Engineering vehicle with three-dimensional scanning function and scanning processing method

Abstract

The invention provides an engineering vehicle with a three-dimensional scanning function and a scanning processing method. The engineering vehicle comprises a vehicle body; a scanning device, whereinthe scanning device is arranged on one side of the vehicle body, facing to the working direction of the engineering vehicle, and comprises an installation part which is connected with the vehicle body, wherein the installation part comprises a first rotating seat which can rotate around a first axis; a scanning part, wherein the scanning part is arranged on the first rotating seat and comprises ascanning probe capable of rotating around a second axis and a laser probe capable of rotating around a third axis, the scanning probe is used for obtaining first coordinate data of the environment ina scanning coordinate system of the scanning device, the laser probe is used for determining a distance value between the engineering vehicle and a reference positioning point; an inclination angle detector, wherein the inclination angle detector is arranged on the scanning part; a controller, wherein the controller is connected with the scanning part and the inclination angle detector and is usedfor converting the first coordinate data into a reference coordinate system from the scanning coordinate system and establishing corresponding point cloud information of the first coordinate data andthe second coordinate data in the reference coordinate system.

Description

technical field [0001] The invention relates to the technical field of tunnel construction, in particular to an engineering vehicle with a three-dimensional scanning function and a scanning processing method. Background technique [0002] In order to realize the precision and intelligence of tunnel construction, it is particularly important to establish a point cloud model map of the tunnel through a 3D scanner. With the gradual advancement of tunnel construction mechanization, digitization and informatization, in order to achieve precise and intelligent construction, 3D reconstruction of tunnels is essential. 3D scanning is the key to realize 3D reconstruction. Three-dimensional scanning is to obtain the three-dimensional point cloud data of the tunnel, because the laser has the characteristics of small divergence angle and good directionality, the scanner based on laser technology is widely used in distance measurement, and the point data is obtained by the time differenc...

AI Technical Summary

Problems solved by technology

Among them, commercial 3D scanners have a low protection level and are often used in outdoor or indoor environments. They cannot be used in the vehicle-mounted conditions of tunnel construction machinery, and their structures are complex and expensive.

A three-dimensional laser scanner is built by a two-dimensional rotating platform and a one-dimensional laser rangefinder. This solution can realize tunnel scanning, but its scanning range is small at one time, so scanning speed and scanning accuracy cannot be achieved at the same time.

[0004] Existing 3D laser scanners have very strict requirements on the working environment. It takes a lot of time to arrange the environment before use. It cannot be followed by engineering vehicles and cannot be synchronized with the construction progress. The work efficiency is low.

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