阅读说明：本技术 一种基于三维激光扫描技术的桥梁水下无线监测重构装置 (Bridge underwater wireless monitoring reconstruction device based on three-dimensional laser scanning technology ) 是由 贺治国 林官正 焦鹏程 胡鹏 于 2020-12-13 设计创作，主要内容包括：本发明属于桥梁结构检测领域,具体涉及一种基于三维激光扫描技术的桥梁水下无线监测重构装置,包括轨道、基站及无线激光扫描轨道车,所述轨道沿桥梁铺设,所述基站位于轨道上,基站上设置基站通信模块和基站无线信号传输模块,所述无线激光扫描轨道车用以沿轨道行驶,无线激光扫描轨道车上设置三维激光扫描模块和轨道车无线信号传输模块,三维激光扫描模块用以对桥梁进行激光扫描,轨道车无线信号传输模块用以与基站无线信号传输模块对接以实现信息传输。本发明基于自充电技术以及三维激光扫描技术,实现了桥梁水下结构的无线监测,能够完整并高精度地重建扫描实物的空间三维形态,对扫描物体表面无需进行任何处理,真正实现无接触测量。(The invention belongs to the field of bridge structure detection, and particularly relates to a bridge underwater wireless monitoring reconstruction device based on a three-dimensional laser scanning technology, which comprises a track, a base station and a wireless laser scanning railcar, wherein the track is laid along a bridge, the base station is positioned on the track, the base station is provided with a base station communication module and a base station wireless signal transmission module, the wireless laser scanning railcar is used for driving along the track, the wireless laser scanning railcar is provided with a three-dimensional laser scanning module and a railcar wireless signal transmission module, the three-dimensional laser scanning module is used for carrying out laser scanning on the bridge, and the railcar wireless signal transmission module is used for being in butt joint with the base station wireless signal transmission module to realize information transmission. The invention realizes wireless monitoring of the underwater structure of the bridge based on the self-charging technology and the three-dimensional laser scanning technology, can completely and accurately reconstruct the spatial three-dimensional form of a scanned object, does not need any treatment on the surface of the scanned object, and really realizes non-contact measurement.)

1. A bridge underwater wireless monitoring reconstruction device based on a three-dimensional laser scanning technology is characterized by comprising

A track (3), the track (3) being laid along a bridge;

the base station (1), the said base station (1) locates on orbit (3), set up base station communication module (4) and base station wireless signal transmission module (27) on the base station (1); and

the wireless laser scanning rail car (2), wireless laser scanning rail car (3) are used for traveling along track (3), set up three-dimensional laser scanning module and rail car wireless signal transmission module (28) on wireless laser scanning rail car (2), and three-dimensional laser scanning module is used for carrying out laser scanning to the bridge, and rail car wireless signal transmission module (28) are used for with basic station wireless signal transmission module (27) butt joint in order to realize information transmission.

2. The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology according to claim 1, characterized in that hubs (11) are arranged on two sides of the bottom of the wireless laser scanning railcar (2), grooves (300) formed in the length direction of the rail are formed in two sides of the rail (3), an inner step structure (301) is arranged at the upper ends of the grooves (300), and two sides of the wireless laser scanning railcar (2) are located in the grooves (300) and are in blocking connection with the inner step structure (301) so as to prevent the wireless laser scanning railcar (2) from falling off.

3. The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology as claimed in claim 2, wherein the two sides of the wireless laser scanning rail car (2) are respectively provided with a spring buckle mechanism (10), and the spring buckle mechanism (10) comprises a first connecting seat (1000) for being fixedly installed with the wireless laser scanning rail car (2), a second connecting seat (1001) for being blocked and connected by the inner step structure (301) of the rail (3), and a tension spring (1002) connected between the two.

4. The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology as claimed in claim 3, wherein the first connecting seat (1000) and the second connecting seat (1001) are slidably sleeved with each other, a mounting cavity is arranged between the first connecting seat and the second connecting seat, the tension spring is arranged in the mounting cavity, and the tension spring (1002) is used for tensioning the wireless laser scanning railcar (2) to one side of the rail (3) through the first connecting seat (1000) so that the hub (11) of the wireless laser scanning railcar (2) is tightly matched with the rail (3).

5. The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology is characterized in that the hub (11) is a gear, and the track (3) is provided with a rack (302) meshed with the gear.

6. The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology according to any one of claims 1-5, characterized in that the base station wireless signal transmission module (27) and the railcar wireless signal transmission module (28) are both Bluetooth modules, and when the wireless laser scanning railcar (2) approaches the base station (1), the base station wireless signal transmission module (27) is in butt joint with the railcar wireless signal transmission module (28).

7. The bridge underwater wireless monitoring and reconstructing device based on the three-dimensional laser scanning technology as claimed in any one of claims 1-5, wherein the wireless laser scanning rail car (2) or the base station (1) is provided with a picture processing module (9), and the picture processing module (9) is used for reconstructing the bridge structure into a three-dimensional image according to the scanning information acquired by the three-dimensional laser scanning module.

8. The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology according to any one of claims 1-5, characterized in that a wireless charging transmitting module (7) is arranged on the base station (1), a wireless charging receiving module (30) is arranged on the wireless laser scanning rail car (2), and when the wireless laser scanning rail car (2) approaches the base station (1), the wireless charging transmitting module (7) is in butt joint with the wireless charging receiving module (30) to realize wireless charging.

9. The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology according to any one of claims 1-5, characterized in that a solar cell module (5) is arranged on the base station (1), and the solar cell module (5) is used for power storage and charging.

10. The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology according to any one of claims 1-5, characterized in that a high-definition sealed light-transmitting waterproof cover (15) corresponding to the three-dimensional laser scanning module is arranged at one side of the wireless laser scanning rail car (2); the wireless laser scanning rail car (2) comprises a rail car body (21) and a car cover (18) fixedly covered on the top of the rail car body (21), and a water stop strip (19) is arranged between the rail car body (21) and the car cover; a sonar module (16) is arranged on the wireless laser scanning rail car (2).

Technical Field

The invention belongs to the field of bridge structure detection, and particularly relates to a bridge underwater wireless monitoring reconstruction device based on a three-dimensional laser scanning technology.

Background

The stability and durability of underwater structures such as bridges and the like are greatly influenced due to the complicated and variable underwater environment, such as steel bar corrosion caused by a large amount of chloride ions in seawater, freeze-thaw damage caused by day and night and season alternation, and concrete damage caused by wave current scouring and structural vibration. In order to reduce and repair such damage in a timely manner, it is necessary to monitor the bridge structure. Bridge monitoring is a necessary technical measure for maintaining normal use of bridges, and has very important significance for protecting life and property safety of the nation and people. The bridge structure can be monitored by various technical means, such as GPS technology, precise leveling measurement, close-range photogrammetry and the like, and related methods and theoretical researches are relatively deep, so that a corresponding technical and theoretical system is formed.

Laser scanning techniques have been used in the field of bridge repair with significant success. The three-dimensional laser scanning technology is a surveying and mapping technology developed in recent years, which is also called as a 'live-action replication technology', can completely and accurately reconstruct the space three-dimensional form of a scanned real object, does not need any processing on the surface of the scanned object, and really realizes non-contact measurement. Three-dimensional laser scanning is known as "another technical revolution in the field of surveying and mapping following the GPS technology". The technology is used as an effective means for acquiring spatial data, and plays an increasingly important role in a plurality of fields by virtue of the advantages of rapidness, accuracy, non-contact measurement and the like.

The current bridge monitoring technology has the GPS technology, precise leveling measurement, close-range photogrammetry and the like, but the operation environment of the monitoring technology of the existing bridge structure is mostly the water environment, the uncertain factors of underwater operation are many, the environment is complex, most of the bridge structure is still the manpower survey, so the manpower resource is larger, and the monitoring efficiency is lower. The invention designs a wireless laser scanning rail car with high waterproof performance, which realizes the monitoring of underwater structures by replacing manpower with machines, and the wireless laser scanning rail car realizes the organic combination of wireless monitoring, three-dimensional image reconstruction, monitoring information transmission and electric energy supply of bridge structures based on a three-dimensional laser scanning technology.

Disclosure of Invention

In order to make up the defects of the prior art, the invention provides a technical scheme of a bridge underwater wireless monitoring reconstruction device based on a three-dimensional laser scanning technology.

The bridge underwater wireless monitoring reconstruction device based on the three-dimensional laser scanning technology is characterized by comprising

A track laid along a bridge;

the base station is positioned on the track, and is provided with a base station communication module and a base station wireless signal transmission module; and

the wireless laser scanning rail car is used for running along a rail, a three-dimensional laser scanning module and a rail car wireless signal transmission module are arranged on the wireless laser scanning rail car, the three-dimensional laser scanning module is used for carrying out laser scanning on a bridge, and the rail car wireless signal transmission module is used for being in butt joint with a base station wireless signal transmission module to achieve information transmission.

The bridge underwater wireless monitoring and reconstructing device based on the three-dimensional laser scanning technology is characterized in that hubs are arranged on two sides of the bottom of a wireless laser scanning railcar, grooves formed in the length direction of the rail are formed in two sides of the rail, an inner step structure is arranged at the upper ends of the grooves, and two sides of the wireless laser scanning railcar are located in the grooves and are in blocking connection with the inner step structure so as to prevent the wireless laser scanning railcar from falling off.

The bridge underwater wireless monitoring reconstruction device based on the three-dimensional laser scanning technology is characterized in that spring buckle mechanisms are respectively arranged on two sides of the wireless laser scanning railcar and comprise a first connecting seat fixedly mounted with the wireless laser scanning railcar, a second connecting seat used for blocking the inner step structure of the rail and a tension spring connected between the first connecting seat and the second connecting seat.

A bridge is wireless monitoring reconsitution device under water based on three-dimensional laser scanning technique, its characterized in that first connecting seat matches with second connecting seat sliding sleeve, has an installation cavity between the two, the extension spring sets up in the installation cavity, and the extension spring is used for taut toward track one side with wireless laser scanning railcar through first connecting seat, makes the wheel hub and the track of wireless laser scanning railcar closely cooperate.

The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology is characterized in that the hub is a gear, and a rack meshed with the gear is arranged on the track.

The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology is characterized in that the base station wireless signal transmission module and the rail car wireless signal transmission module are both Bluetooth modules, and when the wireless laser scanning rail car is close to a base station, the base station wireless signal transmission module is in butt joint with the rail car wireless signal transmission module.

The bridge underwater wireless monitoring and reconstructing device based on the three-dimensional laser scanning technology is characterized in that the wireless laser scanning rail car or the base station is provided with a picture processing module, and the picture processing module is used for reconstructing a bridge structure into a three-dimensional image according to scanning information acquired by the three-dimensional laser scanning module.

The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology is characterized in that a wireless charging transmitting module is arranged on a base station, a wireless charging receiving module is arranged on a wireless laser scanning railcar, and when the wireless laser scanning railcar is close to the base station, the wireless charging transmitting module is in butt joint with the wireless charging receiving module so as to realize wireless charging.

The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology is characterized in that a solar cell module is arranged on the base station and used for power storage and charging.

The bridge underwater wireless monitoring and reconstruction device based on the three-dimensional laser scanning technology is characterized in that a high-definition sealed light-transmitting waterproof cover corresponding to the three-dimensional laser scanning module is arranged on one side of the wireless laser scanning railcar; the wireless laser scanning rail car comprises a rail car main body and a car cover, wherein the car cover is fixedly arranged on the top of the rail car main body in a covering mode, and a water stop strip is arranged between the car cover and the car body; the wireless laser scanning rail car is provided with a sonar module.

Compared with the prior art, the invention has the following beneficial effects:

the underwater wireless monitoring and scanning device is based on a laser scanning technology, and realizes the organic combination of underwater wireless monitoring and scanning, three-dimensional image reconstruction, monitoring information transmission and electric energy supply of a bridge structure. Compared with most of bridge monitoring technologies at present, the invention is based on the structural design and waterproof measures of the wireless laser scanning rail car, and the waterproof performance of the instrument in underwater operation is overcome; the sonar device based on the wireless laser scanning rail car realizes the route exploration of the wireless laser scanning rail car in the traveling process, and improves the capability of the wireless laser scanning rail car for dealing with underwater complex environment; the invention is based on the self-charging technology and the three-dimensional laser scanning technology, realizes the wireless monitoring of the underwater structure of the bridge, can completely and accurately reconstruct the space three-dimensional form of a scanned object, does not need any treatment on the surface of the scanned object, and really realizes the non-contact measurement; the invention can realize the stability and the accurate control of the operation of the wireless laser scanning railcar based on the groove and the tank body structure of the rail and the spring buckle mechanism of the wireless laser scanning railcar; the invention realizes the high-timeliness transmission of bridge monitoring information from the wireless laser scanning rail car to the base station and then to the ground base station based on the information transmission system consisting of the base station wireless signal transmission module, the base station communication module and the rail car wireless signal transmission module, so as to feed back in time and greatly improve the monitoring and maintenance efficiency; the invention is based on the solar cell module, the wireless charging receiving module and the wireless charging sounding module of the base station, and realizes the self-sufficiency of the electric energy of the whole monitoring system.

Drawings

FIG. 1 is a schematic structural view of a use state of the present invention;

FIG. 2 is a schematic view of a connection structure between a wireless laser scanning rail car and a rail according to the present invention;

FIG. 3 is a second schematic view of a connection structure between a wireless laser scanning rail car and a rail according to the present invention;

FIG. 4 is a schematic view of a connection structure of the spring fastener mechanism and the rail according to the present invention;

FIG. 5 is a schematic view of a wireless laser scanning railcar according to the present invention;

FIG. 6 is a schematic structural diagram of a three-dimensional laser scanning module according to the present invention;

fig. 7 is a schematic diagram of a base station structure according to the present invention.

Detailed Description

In the description of the present invention, it is to be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

The invention will be further explained with reference to the drawings.

As shown in the figure, the bridge underwater wireless monitoring reconstruction device based on the three-dimensional laser scanning technology comprises

The rail 3 is laid along the bridge;

the base station 1, the said base station 1 locates on orbit 3, set up base station communication module 4 and base station wireless signal transmission module 27 on the base station 1; and

the wireless laser scanning rail car 2 is used for driving along the rail 3, a three-dimensional laser scanning module and a rail car wireless signal transmission module 28 are arranged on the wireless laser scanning rail car 2, the three-dimensional laser scanning module is used for carrying out laser scanning on a bridge, and the rail car wireless signal transmission module 28 is used for being in butt joint with the base station wireless signal transmission module 27 to achieve information transmission.

As an optimization: wheel hubs 11 are arranged on two sides of the bottom of the wireless laser scanning railcar 2, grooves 300 formed in the length direction of the rails are formed in two sides of the rails 3, an inner step structure 301 is arranged at the upper end of each groove 300, and two sides of the wireless laser scanning railcar 2 are located in the grooves 300 and are in blocking connection with the inner step structures 301 to prevent the wireless laser scanning railcar 2 from falling off.

Further, two sides of the wireless laser scanning railcar 2 are respectively provided with a spring buckle mechanism 10, and the spring buckle mechanism 10 includes a first connecting seat 1000 for being fixedly installed with the wireless laser scanning railcar 2, a second connecting seat 1001 for being blocked by the inner step structure 301 of the rail 3, and a tension spring 1002 connected therebetween.

Furthermore, the first connecting seat 1000 is slidably sleeved with the second connecting seat 1001, a mounting cavity is formed between the first connecting seat 1000 and the second connecting seat 1001, the tension spring is arranged in the mounting cavity, and the tension spring 1002 is used for tensioning the wireless laser scanning railcar 2 to one side of the rail 3 through the first connecting seat 1000, so that the hub 11 of the wireless laser scanning railcar 2 is tightly matched with the rail 3.

As an optimization: the hub 11 is a gear, and the track 3 has a rack 302 for engaging with the gear.

As an optimization: the base station wireless signal transmission module 27 and the rail car wireless signal transmission module 28 are both bluetooth modules, and when the wireless laser scanning rail car 2 is close to the base station 1, the base station wireless signal transmission module 27 is in butt joint with the rail car wireless signal transmission module 28.

As an optimization: the wireless laser scanning rail car 2 or the base station 1 is provided with a picture processing module 9, the picture processing module 9 is an image processing chip, the picture processing module 9 is preferably arranged on the wireless laser scanning rail car 2, and the picture processing module 9 is used for reconstructing the bridge structure into a three-dimensional image according to scanning information acquired by the three-dimensional laser scanning module.

As an optimization: the base station 1 is provided with a wireless charging transmitting module 7, the wireless laser scanning rail car 2 is provided with a wireless charging receiving module 30, and when the wireless laser scanning rail car 2 is close to the base station 1, the wireless charging transmitting module 7 is in butt joint with the wireless charging receiving module 30 to realize wireless charging. The wireless charging transmitting module 7 and the wireless charging receiving module 30 are both electromagnetic coils, and are also equipped with corresponding circuit structures, and the wireless charging is a known technology, so that the details are not repeated.

As an optimization: the base station 1 is provided with a solar cell module 5, and the solar cell module 5 is used for power storage and charging.

As an optimization: one side of wireless laser scanning railcar 2 sets up the high definition sealed printing opacity buckler 15 that position and three-dimensional laser scanning module are corresponding, high definition sealed printing opacity buckler 15 is as the camera lens of three-dimensional laser scanning module, it passes through threaded connection with port 13 on the wireless laser scanning railcar 2, and still carry out waterproof sealing through the waterproof circle 14 that sets up between high definition sealed printing opacity buckler 15 and the port 13, high definition sealed printing opacity buckler 15 just in time presss from both sides tight waterproof circle 14 with the port 13 when screwing, waterproof circle 14 is the waterproof rubber ring of preferred polytetrafluoroethylene.

The wireless laser scanning rail car 2 comprises a rail car main body 21 and a car cover 18 fixedly covered on the top of the rail car main body 21, a water stop bar 19 is arranged between the rail car main body 21 and the car cover, and correspondingly, a water stop bar mounting groove 20 corresponding to the water stop bar 19 is formed in the rail car main body 21; the wireless laser scanning rail car 2 is provided with a sonar module 16, and the invention 8 utilizes the sonar module 16 to perform exploration and self-check of an underwater monitoring route and the rail 3.

As an optimization: the three-dimensional laser scanning module comprises a scanning module main body, a transverse angle adjusting device 22, a longitudinal angle adjusting device 23, an angle positioning gyroscope 24, a laser sensor 25 and a laser emitter 26, and the structure of the three-dimensional laser scanning module is known in the art and is not described in detail.

The wireless laser scanning rail car 2 provided by the invention is provided with a running mechanism, the running mechanism comprises a motor, a transmission mechanism, a wheel shaft, a wheel hub 11 and the like, and the running mechanism of the car body is a known technology, so that the detailed description is omitted.

According to the invention, the switch trigger 8 is arranged on the wireless laser scanning rail car 2, the switch 6 is arranged on the base station 1, when the wireless laser scanning rail car 2 approaches the base station 1, the switch trigger 8 touches the switch 6, and then the rail car wireless signal transmission module 28 and the base station wireless signal transmission module 27 are in butt joint to start data transmission.

The base station 1 of the present invention is provided with a processor for information processing and transmission.

The overall working process of the present invention is explained by taking fig. 1 and 6 as an example. For example, the track 3 of the wireless laser scanning rail car is vertically laid downwards on a pier, the wireless laser scanning rail car 2 moves downwards along the track 3 every 60 minutes through program setting, and winds around the pier for a circle after reaching the position below the water surface, the underwater erosion-prone part of the pier is subjected to laser scanning monitoring through the three-dimensional laser scanning module, monitoring information is subjected to three-dimensional reconstruction through the picture processing module 9, and then the wireless laser scanning rail car 2 returns to the base station 1 along the track 3.

The interaction process of the base station 1, the wireless laser scanning rail car 2 and the rail 3 in the invention is explained by taking fig. 2 and 7 as an example. For example, after the wireless laser scanning rail car 2 completes three-dimensional laser scanning monitoring on the bridge structure, the wireless laser scanning rail car returns to the base station 1, the switch trigger 8 is used for touching the switch 6, an information transmission instruction is started, monitoring contents of the wireless laser scanning rail car 2 are transmitted to the base station 1 through Bluetooth, and docking and transmission of data information are achieved; meanwhile, the wireless laser scanning rail car 2 is located on the wireless charging transmitting module 7 for charging, and supplies energy for the wireless laser scanning rail car 2 and the next scanning task of the laser scanning module. After the information transmission between the wireless laser scanning rail car 2 and the base station 1 is completed, the base station 1 transmits the obtained three-dimensional image information to a ground base station by using the base station communication module 4, and at the moment, a monitoring task of a bridge structure is completed. The technology of the invention simultaneously considers the power supply, and the solar cell module 5 is arranged at the upper part of the base station 1, thereby realizing the self-sufficiency of the power of the whole device.

By taking fig. 2 and 6 as an example to explain the working principle of the three-dimensional laser scanning module in the invention, when the wireless laser scanning rail car 2 travels to a measuring point of the rail 3, the three-dimensional laser scanning module firstly carries out angle calibration and positioning on the whole three-dimensional laser scanning module through an angle positioning gyroscope 24, then sends laser to a bridge structure through a laser transmitter 26, the laser returns to a laser sensor 25 after touching the bridge structure, at the moment, one-time laser scanning is completed, and then the omnibearing monitoring and scanning at a measuring point are realized through the matching of a transverse angle adjusting device 22 and a longitudinal angle adjusting device 23, after the omnibearing monitoring and scanning task of one measuring point is completed, the wireless laser scanning rail car 2 moves to the next measuring point, meanwhile, the image processing module 9 located inside the wireless laser scanning railcar 2 performs three-dimensional image reconstruction on the information acquired by the three-dimensional laser scanning module.

The working principle of the wireless laser scanning rail car 2 and the rail 3 of the invention is explained by taking fig. 2 and 3 as an example, the hub 11 of the wireless laser scanning rail car 2 adopts a gear-shaped hub form, the rail 3 adopts a rack form matched with the gear-shaped hub form, so that the engagement of the hub and the rail 3 is realized, and the wireless laser scanning rail car 2 can be prevented from generating longitudinal slippage due to gravity by matching with a mechanical transmission device in the wireless laser scanning rail car 2. Two spring fastener mechanisms 10 have been configured respectively to the both sides of wireless laser scanning railcar 2, totally 4, this spring fastener mechanism 10 has certain self-contraction ability, track 3's both sides have recess 300 and stair structure 301, when wireless laser scanning railcar 2 placed on track 3, because the self-contraction effect of spring fastener mechanism 10, spring fastener mechanism 10 and stair structure 301 lock on the track 3, this setting can realize the firm operation on track of wireless laser scanning railcar 2, effectively prevent that wireless laser scanning railcar 2 from dropping or toppling. The principle is that the gear of the wireless laser scanning rail car 2 is always firmly meshed on the rack 302 and cannot fall off by utilizing the tension of the spring 1002 on the first connecting seat 1000.

The working principle of the sonar device 16 of the wireless laser scanning rail car 2 of the invention is explained by taking fig. 3 as an example, in the figure, the sonar device 16 is arranged right in front of the line laser scanning rail car 2, and the three-dimensional laser scanning module is arranged on the left side of the trolley, the sonar device is used for simple exploration and scanning of the advancing route of the wireless laser scanning rail car 2 in the advancing process so as to make stress response and prevent the rail 3 from being blocked due to the underwater complex environment or the wireless laser scanning rail car 2 from being stuck on the rail due to the failure of the rail 3, and the three-dimensional laser scanning image reconstruction of the bridge underwater structure is used for the latter.

The waterproof performance of the wireless laser scanning railcar 2 of the present invention is explained by taking fig. 2 and 5 as an example, the wireless laser scanning railcar 2 is composed of a cover 18 and a railcar body 21, a circle of water stop strip installation groove 20 is arranged on the railcar body 21 for laying a waterproof sealing material, i.e., a water stop strip 19, the water stop strip 19 is formed by matching polytetrafluoroethylene rubber and a liquid sealing material, and the cover 18 and the railcar body 21 are matched through 8 fastening screws to realize the maximum waterproof performance of the wireless laser scanning railcar 2. The three-dimensional laser scanning module of wireless laser scanning railcar 2 and sonar device 16 outside all with waterproof rubber ring and waterproof printing opacity cover protection to guarantee its waterproof performance when realizing its function.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.