阅读说明：本技术 一种地形三维可视化测量装置及其测量方法 (Terrain three-dimensional visual measuring device and measuring method thereof ) 是由 潘宇翔 于 2019-10-30 设计创作，主要内容包括：本发明公开了一种地形三维可视化测量装置及其测量方法,属于三维可视化测量领域。包括机载山地小车、角度调节机构和信息采集机构三部分。机载山地小车包括履带式移动组件、与移动组件相连接的驱动组件；角度调节机构包括设置在壳体顶部的伸缩杆、与伸缩杆通过减震组件连接的旋转平台；信息采集机构包括设置在旋转平台输出端上的激光发生器和CCD相机。本发明通过采用履带式移动组件的移动方式,以适应复杂地形的运动情况,提高履带与地面的贴合程度,进而提高机载山地小车的稳定性；通过旋转平台和伸缩杆,提高信息采集机构的多样性；通过减震组件减小伸缩杆的晃动干扰,进而增加信息采集机构的稳定性。(The invention discloses a three-dimensional visualization measuring device and a measuring method for terrain, and belongs to the field of three-dimensional visualization measurement. The device comprises an airborne mountain trolley, an angle adjusting mechanism and an information acquisition mechanism. The airborne mountain trolley comprises a crawler-type moving assembly and a driving assembly connected with the moving assembly; the angle adjusting mechanism comprises a telescopic rod arranged at the top of the shell and a rotating platform connected with the telescopic rod through a damping component; the information acquisition mechanism comprises a laser generator and a CCD camera which are arranged on the output end of the rotary platform. According to the invention, the moving mode of the crawler-type moving assembly is adopted to adapt to the motion condition of a complex terrain, so that the fitting degree of the crawler and the ground is improved, and the stability of the airborne mountain trolley is further improved; the diversity of the information acquisition mechanism is improved by rotating the platform and the telescopic rod; the shaking interference of the telescopic rod is reduced through the damping component, and the stability of the information acquisition mechanism is further improved.)

1. A three-dimensional visual measuring device of topography, characterized by, includes:

the airborne mountain trolley comprises a crawler-type moving assembly, a driving assembly connected with the moving assembly, a driving controller and a wireless transceiving assembly which are connected with the driving assembly, and a shell for supporting and fixing;

the angle adjusting mechanism comprises a telescopic rod arranged at the top of the shell and a rotating platform fixedly connected with the telescopic rod;

the information acquisition mechanism comprises a laser generator arranged on the output end of the rotary platform and a CCD camera arranged on the shell.

2. The topographic three-dimensional visualization measuring device as set forth in claim 1, wherein: the tracked movement assembly comprises: the device comprises an elastic crawler, a direction wheel, a direction control assembly, a power wheel, a plurality of follow-up wheels and a tensioning assembly, wherein the direction wheel is positioned at one end of the elastic crawler and meshed with the elastic crawler, the direction control assembly is connected with the direction wheel, the power wheel is fixedly arranged at the other end of the elastic crawler and meshed with the other end of the elastic crawler and connected with a first motor of a driving assembly, the follow-up wheels are uniformly distributed among the elastic crawler, and the tensioning assembly is connected with part of the follow-up wheels.

3. The topographical three-dimensional visual measurement device according to claim 2, wherein the orientation control assembly includes: the rotating bearing is sleeved at the central shaft of the direction wheel, and the middle wheel is fixedly connected with the rotating bearing through a connecting piece; wherein, the intermediate wheel is connected with the output shaft of the second motor of the driving component.

4. The topographical three-dimensional visualization measuring device as set forth in claim 2, wherein said tensioning assembly includes: the two groups of connecting rods are Y-shaped in planar shape, provided with 3 connecting ends and opposite in placement direction, and are connected together at the center positions of the two groups of connecting rods through rotating pin shafts; the first connecting ends of the two groups of connecting rods, which are positioned at the lower part of the pin shaft, are connected with the driven wheels positioned at the bottom of the elastic crawler belt, the second connecting ends of the two groups of connecting rods, which are positioned at the upper part of the pin shaft, are connected with each other through elastic pieces, and the third connecting rods, which are horizontally arranged with the pin shaft, of the two groups of connecting rods and the driven wheels, which are horizontally arranged with the pin shaft, are.

5. The topographical three-dimensional visualization measuring device as set forth in claim 1, wherein said rotating platform comprises: the device comprises a fixed disc arranged on the output end of the telescopic rod, a Z-axis rotating motor fixedly arranged in the middle of the fixed disc, an L-shaped first connecting plate connected with the Z-axis rotating motor, an X-axis rotating motor fixedly arranged at the other end of the connecting plate, a U-shaped second connecting plate fixedly connected with the output end of the X-axis rotating motor, a rotating shaft arranged at the open end of the second connecting plate, a Y-axis rotating motor arranged on one side of the open end of the second connecting plate and connected with one end of the rotating shaft, and a mobile power supply and an acquisition controller arranged on the other side of the second connecting plate; the mobile power supply and the acquisition controller are connected with the X-axis rotating motor, the Y-axis rotating motor and the Z-axis rotating motor through electric wires.

6. The three-dimensional visualization measuring device of the terrain as set forth in claim 5, characterized in that a shock absorption assembly is arranged at the connection of the rotating platform and the telescopic rod; wherein, the shock attenuation subassembly includes: the telescopic rod comprises a plurality of groups of connecting sheets fixedly connected with the output end of the telescopic rod, a plurality of damping balls made of high-elasticity silica gel and arranged above the connecting sheets, a baffle plate arranged at one end of the connecting sheets and matched with the outline of the fixed disc, and the fixed disc arranged above the damping balls; and the fixed seat of the Z-axis rotating motor penetrates through the fixed disc and is fixedly arranged on the output end of the telescopic rod.

7. The three-dimensional visualization measuring device of the terrain as set forth in claim 5, wherein the geometrical planes of the plurality of groups of shock absorbing balls are arranged in a horizontal direction with respect to each other, and the centroid of the geometrical shapes is close to or coincident with the center of gravity of the rotating platform.

8. The three-dimensional visualization measuring device for the terrain as claimed in claim 1, wherein the laser generator is internally provided with a plurality of groups of servo motors for controlling the plurality of scanning prisms to rotate along the axis.

9. A measuring method of a three-dimensional visualization measuring device for terrain is characterized by comprising the following steps:

s1, confirming a measuring point through field investigation, planning the motion track of the airborne mountain trolley through the control terminal, and transmitting information to the driving controller;

s2, after the mountain-carrying trolley moves to the detection point, the mountain-carrying trolley is adjusted to be horizontal through the crawler-type moving assembly;

s3, adjusting the positions and the movement directions of the telescopic rod and the rotary platform to adapt to the acquisition of the three-dimensional terrain by the information acquisition mechanism;

s3, recording an image irradiated on a measuring object by laser through a CCD camera, forming laser stripes at different positions on a lens, determining the distance between a measuring point and the measuring object, and determining the three-dimensional coordinates of a single point on the measuring object through the emergent phase of the laser;

s4, adjusting the position of the scanning prism through a servo motor, controlling the laser emission direction, forming a linear scanning area, recording the displacement of the laser on the measuring object through a CCD camera, and determining the three-dimensional coordinates of a plurality of point clouds of the measuring object;

and S5, summarizing the measurement data, sending the data to a control terminal, and moving to the next measurement point for further measurement.

10. The measurement method of the topographic three-dimensional visualization measurement device according to claim 9, wherein the three-dimensional coordinates of the measurement object are:

wherein the content of the first and second substances,

wherein f is the focal length of the CCD camera, d is the actual distance between the laser generator and the CCD camera,

Technical Field

The invention belongs to the field of three-dimensional visual measurement, and particularly relates to a three-dimensional visual topographic measurement device and a three-dimensional visual topographic measurement method.

Background

Three-dimensional visualization is a tool for displaying and describing and understanding many geologic phenomena characteristic of the subsurface and the ground, and is widely applied to all fields of geology and geophysics. Mainly comprises the following development directions: 1. the digital expression of the topography surface form forms a mathematical model, and the fluctuation of data can be observed from various angles; 2. combining the terrain surface model with the map image of the space view to obtain global three-dimensional image data; 3. building and other three-dimensional models are superposed into terrain and image data to form a simulated real world; 4. the virtual reality technology is introduced into the virtual simulation real world, and the user experience is improved. Wherein, the development direction bases are the acquisition of surface data.

The mobile measurement system is a quick, efficient and ground-control-free surveying and mapping technology. With the development of the GPS dynamic positioning and high-precision positioning and attitude determination technology, a novel remote sensing information acquisition integrated technical system appears. However, at present, most of mobile measurement systems are only applied to urban planning and design due to the limitation of vehicle-mounted equipment, and traditional vehicle-mounted equipment cannot adapt to the complex field measurement environment due to the terrain complexity and high interference in the field measurement environment. On the other hand, the vibration of the measuring equipment is inevitably caused due to the interference of the movement process and the limitation of mountain land terrain, and the stability of the measuring equipment during measurement is further influenced.

Disclosure of Invention

The purpose of the invention is as follows: the invention provides a three-dimensional visualization measuring device for terrain and a measuring method thereof, which are used for solving the problems involved in the background technology.

The technical scheme is as follows: a three-dimensional visualization measuring device of terrain comprises: the vehicle-mounted mountain trolley comprises a vehicle-mounted mountain trolley, an angle adjusting mechanism and an information acquisition mechanism.

The airborne mountain trolley comprises a crawler-type moving assembly, a driving assembly connected with the moving assembly, a driving controller and a wireless transceiving assembly which are connected with the driving assembly, and a shell for supporting and fixing.

The angle adjusting mechanism comprises a telescopic rod arranged at the top of the shell and a rotating platform fixedly connected with the telescopic rod.

The information acquisition mechanism comprises a laser generator arranged on the output end of the rotary platform and a CCD camera arranged on the shell.

As a preferred aspect, the tracked movement assembly comprises: the device comprises an elastic crawler, a direction wheel, a direction control assembly, a power wheel, a plurality of follow-up wheels and a tensioning assembly, wherein the direction wheel is positioned at one end of the elastic crawler and meshed with the elastic crawler, the direction control assembly is connected with the direction wheel, the power wheel is fixedly arranged at the other end of the elastic crawler and meshed with the other end of the elastic crawler and connected with a first motor of a driving assembly, the follow-up wheels are uniformly distributed among the elastic crawler, and the tensioning assembly is connected with part of the follow-up wheels.

As a preferred aspect, the direction control assembly includes: the rotating bearing is sleeved at the central shaft of the direction wheel, and the middle wheel is fixedly connected with the rotating bearing through a connecting piece; wherein, the intermediate wheel is connected with the output shaft of the second motor of the driving component.

As a preferred aspect, the tension assembly includes: the two groups of connecting rods are Y-shaped in planar shape, provided with 3 connecting ends and opposite in placement direction, and are connected together at the center positions of the two groups of connecting rods through rotating pin shafts; the first connecting ends of the two groups of connecting rods, which are positioned at the lower part of the pin shaft, are connected with the driven wheels positioned at the bottom of the elastic crawler belt, the second connecting ends of the two groups of connecting rods, which are positioned at the upper part of the pin shaft, are connected with each other through elastic pieces, and the third connecting rods, which are horizontally arranged with the pin shaft, of the two groups of connecting rods and the driven wheels, which are horizontally arranged with the pin shaft, are.

As a preferred aspect, the rotating platform includes: the device comprises a fixed disc arranged on the output end of the telescopic rod, a Z-axis rotating motor fixedly arranged in the middle of the fixed disc, an L-shaped first connecting plate connected with the Z-axis rotating motor, an X-axis rotating motor fixedly arranged at the other end of the connecting plate, a U-shaped second connecting plate fixedly connected with the output end of the X-axis rotating motor, a rotating shaft arranged at the open end of the second connecting plate, a Y-axis rotating motor arranged on one side of the open end of the second connecting plate and connected with one end of the rotating shaft, and a mobile power supply and an acquisition controller arranged on the other side of the second connecting plate; the mobile power supply and the acquisition controller are connected with the X-axis rotating motor, the Y-axis rotating motor and the Z-axis rotating motor through electric wires.

As a preferred scheme, a shock absorption assembly is arranged at the joint of the rotating platform and the telescopic rod; wherein, the shock attenuation subassembly includes: the telescopic rod comprises a plurality of groups of connecting sheets fixedly connected with the output end of the telescopic rod, a plurality of damping balls made of high-elasticity silica gel and arranged above the connecting sheets, a baffle plate arranged at one end of the connecting sheets and matched with the outline of the fixed disc, and the fixed disc arranged above the damping balls; and the fixed seat of the Z-axis rotating motor penetrates through the fixed disc and is fixedly arranged on the output end of the telescopic rod.

Preferably, the geometric plane formed by the multiple groups of damping balls is arranged in a horizontal direction, and the centroid of the geometric shape is close to or coincident with the gravity center of the rotating platform.

Preferably, the laser generator has a plurality of sets of servo motors built therein to control the plurality of scanning prisms to rotate along the axis.

On the other hand, the measuring method based on the topographic three-dimensional visualization measuring device comprises the following steps:

s1, confirming a measuring point through field investigation, planning the motion track of the airborne mountain trolley through the control terminal, and transmitting information to the driving controller;

s2, after the mountain-carrying trolley moves to the detection point, the mountain-carrying trolley is adjusted to be horizontal through the crawler-type moving assembly;

s3, adjusting the positions and the movement directions of the telescopic rod and the rotary platform to adapt to the acquisition of the three-dimensional terrain by the information acquisition mechanism;

s3, recording an image irradiated on a measuring object by laser through a CCD camera, forming laser stripes at different positions on a lens, determining the distance between a measuring point and the measuring object, and determining the three-dimensional coordinates of a single point on the measuring object through the emergent phase of the laser;

s4, adjusting the position of the scanning prism through a servo motor, controlling the laser emission direction, forming a linear scanning area, recording the displacement of the laser on the measuring object through a CCD camera, and determining the three-dimensional coordinates of a plurality of point clouds of the measuring object;

and S5, summarizing the measurement data, sending the data to a control terminal, and moving to the next measurement point for further measurement.

As a preferable aspect, the three-dimensional coordinates of the measurement object are:

；

wherein the content of the first and second substances,

、

respectively an angle value and a longitudinal value of a transverse scanning plane when the laser emits, Lis the distance between the laser generator and the test object.

As a preferable scheme, the distance between the measuring point and the measuring object is:

wherein f is the focal length of the CCD camera, d is the actual distance between the laser generator and the CCD camera,

for the angle of the laser light emitted by the laser generator relative to the CCD camera, the variable with measurement can be obtained by calculating pixel points after imaging of the CCD camera.

Has the advantages that: the invention relates to a three-dimensional visual measuring device for terrain, which adapts to the motion situation of complex terrain by adopting the moving mode of a crawler-type moving assembly, further arranges a tensioning assembly on the crawler-type moving assembly, improves the attaching degree of a crawler and the ground by adjusting an elastic piece, and further improves the stability of an airborne mountain trolley; through rotary platform and telescopic link, improve the variety of information acquisition mechanism, further be provided with damper at rotary platform and telescopic link junction, reduce the vibrations of machine-carried mountain region dolly motion process and the unstable and shaking interference that forms of mountain region geoid, and then increase information acquisition mechanism's stability.

Drawings

Fig. 1 is a schematic structural view of the present invention.

FIG. 2 is a schematic diagram of the construction of the track-type moving assembly of the present invention.

Fig. 3 is a schematic view of the structure of the rotary platform of the present invention.

Fig. 4 is a schematic view of the structure of the shock-absorbing assembly according to the present invention.

FIG. 5 is a schematic view showing the structure of a laser generator according to the present invention.

Fig. 6 is a schematic diagram of the distance detection principle of the present invention.

Fig. 7 is a schematic diagram of the three-dimensional coordinate detection principle of the present invention.

The reference signs are: the device comprises a moving assembly 1, a shell 2, an expansion link 3, a rotating platform 4, a shock absorption assembly 5, a laser generator 6, a CCD camera 7, an elastic crawler 11, a steering wheel 12, a power wheel 13, a follow-up wheel 14, a rotating bearing 15, an intermediate wheel 16, a connecting rod 17, a pin shaft 18, an elastic piece 19, a fixed disc 41, a Z-axis rotating motor 42, a first connecting plate 43, an X-axis rotating motor 44, a second connecting plate 45, a rotating shaft 46, a Y-axis rotating motor 47, a mobile power supply 48, a connecting piece 51, a shock absorption ball 52, a baffle plate 53, a servo motor 61 and a scanning prism 62.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

As shown in fig. 1, a three-dimensional visualization measuring device for terrain comprises: the vehicle-mounted mountain trolley comprises a vehicle-mounted mountain trolley, an angle adjusting mechanism and an information acquisition mechanism.

The airborne mountain trolley comprises a crawler-type moving assembly 1, a driving assembly, a driving controller and a wireless transceiving assembly. Wherein, the driving component is connected with the moving component 1 and provides a power source; the driving controller and the wireless receiving and transmitting component are connected with the driving component and used for being in wireless connection with the PC control end to transmit data information; and other shells 2 for supporting and fixing to form the recording trolley.

In a further embodiment, as shown in fig. 2, the crawler travel assembly 1 comprises: an elastic track 11, a direction wheel 12, a direction control assembly, a power wheel 13, a follower wheel 14 and a tensioning assembly. The direction control assembly is connected with the direction wheel 12 and is used for adjusting the height of the direction wheel 12 and the ground so as to adjust the cutting angle of the crawler belt and the ground; the power wheel 13 is fixedly arranged at the other end of the elastic crawler 11, is meshed with the elastic crawler 11, is connected with a first motor of the driving assembly and provides power; a plurality of follower wheels 14 are uniformly distributed between the elastic tracks 11, wherein tension assemblies are connected in some of the follower wheels 14. Because the contact area of the elastic crawler belt 11 and the ground is larger, under the complex conditions of the field and the like, the airborne mountain trolley can keep stability and stability no matter the airborne mountain trolley is in a moving state or a static state, and further the stability of the working environment of the information acquisition mechanism is ensured.

During actual movement, but inevitably through small hills or depressions, it is necessary to increase the contact angle of the track with the ground. In a further embodiment, the directional control assembly comprises: a rotating bearing 15 and an intermediate wheel 16. Wherein, the center shaft of the direction wheel 12 is sleeved with a rotating bearing 15, the intermediate wheel 16 is fixedly connected with the rotating bearing 15 through a connecting piece, and the intermediate wheel 16 is connected with the output shaft of the second motor of the driving component. Under the drive of the second motor, the height between the direction wheel 12 and the ground can be adjusted by taking the direction wheel 12 as an axis, so that the cutting angle between the crawler and the ground can be adjusted, and the cutting angle requirements of different terrains can be met.

In a further embodiment, the tensioning assembly comprises: two sets of connecting rods 17, a rotating pin 18 and an elastic element 19. The planar shape of the two groups of connecting rods 17 is Y-shaped, 3 connecting ends are arranged, the arrangement directions of the connecting rods are opposite, and the connecting rods 17 are connected together through a rotating pin shaft 18 at the center positions; the first connecting ends of the two groups of connecting rods 17, which are positioned at the lower part of the pin shaft 18, are connected with the follow-up wheels 14 positioned at the bottom of the elastic crawler 11; the second connecting ends of the two groups of connecting rods 17, which are positioned at the upper part of the pin shaft 18, are connected with each other through an elastic piece 19; the two groups of connecting rods 17 and a third connecting rod 17 horizontally arranged on a pin shaft 18 are respectively connected with the power wheel 13 or the follow-up wheel 14 positioned at the bottom of the direction wheel 12. When machine carries mountain region dolly stagnation point (check point) for little soil slope or depression, because the contact surface on track and ground is less, lead to its self focus unstable, receive external environment's interference very easily, and then lead to rocking of information acquisition mechanism to influence measured data's accurate nature. Because the pressure on ground and the contact department of track is great, and two connecting rods 17 form a formula elevating system of cutting, can adjust the position of trailing wheel 14, can force trailing wheel 14 to take place the displacement for elasticity track 11 is lax relatively, can also the direction wheel 12 initiative adjustment direction wheel 12 position simultaneously, thereby makes the contact surface grow on track and ground, improves the horizontality and the stability of machine-carried mountain region dolly, reduces information acquisition mechanism and receives unnecessary and rock, improves measured data's accurate nature.

The angle adjusting mechanism comprises an expansion rod 3 arranged at the top of the shell 2 and a rotating platform 4 fixedly connected with the expansion rod 3. Wherein, as shown in fig. 3, the rotating platform 4 comprises: a fixed disc 41 arranged on the output end of the telescopic rod 3, a Z-axis rotating motor 42 fixedly arranged in the middle of the fixed disc 41, an L-shaped first connecting plate 43 connected with the Z-axis rotating motor 42, an X-axis rotating motor 44 fixedly arranged at the other end of the connecting plate, a U-shaped second connecting plate 45 fixedly connected with the output end of the X-axis rotating motor 44, a rotating shaft 46 arranged at the opening end of the second connecting plate 45, a Y-axis rotating motor 47 arranged at one side of the opening end of the second connecting plate 45 and connected with one end of the rotating shaft 46, and a mobile power supply 48 and an acquisition controller arranged at the other side of the second connecting plate 45; the mobile power supply 48 and the acquisition controller are connected with the X-axis rotating motor 44, the Y-axis rotating motor 47 and the Z-axis rotating motor 42 through electric wires. The rotation of the CCD camera by 360 degrees can be controlled by the X-axis rotating motor 44, the Y-axis rotating motor 47 and the Z-axis rotating motor 42, and the telescopic rod 3 can be adjusted to be horizontal when being in an inclined state.

Because rotary platform 4 with adopt rigid connection between telescopic link 3, when receiving environmental factor to disturb, must cause information acquisition mechanism to rock. In a vehicle-mounted observation system used in a city, a plurality of lead wires are usually added around the telescopic rod 3 and fixed with the ground, so that the stability of the information acquisition mechanism is improved. However, this condition is clearly not present when working in the field. Therefore, as shown in fig. 4, in a further implementation, a shock-absorbing assembly 5 is provided at the connection between the rotating platform 4 and the telescopic rod 3; wherein the shock-absorbing assembly 5 comprises: the telescopic rod comprises a plurality of groups of connecting pieces 51 fixedly connected with the output end of the telescopic rod 3, a plurality of damping balls 52 made of high-elasticity silica gel and arranged above the connecting pieces 51, a baffle plate 53 arranged at one end of the connecting pieces 51 and matched with the outline of the fixed disk 41, and the fixed disk 41 arranged above the damping balls 52; wherein, the fixed seat of the Z-axis rotating motor 42 passes through the fixed disc 41 and is fixedly installed on the output end of the telescopic rod 3.

In order to further improve the stability between the rotary platform 4 and the telescopic rod 3, the geometric plane formed by the multiple groups of damping balls 52 is relatively kept in the horizontal direction, and the centroid of the geometric shape is close to the gravity center of the rotary platform 4 or coincides with the gravity center of the rotary platform 4, so that the distance between the centroids of the multiple damping balls 52 and the gravity center of the rotary platform 4 is reduced, the rotational vibration of the rotary platform 4 around the gravity center caused when the telescopic rod 3 and the airborne mountain trolley have the translational direction to shake can be better reduced, the vibration isolation effect of the damping balls 52 is improved, and the stability augmentation control effect on the platform is improved. Unnecessary shaking received by the information acquisition mechanism is reduced, and the accuracy of measured data is improved.

The information acquisition mechanism comprises a laser generator 6 arranged at the output end of the rotary platform 4 and a CCD camera 7 arranged on the shell 2. As shown in fig. 5, a plurality of sets of servo motors 61 are built in the laser generator 6, and control a plurality of scanning prisms 62 to rotate along an axis, so as to control the emitting direction of laser, and reduce the change of the center of gravity of the laser generator 6 as much as possible, thereby reducing unnecessary shaking.

In order to facilitate understanding of the technical scheme of the terrain three-dimensional visualization measuring device, the working principle of the device is briefly explained: firstly, the airborne transportation equipment is improved, the movement mode of the crawler-type moving assembly 1 is adopted to adapt to the movement condition of complex terrains, the tensioning assembly is further arranged on the crawler-type moving assembly 1, the follow-up wheels 14 are forced to displace through the adjustment of the tensioning assembly, so that the elastic crawler 11 is relatively loosened, the contact surface between the crawler and the ground is enlarged, the attaching degree between the crawler and the ground is improved, and the horizontality and the stability of the airborne mountain trolley are further improved; the diversity of the information acquisition mechanism is improved in a mode that the rotary platform 4 is matched with the telescopic rod 3, and meanwhile, unnecessary shaking can be generated due to the fact that the center of gravity of the rotary platform 4 is high, so that the shock absorption assembly 5 is arranged at the joint of the rotary platform 4 and the telescopic rod 3, shaking interference caused by vibration of an airborne mountain trolley in the motion process and unstable mountain terrain surface is reduced, and the stability of the information acquisition mechanism is improved; meanwhile, the placement positions of the damping balls 52 are designed, so that the distance between the centroids of the geometric shapes of the damping balls 52 and the center of gravity of the rotating platform 4 is reduced, and the damping and stability-increasing effects are improved.

On the other hand, a brief explanation is made on the measuring method of the topographic three-dimensional visualization measuring device, which comprises the following steps:

s1, confirming a measuring point through field investigation, planning the motion track of the airborne mountain trolley through the control terminal, and transmitting information to the driving controller;

s2, after the mountain-carrying trolley moves to the detection point, the mountain-carrying trolley is adjusted to be horizontal through the crawler-type moving assembly 1;

s3, adjusting the positions and the moving directions of the telescopic rod 3 and the rotating platform 4 to adapt to the acquisition of the three-dimensional terrain by the information acquisition mechanism;

s3, recording an image irradiated on a measuring object by laser through the CCD camera 7, forming laser stripes at different positions on a lens, determining the distance between a measuring point and the measuring object, and determining the three-dimensional coordinates of a single point on the measuring object through the emergent phase of the laser;

s4, adjusting the position of the scanning prism 62 through the servo motor 61, controlling the laser emission direction, forming a linear scanning area, simultaneously recording the displacement of the laser on the measuring object through the CCD camera 7, and determining the three-dimensional coordinates of a plurality of point clouds of the measuring object;

and S5, summarizing the measurement data, sending the data to a control terminal, and moving to the next measurement point for further measurement.

More specifically, as shown in fig. 6, a laser beam is emitted from a laser generator 6 (point a), irradiated on a measurement object (point B), and then imaged on an imaging array D by a lens on a CCD camera 7, and point E is imaged on the imaging array when the measurement object (point B) is at infinity, and therefore, the distance between the measurement point and the measurement object is:

wherein f is the focal length of the CCD camera 7, d is the actual distance between the laser generator and the CCD camera 7,

for the angle of the laser light emitted by the laser generator relative to the CCD camera 7,

the measured variable is obtained by calculating the pixel point imaged by the CCD camera 7.

More specifically, as shown in fig. 7, the three-dimensional coordinates of the measurement object are:

；

wherein the content of the first and second substances, 、

respectively an angle value and a longitudinal value of a transverse scanning plane when the laser emits, Lis the distance between the laser generator 6 and the measurement object.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.