CN116201994A - Adaptive 3D Laser Scanner for Slope Monitoring - Google Patents

Abstract

The invention relates to the technical field of slope surface monitoring, in particular to an adaptive three-dimensional laser scanner for slope monitoring. The three-dimensional laser scanner is adaptively leveled through an adaptive leveling component. When the triangular support frame is in an inclined state, the self-adaptive The liquid level in the leveling cylinder will still be in a horizontal state, and the center of the leveling piston will also remain in a horizontal state. The leveling connecting rod is connected to the center of the leveling piston through a ball bearing, so that the leveling connecting rod can achieve self-adaptive leveling, and through The sealing control component seals the self-adaptive leveling cylinder, locks the leveling piston, and keeps the 3D laser scanner in a horizontal state without being affected by the inclination of the tripod support.

Description

Adaptive 3D Laser Scanner for Slope Monitoring

technical field

The invention relates to the technical field of slope surface monitoring, in particular to an adaptive three-dimensional laser scanner for slope monitoring.

Background technique

The slope is formed under the action of complex internal and external geological stresses, and it is a geological edge that changes and develops under various factors. The deformation of the slope is an inevitable phenomenon in the process of the formation and development of the slope, and it is a complex dynamic dissipation process. In the process of slope instability, various surface failure characteristics will appear, and the characteristic monitoring and analysis of these characteristic changes is an important part of slope prevention and treatment.

The monitoring of slopes now uses 3D laser scanners, and the 3D laser scanners are installed on the triangular support frame. However, most of the occasions where scanning operations are required for slope monitoring are not flat, and the scanner cannot be placed on a tripod. The level of the scanner will cause the position deviation of the scanner to cause the error of the scanning angle, resulting in the failure of the actual scanning. For the scanner, it is usually possible to realize the adjustment by adjusting the legs of the tripod separately, and at least complete the adjustment of the two sets of legs Effective leveling operation is cumbersome, and for slope terrain, the current leveling and locking operations are troublesome. When used in different areas, frequent leveling operations are required, and the leveling effect of the scanner cannot be accurately guaranteed. The use effect is poor and there are certain defects. Therefore, it is necessary to develop an adaptive three-dimensional laser scanner for slope monitoring.

Contents of the invention

In view of the above-mentioned defects and problems, the present invention provides an adaptive three-dimensional laser scanner for slope monitoring, the purpose of which is to self-adaptively level the three-dimensional laser scanner through an adaptive leveling component. The liquid level in the self-adaptive leveling cylinder will still be in a horizontal state, and the center of the leveling piston will also remain in a horizontal state. The leveling connecting rod is connected to the center of the leveling piston through a ball bearing, so that the leveling connecting rod can achieve self-adaptive leveling. The self-adaptive leveling cylinder is sealed and blocked by the sealing control component, and the leveling piston is locked, thereby keeping the three-dimensional laser scanner in a horizontal state without being affected by the inclination of the triangular support frame.

The solution adopted by the present invention to solve the technical problem is: an adaptive three-dimensional laser scanner for slope monitoring, which includes a tripod, and also includes an adaptive leveling assembly, and the self-adaptive leveling assembly includes a Liquid tank, a plurality of self-adaptive leveling cylinders are ring-shaped above the liquid tank, the self-adaptive leveling cylinders are connected with the liquid tank, and a leveling piston is matched in the self-adaptive leveling cylinder, and a ball bearing is arranged on the top of the leveling piston , the leveling connecting rod is set in the self-adaptive leveling cylinder, and the leveling connecting rod is hinged with the leveling piston through a ball bearing, a support plate is arranged above the self-adaptive leveling cylinder, and the 3D laser scanner is fixed on the support plate, and the adjustment The top of the flat connecting rod is connected with the support plate; the liquid tank is equipped with a sealing control assembly for blocking and communicating with the self-adaptive leveling cylinder. When the tripod support is tilted, the liquid water level in each self-adaptive leveling cylinder is at the same level state, keep the center of the leveling piston in a horizontal state, so that each leveling connecting rod can be self-adaptively leveled, and the sealing control component seals the self-adaptive leveling cylinder to keep the 3D laser scanner in a leveled state.

Further, the seal control assembly includes a seal adjustment plate arranged in the liquid tank, a communication hole corresponding to the self-adaptive leveling cylinder is opened on the seal adjustment plate, and a seal adjustment plate is provided on the top of the liquid tank to control The opening and closing parts, the opening and closing parts control the sealing adjustment plate can make the communication hole communicate with the self-adaptive leveling cylinder or block the displacement, and a ring baffle is arranged under the sealing adjustment plate.

Further, the opening and closing member includes an adapter sleeve installed on the top of the liquid tank, the swing rod is installed in the adapter sleeve through a torsion spring and connected with the seal adjustment plate, and the swing rod can control the rotation of the seal adjustment plate.

Further, the opening and closing member includes a shaft sleeve installed on the top of the liquid tank, a shaft is sleeved inside the shaft sleeve, the shaft is connected to the sealing adjustment plate, the free end of the shaft is sleeved with a slave gear, and the main gear at the output end of the external motor is connected to the from the gear mesh.

Further, the ball bearing is arranged at the center of the top of the leveling piston, and the bottom of the leveling connecting rod is hinged with the ball bearing.

Further, there are at least three adaptive leveling cylinders.

Further, the leveling connecting rod is composed of a main rod and an auxiliary rod, the auxiliary rod is sleeved in the main rod, and a lifting mechanism for lifting the support plate is provided on the liquid tank.

Beneficial effects of the present invention: the present invention has a unique structure and ingenious design. An adaptive leveling component is arranged above the triangular support frame to self-adaptively level the 3D laser scanner. The position will still be in the horizontal state, and the center of the leveling piston will also remain in the horizontal state. The leveling connecting rod is connected to the center of the leveling piston through a ball bearing, so that the leveling connecting rod can achieve self-adaptive leveling, and the leveling connecting rod will still ensure the vertical In the straight state, the support plate becomes a horizontal state, and the swing rod rotates to control the sealing adjustment plate so that the communication hole and the self-adaptive leveling cylinder are dislocated, and the self-adaptive leveling cylinder can be sealed and blocked, and the liquid medium in each self-adaptive leveling cylinder It is no longer connected, and the leveling connecting rod is locked by the leveling piston. At this time, even if the tripod is in an inclined state, each leveling connecting rod is in a vertical state, and the support plate is self-adaptively leveled, and then the three-dimensional laser The scanner remains level and is not affected by the tilt of the tripod.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is one of the structural schematic diagrams of the self-adaptive leveling component.

FIG. 3 is an exploded schematic diagram of FIG. 2 .

Fig. 4 is a schematic diagram of the structure of the liquid tank.

Fig. 5 is a schematic diagram of the internal structure of the liquid tank.

Fig. 6 is a schematic diagram of the structure of the leveling connecting rod.

In the figure: 1-triangular support frame, 2-3D laser scanner, 3-adaptive leveling assembly, 301-liquid tank, 302-adaptive leveling cylinder, 303-leveling piston, 304-ball bearing, 305- Leveling connecting rod, 305a-main rod, 305b-auxiliary rod, 305c-axis positioning groove, 306-support plate, 307-transfer sleeve, 308-sealing adjustment plate, 309-swing rod, 310-ring baffle, 311-communication hole, 4-jacking mechanism, 401-jacking box, 402-relief hole, 403-jacking rod, 5-electromagnet, 6-demagnetization electromagnet.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Embodiment 1, the monitoring of the slope is now using a three-dimensional laser scanner, and the three-dimensional laser scanner is installed on the tripod support frame, but most of the occasions where the scanning operation is required for slope monitoring The ground is not flat, and it is impossible to place a tripod Keep the scanner level, so that the position of the scanner is shifted and the scanning angle is wrong, resulting in the actual scanning failure. For the scanner, the legs of the tripod are usually adjusted separately, and at least the two sets of legs are adjusted separately. It is possible to achieve effective leveling operations, but the operation is cumbersome, and for slope terrain, the current leveling and locking operations are troublesome. When used in different areas, frequent leveling operations are required, and the adjustment of the scanner cannot be accurately guaranteed. flat effect.

In view of the above problems, this embodiment provides an adaptive three-dimensional laser scanner for slope monitoring. As shown in Figure 1-3, a guide rod is connected to the bottom of the tripod support frame 1, and each support leg is connected to the annular lug on the guide rod. , the self-adaptive leveling assembly 3 is set above the tripod 1, the liquid tank 301 is fixedly installed on the top of the tripod, the liquid tank 301 can be filled with water or liquid medium, and the top of the liquid tank 301 is annularly provided with three adaptive The leveling cylinder 302, the adaptive leveling cylinder 302 is directly connected with the liquid tank 301, the liquid medium in the liquid tank 301 can enter the self-adaptive leveling cylinder 302, since each adaptive leveling cylinder 302 is connected with each other, each adaptive leveling cylinder 302 The liquid water level in the flat cylinder 302 is at the same level, and the self-adaptive leveling cylinder 302 is matched with a leveling piston 303. The leveling piston 303 is supported by the liquid medium in the self-adaptive leveling cylinder 302. The leveling piston 303 can Move in the adaptive leveling cylinder 302 according to the water level, a ball bearing 304 is installed in the center of the top of the leveling piston 303, the bottom of the leveling connecting rod 305 is hinged with the ball bearing 304, and a support plate 306 is provided above the adaptive leveling cylinder 302, The top of the leveling connecting rod 305 is fixedly connected with the supporting plate 306, and the supporting plate 306 is supported by the leveling connecting rod 305. There is a shield, which protects multiple self-adaptive leveling cylinders;

The liquid tank 301 is provided with a sealing control assembly for blocking and connecting the adaptive leveling cylinder 302. In this embodiment, as shown in Figure 3 and Figure 5, a matching sealing adjustment plate is provided on the top of the liquid tank 301 308, a communication hole 311 corresponding to the self-adaptive leveling cylinder 302 is opened on the sealing adjustment plate 308, an adapter sleeve 307 is installed on the top of the liquid tank 301, and the end of the swing rod 309 is installed on the adapter sleeve 307 through a torsion spring Inside and connected with the seal adjustment plate 308, the swing rod 309 can control the rotation of the seal adjustment plate 308, and a ring baffle 310 is arranged below the seal adjustment plate 308, the ring baffle 310 is fixed in the liquid tank 301, and the ring baffle 310 can be When the seal adjustment plate 308 is supported, the swing rod 309 rotates to control the seal adjustment plate 308 so that when the communication hole 311 communicates with the adaptive leveling cylinder 302, the liquid medium can enter the adaptive leveling cylinder 302, and the swing rod 309 rotates to control the seal adjustment When the plate 308 displaces the communication hole 311 and the self-adaptive leveling cylinder 302, it can seal and block the self-adaptive leveling cylinder 302 to realize the locking of the leveling connecting rod 305;

Preferably, the leveling connecting rod 305 can also adopt a sleeve structure. As shown in FIG. 6, the leveling connecting rod 305 is composed of a main rod 305a and an auxiliary rod 305b. The top is fixedly connected with the support plate 306, and the bottom of the main rod 305a is hinged with the ball bearing 304. At the same time, the axial center positioning groove 305c in the main rod 305a enables the auxiliary rod 305b to be automatically positioned in the main rod 305a, and can be installed in the liquid tank 301 The top is provided with a jacking mechanism 4 for lifting the support plate 306. The jacking mechanism 4 includes a jacking box 401. The side of the jacking box 401 is provided with a relief hole 402 corresponding to the swing rod 309. The swing rod 309 can The activity in the relief hole 401 controls the sealing adjustment plate 308, and a jacking rod 403 concentric with the support plate 306 is installed in the jacking box 401, and a driving motor for driving the jacking rod 403 is installed in the jacking box 401 , the output end of the motor can be driven by the gear and the jacking rod 403, or an electric push rod concentric with the support plate can be directly installed in the jacking box, and the output end of the electric push rod is connected with the support plate;

In some special cases, an electromagnet 5 can also be installed on the top of the jacking rod 403, the electromagnet 5 can absorb the support plate 306, and a demagnetization electromagnet 6 is installed inside the auxiliary rod 305b of the leveling connecting rod 305, When the jacking rod 403 lifts up the support plate 306, the electromagnet 5 directly absorbs the support plate 306 after being energized, and after the demagnetization electromagnet 6 is energized, the auxiliary rod 305b disconnects the adsorption to the main rod 305a, and the jacking rod 403 drives the support plate When 306 retracts, the electromagnet 5 is powered off and no longer adsorbs the support plate 306. At this time, after the demagnetization electromagnet 6 is powered off, the auxiliary rod 305b is adsorbed to the main rod 305a, so that the auxiliary rod and the main rod are docked stably, and the auxiliary rod is avoided. detached from the main rod;

During slope monitoring, the pendulum 309 controls the rotation of the sealing adjustment plate 308 so that the communication hole 311 communicates with the self-adaptive leveling cylinder 302, and the liquid medium in the liquid tank 301 enters the self-adaptive leveling cylinder 302. After the tripod 1 is placed In the case of an angle inclination, under the principle of the connecting device, the liquid water level in each self-adaptive leveling cylinder 302 is at the same level, so that the center of the leveling piston 303 is also kept at a horizontal state, and the bottom of the leveling connecting rod 305 passes through the ball The bearing 304 is connected to the center of the leveling piston 303, the leveling connecting rod 305 will still ensure the vertical state, directly make the leveling connecting rod 305 realize self-adaptive leveling, the support plate 306 is in a horizontal state at this time, and then the swing rod 309 rotates to control The sealing adjustment plate 308 displaces the communication hole 311 and the self-adaptive leveling cylinder 302, and can seal and block the self-adaptive leveling cylinder 302. The liquid medium in each self-adaptive leveling cylinder 302 is no longer connected, and the leveling piston 303 Realize the locking of the leveling connecting rod 305. Even if the tripod is in an inclined state, each leveling connecting rod is in a vertical state, and the support plate is adaptively leveled, and then the three-dimensional laser scanner is kept in a horizontal state. Unaffected by tripod tilt.

In some special cases, for example, when the leveling connecting rod is too much affected by the gravity above, resulting in too much pressure on the leveling piston so that the leveling connecting rod cannot be self-leveling, the driving motor in the jacking box 401 drives the jacking rod 403, the jacking rod 403 is lifted upwards, the auxiliary rod 305b will move upwards in the main rod 305a, and the bottom of the auxiliary rod 305b is no longer in contact with the main rod 305a, so that the jacking rod 403 lifts the support plate 306 upwards, and the The support plate becomes separated from the liquid tank. At this time, the main rod 305a will not be affected by the gravity above. After the main rod 305a is self-adaptively leveled in the self-adaptive leveling cylinder 302, the self-adaptive adjustment is performed through the sealing adjustment plate 308. The flat cylinder 302 is sealed. At this time, each main rod 305a is in a fixed and leveled state, and then the jacking rod 403 retracts and no longer lifts the support plate, and the auxiliary rod 305b falls back into the axis positioning groove 305c of the main rod to realize automatic alignment. quasi-suit.

Preferably, considering that when the jacking rod drives the auxiliary rod 305b to move upward, the auxiliary rod 305b is in a disengaged state from the main rod 305a, and the support plate 306 is supported by the jacking rod, and the auxiliary rod 305b may be separated from the main rod. The support plate is separated from the top of the liquid tank, so an electromagnet 5 is installed on the top of the jacking rod 403, and the electromagnet 5 can absorb the support plate. At the same time, a demagnetization electromagnet 6 is installed in the auxiliary rod 305b. The demagnetization electromagnet can be fixed in the main rod 305a. When the electromagnet 5 and the demagnetization electromagnet 6 are energized, the electromagnet 5 will adsorb and stabilize the support plate, and the support plate will be firmly fixed on the jacking rod, and the demagnetization electromagnet will be energized at the same time. Finally, it loses its magnetism and no longer adsorbs to the auxiliary pole. The jacking rod is lifted to lift the support plate. The auxiliary rod 305b is adsorbed to the main rod 305b, so that the auxiliary rod 305b is stably nested in the main rod 305a.

Embodiment 2, an adaptive three-dimensional laser scanner for slope monitoring in this embodiment will be described centering on the differences from Embodiment 1.

In this embodiment, the top of the liquid tank 301 no longer uses an adapter sleeve and a swing rod. A shaft sleeve is installed on the top of the liquid tank, and a shaft is set inside the shaft sleeve. The end sleeve is equipped with a slave gear, and a motor can be arranged on the liquid tank. The main gear at the output end of the motor meshes with the slave gear, and the rotation of the sealing adjustment plate is controlled by the motor.

The above descriptions are only preferred embodiments of the present invention, and do not limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. Inside.

Claims (7)

1. The self-adaptive three-dimensional laser scanner for slope monitoring comprises a triangular support frame and is characterized by also comprising a self-adaptive leveling assembly, wherein the self-adaptive leveling assembly comprises a liquid tank arranged above the triangular support frame, a plurality of self-adaptive leveling cylinders are annularly arranged above the liquid tank, the self-adaptive leveling cylinders are communicated with the liquid tank, leveling pistons are sleeved in the self-adaptive leveling cylinders in a matched manner, ball bearings are arranged at the tops of the leveling pistons, leveling connecting rods are arranged in the self-adaptive leveling cylinders, the leveling connecting rods are hinged with the leveling pistons through the ball bearings, a support plate is arranged above the self-adaptive leveling cylinders, the three-dimensional laser scanner is fixed above the support plate, and the tops of the leveling connecting rods are connected with the support plate; the liquid tank is internally provided with a sealing control assembly for plugging and communicating the self-adaptive leveling cylinders, when the triangular support frame inclines, the liquid water level in each self-adaptive leveling cylinder is in the same horizontal state, the center of the leveling piston is kept in the horizontal state, each leveling connecting rod can adaptively level, and the sealing control assembly enables the three-dimensional laser scanner to be kept in the leveling state after sealing the self-adaptive leveling cylinder.

2. The slope monitoring self-adaptive three-dimensional laser scanner according to claim 1, wherein the seal control assembly comprises a seal adjusting plate arranged in the liquid tank, a communication hole corresponding to the self-adaptive leveling cylinder is formed in the seal adjusting plate, an opening and closing piece for controlling the seal adjusting plate is arranged at the top of the liquid tank, the opening and closing piece controls the seal adjusting plate to enable the communication hole to be communicated with the self-adaptive leveling cylinder or to be blocked in a dislocation manner, and a ring baffle is arranged below the seal adjusting plate.

3. The slope monitoring self-adaptive three-dimensional laser scanner according to claim 2, wherein the opening and closing member comprises an adapter sleeve arranged at the top of the liquid tank, the swing rod is arranged in the adapter sleeve through a torsion spring and is connected with the sealing adjusting plate, and the swing rod can control the sealing adjusting plate to rotate.

4. The slope monitoring self-adaptive three-dimensional laser scanner according to claim 2, wherein the opening and closing member comprises a shaft sleeve arranged at the top of the liquid tank, a shaft lever is sleeved in the shaft sleeve and connected with the sealing adjusting plate, a slave gear is sleeved at the free end of the shaft lever, and a master gear at the output end of the external motor is meshed with the slave gear.

5. The slope monitoring adaptive three-dimensional laser scanner of claim 1, wherein the ball bearing is disposed in the center of the top of the leveling piston, and the bottom of the leveling connecting rod is hinged to the ball bearing.

6. A slope monitoring adaptive three-dimensional laser scanner according to claim 1, wherein the adaptive leveling cartridges are provided in at least three.

7. The slope monitoring self-adaptive three-dimensional laser scanner according to claim 1, wherein the leveling connecting rod consists of a main rod and an auxiliary rod, the auxiliary rod is sleeved in the main rod, and a jacking mechanism for jacking the support plate is arranged on the liquid tank.

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