3D laser radar scanner

Abstract

The utility model relates to a 3D (three-dimensional) laser radar scanner, which belongs to the technical field of laser radar scanning and comprises a scanning component, a transverse frame, a scaffold, a lifting cylinder, a translation cylinder, a horizontal moving cylinder, a horizontal moving cylinder, a horizontal moving cylinder and a horizontal moving cylinder, the translation cylinder is connected with the lifting cylinder and stretches out and draws back to change the transverse position of the lifting cylinder; the technical problem that in the prior art, a fixedly-installed three-dimensional laser scanner cannot comprehensively monitor deformation of an internal mold template during pouring can be solved.

Description

Technical Field

[0001] This utility model belongs to the field of lidar scanning technology, and specifically relates to a 3D lidar scanner. Background Technology

[0002] Railway bridge construction requires the first pouring of box girders. During the pouring of box girders, the inner formwork may experience localized deformation due to uneven concrete pouring.

[0003] For example, the patent with announcement number CN218667148U discloses a high-speed railway box girder inner mold control device, including a moving frame and a box girder inner mold set inside the box girder outer mold. Displacement sensors are installed on the first and second oil cylinders. A monitoring camera is installed on the lower surface of the top inner mold. A lifting seat is slidably installed on the support plate through rollers. Motors are fixedly installed in the middle of both ends of the moving frame. The motor drives the gear to rotate through the hinge. The lower surface of the lifting seat has a tooth groove that meshes with the gear.

[0004] Existing technologies rely on human eyes or surveillance cameras to identify changes in the inner formwork during construction. However, whether it is done by the naked eye or a surveillance camera, the final judgment is made by the human eye, which makes it difficult to accurately detect local deformations of the formwork. Therefore, those skilled in the art need to adopt more accurate methods to monitor the local deformation of the inner formwork during the casting of box girders.

[0005] Another patent, CN215831507U, discloses a three-dimensional laser scanner for mapping the internal structure of buildings, including a support assembly; the support assembly is provided with a mounting part, and the fixing rod of the mounting part is vertically inserted into the middle position of the base plate, and the inner end of the rod is inserted into the positioning hole on the fixing rod.

[0006] The existing technology has the following problems:

[0007] While applying a 3D laser scanner to monitor local deformation of the inner formwork during box girder casting can provide relatively sensitive deformation feedback, the fixed installation of the 3D laser scanner due to the support structure means that it will still miss monitoring of some formwork sections, making it impossible to comprehensively monitor the deformation of the inner formwork during casting. Utility Model Content

[0008] This invention provides a 3D laser radar scanner, which can solve the technical problem that the fixed-installation three-dimensional laser scanner in the prior art cannot fully monitor the deformation of the inner mold template during casting.

[0009] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0010] This application provides a 3D LiDAR scanner, including a scanning component, which further includes:

[0011] Horizontal frame, connected to the scaffolding;

[0012] A lifting cylinder is slidably connected to the crossbeam and connected to the scanning assembly. The lifting cylinder extends and retracts to change the vertical position of the scanning assembly.

[0013] A translation cylinder is fixedly connected to the crossbeam. The translation cylinder is connected to the lifting cylinder. The translation cylinder extends and retracts to change the lateral position of the lifting cylinder.

[0014] The above technical solution uses a cylinder-driven scanning component to move up, down, and horizontally within the crossbeam. By using different positions, it avoids the obstruction of the scaffolding to obtain more internal mold template data, thereby improving the comprehensiveness of monitoring.

[0015] In this utility model, the scanner further includes:

[0016] A vibration damping unit is connected between the crossbeam and the scaffold. The vibration damping unit has an air suspension. One end of the air suspension is fixedly connected to the crossbeam, and the other end of the air suspension away from the crossbeam is flexibly connected to the scaffold.

[0017] The above technical solution uses air suspension as the main vibration reduction method, which reduces the vibration transmission of the vibrating motor and vibrating rod on the outside of the formwork during pouring. At the same time, the air suspension can be used to raise and lower the cross frame to avoid interference from the scaffolding and to obtain a larger vertical stroke, further enhancing the comprehensiveness of monitoring.

[0018] In this utility model, the above-mentioned vibration damping unit further includes:

[0019] A buffer buckle is used to connect the air suspension to the scaffolding.

[0020] A rubber pad is connected between the buffer buckle and the scaffolding, and the rubber pad absorbs the displacement of the scaffolding relative to the buffer buckle.

[0021] The above technical solution uses buffer buckles to adapt to the axial vibration of the scaffold relative to the crossbeams, and uses rubber pads as damping to buffer the overall displacement of the scaffold relative to the buffer buckles, further improving the vibration reduction effect of the device.

[0022] In this utility model, the scanner further includes:

[0023] An air tank is connected to a cross frame. The air tank is symmetrically arranged with the scanning component as the center and the translation cylinder. The air tank is connected to the lifting cylinder, the translation cylinder and the air suspension by pipes.

[0024] An electromagnetic valve is connected to the crossbeam, and the electromagnetic valve distributes the gas in the gas tank to the lifting cylinder, the translation cylinder, and the air suspension.

[0025] The above technical solution uses an independent gas storage tank for gas supply, avoiding vibration transmitted through external gas source pipelines. At the same time, the symmetrical arrangement of the gas storage tank and lifting cylinder balances the center of gravity and increases the total weight of the cross frame, further enhancing the device's resistance to vibration.

[0026] In this invention, the scanner mounting base is connected between the scanning assembly and the lifting cylinder.

[0027] The above technical solution uses an independent mounting base, which facilitates the adaptation of the scanning component to various types of lifting cylinders, thus improving the adaptability of the installation. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a structural schematic diagram of the box girder casting mold and scaffolding in the existing technology;

[0030] Figure 2 An isometric drawing of a 3D LiDAR scanner provided for an embodiment of this utility model;

[0031] Figure 3 An isometric drawing of a 3D LiDAR scanner and scaffolding installation provided for an embodiment of this utility model;

[0032] Figure 4 A front view of a 3D LiDAR scanner installed on scaffolding, provided for an embodiment of this utility model;

[0033] Figure 5 for Figure 4 Sectional view at point AA;

[0034] Figure 6 for Figure 5 Enlarged view of section B in the image;

[0035] Figure 7 A front view of the casting mold, scaffolding, and 3D LiDAR scanner after installation.

[0036] Icons: 1-Scanning component; 101-Lifting cylinder; 102-Mounting base; 2-Horizontal frame; 201-Transfer cylinder; 202-Sliding frame; 203-Slide groove; 204-Air tank; 205-Solenoid valve; 3-Vibration damping unit; 301-Buffer buckle; 3011-Rubber pad; 302-Air suspension; 3021-Damper; 3022-Air chamber; 3023-Converter valve; 4-Scaffolding; 5-Casting mold. Detailed Implementation

[0037] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0038] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0039] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0040] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to welding, bolting, or riveting; they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0041] Example:

[0042] Please refer to Figures 1 to 7 , Figures 1 to 7 The image shown is an embodiment of this application.

[0043] This embodiment provides a 3D LiDAR scanner, such as Figure 2 , Figure 5 as well as Figure 6As shown, the system includes a scanning component 1, which is a mechanical rotary scanner. Those skilled in the art can purchase this scanner from publicly available sources based on their requirements; no further explanation or limitation is provided here. It also includes a crossbeam 2, a lifting cylinder 101, and a translation cylinder 201. The crossbeam 2 is made of C-shaped steel and is connected to the scaffolding 4. Figure 2 and Figure 6 As shown, a rectangular through hole is provided in the middle of the cross frame 2; the lifting cylinder 101 is slidably connected to the cross frame 2 via the sliding frame 202, and the lifting cylinder 101 is connected to the scanning component 1. The lifting cylinder 101 extends and retracts to change the vertical position of the scanning component 1; the translation cylinder 201 is fixedly connected to the cross frame 2, and the translation cylinder 201 is connected to the lifting cylinder 101 via the sliding frame 202. The translation cylinder 201 extends and retracts to change the lateral position of the lifting cylinder 101.

[0044] In use, the two-axis displacement of the scanning component 1 is achieved by controlling the lifting cylinder 101 and the translation cylinder 201 individually or in conjunction with the air source.

[0045] Through the above technical solution, the scanning component 1 is driven by a cylinder to move up, down and horizontally within the crossbeam 2. By using different positions to avoid the obstruction of the scaffold 4, more internal mold template data can be obtained, thereby improving the comprehensiveness of monitoring.

[0046] In a preferred embodiment, the scanner further includes a vibration damping unit 3, which is connected between the crossbeam 2 and the scaffold 4. The vibration damping unit 3 has an air suspension 302, one end of which is fixedly connected to the crossbeam 2, and the other end of which is flexibly connected to the scaffold 4 away from the crossbeam 2.

[0047] like Figure 6 As shown, the air suspension 302 has a damper 3021 for absorbing vibration and an adjustable air chamber 3022 for adjusting the height and achieving a flexible connection between the crossbeam 2 and the scaffold 4. The air chamber 3022 is adjusted by a switching valve 3023, and its specific principle is the same as that of the air suspension used in automobile chassis.

[0048] Through the above technical solution, the air suspension 302 is used as the main vibration reduction method, which reduces the vibration transmission of the vibration motor and vibrator on the outside of the formwork during pouring. At the same time, the air suspension 302 can be used to adjust the height of the cross frame 2 to avoid interference from the scaffolding 4 and to obtain a larger vertical stroke, thereby further enhancing the comprehensiveness of monitoring.

[0049] As a preferred implementation method, such as Figure 6As shown, the vibration damping unit 3 also includes a buffer buckle 301 and a rubber pad 3011. The buffer buckle 301 is connected between the air suspension 302 and the scaffold 4; the rubber pad 3011 is connected between the buffer buckle 301 and the scaffold 4, and the rubber pad 3011 absorbs the displacement of the scaffold 4 relative to the buffer buckle 301.

[0050] It should be noted that the lower end of the air suspension 302 is fixedly connected to the cross frame 2 by screws or welding, and the two air suspensions 302 and the cross frame 2 form a stable C-shaped structure. The air suspension 302 and the upper buffer buckle 301 are hinged structures. The installation width can be changed by rotating the relative position of the buffer buckle 301 and the air suspension 302 to adapt to the tolerance of the scaffolding 4 spacing. At the same time, the rubber pad 3011, as a damping elastic element, can also play a certain role in vibration reduction.

[0051] The above technical solution uses buffer buckle 301 to adapt to the axial vibration of scaffolding 4 relative to crossbeam 2, and uses rubber pad 3011 as damping to buffer the overall displacement of scaffolding 4 relative to buffer buckle 301, thereby further improving the vibration reduction effect of the device.

[0052] In a preferred embodiment, the scanner further includes an air tank 204 and an electromagnetic valve 205. The air tank 204 is connected to the crossbeam 2 and is symmetrically arranged with the scanning component 1 as the center and the translation cylinder 201. The air tank 204 is connected to the lifting cylinder 101, the translation cylinder 201 and the air suspension 302 by pipes. The electromagnetic valve 205 is connected to the crossbeam 2 and distributes the gas in the air tank 204 to the lifting cylinder 101, the translation cylinder 201 and the air suspension 302.

[0053] Before use, pre-fill the gas tank 204 with gas, then disconnect the external gas source and supply gas through the solenoid valve 205.

[0054] It should be noted that gas path control is not within the scope of protection of this application. Those skilled in the art can adapt the gas path to meet the needs of the device by means of textbooks, technical manuals and other common knowledge. No further explanation or specific limitation will be made here.

[0055] The above technical solution uses an independent air tank 204 for air supply, which avoids the vibration transmitted by the external air source pipeline. At the same time, the symmetrical arrangement of the air tank 204 and the lifting cylinder 101 balances the center of gravity and increases the total weight of the cross frame 2, further strengthening the device's resistance to vibration.

[0056] In a preferred embodiment, the scanner also includes a mounting base 102, which is connected between the scanning assembly 1 and the lifting cylinder 101.

[0057] The above technical solution uses an independent mounting base 102, which facilitates the scanning component 1 to adapt to various types of lifting cylinders 101, thereby improving the adaptability of the installation.

[0058] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope described in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A 3D LiDAR scanner, comprising a scanning component (1), characterized in that, Also includes: The horizontal frame (2) is connected to the scaffolding (4); A lifting cylinder (101) is slidably connected to the cross frame (2). The lifting cylinder (101) is connected to the scanning component (1). The lifting cylinder (101) extends and retracts to change the vertical position of the scanning component (1). A translation cylinder (201) is fixedly connected to the cross frame (2). The translation cylinder (201) is connected to the lifting cylinder (101). The translation cylinder (201) extends and retracts to change the lateral position of the lifting cylinder (101).

2. The 3D LiDAR scanner according to claim 1, characterized in that, Also includes: Vibration damping unit (3) is connected between the cross frame (2) and the scaffold (4). The vibration damping unit (3) has an air suspension (302). One end of the air suspension (302) is fixedly connected to the cross frame (2), and the other end of the air suspension (302) away from the cross frame (2) is flexibly connected to the scaffold (4).

3. The 3D LiDAR scanner according to claim 2, characterized in that, The vibration damping unit (3) also includes: A buffer buckle (301) is connected between the air suspension (302) and the scaffold (4); A rubber pad (3011) is connected between the buffer buckle (301) and the scaffold (4), and the rubber pad (3011) absorbs the displacement of the scaffold (4) relative to the buffer buckle (301).

4. The 3D LiDAR scanner according to claim 3, characterized in that, Also includes: An air tank (204) is connected to a cross frame (2). The air tank (204) is symmetrically arranged with the scanning component (1) as the center and the translation cylinder (201). The air tank (204) is connected to the lifting cylinder (101), the translation cylinder (201) and the air suspension (302) by pipes. An electromagnetic valve (205) is connected to the crossbeam (2). The electromagnetic valve (205) distributes the gas in the gas storage tank (204) to the lifting cylinder (101), the translation cylinder (201), and the air suspension (302).

5. The 3D LiDAR scanner according to claim 4, characterized in that, Also includes: The mounting base (102) is connected between the scanning component (1) and the lifting cylinder (101).

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