Hand-held mining intrinsic safety type live-action scanner and use method thereof

Abstract

The invention belongs to the field of coal mine roadway surveying and mapping, and relates to a handheld mining intrinsic safety type live-action scanner and a using method thereof, the scanner comprises a main cavity assembly, a laser radar assembly, a grip assembly, a camera, a shoulder strap and the like, and handheld rapid scanning is achieved through lightweight design. Three independent intrinsically safe power supplies are used for supplying power, so that the equipment has intrinsically safe explosion-proof capability and adapts to a coal mine tunnel environment. The integrated camera synchronously collects environment texture color information, and provides basic data for constructing a live-action model. During use, data acquisition is performed by pressing the rotary start button and the acquisition button, and data can be downloaded in a wired or wireless manner after acquisition is completed. The data acquisition efficiency is improved, the equipment weight is reduced, and the device is convenient to carry and install.

Description

Technical Field

[0001] The invention belongs to the field of coal mine tunnel surveying and mapping, and relates to a handheld intrinsically safe real-view scanner for mining and a use method thereof. Background Art

[0002] With the continuous development of modern mining technology, especially the move toward robotic and unmanned operations, the need for efficient and accurate mapping of underground tunnels is becoming increasingly prominent. In coal and other mining operations, establishing realistic 3D models of underground tunnels and constructing digital maps has become a crucial means of improving mining efficiency, ensuring operational safety, and optimizing resource management.

[0003] Realistic 3D models can intuitively display detailed information such as the structural layout, spatial dimensions, and surface texture of underground tunnels. This is crucial for miners to better understand the distribution of underground resources, plan mining routes, and improve mining efficiency. Furthermore, digital maps, as the foundation for autonomous robot navigation, provide static global map information, enabling robots to implement automated path planning and obstacle avoidance, significantly reducing operational risks and improving safety.

[0004] However, in the unique context of coal mine tunnels, traditional surveying equipment faces numerous challenges. While traditional surveying methods, such as total stations, can capture certain spatial point information, they suffer from issues such as bulky equipment, complex operation, and inefficient data collection. Total stations require the continuous installation of control points from the surface to underground to acquire measurement data. This process is not only time-consuming and labor-intensive, but also yields relatively small amounts of data, making it difficult to meet the requirements for building realistic 3D models.

[0005] In recent years, with the continuous development of 3D laser scanning technology, devices such as handheld 3D laser scanners and stand-mounted 3D laser scanners have gradually been adopted in the surveying and mapping field. These devices can quickly acquire dense point data, providing strong technical support for constructing real-world 3D models. However, the application of such devices in coal mine tunnels is significantly limited. Due to the presence of flammable and explosive gases in coal mine tunnels, the explosion-proof performance of the equipment is extremely high. However, most 3D laser scanners currently on the market lack coal mine explosion-proof capabilities, making them unsuitable for direct application in coal mine tunnels.

[0006] To address these challenges, developing a handheld, intrinsically safe, real-world scanner suitable for use in coal mine tunnels is crucial. This scanner must not only possess efficient data acquisition capabilities to build realistic 3D models, but also possess intrinsically safe, explosion-proof performance to ensure safe operation in the unique environment of coal mine tunnels. Therefore, researching and developing a handheld, intrinsically safe, real-world scanner for use in coal mines and its use method are crucial for promoting the development of intelligent, unmanned mining technology. Summary of the Invention

[0007] In view of this, an object of the present invention is to provide a handheld intrinsically safe real-view scanner for mining and a method of using the same, so as to solve the existing problems.

[0008] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a handheld intrinsically safe real-scene scanner for mining, comprising a main cavity assembly, a laser radar assembly, a dust cover, a grip assembly, a camera and a shoulder strap; the laser radar assembly is installed on the rotating shaft of the main cavity assembly through the laser radar assembly fastening screws, and the grip assembly is installed on the main cavity assembly in a pluggable manner through the grip assembly fastening screws. A shoulder strap is also installed on the main cavity assembly, and the camera is integrated into the scanner grip assembly; the main cavity assembly includes a main cavity shell, a rotating drive mechanism fixed by a rotating drive mechanism fastening screw, a peripheral processing board fixed by a peripheral processing board fastening screws, a rotating shaft protection box fixed by a rotating shaft protection box fastening screws, a main cavity cover plate fixed by a main cavity cover plate fastening screws, a motor drive board fixed by a motor drive board fastening screws, a network port splitter, a posture sensor fixed by a posture sensor fastening screws, and a collection and processing board fixed by a collection and processing board fastening screws. An integrated processing board, an external network port fixed by an external network port fastening screw; the main cavity shell is also provided with a start button, a power aviation plug, a collection button set by a collection button fastening nut, a power aviation plug fastening nut and a shoulder strap fixing seat for shoulder strap connection; the laser radar component is connected to the rotating shaft of the main cavity component through the laser radar component fastening screw, including a radar base, a laser radar fixed by a radar fastening screw, a radar protection cover fixed by a radar protection cover fastening screw, and a radar cable female socket fixed by a radar cable female socket fastening screw; the grip component is pluggable and connected to the main cavity component through the grip component fastening screw, including a grip rod, a camera quick-connect plug fixed by a camera quick-connect plug fastening screw, a camera fixed by a camera fastening screw, a camera protection cover fixed by a camera protection cover fastening screw, and a grip cover; it also includes three sets of independent mining intrinsically safe power supplies, which are powered separately by power aviation plugs.

[0009] Optionally, in the main cavity assembly, the output shaft of the rotary drive mechanism is located inside the shaft protection box; the attitude sensor is fixed on the inner surface of the main cavity shell; the start button and the acquisition button are respectively connected to the peripheral processing board through the IO port.

[0010] Optionally, in the laser radar assembly: the scanning surface of the laser radar faces the radial direction; the radar cable socket is connected to the power supply aviation plug through a power cable.

[0011] Optionally, in the grip assembly: the optical axis of the camera is parallel to the axis of the grip rod; the camera quick-connect plug is connected to the quick-connect socket of the main cavity assembly through electrical contacts; and the grip sheath covers the gripping area of ​​the grip rod.

[0012] Optionally, the hardware architecture includes:

[0013] Environmental scanning module: The lidar transmits point cloud data via Ethernet, and the camera transmits image data to the acquisition and processing board via USB;

[0014] Internal perception module: The attitude sensor and encoder transmit motion data to the acquisition and processing board via USB;

[0015] Control module: The acquisition and processing board is connected to the peripheral processing board and the network port splitter. The peripheral processing board integrates power processing circuit, switch signal processing circuit, and LED status indicator. The network port splitter is connected to the lidar and the external network port. The LED status indicator includes four sensor indicators and one acquisition indicator, which are used to display the status of each sensor and the data acquisition status respectively;

[0016] Rotation drive module: The motor drive board controls the stepper motor to drive the lidar to rotate;

[0017] Three independent power supplies: the control module is powered by power supply C, the laser radar is powered by power supply L, and the rotation drive module is powered by power supply M.

[0018] Optionally, the software functions include:

[0019] System self-check module: detects the status of attitude sensor, lidar, camera, and encoder through sensor status topic;

[0020] Data recording module: stores subscription data in blocks as record files;

[0021] Acquisition control module: responds to the acquisition button to start and stop segmented acquisition through the IO port of the acquisition processing board.

[0022] A method for using a handheld intrinsically safe real-view scanner for use in mining, using the handheld intrinsically safe real-view scanner as described above, includes the following steps:

[0023] (1) Preparation stage: Turn on power supply C and connect to the computer through the external network port to delete historical data;

[0024] (2) Power on: Connect power supplies C / L / M to the power connectors respectively and press the three power switches;

[0025] (3) Status check: Observe the status indicators of the peripheral processing board. If all indicators are on, press the start button.

[0026] (4) Data collection: Press the collection button and the data collection indicator light flashes to start data collection;

[0027] (5) Power off: disconnect power supply C, power supply L, and power supply M in sequence;

[0028] (6) Data download: After powering on C, download the record file via FTP.

[0029] Optionally, the specific operations of the steps include: if any indicator light of the attitude sensor, laser radar, camera, and encoder flashes, disconnect the three power supply groups for maintenance; the stepper motor drives the laser radar to rotate at a constant speed through the reduction mechanism.

[0030] Optionally, the specific operations of the steps include: the acquisition processing board checks the storage space in real time and automatically terminates the acquisition when it is insufficient; if the sensor indicator light flashes during the acquisition process, immediately press the acquisition button to terminate the operation.

[0031] Optionally, the data downloading step includes: directly connecting to a computer via an external network port in a wired manner; wirelessly connecting to a scanner WiFi and downloading via FTP; and multiple acquisitions to generate independent record files arranged in sequence.

[0032] The beneficial effects of the present invention are:

[0033] Intrinsically safe and explosion-proof: This handheld, intrinsically safe, real-view scanner for mining uses three independent external intrinsically safe power supplies to distribute power to the scanner's various electrical components, powering the control module, lidar, and driver module. This ensures the scanner's intrinsic safety and explosion-proof capabilities. This design allows the scanner to adapt to flammable and explosive environments such as coal mine tunnels, significantly improving operational safety.

[0034] Simultaneous Collection of Environmental Information: The scanner integrates a camera into the handle assembly, enabling simultaneous acquisition of environmental texture and color information during data collection. This feature provides the foundational image data for subsequent construction of real-world models, making the resulting 3D models more realistic and accurate, aiding mine owners in resource management and mining planning.

[0035] Lightweight design: The scanner separates the three sets of mining intrinsically safe power supplies of the power supply module from the scanner body. This design reduces the overall weight of the scanner, making it easier for operators to hold the scanner for operation, improving work efficiency and comfort.

[0036] Convenient Portability and Installation: The removable handle makes it easy for operators to carry and install the scanner. This design enables rapid deployment in various operating scenarios, further improving operational efficiency.

[0037] Efficient Data Collection and Processing: The scanner's built-in data collection software includes four functional modules: system self-check, data subscription, data logging, and acquisition control. This software enables real-time data collection, inspection, recording, and process control for sensors such as lidar, attitude sensors, cameras, and encoders. This design ensures accurate and efficient data collection, providing a reliable foundation for subsequent data processing and analysis.

[0038] Flexible Data Download Options: After data collection is complete, users can connect the scanner to a computer via wired or wireless connections to download the data recorded on the scanner. This design provides flexible data download options to meet the data download needs of different users in different scenarios.

[0039] In summary, the handheld intrinsically safe real-scene scanner for mining and its usage method have demonstrated significant beneficial effects in terms of explosion-proof performance, environmental information collection, lightweight design, convenient carrying and installation, efficient data collection and processing, and flexible data download, providing strong technical support for the intelligent and unmanned development of mining technology.

[0040] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0042] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0043] Figure 2 This is a schematic diagram of the explosion of the main cavity assembly of the present invention;

[0044] Figure 3 This is a schematic diagram of an explosion of a laser radar assembly according to the present invention;

[0045] Figure 4 This is an exploded schematic diagram of the handle assembly of the present invention;

[0046] Figure 5 A circuit block diagram of the present invention;

[0047] Figure 6 It is a flow chart of the acquisition procedure of the present invention.

[0048] Figure markings: main cavity assembly 1, laser radar assembly fastening screw 2, laser radar assembly 3, dust cover 4, grip assembly fastening screw 5, grip assembly 6, camera 7, shoulder strap 8, main cavity housing 11, rotation drive mechanism 12, rotation drive mechanism fastening screw 13, peripheral processing board 14, peripheral processing board fastening screw 15, shaft protection box 16, shaft protection box fastening screw 17, main cavity cover 18, main cavity cover fastening screw 19, motor drive board fastening screw 20, motor drive board 21, network port splitter 22, attitude sensor fastening screw 23, attitude sensor 24, acquisition and processing board 25, acquisition and processing board Fastening screw 26, external network port 27, external network port fastening screw 28, start button 29, start button fastening nut 30, power aviation plug 31, acquisition button 32, acquisition button fastening nut 33, power aviation plug fastening nut 34, radar base 41, radar fastening screw 42, laser radar 43, radar protection cover 44, radar protection cover fastening screw 45, radar cable female socket fastening screw 46, radar cable female socket 47, grip rod 51, camera quick-connect plug 52, camera quick-connect plug fastening screw 53, camera fastening screw 54, camera protection cover 55, camera protection cover fastening screw 56, grip cover 57. DETAILED DESCRIPTION

[0049] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the features in the following embodiments and embodiments can be combined with each other without conflict.

[0050] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0051] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0052] See also Figures 1 to 5 , is a handheld mining intrinsically safe real-scene scanner and its use method, comprising a main cavity component 1, a laser radar component 3, a dust cover 4, a grip component 6, a camera 7 and a shoulder strap 8; the laser radar component 3 is mounted on the rotating shaft of the main cavity component 1 through the laser radar component fastening screw 2, the grip component 6 is mounted on the main cavity component 1 in a pluggable manner through the grip component fastening screw 5, the main cavity component 1 is also equipped with a shoulder strap 8, and the camera 7 is integrated into the scanner grip component 6, reference Figure 1 ;

[0053] See Figure 2 The main cavity assembly 1 includes a main cavity shell 11, a rotary drive mechanism 12 fixed by a rotary drive mechanism fastening screw 13, a peripheral processing board 14 fixed by a peripheral processing board fastening screw 15, a shaft protection box 16 fixed by a shaft protection box fastening screw 17, a main cavity cover 18 fixed by a main cavity cover fastening screw 19, a motor drive board 21 fixed by a motor drive board fastening screw 20, a network port splitter 22, a posture sensor 24 fixed by a posture sensor fastening screw 23, a collection and processing board 25 fixed by a collection and processing board fastening screw 26, and an external network port 27 fixed by an external network port fastening screw 28; the main cavity shell 11 is also provided with a start button 29 through a start button fastening nut 30, a power aviation plug 31, a collection button 32 set by a collection button fastening nut 33, a power aviation plug fastening nut 34 and a shoulder strap fixing seat for connecting the shoulder strap 8;

[0054] See Figure 3 The laser radar assembly 3 is connected to the rotating shaft of the main cavity assembly 1 through the laser radar assembly fastening screw 2, and includes a radar base 41, a mining intrinsically safe laser radar level sensor 43 fixed by a radar fastening screw 42, a radar protection cover 44 fixed by a radar protection cover fastening screw 45, and a radar cable female socket 47 fixed by a radar cable female socket fastening screw 46;

[0055] See Figure 4 The handle assembly 6 is pluggably connected to the main cavity assembly 1 through the handle assembly fastening screw 5, and includes a handle rod 51, a camera quick-connect plug 52 fixed by a camera quick-connect plug fastening screw 53, a camera 7 fixed by a camera fastening screw 54, a camera protection cover 55 fixed by a camera protection cover fastening screw 56, and a handle cover 57; it also includes three sets of independent mining intrinsically safe power supplies, which are powered separately through the power supply aviation socket 31.

[0056] In the main cavity assembly 1, the output shaft of the rotary drive mechanism 12 is connected to the shaft protection box 16; the posture sensor 24 is set on the acquisition and processing board 25; the start button 29 and the acquisition button 32 are respectively connected to the peripheral processing board 14 through the IO port.

[0057] In the laser radar assembly 3: the scanning surface of the mining intrinsically safe laser radar level sensor 43 faces the radial direction; the radar cable female socket 47 is connected to the power supply L port of the power supply aviation socket 31 through a cable;

[0058] In the grip assembly 6: the optical axis direction of the camera 7 is parallel to the axis of the grip rod 51; the camera quick-connect plug 52 is connected to the quick-connect socket of the main cavity assembly 1 through electrical contacts; and the grip sheath 57 covers the gripping area of ​​the grip rod 51.

[0059] Example 1,

[0060] Hardware solution:

[0061] The circuit block diagram of the present invention is as follows Figure 5 As shown, it mainly includes an environment scanning module, an internal sensing module, a control module, a rotation drive module and a power supply module.

[0062] The environmental scanning module includes a mine-use intrinsically safe laser radar level sensor 43 and a camera 7. The mine-use intrinsically safe laser radar level sensor 43 is used to obtain spatial point information of the environment. It is powered by an independent intrinsically safe power supply and transmits point cloud data to the acquisition and processing board 25 via an Ethernet cable. The camera 7 is used to obtain color and texture information of the environment and is powered by a USB cable and transmits image data to the acquisition and processing board 25.

[0063] The internal sensing module includes a posture sensor 24 and an encoder. The posture sensor 24 is used to obtain data such as the device's posture angle, angular velocity, and linear velocity. It is powered by a USB and transmits the data to the acquisition and processing board 25. The encoder is used to obtain the rotation angle of the mining intrinsically safe laser radar level sensor 43. It is powered by a USB and transmits the data to the acquisition and processing board 25.

[0064] The control module includes an acquisition and processing board 25, a peripheral processing board 14, and a network port splitter 22. It is powered by an independent intrinsically safe power supply and provides a data file interface in the form of an external network port 27. The acquisition and processing board 25 is responsible for collecting, storing, and processing control signals from the environmental scanning module and the internal sensing module. The peripheral processing board 14 is responsible for power supply voltage conversion, signal acquisition from the acquisition button 32, and LED display of device status signals. The network port splitter 22 expands the network port of the acquisition and processing board 25, providing a data download network port for the scanner.

[0065] The rotation drive module includes a motor drive board 21 and a stepper motor. It is powered by an independent intrinsically safe power supply and receives signals from an external start button 29 to start and stop the rotation. The motor drive board 21 receives signals from the start button 29 to control the start and stop of the stepper motor and its speed. The stepper motor, through a reduction gear mechanism, drives the mining intrinsically safe laser radar level sensor 43 at a predetermined speed.

[0066] The power supply module includes three sets of mining intrinsically safe power supplies, which independently provide power to the control module, the rotation drive module and the mining intrinsically safe laser radar level sensor 43 through three cables.

[0067] Example 2,

[0068] Software solution:

[0069] The data acquisition software is installed and runs on the acquisition processing board 25 in the scanner, and includes four functional modules: system self-test, data subscription, data recording, and acquisition control. It is mainly used for data subscription, inspection, recording, and acquisition process control of the laser radar 43, attitude sensor 24, camera 7, and encoder.

[0070] The laser radar 43 adopts an intrinsically safe laser radar level sensor.

[0071] System self-check module: By optimizing the underlying driver of the sensor, establishing the sensor status topic, obtaining the sensor status in real time, and realizing real-time self-check of the sensor status.

[0072] Data subscription module: Use topic communication to realize subscription to sensor data.

[0073] Data recording module: uses the recording package function to store sensor data in blocks as data recording files.

[0074] The acquisition control module reads the status of the acquisition button 32 from the IO port of the acquisition processing board 25 to control the start and stop of the acquisition task and implement segmented acquisition. The status indicator light is set to be on, flashing, or off by controlling the IO port level of the acquisition processing board 25.

[0075] like Figure 6As shown in the figure, after the scanner is powered on, the data acquisition software is automatically started.

[0076] After the data acquisition software is started, the system self-test module is first run. If the sensor is normal, the data subscription module is started, and the indicator light is always on to prompt the user to start data collection. Otherwise, the indicator light corresponding to the faulty sensor flashes, and the scanner needs to be powered off for maintenance.

[0077] When the user presses the acquisition button 32, the data acquisition software activates the data recording module, blocks the sensor data into data log files, and sets the acquisition indicator to a flashing state. The software checks the storage space on the acquisition and processing board 25. If insufficient, the software automatically saves the data log file, terminates acquisition, and turns off the acquisition indicator. Otherwise, the software checks whether the user has pressed the acquisition button 32. If the acquisition button 32 has not been pressed, sensor data recording continues. Otherwise, the data storage module saves the data log file, and the acquisition indicator remains on. After the acquisition indicator remains on, the user can press the acquisition button 32 again to start the next acquisition, or turn off the power to terminate the program.

[0078] Example 3,

[0079] Directions:

[0080] 1. Preparation and inspection before use

[0081] Before use, press the switch on the mine-grade intrinsically safe power supply on the control module to power on the scanner's control module. Turn off the other two power supplies. After all the indicators on the peripheral processing board light up, connect the scanner directly to the computer using a network cable. Set the computer's IP address to ensure it is on the same network segment as the scanner's IP address. Delete the historical data stored on the scanner using an FTP client.

[0082] 2. Turn on the power

[0083] Connect the three-terminal plug of the power supply line to three sets of mine-use intrinsically safe power supplies, and connect the single-terminal plug to the handheld scanner. Then press the power switches of the three mine-use intrinsically safe power supplies to power the handheld scanner.

[0084] 3. Check Status

[0085] After the handheld scanner receives power, the system performs a self-check, and the indicator lights illuminate sequentially. If all indicators remain on, the system is normal and data collection can begin. If a sensor indicator flashes, the corresponding sensor data is abnormal and the three mine-grade intrinsically safe power supplies should be disconnected, and data collection should be stopped for maintenance.

[0086] 4. Collect data

[0087] Before data collection, press the rotation start button on the left front of the scanner to trigger the motor drive board to control the stepper motor to drive the mining laser radar 43 to rotate at a constant speed. Then, press the acquisition button 32 on the left rear of the scanner. When the acquisition indicator light flashes, it indicates that data collection has begun. After data collection is completed, press the acquisition button 32 again. The acquisition indicator light will stay on, indicating that the data collection is complete. During the collection process, if the sensor indicator light flashes, it means that the corresponding sensor data is abnormal. Press the acquisition button 32 to end the collection, disconnect the three mining intrinsically safe power supplies, and stop the scanning operation.

[0088] 5. Disconnect the power supply

[0089] After the scanning operation is completed, press the control module power C, laser radar power L, and drive module power M in sequence to power off the scanner.

[0090] 6. Download data

[0091] After data collection is complete, press the switch on the control module's intrinsically safe power supply C to power the scanner. The scanner can then be connected to the computer via either a wired or wireless connection. For wired connections, connect the handheld scanner directly to the computer using an Ethernet cable. For wireless connections, connect the computer to the scanner's Wi-Fi. Once the computer is connected to the scanner, use the computer's FTP client to download the data log files from the scanner. Multiple data collections are sequentially stored in the scanner as separate data log files. After data download is complete, press the switch on the control module's intrinsically safe power supply C to shut down the scanner.

[0092] The present invention distributes and combines the power of various electrical components of the scanner, and divides the mining intrinsically safe laser radar level sensor 43, the drive module and the control module into three independent external intrinsically safe power supplies, so that the entire scanner has intrinsically safe explosion-proof capabilities and can adapt to the use requirements of explosive environments such as coal mine tunnels; by integrating the camera 7 into the scanner handle assembly 6, the texture and color information of the environment can be synchronously collected during the laser radar scanning, providing basic image data for the subsequent construction of the real-scene model; the three groups of mining intrinsically safe power supplies of the power supply module are separated from the scanner body, which reduces the weight of the scanner; the handle assembly 6 is designed to be pluggable, which is easy to carry and install.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A handheld intrinsically safe real-view scanner for mining, characterized by: The scanner consists of a main cavity assembly, a laser radar assembly, a dust cover, a grip assembly, a camera, and a shoulder strap. The laser radar assembly is mounted on the rotating shaft of the main cavity assembly via the laser radar assembly fastening screws. The grip assembly is mounted on the main cavity assembly in a pluggable manner via the grip assembly fastening screws. A shoulder strap is also mounted on the main cavity assembly. The camera is integrated into the scanner grip assembly. The main cavity assembly includes a main cavity shell, a rotary drive mechanism fixed by the rotary drive mechanism fastening screws, a peripheral processing board fixed by the peripheral processing board fastening screws, a shaft protection box fixed by the shaft protection box fastening screws, a main cavity cover fixed by the main cavity cover fastening screws, a motor drive board fixed by the motor drive board fastening screws, a network port splitter, a posture sensor fixed by the posture sensor fastening screws, a collection and processing board fixed by the collection and processing board fastening screws, and an external network port fixed by the external network port fastening screws; The main cavity shell is also provided with a start button, a power supply aviation plug, a collection button provided through a collection button fastening nut, a power supply aviation plug fastening nut and a shoulder strap fixing seat for connecting the shoulder strap; The laser radar assembly is connected to the rotating shaft of the main cavity assembly through the laser radar assembly fastening screws, and includes a radar base, a laser radar fixed by the radar fastening screws, a radar protection cover fixed by the radar protection cover fastening screws, and a radar cable female base fixed by the radar cable female base fastening screws; The grip assembly is pluggably connected to the main cavity assembly through the grip assembly fastening screws, and includes a grip rod, a camera quick-connect plug fixed by the camera quick-connect plug fastening screws, a camera fixed by the camera fastening screws, a camera protection cover fixed by the camera protection cover fastening screws, and a grip cover; It also includes three sets of independent mining intrinsically safe power supplies, which are powered by power aviation plugs.

2. The handheld intrinsically safe real-view scanner for mining according to claim 1, characterized in that: In the main cavity assembly, the output shaft of the rotary drive mechanism is located inside the rotating shaft protection box; The attitude sensor is fixed on the inner surface of the main cavity shell; the start button and the acquisition button are connected to the peripheral processing board through the IO port respectively.

3. The handheld intrinsically safe real-view scanner for mining according to claim 1, characterized in that: In the laser radar assembly: the scanning surface of the laser radar faces the radial direction; the radar cable socket is connected to the power supply aviation plug through the power cable.

4. The handheld intrinsically safe real-view scanner for mining according to claim 1, characterized in that: In the grip assembly: the optical axis of the camera is parallel to the axis of the grip rod; the camera quick-connect plug is connected to the quick-connect socket of the main cavity assembly through electrical contacts; and the grip sheath covers the gripping area of ​​the grip rod.

5. The handheld intrinsically safe real-view scanner for mining according to claim 1, characterized in that: The hardware architecture includes: Environmental scanning module: The lidar transmits point cloud data via Ethernet, and the camera transmits image data to the acquisition and processing board via USB; Internal perception module: The attitude sensor and encoder transmit motion data to the acquisition and processing board via USB; Control module: The acquisition and processing board is connected to the peripheral processing board and the network port splitter. The peripheral processing board integrates power processing circuit, switch signal processing circuit, and LED status indicator. The network port splitter is connected to the lidar and the external network port. The LED status indicator includes four sensor indicators and one acquisition indicator, which are used to display the status of each sensor and the data acquisition status respectively; Rotation drive module: The motor drive board controls the stepper motor to drive the lidar to rotate; Three independent power supplies: the control module is powered by power supply C, the laser radar is powered by power supply L, and the rotation drive module is powered by power supply M.

6. The handheld intrinsically safe real-view scanner for mining according to claim 1, characterized in that: The software features include: System self-check module: detects the status of attitude sensor, lidar, camera, and encoder through sensor status topic; Data recording module: stores subscription data in blocks as record files; Acquisition control module: responds to the acquisition button to start and stop segmented acquisition through the IO port of the acquisition processing board.

7. A method for using a handheld intrinsically safe real-view scanner for use in mines, using a handheld intrinsically safe real-view scanner for use in mines as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: (1) Preparation stage: Turn on power supply C and connect to the computer through the external network port to delete historical data; (2) Power on: Connect power supplies C / L / M to the power connectors respectively and press the three power switches; (3) Status check: Observe the status indicators of the peripheral processing board. If all indicators are on, press the start button. (4) Data collection: Press the collection button and the data collection indicator light flashes to start data collection; (5) Power off: disconnect power supply C, power supply L, and power supply M in sequence; (6) Data download: After powering on C, download the record file via FTP.

8. The method for using a handheld intrinsically safe real-view scanner for mining according to claim 7, characterized in that: The specific operations of the steps include: if any indicator light of the attitude sensor, laser radar, camera, and encoder flashes, disconnect the three power supply groups for maintenance; the stepper motor drives the laser radar to rotate at a constant speed through the reduction mechanism.

9. The method for using a handheld intrinsically safe real-view scanner for mining according to claim 7, characterized in that: The specific operations of the steps include: the acquisition processing board checks the storage space in real time and automatically terminates the acquisition when it is insufficient; if the sensor indicator light flashes during the acquisition process, immediately press the acquisition button to terminate the operation.

10. The method for using a handheld intrinsically safe real-view scanner for mining according to claim 7, characterized in that: The data download steps include: directly connecting to the computer through the external network port in a wired manner; wirelessly connecting to the scanner WiFi and downloading via FTP; multiple acquisitions to generate independent record files arranged in sequence.

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