used to acquire water flow velocity data in the scanning area. The control module controls the scanning mechanism to perform three-dimensional scanning operations according to the first preset conditions. The first preset conditions include that the change in water surface height data acquired by the water level detection mechanism is less than a first threshold and the water flow velocity data acquired by the flow velocity detection device is in a slow flow state. The scanning can be prohibited under unstable hydrological conditions such as violent water level fluctuations or rapid water flow. The scanning operation is only triggered when the river surface is relatively stable and the hydrodynamic disturbance is small. This effectively reduces the interference caused by water level changes and water flow impact on the scanning reference in related technologies, and ensures that the relative spatial relationship between the equipment and the riverbank is consistent in each scan.

[0018] The control module acquires the target water surface height data recorded by the water level detection agency at the corresponding moment during the scanning process, and correlates and corrects the target water surface height data with the three-dimensional point cloud data. It can use the actual water surface height at the scanning moment as a reference benchmark to perform uniform height correction on the three-dimensional point cloud data acquired at different times, thereby eliminating data deviations caused by water level differences at different scanning moments. This makes the scanning results comparable under the same water level benchmark, solving the problem of unstable scanning benchmarks and insufficient comparability of scanning results caused by factors such as water level changes and riverbed evolution in related technologies. In this way, it provides reliable data support for accurate quantitative analysis of ecological evolution processes. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the structure of the three-dimensional change scanning device for the ecological riverbank zone in an embodiment of the present invention; Figure 2 This is one of the partial structural schematic diagrams of the three-dimensional change scanning device for ecological riverbank zones in an embodiment of the present invention; Figure 3 This is a second partial structural schematic diagram of the three-dimensional change scanning device for ecological riverbank zones in an embodiment of the present invention; Figure 4 This is the third partial structural schematic diagram of the three-dimensional change scanning device for ecological riverbank zones in an embodiment of the present invention; Figure 5 This is the fourth partial structural schematic diagram of the three-dimensional change scanning device for ecological riverbank zones in an embodiment of the present invention; Figure 6 for Figure 4 Enlarged structural diagram at point A; Figure 7 for Figure 5 Enlarged structural diagram at point B; Figure 8 for Figure 5 A magnified structural diagram at point C.

[0020] Explanation of reference numerals in the attached figures: 100-Fixed Components; 1. Fixing Frame; 2. Guide Frame; 3. Truss; 4. Upright Frame; 401. Upright Frame Body; 402. First Sealing Structure; 403. Second Sealing Structure; 5. Flow Velocity Detection Device; 6. Water Level Detection Mechanism; 7. Scanning Mechanism; 8. Riverbed Detection Mechanism; 601. Fixing Plate; 602. First Angle Encoder; 603. Stake; 604. Pull Rope; 605. Float; 701. Lifting Motor; 702. Threaded Rod; 703. Threaded Cylinder; 704. Moving Plate; 705. Scanning Device; 706. Blocking Motor; 707. Cover Plate; 708. Linkage Structure; 901. Upper Airbag; 902. Air Pipe; 903. Lifting Rod; 904. Connecting Plate; 905. Lower Airbag; 906. Support Plate; 907. Second Angle Encoder; 908. Rotary Wheel; 909-Pressure Ring. Detailed Implementation

[0021] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0022] In the attached diagram, the X-axis represents left and right position, with the positive direction of the X-axis representing the right side and the negative direction representing the left side; the Y-axis represents front and back position, with the positive direction of the Y-axis representing the front and the negative direction representing the back; the Z-axis represents up and down position, with the positive direction of the Z-axis representing up and the negative direction representing down. It should be noted that the aforementioned representations of the X, Y, and Z axes are merely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0023] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0024] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0025] like Figures 1 to 5 As shown in the figure, an embodiment of the present invention provides a three-dimensional change scanning device for ecological riverbank zones, comprising: Fixed component 100, which is configured to be set across the river channel; The support frame 4 is installed between the two ends of the fixing component 100; The scanning mechanism 7, which is installed on the support frame 4, is used to perform three-dimensional scanning of the scanning area of ​​the ecological riverbank zone on both sides of the river. The water level detection mechanism 6 is installed on the support frame 4 and is used to acquire water level height data; The flow velocity detection device 5 is installed on the stand 4 and is located below the water surface, and is used to acquire the water flow velocity data of the scanning area; A control module is electrically connected to the scanning mechanism 7, the water level detection mechanism 6, and the flow velocity detection device 5, respectively; wherein, the control module is configured as follows: According to the first preset conditions, the scanning mechanism 7 is controlled to perform a three-dimensional scanning operation on the scanning area to obtain three-dimensional point cloud data; wherein, the first preset conditions include: the change range of the water surface height data obtained by the water level detection mechanism 6 is less than a first threshold, and the water flow velocity data obtained by the flow velocity detection device 5 is in a slow flow state. The target water surface height data recorded by the water level detection mechanism 6 at the corresponding time during the scanning process is obtained, and the target water surface height data is correlated and corrected with the three-dimensional point cloud data.

[0026] Specifically, the fixing component 100 may adopt the following structural method, for example, the fixing component 100 includes a truss 3, two symmetrically arranged fixing frames 1 and two guide frames 2. The two fixing frames 1 are respectively fixedly installed on the stable foundation of the left bank and the right bank of the river (e.g., through concrete foundation or driven pile foundation); each fixing frame 1 has a guide frame 2 fixedly connected to the side of each fixing frame 1 that is close to each other (i.e. the side facing the center of the river).

[0027] The mounting frame 1 is welded from corrosion-resistant metal profiles (such as stainless steel or galvanized steel) and has sufficient structural strength to withstand the impact of water flow and the weight of the equipment itself.

[0028] A truss 3 is fixedly connected between the two guide frames 2. Specifically, both ends of the truss 3 are fixedly connected to the outer walls (or ends) of the left and right guide frames 2, respectively. The portion between the two ends of the truss 3, such as the middle, is fixedly connected to the lower end of the upright frame 4. The overall height of the truss 3 is lower than the normal water level, which can be used to provide stable support for the upright frame 4 under the action of water flow.

[0029] By placing the truss 3 below the water surface, it avoids obstructing flood control and navigation in the river channel. Furthermore, the water flow allows for smooth passage above and around the truss 3, reducing the direct impact on the truss itself. More importantly, the truss 3 below the water surface provides a low-center-of-gravity, stable base support for the support frame 4. When water flows over the support frame 4, the underwater truss 3 effectively resists the lateral moment generated by the water flow, preventing the support frame 4 from tilting or swaying. Simultaneously, because the fixing frame 1 is anchored to both banks, the entire fixing assembly 100 forms a stable cross-river structure of "anchored on both banks and underwater support in the middle," ensuring that the support frame 4, located in the middle of the river channel, maintains a high degree of spatial and orientation stability during long-term use, thus providing an unchanging reference origin for subsequent 3D scanning.

[0030] The lower end of the support frame 4 is fixedly connected to the middle of the truss 3. The support frame 4 is a vertical column structure made of corrosion-resistant material, and its interior is hollow to accommodate the scanning mechanism 7, the water level detection mechanism 6, and the flow velocity detection device 5. The upper end of the support frame 4 must be higher than the highest flood level to ensure that the scanning mechanism 7 installed on it can safely extend out of the water surface to operate under any water level conditions.

[0031] The flow velocity detection device 5 is preferably a flow meter. The control module (not shown in the figure, but can be integrated into the sealed structure at the top of the support frame 4) is electrically connected to the scanning mechanism 7, the water level detection mechanism 6, and the flow velocity detection device 5. The control module can be an industrial-grade programmable logic controller (PLC) or a microcontroller system, with built-in data acquisition, logic judgment, and drive control programs.

[0032] In this embodiment, the fixing component 100 is set across the river channel, and the support frame 4 is installed between the two ends of the fixing component 100. This allows the scanning reference of the scanning mechanism 7 to be positioned in the middle of the river channel, so that the scanning mechanism 7 installed on the support frame 4 can simultaneously cover the scanning area of ​​the ecological riverbank zone on both sides of the river channel. This avoids the scanning blind zone and uneven measurement accuracy caused by placing the three-dimensional scanning equipment on one side of the riverbank in related technologies, and ensures the complete acquisition of the overall morphological changes of the riverbank zone.

[0033] The water level detection mechanism 6 is installed on the support frame 4 and is used to acquire water surface height data. The flow velocity detection device 5 is installed on the support frame 4 and is located below the water surface and is used to acquire water flow velocity data in the scanning area. The control module controls the scanning mechanism 7 to perform three-dimensional scanning operations according to the first preset conditions. The first preset conditions include that the change range of the water surface height data acquired by the water level detection mechanism 6 is less than a first threshold, and the water flow velocity data acquired by the flow velocity detection device 5 is in a slow flow state. Scanning can be prohibited under unstable hydrological conditions such as violent water level fluctuations or rapid water flow. Scanning operations are only triggered when the river surface is relatively stable and the hydrodynamic disturbance is small. This effectively reduces the interference caused by water level changes and water flow impact on the scanning reference in related technologies, and ensures that the relative spatial relationship between the equipment and the riverbank zone has good consistency in each scan.

[0034] The control module acquires the target water surface height data recorded by the water level detection mechanism 6 at the corresponding time during the scanning process, and correlates and corrects the target water surface height data with the three-dimensional point cloud data. It can use the actual water surface height at the scanning time as a reference benchmark to perform uniform height correction on the three-dimensional point cloud data acquired at different times, thereby eliminating data deviations caused by water level differences at different scanning times. This makes the scanning results comparable under the same water level benchmark, solving the problem of unstable scanning benchmarks and insufficient comparability of scanning results caused by factors such as water level changes and riverbed evolution in related technologies. In this way, it provides reliable data support for accurate quantitative analysis of ecological evolution processes.

[0035] Optionally, combined Figure 3 , Figure 6 and Figure 7 As shown, the support frame 4 includes a support frame body 401 and a first sealing structure 402. The first sealing structure 402 is installed on the top of the support frame body 401, and the top of the first sealing structure 402 is provided with an opening. The scanning mechanism 7 includes a scanning device 705, a lifting motor 701, and a transmission assembly. The lifting motor 701 is mounted on the support frame 4. The two ends of the transmission assembly are respectively connected to the output shaft of the lifting motor 701 and the scanning device 705, and are used to convert the rotational motion of the lifting motor 701 into the lifting motion of the scanning device 705, so as to switch the non-scanning state of the scanning device 705 within the first sealing structure 402 and the scanning state when it rises from the first sealing structure 402 through the opening.

[0036] Specifically, the support frame 4 has a hollow columnar structure with an internal space for receiving objects. The support frame body 401 refers to the main structural part of the support frame 4.

[0037] The first sealing structure 402 is used to provide a sealed protective environment for the scanning device 705 when it is not in operation (non-scanning state), preventing moisture, mud, suspended matter, etc. from corroding the precision scanning device 705. Specifically, the first sealing structure 402 can be a rectangular sealing box with the opening at the top formed by four first sealing plates.

[0038] The shape of the opening matches the contour of the scanning device 705, allowing the scanning device 705 to pass through the opening during vertical movement.

[0039] The scanning device 705 can be a lidar. This lidar is used to perform three-dimensional laser scanning of the ecological riparian zone on both sides of a river to acquire high-precision three-dimensional point cloud data.

[0040] The lifting motor 701 is installed inside the upright frame 4. Specifically, as shown... Figure 7 As shown, the lifting motor 701 is located below the first sealing structure 402. The lifting motor 701 is preferably a servo motor or a stepper motor, capable of precisely controlling the rotation angle and speed, and possessing a self-locking function to maintain the stability of the scanning device 705 at any height. The output shaft of the lifting motor 701 extends vertically upwards.

[0041] The transmission assembly is used to convert the rotational motion of the lifting motor 701 into the linear lifting motion of the scanning device 705.

[0042] In this optional embodiment, since the first sealing structure 402 is installed on the top of the stand body 401, and the top of the first sealing structure 402 is provided with an opening, the top of the stand 4 forms a sealed protective space with an openable and closable opening, thereby providing a physical isolation environment for the scanning device 705 in a non-working state.

[0043] The two ends of the transmission assembly are connected to the output shaft of the lifting motor 701 and the scanning device 705, respectively, so that the rotational power of the lifting motor 701 can be transmitted to the scanning device 705 through the transmission assembly. Since the transmission assembly is used to convert the rotational motion of the lifting motor 701 into the lifting motion of the scanning device 705, the scanning device 705 can perform controllable reciprocating linear movement along the vertical axis of the stand 4.

[0044] Since the scanning device 705 is configured to switch between a non-scanning state within the first sealing structure 402 and a scanning state rising from the first sealing structure 402 through the opening, the scanning device 705 can be raised to extend out of the first sealing structure 402 under the cooperation of the lifting motor 701 and the transmission component during scanning operations, exposing itself to the external environment for three-dimensional scanning operations, and can actively retract into the first sealing structure 402 for sealing protection when not in operation.

[0045] In short, through the coordinated action of the frame body 401, the first sealing structure 402 and its opening, the scanning device 705, the lifting motor 701 and the transmission components, the scanning device 705 is raised and lowered on demand and automatically sealed for protection. This effectively avoids optical pollution, corrosion damage or mechanical jamming caused by long-term exposure of the scanning device 705 to water vapor, silt and humid environments, while ensuring that the scanning device 705 can perform the three-dimensional scanning function normally. This ensures the long-term operational reliability and scanning accuracy stability of the equipment under complex hydrological conditions.

[0046] Optionally, combined Figure 7 As shown, the transmission assembly includes a threaded rod 702, a threaded cylinder 703, and a moving plate 704. The output shaft of the lifting motor 701 is connected to the bottom end of the threaded rod 702. The top end of the threaded rod 702 is threadedly connected to the threaded cylinder 703. The top end of the threaded cylinder 703 is connected to the moving plate 704. The scanning device 705 is mounted on the top of the moving plate 704.

[0047] Specifically, the threaded rod 702 is a slender rod with external threads machined on its outer wall. The bottom end (lower end) of the threaded rod 702 is fixedly connected to the output shaft of the lifting motor 701 via a coupling or directly, ensuring synchronous rotation of both. The threaded rod 702 extends vertically upward, passes through the first sealing structure 402, and is screwed onto the threaded cylinder 703 within the first sealing structure 402. The threaded rod 702 is made of a high-strength, corrosion-resistant metal material (such as stainless steel), and its surface is hardened to improve wear resistance.

[0048] The threaded cylinder 703 is a cylindrical structure with an internal thread on its inner wall that matches the external thread of the threaded rod 702. The threaded cylinder 703 is fitted over the threaded rod 702, and the two are engaged by a threaded pair. At least one of the outer wall of the threaded cylinder 703 and the movable plate 704 can be slidably connected to the inner wall of the first sealing structure 402, so that the rotational motion of the threaded rod 702 can be converted into the linear lifting motion of the threaded cylinder 703, thus preventing the threaded cylinder 703 from rotating synchronously with the threaded rod 702. The upper end of the threaded cylinder 703 is fixedly connected to the movable plate 704 (e.g., by welding, integral molding, or flange connection). The length of the threaded cylinder 703 must meet the lifting stroke requirements of the scanning device 705.

[0049] The lower surface of the movable plate 704 is fixedly connected to the upper end of the threaded cylinder 703, and the upper surface of the movable plate 704 is used to mount the scanning device 705. The threaded cylinder 703 can be a nut seat structure for a ball screw element.

[0050] The lifting motor 701 is fixedly installed in a suitable position inside the upright 4 to ensure that the axis of the threaded rod 702 coincides with the axis of the upright 4, thereby ensuring the directional accuracy of the lifting movement. A limiting device (such as a retaining ring or a buffer pad) can be set at the top of the threaded rod 702 to prevent the threaded cylinder 703 from overtraveling and dislodging.

[0051] In this optional embodiment, the output shaft of the lifting motor 701 is connected to the bottom end of the threaded rod 702, so that the rotational power of the lifting motor 701 can be directly transmitted to the threaded rod 702, driving the threaded rod 702 to rotate around its own axis.

[0052] Since the top end of the threaded rod 702 is threadedly connected to the threaded cylinder 703, and the top end of the threaded cylinder 703 is connected to the moving plate 704, and the scanning device 705 is installed on the top of the moving plate 704, when the threaded rod 702 rotates, the threaded cylinder 703, which is threadedly engaged with it, is unable to rotate due to the circumferential constraint between the moving plate 704 and the inner wall of the first sealing structure 402. This forces the rotational motion of the threaded rod 702 into the linear lifting and lowering motion of the threaded cylinder 703 and the moving plate 704 along the axial direction of the threaded rod 702.

[0053] Since the scanning device 705 is directly mounted on the top of the moving plate 704, the linear lifting motion of the moving plate 704 is synchronously transmitted to the scanning device 705, driving the scanning device 705 to achieve precise reciprocating movement in the vertical direction. Because the threaded engagement between the threaded rod 702 and the threaded cylinder 703 has a self-locking characteristic, when the lifting motor 701 stops rotating, the static friction between the threaded rod 702 and the threaded cylinder 703 can overcome the gravity of the scanning device 705 and the moving plate 704, allowing the scanning device 705 to be stably suspended at any lifting position without the need for an additional braking mechanism.

[0054] In summary, through the coordinated action of connecting the output shaft of the lifting motor 701 to the bottom end of the threaded rod 702, connecting the top end of the threaded rod 702 to the threaded cylinder 703, and mounting the scanning device 705 on the top end of the threaded cylinder 703 via the moving plate 704, the rotational motion of the motor is efficiently, smoothly, and controllably converted into the linear lifting motion of the scanning device 705. Furthermore, the self-locking characteristic of the threaded pair ensures the stability of the scanning device 705 at the working height position, thereby ensuring the quality and effectiveness of the scanning operation of the scanning device 705.

[0055] Optionally, combined Figure 6 and Figure 7 As shown, the scanning mechanism 7 also includes a blocking assembly, which includes a blocking motor 706, a connecting rod structure 708, and a cover plate 707. The blocking motor 706 is installed on the outer side wall of the first sealing structure 402. The two ends of the connecting rod structure 708 are fixedly connected to the output shaft of the blocking motor 706 and the cover plate 707, respectively. The connecting rod structure 708 is used to convert the rotational motion of the blocking motor 706 into a flipping motion of the cover plate 707 blocking or opening the opening.

[0056] Specifically, the shielding component is used to achieve automatic opening and closing control at the opening at the top of the first sealing structure 402. It can close the opening when the scanning device 705 is not working and open the opening when it is working, thereby ensuring the integrity of the first sealing structure 402 and preventing external contaminants from entering.

[0057] The blocking motor 706 is preferably a micro servo motor or a stepper motor; the output shaft of the blocking motor 706 extends horizontally to facilitate driving the linkage structure 708.

[0058] The connecting rod structure 708 is an intermediate transmission component connecting the output shaft of the shielding motor 706 and the cover plate 707. In this embodiment, the connecting rod structure 708 can be an arc-shaped connecting rod. Specifically, one end of the connecting rod structure 708 (such as the arc-shaped connecting rod) is fixedly connected to the output shaft of the shielding motor 706 and can rotate synchronously with the output shaft; the other end of the connecting rod structure 708 (such as the arc-shaped connecting rod) is fixedly connected to a certain connection point of the cover plate 707. The length and shape of the connecting rod structure 708 are designed according to the flipping trajectory of the cover plate 707 and the position of the opening to ensure that the rotational motion of the output shaft of the shielding motor 706 can be accurately converted into the flipping motion of the cover plate 707 around a certain hinge axis.

[0059] The cover plate 707 is a flat or curved component whose shape and size match the opening at the top of the first sealing structure 402 to ensure a reliable seal when closed. A sealing gasket (such as a rubber or silicone gasket) may be provided on the contact surface between the cover plate 707 and the first sealing structure 402 to enhance waterproof and dustproof performance when closed.

[0060] In this optional embodiment, since the shielding motor 706 is installed on the outer side wall of the first sealing structure 402, the shielding motor 706 is located outside the sealed cavity. This avoids interference with the sealing environment inside the cavity when the motor is in operation, and also facilitates the installation, wiring and subsequent maintenance of the motor.

[0061] Since the two ends of the connecting rod structure 708 are fixedly connected to the output shaft of the blocking motor 706 and the cover plate 707 respectively, and the connecting rod structure 708 is used to convert the rotational motion of the blocking motor 706 into the flipping motion of the cover plate 707 to block or open the opening, the rotational power of the output shaft of the blocking motor 706 can be transmitted to the cover plate 707 through the connecting rod structure 708, and accurately drive the cover plate 707 to reciprocate around the hinge axis.

[0062] Since the cover plate 707 can selectively block or open the opening during the flipping process, when the scanning device 705 needs to extend for operation, the cover plate 707 opens the opening to provide an unobstructed passage for the scanning device 705; when the scanning device 705 is retracted, the cover plate 707 blocks the opening to restore the airtightness of the first sealing structure 402.

[0063] Optionally, combined Figure 6As shown, the water level detection mechanism 6 includes a fixed plate 601, a first angle encoder 602, a bob 603, a reset structure, a pull rope 604, and a float 605. The fixed plate 601 is installed on the top of the column, and the bob 603 is connected to the fixed plate 601 through the reset structure. One end of the pull rope 604 is fixedly connected to the bob 603, and the pull rope 604 is wound around the bob 603. The other end of the pull rope 604 is connected to the float 605. The float 605 is configured to contact the water surface and is used to drive the pull rope 604 wound around the bob 603 to generate displacement as the water level changes. The detection end of the first angle encoder 602 is connected to the bob 603 and is used to detect the rotation angle of the bob 603.

[0064] Specifically, the water level detection unit 6 is used to acquire information on the height changes of the river water surface in real time and continuously, providing accurate water level data for judging the timing of scanning and for the height benchmark correction of the three-dimensional point cloud data.

[0065] The fixing plate 601 is a flat plate structure made of corrosion-resistant metal material (such as stainless steel). The fixing plate 601 is fixedly installed on the outer wall of the upper end of the support frame 4, providing a stable mounting base for the entire water level detection mechanism 6. The fixing plate 601 can be set horizontally or its angle can be adjusted according to the installation space.

[0066] The bobbin 603 is a cylindrical rotating shaft component, the outer wall of which is used to wind the pull rope 604. The bobbin 603 is connected to the fixed plate 601 through a reset structure. The bobbin 603 can rotate freely around its own axis.

[0067] The reset structure is used to provide restoring torque to the bollard 603 when the float 605 descends with the water surface, so that the bollard 603 can automatically retract the pull rope 604 and keep the pull rope 604 always in a taut state.

[0068] The reset structure can employ a spiral spring (also known as a clockwork spring). The inner end of the spiral spring is fixedly connected to the bobbin 603, and the outer end is fixedly connected to the fixed plate 601. When the float 605 rises and pulls the rope 604 to rotate the bobbin 603 in the forward direction, the spiral spring is gradually wound up, storing elastic potential energy. When the float 605 descends, the spiral spring releases its elastic potential energy, driving the bobbin 603 to rotate in the reverse direction, rewinding the rope 604 back onto the outer wall of the bobbin 603. Alternatively, a helical torsion spring or other elastic reset elements can be used.

[0069] The pull rope 604 is a high-strength, low-elongation, water-corrosion-resistant flexible rope, such as a PTFE-coated stainless steel wire rope or a high-strength synthetic fiber rope (e.g., Dyneema rope). One end of the pull rope 604 is fixedly connected to the outer wall of the bollard 603, and then tightly wound into the rope groove of the bollard 603 in multiple or single layers. The other end of the pull rope 604 extends downward and is fixedly connected to the pontoon 605. The length of the pull rope 604 must be greater than the maximum variation range of the river water level to ensure that the pontoon 605 can float freely at any water level without being limited by the length of the pull rope 604.

[0070] The float 605 is a hollow, sealed container made of corrosion-resistant, low-density materials (such as polyethylene or stainless steel sheet). The interior of the float 605 is filled with air, making its overall density less than water, thus allowing it to float on the water surface. The mass and displacement volume of the float 605 are designed to generate buoyancy sufficient to overcome the frictional resistance of the tow rope 604 and the elastic resistance of the reset structure, ensuring that the float 605 can sensitively follow changes in water level. A counterweight can be installed at the bottom of the float 605 to increase stability and prevent violent swaying due to wind and waves.

[0071] The first angle encoder 602 is a high-precision angle sensor. Its detection end (rotor) is fixedly connected to the end of the bobbin 603, and its housing is fixedly connected to the fixing plate 601. The first angle encoder 602 is used to detect the change in the rotation angle of the bobbin 603 in real time and convert the angle signal into an electrical signal and output it to the control module.

[0072] In this optional embodiment, since the fixing plate 601 is installed on the top of the upright 4, and the bob 603 is connected to the fixing plate 601 through the reset structure, the bob 603 can obtain stable rotational support above the fixing plate 601, and the reset structure can provide elastic restoring torque for the bob 603.

[0073] Since one end of the pull rope 604 is fixedly connected to the bollard 603 and the pull rope 604 is wound around the bollard 603, and the other end of the pull rope 604 is connected to the buoy 605, the vertical displacement of the buoy 605 on the water surface can be transmitted to the bollard 603 through the pull rope 604 and converted into the rotational motion of the bollard 603.

[0074] Since the float 605 is configured to contact the water surface, it is used to drive the pull rope 604 wrapped around the bollard 603 to move as the water surface height changes, so that the float 605 can follow the rise and fall of the water surface in real time and sensitively, and convert the change in water surface height into the change in the extension or retraction length of the pull rope 604.

[0075] Since the detection end of the first angle encoder 602 is connected to the bobbin 603 to detect the rotation angle of the bobbin 603, the rotation angle of the bobbin 603 is converted into an electrical signal in real time and accurately for the control module to collect and process. Because the control module can calculate the displacement of the rope 604 based on the rotation angle of the bobbin 603 and its known radius, it can obtain the water level height data at the corresponding moment, achieving non-contact (electrically isolated), continuous, and high-precision measurement of the water level height.

[0076] In summary, by using a fixed plate 601 installed on the top of the support frame 4 to provide a mounting base, a bollard 603 connected to the fixed plate 601 via a reset structure to provide rotation and recovery, a pull rope 604 connected at both ends to the bollard 603 and the float 605 to transmit displacement, the float 605 moving with the water level to drive the pull rope 604 to move, and the first angle encoder 602 detecting the rotation angle of the bollard 603, a complete measurement link is achieved that sequentially converts the vertical rise and fall of the water surface into the displacement of the float 605, the displacement of the pull rope 604, the rotation angle of the bollard 603, and the encoder electrical signal. This provides real-time, continuous, and accurate water level height data, offering a reliable water level information basis for judging the scanning timing and correcting the height reference of the three-dimensional point cloud data.

[0077] Optionally, combined Figure 2 and Figure 3 As shown, a hollow area is provided between the two ends of the support frame 4, and the flow velocity detection device 5 is installed in the hollow area. The flow velocity detection device 5 is arranged along the water flow direction of the river.

[0078] Specifically, a hollow area is provided in the middle position between the top and bottom of the support frame 4. This hollow area means that the support frame 4 is not a completely closed solid structure at this position, but has an opening or through space, allowing water to flow smoothly through the area.

[0079] The middle section of the support frame 4 can be designed as a frame structure or have multiple water passage holes to form an open space that allows water to freely enter and exit. The hollow area can adopt the following structural methods, for example, the support frame 4 can adopt a truss structure composed of multiple longitudinal columns and transverse connecting rods, with the hollow area naturally formed in the middle.

[0080] A flow velocity detection device 5 (e.g., a flow meter) is fixedly installed within the hollow area. Specifically, the flow meter can be connected to the solid part of the stand 4 via a bracket, so that its main body is located inside the hollow area. The flow meter's sensing probe (e.g., an ultrasonic transducer or a propeller) should be exposed to the water flow and not obstructed by the structure of the stand 4.

[0081] The flow velocity detection device 5 is arranged along the direction of water flow in the river channel. "Arranged along the direction of water flow" means that the measuring axis of the flow velocity detection device 5 (e.g., the ultrasonic wave propagation path or the rotation axis of the propeller) is parallel to the main flow direction of the river channel. The flow velocity detection device 5 is installed in the hollow area, and its position should be below the lowest water level to ensure that the sensing part of the flow velocity detection device 5 can be completely submerged in water under any water level conditions (except during extreme dry periods) to continuously acquire water flow velocity data.

[0082] In this optional embodiment, since a hollow area is provided between the two ends of the support frame 4, the support frame 4 forms an open space in this area that allows water to pass freely, thereby avoiding complete obstruction of the water flow by the support frame 4 and reducing the disturbance of the local water flow pattern by the support frame 4. Since the flow velocity detection device 5 is installed in the hollow area, the flow velocity detection device 5 can be directly exposed to the water flow inside the support frame 4, which not only utilizes the structural space of the support frame 4 to achieve compact installation, but also allows the sensing part of the flow velocity detection device 5 to fully contact the water flowing through the support frame 4.

[0083] Since the flow velocity detection device 5 is arranged along the water flow direction of the river, the measurement axis of the flow velocity detection device 5 is consistent with the main flow direction of the river, thereby ensuring that the measured flow velocity data can truly reflect the water flow state of the scanned area and avoiding measurement errors caused by installation angle deviation.

[0084] Optionally, combined Figures 2 to 5 As shown, the three-dimensional change scanning equipment for ecological riverbanks also includes a riverbed detection mechanism 8, which is installed on the frame 4 and is used to acquire data on changes in riverbed height at different times. The control module is electrically connected to the riverbed detection mechanism 8 and is used to perform correlation analysis between the riverbed height change data acquired multiple times and the three-dimensional point cloud data to output three-dimensional change data of the ecological riverbank zone.

[0085] Specifically, the riverbed detection mechanism 8 is installed at the bottom of the support frame 4, close to the bottom end of the support frame 4. The lower end of the support frame 4 extends to the vicinity of the riverbed or even inserts below the riverbed. Therefore, placing the riverbed detection mechanism 8 on the lower side of the support frame 4 facilitates the contact or proximity of its detection components with the riverbed surface, thereby obtaining riverbed height information.

[0086] In this optional embodiment, during the long-term operation of the equipment, the control module periodically integrates and processes the data collected by the water level detection mechanism 6, the flow velocity detection device 5, the riverbed detection mechanism 8, and the scanning mechanism 7. By combining the water surface height change data obtained by the water level detection mechanism 6 with the riverbed height change information obtained by the riverbed detection mechanism 8 and the water flow velocity data continuously recorded by the flow velocity detection device 5, the changes in the cross-sectional area of ​​the river at different times can be inverted. The scanning device 705 of the scanning mechanism 7 performs multi-temporal three-dimensional scanning of the ecological riverbank zone on both sides of the river. The results can be analyzed synchronously with water level, flow velocity and riverbed change data. This is used to identify ecological change characteristics such as riverbank erosion, bank slope retreat, and siltation uplift. It realizes long-term collaborative monitoring of the riverbank zone, riverbed and hydrodynamic conditions, and provides continuous and reliable data support for the analysis of river ecological evolution and the assessment of the ecological impact of water volume in water environment remediation projects.

[0087] Optionally, combined Figure 7 and Figure 8 As shown, the riverbed detection mechanism 8 includes an air supply component, a floating component, a second angle encoder 907, and a rotating wheel 908. The floating component includes a lifting structure and a lower airbag 905. The lifting structure is connected to the lower airbag 905, and the bottom end of the lifting structure is configured to connect with the riverbed. The second angle encoder 907 is installed at the bottom end of the support body 401. The rotating wheel 908 is rotatably connected to the lifting structure. The detection end of the second angle encoder 907 is connected to the rotating wheel 908 for detecting the angle change data of the rotating wheel 908. The threaded cylinder 703 is connected to the top end of the air supply assembly, which is in communication with the lower airbag 905. The air supply assembly is used to perform air extraction or inflation operations on the lower airbag 905 as the threaded cylinder 703 moves up or down.

[0088] Specifically, the air supply assembly is used to inflate and de-inflate the lower airbag 905 under the drive of the threaded cylinder 703.

[0089] The floating assembly includes a lifting structure and a lower airbag 905. The lifting structure is used to transmit displacement information between the riverbed and the lower airbag 905. The lifting structure includes a lifting rod 903, a connecting plate 904, and a support plate 906. The top end of the lifting rod 903 is fixedly connected to the connecting plate 904, the lower airbag 905 is fixedly installed on the upper part of the connecting plate 904, and the bottom end of the lifting rod 903 extends out of the support frame 4 and is fixedly connected to the support plate 906.

[0090] The support plate 906 has a disc-shaped structure with a large contact area, which is used to contact the riverbed surface and avoid sinking into the silt.

[0091] In this optional embodiment, the lifting structure is connected to the lower airbag 905, and the bottom end of the lifting structure is configured to connect to the riverbed. This allows the air supply component to adjust the overall buoyancy of the floating component by changing the gas volume within the lower airbag 905, thereby controlling the contact and separation state between the bottom end of the lifting structure and the riverbed. The detection end of the second angle encoder 907 is connected to the rotating wheel 908 to detect the angle change data of the rotating wheel 908. This causes the axial displacement of the lifting structure in the vertical direction to drive the rotating wheel 908 to rotate due to friction. The second angle encoder 907 detects the change in the rotation angle of the rotating wheel 908 and transmits this signal to the control module. Based on the diameter and rotation angle of the rotating wheel 908, the control module can calculate the axial displacement of the lifting rod 903, thereby obtaining the position change of the support plate 906 and calculating the change in riverbed height. The change in riverbed height can be converted into a change in the rotation angle of the rotating wheel 908 through its rolling motion, and then accurately acquired by the second angle encoder 907, thereby achieving quantitative measurement of the displacement of the lifting structure.

[0092] Since the threaded cylinder 703 is connected to the top of the air supply component, and the air supply component is connected to the lower airbag 905, it is used to pump or inflate the lower airbag 905 as the threaded cylinder 703 moves up or down. This allows the reciprocating motion of the threaded cylinder 703 to be synchronously transmitted to the air supply component while the scanning device 705 (LiDAR) is being raised and lowered. This is converted into an inflation or deflation action of the lower airbag 905, thereby driving the floating component to perform periodic rising (leaving the riverbed) and falling (contacting the riverbed) movements.

[0093] Optionally, combined Figure 7 and Figure 8 As shown, the support frame 4 also includes a second sealing structure 403, which is installed below the first sealing structure 402; The air supply assembly includes a pressure ring 909, an upper airbag 901, and an air tube 902. The threaded cylinder 703 is fixedly connected to the pressure ring 909. The upper airbag 901 is installed inside the second sealing structure 403 and is located outside the threaded rod 702. The pressure ring 909 is fixedly connected to the top of the upper airbag 901. The upper airbag 901 is connected to the lower airbag 905 through the air tube 902.

[0094] Specifically, the frame 4 has multiple sealed cavities arranged vertically inside. Among them, the first sealing structure 402 is used to accommodate and protect the scanning device 705. Below the first sealing structure 402, a second sealing structure 403 is also provided to provide an independent, clean working environment for the air supply components (especially the pressure ring 909 and the upper airbag 901) that is not affected by external moisture.

[0095] The second sealing structure 403 can be a rectangular sealing box formed by four second sealing plates. The inner wall of the second sealing structure 403 is smooth, providing guidance and support for internal moving parts (such as the pressure ring 909).

[0096] The pressure ring 909 is an annular component with an inner diameter larger than the outer diameter of the threaded rod 702 to avoid contact friction. The pressure ring 909 is fixedly connected to the lower outer wall of the threaded cylinder 703 (e.g., through threaded connection, welding, or integral molding). When the threaded cylinder 703 moves up and down under the drive of the lifting motor 701, the pressure ring 909 moves synchronously with the threaded cylinder 703. The lower surface of the pressure ring 909 is fixedly connected to the top of the upper airbag 901.

[0097] The upper airbag 901 is an annular sealing rubber bladder, the shape of which matches the internal space of the second sealing structure 403. The upper airbag 901 is installed inside the second sealing structure 403. The threaded rod 702 passes through the central hole of the upper airbag 901. The bottom of the upper airbag 901 is fixedly connected to the inner wall of the bottom of the second sealing structure 403, and the top of the upper airbag 901 is fixedly connected to the lower surface of the pressure ring 909. The upper airbag 901 is filled with a suitable amount of gas (such as air or inert gas), and its volume can change as the pressure ring 909 moves up and down.

[0098] The trachea 902 is a flexible or rigid conduit, one end of which communicates with the interior of the upper airbag 901 (e.g., fixedly connected to the upper part or side wall of the upper airbag 901), and the other end extends downward after passing through the wall of the second sealing structure 403 (a sealing joint needs to be provided), communicating with the lower airbag 905 of the flotation assembly. The trachea 902 is used to transfer gas between the upper airbag 901 and the lower airbag 905.

[0099] When the threaded cylinder 703 moves downward, the pressure ring 909 compresses the upper air bladder 901. When the upper air bladder 901 is compressed, gas enters the lower air bladder 905 through the air pipe 902, causing it to expand. When the threaded cylinder 703 moves upward, the pressure ring 909 stretches the upper air bladder 901 (or reduces the degree of compression on the air bladder). When the upper air bladder 901 is stretched, the gas in the lower air bladder 905 is drawn back into the upper air bladder 901, causing it to contract.

[0100] In this optional embodiment, since the support frame 4 also includes a second sealing structure 403, and the second sealing structure 403 is installed below the first sealing structure 402, the upper airbag 901 in the air supply assembly can be contained in a closed space independent of the lidar sealing cavity, thereby avoiding the contamination of the first sealing structure 402 where the scanning device 705 is located by the particles or water vapor that may be generated during the frequent compression and expansion of the upper airbag 901.

[0101] Since the threaded cylinder 703 is fixedly connected to the pressure ring 909, the up-and-down reciprocating motion of the threaded cylinder 703 driven by the lifting motor 701 can be directly transmitted to the pressure ring 909, so that the pressure ring 909 and the threaded cylinder 703 maintain synchronous motion.

[0102] Since the upper airbag 901 is installed inside the second sealing structure 403 and located outside the threaded rod 702, and the pressure ring 909 is fixedly connected to the top of the upper airbag 901, the pressure ring 909 can directly compress or stretch the upper airbag 901, which is sleeved on the outside of the threaded rod 702, when it moves with the threaded cylinder 703. This converts the mechanical displacement of the threaded cylinder 703 into a change in the internal volume of the upper airbag 901. Since the upper airbag 901 is connected to the lower airbag 905 through the air pipe 902, the gas pressure change caused by the change in the internal volume of the upper airbag 901 can be transmitted to the lower airbag 905 through the air pipe 902, thereby driving the lower airbag 905 to inflate or deflate synchronously, realizing remote pneumatic control of the buoyancy of the floating component.

[0103] In short, through the synergistic effect of the second sealing structure 403 being set below the first sealing structure 402 to provide an independent installation space, the threaded cylinder 703 being fixedly connected to the pressure ring 909 to transmit mechanical motion, the upper airbag 901 being sleeved on the outside of the threaded rod 702 and fixedly connected to the pressure ring 909 to achieve volume change, and the upper airbag 901 being connected to the lower airbag 905 via the air pipe 902 to achieve remote transmission of pneumatic power, the following technical effects are achieved: by utilizing the existing motion of the lifting motor 701 and transmission components of the scanning mechanism 7, the riverbed detection mechanism 8 is driven to move in a completely sealed and independent pneumatic circuit, which avoids the setting of an additional power source, ensures the cleanliness and reliability of the transmission process, and physically isolates the working area of ​​the upper airbag 901 from that of the scanning device 705, ensuring the safety of the core scanning device 705.

[0104] Another embodiment of the present invention provides a control method for a three-dimensional change scanning device for ecological riverbanks, applied to the three-dimensional change scanning device for ecological riverbanks. The three-dimensional change scanning device for ecological riverbanks includes a fixed component 100, a support frame 4, a scanning mechanism 7, a water level detection mechanism 6, a flow velocity detection device 5, and a control module. The fixed component 100 is configured to span the river channel. The support frame 4 is mounted on the fixed component 100. The scanning mechanism 7, the water level detection mechanism 6, and the flow velocity detection device 5 are all mounted on the support frame 4. The control method includes the following steps: S100. According to the first preset conditions, the scanning mechanism 7 is controlled to perform a three-dimensional scanning operation on the scanning area to obtain three-dimensional point cloud data; wherein, the first preset conditions include: the change range of the water surface height data obtained by the water level detection mechanism 6 is less than a first threshold, and the water flow velocity data obtained by the flow velocity detection device 5 is in a slow flow state. S200: Obtain the target water surface height data recorded by the water level detection mechanism 6 at the corresponding time during the scanning process, and associate and correct the target water surface height data with the three-dimensional point cloud data.

[0105] In the above control method, before implementation, the two fixing frames 1 of the fixing component 100 are first securely erected on both sides of the riverbank, and the guide frame 2 is extended into the river channel. A truss 3 is installed between the two guide frames 2, so that the overall height of the truss 3 is lower than the normal water level. In the non-scanning state, the control module controls the lifting motor 701 to drive the threaded rod 702 to rotate, so that the threaded cylinder 703 drives the moving plate 704 and the scanning device 705 to move downward as a whole until the scanning device 705 is completely inside the first sealing structure 402. Then, the shielding motor 706 is started to drive the cover plate 707 to rotate, sealing the opening at the top of the first sealing structure 402, thereby forming a closed protection state (see Figure 6 (As shown).

[0106] After the scanning conditions are met, the control module first drives the shielding motor 706 to open the cover 707, and then starts the lifting motor 701 to run in reverse, so that the scanning device 705 is raised from inside the first sealing structure 402 to the working height above the water surface (see...). Figure 7 As shown in the figure, a three-dimensional scan of the ecological riverbank zone on both sides of the river is performed. After the scan is completed, the scanning device 705 is retrieved and sealed again. Through the above process, the operation and protection of the lidar in complex aquatic environments are realized, avoiding dirt, corrosion and measurement accuracy degradation caused by long-term exposure, and improving the stability and reliability of the three-dimensional scan data of the riverbank.

[0107] During the fluctuation of the river water, the float 605 rises and falls with the water level, pulling the rope 604 and causing the pile 603 to rotate. The first angle encoder 602 detects the change in the rotation angle of the pile 603 in real time. The control module calculates the elongation of the rope 604 based on this, thereby obtaining the water level height at the corresponding moment. At the same time, combined with the water flow velocity detected by the flow velocity detection device 5, a comprehensive judgment is made on the water state. When the control module determines that the water surface height fluctuation is less than the threshold and the water flow is in a slow state within the preset time window, it automatically triggers the scanning process of the scanning device 705, and records the water surface height data synchronously during the scanning process. After the scanning is completed, the control module correlates and corrects the water surface height information with the three-dimensional point cloud data obtained by the scanning device 705. Through this implementation method, three-dimensional scanning is carried out under relatively stable water surface conditions, avoiding the interference of violent water surface fluctuations on the riverbank scanning results, thereby improving the accuracy and comparability of the three-dimensional change data of the upper riverbank area.

[0108] After completing the 3D scanning of the riverbank, the equipment enters the riverbed inspection process. At the start of the inspection, the control module controls the lifting motor 701 to move the threaded cylinder 703 downward. The pressure ring 909 then squeezes the upper airbag 901, causing the gas in the upper airbag 901 to enter the lower airbag 905 through the air pipe 902. The buoyancy generated by the expansion of the lower airbag 905 is greater than the sum of the self-weight of the lifting rod 903, the support plate 906, and the connecting piece 904 of the lifting structure, thereby driving the entire floating assembly to float upward and causing the support plate 906 to detach from the riverbed. Subsequently, the control module drives the lifting motor 701 in the opposite direction, and the pressure ring 909 moves upward, causing the upper airbag 901 to return to the inflated and air-absorbing state. The gas in the lower airbag 905 is drawn back into the upper airbag 901. The aforementioned floating components descend slowly under their own weight until the support plate 906 contacts the riverbed again. During this lifting and lowering process, the lifting rod 903 slides up and down along the inner wall of the frame 4, and its outer wall contacts the rotating wheel 908. The rotating wheel 908 rotates, and the change in rotation angle is detected by the second angle encoder 907. The control module calculates the vertical displacement of the lifting rod 903 and the support plate 906 of the lifting structure based on the rotation angle and the diameter of the rotating wheel 908. By periodically repeating the above floating and sinking process, the support plate 906 can be prevented from being buried by silt for a long time. At the same time, data on changes in riverbed height at different time points can be obtained, thereby realizing quantitative monitoring of changes in riverbed scouring or sedimentation.

[0109] When abnormal water level changes, increased water flow, or rapid changes in the riverbed are detected, the control module can adjust the scanning frequency or pause scanning and retract the lidar into the sealed cavity, thereby ensuring the safe operation of the equipment.

[0110] The control method of the ecological riverbank three-dimensional change scanning device in this embodiment has the same beneficial effects as the existing technology, and will not be repeated here.

[0111] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A three-dimensional change scanning device for ecological riverbank zones, characterized in that, include: A fixed component (100) is configured to be set across the river channel; The support frame (4) is installed between the two ends of the fixing component (100); The scanning mechanism (7), which is installed on the frame (4), is used to perform three-dimensional scanning of the scanning area of ​​the ecological riverbank zone on both sides of the river. A water level detection mechanism (6) is installed on the support frame (4) to obtain water level height data; A flow velocity detection device (5) is installed on the stand (4) and is located below the water surface, for acquiring water flow velocity data in the scanning area; A control module is electrically connected to the scanning mechanism (7), the water level detection mechanism (6), and the flow velocity detection device (5), respectively; wherein the control module is configured as follows: According to the first preset condition, the scanning mechanism (7) is controlled to perform a three-dimensional scanning operation on the scanning area to obtain three-dimensional point cloud data; wherein, the first preset condition includes: the change range of the water surface height data obtained by the water level detection mechanism (6) is less than the first threshold, and the water flow velocity data obtained by the flow velocity detection device (5) is in a slow flow state. The target water surface height data recorded by the water level detection mechanism (6) during the scanning process is obtained, and the target water surface height data is correlated and corrected with the three-dimensional point cloud data.

2. The three-dimensional change scanning device for ecological riverbank zones according to claim 1, characterized in that, The support frame (4) includes a support frame body (401) and a first sealing structure (402). The first sealing structure (402) is installed on the top of the support frame body (401), and the top of the first sealing structure (402) is provided with an opening. The scanning mechanism (7) includes a scanning device (705), a lifting motor (701), and a transmission assembly. The lifting motor (701) is mounted on the stand (4). The two ends of the transmission assembly are respectively connected to the output shaft of the lifting motor (701) and the scanning device (705), and are used to convert the rotational motion of the lifting motor (701) into the lifting motion of the scanning device (705), so as to switch the non-scanning state of the scanning device (705) in the first sealing structure (402) and the scanning state when it rises from the first sealing structure (402) through the opening.

3. The three-dimensional change scanning device for ecological riverbank zones according to claim 2, characterized in that, The transmission assembly includes a threaded rod (702), a threaded cylinder (703), and a moving plate (704). The output shaft of the lifting motor (701) is connected to the bottom end of the threaded rod (702). The top end of the threaded rod (702) is threadedly connected to the threaded cylinder (703). The top end of the threaded cylinder (703) is connected to the moving plate (704). The scanning device (705) is mounted on the top of the moving plate (704).

4. The three-dimensional change scanning device for ecological riverbank zones according to claim 2, characterized in that, The scanning mechanism (7) further includes a shielding assembly, which includes a shielding motor (706), a connecting rod structure (708), and a cover plate (707). The shielding motor (706) is installed on the outer side wall of the first sealing structure (402). The two ends of the connecting rod structure (708) are fixedly connected to the output shaft of the shielding motor (706) and the cover plate (707), respectively. The connecting rod structure (708) is used to convert the rotational motion of the shielding motor (706) into a flipping motion of the cover plate (707) to shield or open the opening.

5. The three-dimensional change scanning device for ecological riverbank zones according to claim 1, characterized in that, The water level detection mechanism (6) includes a fixed plate (601), a first angle encoder (602), a bob (603), a reset structure, a pull rope (604), and a float (605). The fixed plate (601) is installed on the top of the support frame (4). The bob (603) is connected to the fixed plate (601) through the reset structure. One end of the pull rope (604) is fixedly connected to the bob (603), and the pull rope (604) is wound around the bob (603). The other end of the pull rope (604) is connected to the float (605). The float (605) is configured to contact the water surface and is used to drive the pull rope (604) wound around the bob (603) to generate displacement as the height of the water surface changes. The detection end of the first angle encoder (602) is connected to the bob (603) and is used to detect the rotation angle of the bob (603).

6. The three-dimensional change scanning device for ecological riverbank zones according to claim 1, characterized in that, A hollow area is provided between the two ends of the support frame (4), and the flow velocity detection device (5) is installed in the hollow area. The flow velocity detection device (5) is arranged along the water flow direction of the river.

7. The three-dimensional change scanning device for ecological riverbank zones according to claim 3, characterized in that, It also includes a riverbed detection mechanism (8), which is installed on the support frame (4) and is used to acquire data on the height change of the riverbed at different times; The control module is electrically connected to the riverbed detection mechanism (8) and is used to perform correlation analysis between the riverbed height change data acquired multiple times and the three-dimensional point cloud data to output the three-dimensional change data of the ecological riverbank zone.

8. The three-dimensional change scanning device for ecological riverbank zones according to claim 7, characterized in that, The riverbed detection mechanism (8) includes an air supply component, a floating component, a second angle encoder (907), and a rotating wheel (908). The floating component includes a lifting structure and a lower airbag (905). The lifting structure is connected to the lower airbag (905). The bottom end of the lifting structure is configured to connect with the riverbed. The second angle encoder (907) is installed at the bottom end of the support body (401). The rotating wheel (908) is tactilely connected to the lifting structure. The detection end of the second angle encoder (907) is connected to the rotating wheel (908) for detecting the angle change data of the rotating wheel (908). The threaded cylinder (703) is connected to the top end of the air supply assembly, which is in communication with the lower airbag (905) and is used to perform air extraction or inflation operations on the lower airbag (905) as the threaded cylinder (703) moves up or down.

9. The three-dimensional change scanning device for ecological riverbank zones according to claim 8, characterized in that, The support frame (4) also includes a second sealing structure (403), which is installed below the first sealing structure (402); The air supply assembly includes a pressure ring (909), an upper airbag (901), and an air tube (902). The threaded cylinder (703) is fixedly connected to the pressure ring (909). The upper airbag (901) is installed inside the second sealing structure (403) and is located outside the threaded rod (702). The pressure ring (909) is fixedly connected to the top of the upper airbag (901). The upper airbag (901) is connected to the lower airbag (905) through the air tube (902).

10. A control method for a three-dimensional change scanning device for ecological riverbank zones, characterized in that, A three-dimensional change scanning device for ecological riverbank zones is applied. The device includes a fixed component (100), a frame (4), a scanning mechanism (7), a water level detection mechanism (6), a flow velocity detection device (5), and a control module. The fixed component (100) is configured to span the river channel. The frame (4) is mounted on the fixed component (100). The scanning mechanism (7), the water level detection mechanism (6), and the flow velocity detection device (5) are all mounted on the frame (4). The control method includes the following steps: According to the first preset condition, the scanning mechanism (7) is controlled to perform a three-dimensional scanning operation on the scanning area to obtain three-dimensional point cloud data; wherein, the first preset condition includes: the change range of the water surface height data obtained by the water level detection mechanism (6) is less than the first threshold, and the water flow velocity data obtained by the flow velocity detection device (5) is in a slow flow state. The target water surface height data recorded by the water level detection mechanism (6) during the scanning process is obtained, and the target water surface height data is correlated and corrected with the three-dimensional point cloud data.

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