Carrying device of handheld surveying and mapping scanner and mobile robot

Abstract

The invention discloses a carrying device of a handheld surveying and mapping scanner. The carrying device comprises a sliding block; the bottom of the shell is installed on the sliding block, an opening is formed in the top of the shell, operation openings are formed in the two opposite sides of the peripheral wall of the shell respectively, and the part, located between the two operation openings, of the peripheral wall of the shell is limited to form an outer clamping part; the cover body is detachably connected with the shell, an opening of the cover body is downwards arranged at the opening of the shell in a covering mode, and a containing space used for containing a scanner is formed in the shell and the cover body; the two inner clamping plates are arranged in the shell in parallel in a spaced mode and located between the two outer clamping parts, the inner clamping plates are used for penetrating through a hollow hole of the handheld surveying and mapping scanner, the inner clamping plates are connected with the shell, and clamping openings used for clamping a holding part of the handheld surveying and mapping scanner are formed between the inner clamping plates and the outer clamping parts in a limited mode; and the mounting position of the inner clamping plate relative to the shell can be adjusted, so that the size of the clamping opening can be adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of surveying and mapping scanners, and particularly to a mounting device for a handheld surveying and mapping scanner and a mobile robot. Background Art

[0002] At present, the specific structure of a handheld surveying and mapping scanner (for example: Leica BLK2GO scanner) is as Figure 1 shown. A hollow hole 2011 is formed on the body 201 of the scanner. Holding parts 2012 are formed on both sides of the hollow hole 2011. The user performs surveying and mapping tasks by holding the holding parts 2012 of the scanner. However, when manually holding the scanner for scanning work, the hand will ache when walking a long distance, and the labor intensity consumed is relatively large. In addition, some hidden and narrow spaces are inaccessible to personnel for scanning, and there are also dangerous sources such as harmful gases and collapses in some hidden spaces. There are relatively large safety hazards for personnel to enter. Summary of the Invention

[0003] The purpose of the present invention is to provide a mounting device for a handheld surveying and mapping scanner and a mobile robot. The handheld surveying and mapping scanner is mounted on the robot through the mounting device, eliminating the need for manual holding of the scanner for work, reducing the labor intensity, enabling it to replace operators to enter narrow spaces or dangerous areas for scanning, and being applicable to clamping handheld surveying and mapping scanners with various holding part sizes.

[0004] To achieve the above object, the present invention provides a scanner mounting device, comprising:

[0005] A slider;

[0006] A housing, the bottom of the housing is mounted on the slider, the top of the housing is open, operation ports are respectively formed on opposite sides of the peripheral wall of the housing, and a portion of the peripheral wall of the housing between the two operation ports defines an outer clamping part;

[0007] A cover body, the cover body is detachably connected to the housing, the opening of the cover body faces downward and covers the opening of the housing, and an accommodating space for placing the scanner is formed inside the housing and inside the cover body;

[0008] Two inner clamping plates, the two inner clamping plates are arranged in parallel and at intervals inside the housing and are located between the two outer clamping parts. The inner clamping plates are used to pass through the hollow holes of the handheld surveying and mapping scanner. The inner clamping plates are connected to the housing. A clamping opening for clamping the holding part of the handheld surveying and mapping scanner is defined between each inner clamping plate and each outer clamping part, and the installation position of the inner clamping plate relative to the housing can be adjusted, so that the size of the clamping opening can be adjusted.

[0009] Preferably, the outer clamping portion is connected to the inner clamping plate to realize the connection between the inner clamping plate and the housing.

[0010] Preferably, a first adjustment hole is formed in the outer clamping portion, and a second adjustment hole corresponding to the first adjustment hole is formed in the inner clamping plate;

[0011] The carrying device of the hand-held mapping scanner further includes:

[0012] A connecting member, both ends of the connecting member respectively pass through the first adjustment hole and its corresponding second adjustment hole to connect the outer clamping portion and the inner clamping plate.

[0013] Preferably, first extension portions are respectively provided on both sides of the outer clamping portion, and both ends of the inner clamping plate respectively pass through one of the operation ports and form second extension portions;

[0014] The first adjustment hole is formed in the first extension portion, the second adjustment hole is formed in the second extension portion, and the first adjustment hole and its corresponding second adjustment hole are connected by the connecting member.

[0015] Preferably, the cover body includes:

[0016] A first ring, the first ring covers the opening of the housing;

[0017] A second ring, the second ring is arranged parallel to the side of the first ring away from the housing, the radius of the second ring is smaller than the radius of the first ring, the central axes of the second ring and the first ring coincide, and the first ring and the second ring are connected by a plurality of connecting ribs.

[0018] Preferably, the cover body further includes:

[0019] A third ring, the central axis of the third ring coincides with that of the first ring, the third ring is arranged parallel between the first ring and the second ring, and the third ring is sleeved outside a plurality of the connecting ribs.

[0020] Preferably, the edge of the bottom of the housing extends outward to form a mounting flange, a first mounting hole is formed in the mounting flange, and a second mounting hole corresponding to the first mounting hole is formed in the slider;

[0021] The carrying device of the hand-held mapping scanner further includes:

[0022] A base screw, the base screw sequentially passes through the first mounting hole and the second mounting hole to connect the housing and the slider.

[0023] The present invention provides a mobile robot, comprising a robot body and a mounting device for the hand-held mapping scanner described in any one of the above.

[0024] A guide rail is provided on the robot body, and a slider of the mounting device for the hand-held mapping scanner is mounted on the guide rail.

[0025] Preferably, a slider groove is formed on one side surface of the slider, and a slider hole penetrating through to the other side surface of the slider is formed at the bottom of the slider groove.

[0026] The mobile robot further comprises:

[0027] A fixing member, which includes a fixing part and an abutting part connected up and down. The fixing part is embedded in the slider groove, and a fixing hole penetrating through both sides is formed in the fixing part. The abutting part abuts against the side surface of the guide rail.

[0028] A fixing screw, which sequentially passes through the fixing hole and the slider hole.

[0029] Preferably, the slider includes a platform, a connecting part and a fitting part connected in sequence from top to bottom.

[0030] The width of the fitting part is greater than that of the connecting part, the width of the platform is greater than that of the fitting part, and the slider groove is formed on the side surface of the platform.

[0031] A first guide groove and a second guide groove extending along the extending direction of the guide rail are formed in the guide rail. The notch of the first guide groove communicates with the bottom of the second guide groove, the notch of the second guide groove penetrates through to the top surface of the guide rail, and both ends of the first guide groove and the second guide groove penetrate through to both ends of the guide rail. The fitting part is embedded in the first guide groove, and the connecting part is embedded in the second guide groove.

[0032] Compared with the prior art, the beneficial effects of the scanner mounting device and the mobile robot according to the embodiments of the present invention are as follows:

[0033] First, take out the two inner clamping plates from the housing, open the cover of the scanner mounting device, and place the hand-held mapping scanner into the accommodating space. Put the two inner clamping plates into the housing from the operation port. The inner clamping plates pass through the hollow holes of the scanner and the two inner clamping plates are arranged in parallel and at intervals. Connect the inner clamping plates to the housing. A clamping opening for clamping the holding part of the scanner is defined between the inner clamping plates and each outer clamping part. Adjust the mounting position of the inner clamping plates relative to the housing, and then adjust the size of the clamping opening, so that the holding part of the scanner is clamped between the inner clamping plates and the housing.

[0034] A guide rail is set on the robot, and the slider of the carrying device is installed on the guide rail. The handheld mapping scanner carried by the carrying device performs scanning to execute the mapping task. Compared with the prior art, there is no need for manual holding of the scanner to work, reducing the labor intensity. Since the size of the clamping port is adjustable, it can be applied to clamp handheld mapping scanners with various sizes of holding parts. Description of the Drawings

[0035] Figure 1 is a schematic structural view of a handheld mapping scanner in the prior art;

[0036] Figure 2 is a schematic structural view of the scanner carrying device, the scanner and the guide rail according to an embodiment of the present invention;

[0037] Figure 3 is an exploded view of the scanner carrying device, the scanner and the guide rail according to an embodiment of the present invention;

[0038] Figure 4 is a schematic structural view of the scanner carrying device and the guide rail according to an embodiment of the present invention;

[0039] Figure 5 is a front perspective view of the scanner carrying device according to an embodiment of the present invention;

[0040] Figure 6 is a side perspective view of the scanner carrying device according to an embodiment of the present invention;

[0041] Figure 7 is a rear perspective view of the scanner carrying device according to an embodiment of the present invention;

[0042] Figure 8 is a schematic structural view of the cover according to an embodiment of the present invention;

[0043] Figure 9 is a top view of the cover according to an embodiment of the present invention;

[0044] Figure 10 is a schematic structural view of the housing according to an embodiment of the present invention;

[0045] Figure 11 is a schematic structural view of the housing according to another embodiment of the present invention;

[0046] Figure 12 is a schematic structural view of the outer clamping part according to an embodiment of the present invention;

[0047] Figure 13 is a schematic structural view of the inner clamping plate according to an embodiment of the present invention;

[0048] Figure 14 is a front view of the inner clamping plate according to an embodiment of the present invention;

[0049] Figure 15 is the top view of the inner splint described in the embodiment of the present invention;

[0050] Figure 16 is the structural schematic diagram of the slider described in the embodiment of the present invention;

[0051] Figure 17 is the structural schematic diagram of the slider described in another embodiment of the present invention;

[0052] Figure 18 is the front view of the slider described in the embodiment of the present invention;

[0053] Figure 19 is the top view of the slider described in the embodiment of the present invention;

[0054] Figure 20 is the side view of the slider described in the embodiment of the present invention;

[0055] In the figure: 1, carrying device; 2, handheld mapping scanner; 201, fuselage; 2011, hollow hole; 2012, holding part; 3, guide rail; 31, first guide groove; 32, second guide groove; 4, housing; 41, peripheral wall; 411, hollow opening; 412, operation opening; 413, groove; 414, protrusion; 415, mounting flange; 4151, first mounting hole; 5, cover body; 51, first ring; 52, second ring; 53, third ring; 54, connecting rib; 6, slider; 61, slider groove; 62, slider hole; 63, platform; 64, connecting part; 65, fitting part; 66, second mounting hole; 7, outer clamping part; 71, first extension part; 711, first adjustment hole; 8, inner splint; 81, second extension part; 811, second adjustment hole; 9, screw connecting piece; 10, base screw; 11, fixing piece; 111, fixing hole; 12, fixing screw. Detailed Embodiments

[0056] The following will further describe in detail the specific embodiments of the present invention in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0057] In the description of the present invention, it should be understood that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.

[0058] In the description of the present invention, it should be understood that the terms "first", "second", and "third" are used only for descriptive purposes and should not be construed as indicating or implying relative importance. Additionally, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", "X-axis direction", "Y-axis direction", "Z-axis direction", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These are only for facilitating the description of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0059] As Figure 1-7 shown, a scanner mounting device according to an embodiment of the present invention includes: a slider 6, a housing 4, a cover 5, and two inner clamping plates 8;

[0060] The bottom of the housing 4 is mounted on the slider 6. The top of the housing 4 is open. On opposite sides of the peripheral wall 41 of the housing 4, operation openings 412 are respectively formed. The part of the peripheral wall 41 of the housing 4 between the two operation openings 412 defines an outer clamping portion 7;

[0061] The cover 5 is detachably connected to the housing 4. The opening of the cover 5 faces downward and covers the opening of the housing 4. An accommodation space for placing the scanner is formed inside the housing 4 and inside the cover 5;

[0062] The two inner clamping plates 8 are arranged in parallel and spaced apart inside the housing 4 and are located between the two outer clamping portions 7. The inner clamping plates 8 are used to pass through the hollow holes 2011 of the handheld mapping scanner 2. The inner clamping plates 8 are connected to the housing 4. A clamping opening for clamping the holding portion 2012 of the handheld mapping scanner 2 is defined between the inner clamping plates 8 and each outer clamping portion 7, and the installation position of the inner clamping plates 8 relative to the housing 4 can be adjusted, so that the size of the clamping opening can be adjusted.

[0063] It should be noted that first, the two inner clamping plates 8 are removed from the housing 4, the cover 5 of the scanner mounting device is opened, and the handheld mapping scanner 2 is placed into the accommodation space. The two inner clamping plates 8 are inserted into the housing 4 through the operation port 412. The inner clamping plates 8 pass through the hollow holes 2011 of the scanner, and the two inner clamping plates 8 are arranged in parallel and at intervals. The inner clamping plates 8 are connected to the housing 4. A clamping opening that defines a holding portion 2012 for clamping the scanner is formed between the inner clamping plates 8 and each outer clamping portion 7. The mounting position of the inner clamping plates 8 relative to the housing 4 is adjusted, and thus the size of the clamping opening is adjusted, so that the holding portion 2012 of the scanner is clamped between the inner clamping plates 8 and the housing 4.

[0064] A guide rail 3 is provided on the robot, the slider 6 of the mounting device is installed on the guide rail 3, and the handheld mapping scanner 2 mounted on the mounting device 1 performs scanning to execute the mapping task. Compared with the prior art, there is no need for manual holding of the scanner to work, reducing the labor intensity. Since the size of the clamping opening is adjustable, it can be applied to clamp handheld mapping scanners 2 with various sizes of holding portions 2012.

[0065] As Figure 2-7 shown, in a more specific embodiment, the outer clamping portion 7 and the inner clamping plate 8 are connected to achieve the connection between the inner clamping plate 8 and the housing 4.

[0066] It should be noted that the outer clamping portion 7 is a part of the peripheral wall 41 of the housing 4. The outer clamping portion 7 and the inner clamping plate 8 are connected, the mounting position of the inner clamping plate 8 relative to the outer clamping portion 7 is adjusted, and the size of the clamping opening is adjusted. The outer clamping portion 7 is detachable from the peripheral wall 41 of the housing 4.

[0067] As Figure 2-4 shown in FIGS. 12 - 15, in a more specific embodiment, a first adjustment hole 711 is formed on the outer clamping portion 7, and a second adjustment hole 811 corresponding to the first adjustment hole 711 is formed on the inner clamping plate 8;

[0068] The mounting device 1 of the handheld mapping scanner further includes:

[0069] A connecting member 9, both ends of the connecting member 9 pass through the first adjustment hole 711 and its corresponding second adjustment hole 811 to connect the outer clamping portion 7 and the inner clamping plate 8.

[0070] It should be noted that the second adjustment hole 811 of the inner clamping plate 8 is pushed along the connecting member 9 in a direction close to or away from the outer clamping portion 7 to adjust the size of the clamping opening.

[0071] As Figure 2-4 shown in FIGS. 12 - 15, in a more specific embodiment, first extension portions 71 are respectively provided on both sides of the outer clamping portion 7, and both ends of the inner clamping plate 8 pass through an operation port 412 respectively and form second extension portions 81;

[0072] A first adjustment hole 711 is provided on the first outer extension portion 71, and a second adjustment hole 811 is provided on the second outer extension portion 81. The first adjustment hole 711 and its corresponding second adjustment hole 811 are connected by a connecting member 9.

[0073] It should be noted that the first outer extension portion 71 and the second outer extension portion 81 are connected by the connecting member 9, so that a clamping opening is formed among the outer clamping portion 7, the inner clamping plate 8 and the connecting member 9 connecting both sides, and the holding portion 2012 of the hand-held mapping scanner 2 can be clamped more stably.

[0074] On both sides of the outer clamping portion 7, first outer extension portions 71 are respectively provided near the top and the bottom, forming a "work" shape. On both sides of the inner clamping plate 8, second outer extension portions 81 are respectively provided near the top and the bottom, forming a "work" shape.

[0075] The connecting member 9 is preferably an M6X36 socket head cap screw.

[0076] As Figure 12-15 shown, in a more specific embodiment, the surface of the outer clamping portion 7 close to the inner clamping plate 8 is an arc surface, the surface of the inner clamping plate 8 close to the outer clamping portion 7 is an arc surface, and the surface of the holding portion 2012 of the hand-held mapping scanner 2 is an arc surface, so that it can be clamped more closely to the holding portion 2012.

[0077] As Figure 8-9 shown, in a more specific embodiment, the cover body 5 includes a first ring 51 and a second ring 52. The first ring 51 is sleeved at the through hole of the housing 4, the second ring 52 is arranged in parallel on the side of the first ring 51 away from the housing 4, the radius of the second ring 52 is smaller than that of the first ring 51, the central axes of the second ring 52 and the first ring 51 coincide, and the first ring 51 and the second ring 52 are connected by a plurality of connecting ribs 54.

[0078] It should be noted that the cover body 5 composed of the first ring 51, the second ring 52 and the connecting ribs 54 is adapted to the hemispherical shape of the head of the hand-held mapping scanner.

[0079] As Figure 8-9 shown, in a more specific embodiment, the cover body 5 further includes:

[0080] A third ring 53, the central axis of the third ring 53 coincides with that of the first ring 51, the third ring 53 is arranged in parallel between the first ring 51 and the second ring 52, and the third ring 53 is sleeved outside the plurality of connecting ribs 54.

[0081] It should be noted that the third ring 53 is sleeved outside the plurality of connecting ribs 54 to prevent the connecting ribs 54 from being bent and improve the structural stability of the cover body 5.

[0082] AsFigure 3 As shown, in a more specific embodiment, the edge of the bottom of the housing 4 extends outward to form a mounting flange 415. A first mounting hole 4151 is provided on the mounting flange 415, and a second mounting hole 66 corresponding to the first mounting hole 4151 is provided on the slider.

[0083] The scanner mounting device 1 further includes:

[0084] A base screw 10, and the base screw 10 passes through the first mounting hole 4151 and the second mounting hole 66 in sequence to connect the housing 4 and the slider 6.

[0085] It should be noted that the mounting flange 415 and the slider 6 are detachably connected, and can be disassembled for repair or replacement when one of the components is damaged.

[0086] The slider 6 is specifically two sliders 6 arranged in parallel. Two second mounting holes are provided at the top of the two sliders 6 along the extending direction of the slider 6, and four first mounting holes are correspondingly provided on the mounting flange 415.

[0087] The two side surfaces of the mounting flange 415 parallel to the slider 6 are straight surfaces, and the two side surfaces of the mounting flange 415 perpendicular to the slider 6 are arc surfaces. The four holes of the mounting flange 415 are symmetrically arranged near the edge of the mounting flange 415.

[0088] The base screw 10 is preferably an M6X16 hexagon socket screw.

[0089] As Figure 1-3 shown, a mobile robot according to an embodiment of the present invention includes: a robot body and the mounting device 1 of the hand-held mapping scanner according to any one of the above.

[0090] A guide rail 3 is provided on the robot body, and the slider 6 of the mounting device 1 of the hand-held mapping scanner is mounted on the guide rail 3.

[0091] It should be noted that by providing the guide rail 3 on the robot body and mounting the slider 6 of the mounting device 1 on the guide rail 3, the hand-held mapping scanner mounted by the mounting device performs scanning and executes the mapping task. Compared with the prior art, there is no need for manual holding of the scanner to work, reducing the labor intensity and improving the efficiency of the mapping work.

[0092] The robot body is preferably a robot with walking components such as a robot dog.

[0093] As Figure 3 、 16 -20 shown, in a more specific embodiment, a slider groove 61 is provided on one side surface of the slider 6, and a slider hole 62 penetrating through to the other side surface of the slider 6 is provided at the bottom of the slider groove 61.

[0094] The mobile robot further includes: a fixing member 11 and a fixing screw 12;

[0095] The fixing member 11 includes a fixing part (not shown in the figure) and an abutting part (not shown in the figure) which are connected up and down. The fixing part is embedded in the slider groove 61, and the abutting part abuts against the side surface of the guide rail 3;

[0096] The fixing screw 12 sequentially passes through the fixing hole 111 and the slider hole 62.

[0097] It should be noted that by embedding the fixing part of the fixing member 11 into the slider groove 61 on one side of the slider 6, and the abutting part of the fixing member 11 abuts against the side surface of the guide rail 3, and the fixing screw 12 sequentially passes through the fixing hole 111 and the slider hole 62, the slider 6 cannot slide out of the guide rail 3.

[0098] The fixing member 11 is a fixing piece, and the fixing screw 12 is preferably an M6X16 hexagon socket screw.

[0099] Such as Figure 3 、 16 -20 shows, in a more specific embodiment, the slider 6 includes a platform 63, a connecting part 64 and a fitting part 65 which are connected in sequence from top to bottom;

[0100] The width of the fitting part 65 is greater than the width of the connecting part 64, the width of the platform 63 is greater than the width of the fitting part 65, and the slider 6 groove is opened on the side surface of the platform 63;

[0101] A first guide groove 31 and a second guide groove 32 are formed in the guide rail 3 and extend along the extension direction of the guide rail 3. The notch of the first guide groove 31 communicates with the bottom of the second guide groove 32, the notch of the second guide groove 32 penetrates through to the top surface of the guide rail 3, and both ends of the first guide groove 31 and the second guide groove 32 penetrate through to both ends of the guide rail 3. The fitting part 65 is embedded in the first guide groove 31, and the connecting part 64 is embedded in the second guide groove 32.

[0102] It should be noted that the fitting part 65 is embedded in the first guide groove 31, and the connecting part 64 is embedded in the second guide groove 32. Since the width of the fitting part 65 is greater than the width of the connecting part 64, the slider 6 cannot move upward out of the guide rail 3.

[0103] Such as Figure 8 、 10 shows, in a more specific embodiment, an external thread is provided circumferentially at the opening of the housing 4, and an internal thread is provided circumferentially on the inner side surface of the first ring 51 of the cover 5. The external thread and the internal thread are adapted to realize the detachable connection between the housing 4 and the cover 5.

[0104] Such as Figure 11 shows, in a more specific embodiment, a groove 413 is provided at the inner bottom of the housing 4, and the groove 413 is in a hemispherical shape with an inner diameter gradually increasing from bottom to top.

[0105] It should be noted that a groove 413 is provided at the inner bottom of the housing 4. The groove is hemispherical with an inner diameter gradually increasing from bottom to top. The hemispherical groove 413 is adapted to the bottom of the Leica BLK2GO scanner, which can ensure the verticality of the Leica BLK2GO scanner placed in the housing 4.

[0106] As Figure 11 shown, in a more specific embodiment, a protrusion 414 is provided at the center of the bottom of the groove 413.

[0107] It should be noted that since a recess is provided at the center of the bottom of the Leica BLK2GO scanner, a protrusion 414 is provided at the center of the bottom of the groove 413. When the bottom of the Leica BLK2GO scanner contacts the hemispherical groove 413, the protrusion 414 is snapped into the recess at the center of the bottom of the Leica BLK2GO scanner, preventing the Leica BLK2GO scanner from shaking. The size and shape of the protrusion 414 are adapted to the size and shape of the recess, and the protrusion 414 is preferably conical.

[0108] In order to make it smoother for the protrusion 414 to be snapped into or pulled out of the recess, the material of the protrusion 414 is preferably plastic.

[0109] As Figure 5-7 shown in FIGS. 10-11, in a more specific embodiment, a plurality of hollow openings 411 are provided on the peripheral wall 41 of the housing 4. The positions of the plurality of hollow openings 411 correspond to the positions of the camera, the switch button and the heat dissipation grid of the scanner 2.

[0110] It should be noted that when the handheld mapping scanner 2 carried is the Leica BLK2GO scanner, since the Leica BLK2GO scanner is provided with two cameras arranged side by side in the vertical direction on the front and one camera on each side, three hollow openings 411 for passing through the cameras are provided on the peripheral wall 41 of the housing 4. The size and shape of the hollow openings 411 are adapted to the size and shape of the cameras on the corresponding surfaces of the Leica BLK2GO scanner. For example, the hollow openings 411 corresponding to the two cameras on the front of the peripheral wall 41 of the housing 4 are oval holes, and the hollow openings 411 corresponding to the cameras on the sides of the peripheral wall 41 of the housing 4 are circular holes.

[0111] Since the Leica BLK2GO scanner is provided with a switch button and a heat dissipation grid on the back, a hollow opening 411 is provided on the peripheral wall 41 of the housing 4 at the positions corresponding to the switch button and the heat dissipation grid of the Leica BLK2GO scanner. The hollow opening 411 is disposed opposite to the hollow opening 411 corresponding to the front camera of the Leica BLK2GO scanner. The size and shape of the hollow opening 411 are adapted to the size and shape of the switch button and the heat dissipation grid of the Leica BLK2GO scanner on the side of the Leica BLK2GO scanner. For example, the shape of the hollow opening 411 is a rectangular hole and an inverted triangular hole connected in sequence from top to bottom. The long sides of the rectangular hole and the inverted triangular hole are of the same length, and an overall pentagonal hole is formed.

[0112] The installation process of the mobile robot is as follows:

[0113] (1) Align the first mounting hole 4151 of the mounting flange 415 of the housing 4 with the corresponding second mounting hole 66 on the slider 6, and fix the base screw 10 through the corresponding first mounting hole 4151 and second mounting hole 66.

[0114] (2) Open the cover 5, place the handheld mapping scanner 2 into the accommodating space. The camera, switch button and heat dissipation grid of the scanner correspond to the hollow opening 411 on the peripheral wall 41 of the housing 4, and then cover the cover 5.

[0115] (3) Insert the two inner clamping plates 8 into the housing 4 from the operation opening 412. The inner clamping plates 8 pass through the hollow holes 2011 of the scanner and the two inner clamping plates 8 are arranged in parallel and at intervals. Pass the connecting member 9 through the first adjustment hole 711 of the first extension portion 71 on the outer clamping portion 7 and the second adjustment hole 811 of the second extension portion 81 on the inner clamping plate 8 in sequence, and let the inner clamping plate 8 slide along the connecting member 9 to adjust the size of the clamping opening until the inner clamping plate 8 and the outer clamping portion 7 clamp the holding portion 2012 of the handheld mapping scanner 2.

[0116] (4) Install the slider 6 onto the guide rail 3 of the mobile robot. Snap the fixing portion of the fixing member 11 into the slider groove 61 of the slider 6. The abutting portion of the fixing member 11 abuts against the side surface of the guide rail 3, and screw the fixing screw 12 into the fixing hole 111 and the slider hole 62 to prevent the slider 6 and the guide rail 3 from sliding relative to each other.

[0117] The disassembly process of the mobile robot is as follows:

[0118] (1) Unscrew the fixing screw 12, remove the fixing member 11 from the slider groove 61, and push the slider 6 of the carrying device 1 out of the guide rail 3 of the mobile robot.

[0119] (2) Open the cover 5, detach the connecting member 9 from the inner clamping plate 8 and the outer clamping portion 7, remove the inner clamping plate 8 from outside the housing 4, and take out the handheld mapping scanner from the accommodating space.

[0120] The working process of the present invention is as follows: First, remove the two inner clamping plates 8 from the housing 4, open the cover 5 of the scanner mounting device, and place the handheld mapping scanner 2 into the accommodating space. Put the two inner clamping plates 8 into the housing 4 through the operation port 412. The inner clamping plates 8 pass through the hollow holes 2011 of the scanner and the two inner clamping plates 8 are arranged in parallel and at intervals. Connect the inner clamping plates 8 to the housing 4. A clamping opening for defining a holding portion 2012 for clamping the scanner is formed between the inner clamping plates 8 and each outer clamping portion 7. Adjust the installation position of the inner clamping plates 8 relative to the housing 4, and further adjust the size of the clamping opening, so that the holding portion 2012 of the scanner is clamped between the inner clamping plates 8 and the housing 4.

[0121] A guide rail 3 is provided on the robot, and the slider 6 of the mounting device is installed on the guide rail 3. The handheld mapping scanner 2 mounted on the mounting device 1 performs scanning and executes the mapping task. Compared with the prior art, there is no need for manual holding of the scanner to work, reducing the labor intensity. Since the size of the clamping opening is adjustable, it can be applied to clamp handheld mapping scanners 2 with various sizes of holding portions 2012.

[0122] In summary, the embodiment of the present invention provides a mounting device for a handheld mapping scanner and a mobile robot. The handheld mapping scanner is mounted on the robot through the mounting device, eliminating the need for manual holding of the scanner to work, reducing the labor intensity, and being applicable to clamping handheld mapping scanners with various holding portion sizes.

[0123] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and replacements can be made, and these improvements and replacements should also be regarded as the protection scope of the present invention.

Claims

1. A mounting device for a handheld surveying and mapping scanner, characterized in that, Comprising: Slider; A housing, the bottom of the housing is mounted on the slider, the top of the housing is open, opposite sides of the peripheral wall of the housing are respectively provided with operation openings, and a portion of the peripheral wall of the housing between the two operation openings defines an outer clamping portion; A cover body, the cover body is detachably connected to the housing, the opening of the cover body faces downward and covers the opening of the housing, and an accommodating space for placing a scanner is formed inside the housing and inside the cover body; Two inner clamping plates, the two inner clamping plates are arranged in parallel and at intervals inside the housing and are located between the two outer clamping portions. The inner clamping plates are used to pass through the hollow holes of the handheld mapping scanner. The inner clamping plates are connected to the housing. A clamping opening for clamping the holding portion of the handheld mapping scanner is defined between the inner clamping plates and each of the outer clamping portions, and the installation position of the inner clamping plate relative to the housing can be adjusted, so that the size of the clamping opening can be adjusted.

2. The mounting device of the handheld mapping scanner according to claim 1, characterized in that, The outer clamping portion is connected to the inner clamping plate to realize the connection between the inner clamping plate and the housing.

3. The mounting device of the handheld mapping scanner according to claim 2, characterized in that, A first adjustment hole is provided on the outer clamping portion, and a second adjustment hole corresponding to the first adjustment hole is provided on the inner clamping plate; The mounting device for the handheld mapping scanner further comprises: A connecting member, both ends of the connecting member respectively pass through the first adjustment hole and its corresponding second adjustment hole to connect the outer clamping portion and the inner clamping plate.

4. The mounting device of the handheld mapping scanner according to claim 3, characterized in that, First extension portions are respectively provided on both sides of the outer clamping portion, and both ends of the inner clamping plate respectively pass through one of the operation openings and form second extension portions; The first adjustment hole is provided on the first extension portion, the second adjustment hole is provided on the second extension portion, and the first adjustment hole and its corresponding second adjustment hole are connected by the connecting member.

5. The mounting device of the handheld mapping scanner according to claim 1, characterized in that, The cover body comprises: A first ring, the first ring covers the opening of the housing; A second ring, the second ring is arranged parallel to the side of the first ring away from the housing, the radius of the second ring is smaller than the radius of the first ring, the central axes of the second ring and the first ring coincide, and the first ring and the second ring are connected by a plurality of connecting ribs.

6. The mounting device of the handheld mapping scanner according to claim 5, characterized in that, The cover body further comprises: A third ring, the central axis of the third ring coincides with that of the first ring, the third ring is arranged parallel between the first ring and the second ring, and the third ring is sleeved outside the plurality of connecting ribs.

7. The mounting device for the handheld mapping scanner according to claim 1, characterized in that, The edge of the bottom of the housing extends outward to form a mounting flange, a first mounting hole is provided on the mounting flange, and a second mounting hole corresponding to the first mounting hole is provided on the slider; The mounting device for the handheld mapping scanner further comprises: A base screw, the base screw sequentially passes through the first mounting hole and the second mounting hole to connect the housing and the slider.

8. A mobile robot, characterized in that, Comprising: A robot body and the mounting device for the handheld mapping scanner according to any one of claims 1-7; A guide rail is provided on the robot body, and the slider of the mounting device for the handheld mapping scanner is mounted on the guide rail.

9. The mobile robot according to claim 8, wherein One side of the slider is provided with a slider groove, and the bottom of the slider groove is provided with a slider hole penetrating to the other side of the slider; The mobile robot further includes: A fixing member, the fixing member includes a fixing portion and an abutting portion connected up and down, the fixing portion is embedded in the slider groove, the fixing portion is provided with a fixing hole penetrating both sides, and the abutting portion abuts on the side surface of the guide rail; A fixing screw, the fixing screw sequentially passes through the fixing hole and the slider hole.

10. The mobile robot according to claim 9, characterized in that, The slider includes a platform, a connecting portion and a fitting portion connected in sequence from top to bottom; The width of the fitting portion is greater than the width of the connecting portion, the width of the platform is greater than the width of the fitting portion, and the slider groove is provided on the side surface of the platform; A first guide groove and a second guide groove extending along the extension direction of the guide rail are provided in the guide rail, the notch of the first guide groove communicates with the bottom of the second guide groove, the notch of the second guide groove penetrates to the top surface of the guide rail, both ends of the first guide groove and the second guide groove penetrate to both ends of the guide rail, and the fitting portion is embedded in the first guide groove, and the connecting portion is embedded in the second guide groove.

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