Movable three-dimensional laser scanning rail car

Abstract

The utility model relates to the technical field of laser scanning, in particular to a movable three-dimensional laser scanning rail car. According to the technical scheme, a vehicle frame slides on a rail, a main scanner is placed on the vehicle frame, a supporting seat is erected on the vehicle frame through a damping module, a rotating disc is installed on the supporting seat, a machine body is installed on the rotating disc, the main scanner is located on the machine body, and extension arms are installed on the two sides of the machine body; a fixed sleeve is arranged at the tail end of the extension arm, and a side scanner is mounted in the fixed sleeve. According to the utility model, through the damping module which is uniquely designed, the vibration generated during the movement of the frame is effectively buffered, and the stable operation of scanning equipment is ensured. The multiple scanners work cooperatively, the main scanner and the side scanners collect data from different angles, and the integrity of the scanned data is greatly improved. The integrated control panel is convenient to operate, and improves the efficiency and precision of three-dimensional laser scanning in all directions.

Description

TECHNICAL FIELD

[0001] The utility model relates to laser scanning technical field, concretely relates to a mobile three -dimensional laser scanning rail car. BACKGROUND

[0002] Three -dimensional laser scanning technology is also called as real scene copying technology, has the unique advantage of high efficiency, high precision.Three -dimensional laser scanning technology can provide the three -dimensional point cloud data of scanning object surface, thereby obtains high precision, high resolution digital terrain model.

[0003] Through the retrieval, patent application number CN202221790912.X discloses tunnel three -dimensional laser scanning rail inspection trolley, although the device when using through setting several groups of track walking assembly and ground walking assembly, utilizes motor drive walking wheel rotation to realize car body advancing, improves the degree of automation to a certain extent, avoids manual handling.But the device when using, it is mainly aimed at tunnel environment, the function is relatively single, the shock absorption design of scanning equipment is not perfect, it is difficult to respond to the influence of complex vibration environment on scanning precision, and does not have the function of multi-scanner collaborative work and all -round flexible rotary scanning platform, and there is a lack in the comprehensiveness and detail capture ability of data acquisition. UTILITY MODEL CONTENT

[0004] In view of the deficiencies of the prior art, the utility model provides a mobile three -dimensional laser scanning rail car, solves the problems proposed in the background art.

[0005] The technical problems solved by the utility model are as follows:

[0006] A kind of mobile three -dimensional laser scanning rail car, including track, the car frame is slid on the track, main scanner is placed on the car frame;

[0007] Supporting seat is erected on the car frame by shock absorption module, rotary table is installed on the supporting seat, organism is installed on the rotary table, the main scanner is located on organism, and extension arm is installed on the two sides of the organism, fixed sleeve is equipped at the end of the extension arm, side scanner is installed in the fixed sleeve.

[0008] Based on the above technical scheme, the utility model can also be improved as follows.

[0009] Further, control panel is installed below the main scanner on the organism, and the main scanner, side scanner and rotary table are controlled by the control panel.

[0010] The beneficial effects of the above further scheme are as follows:

[0011] The centralized control of the key components of the device is realized, the operator can conveniently and accurately adjust the working state, such as opening, closing and scanning parameters (such as scanning frequency, resolution, etc.) of the main scanner and the side scanner according to the actual scanning requirements, and can flexibly control the rotating speed and rotating direction of the rotating disc motor, ensure the cooperative operation of each component, greatly improve the efficiency and accuracy of the scanning operation, and optimize the overall operation process.

[0012] Further, the damping module is provided with a base, a second connecting arm is rotatably installed on the base, a first connecting arm and a second connecting plate are installed on the second connecting arm, the second connecting arm is connected with a first connecting plate through the first connecting arm and the second connecting plate, and the first connecting arm and the second connecting plate are connected through a spring damper.

[0013] The beneficial effects of the above further scheme are:

[0014] When the rail car is in actual operation, the track will inevitably have unevenness, interface gap and other situations, or in some complex working environments, such as the existence of vibration sources around the construction site and other factors, which will cause the rail car to vibrate. At this time, this complex and delicate damping module structure plays a key role. The spring damper has good elastic deformation ability, and under the synergistic action of the multi-link structure composed of various connecting arms and connecting plates, it can absorb vibration energy in all directions of X, Y and Z. For example, when the rail car produces vertical vibration due to the track protrusion, the spring damper will be compressed under the linkage of the first connecting arm and the second connecting plate, absorb the vibration energy and convert it into the elastic potential energy of the spring, thereby significantly reducing the influence of vibration on the scanning equipment installed on the support seat. This provides a very stable working environment for the scanning equipment, thereby ensuring the high precision and stability of the scanning data.

[0015] Further, the damping module is installed on the vehicle frame through the base, and the damping module is movably connected with the support seat through the first connecting plate.

[0016] The beneficial effects of the above further scheme are:

[0017] From the perspective of structural mechanics, the connection mode of the base and the frame ensures that the damping module can be firmly installed on the frame and will not be loose or displaced during the movement of the railcar. When the frame shakes due to vibration, the damping module can fully play a buffering role. The movable connection of the first connecting plate and the support base enables the support base to flexibly adjust its posture according to the amplitude and direction of the frame vibration under the action of the damping module. For example, when the railcar turns, the frame will produce a certain inclination and lateral displacement, and the support base can maintain a relatively stable horizontal state under the coordination of the damping module, so that the scanning device installed thereon is always in a suitable working position and posture. This connection mode greatly enhances the stability and reliability of the entire device structure.

[0018] Further, the rotating disc is provided with a fixing seat, a motor is installed on the fixing seat, and the rotating disc is connected and fixed with the support base through the fixing seat.

[0019] The beneficial effects of the above further scheme are:

[0020] The motor, as the power source for the rotation of the rotating disc, is connected with the rotating disc through the fixing seat, ensuring the stability and efficiency of power transmission. The fixing seat is made of high-strength material, firmly connecting and fixing the rotating disc with the support base, which can effectively resist the centrifugal force and torque generated by high-speed rotation when the motor drives the rotating disc to rotate. The motor can accurately adjust the rotating speed according to the control instruction, so that the scanning device scans at a suitable speed in different areas. At the same time, the stable connection of the fixing seat ensures that the rotating disc and the devices such as the body, the main scanner and the side scanner installed thereon can operate stably and will not shake or displace due to rotation. This effectively expands the scanning range and improves the comprehensiveness of scanning and the integrity of data acquisition.

[0021] Further, the support base is provided with a limiting shaft at both ends, and the support base is movably connected with the first connecting plate of the damping module through the limiting shaft.

[0022] The beneficial effects of the above further scheme are:

[0023] During the actual operation of the railcar, the support base will displace and swing when the damping module buffers the vibration. The limiting shaft sets a safe and reasonable range for the movement of the support base. When the vibration is small, the support base can move flexibly within the range allowed by the limiting shaft, fully utilizing the buffering effect of the damping module to effectively absorb the vibration energy. When the vibration is severe, the limiting shaft can timely prevent the support base from excessive displacement or swinging, preventing the scanning device from being damaged or the data acquisition from being inaccurate due to abnormal movement of the support base. The limiting shaft can ensure that the support base can effectively cope with vibration without excessive displacement under the action of the damping module, thereby ensuring that the scanning device always maintains the best working state and improving the quality and reliability of the scanning data.

[0024] The utility model provides a mobile three -dimensional laser scanning rail car. Have following beneficial effect:

[0025] The support seat is movably connected with the first connecting plate of the damping module through the limiting shaft, which ensures a certain degree of freedom and limits the movement of the support seat to prevent excessive movement or shaking, further enhances the stability of the overall structure, and is conducive to keeping the scanning equipment in a suitable working position and posture.

[0026] The support seat is movably connected with the first connecting plate of the damping module through the limiting shaft, which ensures a certain degree of freedom and limits the movement of the support seat to prevent excessive movement or shaking, further enhances the stability of the overall structure, and is conducive to keeping the scanning equipment in a suitable working position and posture.

[0027] The turntable is connected and fixed with the support seat through the fixed seat, and the body and the main scanner and other equipment are installed on the turntable. The motor is arranged on the turntable and can drive the turntable to rotate, so that the main scanner and the side scanner can realize 360-degree omnidirectional scanning, the scanning range is expanded, and the comprehensiveness and accuracy of scanning are improved.

[0028] In addition to the main scanner, the body is provided with extension arms on both sides, and the extension arms are provided with side scanners at the ends, which can scan from different angles and cooperate with the main scanner to obtain more rich three-dimensional data, improve the detail capture ability of the scanning object, and enhance the integrity of the scanning data.

[0029] The control panel is installed below the main scanner on the body and can centrally control the main scanner, the side scanner and the turntable, which is convenient for the operator to operate and manage uniformly, improves the work efficiency, and is also helpful to realize the cooperative work between the parts and ensure the smooth progress of the scanning process.

[0030] The overall equipment is installed on the car frame which can slide on the rail and has good mobility, can flexibly adjust the position according to the scanning requirement, adapts to the scanning task in different scenes, and improves the applicability and convenience of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0031] The drawings described herein are used to provide further understanding of the utility model and constitute a part of the application. The illustrative embodiments of the utility model and the description thereof are used to explain the utility model, and do not constitute improper limitation on the utility model.

[0032] In the drawings:

[0033] Figure 1 It is the front appearance schematic view of the utility model.

[0034] Figure 2 It is rear view appearance schematic view of the utility model;

[0035] Figure 3 It is shock absorption module structure schematic view of the utility model;

[0036] Figure 4 It is turntable bottom structure schematic view of the utility model.

[0037] In the drawings, the components represented by each reference numeral are listed as follows:

[0038] 1, track; 10, turntable; 1001, fixed seat; 1002, motor; 11, shock absorption module; 1101, first connecting plate; 1102, first connecting arm; 1103, second connecting arm; 1104, base; 1105, spring shock absorber; 1106, second connecting plate; 2, support seat; 201, limit shaft; 3, frame; 4, control panel; 5, fixed sleeve; 6, machine body; 7, main scanner; 8, extension arm; 9, side scanner. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the utility model will be clearly and completely described 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 other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0040] Please refer to Figures 1 to 4 The embodiments provided by the utility model:

[0041] Embodiment one

[0042] The utility model provides a mobile three -dimensional laser scanning track car, including track 1, the car frame 3 is slid on track 1, and the main scanner 7 is placed on the car frame 3, and the support seat 2 is erected on the car frame 3 through the damping module 11, and the damping module 11 is equipped with base 1104, and the second connecting arm 1103 is rotatably installed on base 1104, and the first connecting arm 1102 and the second connecting plate 1106 are installed on the second connecting arm 1103, and the first connecting plate 1101 is connected with the first connecting arm 1102 and the second connecting plate 1106 through the second connecting arm 1103 and the second connecting plate 1106, and the first connecting arm 1102 and the second connecting plate 1106 are connected through the spring shock absorber 1105, when track 1 car is in actual operation, track 1 will inevitably exist high and low, interface gap etc., or in some complex working environment, such as the existence of vibration source etc. factors in the construction site periphery, all can lead to the vibration of track 1 car. At this moment, this complex and exquisite damping module 11 structure plays a key role. The spring shock absorber 1105 has good elastic deformation ability, under the synergistic effect of the multi-link structure of each connecting arm and connecting plate, can absorb vibration energy in all directions in X, Y, Z three directions. For example, when the track 1 car produces vertical vibration due to the protrusion of track 1, the spring shock absorber 1105 will be compressed under the linkage of the first connecting arm 1102 and the second connecting plate 1106, absorbs vibration energy and converts it into the elastic potential energy of the spring, thereby significantly reducing the influence of vibration on the scanning equipment installed on the support seat 2. This provides a very stable working environment for the scanning equipment, and then guarantees the high precision and stability of scanning data, and the damping module 11 is installed on the car frame 3 through the base 1104, and the damping module 11 is movably connected with the support seat 2 through the first connecting plate 1101, from the structure mechanics angle, the connecting mode of base 1104 and car frame 3 ensures that the damping module 11 can be firmly installed on the car frame 3, and will not appear loose or displacement in the moving process of track 1 car. When the car frame 3 shakes due to vibration, the damping module 11 can fully play the buffering effect. The movable connection of the first connecting plate 1101 and the support seat 2 makes the support seat 2 be able to flexibly adjust its posture according to the amplitude and direction of the vibration of the car frame 3 under the action of the damping module 11. For example, when the track 1 car turns, the car frame 3 will produce certain inclination and lateral displacement, and the support seat 2 can maintain a relatively stable horizontal state under the coordination of the damping module 11, so that the scanning equipment installed on it is always in the appropriate working position and posture. This connection mode greatly enhances the stability and reliability of the whole equipment structure, and the both ends of the support seat 2 are provided with limiting shafts 201, and the support seat 2 is movably connected with the first connecting plate 1101 of the damping module 11 through the limiting shafts 201, in the actual operation process of the track 1 car, the support seat 2 will produce certain displacement and swing when the damping module 11 buffers the vibration. The setting of the limiting shaft 201 is like drawing a safe and reasonable range for the movement of the support seat 2.When vibrations are minor, the support base 2 can move flexibly within the range allowed by the limiting shaft 201, fully utilizing the buffering effect of the damping module 11 to effectively absorb vibration energy. However, when vibrations are more severe, the limiting shaft 201 can promptly prevent the support base 2 from moving excessively or shaking, preventing damage to the scanning equipment or inaccurate data acquisition due to abnormal movement of the support base 2. The limiting shaft 201 ensures that the support base 2, under the action of the damping module 11, can effectively cope with vibrations without excessive displacement, thus ensuring that the scanning equipment always remains in optimal working condition and improving the quality and reliability of the scanning data.

[0043] Example 2

[0044] To expand the scanning range and improve the comprehensiveness of the scan and the completeness of data acquisition, for example, such as Figures 1 to 4 As shown, this utility model also includes: a turntable 10 mounted on a support base 2; the turntable 10 has a fixed base 1001; the turntable 10 is movably mounted on the fixed base 1001 via a support ball seat; a motor 1002 is mounted on the fixed base 1001; the turntable 10 is connected and fixed to the support base 2 via the fixed base 1001; the motor 1002 serves as the power source for the rotation of the turntable 10, and is connected to the turntable 10 via the fixed base 1001, ensuring the stability and efficiency of power transmission. The fixed base 1001 is made of high-strength material, firmly connecting and fixing the turntable 10 to the support base 2, and effectively resisting the centrifugal force and torque generated by high-speed rotation when the motor 1002 drives the turntable 10 to rotate. The motor 1002 can precisely adjust its speed according to control commands, enabling the scanning equipment to scan different areas at appropriate speeds. Meanwhile, the stable connection of the fixed base 1001 ensures that the turntable 10 and the equipment such as the machine body 6, main scanner 7 and side scanner 9 installed on it can operate stably without shaking or displacement due to rotation. This effectively expands the scanning range, improves the comprehensiveness of scanning and the integrity of data acquisition. The machine body 6 is installed on the turntable 10, the main scanner 7 is located on the machine body 6, and extension arms 8 are installed on both sides of the machine body 6. The end of the extension arm 8 is provided with a fixing sleeve 5, and the side scanner 9 is installed in the fixing sleeve 5. A control board 4 is installed on the machine body 6 below the main scanner 7. The main scanner 7, the side scanner 9 and the turntable 10 are controlled by the control board 4, realizing centralized control of the key components of the equipment. It is convenient for operators to easily adjust the working status of the main scanner 7 and the side scanner 9, such as on and off, and the scanning parameters (such as scanning frequency, resolution, etc.) according to the actual scanning needs. At the same time, it can flexibly control the speed and rotation direction of the turntable 10 motor 1002, ensuring that the components work together, greatly improving the efficiency and accuracy of scanning operations and optimizing the overall operation process.

[0045] Working principle:

[0046] The track 1 is laid on the area where the three-dimensional scanning is needed, and the track 1 is ensured to be stable and flat. The frame 3 of the track 1 vehicle is placed on the track 1, and the frame 3 serves as a moving carrier of the entire device and provides a mounting basis for subsequent components.

[0047] The main scanner 7 is placed on the frame 3, and the main scanner 7 is one of the core devices for obtaining three-dimensional data. At the same time, the support seat 2 is installed through the damping module 11. The damping module 11 is connected to the frame 3 through the base 1104, and the working principle is that the spring shock absorber 1105 is connected to different connecting arms and connecting plates. When the frame 3 vibrates due to the unevenness or movement of the track 1, the spring shock absorber 1105 can absorb the vibration energy and reduce the vibration transmission to the support seat 2, thereby playing a buffering and damping role and ensuring the stable operation of the devices installed on the support seat 2. The support seat 2 is provided with limiting shafts 201 at both ends, which are movably connected to the connecting plates of the damping module 11 through the limiting shafts 201. This connection mode allows the support seat 2 to move within a certain range and limits its excessive displacement, thereby ensuring the stability of the device operation.

[0048] The turntable 10 is installed on the support seat 2 and is fixedly connected to the support seat 2 through the fixed seat 1001. The organism 6 is installed on the turntable 10, the main scanner 7 is located on the organism 6, the extension arms 8 are installed on both sides of the organism 6, the fixed sleeve 5 is provided at the end of the extension arm 8, and the side scanner 9 is installed in the fixed sleeve 5. The working principle of the turntable 10 is that the motor 1002 installed on the fixed seat 1001 drives the rotation of the turntable 10, so that the organism 6, the main scanner 7, and the side scanner 9 installed on the turntable 10 rotate together, thereby realizing omnidirectional scanning.

[0049] The control panel 4 is installed on the organism 6 below the main scanner 7, and the operator starts the device through the control panel 4. The working principle of the control panel 4 is that the main scanner 7, the side scanner 9, and the motor 1002 of the turntable 10 are connected through the circuit, and control instructions are sent to these devices. For example, the opening, closing, and scanning parameter setting of the main scanner 7 and the side scanner 9 are controlled, and the rotation speed and rotation direction of the motor 1002 of the turntable 10 are controlled, thereby realizing the cooperative work of each component.

[0050] The track 1 vehicle slides along the track 1, and the main scanner 7 and the side scanner 9 work simultaneously during the movement. The main scanner 7 scans the object in front, measures the distance from each point on the surface of the object to the scanner by using the principle of laser ranging, and generates three-dimensional coordinate data of the surface of the object in combination with the angle information of the scanner. The side scanner 9 scans the object from both sides of the organism 6 to obtain three-dimensional data of the side of the object, which is complementary to the data of the main scanner 7, thereby obtaining more comprehensive and complete three-dimensional data. With the movement of the track 1 vehicle and the rotation of the turntable 10, the device can perform three-dimensional scanning on a large area of objects or regions.

[0051] During the scanning process, the three-dimensional data acquired by the main scanner 7 and the side scanner 9 are transmitted to the control board 4 in real time, and the control board 4 transmits the data to an external data processing device (such as a computer). The data processing device processes the data by using corresponding software, including data splicing, denoising, modeling and other operations, and finally generates a three-dimensional model of the object or region, thereby completing the three-dimensional laser scanning work.

[0052] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A mobile three-dimensional laser scanning rail vehicle, comprising a rail (1), a vehicle frame (3) sliding on the rail (1), and a main scanner (7) placed on the vehicle frame (3), characterized in that: a supporting seat (2) is arranged on the vehicle frame (3) through a damping module (11), a turntable (10) is installed on the supporting seat (2), an organism (6) is installed on the turntable (10), the main scanner (7) is located on the organism (6), and extension arms (8) are installed on both sides of the organism (6), a fixed sleeve (5) is arranged at the end of the extension arms (8), and a side scanner (9) is installed in the fixed sleeve (5). A control panel (4) is installed below the main scanner (7) on the organism (6), and the main scanner (7), the side scanner (9), and the turntable (10) are controlled through the control panel (4).

2. The mobile three-dimensional laser scanning railcar of claim 1, wherein: The damping module (11) is provided with a base (1104), a second connecting arm (1103) is rotatably installed on the base (1104), a first connecting arm (1102) and a second connecting plate (1106) are installed on the second connecting arm (1103), a first connecting plate (1101) is connected to the second connecting arm (1103) through the first connecting arm (1102) and the second connecting plate (1106), and the first connecting arm (1102) and the second connecting plate (1106) are connected through a spring damper (1105).

3. The mobile three-dimensional laser scanning railcar of claim 1, wherein: The damping module (11) is installed on the vehicle frame (3) through the base (1104), and the damping module (11) is movably connected to the supporting seat (2) through the first connecting plate (1101).

4. The mobile three-dimensional laser scanning railcar of claim 1, wherein: The turntable (10) is provided with a fixed seat (1001), a motor (1002) is installed on the fixed seat (1001), and the turntable (10) is connected and fixed to the supporting seat (2) through the fixed seat (1001).

5. The mobile three-dimensional laser scanning railcar of claim 1, wherein: Both ends of the supporting seat (2) are provided with limiting shafts (201), and the supporting seat (2) is movably connected to the first connecting plate (1101) of the damping module (11) through the limiting shafts (201).

6. The mobile three-dimensional laser scanning railcar of claim 1, wherein: ​

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