Laser-vision collaborative SLAM-RTK fusion anti-interference handheld surveying and mapping device

Abstract

The invention provides a laser-vision collaborative SLAM-RTK fusion anti-interference handheld surveying and mapping device, and relates to the field of geographic surveying and mapping equipment, the laser-vision collaborative SLAM-RTK fusion anti-interference handheld surveying and mapping device comprises a surveying and mapping instrument, and further comprises a laser radar module arranged on the surveying and mapping instrument; the visual sensor module is arranged on the surveying instrument; the RTK positioning module is arranged on the surveying instrument; the central processing unit is in communication connection with the laser radar module, the visual sensor module and the RTK positioning module; the supporting mechanism is arranged at the bottom of the surveying instrument, detachably connected with the surveying instrument and used for supporting the surveying instrument. Through the arrangement of the supporting mechanism integrating lifting, angle and universal adjustment, flexible switching and high stability of operation modes are achieved, a user can rapidly switch between handheld scanning and static erection scanning, hand shaking can be effectively eliminated during static scanning, the data quality of a key area is ensured, and the user experience is improved. The problems that in the prior art, handheld equipment is insufficient in stability, and a traditional tripod is tedious in adjustment and poor in adaptability are solved.

Description

Technical Field

[0001] This invention relates to the field of geographic surveying equipment, and more specifically, to a laser-visual collaborative SLAM-RTK fusion anti-interference handheld surveying device. Background Technology

[0002] In fields such as engineering surveying, building as-built surveying, underground space investigation, and digital city construction, the efficient and accurate acquisition of three-dimensional spatial information is crucial. Currently, commonly used surveying methods mainly include total stations, GNSS-RTK receivers, and laser- or vision-based SLAM mobile scanning systems, but each has significant limitations:

[0003] Traditional total stations and RTK surveying methods offer high accuracy in open areas, but require setting up stations at each point or maintaining fixed base stations, resulting in low operational efficiency. Furthermore, in areas where satellite signals are blocked or interfered with, such as indoors, in forests, or in urban canyons, RTK positioning accuracy drops significantly or even fails, making continuous mapping impossible.

[0004] Pure laser or vision SLAM systems can quickly build 3D models of a scene through moving scans, but they have cumulative errors. As the moving distance increases, the positioning drift intensifies, making it difficult to guarantee the absolute coordinate accuracy of a large-scale scene.

[0005] When handheld devices are used for extended periods or require highly stable scanning, human-induced shaking can introduce noise and affect point cloud quality. While traditional tripods are stable, their adjustments are cumbersome and they cannot quickly adapt to complex terrain and multi-angle observation needs.

[0006] Therefore, there is an urgent need in this field for an integrated handheld mapping device that can achieve high efficiency, high accuracy, and high stability in various environments. Summary of the Invention

[0007] The purpose of this invention is to provide a laser-vision SLAM-RTK fusion anti-interference handheld mapping device, which aims to solve the problems in the prior art of difficulty in balancing mapping efficiency and accuracy, susceptibility of RTK signals to interference, and poor operational stability of handheld devices.

[0008] This application specifically includes: a laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device, comprising a mapping instrument, and further comprising:

[0009] A lidar module, mounted on the surveying instrument, is used to acquire three-dimensional point cloud data of the environment;

[0010] A visual sensor module, mounted on the surveying instrument, is used to acquire image data of the environment;

[0011] An RTK positioning module includes at least one RTK antenna and an anti-interference processing unit for receiving satellite signals and calculating centimeter-level absolute position information. The anti-interference processing unit is configured to identify and suppress electromagnetic interference signals in the environment.

[0012] The central processing unit is communicatively connected to the lidar module, the vision sensor module, and the RTK positioning module, respectively.

[0013] And an optional support mechanism, which is located at the bottom of the surveying instrument and detachably connected to the surveying instrument to support the surveying instrument.

[0014] As a preferred technical solution of this application, the central processing unit is configured as follows:

[0015] Simultaneously acquire data from the lidar module, vision sensor module, and RTK positioning module;

[0016] The point cloud data, image data, and absolute position information are fused together, and a simultaneous localization and mapping algorithm is executed. Based on the fused data, a three-dimensional environment map with absolute geographic coordinates is generated.

[0017] As a preferred technical solution of this application, in order to improve scanning stability, the support mechanism includes a bearing seat, a support rod assembly rotatably connected to the side wall of the bearing seat, a lifting rod inserted into the middle of the bearing seat, an angle adjustment mechanism provided at the top of the lifting rod, a universal adjustment mechanism provided at the top of the angle adjustment mechanism, and the universal adjustment mechanism is detachably connected to the surveying instrument.

[0018] As a preferred technical solution of this application, the support rod assembly includes a ball shaft one inserted into the side wall of the bearing seat, an assembly rod one fixedly connected to one end of the ball shaft one, an assembly rod two inserted into one end of the assembly rod one, a positioning rod slidably inserted into the inner side wall of the assembly rod two, and the assembly rod one and the assembly rod two, as well as the assembly rod two and the positioning rod, are all fixed by a locking structure.

[0019] As a preferred technical solution of this application, the locking structure includes a retaining ring and a fixing bolt 1 threadedly connected to the outer walls of assembly rod 1 and assembly rod 2.

[0020] As a preferred technical solution of this application, the side wall of the bearing seat is threaded with a second fixing bolt, and one end of the second fixing bolt protruding from the bearing seat abuts against the outer wall of the lifting rod.

[0021] As a preferred technical solution of this application, the angle adjustment mechanism includes an adjustment seat fixedly connected to the top of the lifting rod and a rotating seat rotatably connected to the outer wall of the adjustment seat. The rotating seat and the adjustment seat are clamped and fixed together by locking bolts.

[0022] As a preferred technical solution of this application, the universal adjustment mechanism includes a universal joint seat fixedly connected to the top of the rotating seat, a universal shaft rod rotatably connected to the inner side wall of the universal joint seat, a clamping bolt threaded to the side wall of the universal joint seat, a brake disc inserted into the inner side wall of the universal joint seat, and the outer wall of the clamping bolt having a cam structure. The cam end of the clamping bolt abuts against the brake disc to restrict the rotation of the universal shaft rod.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] In the scheme of this application:

[0025] 1. When the RTK signal is good, its high-precision absolute position information can strongly constrain and eliminate the cumulative drift of SLAM. When the RTK signal is briefly lost or interfered with, the local SLAM of laser-vision-IMU can seamlessly provide high-frequency relative pose estimation, ensuring the continuity of positioning. This solves the problems of poor robustness and unstable accuracy in complex environments of loosely coupled schemes in existing technologies. Active anti-interference is achieved through the setting of a miniature anti-interference antenna array. This array can effectively suppress electromagnetic interference from specific directions and enhance satellite signal reception capabilities. This solves the problem of RTK modules easily losing lock and experiencing a sharp drop in positioning accuracy in environments with strong interference such as high-voltage lines and communication base stations in existing technologies.

[0026] 2. By integrating a support mechanism with lifting, angle, and omnidirectional adjustments, flexible switching between operating modes and high stability are achieved. Users can quickly switch between handheld scanning and static tripod scanning. During static scanning, hand tremors are effectively eliminated, ensuring data quality in critical areas. This solves the problems of insufficient stability of handheld devices in existing technologies, and the cumbersome adjustment and poor adaptability of traditional tripods. Attached Figure Description

[0027] Figure 1 A schematic diagram of the overall structure of the laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device provided in this application;

[0028] Figure 2 A disassembly diagram of the laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device provided in this application;

[0029] Figure 3 A partial disassembly diagram of the anti-interference handheld mapping device for laser-vision collaborative SLAM-RTK fusion provided in this application;

[0030] Figure 4 A side view structural diagram of the laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device provided in this application;

[0031] Figure 5 The laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device provided in this application Figure 2 Side view structural diagram;

[0032] Figure 6 A schematic diagram of the system structure of the laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device provided in this application.

[0033] The image shows:

[0034] 10. Surveying instrument; 11. LiDAR module; 12. Vision sensor module; 13. RTK positioning module; 14. Central processing unit;

[0035] 20. Support mechanism; 21. Shaft seat; 22. Lifting rod; 23. Two fixing bolts;

[0036] 30. Support rod assembly; 31. Ball bearing 1; 32. Assembly rod 1; 33. Assembly rod 2; 34. Positioning rod; 35. Snap ring; 36. Fixing bolt 1;

[0037] 40. Angle adjustment mechanism; 41. Adjustment seat; 42. Rotary seat; 43. Locking bolt;

[0038] 50. Universal adjustment mechanism; 51. Universal joint seat; 52. Universal joint rod; 53. Clamping bolt; 54. Brake disc. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0040] Therefore, the following detailed description of embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely illustrates some embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0041] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0042] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0043] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0044] Please see Figures 1 to 6 This invention provides a technical solution: a laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device, including a mapping instrument 10, and further comprising:

[0045] The lidar module 11 is mounted on the surveying instrument 10 and is used to acquire three-dimensional point cloud data of the environment.

[0046] The visual sensor module 12 is mounted on the surveyor 10 and is used to acquire image data of the environment.

[0047] The RTK positioning module 13 includes at least one RTK antenna for receiving satellite signals and calculating centimeter-level absolute position information.

[0048] The central processing unit 14 is communicatively connected to the lidar module 11, the vision sensor module 12, and the RTK positioning module 13, respectively.

[0049] The support mechanism 20 is located at the bottom of the surveying instrument 10 and is detachably connected to the surveying instrument 10 to support the surveying instrument 10.

[0050] In a preferred embodiment, based on the above method, the central processing unit 14 is further configured as follows:

[0051] Simultaneously acquire data from the lidar module 11, the vision sensor module 12, and the RTK positioning module 13;

[0052] Point cloud data, image data, and absolute position information are fused together, and a simultaneous localization and mapping algorithm is executed. Based on the fused data, a 3D environment map with absolute geographic coordinates is generated.

[0053] Specifically, the core of this laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device is the mapping instrument 10. The mapping instrument 10's housing integrates a LiDAR module 11 (which can be a 16-line or 32-line solid-state LiDAR), a vision sensor module 12 (which can be a global shutter camera), an RTK positioning module 13 (whose antenna is integrated on the top of the housing), and a high-brightness touchscreen display (for real-time map display and operation). Inside the housing, a central processing unit 14 (a heterogeneous computing platform of CPU+GPU+NPU) and an inertial measurement unit (IMU) are integrated.

[0054] The user moves the handheld surveying instrument 10 in the environment to be measured. The lidar module 11 emits a laser beam at a frequency of 10-20Hz and receives reflected signals to generate a real-time 3D point cloud of the environment. The visual sensor module 12 simultaneously acquires high-definition images. The miniature antenna array of the RTK positioning module 13 continuously receives satellite signals and calculates centimeter-level absolute coordinates through a built-in anti-interference processing unit, which uses an adaptive notch filtering algorithm to suppress narrowband interference. The IMU records the device's angular velocity and acceleration at a higher frequency (>100Hz).

[0055] The central processing unit 14 runs a deeply coupled multimodal factor graph optimization algorithm. First, it performs unified timestamp synchronization and extrinsic parameter calibration on the laser, vision, RTK, and IMU data. Then, it incorporates laser odometry, visual odometry, RTK absolute position, and IMU pre-integration data as different "factors" into a unified optimization framework. When the vision sensor identifies previously visited scenes through the deep learning model (loop closure detection), a strong constraint factor is generated to eliminate accumulated errors. Simultaneously, the algorithm identifies dynamic objects in the point cloud and images, reducing their impact on the overall optimization.

[0056] In a preferred embodiment, based on the above method, the support mechanism 20 further includes a bearing 21, a support rod assembly 30 rotatably connected to the side wall of the bearing 21, a lifting rod 22 inserted into the middle of the bearing 21, an angle adjustment mechanism 40 provided at the top of the lifting rod 22, and a universal adjustment mechanism 50 provided at the top of the angle adjustment mechanism 40. The universal adjustment mechanism 50 is detachably connected to the surveying instrument 10. Specifically, the lifting rod 22 can adjust the height of the surveying instrument 10, and the support rod assembly 30 can be rotated and adjusted relative to the bearing 21 to form a support effect at different points.

[0057] The support rod assembly 30 includes a ball shaft 31 inserted into the side wall of the bearing seat 21. One end of the ball shaft 31 is fixedly connected to an assembly rod 32. One end of the assembly rod 32 is inserted into an assembly rod 33. A positioning rod 34 is slidably inserted into the inner side wall of the assembly rod 33. The assembly rod 32 and the assembly rod 33, as well as the assembly rod 33 and the positioning rod 34, are all fixed by a locking structure.

[0058] The locking structure includes a retaining ring 35 and a fixing bolt 36 threadedly connected to the outer wall of assembly rod 32 and assembly rod 33.

[0059] The side wall of the bearing seat 21 is threaded with a fixing bolt 23, and one end of the fixing bolt 23 protrudes from the bearing seat 21 and abuts against the outer wall of the lifting rod 22.

[0060] Specifically, the assembly rod 2 33 and the assembly rod 1 32 are assembled in a way that allows for different numbers of assembly rods to be assembled for different applications. Furthermore, by fixing the bolt 2 23 against the retaining ring 35, friction is provided to fix the assembly rod 2 33 and the positioning rod 34. The bottom of the positioning rod 34 has an anti-slip support to improve stability.

[0061] As a preferred embodiment, based on the above method, the angle adjustment mechanism 40 further includes an adjustment seat 41 fixedly connected to the top of the lifting rod 22 and a rotating seat 42 rotatably connected to the outer wall of the adjustment seat 41. The rotating seat 42 and the adjustment seat 41 are clamped and fixed by a locking bolt 43. The locking bolt 43 provides a locking force, which provides friction between the rotating seat 42 and the adjustment seat 41 to complete the fixation. This is relatively convenient. When adjustment is needed, the locking bolt 43 can be rotated in the opposite direction to release the lock.

[0062] As a preferred embodiment, based on the above method, the universal adjustment mechanism 50 further includes a universal joint seat 51 fixedly connected to the top of the rotating seat 42, a universal joint rod 52 rotatably connected to the inner wall of the universal joint seat 51, a clamping bolt 53 threadedly connected to the side wall of the universal joint seat 51, and a brake disc 54 inserted into the inner wall of the universal joint seat 51. The outer wall of the clamping bolt 53 is a cam structure. The cam end of the clamping bolt 53 abuts against the brake disc 54 to restrict the rotation of the universal joint rod 52. Rotating the clamping bolt 53 can make the cam end move up or down. When the cam end moves up, it can push the brake disc 54 to move upward, thereby restricting the rotation of the universal joint rod 52. When the cam end moves down, it can release the restriction, thereby rotating the universal joint rod 52, which facilitates adjustment at any angle.

[0063] The operation steps are as follows:

[0064] Installation: Connect the quick-connect interface at the bottom of the surveyor 10 to the universal joint 52 at the top of the universal adjustment mechanism 50 and lock it in place.

[0065] Unfold the support rods: snap ring 35 and fixing bolt 36, pull out assembly rod 33 and positioning rod 34, adjust to the appropriate length, and then lock the locking structure to unfold the three support rods to form a stable triangular support.

[0066] Adjusting the height: Loosen the fixing bolt 23, move the lifting rod 22 up or down to the desired height, and then tighten the fixing bolt 23 to fix it.

[0067] Adjusting the pitch angle: Loosen the locking bolt 43, rotate the rotating base 42 to make the surveying instrument 10 reach the required pitch angle, and then tighten the locking bolt 43.

[0068] Fine-tuning direction: Rotating the universal joint 52 allows for precise adjustment of the horizontal and vertical orientation of the surveying instrument 10. After adjustment, rotating the clamping bolt 53 causes its cam end to press against the brake disc 54, locking the universal joint 52 through friction to prevent it from wobbling.

[0069] Start Scan: Users can start the "Static Rotation Scan" mode on the touch screen. The device will automatically rotate 360 ​​degrees in place to complete a stable all-round scan of the area.

[0070] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described herein. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present invention, as well as all technical solutions and improvements that do not depart from the spirit and scope of the invention, are covered within the scope of the claims of the present invention.

Claims

1. A laser-vision co-located SLAM-RTK fusion anti-interference handheld surveying device, comprising a surveying instrument (10), characterized in that, Also includes: A lidar module (11) is installed on the surveying instrument (10) and is used to acquire three-dimensional point cloud data of the environment; A visual sensor module (12) is mounted on the surveying instrument (10) and is used to acquire image data of the environment; The RTK positioning module (13) includes at least one RTK antenna for receiving satellite signals and calculating centimeter-level absolute position information; The central processing unit (14) is communicatively connected to the lidar module (11), the vision sensor module (12), and the RTK positioning module (13), respectively; A support mechanism (20) is provided at the bottom of the surveying instrument (10) and is detachably connected to the surveying instrument (10) to support the surveying instrument (10).

2. The laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device according to claim 1, characterized in that, in, The central processing unit (14) is configured as follows: Data is simultaneously acquired from the lidar module (11), the vision sensor module (12), and the RTK positioning module (13); The point cloud data, image data, and absolute position information are fused together, and a simultaneous localization and mapping algorithm is executed. Based on the fused data, a three-dimensional environment map with absolute geographic coordinates is generated.

3. The laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device according to claim 1, characterized in that, The support mechanism (20) includes a bearing (21), a support rod assembly (30) is rotatably connected to the side wall of the bearing (21), a lifting rod (22) is inserted into the middle of the bearing (21), an angle adjustment mechanism (40) is provided at the top of the lifting rod (22), a universal adjustment mechanism (50) is provided at the top of the angle adjustment mechanism (40), and the universal adjustment mechanism (50) is detachably connected to the surveying instrument (10).

4. The laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device according to claim 3, characterized in that, The support rod assembly (30) includes a ball shaft (31) inserted into the side wall of the bearing seat (21). One end of the ball shaft (31) is fixedly connected to an assembly rod (32). One end of the assembly rod (32) is inserted into an assembly rod (33). A positioning rod (34) is slidably inserted into the inner side wall of the assembly rod (33). The assembly rod (32) and the assembly rod (33), as well as the assembly rod (33) and the positioning rod (34), are all fixed by a locking structure.

5. The laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device according to claim 4, characterized in that, The locking structure includes a retaining ring (35) and a fixing bolt (36) threadedly connected to the outer wall of assembly rod one (32) and assembly rod two (33).

6. The laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device according to claim 1, characterized in that, The side wall of the bearing seat (21) is threaded with a fixing bolt two (23), and one end of the fixing bolt two (23) protrudes from the bearing seat (21) and abuts against the outer wall of the lifting rod (22).

7. The laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device according to claim 3, characterized in that, The angle adjustment mechanism (40) includes an adjustment seat (41) fixedly connected to the top of the lifting rod (22) and a rotating seat (42) rotatably connected to the outer wall of the adjustment seat (41). The rotating seat (42) and the adjustment seat (41) are clamped and fixed together by locking bolts (43).

8. The laser-vision collaborative SLAM-RTK fusion anti-interference handheld mapping device according to claim 3, characterized in that, The universal adjustment mechanism (50) includes a universal joint seat (51) fixedly connected to the top of the rotating seat (42), and a universal shaft (52) rotatably connected to the inner wall of the universal joint seat (51). The side wall of the universal joint seat (51) is threaded with a clamping bolt (53). A brake disc (54) is also inserted into the inner wall of the universal joint seat (51). The outer wall of the clamping bolt (53) is a cam structure. The cam end of the clamping bolt (53) abuts against the brake disc (54) to restrict the rotation of the universal shaft (52).

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