Title: Caisson 3D scene rebuilding and excavator collision avoidance system based on laser scanning
Application Number: 200610117574 Application Date: 2006.10.26
Publication Number: 1970894 Publication Date: 2007.05.30
Approval Pub. Date: Granted Pub. Date:
International Classifi-cation: E02D23/00;E02F9/24;G06T17/50;G06T15/00
Applicant(s) Name: Shanghai Jiao Tong University Address:
Inventor(s) Name: Cao Qixin;Li Baoshun;Li Yaoliang;Zhang Lei;Zhao Ya
Attorney & Agent: wangti lin zhangzong meng
Abstract:
    The invention relates to a system of 3D scene reconstruction of caisson based on laser scanning and collision avoidance of excavator, comprising four modules that sensor module for collecting landforms information in caisson, dip angle of working top plate of caisson and position information of excavator, and building and displaying for collecting data; moving control module for controlling laser scanning to rotate across one vertical axis along the scanning surface so as to assist the system to obtain the 3D information; building and displaying 3D landforms module for building the information from sensor module and angle information from the moving control module so that the 3D figure of landforms in caisson is displayed on the display accurately; arithmetic module of collision avoidance of excavator for forecasting the position and gesture of excavator according to the information from building and display module of 3D landforms and history information. The invention realizes the reconstruction of 3D scene in caisson working room and collision avoidance of excavator and provides the basis for no-human construction in air pressure caisson accurately.
Time: 11