3D imaging equipment based on single-line laser radar

Abstract

The utility model provides a 3D imaging device based on a single-line laser radar, and belongs to the technical field of 3D imaging. The problems that an existing three-dimensional imaging device is poor in effect and low in speed in measurement of vertical pothole engineering are solved. Comprising a suspension device and a laser radar platform, the suspension device is composed of a control panel, a battery, a motor controller, a motor driver, a motor, a winding drum and a lower guide wheel which are arranged on a bottom plate, and an upper guide wheel, a side guide wheel, a front guide wheel, a steel wire rope and related fasteners and transmission parts which are arranged on a support, and the control panel is connected with a computer. The computer is fixed on the bottom plate; the motor is connected with the winding drum through the synchronous belt, one end of the steel wire rope is wound around the winding drum, and the other end of the steel wire rope penetrates through the lower guide wheel, the upper guide wheel, the side guide wheels and the front guide wheel and then is fixedly connected with the laser radar platform. The laser radar platform is composed of a control box body, a laser radar and a range finder. The vertical hole pit measuring device is applied to vertical hole pit measurement.

Description

Technical Field

[0001] The utility model provides a 3D 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 has always been a challenge. Without efficient equipment, most people have to manually measure them. This results in poor results, slow speed, and difficulty in obtaining complete digital data. Utility Model Content

[0004] In order to solve the problems of poor effect and slow speed of existing three-dimensional imaging equipment in the measurement of vertical pothole projects, the utility model proposes a 3D 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 3D imaging device based on a single-line laser radar, including a suspension device and a laser radar platform, wherein the suspension device is composed of a control panel arranged on a base plate, a battery, a motor controller, a motor driver, a motor, a reel, a lower guide wheel, and an upper guide wheel, a side guide wheel, a front guide wheel, a wire rope and related fasteners and transmission parts arranged on a bracket, and the control panel is connected to a computer, which is fixed to the base plate;

[0006] The battery is used to power various electrical components of the suspension equipment. The motor controller is connected to the motor driver via a wire, the motor driver is connected to the motor via a wire, the motor is connected to the drum via a synchronous belt, one end of the wire rope is wound around the drum, and the other end of the wire rope passes through the lower guide wheel, the upper guide wheel, the side guide wheel, and the front guide wheel and is fixedly connected to the lidar platform;

[0007] 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 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.

[0008] The suspension equipment specifically uses dual motors and dual steel ropes, and is guided and pulled by two sets of lower guide wheels, 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.

[0009] 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.

[0010] The operation panel is provided with a switch, a charging port and buttons for charging, starting up and function control.

[0011] The bracket includes two vertical brackets connected to the two ends of the base plate and a horizontal frame fixed on the top of the vertical bracket. A vertical frame is provided at the far end of the horizontal frame. The two upper guide wheels are respectively fixed on the proximal bracket of the horizontal frame, the two side guide wheels are respectively fixed on the far end bracket of the horizontal frame, and the two front guide wheels are respectively fixed on the bottom of the vertical frame. A triangular support frame is also fixed between the two vertical brackets and the base plate, and a horizontal bracket is also fixed between the two vertical brackets.

[0012] The laser radar adopts a single-line laser radar.

[0013] The distance meter is a laser or ultrasonic distance meter.

[0014] The lower guide wheel, upper guide wheel, side guide wheel and front guide wheel are all fixed pulleys.

[0015] The bracket is made of aluminum profile.

[0016] A lifting lug is provided on the top of the laser radar platform for connecting with a steel wire rope.

[0017] The beneficial effects of the present invention compared to the prior art are:

[0018] 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.

[0019] 2. Use high-precision laser radar for measurement, ensuring accurate distance information;

[0020] 3. Dual motors are independently controlled and can be leveled;

[0021] 4. The LiDAR platform uses wireless connection, eliminating the need for communication cables;

[0022] 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.

[0023] 6. Generate high-precision point cloud data in real time, greatly improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings:

[0025] Figure 1 It is a structural diagram of the utility model;

[0026] Figure 2 To remove Figure 1 Schematic diagram of the structure of the middle shell

[0027] Figure 3 for Figure 1 Side view of;

[0028] Figure 4 This is a schematic diagram of the structure of the laser radar platform of the utility model;

[0029] In the figure: 1 is the base plate, 2 is the bracket, 21 is the vertical bracket, 22 is the horizontal frame, 23 is the vertical frame, 24 is the support frame, 25 is the horizontal bracket, 3 is the control panel, 4 is the battery, 5 is the motor controller, 6 is the motor driver, 7 is the motor, 8 is the reel, 9 is the lower guide wheel, 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 eye, 15 is the control box body, 16 is the operation panel, 17 is the laser radar, and 18 is the laser rangefinder. DETAILED DESCRIPTION

[0030] like Figures 1 to 4As shown, the utility model provides a 3D imaging device based on a single-line laser radar, including a suspension device and a laser radar platform, wherein the suspension device adopts dual motors and dual steel wires, and is guided and pulled by two sets of fixed pulleys. The two sets of motors can respectively control the winding and releasing of the wires to pull the laser radar platform up and down. The laser radar platform uses a single-line laser radar, which has the characteristics of rapid scanning and high precision. The laser radar obtains the distance information of the target surface by emitting a laser beam and receiving the 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 suspension device is also equipped with a data processing system, which is executed by a computer. The computer controls the suspension device and fuses the LiDAR data and the rotation data of the suspension motor to generate three-dimensional point cloud data of vertical pit structures. (This software algorithm adopts existing technology, such as the fusion method in a three-dimensional point cloud data synthesis system based on 2D LiDAR disclosed in patent publication number CN112630795B. This utility model does not improve the software algorithm.) The vertical distance sensor on the LiDAR platform can also detect the pit bottom. The suspension device and LiDAR platform have their own power systems. The suspension device provides power to the motor and computer, which can be provided by batteries or an adapter. The LiDAR platform has a built-in battery and can operate independently. The LiDAR platform uses a wireless connection to communicate with the computer, while the suspension device uses a wired or wireless connection to the computer.

[0031] The suspension device is composed of a control panel 3, a battery 4, a motor controller 5, a motor driver 6, two motors 7, two drums 8, two lower guide wheels 9, two upper guide wheels 10, two side guide wheels 11, two front guide wheels 12, two sets of steel wire ropes 13, and related fasteners and transmission parts arranged on the bracket 2, and a shell arranged around the base plate 1. The bracket 2 includes two vertical brackets 21 connecting the two ends of the base plate 1 and a horizontal frame 22 fixed to the top of the vertical bracket 21. A vertical frame 23 is provided at the distal end of the horizontal frame 22. The two upper guide wheels 10 are respectively fixed to the proximal bracket of the horizontal frame 22, the two side guide wheels 11 are respectively fixed to the distal bracket of the horizontal frame 22, and the two front guide wheels 12 are respectively fixed to the bottom of the vertical frame 23. A triangular support frame 24 is also fixed between the two vertical brackets 21 and the base plate 1, and a horizontal bracket 25 is also fixed between the two vertical brackets 21, ensuring the stability and safety of the entire bracket 2.

[0032] The battery 4 provides power to the entire suspension system. The control panel 3 consists of several buttons, a control screen, and instruments. The motor controller 5, powered by the battery 4, is connected to the motor driver 6. The motor controller 5 controls the motor 7, providing control signals to the motor driver 6 to control the movement of the motor 7. The motor driver 6 drives the motor 7, which can be a servo motor or a stepper motor, as required. The two motors 7 are fixed to the base plate 1 using a fixed bracket. The motors 7 are connected to the reels 8 using a synchronous belt. The reels 8 are fixed to the base plate 1 using two bearing blocks. The reel shaft drives the outer reel to rotate, winding and releasing the wire rope 13, which is pre-wound on the reels 8. The wire rope 13 is guided by two fixed pulleys to the upper boom, then passes through the side guide pulley 11 and extends downward from the outside of the front guide pulley 12 to connect to the LiDAR platform. The two wire ropes 13 are connected to either side of the LiDAR platform. By controlling the reel and release of the two motors 7, the LiDAR platform can be leveled, raised, and lowered.

[0033] 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.

[0034] The operating principle of this utility model is as follows:

[0035] After securing the entire suspension system, pass the two steel cables 13 through the lower guide pulley 9, upper guide pulley 10, side guide pulleys 11, and front guide pulley 12, and then secure them to the lifting lugs 14 on either side of the LiDAR platform. Power on the suspension system and the LiDAR platform. Operate the motors 7 on each side of the suspension system to level the LiDAR platform. Extend the suspension system's boom above the vertical pit, allowing the LiDAR platform to descend properly into the pit.

[0036] Through the computer, turn on the laser radar 17 and start the motor 7 to perform the line-laying 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 3.

[0037] During the descent process, the computer continuously monitors the data of the laser rangefinder 18. When the distance reaches the set distance, the computer controls the motor 7 of the suspension device to slow down and stop. After summarizing the data, the user presses a button to recover, and the motor 7 of the suspension device will retract in the reverse direction. When it reaches the distance just released, it will automatically slow down and stop, completing this measurement.

[0038] 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.

[0039] 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 3D imaging device based on a single-line laser radar, characterized by: It includes a suspension device and a laser radar platform. The suspension device is composed of a control panel, a battery, a motor controller, a motor driver, a motor, a reel, a lower guide wheel, and an upper guide wheel, a side guide wheel, a front guide wheel, a wire rope, and related fasteners and transmission parts arranged on a bracket. The control panel is connected to a computer, which is fixed to the base plate. The battery is used to power various electrical components of the suspension equipment. The motor controller is connected to the motor driver via a wire, the motor driver is connected to the motor via a wire, the motor is connected to the drum via a synchronous belt, one end of the wire rope is wound around the drum, and the other end of the wire rope passes through the lower guide wheel, the upper guide wheel, the side guide wheel, and the front guide wheel and is fixedly connected to the lidar 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 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 3D imaging device based on a single-line laser radar according to claim 1, characterized in that: The suspension equipment specifically uses dual motors and dual steel ropes, and is guided and pulled by two sets of lower guide wheels, 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 3D 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 3D 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 3D imaging device based on a single-line laser radar according to claim 2, characterized in that: The bracket includes two vertical brackets connected to the two ends of the base plate and a horizontal frame fixed on the top of the vertical bracket. A vertical frame is provided at the far end of the horizontal frame. The two upper guide wheels are respectively fixed on the proximal bracket of the horizontal frame, the two side guide wheels are respectively fixed on the far end bracket of the horizontal frame, and the two front guide wheels are respectively fixed on the bottom of the vertical frame. A triangular support frame is also fixed between the two vertical brackets and the base plate, and a horizontal bracket is also fixed between the two vertical brackets.

6. The 3D 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 3D 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 3D imaging device based on a single-line laser radar according to any one of claims 1 to 5, characterized in that: The lower guide wheel, upper guide wheel, side guide wheel and front guide wheel are all fixed pulleys.

9. The 3D imaging device based on a single-line laser radar according to claim 5, characterized in that: The bracket is made of aluminum profile.

10. The 3D 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.

Images