Subway tunnel three-dimensional laser scanning data acquisition bearing device

Abstract

The utility model discloses a subway tunnel three-dimensional laser scanning data acquisition bearing device, which relates to the field of tunnel data acquisition and comprises a main shell, a control mechanism is arranged in the main shell, driving shells are detachably arranged on two sides of the main shell, driving mechanisms are arranged in the two driving shells, and the driving mechanisms are connected with the main shell. A collection mechanism is arranged at the top of the main shell; a liquid crystal display, a starting switch, a manual speed regulation gear switch, an emergency stop switch and an aviation waterproof threading hole are arranged on one side of the top of the main shell side by side, vehicle-mounted high-definition cameras and ultrasonic obstacle avoidance devices are fixedly arranged on the front side and the rear side of the main shell correspondingly, and two LED illuminating lamps are symmetrically arranged on the two sides of the main shell correspondingly; and a lithium battery and a control integration module are fixedly arranged in the main shell. According to the utility model, automation of subway tunnel laser data acquisition can be realized, so that the working efficiency of tunnel high-precision data acquisition is remarkably improved, and powerful technical support is provided for future subway tunnel detection work.

Description

Technical Field

[0001] This utility model relates to the field of tunnel data acquisition, specifically to a three-dimensional laser scanning data acquisition carrier device for subway tunnels. Background Technology

[0002] In the field of urban rail transit, the safe operation of subway tunnels relies on high-frequency and high-precision structural inspection. LiDAR scanning technology has become the core means of subway tunnel inspection due to its advantages such as non-contact measurement, high accuracy of 3D modeling and fast data acquisition.

[0003] However, the current data collection method that relies on manual segmented fixed-point scanning has significant drawbacks. This method is not only labor-intensive and slow in data collection, but also inefficient, making it difficult to meet the high-frequency detection needs of large-scale subway lines in first-tier cities.

[0004] To address this, a three-dimensional laser scanning data acquisition device for subway tunnels is proposed. Utility Model Content

[0005] In view of the problems existing in the current three-dimensional laser scanning data acquisition of subway tunnels, this utility model is proposed.

[0006] Therefore, the purpose of this utility model is to provide a three-dimensional laser scanning data acquisition and carrying device for subway tunnels, which solves the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A three-dimensional laser scanning data acquisition carrier for subway tunnels includes a main shell, a control mechanism inside the main shell, drive shells that can be detached from both sides of the main shell, a drive mechanism inside each of the two drive shells, and an acquisition mechanism on the top of the main shell.

[0009] The top side of the main housing is provided with an LCD display, a start switch, a manual speed control switch, an emergency stop switch and an aviation waterproof wiring hole. The front and rear sides of the main housing are fixed with a vehicle-mounted high-definition camera and an ultrasonic obstacle avoider. Two LED lights are symmetrically arranged on both sides of the main housing.

[0010] The main casing is internally fitted with a lithium battery and a control integration module.

[0011] Preferably, the control mechanism includes a drive motor fixedly disposed inside the main housing, and two first transmission shafts are rotatably disposed on both sides inside the main housing. One end of each of the two first transmission shafts is connected to the output shaft of the drive motor via a gear set, and the other end of each of the two first transmission shafts is connected to the two drive mechanisms respectively.

[0012] Preferably, the driving mechanism includes a driving wheel and a driven wheel rotatably disposed at both ends of the driving housing. A high-precision encoder is fixedly disposed in the middle of the driving housing. A second transmission shaft is linked to the rotating end of the high-precision encoder. One end of the second transmission shaft is fixedly connected to one end of the first transmission shaft through a coupling. Pulleys are fixedly disposed on the shaft wall of the second transmission shaft and the rotating end of the driving wheel. A synchronous belt is disposed between the two pulleys.

[0013] Preferably, the acquisition mechanism includes a mounting bracket fixedly disposed on the top of the main housing, and a scanner is fixedly disposed on the top of the mounting bracket.

[0014] Furthermore, an interlocking fixing connector is provided between the drive housing and the main housing.

[0015] Preferably, a movable cover is provided on the top of the main casing at a position corresponding to the lithium battery.

[0016] The technical effects and advantages provided by this utility model in the above technical solution are as follows:

[0017] Highly efficient automated data acquisition liberates manual labor. The drive motor drives the drive wheel and driven wheel to move automatically through a transmission system consisting of a gear set, a first transmission shaft, a coupling, a second transmission shaft, pulleys, and a synchronous belt. Combined with a high-precision encoder, mileage data is collected in real time. No manual segmented and fixed-point operation is required, which improves efficiency and significantly reduces labor intensity compared to traditional manual methods.

[0018] Multi-sensor fusion enhances detection accuracy and safety. The scanner performs high-precision 3D laser scanning of the tunnel wall through the mounting bracket. Combined with the vehicle-mounted high-definition camera, LED lighting, and ultrasonic obstacle avoider, it achieves multi-dimensional data acquisition of "laser point cloud + video image + obstacle detection". Among them, the ultrasonic obstacle avoider can detect obstacles in front in real time and trigger an emergency stop switch to avoid collision risks, meeting the millimeter-level detection requirements of subway tunnels.

[0019] The modular structure design adapts to complex environments and flexible operations. The main shell and drive shell are detachably connected by interlocking fasteners, facilitating equipment handling and maintenance. The metal main shell and the aluminum alloy outer plate of the drive shell form a robust structure with a high level of protection, enabling stable operation in harsh environments such as humidity and dust. At the same time, the movable cover design supports quick replacement of lithium batteries, and with the external power supply through the aviation waterproof wiring hole, uninterrupted operation can be achieved for hours. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0021] Figure 1 This is a perspective view of the present utility model;

[0022] Figure 2 This is a front view of the present invention;

[0023] Figure 3 This is a bottom-view cross-sectional view of the main housing and drive housing of this utility model;

[0024] Figure 4 This is a bottom view showing a partial cross-section of the main housing and drive housing of this utility model;

[0025] Figure 5 This is a side perspective view of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Main housing; 2. Drive housing; 3. LCD display; 4. Start switch; 5. Manual speed control switch; 6. Emergency stop switch; 7. Aviation waterproof cable hole; 8. Vehicle-mounted high-definition camera; 9. Ultrasonic obstacle avoider; 10. LED lighting; 11. Lithium battery; 12. Control integrated module; 13. Drive motor; 14. First drive shaft; 15. Gear set; 16. Drive wheel; 17. Driven wheel; 18. High-precision encoder; 19. Second drive shaft; 20. Coupling; 21. Pulley; 22. Synchronous belt; 23. Mounting bracket; 24. Scanner; 25. Through-hole fixing connector; 26. Movable cover plate. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0029] This utility model provides, for example Figure 1-5 The illustrated three-dimensional laser scanning data acquisition carrier device for subway tunnels includes a main shell 1. A control mechanism is provided inside the main shell 1. The control mechanism includes a drive motor 13 fixedly installed inside the main shell 1. Two first transmission shafts 14 are rotatably provided on both sides inside the main shell 1. One end of the two first transmission shafts 14 is connected to the output shaft of the drive motor 13 through a gear set 15 (the gear set 15 is a bevel gear, and the two bevel gears can realize the transmission between the output shaft of the drive motor 13 and the first transmission shafts 14). The other end of the two first transmission shafts 14 is connected to two drive mechanisms respectively.

[0030] Both sides of the main housing 1 are detachably equipped with drive housings 2. A through-and-fixed connector 25 is provided between the drive housing 2 and the main housing 1. The drive housing 2 and the main housing 1 can be quickly disassembled and assembled through the through-and-fixed connector 25, which facilitates equipment handling and maintenance. Both drive housings 2 are equipped with drive mechanisms. The drive mechanisms include drive wheels 16 and driven wheels 17 rotatably mounted at both ends of the drive housing 2. A high-precision encoder 18 is fixedly mounted in the middle of the drive housing 2. The rotating end of the high-precision encoder 18 is linked to a second transmission shaft 19. One end of the second transmission shaft 19 is fixedly connected to one end of the first transmission shaft 14 through a coupling 20. Pulleys 21 are fixedly mounted on the shaft wall of the second transmission shaft 19 and the rotating end of the drive wheel 16. A synchronous belt 22 is provided between the two pulleys 21. When the first transmission shaft 14 rotates, it transmits the power to the second transmission shaft 19 through the coupling 20. The second transmission shaft 19 drives the drive wheel 16 to rotate through the pulleys 21 and the synchronous belt 22. At the same time, the driven wheel 17 provides auxiliary support, allowing the device to move along the subway tunnel track.

[0031] The top of the main shell 1 is provided with a data acquisition mechanism, which includes a mounting bracket 23 fixedly installed on the top of the main shell 1. A scanner 24 is fixedly installed on the top of the mounting bracket 23, and an automatic motor is installed at the bottom of the scanner 24. The automatic motor can drive the scanner 24 to perform 360-degree three-dimensional scene scanning.

[0032] The top side of the main housing 1 is equipped with an LCD display 3, a start switch 4, a manual speed control switch 5, an emergency stop switch 6, and an aviation waterproof wiring hole 7. The front and rear sides of the main housing 1 are fixed with a vehicle-mounted high-definition camera 8 and an ultrasonic obstacle avoider 9. Two LED lights 10 are symmetrically arranged on both sides of the main housing 1. The main housing 1 is equipped with a lithium battery 11 and a control integration module 12. The top of the main housing 1 is equipped with a movable cover 26 corresponding to the position of the lithium battery 11. The movable cover 26 can be manually opened to quickly replace the lithium battery 11 and ensure long-term operation.

[0033] During operation, the start switch 4 triggers the control integration module 12, and the lithium battery 11 powers the drive motor 13. The drive motor 13 drives the first transmission shaft 14 to rotate via the gear set 15, which transmits the rotation to the second transmission shaft 19 via the coupling 20. The drive wheel 16 rotates via the pulley 21 and the synchronous belt 22, and the driven wheel 17 provides auxiliary support, allowing the device to move along the subway tunnel track. During this movement, the high-precision encoder 18 rotates synchronously with the second transmission shaft 19, collecting the speed and mileage data of the drive wheel 16 in real time and transmitting it to the control integration module 12. The LCD display 3 displays the data in real time. The scanner 24 performs a three-dimensional laser scan of the tunnel wall via the mounting bracket 23. The laser emitter lens of the scanner 1 rotates in the vertical plane. Simultaneously, if a 360-degree three-dimensional scene scan is performed, the automatic motor drives the machine body to rotate in the horizontal direction. The cross-section scanning scanner 1 does not rotate horizontally. At this time, the emitted laser rotates and moves in a vertical plane perpendicular to the subway track to scan continuously, collecting point cloud data of tunnel segments and transmitting the data to the control integration module 12 in real time. The vehicle-mounted high-definition camera 8 and LED lighting 10 work together to collect video images. The ultrasonic obstacle avoider 9 detects obstacles in front in real time and triggers the emergency stop switch 6 through the control integration module 12 to achieve emergency braking. The speed of the drive motor 13 can be adjusted by the manual speed adjustment switch 5 to control the speed of the device. The aviation waterproof cable hole 7 is used to connect external equipment cables. The movable cover 26 can be opened quickly to replace the lithium battery 11 to ensure long-term operation. The entire process is made of metal material of main shell 1 and aluminum alloy outer plate of drive shell 2 to ensure structural sturdiness. The sealed design achieves waterproof and dustproof protection and adapts to the complex environment of the tunnel.

[0034] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A three-dimensional laser scanning data acquisition carrier for subway tunnels, comprising a main shell (1), characterized in that: The main shell (1) is equipped with a control mechanism inside. Both sides of the main shell (1) are detachably equipped with drive shells (2). Both drive shells (2) are equipped with drive mechanisms inside. The top of the main shell (1) is equipped with a collection mechanism. The main housing (1) is provided with a liquid crystal display (3), a start switch (4), a manual speed adjustment switch (5), an emergency stop switch (6) and an aviation waterproof wiring hole (7) arranged side by side on one side. The main housing (1) is also provided with a vehicle-mounted high-definition camera (8) and an ultrasonic obstacle avoider (9) on both the front and rear sides. The main housing (1) is also provided with two LED lights (10) symmetrically arranged on both sides. The main shell (1) is internally fitted with a lithium battery (11) and a control integration module (12).

2. The three-dimensional laser scanning data acquisition and carrying device for subway tunnels according to claim 1, characterized in that: The control mechanism includes a drive motor (13) fixedly installed inside the main shell (1). The main shell (1) has two rotatable first transmission shafts (14) on both sides inside. One end of the two first transmission shafts (14) is connected to the output shaft of the drive motor (13) through a gear set (15). The other end of the two first transmission shafts (14) is connected to the two drive mechanisms respectively.

3. The three-dimensional laser scanning data acquisition and carrying device for subway tunnels according to claim 2, characterized in that: The drive mechanism includes a drive wheel (16) and a driven wheel (17) rotatably disposed at both ends of the drive housing (2). A high-precision encoder (18) is fixedly disposed in the middle of the drive housing (2). A second transmission shaft (19) is linked to the rotating end of the high-precision encoder (18). One end of the second transmission shaft (19) is fixedly connected to one end of the first transmission shaft (14) through a coupling (20). Pulleys (21) are fixedly disposed on the shaft wall of the second transmission shaft (19) and the rotating end of the drive wheel (16). A synchronous belt (22) is disposed between the two pulleys (21).

4. The three-dimensional laser scanning data acquisition and carrying device for subway tunnels according to claim 1, characterized in that: The acquisition mechanism includes a mounting bracket (23) fixedly installed on the top of the main shell (1), and a scanner (24) is fixedly installed on the top of the mounting bracket (23).

5. The three-dimensional laser scanning data acquisition and carrying device for subway tunnels according to claim 1, characterized in that: A through-and-fixed connector (25) is provided between the drive housing (2) and the main housing (1).

6. The three-dimensional laser scanning data acquisition and carrying device for subway tunnels according to claim 1, characterized in that: A movable cover plate (26) is provided on the top of the main shell (1) and at the position corresponding to the lithium battery (11).

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