Caisson 3D scene rebuilding and excavator collision avoidance system based on laser scanning

Abstract

The invention relates to a system of 3D scene reconstruction of caisson based on laser scanning and collision avoidance of excavator, comprising four modules that sensor module for collecting landforms information in caisson, dip angle of working top plate of caisson and position information of excavator, and building and displaying for collecting data; moving control module for controlling laser scanning to rotate across one vertical axis along the scanning surface so as to assist the system to obtain the 3D information; building and displaying 3D landforms module for building the information from sensor module and angle information from the moving control module so that the 3D figure of landforms in caisson is displayed on the display accurately; arithmetic module of collision avoidance of excavator for forecasting the position and gesture of excavator according to the information from building and display module of 3D landforms and history information. The invention realizes the reconstruction of 3D scene in caisson working room and collision avoidance of excavator and provides the basis for no-human construction in air pressure caisson accurately.

Description

technical field [0001] The invention relates to a real-time three-dimensional scene reconstruction and excavator collision avoidance system used in the detection technology field, in particular to a caisson three-dimensional scene reconstruction and excavator collision avoidance system based on laser scanning. Background technique [0002] The air pressure caisson construction method is to set up a highly airtight reinforced concrete structure working room in the lower part of the caisson, inject compressed air into the working room with a pressure equal to the groundwater pressure at the cutting edge, so that the equipment can excavate and discharge soil in an anhydrous environment , a construction method in which the box sinks to a specified depth under the action of its own weight and the upper load, and finally pours a concrete bottom plate at the bottom of the caisson structural surface. The construction method has the advantages of less construction volume, high struct...

AI Technical Summary

Problems solved by technology

Although the image from the camera is clear and intuitive, because it is a two-dimensional image, the construction management personnel and caisson excavator operators do not have a strong sense of the scene, which is not conducive to caisson construction management

In addition, due to the influence of the installation angle of the camera, the operator of the caisson excavator will also make misjudgments, and the excavator is prone to collisions, resulting in accidents

[0004] After searching the existing technical literature, it was found that the Japanese invention patent (patent number JP1165827) announced a geological monitoring system in the caisson composed of industrial cameras. This method cannot display the three-dimensional topography in the caisson

Japanese invention patent (patent No. JP1165830) has proposed a kind of using alarm sensor to measure and calculate the position of caisson excavator, when the excavators are close to each other, an alarm is sent, although this method can alarm when several excavators approach, However, it is difficult to use this method to realize the excavator's understanding of the caisson environment

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