Tunnel segment scanning equipment and tunnel segment scanning system

Abstract

The utility model discloses a tunnel segment scanning device and a tunnel segment scanning system, and relates to the technical field of tunnel segment scanning, the tunnel segment scanning device comprises a frame, a moving assembly, a scanning assembly and a detection member, the frame is enclosed to form a scanning area, and a support used for placing a segment is arranged in the frame; the moving assembly is movably connected to the top of the frame; the scanning assembly is installed on the moving assembly, the scanning assembly can be driven by the moving assembly to move in a scanning area, the scanning assembly comprises a connecting framework, a scanner and a plurality of target balls, the interior of the connecting framework is hollowed out, the scanner is arranged in the connecting framework, the target balls are arranged on the connecting framework at intervals, reflection points are arranged on the target balls, and the reflection points are arranged on the connecting framework. The emitting end of the scanner faces the scanning area and is used for scanning the segment; the detection part is used for obtaining the position and posture of each target ball. The moving assembly drives the scanning assembly to scan the duct piece from different positions and angles, and the scanning flexibility is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel segment scanning, in particular to a tunnel segment scanning device and a tunnel segment scanning system. Background Art

[0002] Tunnel segments are a crucial component of tunnel structures, and their accuracy directly impacts tunnel safety and stability. Using 3D scanning technology, tunnel segments can accurately detect their geometric dimensions, shape deviations, and joint quality, thereby ensuring quality control during tunnel construction. However, due to the typically large size of tunnel segments, existing scanning equipment struggles to achieve full coverage, lacks flexibility, and suffers from poor scanning accuracy. Utility Model Content

[0003] The main purpose of this utility model is to propose a tunnel segment scanning device and a tunnel segment scanning system, aiming to solve the technical problems in the prior art that the existing scanning equipment is difficult to achieve full coverage when scanning tunnel segments, the scanning equipment is insufficiently flexible, and the scanning accuracy is poor.

[0004] To achieve the above-mentioned purpose, the tunnel segment scanning equipment proposed in the present invention includes a frame, a moving assembly, a scanning component and a detection component. The frame encloses a scanning area, and a bracket for placing the segment is provided in the frame; the moving assembly is movably connected to the top of the frame; the scanning component is installed on the moving assembly, and the scanning component can move within the scanning area under the drive of the moving assembly. The scanning component includes a connecting frame, a scanner and a plurality of target balls. The interior of the connecting frame is hollowed out, and the scanner is arranged in the connecting frame. The plurality of target balls are arranged at intervals on the connecting frame, and each target ball is provided with a reflection point. The output end of the scanner faces the scanning area and is used to scan the segment; the detection component is used to obtain the position and posture of each target ball.

[0005] In one embodiment, the moving assembly includes a moving beam and a moving column, the moving beam extends along a first horizontal direction, and the two ends of the moving beam are slidably connected to the two sides of the top of the frame along the first horizontal direction, and the moving beam can slide along a second horizontal direction; the first horizontal direction and the second horizontal direction are perpendicular to each other; the moving column is slidably connected to the moving beam, the moving column can slide along the moving beam, and the moving column can be raised and lowered vertically, and the scanning component is installed at the lower end of the moving column.

[0006] In one embodiment, the movable column is connected to the movable beam through a slider, and the slider includes a horizontally arranged sliding portion and a vertically arranged clamping portion, the sliding portion slidingly cooperates with the movable beam, the clamping portion is clamped on the side of the movable column, and the movable column slidingly cooperates with the clamping portion.

[0007] In one embodiment, the lower end of the movable column is connected to a three-axis robotic arm, and the scanning assembly is mounted on the three-axis robotic arm.

[0008] In one embodiment, two slide rails are installed on both sides of the top of the frame along the first horizontal direction, each slide rail extends along the second horizontal direction, and each slide rail is installed with a sliding seat that slides with the corresponding slide rail, and the two ends of the movable beam are respectively connected to the two sliding seats.

[0009] In one embodiment, the tunnel segment scanning device further includes a truss, which is respectively installed on the two sliding seats on both sides along the first horizontal direction, and the truss is staggered with the movable beam, and the detection component is installed on the truss.

[0010] In one embodiment, the connecting frame is hemispherical, a plurality of target balls are distributed on the spherical surface of the connecting frame at intervals, and each target ball is connected to the scanner via a connecting rod.

[0011] In one embodiment, each of the target balls is in the shape of a regular polyhedron, and a plurality of the reflection points are provided on the surface of the target ball.

[0012] In one embodiment, each target sphere has a plurality of square faces and a plurality of regular triangular faces, the angle between any two adjacent square faces is 135°, and each square face is provided with the reflection point.

[0013] The present invention also proposes a tunnel segment scanning system, comprising a processor and the above-mentioned tunnel segment scanning device, wherein the processor is communicatively connected to the mobile assembly, the scanner and the detection component.

[0014] The tunnel segment scanning device and tunnel segment scanning system proposed in the present invention provide a bracket within a frame to stably position the segment within the scanning area. A mobile assembly is connected to the frame, and a scanning component is mounted on the mobile assembly, allowing the scanning component to move within the scanning area driven by the mobile assembly. This allows the segment within the scanning area to be scanned from different positions and angles, achieving full coverage scanning of the tunnel segment and effectively improving the flexibility of the scanning component. Multiple target balls are provided on the connecting frame, with reflection points set on each target ball, ensuring that when the scanning component moves to any position, the detection component can detect the position and posture of the target ball. The target balls can then be used to splice the scanning data at different positions and angles to form a segment model, facilitating the scanning component to perform refined scanning of the segment and effectively improving scanning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0016] Figure 1 A schematic structural diagram of an embodiment of a tunnel segment scanning device provided by the present invention at one viewing angle;

[0017] Figure 2 A schematic structural diagram of an embodiment of a tunnel segment scanning device provided by the present invention from another perspective;

[0018] Figure 3 A schematic diagram of the partial structure of an embodiment of a tunnel segment scanning device provided by the present invention;

[0019] Figure 4 This is a structural schematic diagram of an embodiment of a scanning component and a three-axis robotic arm in a tunnel segment scanning device provided by the present invention;

[0020] Figure 5 This is a structural schematic diagram of an embodiment of a scanning component of the tunnel segment scanning device provided by the present invention.

[0021] Description of Figure Numbers:

[0022] 10. Frame; 11. Slide rail; 20. Moving assembly; 21. Moving beam; 22. Moving column; 23. Slider; 231. Sliding part; 232. Clamping part; 24. Sliding seat; 25. Truss; 30. Scanning assembly; 31. Connecting frame; 32. Scanner; 33. Target ball; 331. Reflection point; 40. Detection part; 50. Three-axis robotic arm.

[0023] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention.

[0025] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0026] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0027] In this utility model, the descriptions of directions such as "up", "down", "front", "back", "left", and "right" are as follows: Figure 1 and Figure 2 The directions shown are for reference only and are used to explain the Figure 1 and Figure 2 The relative positional relationship between the components in the shown posture. If the specific posture changes, the directional indication will also change accordingly.

[0028] It is difficult to achieve full coverage when scanning tunnel segments using existing scanning equipment. The scanning equipment lacks flexibility and has poor scanning accuracy.

[0029] The utility model proposes a tunnel segment scanning device, including a frame 10, a moving assembly 20, a scanning component 30 and a detection component 40. The frame 10 encloses a scanning area, and a bracket for placing the segment is provided in the frame 10; the moving assembly 20 is movably connected to the top of the frame 10; the scanning component 30 is installed on the moving assembly 20, and the scanning component 30 can move within the scanning area under the drive of the moving assembly 20. The scanning component 30 includes a connecting skeleton 31, a scanner 32 and a plurality of target balls 33. The interior of the connecting skeleton 31 is hollow, the scanner 32 is arranged in the connecting skeleton 31, and the plurality of target balls 33 are arranged at intervals on the connecting skeleton 31. Each target ball 33 is provided with a reflection point 331. The output end of the scanner 32 faces the scanning area and is used to scan the segment; the detection component 40 is used to obtain the position and posture of each target ball 33.

[0030] See also Figure 1 The bracket is installed within the frame 10 and supported at the bottom of the segment, ensuring the segment is stably positioned within the scanning area. Driven by the moving assembly 20, the scanning assembly 30 can move within the scanning area, enabling it to scan the segment within the scanning area from different positions and angles, achieving a comprehensive scan of the segment. The scanning assembly 30 consists of a connecting frame 31, a scanner 32, and multiple target spheres 33. The connecting frame 31 is designed with a hollow structure to reduce weight and provide sufficient space for the scanner 32. Multiple target spheres 33 are mounted on the connecting frame 31, each with a reflection point 331. The detection unit 40 transmits signals to the reflection point 331 and receives signals reflected from the reflection point 331 to obtain the position and posture of each target sphere 33, thereby detecting the position and posture of the scanning assembly 30 in real time. When the scanner 32 scans the segment from different positions and angles, the target spheres 33 provide a common point between the scan data at different positions and postures, allowing the scan data from different positions and postures to be spliced ​​together to form a segment model. It can be explained that the detection element 40 can adopt optical sensors and other equipment in the prior art to obtain the position and posture of each target ball 33 by sending laser signals to the reflection point 331 and receiving laser signals reflected by the reflection point 331 .

[0031] The tunnel segment scanning device proposed in the present invention provides a bracket within a frame 10 to stably position the segment within the scanning area. A moving assembly 20 is connected to the frame 10, and a scanning component 30 is mounted on the moving assembly 20, allowing the scanning component 30 to move within the scanning area driven by the moving assembly 20. This allows the scanning component 30 to scan the segment within the scanning area from different positions and angles, achieving full coverage scanning of the tunnel segment and effectively improving the flexibility of the scanning component 30. Multiple target spheres 33 are provided on a connecting frame 31, with reflection points 331 provided on each target sphere 33. This ensures that when the scanning component 30 moves to any position, the detection component 40 can detect the position and posture of the target sphere 33 in real time. Scanning data at different positions and angles are spliced ​​together through the target spheres 33 to form a segment model, facilitating the scanning component 30 to perform detailed scanning of the segment and effectively improving scanning accuracy.

[0032] In one embodiment, the moving assembly 20 includes a moving beam 21 and a moving column 22. The moving beam 21 extends along a first horizontal direction. The two ends of the moving beam 21 are slidably connected to the two sides of the top of the frame 10 along the first horizontal direction, and the moving beam 21 can slide along a second horizontal direction; the first horizontal direction and the second horizontal direction are perpendicular to each other; the moving column 22 is slidably connected to the moving beam 21, the moving column 22 can slide along the moving beam 21, and the moving column 22 can be raised and lowered vertically, and the scanning component 30 is installed at the lower end of the moving column 22.

[0033] See also Figure 1 and Figure 2 , Figure 1 and Figure 2 The left and right directions in are the first horizontal directions. Figure 1 and Figure 2 The front-to-back direction in is the second horizontal direction. Figure 1 and Figure 2 The up-down direction in the figure is the vertical direction. The two ends of the movable beam 21 are slidably connected to the left and right sides of the top of the frame 10, respectively, so that the two ends of the movable beam 21 can slide synchronously in the front-to-back direction. The movable column 22 is connected to the movable beam 21. The movable column 22 can move with the front-to-back movement of the movable beam 21 and can move left-to-right relative to the movable beam 21. The movable column 22 can also be raised and lowered vertically, so that the scanning assembly 30 mounted on the movable column 22 can be moved to any position within the scanning area to perform a full-coverage scan of the pipe segment. The mutual cooperation between the movable beam 21 and the movable column 22 effectively improves the flexibility of the movement of the scanning assembly 30.

[0034] In one embodiment, the moving column 22 is connected to the moving beam 21 through a slider 23. The slider 23 includes a horizontally arranged sliding portion 231 and a vertically arranged clamping portion 232. The sliding portion 231 slides with the moving beam 21, and the clamping portion 232 is clamped on the side of the moving column 22, and the moving column 22 slides with the clamping portion 232.

[0035] See also Figure 3 The sliding part 231 and the clamping part 232 are connected to each other, the sliding part 231 slides on the moving beam 21, and the clamping part 232 is clamped on the left and right sides of the moving column 22 and slides with the moving column 22. The sliding part 231 slides along the moving beam 21 to realize the movement of the moving column 22 in the left and right directions, and the moving column 22 slides with the clamping part 232 to realize the upward and downward movement of the moving column 22, thereby realizing the flexible movement of the scanning component 30 in the left and right directions and the up and down directions, effectively improving the flexibility of the scanning equipment.

[0036] In one embodiment, a three-axis robotic arm 50 is connected to the lower end of the moving column 22 , and the scanning assembly 30 is mounted on the three-axis robotic arm 50 .

[0037] See also Figure 4 The scanning assembly 30 is mounted on the lower end of the mobile column 22 via a three-axis robotic arm 50. The three-axis robotic arm 50 can move and rotate in any direction and position within space, allowing the scanning assembly 30 to move to any position within the scanning area and scan the pipe segment from any angle. When using the scanning device proposed in the present invention to scan a pipe segment, the scanning device is first driven by the mobile assembly 20 to quickly move and initially position the scanning device. The three-axis robotic arm 50 then accurately positions the scanning device. This ensures the scanning device's flexibility while effectively improving scanning accuracy and coverage.

[0038] In one embodiment, two slide rails 11 are installed on both sides of the top of the frame 10 along the first horizontal direction, each slide rail 11 extends along the second horizontal direction, and each slide rail 11 is installed with a sliding seat 24 that slides with the corresponding slide rail 11, and the two ends of the moving beam 21 are respectively connected to the two sliding seats 24.

[0039] Furthermore, the frame 10 includes two frame beams 10 spaced apart along the first horizontal direction, and both frame beams 10 extend along the second horizontal direction. Two slide rails 11 are respectively disposed on the tops of the two frame beams 10, and two sliding seats 24 are respectively disposed on the two slide rails 11. The ends of the moving beam 21 are respectively connected to the two sliding seats 24, thereby providing stable support for the moving beam 21 through the frame 10. The two sliding seats 24 are respectively slidably engaged with the corresponding slide rails 11, and the two sliding seats 24 slide synchronously to enable the moving beam 21 to slide along the second horizontal direction.

[0040] In one embodiment, the tunnel segment scanning device further includes a truss 25 , which is respectively mounted on two sliding seats 24 on both sides along the first horizontal direction, and the truss 25 is staggered with the moving beam 21 , and the detection component 40 is mounted on the truss 25 .

[0041] As can be understood, the truss 25 is mounted on two sliding seats 24 on either side of the first horizontal direction and is staggered relative to the moving beam 21, thereby preventing interference between the truss 25 and the moving beam 21. The detection member 40 is mounted on the truss 25. When the sliding seat 24 slides along the second horizontal direction, the moving beam 21 and the truss 25 move synchronously, ensuring that the detection member 40 accurately detects the position and posture of the target sphere 33, effectively improving scanning accuracy.

[0042] In one embodiment, the connecting frame 31 is hemispherical, and a plurality of target balls 33 are distributed at intervals on the spherical surface of the connecting frame 31 . Each target ball 33 is connected to the scanner 32 via a connecting rod.

[0043] See also Figure 5 The spherical surface of the connecting frame 31 is positioned away from the three-axis robotic arm 50. The output end of the scanner 32 faces away from the three-axis robotic arm 50 and scans the pipe segment through the apertures of the connecting frame 31. Multiple target spheres 33 are spaced along the spherical surface of the connecting frame 31, so that the target spheres 33 are evenly distributed at different positions and angles. This provides multiple common points for the detection unit 40, allowing the detection unit 40 to detect at least one target sphere 33 at any position and angle when the scanning assembly 30 is moved. This allows for precise positioning of the scanning device and helps improve scanning accuracy.

[0044] In one embodiment, each target sphere 33 is in the shape of a regular polyhedron, and a plurality of reflection points 331 are provided on the surface of the target sphere 33 .

[0045] Please continue reading Figure 5 By setting multiple reflection points 331 on the regular polyhedron-shaped target sphere 33, the visibility of the target sphere 33 in different directions is improved, thereby ensuring that when the scanning device is at any position and angle, the detection component 40 can accurately obtain the position and posture information of the target sphere 33, even when some reflection points 331 are blocked or the lighting conditions are not ideal, thereby ensuring the continuity and reliability of the scanning process.

[0046] In one embodiment, each target sphere 33 has a plurality of square faces and a plurality of regular triangular faces, the angle between any two adjacent square faces is 135°, and a reflection point 331 is provided on each square face.

[0047] Please continue reading Figure 5The target sphere 33 has multiple square faces and multiple regular triangular faces, which are joined together to form the spherical surface of the target sphere 33. The angle between any two adjacent square faces is 135°. This design not only provides structural stability but also increases the number of reflection points 331, thereby improving the accuracy and reliability of the detection component 40 in detecting the target sphere 33. The 135° angle between any two adjacent square faces helps ensure a uniform distribution of reflection points 331 in space, allowing scanning from different angles to effectively capture the reflection points 331.

[0048] The present invention also provides a tunnel segment scanning system, comprising a processor and the aforementioned tunnel segment scanning device. The specific structure of the tunnel segment scanning device is similar to that of the aforementioned embodiments. Since the present tunnel segment scanning system utilizes all of the technical solutions of all of the aforementioned embodiments, it possesses at least all of the beneficial effects provided by the technical solutions of the aforementioned embodiments, which will not be further elaborated herein. The processor is communicatively connected to the mobile assembly 20, the scanner 32, and the detection unit 40. The processor controls the movement of the mobile assembly 20 to drive the movement of the scanning assembly 30, thereby scanning the segment from different positions and angles. The scanner 32 and the detection unit 40 transmit real-time scanning data from each position to the processor. The processor uses an algorithm to calculate and combine the scanning data from each position to generate a three-dimensional model of the segment. The mobile assembly 20 drives the scanning assembly 30 to scan the segments within the scanning area from different positions and angles, achieving full coverage scanning of the tunnel segment and effectively improving the flexibility of the scanning assembly 30. The detection component 40 detects the target sphere 33 at any position and posture, facilitating the scanning assembly 30 to perform detailed scanning of the pipe segment, effectively improving scanning accuracy. It can be explained that the communication connection method between the processor and the mobile assembly 20, the scanner 32 and the detection component 40 adopts existing technology.

[0049] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A tunnel segment scanning device, characterized in that: include: A frame, the frame enclosing a scanning area, wherein a support for placing the tube segment is provided in the frame; a moving assembly movably connected to the top of the frame; A scanning assembly is mounted on the moving assembly and can move within the scanning area driven by the moving assembly. The scanning assembly includes a connecting frame, a scanner, and a plurality of target balls. The connecting frame is hollowed out, and the scanner is disposed within the connecting frame. The plurality of target balls are spaced apart on the connecting frame, and each target ball is provided with a reflection point. The output end of the scanner faces the scanning area and is used to scan the tube segment. A detection component is used to obtain the position and posture of each target ball.

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

3. The tunnel segment scanning device according to claim 2, characterized in that: The movable column is connected to the movable beam through a slider, and the slider includes a horizontally arranged sliding part and a vertically arranged clamping part. The sliding part slides with the movable beam, and the clamping part is clamped on the side of the movable column, and the movable column slides with the clamping part.

4. The tunnel segment scanning device according to claim 2, characterized in that: The lower end of the moving column is connected to a three-axis mechanical arm, and the scanning component is installed on the three-axis mechanical arm.

5. The tunnel segment scanning device according to claim 2, characterized in that: Two slide rails are installed on both sides of the top of the frame along the first horizontal direction, each of the slide rails extends along the second horizontal direction, and each of the slide rails is installed with a sliding seat that slides with the corresponding slide rail, and the two ends of the moving beam are respectively connected to the two sliding seats.

6. The tunnel segment scanning device according to claim 5, characterized in that: The tunnel segment scanning device also includes a truss, which is respectively installed on the two sliding seats on both sides along the first horizontal direction, and the truss is staggered with the movable beam, and the detection component is installed on the truss.

7. The tunnel segment scanning device according to any one of claims 1 to 6, characterized in that: The connecting frame is hemispherical, a plurality of target balls are distributed on the spherical surface of the connecting frame at intervals, and each target ball is connected to the scanner via a connecting rod.

8. The tunnel segment scanning device according to any one of claims 1 to 6, characterized in that: Each target ball is in the shape of a regular polyhedron, and a plurality of reflection points are arranged on the surface of the target ball.

9. The tunnel segment scanning device according to claim 8, characterized in that: Each target sphere has a plurality of square faces and a plurality of regular triangular faces, the angle between any two adjacent square faces is 135 degrees, and each square face is provided with the reflection point.

10. A tunnel segment scanning system, characterized in that: It comprises a processor and the tunnel segment scanning device according to any one of claims 1 to 9, wherein the processor is communicatively connected to the moving assembly, the scanner and the detection component.

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