CN116518875A - Automatic three-dimensional laser scanner for topographic mapping and operation method thereof - Google Patents
Automatic three-dimensional laser scanner for topographic mapping and operation method thereof Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
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- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The utility model discloses an automatic three-dimensional laser scanner for topographic mapping and an operation method thereof, and belongs to the technical field of topographic mapping. In order to solve the problems that equipment is easy to damage due to falling and the mapping effect is poor, the top support ring and the bottom support ring are connected through the buffer assembly, before the three-dimensional laser scanner body collides with the ground, the connecting rod can collide with the ground preferentially, under the action of the buffer spring, the connecting rod buffers the equipment to prevent the equipment from being damaged due to collision with the ground, the service life of the equipment is prolonged, loss is reduced, the data required by the topographic mapping are acquired and processed through the three-dimensional laser scanner body by the topographic mapping unit, the geographic information acquisition and mapping of the topography can be realized by the data processing module, the operation is convenient, the expandability is high, the online mapping information preview can be realized in real time, and the two-dimensional display diagram and the three-dimensional display model can be accurately, quickly, safely and effectively generated through the visual processing module and the model construction module.
Description
Technical Field
The utility model relates to the technical field of topographic mapping, in particular to an automatic three-dimensional laser scanner for topographic mapping and an operation method thereof.
Background
The three-dimensional laser scanning technology is a technology which starts to appear in the middle of nineties of the last century, and is a new breakthrough of a mapping technology after a GPS space positioning system. The three-dimensional coordinate data of the surface of the measured object is rapidly acquired in a large area and high resolution by a high-speed laser scanning measurement method. The method can rapidly acquire a large amount of space point location information, and provides a brand new technical means for rapidly establishing a three-dimensional image model of an object. Because of the characteristics of rapidness, non-contact, real-time, dynamic, initiative, high density, high precision, digitization, automation and the like, the application and popularization of the method are likely to lead to another revolution of measurement technology like a GPS. Today, three-dimensional laser scanners that are currently on the market are mostly fixedly supported by a tripod.
Regarding a three-dimensional laser scanner, there has been related patents such as chinese patent publication No. CN215725760U, publication date 2022.02.01, which discloses a three-dimensional laser scanner measuring system including a scanner body; the fixed plate is fixedly arranged at the bottom of the scanner body; the box body is arranged below the fixed plate; the processor is fixedly arranged on the inner wall of one side of the box body; the controller is fixedly arranged on the inner wall of the bottom of the box body; the clamping block is fixedly arranged at the bottom of the box body, and a limiting groove is formed in the bottom of the clamping block.
The above patent also has the following problems in actual operation:
1. when mapping is carried out, even if a tripod is fixed, certain tilting possibility exists, the three-dimensional laser scanner is often precise in equipment and high in cost, the equipment is directly damaged by smashing the ground from a high place, and the working cost is increased;
2. the mapping data generation effect diagram has poor display effect and insufficient expandable functionality, various forms of mapping data and maps are often required to be processed, and more requirements on images, data processing, function expansion and the like are difficult to meet.
Disclosure of Invention
The present utility model is directed to an automated three-dimensional laser scanner for topographic mapping and a method of operating the same that address the problems set forth in the background art discussed above.
In order to achieve the above purpose, the present utility model provides the following technical solutions: an automatic three-dimensional laser scanner for topographic mapping comprises a three-dimensional laser scanner body and a mounting seat, wherein the bottom of the three-dimensional laser scanner body is detachably connected to the mounting seat, a bottom supporting ring is arranged on the periphery of the mounting seat, a top supporting ring is arranged above the bottom supporting ring, and the top supporting ring is connected with the bottom supporting ring through a buffer component;
the top of three-dimensional laser scanner body is provided with the handle, and the inside of three-dimensional laser scanner body is provided with the filter, and one side of three-dimensional laser scanner body is provided with the display screen, and the below of display screen is provided with control panel, and the inside of three-dimensional laser scanner body is provided with topography mapping system.
Further, the top ring groove has all been seted up on top surface and the bottom surface of top support ring, the slip is provided with the top slider on the top ring groove, the bottom ring groove has all been seted up on bottom support ring's the top surface and the bottom surface, the slip is provided with the bottom slider on the bottom ring groove, bottom support ring's inboard is provided with the dead lever, the telescopic tank has been seted up to the inside of dead lever, the inside slip of telescopic tank is provided with the telescopic link, the inside of telescopic link is provided with the telescopic spring, the both ends of telescopic spring are connected respectively on telescopic link and telescopic tank, the spout has been seted up in the outside of mount pad, the bottom of spout is equipped with the draw-in groove, the telescopic link is drawn the spout and the joint is inside the draw-in groove.
Further, the buffer assembly comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is connected with one end of the second connecting rod through a shaft pin, the other end of the first connecting rod is connected to the top sliding piece through a shaft pin, the other end of the second connecting rod is connected to the bottom sliding piece through a shaft pin, connecting rings are arranged on the inner sides of the first connecting rod and the second connecting rod, and a buffer spring is connected between the two connecting rings.
Further, the topographic mapping system includes:
the topographic survey and drawing unit is used for collecting and processing data required by topographic survey and drawing through the three-dimensional laser scanner body, constructing and displaying the topographic survey and drawing result through the processed data, and generating a two-dimensional display diagram and a three-dimensional display model;
the satellite positioning unit is used for being connected with the Beidou satellite and positioning the three-dimensional laser scanner body;
the man-machine interaction unit is used for controlling the three-dimensional laser scanner body by a worker;
the wireless transmission unit is used for realizing network connection between the three-dimensional laser scanner body and other equipment through a wireless network;
the data storage unit is used for storing the data acquired by the topographic mapping unit and the two-dimensional display diagram and the three-dimensional display model generated by processing.
Further, the wireless transmission unit includes:
the request monitoring module is used for monitoring whether a network connection request of external equipment is acquired or not in real time by the three-dimensional laser scanner body;
the signal transmitting module is used for transmitting a network environment confirmation signal to the external equipment when the three-dimensional laser scanner body receives a network connection request transmitted by the external equipment;
the feedback module is used for immediately sending feedback information to the three-dimensional laser scanner body after the external equipment receives the network environment confirmation signal; the feedback information comprises the receiving time when the external equipment receives the network environment confirmation signal, an information return instruction and the information return instruction initiating time;
the system comprises a first parameter data acquisition module, a second parameter data acquisition module and a third parameter data acquisition module, wherein the first parameter data acquisition module is used for extracting the receiving time, the information return instruction and the information return instruction initiating time of the network environment confirmation signal received by the external equipment contained in the feedback information after the feedback information fed back by the external equipment is received by the three-dimensional laser scanner body, and the receiving time, the information return instruction and the information return instruction initiating time are used as first parameter data;
the second parameter data acquisition module is used for recording the receiving moment corresponding to the feedback information fed back by the external equipment as second parameter data after the three-dimensional laser scanner body receives the feedback information fed back by the external equipment;
the third parameter data acquisition module is used for extracting historical feedback information of the external equipment and taking the historical feedback information as third parameter data;
the network quality parameter acquisition module is used for acquiring network quality parameters between the three-dimensional laser scanner body and the external equipment currently by utilizing the first parameter data, the second parameter data and the third parameter data; the network quality parameter is obtained through the following formula:
wherein F represents a network quality parameter; t (T) 01 Indicating the sending time of the network environment confirmation signal; t (T) 02 Indicating the receiving time when the external device receives the network environment confirmation signal; t (T) 03 Indicating the information return instruction initiating time; t (T) 04 Indicating the receiving time corresponding to the feedback information fed back by the external equipment; t (T) y Representing theoretical network transmission delay time length; t represents theoretical transmission completion time of communication transmission between the three-dimensional laser scanner body (1) and the external equipment under the current network facility body quantity; t (T) ymax Representing the maximum actual time delay duration embodied in the historical feedback information; f (F) 01 And F 02 Respectively represent preset reference parameter values, and F 01 And F is equal to 02 Are not equal;
and the network connection determining module is used for determining the current network quality level according to the network quality parameters and determining a network connection mode according to different network quality levels.
Further, the network connection determining module includes:
the first level determining module is used for defining the current network quality level as good when the network quality parameter is not lower than a preset network parameter threshold value;
a second level determining module, configured to define a current network quality level as bad when the network quality parameter is lower than a preset network parameter threshold;
the first time number determining module is used for setting the butting times of network active connection in unit time by utilizing the first parameter data, the second parameter data and the third parameter data when the current network quality level is defined to be good; wherein the value range of the unit time is 0.5min-1min; the docking times are obtained by the following formula:
wherein C is 01 When the current network quality level is defined to be good, setting the butting times of network active connection in unit time by using the first parameter data, the second parameter data and the third parameter data; t (T) d Representing the actual value per unit time; t (T) max Representing T between embodied in feedback information 02 -T 01 And T is 04 -T 03 Maximum difference value between; c (C) 0 Representing preset unit time docking times under the condition of good network quality;
the second time determining module is used for setting the butting time of the network active connection in unit time by utilizing the first parameter data, the second parameter data and the third parameter data when the current network quality level is defined as bad; wherein the value range of the unit time is 0.5min-1min; the docking times are obtained by the following formula:
wherein C is 02 When the current network quality level is defined as bad, setting the butting times of network active connection in unit time by using the first parameter data, the second parameter data and the third parameter data; t (T) d Representing the actual value per unit time; t (T) max Representing T between embodied in feedback information 02 -T 01 And T is 04 -T 03 Maximum difference value between; c (C) 0 And the preset unit time docking times under the condition of good network quality are represented.
Further, the topographic mapping unit includes:
the data processing module is used for carrying out electric signal connection with the three-dimensional laser scanner body, sending a control command to the equipment control circuit to quantitatively acquire data required by topographic mapping, and calculating and processing the acquired data required by topographic mapping after the acquisition is completed to obtain three-dimensional point cloud data;
the visualization processing module is used for carrying out two-dimensional visualization processing on the three-dimensional point cloud data, generating a section view, wheels Guo Xian and contour lines according to the three-dimensional point cloud data, and generating a two-dimensional display view according to the section view, the wheels Guo Xian and the contour lines;
the model construction module is used for carrying out three-dimensional model construction on the three-dimensional point cloud data, carrying out three-dimensional rendering according to the three-dimensional point cloud data to obtain an MR holographic image and an image, and processing shielding relations between the MR holographic image and a real object and between objects in the MR holographic image through reflection of a projection entity to generate a three-dimensional display model.
Further, the man-machine interaction unit is used for generating a man-machine interaction interface, displaying real-time control information and real-time conditions of operation instructions of the topographic mapping unit through the man-machine interaction unit, and simultaneously controlling the topographic mapping unit in real time through the man-machine interaction unit by an operator so as to control topographic mapping work of the automatic three-dimensional laser scanner.
Further, the data storage unit includes:
the data storage module is used for classifying the received data stream groups according to the data stream labels and storing the data stream groups in a cloud end, grouping the classified stored data according to stream attribute information and data content and classifying and marking the classified data, wherein the grouping comprises an acquisition data set, a two-dimensional data set and a three-dimensional data set;
the three-dimensional laser scanner comprises a three-dimensional laser scanner body, a three-dimensional display model, a three-dimensional display data set, a two-dimensional display diagram and a three-dimensional display data set, wherein the acquired data set is used for storing data required by topographic mapping acquired by the three-dimensional laser scanner body;
the cloud transmission module is used for interacting with the wireless transmission unit and carrying out interactive transmission of file data between the data in the data storage unit and other devices.
Another technical problem to be solved by the present utility model is to provide a method of operating an automated three-dimensional laser scanner for topographic mapping, comprising the steps of:
step one: the mounting seat is arranged on the triangular bracket, the bottom support ring is sleeved outside the mounting seat from top to bottom, the telescopic rod passes through the sliding groove and is clamped inside the clamping groove, the three-dimensional laser scanner body is arranged on the mounting seat, and the first connecting rod and the second connecting rod are moved to enable the three-dimensional laser scanner body to encircle the three-dimensional laser scanner body and not to shield the three-dimensional laser scanner body from working normally;
step two: controlling a three-dimensional laser scanner body, collecting and processing data required by topographic mapping through a topographic mapping unit, and constructing and displaying topographic mapping results through three-dimensional point cloud data obtained through processing to generate a two-dimensional display diagram and a three-dimensional display model;
step three: and storing data required by topographic mapping, a two-dimensional display diagram and a three-dimensional display model acquired by the three-dimensional laser scanner body through a data storage unit.
Compared with the prior art, the utility model has the beneficial effects that:
1. under the prior art, even if a tripod is fixed during mapping, certain dumping possibility exists, the three-dimensional laser scanner is high in precision manufacturing cost, the equipment is directly bumped from a high place to fall on the ground to cause unpredictable damage to the equipment, and the working cost is increased;
2. under the prior art, the map data generation effect map has poor display effect and insufficient extensible functionality, various forms of map data and maps are often required to be processed, and more requirements on images, data processing, function expansion and the like are difficult to meet. The method has the advantages of simple operation, high safety and low labor intensity during use, can adapt to the complex shape of most mapping terrains, can meet different working environments, reduces the influence of artificial errors, is convenient for data calculation, and has short measurement time and high accuracy.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automated three-dimensional laser scanner for topographic mapping in accordance with the present utility model;
FIG. 2 is a schematic view of the structure of a three-dimensional laser scanner body according to the present utility model;
FIG. 3 is a schematic view of the connection structure of the top support ring and the bottom support ring according to the present utility model;
FIG. 4 is a schematic view of a fixing rod according to the present utility model;
FIG. 5 is a schematic diagram of a system module according to the present utility model.
In the figure: 1. a three-dimensional laser scanner body; 11. a handle; 12. a display screen; 13. a control panel; 14. a filter lens; 2. a top support ring; 21. a top ring groove; 22. a top slide; 3. a bottom support ring; 31. a bottom ring groove; 32. a bottom slider; 33. a fixed rod; 34. a telescopic slot; 35. a telescopic rod; 36. a telescopic spring; 4. a mounting base; 41. a chute; 5. a buffer assembly; 51. a first link; 52. a second link; 53. a connecting ring; 54. and a buffer spring.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In order to solve the technical problems that even if a tripod is fixed during mapping, certain dumping possibility exists, the three-dimensional laser scanner is often high in precision manufacturing cost, the equipment is directly damaged by smashing the ground from a high place, and the working cost is increased, referring to fig. 1-4, the utility model provides the following technical scheme:
an automatic three-dimensional laser scanner for topographic mapping comprises a three-dimensional laser scanner body 1 and an installation seat 4, wherein the bottom of the three-dimensional laser scanner body 1 is detachably connected to the installation seat 4, a bottom support ring 3 is arranged on the periphery of the installation seat 4, a top support ring 2 is arranged above the bottom support ring 3, and the top support ring 2 and the bottom support ring 3 are connected through a buffer component 5; the top of three-dimensional laser scanner body 1 is provided with handle 11, and the inside of three-dimensional laser scanner body 1 is provided with filter 14, and one side of three-dimensional laser scanner body 1 is provided with display screen 12, and the below of display screen 12 is provided with control panel 13, and the inside of three-dimensional laser scanner body 1 is provided with topography system.
The top ring groove 21 is formed in the top surface and the bottom surface of the top support ring 2, the top sliding piece 22 is arranged on the top ring groove 21 in a sliding mode, the bottom ring groove 31 is formed in the top surface and the bottom surface of the bottom support ring 3, the bottom sliding piece 32 is arranged on the bottom ring groove 31 in a sliding mode, the fixing rod 33 is arranged on the inner side of the bottom support ring 3, the telescopic groove 34 is formed in the fixing rod 33, the telescopic rod 35 is arranged in the telescopic groove 34 in a sliding mode, the telescopic spring 36 is arranged in the telescopic groove 34, two ends of the telescopic spring 36 are connected to the telescopic rod 35 and the telescopic groove 34 respectively, the sliding groove 41 is formed in the outer side of the mounting seat 4, the clamping groove is formed in the bottom end of the sliding groove 41, and the telescopic rod 35 passes through the sliding groove 41 and is clamped inside the clamping groove.
The buffer assembly 5 comprises a first connecting rod 51 and a second connecting rod 52, one end of the first connecting rod 51 is connected with one end of the second connecting rod 52 through a shaft pin, the other end of the first connecting rod 51 is connected to the top slider 22 through a shaft pin, the other end of the second connecting rod 52 is connected to the bottom slider 32 through a shaft pin, connecting rings 53 are arranged on the inner sides of the first connecting rod 51 and the second connecting rod 52, and a buffer spring 54 is connected between the two connecting rings 53.
Specifically, when preparing for work, install mount pad 4 on the tripod, cup joint bottom support ring 3 in the outside of mount pad 4 from top to bottom, telescopic link 35 is drawn through spout 41 and joint in the draw-in groove is inside, installs three-dimensional laser scanner body 1 on mount pad 4, removes first connecting rod 51 and second connecting rod 52 and makes it encircle three-dimensional laser scanner body 1 and does not shelter from three-dimensional laser scanner body 1 normal work.
Specifically, when the equipment is not stably installed and the equipment falls to the ground, the three-dimensional laser scanner body 1 is positioned between the top support ring 2 and the bottom support ring 3, so that before the three-dimensional laser scanner body 1 collides with the ground, the first connecting rod 51 and the second connecting rod 52 can collide with the ground preferentially, and under the action of the buffer spring 54, the first connecting rod 51 and the second connecting rod 52 buffer the equipment, so that the damage to the collision between the equipment and the ground is avoided, the service life of the equipment is prolonged, and the loss is reduced.
In order to solve the problems that the existing topographic mapping system has poor mapping data generation effect, insufficient expandable functionality and the like, various forms of mapping data and maps are often required to be processed, and the technical problems that the requirements for image, data processing and function expansion are more and more difficult to meet, referring to fig. 5, the utility model provides the following technical scheme:
the topography mapping system comprises:
the topographic survey and drawing unit is used for collecting and processing data required by topographic survey and drawing through the three-dimensional laser scanner body 1, constructing and displaying the topographic survey and drawing result through the processed data, and generating a two-dimensional display diagram and a three-dimensional display model;
the satellite positioning unit is used for being connected with the Beidou satellite and positioning the three-dimensional laser scanner body 1;
the man-machine interaction unit is used for controlling the three-dimensional laser scanner body 1 by a worker, generating a man-machine interaction interface, displaying real-time control information and real-time conditions of operation instructions of the topographic mapping unit through the man-machine interaction unit, and simultaneously controlling the topographic mapping unit in real time by an operator through the man-machine interaction unit so as to control topographic mapping work of the automatic three-dimensional laser scanner;
the wireless transmission unit is used for realizing network connection between the three-dimensional laser scanner body 1 and other devices through a wireless network;
the data storage unit is used for storing the data acquired by the topographic mapping unit and the two-dimensional display diagram and the three-dimensional display model generated by processing.
Specifically, when the three-dimensional laser scanner body 1 is controlled through the human-computer interaction unit in operation, data required by topographic mapping is collected and processed through the topographic mapping unit, the result of topographic mapping is constructed and displayed through the processed three-dimensional point cloud data, a two-dimensional display diagram and a three-dimensional display model are generated, and the data required by topographic mapping, the two-dimensional display diagram and the three-dimensional display model which are collected by the three-dimensional laser scanner body 1 are stored through the data storage unit.
A wireless transmission unit comprising:
the request monitoring module is used for monitoring whether the network connection request of the external equipment is acquired or not in real time by the three-dimensional laser scanner body 1;
a signal sending module, configured to send a network environment acknowledgement signal to an external device when the three-dimensional laser scanner body 1 receives a network connection request sent by the external device;
the feedback module is used for immediately sending feedback information to the three-dimensional laser scanner body 1 after the external equipment receives the network environment confirmation signal; the feedback information comprises the receiving time when the external equipment receives the network environment confirmation signal, an information return instruction and the information return instruction initiating time;
the first parameter data acquisition module is used for extracting the receiving time, the information return instruction and the information return instruction initiating time of the network environment confirmation signal received by the external equipment contained in the feedback information as first parameter data after the feedback information fed back by the external equipment is received by the three-dimensional laser scanner body 1;
the second parameter data acquisition module is used for recording the receiving time corresponding to the feedback information fed back by the external equipment as second parameter data after the feedback information fed back by the external equipment is received by the three-dimensional laser scanner body 1;
the third parameter data acquisition module is used for extracting historical feedback information of the external equipment and taking the historical feedback information as third parameter data;
the network quality parameter acquisition module is used for acquiring network quality parameters between the three-dimensional laser scanner body 1 and the external equipment currently by utilizing the first parameter data, the second parameter data and the third parameter data; the network quality parameter is obtained through the following formula:
wherein F represents a network quality parameter; t (T) 01 Indicating the sending time of the network environment confirmation signal; t (T) 02 Indicating the receiving time when the external device receives the network environment confirmation signal; t (T) 03 Indicating the information return instruction initiating time; t (T) 04 Indicating the receiving time corresponding to the feedback information fed back by the external equipment; t (T) y Representing theoretical network transmission delay time length; t represents theoretical transmission completion time of communication transmission between the three-dimensional laser scanner body 1 and the external equipment under the current network facility body quantity; t (T) ymax Representing the maximum actual time delay duration embodied in the historical feedback information; f (F) 01 And F 02 Respectively represent preset reference parameter values, and F 01 And F is equal to 02 Are not equal;
and the network connection determining module is used for determining the current network quality level according to the network quality parameters and determining a network connection mode according to different network quality levels.
Specifically, the network connection determining module includes:
the first level determining module is used for defining the current network quality level as good when the network quality parameter is not lower than a preset network parameter threshold value;
a second level determining module, configured to define a current network quality level as bad when the network quality parameter is lower than a preset network parameter threshold;
the first time number determining module is used for setting the butting times of network active connection in unit time by utilizing the first parameter data, the second parameter data and the third parameter data when the current network quality level is defined to be good; wherein the value range of the unit time is 0.5min-1min; the docking times are obtained by the following formula:
wherein C is 01 Indicating that the first parameter data is utilized when the current network quality level is defined as goodSetting the butting times of network active connection in unit time according to the second parameter data and the third parameter data; t (T) d Representing the actual value per unit time; t (T) max Representing T between embodied in feedback information 02 -T 01 And T is 04 -T 03 Maximum difference value between; c (C) 0 Representing preset unit time docking times under the condition of good network quality;
the second time determining module is used for setting the butting time of the network active connection in unit time by utilizing the first parameter data, the second parameter data and the third parameter data when the current network quality level is defined as bad; wherein the value range of the unit time is 0.5min-1min; the docking times are obtained by the following formula:
wherein C is 02 When the current network quality level is defined as bad, setting the butting times of network active connection in unit time by using the first parameter data, the second parameter data and the third parameter data; t (T) d Representing the actual value per unit time; t (T) max Representing T between embodied in feedback information 02 -T 01 And T is 04 -T 03 Maximum difference value between; c (C) 0 And the preset unit time docking times under the condition of good network quality are represented.
Firstly, the current network condition can be probed by utilizing the preset signal transmission through the transmission of the network environment confirmation signal and the receiving of the feedback information, meanwhile, the network quality parameter is acquired by utilizing the first parameter data, the second parameter data and the third parameter data, the accuracy of acquiring the network quality parameter can be effectively improved, the acquired network quality parameter can be combined with the comprehensive mode of the current network condition reflected by the first parameter data and the second parameter data and the historical network condition reflected by the third parameter data to acquire the current network condition, the authenticity of the network condition reaction of the current network quality parameter can be effectively improved, and meanwhile, the acquired network quality parameter has a certain state quality evaluation on a section of prolonged time after the current network connection due to the combination of the third parameter data, so that the scheme design accuracy of the autonomous docking of the subsequent network request signal and the accuracy of the subsequent network condition evaluation are effectively improved;
on the other hand, the network request signals obtained in the mode are autonomously connected for times within unit time, and the times of connection are set according to different network state conditions, so that the network connection quality and the connection success rate under different network states can be effectively improved, and the network disconnection is prevented, and the problem of network communication interruption caused by timely autonomous connection is solved.
The topography mapping unit includes:
the data processing module is used for carrying out electric signal connection with the three-dimensional laser scanner body 1, sending a control command to the equipment control circuit to quantitatively acquire data required by topographic mapping, and calculating and processing the acquired data required by topographic mapping after the acquisition is completed to obtain three-dimensional point cloud data;
the visualization processing module is used for carrying out two-dimensional visualization processing on the three-dimensional point cloud data, generating a section view, wheels Guo Xian and contour lines according to the three-dimensional point cloud data, and generating a two-dimensional display view according to the section view, the wheels Guo Xian and the contour lines;
the model construction module is used for carrying out three-dimensional model construction on the three-dimensional point cloud data, carrying out three-dimensional rendering according to the three-dimensional point cloud data to obtain an MR holographic image and an image, and processing shielding relations between the MR holographic image and a real object and between objects in the MR holographic image through reflection of a projection entity to generate a three-dimensional display model.
Specifically, the data processing module can collect and map geographic information of the terrain, is convenient to operate and high in expandability, can preview the online mapping information in real time, and can accurately, quickly, safely and effectively generate a two-dimensional display diagram and a three-dimensional display model through the visual processing module and the model building module. The method has the advantages of simple operation, high safety and low labor intensity during use, can adapt to the complex shape of most mapping terrains, can meet different working environments, reduces the influence of artificial errors, is convenient for data calculation, and has short measurement time and high accuracy.
The data storage unit includes:
the data storage module is used for classifying the received data stream groups according to the data stream labels and storing the data stream groups in a cloud end, grouping the classified stored data according to stream attribute information and data content and classifying and marking the classified data, wherein the grouping comprises an acquisition data set, a two-dimensional data set and a three-dimensional data set;
the acquisition data set is used for storing data required by topographic mapping acquired by the three-dimensional laser scanner body 1, the two-dimensional data set is used for storing a two-dimensional display diagram, and the three-dimensional data set is used for storing a three-dimensional display model;
the cloud transmission module is used for interacting with the wireless transmission unit and carrying out interactive transmission of file data between the data in the data storage unit and other devices.
Specifically, can carry out high in the clouds through high in the clouds transmission module and store the survey and drawing data to be convenient for transfer the data on other equipment, improve the convenience of data processing efficiency and survey and drawing work.
In order to better demonstrate the use process of an automated three-dimensional laser scanner for topographic mapping, the present embodiment now proposes an operation method of an automated three-dimensional laser scanner for topographic mapping, comprising the steps of:
step one: the mounting seat 4 is mounted on the triangular bracket, the bottom support ring 3 is sleeved outside the mounting seat 4 from top to bottom, the telescopic rod 35 passes through the sliding groove 41 and is clamped inside the clamping groove, the three-dimensional laser scanner body 1 is mounted on the mounting seat 4, and the first connecting rod 51 and the second connecting rod 52 are moved to enable the three-dimensional laser scanner body 1 to be surrounded and not to shield the three-dimensional laser scanner body 1 from normally working;
step two: the three-dimensional laser scanner body 1 is controlled, data required by topographic mapping are acquired and processed through a topographic mapping unit, and results of topographic mapping are constructed and displayed through three-dimensional point cloud data obtained through processing, so that a two-dimensional display diagram and a three-dimensional display model are generated;
step three: the data required for topographic mapping, the two-dimensional display map and the three-dimensional display model acquired by the three-dimensional laser scanner body 1 are stored by the data storage unit.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should be covered by the protection scope of the present utility model by making equivalents and modifications to the technical solution and the inventive concept thereof.
Claims (10)
1. An automatic three-dimensional laser scanner for topographic mapping, includes three-dimensional laser scanner body (1) and mount pad (4), its characterized in that: the bottom of the three-dimensional laser scanner body (1) is detachably connected to a mounting seat (4), a bottom supporting ring (3) is arranged on the periphery of the mounting seat (4), a top supporting ring (2) is arranged above the bottom supporting ring (3), and the top supporting ring (2) is connected with the bottom supporting ring (3) through a buffer component (5);
the three-dimensional laser scanner is characterized in that a handle (11) is arranged at the top of the three-dimensional laser scanner body (1), a filter (14) is arranged in the three-dimensional laser scanner body (1), a display screen (12) is arranged on one side of the three-dimensional laser scanner body (1), a control panel (13) is arranged below the display screen (12), and a topography mapping system is arranged in the three-dimensional laser scanner body (1).
2. An automated three-dimensional laser scanner for topographical mapping as recited in claim 1, wherein: top ring groove (21) have all been seted up on top surface and the bottom surface of top support ring (2), top ring groove (21) are gone up to slide and are provided with top slider (22), bottom ring groove (31) have all been seted up on top surface and the bottom surface of bottom support ring (3), bottom ring groove (31) are gone up to slide and are provided with bottom slider (32), the inboard of bottom support ring (3) is provided with dead lever (33), telescopic slot (34) have been seted up to the inside of dead lever (33), the inside of telescopic slot (34) is slided and is provided with telescopic link (35), the inside of telescopic slot (34) is provided with telescopic spring (36), spout (41) have been seted up in the both ends of telescopic spring (36) on telescopic link (35) and telescopic slot (34) respectively in the outside of mount pad (4), the bottom of spout (41) is equipped with the draw-in groove, telescopic link (35) are drawn through spout (41) and joint inside the draw-in groove.
3. An automated three-dimensional laser scanner for topographical mapping as recited in claim 2, wherein: the buffer assembly (5) comprises a first connecting rod (51) and a second connecting rod (52), one end of the first connecting rod (51) is connected with one end of the second connecting rod (52) through a shaft pin, the other end of the first connecting rod (51) is connected to the top sliding piece (22) through a shaft pin, the other end of the second connecting rod (52) is connected to the bottom sliding piece (32) through a shaft pin, connecting rings (53) are arranged on the inner sides of the first connecting rod (51) and the second connecting rod (52), and a buffer spring (54) is connected between the two connecting rings (53).
4. An automated three-dimensional laser scanner for topographical mapping as claimed in claim 3, wherein: the topographic mapping system includes:
the topographic survey and drawing unit is used for collecting and processing data required by topographic survey and drawing through the three-dimensional laser scanner body (1), constructing and displaying the topographic survey and drawing result through the processed data, and generating a two-dimensional display diagram and a three-dimensional display model;
the satellite positioning unit is used for being connected with the Beidou satellite and positioning the three-dimensional laser scanner body (1);
the man-machine interaction unit is used for controlling the three-dimensional laser scanner body (1) by a worker;
the wireless transmission unit is used for realizing network connection between the three-dimensional laser scanner body (1) and other equipment through a wireless network;
the data storage unit is used for storing the data acquired by the topographic mapping unit and the two-dimensional display diagram and the three-dimensional display model generated by processing.
5. An automated three-dimensional laser scanner for topographical mapping as recited in claim 4, wherein: a wireless transmission unit comprising:
the request monitoring module is used for monitoring whether the network connection request of the external equipment is acquired or not in real time by the three-dimensional laser scanner body (1);
the signal transmitting module is used for transmitting a network environment confirmation signal to the external equipment when the three-dimensional laser scanner body (1) receives a network connection request transmitted by the external equipment;
the feedback module is used for immediately sending feedback information to the three-dimensional laser scanner body (1) after the external equipment receives a network environment confirmation signal; the feedback information comprises the receiving time when the external equipment receives the network environment confirmation signal, an information return instruction and the information return instruction initiating time;
the first parameter data acquisition module is used for extracting the receiving time, the information return instruction and the information return instruction initiating time of the network environment confirmation signal received by the external equipment contained in the feedback information as first parameter data after the feedback information fed back by the external equipment is received by the three-dimensional laser scanner body (1);
the second parameter data acquisition module is used for recording the receiving time corresponding to the feedback information fed back by the external equipment as second parameter data after the feedback information fed back by the external equipment is received by the three-dimensional laser scanner body (1);
the third parameter data acquisition module is used for extracting historical feedback information of the external equipment and taking the historical feedback information as third parameter data;
the network quality parameter acquisition module is used for acquiring network quality parameters between the current three-dimensional laser scanner body (1) and the external equipment by utilizing the first parameter data, the second parameter data and the third parameter data; the network quality parameter is obtained through the following formula:
wherein F represents a network quality parameter; t (T) 01 Indicating the sending time of the network environment confirmation signal; t (T) 02 Indicating the receiving time when the external device receives the network environment confirmation signal; t (T) 03 Indicating the information return instruction initiating time; t (T) 04 Indicating the receiving time corresponding to the feedback information fed back by the external equipment; t (T) y Representing theoretical network transmission delay time length; t represents theoretical transmission completion time of communication transmission between the three-dimensional laser scanner body (1) and the external equipment under the current network facility body quantity; t (T) ymax Representing the maximum actual time delay duration embodied in the historical feedback information; f (F) 01 And F 02 Respectively represent preset reference parameter values, and F 01 And F is equal to 02 Are not equal;
and the network connection determining module is used for determining the current network quality level according to the network quality parameters and determining a network connection mode according to different network quality levels.
6. An automated three-dimensional laser scanner for topographical mapping as recited in claim 5, wherein: a network connection determination module comprising:
the first level determining module is used for defining the current network quality level as good when the network quality parameter is not lower than a preset network parameter threshold value;
a second level determining module, configured to define a current network quality level as bad when the network quality parameter is lower than a preset network parameter threshold;
the first time number determining module is used for setting the butting times of network active connection in unit time by utilizing the first parameter data, the second parameter data and the third parameter data when the current network quality level is defined to be good; wherein the value range of the unit time is 0.5min-1min; the docking times are obtained by the following formula:
wherein C is 01 When the current network quality level is defined to be good, setting the butting times of network active connection in unit time by using the first parameter data, the second parameter data and the third parameter data; t (T) d Representing the actual value per unit time; t (T) max Representing T between embodied in feedback information 02 -T 01 And T is 04 -T 03 Maximum difference value between; c (C) 0 Representing preset unit time docking times under the condition of good network quality;
the second time determining module is used for setting the butting time of the network active connection in unit time by utilizing the first parameter data, the second parameter data and the third parameter data when the current network quality level is defined as bad; wherein the value range of the unit time is 0.5min-1min; the docking times are obtained by the following formula:
wherein C is 02 When the current network quality level is defined as bad, setting the butting times of network active connection in unit time by using the first parameter data, the second parameter data and the third parameter data; t (T) d Representing the actual value per unit time; t (T) max Representing T between embodied in feedback information 02 -T 01 And T is 04 -T 03 Maximum difference value between; c (C) 0 And the preset unit time docking times under the condition of good network quality are represented.
7. An automated three-dimensional laser scanner for topographical mapping as recited in claim 6, wherein: the topographic mapping unit includes:
the data processing module is used for carrying out electric signal connection with the three-dimensional laser scanner body (1), sending a control command to the equipment control circuit to quantitatively acquire data required by topographic mapping, and calculating and processing the acquired data required by topographic mapping after the acquisition is completed to obtain three-dimensional point cloud data;
the visualization processing module is used for carrying out two-dimensional visualization processing on the three-dimensional point cloud data, generating a section view, wheels Guo Xian and contour lines according to the three-dimensional point cloud data, and generating a two-dimensional display view according to the section view, the wheels Guo Xian and the contour lines;
the model construction module is used for carrying out three-dimensional model construction on the three-dimensional point cloud data, carrying out three-dimensional rendering according to the three-dimensional point cloud data to obtain an MR holographic image and an image, and processing shielding relations between the MR holographic image and a real object and between objects in the MR holographic image through reflection of a projection entity to generate a three-dimensional display model.
8. An automated three-dimensional laser scanner for topographical mapping as recited in claim 7, wherein: the man-machine interaction unit is used for generating a man-machine interaction interface, displaying real-time control information and real-time conditions of operation instructions of the topographic mapping unit through the man-machine interaction unit, and simultaneously controlling topographic mapping work of the automatic three-dimensional laser scanner through the man-machine interaction unit.
9. An automated three-dimensional laser scanner for topographical mapping as recited in claim 8, wherein: the data storage unit includes:
the data storage module is used for classifying the received data stream groups according to the data stream labels and storing the data stream groups in a cloud end, grouping the classified stored data according to stream attribute information and data content and classifying and marking the classified data, wherein the grouping comprises an acquisition data set, a two-dimensional data set and a three-dimensional data set;
the acquisition data set is used for storing data required by topographic mapping acquired by the three-dimensional laser scanner body (1), the two-dimensional data set is used for storing a two-dimensional display diagram, and the three-dimensional data set is used for storing a three-dimensional display model;
the cloud transmission module is used for interacting with the wireless transmission unit and carrying out interactive transmission of file data between the data in the data storage unit and other devices.
10. A method of operating an automated three-dimensional laser scanner for topographic mapping according to any one of claims 1-9, characterized by: the method comprises the following steps:
step one: the mounting seat (4) is mounted on the triangular bracket, the bottom support ring (3) is sleeved outside the mounting seat (4) from top to bottom, the telescopic rod (35) is drawn through the sliding groove (41) and clamped inside the clamping groove, the three-dimensional laser scanner body (1) is mounted on the mounting seat (4), and the first connecting rod (51) and the second connecting rod (52) are moved to enable the three-dimensional laser scanner body (1) to be surrounded and not to shield the three-dimensional laser scanner body (1) from normally working;
step two: the three-dimensional laser scanner body (1) is controlled, data required by topographic mapping is acquired and processed through a topographic mapping unit, and results of topographic mapping are constructed and displayed through three-dimensional point cloud data obtained through processing, so that a two-dimensional display diagram and a three-dimensional display model are generated;
step three: and the data storage unit is used for storing data, a two-dimensional display diagram and a three-dimensional display model required by topographic mapping acquired by the three-dimensional laser scanner body (1).
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