Folding three-dimensional imaging device based on single-line laser radar

Abstract

The utility model provides a folding three-dimensional imaging device based on a single-line laser radar, and belongs to the field of 3D imaging. The problems that an existing three-dimensional imaging device is poor in effect, low in speed and not easy to transport in measurement of vertical pothole engineering are solved. Comprising a foldable suspension device and a laser radar platform, the foldable suspension device comprises a base, a foldable mechanism, a driving device, a control device and a transmission device are fixed to the base, the foldable mechanism comprises a vertical rod, a horizontal frame and a cantilever, and one end of the vertical rod is connected with the base through a first hinge; the other end of the vertical rod is connected with a horizontal frame through a second hinge, and a cantilever is fixed to the far end of the horizontal frame. The driving equipment comprises a motor and a winding drum; a steel wire rope is wound on the winding drum, and the other end of the steel wire rope penetrates through the fixed pulley and then is connected with the laser radar platform. The vertical hole pit measuring device is applied to vertical hole pit measurement.

Description

Technical Field

[0001] The utility model provides a foldable three-dimensional imaging device based on a single-line laser radar, belonging to the technical field of three-dimensional imaging. Background Art

[0002] With the continuous advancement of science and technology, the application of 3D imaging technology is becoming increasingly widespread across various fields. In particular, in engineering construction, the demand for 3D imaging of vertical pits (such as mines, deep wells, and tunnels, hereinafter referred to as vertical pits) is becoming increasingly prominent. Traditional measurement methods, such as manual surveying and total stations, are not only inefficient but also pose safety risks. In recent years, LiDAR technology, with its non-contact, high-precision, and high-efficiency characteristics, has made significant progress in the field of 3D imaging.

[0003] However, measuring vertical pits and holes has always been a challenge. Without efficient equipment, manual measurement is often the only option. This results in poor results, slow speeds, and difficulty obtaining complete digital data. Existing equipment is generally integrated, non-foldable, and difficult to transport. Utility Model Content

[0004] In order to solve the problems of poor effect, slow speed and difficult transportation of existing three-dimensional imaging equipment in the measurement of vertical pothole projects, the utility model proposes a foldable three-dimensional imaging device based on a single-line laser radar. The purpose is to improve the hardware structure of the three-dimensional imaging device so that the three-dimensional imaging device can work quickly and efficiently in vertical pothole projects.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: a foldable three-dimensional imaging device based on a single-line laser radar, comprising a foldable suspension device and a laser radar platform, wherein the foldable suspension device comprises a base, on which a foldable mechanism, a drive device, a control device, and a transmission device are fixed, and the foldable mechanism comprises a vertical rod, a horizontal frame, and a cantilever, wherein one end of the vertical rod is connected to the base via a first hinge, and the other end of the vertical rod is connected to the horizontal frame via a second hinge, and the cantilever is fixed to the far end of the horizontal frame;

[0006] The driving device includes a motor controller, a motor driver, a motor and a reel fixed on a base, wherein the motor controller is connected to the motor driver via a wire, the motor driver is connected to the motor via a wire, and the motor is connected to the reel;

[0007] The control device includes a battery fixed on the base, a control panel and a computer, the battery is used to power various electrical components of the foldable suspension device, and the control panel is connected to the computer;

[0008] The transmission device includes an upper guide wheel and a side guide wheel fixed at the proximal end and the distal end of the horizontal frame, and a front guide wheel fixed at the bottom of the cantilever. A steel wire rope is wound around the drum, and the other end of the steel wire rope passes through the upper guide wheel, the side guide wheel, and the front guide wheel respectively and is fixedly connected to the laser radar platform.

[0009] The laser radar platform consists of a control box, a laser radar, and a rangefinder. The laser radar and rangefinder are both arranged at the bottom of the control box. An operation panel is also provided on one side of the control box. A lifting lug is provided on the top of the control box. A battery, a control circuit, a microcontroller, and a wireless communication module are provided inside the control box. The laser radar platform communicates with a computer through the wireless communication module.

[0010] The foldable suspension device specifically uses dual motors and dual steel ropes, and is guided and pulled by two sets of upper guide wheels, side guide wheels, and front guide wheels. The two sets of motors independently control the winding and paying out of the wires to pull the lidar platform up, down, and level.

[0011] The control panel is provided with a control screen, several buttons and instruments for displaying and controlling the lifting and lowering of the laser radar platform.

[0012] The operation panel is provided with a switch, a charging port and buttons for charging, starting up and function control.

[0013] The first hinge and the second hinge are respectively installed on the inner side and the outer side of the vertical rod.

[0014] The laser radar adopts a single-line laser radar.

[0015] The distance meter is a laser or ultrasonic distance meter.

[0016] The lower guide wheel, upper guide wheel, side guide wheel and front guide wheel are all fixed pulleys.

[0017] The vertical rods, horizontal frames and cantilevers are made of aluminum profiles.

[0018] A lifting lug is provided on the top of the laser radar platform for connecting with a steel wire rope.

[0019] The beneficial effects of the present invention compared to the prior art are:

[0020] 1. The suspended retractable equipment can provide a complete 3D point cloud description of the vertical pit without the need for personnel to enter the pit, greatly saving time and manpower.

[0021] 2. Use high-precision laser radar for measurement, ensuring accurate distance information;

[0022] 3. Dual motors are independently controlled and can be leveled;

[0023] 4. The LiDAR platform uses wireless connection, eliminating the need for communication cables;

[0024] 5. Use a fixed pulley to guide the wire rope so that it forms a triangular angle with the LiDAR platform to prevent the LiDAR platform from shaking left and right.

[0025] 6. Generate high-precision point cloud data in real time, greatly improving work efficiency;

[0026] 7. The foldable design makes it easy to transport the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below with reference to the accompanying drawings:

[0028] Figure 1 This is a schematic diagram of the structure of the utility model in a folded state when the laser radar platform is not installed;

[0029] Figure 2 This is a schematic diagram of the fully expanded structure of the utility model when the laser radar platform is not installed;

[0030] Figure 3 This is a schematic diagram of the structure of the laser radar platform of the utility model;

[0031] In the figure: 1 is the base, 2 is the vertical rod, 3 is the horizontal frame, 4 is the cantilever, 5 is the first hinge, 6 is the second hinge, 7 is the motor, 8 is the drum, 9 is the fixed seat, 10 is the upper guide wheel, 11 is the side guide wheel, 12 is the front guide wheel, 13 is the wire rope, 131 is the left wire rope, 132 is the right wire rope, 14 is the lifting lug, 15 is the control box body, 16 is the operation panel, 17 is the laser radar, and 18 is the laser rangefinder. DETAILED DESCRIPTION

[0032] like Figures 1 to 3As shown, the utility model provides a foldable three-dimensional imaging device based on a single-line laser radar, including a foldable suspension device and a laser radar platform, wherein the foldable suspension device adopts a motor, a steel wire, and a foldable mechanism, and is guided and pulled by a fixed pulley to pull the laser radar platform up and down, and the foldable mechanism can be quickly unfolded when measurement is required. The laser radar platform uses a single-line laser radar, which has the characteristics of fast scanning and high precision. The laser radar obtains the distance information of the target surface by emitting a laser beam and receiving reflected light, thereby generating point cloud data. The laser radar platform can know the distance information of objects 360 degrees around the horizontal plane of the platform radar position. The platform is also provided with a laser or ultrasonic rangefinder to measure the distance to the bottom of the pit. The foldable suspension device is also equipped with a data processing system, which is executed by a computer. The computer controls the foldable suspension device and fuses data from the LiDAR and the rotation of the suspension motor to generate three-dimensional point cloud data for vertical pit-type projects. (This software algorithm uses existing technology, such as the fusion method in a 3D point cloud data synthesis system based on 2D LiDAR disclosed in Patent Publication No. CN112630795B. This utility model does not improve the software algorithm.) The vertical distance sensor on the LiDAR platform can also be used to detect the pit bottom. The foldable suspension device and the LiDAR platform have their own power systems. The foldable suspension device provides power to the motor and computer, which can be powered by batteries or an adapter. The LiDAR platform has a built-in battery and can operate independently. The LiDAR platform communicates with the computer wirelessly, while the foldable suspension device connects to the computer via a wired or wireless connection.

[0033] The foldable suspension device includes a base 1, on which a control panel, a battery, a motor controller, a motor driver, two motors 7, two reels 8 and a foldable mechanism are provided. The motor shaft and the reel shaft are connected, and the reel 8 is driven to rotate by the motor 7. A steel wire rope 13 is wound around the reel 8, and the steel wire 13 is connected to the laser radar platform. In this embodiment, two sets of motors 7, reels 8 and steel wire ropes 13 are used. The two sets of steel wire ropes 13 can be respectively connected to the top two ends of the laser radar platform. The two sets of motors 7 can independently control the winding and releasing of the wires. The laser radar platform can be raised and lowered by the motor 7, reel 8 and steel wire rope 13.

[0034] Specifically, the motor 7 uses a synchronous belt to connect the reel 8, and the reel 8 is fixed on the base 1 using two bearing seats. The reel shaft can drive the outer reel to rotate, and can reel in or release the wire rope 13. The wire rope 13 is wound on the reel 8 in advance.

[0035] The foldable mechanism includes two fixing seats 9 fixed on the base 1, and the first hinged end faces of the first hinge 5 are fixed on the two fixing seats 9 respectively, and the second hinged end faces of the two first hinges 5 are also respectively connected to one end of the two vertical rods 2, and the first hinged end faces of the second hinge 6 are also respectively fixed on the other ends of the two vertical rods 2, and the second hinged end faces of the two second hinges 6 are also respectively fixed to the two rods of the horizontal frame 3, and a cantilever 4 is fixed at the far end of the horizontal frame 3, wherein the first hinge 5 and the second hinge 6 are respectively fixed on the inner and outer sides of the vertical rod 2, so that the vertical rod 2 can be folded to a horizontal plane, and the horizontal frame 3 can also be folded above the vertical rod 2, so that the entire foldable mechanism can be folded when not in use for convenient transportation and storage.

[0036] Two upper guide wheels 10 are fixed on the rod connecting the horizontal frame 3 and the two vertical rods 2. Two side guide wheels 11 are also fixed at the far end of the horizontal frame 3. Two front guide wheels 12 are fixed on the cantilever 4. The wire rope 13 passes through the upper guide wheel 10, side guide wheel 11 and front guide wheel 12 on the corresponding side in sequence and is fixedly connected to the laser radar platform. The arrangement of the upper guide wheel 10, side guide wheel 11 and front guide wheel 12 can ensure the direction and stability of the wire rope 13 when the line is retracted and released. Among them, the upper guide wheel 10, side guide wheel 11 and front guide wheel 12 are all fixed pulleys. The wire rope 13 is guided by the fixed pulley to reach the horizontal frame 3, then passes through the side guide wheel 11, and then extends downward from the outside of the front guide wheel 12 and is connected to the laser radar platform.

[0037] The control panel, battery, motor controller, and motor driver are not shown in the figure. The battery can provide power to the entire foldable suspension device. The control panel consists of several buttons, a control screen, and instruments. The motor controller is powered by the battery and connected to the motor driver. The motor controller is used to control motor 7 and provide control signals to the motor driver to control the movement of motor 7. The motor driver is used to drive motor 7, which can use a servo motor or a stepper motor as required. The two motors 7 are fixed to the base 1 using a fixed bracket.

[0038] The LiDAR platform consists of a control box 15, a LiDAR 17, a laser rangefinder 18, and left and right steel cables 131 and 132. The control box 15 features an operation panel 16 and four lifting lugs 14. The control box 15 houses a battery, control circuitry, a microcontroller, and a wireless communication module. The LiDAR 17 and laser rangefinder 18 are affixed to the bottom of the control box 15. The LiDAR 17 scans the distance to horizontal objects, while the laser rangefinder 18 collects the distance below, enabling automatic stopping to prevent the platform from bottoming out and causing damage. The operation panel 16 is equipped with a switch, a charging port, and buttons for charging, powering on, and controlling functions. The internal wireless communication module allows direct communication with a computer, transmitting radar and laser rangefinder data directly to the computer and receiving computer control information, such as turning the radar on or off. The radar should be turned off when not in use to conserve power.

[0039] The operating principle of this utility model is as follows:

[0040] Secure the base 1 of the foldable suspension system to a device. First, unfold the foldable mechanism. Then, secure the two steel cables 13 through the upper guide wheel 10, the side guide wheels 11, and the front guide wheel 12 to the lifting lugs 14 on either side of the LiDAR platform. Power on the foldable suspension system and the LiDAR platform. Operate the motors 7 on each side of the foldable suspension system to level the LiDAR platform. Extend the cantilever 4 of the foldable suspension system above the vertical pit, allowing the LiDAR platform to descend properly into the pit.

[0041] Through the computer, turn on the laser radar 17 and start the motor 7 to perform the line-releasing operation. The laser radar 17 sends the collected information to the computer through the wireless communication module. The computer outputs the three-dimensional position information of each point and displays it in real time through the control panel.

[0042] During the descent, the computer continuously monitors the data of the laser rangefinder 18. When the distance reaches the set distance, the computer controls the motor 7 to decelerate and stop. After summarizing the data, the user presses a button to retract, and the motor 7 will retract in the reverse direction. When it reaches the distance just released, it will automatically decelerate and stop, completing the measurement.

[0043] Regarding the specific structure of the present invention, it should be noted that the connection relationship between the various component modules adopted in the present invention is definite and feasible. Except for the special instructions in the embodiments, the specific connection relationship can bring about corresponding technical effects and solve the technical problems raised by the present invention without relying on the execution of the corresponding software program. The components, modules, models of specific components appearing in the present invention, the connection methods between each other, and the conventional usage methods and expected technical effects brought about by the above-mentioned technical features, except for the specific instructions, all belong to the disclosed contents in patents, journal articles, technical manuals, technical dictionaries, and textbooks that can be obtained by technical personnel in this field before the application date, or belong to the existing technologies such as conventional technology and common knowledge in this field, and there is no need to elaborate, so that the technical solution provided in this case is clear, complete, and feasible, and the corresponding physical products can be reproduced or obtained based on this technical means.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A foldable three-dimensional imaging device based on a single-line laser radar, characterized by: The invention comprises a foldable suspension device and a laser radar platform. The foldable suspension device comprises a base, on which a foldable mechanism, a driving device, a control device and a transmission device are fixed. The foldable mechanism comprises a vertical rod, a horizontal frame and a cantilever. One end of the vertical rod is connected to the base via a first hinge, and the other end of the vertical rod is connected to the horizontal frame via a second hinge. The cantilever is fixed to the far end of the horizontal frame. The driving device includes a motor controller, a motor driver, a motor and a reel fixed on a base, wherein the motor controller is connected to the motor driver via a wire, the motor driver is connected to the motor via a wire, and the motor is connected to the reel; The control device includes a battery fixed on the base, a control panel and a computer, the battery is used to power various electrical components of the foldable suspension device, and the control panel is connected to the computer; The transmission device includes an upper guide wheel and a side guide wheel fixed at the proximal end and the distal end of the horizontal frame, and a front guide wheel fixed at the bottom of the cantilever. A steel wire rope is wound around the drum, and the other end of the steel wire rope passes through the upper guide wheel, the side guide wheel, and the front guide wheel respectively and is fixedly connected to the laser radar platform. The laser radar platform consists of a control box, a laser radar, and a rangefinder. The laser radar and rangefinder are both arranged at the bottom of the control box. An operation panel is also provided on one side of the control box. A lifting lug is provided on the top of the control box. A battery, a control circuit, a microcontroller, and a wireless communication module are provided inside the control box. The laser radar platform communicates with a computer through the wireless communication module.

2. The foldable three-dimensional imaging device based on a single-line laser radar according to claim 1, characterized in that: The foldable suspension device specifically uses dual motors and dual steel ropes, and is guided and pulled by two sets of upper guide wheels, side guide wheels, and front guide wheels. The two sets of motors independently control the winding and paying out of the wires to pull the lidar platform up, down, and level.

3. The foldable three-dimensional imaging device based on a single-line laser radar according to claim 2, characterized in that: The control panel is provided with a control screen, several buttons and instruments for displaying and controlling the lifting and lowering of the laser radar platform.

4. The foldable three-dimensional imaging device based on a single-line laser radar according to claim 2, characterized in that: The operation panel is provided with a switch, a charging port and buttons for charging, starting up and function control.

5. The foldable three-dimensional imaging device based on a single-line laser radar according to claim 2, characterized in that: The first hinge and the second hinge are respectively installed on the inner side and the outer side of the vertical rod.

6. A foldable three-dimensional imaging device based on a single-line laser radar according to any one of claims 1 to 5, characterized in that: The laser radar adopts a single-line laser radar.

7. The foldable three-dimensional imaging device based on a single-line laser radar according to any one of claims 1 to 5, characterized in that: The distance meter is a laser or ultrasonic distance meter.

8. The foldable three-dimensional imaging device based on a single-line laser radar according to any one of claims 1 to 5, characterized in that: The upper guide wheel, side guide wheels and front guide wheel are all fixed pulleys.

9. The foldable three-dimensional imaging device based on a single-line laser radar according to claim 5, characterized in that: The vertical rods, horizontal frames and cantilevers are made of aluminum profiles.

10. The foldable three-dimensional imaging device based on a single-line laser radar according to claim 1, characterized in that: A lifting lug is provided on the top of the laser radar platform for connecting with a steel wire rope.

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