Laser surveying instrument, two-dimensional flat house type and three-dimensional house type surveying method

Abstract

The present invention discloses a laser surveyor and a method for surveying two-dimensional and three-dimensional apartment plans. The laser surveyor comprises a base, a horizontal pan-tilt module mounted on the base, a vertical pan-tilt module mounted on the horizontal pan-tilt module, and a laser module mounted on the vertical pan-tilt module. The vertical and horizontal pan-tilt modules of the laser surveyor drive the laser module to rotate vertically and horizontally, enabling the laser module to measure data on every wall in a room. This eliminates the need for a person to hold the measuring device, reducing measurement errors caused by the person themselves and ensuring more accurate measurements.

Description

Technical Field

[0001] The present invention relates to the technical field of laser surveying and mapping, and in particular to a laser surveying and mapping instrument, a two-dimensional flat house type, and a three-dimensional house type surveying and mapping method. Background Art

[0002] Every home renovation requires measurement for design and accurate cost calculation. Existing measurements typically begin with handheld measuring devices, followed by manual drawing of the project based on the data. Handheld measuring devices are susceptible to the influence of the surveyor, leading to significant errors in the measured data. Furthermore, the objects being surveyed are often relatively large or complex, making measurement difficult and drawing time-consuming and labor-intensive. Existing 3D scanners and plotters are expensive, have a limited panoramic scanning range, are time-consuming, and offer low accuracy, far from meeting engineering requirements.

[0003] Therefore, the existing technology has defects and needs to be improved. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a laser surveying instrument and a surveying method for two-dimensional flat house types and three-dimensional house types, so as to reduce the error caused by the surveyor moving the measuring equipment, facilitate the measurement of houses, and meet the needs of the project.

[0005] The technical solution of the present invention is as follows: A laser surveying instrument is provided, comprising: a base, a horizontal pan-tilt head module mounted on the base, a vertical pan-tilt head module mounted on the horizontal pan-tilt head module, and a laser module mounted on the vertical pan-tilt head module; the horizontal pan-tilt head module comprises: a first motor mounted on the base, and a first pan-tilt head body connected to the output shaft of the first motor; the vertical pan-tilt head module comprises: a vertical bracket mounted on a rotating disk of the first pan-tilt head body, a second motor mounted on the vertical bracket, and a second pan-tilt head body connected to the output shaft of the second motor; the laser module is mounted on the rotating disk of the second pan-tilt head body.

[0006] The laser module emits both line and point lasers for distance measurement. Place the laser surveyor on the ground and adjust the level. The vertical pan-tilt module rotates the laser module vertically, allowing it to measure data across a single wall. The horizontal pan-tilt module rotates the laser module horizontally, allowing it to measure data on every wall in a room. This eliminates the need for manual measurement, reducing measurement errors introduced by the surveyor and ensuring more accurate measurements.

[0007] Furthermore, the laser surveying instrument further includes: a plurality of leveling screws mounted on the bottom of the base, and a level module mounted on the vertical bracket. The leveling screws are used to level the laser surveying instrument, and the level module is used to measure whether the laser surveying instrument is level.

[0008] Furthermore, the level module includes: a level mounting component and a bubble level mounted on the level mounting component; the level mounting component is mounted on a vertical bracket.

[0009] Furthermore, the laser mapper further includes: a main control board, a battery, a power switch, a first housing covering the base and the horizontal pan-tilt module, a second housing covering the vertical pan-tilt module, and a third housing covering the laser module, each mounted on the base; the main control board is electrically connected to the battery, the laser module, the first motor, the second motor, and the power switch; the second housing is connected to the vertical bracket, and the third housing is connected to the laser module. The main control board is used to control the operation of the laser module, the first motor, and the second motor; the battery is used to power the main control board; and the power switch is used to start or shut down the laser mapper. The first housing covers the base to prevent dust from entering the base and the horizontal pan-tilt module; the second housing covers the vertical pan-tilt module to prevent dust from entering the vertical pan-tilt module; and the third housing covers the laser module to prevent dust from entering the laser module.

[0010] Furthermore, the base comprises a bottom plate, several support columns connected to the bottom plate, and a support plate connected to the support columns. The horizontal pan-tilt head module is mounted on the support plate. The laser module comprises a laser connector mounted on the rotating disk of the second pan-tilt head body, a fixing member mounted on the laser connector, and a laser mounted on the fixing member. The lasers include line lasers and point lasers. Line lasers are used to emit linear lasers, while point lasers are used to emit point lasers.

[0011] Furthermore, the present invention also provides a method for surveying and mapping a two-dimensional planar apartment, comprising the following steps.

[0012] S1: Place the laser mapper anywhere in the room and adjust it to a level position.

[0013] S2: The laser module emits a vertical laser beam, and the pan / tilt module rotates to align the vertical laser beam with the vertical boundary of the room. Laser ranging is performed using a point laser to measure the horizontal distance between the laser module and the vertical boundary. The center of rotation of the laser module is the central axis of the pan / tilt module.

[0014] S3: According to step S2, the horizontal distances between other vertical boundaries in the room and the laser module and the rotation angle of the laser module between two adjacent vertical boundaries are measured in sequence.

[0015] S4: Calculate the horizontal distance between two adjacent vertical boundaries based on the horizontal distance between the vertical boundary and the laser module, the distance between the laser module and the center axis of the horizontal gimbal module, and the angle at which the laser module rotates between the two adjacent vertical boundaries. This calculation is based on a triangle side length algorithm, using trigonometric functions to calculate the horizontal distance between two adjacent vertical boundaries. In a triangle, if the angle and the length of one side are known, the lengths of the other sides can be calculated using trigonometric functions.

[0016] S5: Calculate the horizontal distances between all two adjacent vertical stripe boundaries according to step S4.

[0017] S6: Generate a two-dimensional floor plan according to the distances between all two adjacent vertical boundaries and the angle at which the laser module rotates between the two adjacent vertical boundaries.

[0018] The laser module emits laser to measure the distance of the vertical boundary and the angle of rotation of the laser module on the horizontal plane during the test, and obtains the length data of the indoor wall. By combining the length data of all the indoor walls, a two-dimensional floor plan can be obtained.

[0019] Furthermore, in steps S2 and S3, when the horizontal pan-tilt module rotates, if the vertical laser emitted by the laser module does not have a broken line, it is a continuous wall; if a broken line occurs, it is a disconnected wall, which is a door frame, balcony or windowsill in this case.

[0020] Furthermore, the present invention also provides a three-dimensional house type surveying and mapping method, comprising the following steps.

[0021] SS1: Use the aforementioned two-dimensional floor plan surveying method to measure the two-dimensional floor plan.

[0022] SS2: The laser module emits a horizontal laser beam, and the vertical pan / tilt module rotates to align the horizontal laser beam with a horizontal boundary in the room. Laser ranging is performed to measure the distance between the laser module and the horizontal boundary. The distance between the laser module and other horizontal boundaries on the same vertical plane is then measured, as well as the rotation angle of the laser module between two adjacent horizontal boundaries on the same vertical plane.

[0023] SS3: According to step SS2, the distances between the horizontal boundaries in other vertical planes in the room and the laser module, and the rotation angle of the laser module between two adjacent horizontal boundaries in the same vertical plane are measured in sequence.

[0024] SS4: Calculates the vertical distance between two adjacent horizontal boundaries on the same vertical plane based on the distance between the horizontal boundary and the laser module and the rotation angle of the laser module between the two adjacent horizontal boundaries on the same vertical plane. This calculation is based on the triangle side length algorithm, that is, trigonometric functions are used to calculate the vertical distance between two adjacent horizontal boundaries on the same vertical plane.

[0025] SS5: Calculate the vertical distance between two adjacent horizontal boundaries of all vertical surfaces according to step SS4.

[0026] SS6: Generate a three-dimensional floor plan based on the two-dimensional floor plan and the data in step S5.

[0027] The laser module emits laser to measure the distance to the horizontal boundary and the rotation angle of the laser module on the same vertical plane to obtain the height data of the indoor walls. By combining the height data of all indoor walls with the obtained two-dimensional floor plan, a three-dimensional floor plan can be obtained.

[0028] Furthermore, step SS5 also includes: the laser module emits a point laser, the horizontal pan-tilt module rotates and the vertical pan-tilt module rotates, the point laser coincides with the corners of the door frame, window sill or balcony respectively, and then laser ranging is performed to obtain the distance between the corner of the door frame, window sill or balcony and the laser module and the rotation angle of the laser module, and the size of the door frame or window frame is calculated based on the triangle side length algorithm.

[0029] Furthermore, in steps SS2 and SS3, when the vertical pan / tilt module rotates, if the horizontal laser strips emitted by the laser module do not have broken lines, it is a continuous wall; if broken lines appear, it is a disconnected wall, which is a door frame, balcony, or windowsill.

[0030] Using the above scheme, the present invention provides a laser surveyor and a method for surveying two-dimensional and three-dimensional floor plans. The vertical pan-tilt module of the laser surveyor can drive the laser module to rotate vertically, allowing the laser module to measure all data on a wall. The horizontal pan-tilt module can drive the laser module to rotate horizontally, allowing the laser module to measure data on every wall in the room. This eliminates the need for a person to hold the measuring device, reducing measurement errors caused by the surveyor themselves and making measurements more accurate. The length and height of the interior walls can be calculated using the data measured by the laser module, and then a two-dimensional floor plan and a three-dimensional floor plan can be obtained, greatly facilitating house measurement and meeting engineering needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of the laser plotter of the present invention;

[0032] Figure 2 A schematic structural diagram of the laser plotter of the present invention without the first housing, the second housing, and the third housing;

[0033] Figure 3 This is a structural diagram of the base, main control board, battery, power switch, and leveling screws of the present invention;

[0034] Figure 4 Schematic diagram of the structure of the horizontal platform module of the present invention;

[0035] Figure 5 Schematic diagram of the structure of the vertical platform module of the present invention;

[0036] Figure 6 Schematic diagram of the structure of the laser module of the present invention;

[0037] Figure 7 Schematic diagram of the structure of the level module of the present invention. DETAILED DESCRIPTION

[0038] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] See also Figure 1-Figure 7 The present invention provides a laser surveying instrument, comprising: a base 10, a horizontal pan-tilt head module 20 mounted on the base 10, a vertical pan-tilt head module 30 mounted on the horizontal pan-tilt head module 20, and a laser module 40 mounted on the vertical pan-tilt head module 30; the horizontal pan-tilt head module 20 comprises: a first motor 21 mounted on the base 10, and a first pan-tilt head body 22 connected to the output shaft of the first motor 21; the vertical pan-tilt head module 30 comprises: a vertical bracket 31 mounted on a rotating disk of the first pan-tilt head body 22, a second motor 32 mounted on the vertical bracket 31, and a second pan-tilt head body 33 connected to the output shaft of the second motor 32; the laser module 40 is mounted on the rotating disk of the second pan-tilt head body 33.

[0040] The laser module 40 emits both line and point lasers for distance measurement. Place the laser surveyor on the ground and adjust the level. The vertical pan-tilt module 30 drives the laser module 40 to rotate vertically, allowing it to measure data on all surfaces on a wall. The horizontal pan-tilt module 20 drives the laser module 40 to rotate horizontally, allowing it to measure data on every wall in a room. This eliminates the need for a human to hold the measuring device, reducing measurement errors caused by the surveyor and ensuring more accurate measurements.

[0041] The laser surveyor further includes: a plurality of leveling screws 50 mounted on the bottom of the base 10, and a level module mounted on the vertical bracket 31. The leveling screws 50 are used to level the laser surveyor, and the level module is used to measure whether the laser surveyor is level.

[0042] The level module includes: a level mounting member 52 and a bubble level 53 mounted on the level mounting member 52 ; the level mounting member 52 is mounted on the vertical bracket 31 .

[0043] The laser mapper also includes: a main control board 61, a battery 62, a power switch 63, each mounted on the base 10; a first housing 64 covering the base 10 and the horizontal pan / tilt module 20; a second housing 65 covering the vertical pan / tilt module 30; and a third housing 66 covering the laser module 40. The main control board 61 is electrically connected to the battery 62, the laser module 40, the first motor 21, the second motor 32, and the power switch 63; the second housing 65 is connected to the vertical bracket 31, and the third housing 66 is connected to the laser module 40. The main control board 61 is used to control the operation of the laser module 40, the first motor 21, and the second motor 32; the battery 62 is used to power the main control board 61; and the power switch 63 is used to start or shut down the laser mapper. The first shell 64 covers the base 10 to prevent dust from entering the base 10 and the horizontal pan-tilt module 20; the second shell 65 covers the vertical pan-tilt module 30 to prevent dust from entering the vertical pan-tilt module 30; the third shell 66 covers the laser module 40 to prevent dust from entering the laser module 40.

[0044] The base 10 includes a base plate 11, four support columns 12 connected to the base plate 11, and a support plate 13 connected to the support columns 12. The horizontal pan-tilt head module 20 is mounted on the support plate 13. The laser module 40 includes a laser connector 41 mounted on the rotating disk of the second pan-tilt head body 33, a fixing member 42 mounted on the laser connector 41, and a laser mounted on the fixing member 42. The laser includes a line laser 44 and a point laser 45. The line laser 44 is used to emit a line laser, and the point laser 45 is used to emit a point laser.

[0045] The present invention also provides a two-dimensional planar apartment surveying method, comprising the following steps.

[0046] S1: Place the laser mapper anywhere in the room and adjust it to a level position.

[0047] S2: Laser module 40 emits a vertical laser beam, and horizontal pan / tilt module 20 rotates to align the vertical laser beam with the vertical boundary of the room. Laser ranging is performed using a point laser to measure the horizontal distance between laser module 40 and the vertical boundary. The rotation center of the laser module is the central axis of the horizontal pan / tilt module.

[0048] S3: According to step S2, the horizontal distances between other vertical boundaries in the room and the laser module 40 and the rotation angle of the laser module 40 between two adjacent vertical boundaries are measured in sequence.

[0049] S4: Calculate the horizontal distance between two adjacent vertical boundaries based on the horizontal distance between the vertical boundary and the laser module 40, the distance between the laser module 40 and the central axis of the horizontal pan / tilt module 20, and the angle at which the laser module 40 rotates between the two adjacent vertical boundaries. Calculate the horizontal distance between the two adjacent vertical boundaries using a triangle side length algorithm, i.e., using trigonometric functions. In a triangle, if the angle and the length of one side are known, the lengths of the other sides can be calculated using trigonometric functions.

[0050] S5: Calculate the horizontal distances between all two adjacent vertical stripe boundaries according to step S4.

[0051] S6: Generate a two-dimensional floor plan based on the distances between all two adjacent vertical boundaries and the angle at which the laser module 40 rotates between the two adjacent vertical boundaries.

[0052] The laser module 40 emits laser to measure the distance of the vertical boundary and the angle of rotation of the laser module 40 on the horizontal plane during testing to obtain the length data of the indoor wall. By combining the length data of all the indoor walls, a two-dimensional floor plan can be obtained.

[0053] In steps S2 and S3, when the horizontal pan-tilt module 20 rotates, if the vertical laser emitted by the laser module 40 has no break, it is a continuous wall; if it has a break, it is a disconnected wall, which is a door frame, balcony or windowsill.

[0054] The present invention also provides a three-dimensional house type surveying and mapping method, which includes the following steps.

[0055] SS1: Use the aforementioned two-dimensional floor plan surveying method to measure the two-dimensional floor plan.

[0056] SS2: The laser module 40 emits a horizontal laser, and the vertical pan / tilt module rotates to align the horizontal laser with the horizontal boundary in the room. Laser ranging is performed to measure the distance between the laser module 40 and the horizontal boundary. The distances between other horizontal boundaries on the same vertical plane and the laser module 40 are measured in turn, as well as the rotation angle of the laser module 40 between two adjacent horizontal boundaries on the same vertical plane.

[0057] SS3: According to step SS2, the distances between the horizontal stripe boundaries in other vertical planes in the room and the laser module 40 and the rotation angle of the laser module 40 between two adjacent horizontal stripe boundaries in the same vertical plane are measured in sequence.

[0058] SS4: Calculate the vertical distance between two adjacent horizontal boundaries on the same vertical plane based on the distance between the horizontal boundary of two adjacent horizontal boundaries on the same vertical plane and the laser module 40, and the rotation angle of the laser module 40 between the two adjacent horizontal boundaries on the same vertical plane. Calculate based on the triangle side length algorithm, that is, use trigonometric functions to calculate the vertical distance between two adjacent horizontal boundaries on the same vertical plane.

[0059] SS5: Calculate the vertical distance between two adjacent horizontal boundaries of all vertical surfaces according to step SS4.

[0060] SS6: Generate a three-dimensional floor plan based on the two-dimensional floor plan and the data in step S5.

[0061] The laser module 40 emits laser to measure the distance to the horizontal boundary and the rotation angle of the laser module 40 on the same vertical plane to obtain the height data of the indoor walls. By combining the height data of all indoor walls and the obtained two-dimensional floor plan, a three-dimensional floor plan can be obtained.

[0062] The step SS5 further includes: the laser module 40 emits a point laser, the horizontal pan-tilt module 20 rotates and the vertical pan-tilt module rotates, the point laser coincides with the corners of the door frame, window sill or balcony respectively, and then laser ranging is performed to obtain the distance between the corner of the door frame, window sill or balcony and the laser module 40 and the rotation angle of the laser module 40, and the size of the door frame or window frame is calculated based on the triangle side length algorithm.

[0063] In steps SS2 and SS3, when the vertical pan / tilt module rotates, if the horizontal laser beam emitted by the laser module 40 has no broken lines, it is a continuous wall; if broken lines appear, it is a disconnected wall, which is a door frame, balcony or windowsill.

[0064] In summary, the present invention provides a laser surveying instrument, a method for surveying two-dimensional flat floor plans, and three-dimensional floor plans. The vertical pan-tilt module of the laser surveying instrument can drive the laser module to rotate in the vertical direction, so that the laser module can measure all the data on a wall. The horizontal pan-tilt module can drive the laser module to rotate on the horizontal plane, so that the laser module can measure the data of every wall in the room. There is no need for people to hold the measuring equipment, which reduces the measurement error caused by the measurer himself and makes the measurement more accurate. The length and height of the indoor wall are calculated through the data measured by the laser module, and then the two-dimensional flat floor plan and three-dimensional floor plan are obtained, which greatly facilitates the measurement of the house and meets the needs of the project.

[0065] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for mapping a two-dimensional apartment layout, characterized in that: Based on a laser surveyor; the laser surveyor comprises: a base, a horizontal pan-tilt head module mounted on the base, a vertical pan-tilt head module mounted on the horizontal pan-tilt head module, and a laser module mounted on the vertical pan-tilt head module; the horizontal pan-tilt head module comprises: a first motor mounted on the base, and a first pan-tilt head body connected to the output shaft of the first motor; the vertical pan-tilt head module comprises: a vertical bracket mounted on the rotating disk of the first pan-tilt head body, a second motor mounted on the vertical bracket, and a second pan-tilt head body connected to the output shaft of the second motor; the laser module is mounted on the rotating disk of the second pan-tilt head body; The laser module is used to emit vertical line laser and point laser; The following steps are involved: S1: Place the laser mapper anywhere in the room and adjust it to a horizontal position; S2: The laser module emits a vertical laser, and the horizontal pan / tilt module rotates to align the vertical laser with the vertical boundary of the room. Laser ranging is performed using a point laser to measure the horizontal distance between the laser module and the vertical boundary. The rotation center of the laser module is the central axis of the horizontal pan / tilt module. S3: According to step S2, the horizontal distances between the other vertical boundaries in the room and the laser module and the rotation angle of the laser module between two adjacent vertical boundaries are measured in sequence; S4: Calculate the horizontal distance between two adjacent vertical boundaries based on the horizontal distance between the vertical boundary and the laser module, the distance between the laser module and the central rotation axis of the horizontal pan / tilt module, and the rotation angle of the laser module between the two adjacent vertical boundaries; S5: Calculate the horizontal distance between all two adjacent vertical stripe boundaries according to step S4; S6: Generate a two-dimensional floor plan based on the distances between all two adjacent vertical boundaries and the angle at which the laser module rotates between the two adjacent vertical boundaries; In steps S2 and S3, when the horizontal pan-tilt module rotates, if the vertical laser emitted by the laser module does not have a broken line, it is a continuous wall; if a broken line occurs, it is a disconnected wall, which is a door frame, balcony or window sill.

2. A three-dimensional house type surveying method, characterized in that: The following steps are involved: SS1: Using the two-dimensional floor plan surveying method of claim 1, a two-dimensional floor plan is measured; SS2: The laser module emits a horizontal laser beam, and the vertical pan / tilt module rotates to align the horizontal laser beam with a horizontal boundary in the room. Laser ranging is performed to measure the distance between the laser module and the horizontal boundary. The distance between the laser module and other horizontal boundaries on the same vertical plane is then measured, as well as the rotation angle of the laser module between two adjacent horizontal boundaries on the same vertical plane. SS3: Following step SS2, the distances between the horizontal boundaries of other vertical surfaces in the room and the laser module are measured in sequence, as well as the rotation angle of the laser module between two adjacent horizontal boundaries in the same vertical surface. SS4: Calculate the vertical distance between two adjacent horizontal boundaries on the same vertical plane based on the distance between the horizontal boundary and the laser module and the rotation angle of the laser module between the two adjacent horizontal boundaries on the same vertical plane; SS5: Calculate the vertical distance between two adjacent horizontal boundaries of all vertical surfaces according to step SS4; SS6: Generate a three-dimensional floor plan based on the two-dimensional floor plan and the data in step S5.

3. The three-dimensional house type surveying method according to claim 2, characterized in that: The step SS5 further includes: the laser module emits a point laser, the horizontal pan-tilt module rotates and the vertical pan-tilt rotates, the point laser coincides with the corners of the door frame, window sill or balcony respectively, and then laser ranging is performed to obtain the distance between the corner of the door frame, window sill or balcony and the laser module and the rotation angle of the laser module, and the size of the door frame or window frame is calculated based on a triangle side length algorithm.

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