Mobile three-dimensional laser scanning device for tunnel

Abstract

The utility model discloses a mobile three-dimensional laser scanning device for a tunnel. The mobile three-dimensional laser scanning device comprises a workbench with supporting legs, walking wheels, a three-dimensional laser scanner, a gyroscope, a controller, a ball joint seat, a platform plate and two sets of electric cylinders, the ball joint seat comprises a seat body and a ball head; the electric cylinder comprises a cylinder body and a screw rod; the walking wheels are fixedly connected to the lower ends of the supporting legs; the seat body and the two cylinder bodies are arranged in a triangular shape, and the seat body and the cylinder bodies are respectively and fixedly connected with the workbench; the ball head is fixedly connected with a supporting rod, and the supporting rod is fixedly connected with the platform plate. A groove corresponding to the end part of the screw rod is formed in the lower end of the platform plate; the end part of the screw rod extends into the groove and is in contact with the top surface of the groove; the screw rod can slide along the top surface of the groove; the gyroscope is fixedly connected to the platform plate, and the three-dimensional laser scanner is fixedly connected to the workbench; the controller is electrically connected with the gyroscope and the electric cylinder. The utility model has the advantage that the efficiency of multi-site measurement in the tunnel is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of surveying and mapping equipment, and particularly relates to a mobile three-dimensional laser scanning device for tunnels. Background Technique

[0002] In the surveying and mapping work during tunnel construction, in order to accurately obtain the three-dimensional laser point cloud spatial information data of the entire tunnel, workers usually need to frequently change the position of the three-dimensional laser scanner so as to collect data from different angles and positions. Whenever the measurement site is transferred, they have to separate the three-dimensional laser scanner from its supporting tripod, and after transporting it to the new measurement point, they also need to reassemble the equipment and level the instrument. This series of steps not only increases the complexity of the work and reduces the work efficiency of point cloud data collection, but also there is a certain risk during the frequent disassembly and assembly process, that is, the operator may accidentally drop the three-dimensional laser scanner, thus resulting in damage to the expensive equipment and corresponding economic losses. Content of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide a mobile three-dimensional laser scanning device for tunnels.

[0004] In order to solve the above technical problem, the technical solution of the utility model is as follows:

[0005] A mobile three-dimensional laser scanning device for tunnels, comprising a workbench with legs, walking wheels, a three-dimensional laser scanner, a gyroscope, a controller, a spherical joint seat, a platform plate, and two sets of electric cylinders; the spherical joint seat includes a seat body and a ball head; the electric cylinder includes a cylinder body and a lead screw; the walking wheels are fixedly connected to the lower ends of the legs; the seat body and the two cylinder bodies are arranged in a triangle, and the seat body and the cylinder bodies are respectively fixedly connected to the workbench; the ball head is fixedly connected to a support rod, and the support rod is fixedly connected to the platform plate; a groove corresponding to the end of the lead screw is arranged at the lower end of the platform plate; the end of the lead screw extends into the groove and contacts the top surface of the groove; the lead screw can slide along the top surface of the groove; the gyroscope is fixedly connected to the platform plate, and the three-dimensional laser scanner is fixedly connected to the workbench; the controller is electrically connected to the gyroscope and the electric cylinders respectively.

[0006] Preferably, a storage table fixedly connected to the legs is arranged below the workbench.

[0007] Preferably, a pusher is arranged on one side of the workbench.

[0008] Preferably, the end of the lead screw is spherical.

[0009] Preferably, a mounting seat is fixedly connected to the upper end of the platform plate, and the three-dimensional laser scanner is fixedly connected to the mounting seat.

[0010] Preferably, the end of the lead screw is connected to the groove by magnetic attraction.

[0011] Adopting the above technical solution, the following advantages are achieved:

[0012] The utility model is ingeniously designed and easy to operate. The entire device can be easily moved by pushing, thereby realizing the three-dimensional laser scanning of tunnel facilities. Compared with the traditional station-type three-dimensional laser scanner, the greatest advantage of this innovative device is that it does not require repeated disassembly of the equipment, reinstallation of the tripod, and leveling when changing the measurement position. This not only greatly simplifies the operation process, reduces the time consumed due to frequent change of measurement stations, but also significantly improves the efficiency of multi-station measurement inside the tunnel, making the entire three-dimensional laser scanning task more efficient and fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is the front view of the utility model, with partial sectioning;

[0014] Figure 2 is Figure 1 the top view of;

[0015] Figure 3 is Figure 1 the left view of;

[0016] Figure 4 is Figure 1 the perspective view of;

[0017] Figure 5 is Figure 1 the enlarged view of part A in;

[0018] In the figure:

[0019] 1 - leg, 2 - workbench, 3 - walking wheel, 4 - three-dimensional laser scanner, 5 - gyroscope, 6 - controller, 7 - spherical joint seat, 8 - platform plate, 9 - electric cylinder, 10 - seat body, 11 - ball head, 12 - cylinder body, 13 - lead screw, 14 - support rod, 15 - groove, 16 - storage table, 17 - pusher, 18 - mounting seat. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following further describes the specific embodiments of the utility model with reference to the drawings. It should be noted here that the description of these embodiments is for helping to understand the utility model, but does not constitute a limitation to the utility model. In addition, the technical features involved in the various embodiments of the utility model described below can be combined with each other as long as they do not conflict with each other.

[0021] As shown in the attached drawings, a mobile three-dimensional laser scanning device for tunnels includes a workbench 2 with legs 1, traveling wheels 3, a three-dimensional laser scanner 4, a gyroscope 5, a controller 6, a ball joint seat 7, a platform plate 8, and two sets of electric cylinders 9; the ball joint seat 7 includes a seat body 10 and a ball head 11; the electric cylinder 9 includes a cylinder body 12 and a lead screw 13; the traveling wheels 3 are fixedly connected to the lower ends of the legs 1; the seat body 10 and the two cylinder bodies 12 are arranged in a triangle, and the seat body 10 and the cylinder bodies 12 are respectively fixedly connected to the workbench 2; the ball head 11 is fixedly connected to a support rod 14, and the support rod 14 is fixedly connected to the platform plate 8; a groove 15 corresponding to the end of the lead screw 13 is provided at the lower end of the platform plate 8; the end of the lead screw 13 extends into the groove 15 and contacts the top surface of the groove 15; the lead screw 13 can slide along the top surface of the groove 15; the gyroscope 5 is fixedly connected to the platform plate 8, and the three-dimensional laser scanner 4 is fixedly connected to the workbench 2; the controller 6 is electrically connected to the gyroscope 5 and the electric cylinder 9 respectively.

[0022] As a further improved technical solution of this embodiment, a storage table 16 fixedly connected to the legs 1 is provided below the workbench 2, which is convenient for placing auxiliary objects.

[0023] As a further improved technical solution of this embodiment, a pusher 17 is provided on one side of the workbench 2 to facilitate hand support during pushing.

[0024] As a further improved technical solution of this embodiment, the end of the lead screw 13 is spherical, which can reduce the resistance during sliding.

[0025] As a further improved technical solution of this embodiment, a mounting seat 18 is fixedly connected to the upper end of the platform plate 8, and the three-dimensional laser scanner 4 is fixedly connected to the mounting seat 18. By providing the mounting seat 18, it is convenient for the disassembly and assembly of the three-dimensional laser scanner 4.

[0026] As a further improved technical solution of this embodiment, the end of the lead screw 13 is connected to the groove 15 by a magnetic attraction method to further improve the stability of the adjustment of the platform plate 8. For example, a magnetic attraction head is fixedly connected to the end of the lead screw 13, and an iron sheet is provided on the top surface of the groove 15 to achieve this.

[0027] In this embodiment, the three-dimensional laser scanner 4 can adopt SX10 or KSCAN - Magic, the gyroscope 5 can adopt the ADXRS910WBRGZ - RL gyroscope, and the controller 6 can adopt the H1E - 2416MR - XP type PLC controller of Inovance.

[0028] During the measurement process in the tunnel, after reaching the designated measurement site, the device needs to be assembled in place first. Subsequently, the controller 6 in the device will automatically control the electric cylinder 9 to adjust the attitude of the device according to the tilt signal detected by the gyroscope 5, complete precise leveling, and ensure the high reliability and accuracy of the collected point cloud data. After completing the data collection at the current site, the operator only needs to manually push the device to the next measurement point. After the device stops and maintains a stable state, the controller 6 will start the automatic leveling function again, and then start a new round of tunnel point cloud data collection work. This process not only simplifies the operation steps but also effectively improves the efficiency and quality of multi-site measurement in the tunnel.

[0029] The gyroscope 5, controller 6, etc. involved in the present utility model are all prior arts, which can be fully realized by those skilled in the art and will not be elaborated here. At the same time, the content protected by the present utility model does not involve the improvement of software and methods.

[0030] The above has described in detail the embodiments of the present utility model in conjunction with the accompanying drawings, but the present utility model is not limited to the described embodiments. For those skilled in the art, without departing from the principle and spirit of the present utility model, various changes, modifications, substitutions, and variations made to these embodiments still fall within the protection scope of the present utility model.

Claims

1. A mobile three-dimensional laser scanning device for a tunnel, comprising a workbench (2) with legs (1), a running wheel (3), a three-dimensional laser scanner (4), a gyroscope (5), a controller (6), a ball joint seat (7), a platform plate (8), and two sets of electric cylinders (9); the ball joint seat (7) comprises a seat body (10) and a ball head (11); the electric cylinder (9) comprises a cylinder body (12) and a lead screw (13); characterized in that: The walking wheel (3) is fixedly connected to the lower end of the support leg (1); the base (10) and the two cylinder bodies (12) are arranged in a triangle, and the base (10) and the cylinder bodies (12) are respectively fixedly connected to the workbench (2); the ball head (11) is fixedly connected to a support rod (14), and the support rod (14) is fixedly connected to the platform plate (8); a groove (15) corresponding to the end of the screw rod (13) is provided at the lower end of the platform plate (8); the end of the screw rod (13) extends into the groove (15) and contacts the top surface of the groove (15); the screw rod (13) can slide along the top surface of the groove (15); the gyroscope (5) is fixedly connected to the platform plate (8), and the three-dimensional laser scanner (4) is fixedly connected to the workbench (2); the controller (6) is respectively electrically connected to the gyroscope (5) and the electric cylinder (9).

2. The mobile three-dimensional laser scanning device for tunnels according to claim 1, characterized in that: A storage table (16) fixedly connected to the supporting legs (1) is arranged below the workbench (2).

3. The mobile three-dimensional laser scanning device for tunnels according to claim 1 or 2, characterized in that: A push handle (17) is provided on one side of the workbench (2).

4. The mobile three-dimensional laser scanning device for tunnels according to claim 1 or 2, characterized in that: The end of the screw rod (13) is spherical.

5. The mobile three-dimensional laser scanning device for tunnels according to claim 1 or 2, characterized in that: The upper end of the platform plate (8) is fixedly connected to a mounting seat (18), and the three-dimensional laser scanner (4) is fixedly connected to the mounting seat (18).

6. The mobile three-dimensional laser scanning device for tunnels according to claim 3, characterized in that: The upper end of the platform plate (8) is fixedly connected to a mounting seat (18), and the three-dimensional laser scanner (4) is fixedly connected to the mounting seat (18).

7. The mobile three-dimensional laser scanning device for tunnels according to claim 1 or 2, characterized in that: The end of the screw rod (13) is connected to the groove (15) by magnetic attraction.

8. The mobile three-dimensional laser scanning device for tunnels according to claim 3, characterized in that: The end of the screw rod (13) is connected to the groove (15) by magnetic attraction.

9. The mobile three-dimensional laser scanning device for tunnels according to claim 4, characterized in that: The end of the screw rod (13) is connected to the groove (15) by magnetic attraction.

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