Mine terrain three-dimensional laser scanning surveying and mapping device

Abstract

The utility model relates to the technical field of mine surveying and mapping devices, in particular to a mine terrain three-dimensional laser scanning surveying and mapping device which comprises a surveying and mapping unmanned aerial vehicle body and a surveying and mapping main machine arranged on the surveying and mapping unmanned aerial vehicle body, a left supporting plate and a right supporting plate are fixedly installed on the bottom face of the surveying and mapping main machine, and shaft holes are formed in the supporting plates. A guide hole is formed in the hole wall of the shaft hole located in the front side, an undercarriage is arranged between the two supporting plates in each set, rotating shafts are fixedly installed on rod bodies on the front side and the rear side of each undercarriage, the rotating shafts are located in the corresponding shaft holes and rotationally connected with the shaft holes, and a limiting block is fixedly installed on the rotating shaft located in the front side; the limiting block is located in the guide hole and rotationally connected with the guide hole, a micro motor is coaxially arranged at the tail end of one rotating shaft, a horizontal rod is integrally formed at the bottom of the undercarriage, and the horizontal rod is sleeved with an outer buffering sleeve. According to the utility model, the undercarriage can be folded, so that normal surveying and mapping can not be blocked by the undercarriage.

Description

Technical Field

[0001] The utility model relates to the technical field of mine surveying and mapping devices, in particular to a three-dimensional laser scanning and surveying device for mine terrain. Background Art

[0002] In the mining process, geological surveying and mapping work is of vital importance, and its work quality is directly related to the effectiveness and safety of mining. With the continuous advancement of science and technology, many advanced technologies have been developed and applied. Among them, 3D laser scanning technology has received widespread attention and application in the field of mine surveying and mapping due to its significant advantages. 3D laser scanning technology records spatial information in the form of point clouds by continuously emitting lasers. Compared with traditional single-point measurement, 3D laser scanning technology has the characteristics of speed, non-contact, real-time, dynamic, active, high-density, high-precision, digitalization and automation.

[0003] In topographic and mining surveying, the use of 3D laser scanners can collect data with ultra-high resolution and obtain three-dimensional data. 3D laser scanners can achieve long-distance non-contact measurement, which has obvious advantages for measuring in areas that are difficult for people to reach and very dangerous.

[0004] Due to the limited conditions for manually holding a 3D laser scanner for surveying and mapping, with the development of drones, 3D laser scanners are usually installed on the bottom of the drone, and the drone is used to fly to the corresponding position for surveying and mapping operations. This type of drone mapping is also called a surveying drone.

[0005] However, when using these drone mapping devices, the landing gear is fixed to the bottom of the drone and cannot be folded. In addition, since the mapping device is usually installed on the bottom of the drone, the landing gear is directly exposed vertically, which blocks the laser scanning path of the mapping device, affecting the mapping effect and accuracy, and causing inconvenience to the user. In view of this, we have proposed a 3D laser scanning mapping device for mining terrain. Utility Model Content

[0006] The purpose of the present invention is to provide a three-dimensional laser scanning and mapping device for mine terrain to solve the defects mentioned in the above background technology.

[0007] To achieve the above objectives, the present invention provides the following technical solutions:

[0008] The utility model provides a mine terrain three -dimensional laser scanning surveying and mapping device, including surveying and mapping unmanned plane main part and setting on surveying and mapping unmanned plane main part surveying and mapping host computer, the bottom surface of surveying and mapping host computer is fixedly installed with left and right two groups of mutually symmetrical support plate, the support plate is provided with the axle hole, the hole wall of axle hole in the front is provided with the guide hole, and the support plate is provided with the landing gear between two, the landing gear is fixedly installed with the pivot on the front and back two sides rod body, the pivot is located in the corresponding axle hole and is rotatably connected with the axle hole, the pivot on the front is fixedly installed with the limit stop, the limit stop is located in the guide hole and is rotatably connected with the guide hole, and the end of one pivot is coaxially provided with a micro motor, and the bottom of landing gear is integrally formed with a horizontal rod, and the outside of horizontal rod is provided with an outer buffer sleeve.

[0009] Preferably, the cross section of the outer buffer sleeve is annular, and a buffer gap is provided between the outer buffer sleeve and the horizontal rod.

[0010] Preferably, a plurality of buffer rubber balls are fixedly installed in the buffer gap, and the buffer rubber balls are spherical.

[0011] Preferably, the output shaft end of the micro motor is fixedly installed at the end of the corresponding pivot, and the micro motor is fixedly installed on the corresponding support plate.

[0012] Preferably, the surveying and mapping host computer comprises an upper cover fixedly installed on the surveying and mapping unmanned plane main body, and a lower cover fixedly installed on the bottom surface of the upper cover.

[0013] Preferably, a laser transmitter and a receiver are fixedly installed on the bottom plate of the lower cover, and a data processing unit and a control unit are fixedly installed in the upper cover.

[0014] Preferably, the lower cover and the upper cover are fixedly connected by a plurality of fastening screws, and the support plates are integrally formed on the bottom surface of the lower cover.

[0015] Preferably, the size of the pivot is matched with the size of the axle hole, and the size of the limit stop is matched with the size of the guide hole.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] 1、The utility model discloses a landing gear and support plate are rotatably connected, in addition, the end of landing gear adopts micro motor drive, guarantees after surveying and mapping unmanned plane main body taking off, can utilize micro motor work, drives landing gear to rotate to present horizontal shape, at this moment, landing gear will not shield the bottom of surveying and mapping host computer, makes surveying and mapping host computer can normally carry out surveying and mapping operation, reaches landing gear can be stored and is unfolded, will not cause the effect of shielding surveying and mapping.

[0018] 2、The utility model discloses a outer buffer sleeve and buffer rubber ball are set up, can make landing gear part has better buffering effect. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is whole structure schematic drawing of the utility model;

[0020] Figure 2 It is one of partial structure schematic drawing of the utility model;

[0021] Figure 3 It is the utility model Figure 2 It is the enlarged view of A place in the middle;

[0022] Figure 4 It is two of partial structure schematic drawing of the utility model;

[0023] Figure 5 It is the cross section drawing of outer buffer sleeve of the utility model;

[0024] The meaning of each reference numeral in the drawing is as follows:

[0025] 1, surveying and mapping unmanned aerial vehicle main body;10, surveying and mapping host computer;101, upper cover;102, data processing unit;103, control unit;104, lower cover;105, laser emitter;106, receiver;

[0026] 2, support plate;20, shaft hole;21, guide hole;22, landing gear;23, rotating shaft;231, limit block;24, horizontal rod;25, micro motor;26, outer buffer sleeve;27, buffer gap;271, buffer rubber ball. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0028] Please refer to Figures 1-5The utility model provides a technical scheme: mine terrain three dimensional laser scanning surveying and mapping device, including surveying and mapping unmanned plane main body 1 and setting up surveying and mapping host computer 10 on surveying and mapping unmanned plane main body 1, the bottom surface of surveying and mapping host computer 10 is fixedly installed with left and right two groups of mutually symmetrical support plate 2, is provided with the axle hole 20 in support plate 2, is provided with the guide hole 21 on the hole wall of axle hole 20 located in the front side, and the two support plate 2 in each group are all provided with landing gear 22, and the front and rear two sides of landing gear 22 are all fixedly installed with the rotating shaft 23, and the rotating shaft 23 is located in the corresponding axle hole 20 and is rotatably connected between axle hole 20, and the rotating shaft 23 located in the front side is fixedly installed with the limit block 231, and the limit block 231 is located in the guide hole 21 and is rotatably connected between guide hole 21, and the effect that the rotation angle of rotating shaft 23 is limited is played, and the rotation angle of rotating shaft 23 is avoided too big and influences the normal unfolding and folding operation of landing gear 22;

[0029] Specifically, the end of one of the rotating shafts 23 is coaxially provided with a micro motor 25, the output shaft end of the micro motor 25 is fixedly installed on the end of the corresponding rotating shaft 23, the micro motor 25 is fixedly installed on the corresponding support plate 2, and the micro motor 25 is used to drive the landing gear 22 to rotate for unfolding and folding operation.

[0030] In the embodiment, the bottom of the landing gear 22 is integrally formed with a horizontal rod 24, the horizontal rod 24 is externally sleeved with an outer buffer sleeve 26, the cross section of the outer buffer sleeve 26 is annular, a buffer gap 27 is arranged between the outer buffer sleeve 26 and the horizontal rod 24, a plurality of buffer rubber balls 271 are fixedly installed in the buffer gap 27, the buffer rubber balls 271 are spherical, and the buffer protection effect of the outer buffer sleeve 26 and the buffer rubber balls 271 can be achieved during use.

[0031] Specifically, the surveying and mapping host computer 10 includes an upper cover 101 fixedly installed on the surveying and mapping unmanned plane main body 1, a bottom surface of the upper cover 101 is fixedly installed with a lower cover 104, the lower cover 104 and the upper cover 101 are fixedly connected through a plurality of fastening screws, and the support plate 2 is integrally formed on the bottom surface of the lower cover 104, so as to facilitate dismounting operation.

[0032] Further, the size of the rotating shaft 23 is matched with the size of the axle hole 20, and the size of the limit block 231 is matched with the size of the guide hole 21, so as to stably rotate the rotating shaft 23 and the limit block 231.

[0033] In addition, the bottom plate body of the lower cover 104 is fixedly installed with a laser emitter 105 and a receiver 106, and the upper cover 101 is fixedly installed with a data processing unit 102 and a control unit 103, the laser emitter 105 is used for emitting a laser beam to scan the mine terrain to be measured; the receiver 106 is used for receiving the reflection signal of the laser beam on the surface of the mine terrain; the data processing unit 102 is used for calculating the three-dimensional coordinate information of the mine terrain according to the received reflection signal; and the control unit 103 is used for controlling the scanning path and speed of the laser emitter 105 and the data processing process of the data processing unit 102.

[0034] It is worth noting that the laser emitter 105 emits a laser beam to scan the mine terrain in all directions; the receiver 106 receives the reflection signal of the laser beam on the surface of the mine terrain and converts it into an electrical signal; the data processing unit 102 processes the received electrical signal to calculate the three-dimensional coordinate information of the mine terrain; and the control unit 103 controls the scanning process of the laser emitter 105 according to the preset scanning path and speed, and monitors the working state of the data processing unit 102, and the control unit 103 outputs the calculation result to an external display screen or a storage device.

[0035] Finally, it should be noted that the laser emitter 105, the receiver 106, the data processing unit 102, the control unit 103 and the micro motor 25 and other components involved in the utility model are all general standard components or components known to those skilled in the art, and their structure and principle are known to those skilled in the art through technical manuals or through conventional experimental methods, all electrical components in the idle place of the device, the power element, the electrical component and the adapted controller and power supply are connected by wires, the specific connection means should be referred to the working principle in the utility model, and the electrical components are connected in the order of working sequence, and the detailed connection means are all known in the art.

[0036] The mine terrain three-dimensional laser scanning surveying device of the utility model in use, after the surveying unmanned aerial vehicle main body 1 takes off, at this time, the micro motor 25 is connected with the external power supply and works, the micro motor 25 works, the output shaft on it rotates to drive the rotating shaft 23 and the landing gear 22 to rotate, the landing gear 22 rotates to the outward horizontal state, the landing gear 22 will not cause the bottom of the surveying main machine 10 to be blocked, and then the surveying main machine 10 is used for surveying operation; when the surveying unmanned aerial vehicle main body 1 returns, the micro motor 25 continues to work, and the output shaft on it reversely rotates to drive the landing gear 22 to rotate to the vertical state, at this time, the landing gear 22 can normally support operation.

[0037] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only preferred examples of the present application and are not intended to limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A mine topography three-dimensional laser scanning surveying device, comprising a surveying unmanned aerial vehicle main body (1) and a surveying main machine (10) arranged on the surveying unmanned aerial vehicle main body (1), characterized in that: The bottom surface of the surveying and mapping host (10) is fixedly installed with two groups of symmetrically arranged support plates (2), the support plates (2) are provided with shaft holes (20), the hole wall of the shaft hole (20) on the front side is provided with a guide hole (21), two support plates (2) in each group are provided with landing gears (22), the front and rear sides of the landing gear (22) are fixedly installed with rotating shafts (23), the rotating shafts (23) are located in the corresponding shaft holes (20) and are rotatably connected with the shaft holes (20), the rotating shaft (23) on the front side is fixedly installed with a limiting block (231), the limiting block (231) is located in the guide hole (21) and is rotatably connected with the guide hole (21), and the end of one of the rotating shafts (23) is coaxially provided with a micro motor (25), the bottom of the landing gear (22) is integrally formed with a horizontal rod (24), and the outer part of the horizontal rod (24) is provided with an outer buffer sleeve (26).

2. The mine topography 3D laser scanning mapping device according to claim 1, characterized in that: The outer buffer sleeve (26) is annular in cross section, and a buffer gap (27) is arranged between the outer buffer sleeve (26) and the horizontal rod (24).

3. The mine topography 3D laser scanning mapping device according to claim 2, characterized in that: A plurality of buffer rubber balls (271) are fixedly installed in the buffer gap (27), and the buffer rubber balls (271) are spherical.

4. The mine topography 3D laser scanning mapping device according to claim 1, characterized in that: The output shaft end of the micro motor (25) is fixedly installed at the end of the corresponding rotating shaft (23), and the micro motor (25) is fixedly installed on the corresponding support plate (2).

5. The mine topography 3D laser scanning mapping device according to claim 1, characterized in that: The surveying and mapping host (10) comprises an upper cover (101) fixedly installed on the surveying and mapping unmanned aerial vehicle body (1), and the bottom surface of the upper cover (101) is fixedly installed with a lower cover (104).

6. The mine topography 3D laser scanning mapping device according to claim 5, characterized in that: The bottom plate body of the lower cover (104) is fixedly installed with a laser emitter (105) and a receiver (106), and the upper cover (101) is fixedly installed with a data processing unit (102) and a control unit (103).

7. The mine topography 3D laser scanning mapping device according to claim 6, characterized in that: The lower cover (104) and the upper cover (101) are fixedly connected through a plurality of fastening screws, and the support plate (2) is integrally formed on the bottom surface of the lower cover (104).

8. The mine topographic three-dimensional laser scanning mapping device according to claim 1, characterized by: The size of the rotating shaft (23) is matched with the size of the shaft hole (20), and the size of the limiting block (231) is matched with the size of the guide hole (21).

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