A detachable handheld laser scanner system supporting multiple plug-in combinations

Abstract

The application relates to the technical field of optical measuring equipment, and discloses a detachable handheld laser scanner system supporting multiple plug-in combinations. The system comprises a main machine, an extension part and multiple external components. The main machine is provided with the extension part on a shell. The extension part comprises a joint cavity concavely arranged on a first direction side of the shell, a first data interface arranged on an inner wall of the joint cavity and a clamping piece movably arranged in the shell. The joint cavity has oppositely arranged first and second side walls in a second direction intersecting the first direction. The external components comprise one or more of a high-precision laser radar module, a structured light scanning module and a high-resolution image acquisition module. Each external component is provided with an embedded part matched with the joint cavity, and a data connector matched with the first data interface is arranged on the surface of the embedded part. The main machine is provided with corresponding external components according to different application scene requirements, so as to realize at least one of the following function expansions: point cloud precision enhancement, miniature target modeling and image texture fusion.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of optical measurement equipment, and in particular to a detachable handheld laser scanner system supporting multi-plug-in combination. BACKGROUND

[0002] In the fields of industrial detection, reverse engineering, cultural relic protection, etc., handheld laser scanners are widely used due to their portability and flexibility. Traditional handheld scanners usually integrate a single type of scanning module (such as a laser radar or a structured light module), and the functions are fixed and difficult to adapt to diversified scene requirements. For example, high-precision three-dimensional modeling requires point cloud data of a laser radar, but micro target detail capture relies on structured light technology, and texture fusion requires an image acquisition module to cooperate. Existing devices often realize different functions through independent models, resulting in high cost and cumbersome operation for users who need to purchase multiple sets of equipment. Although there are detachable scanning devices in the prior art, they generally have the following defects:

[0003] 1. Limited function expansion capability: the external component only supports single module access, and cannot realize multi-modal data fusion (such as cooperative processing of point cloud, structured light, and image texture) through multi-plug-in combination;

[0004] 2. Insufficient connection reliability: the mechanical connection structure is simple, and data interface contact is easily affected by shaking, and lacks auxiliary fixation designs such as electromagnetic adsorption, affecting scanning stability;

[0005] 3. Lack of intelligent adaptation: the host cannot automatically identify the type of external component, and needs to manually configure the driver and parameters, which is complex and prone to errors.

[0006] Therefore, there is an urgent need for a system to solve at least one of the above problems. SUMMARY

[0007] The present application provides a detachable handheld laser scanner system supporting multi-plug-in combination, aiming to solve the problem that high-precision three-dimensional modeling requires point cloud data of a laser radar, but micro target detail capture relies on structured light technology, and texture fusion requires an image acquisition module to cooperate, and existing devices often realize different functions through independent models, resulting in high cost and cumbersome operation for users who need to purchase multiple sets of equipment.

[0008] In a first aspect, the embodiments of the present application provide a detachable handheld laser scanner system supporting multi-plug-in combination, including a host, an expansion part, and a plurality of external components;

[0009] The shell corresponding to the host is provided with the extension part, the extension part includes an engaging cavity recessed on the first direction side of the shell, a first data interface arranged on the inner wall of the engaging cavity, and a clamping piece movably arranged in the shell, the engaging cavity has oppositely arranged first and second side walls in the second direction intersecting the first direction, and the clamping piece has a limiting part capable of acting on the external component;

[0010] The external component includes one or more of a high-precision laser radar module, a structured light scanning module, and a high-resolution image acquisition module, each external component is provided with an embedded part matched with the engaging cavity, and a data connector matched with the first data interface is arranged on the surface of the embedded part;

[0011] When the external component is inserted into the engaging cavity along the first direction, the embedded part is engaged with the engaging cavity in the first direction, the limiting part is brought into abutment with the embedded part together with the first side wall in the second direction by operating the clamping piece, the locked state of the host and the external component is achieved, and the data connector is connected with the first data interface to establish data communication; when the spacing between the limiting part and the first side wall in the second direction is not less than the spacing between the first and second side walls by operating the clamping piece, the external component can be pulled out of the engaging cavity along the first direction, and the unlocked state is achieved; through the detachable connection between the extension part and the external component, the host can be selected and installed with the corresponding external component according to different application scene requirements, so as to realize at least one of the functional expansion of point cloud precision enhancement, miniature target modeling, and image texture fusion.

[0012] The support multi-plug-in combination detachable handheld laser scanner system provided by the embodiments of the application can realize flexible switching and combination of functions such as point cloud precision enhancement, miniature target modeling, and image texture fusion by selecting and installing high-precision laser radar modules, structured light scanning modules, high-resolution image acquisition modules, etc. according to scene requirements, significantly improving the versatility of the equipment and reducing the cost of users. The guiding structure cooperation between the embedded part and the engaging cavity ensures accurate positioning and stable connection of the external component when the external component is inserted. The design of the contact type data connector and the elastic contact piece group ensures the stability and efficiency of data transmission. The built-in component recognition module of the master control chip can automatically read the type identification of the external component and call the corresponding driver program and scanning parameters, without manual configuration, improving the operation convenience. The multi-modal data registration algorithm realizes deep fusion of data of different modules, significantly enhancing the scanning precision and modeling effect.

[0013] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0015] Figure 1 is the combined state structure diagram of the main machine and the handle in the handheld radar device of the present application.

[0016] Figure 2 is the structure diagram of the convex body in the handheld radar device of the present application.

[0017] Figure 3 is the structure exploded view of the protective cover and the main machine in the first embodiment of the handheld radar device of the present application.

[0018] Figure 4 is the combined state structure diagram of the protective cover and the main machine in the first embodiment of the handheld radar device of the present application.

[0019] Figure 5 is the cooperation structure diagram of the protective cover and the main machine in the first embodiment of the handheld radar device of the present application.

[0020] Figure 6 is the combined state structure diagram of the main machine and the main expansion part in the first implementation form of the second embodiment of the handheld radar device of the present application.

[0021] Figure 7 is the local structure diagram of the main expansion part in the first implementation form of the second embodiment of the handheld radar device of the present application.

[0022] Figure 8 is the sectional view of the main expansion part in the first implementation form of the second embodiment of the handheld radar device of the present application.

[0023] Figure 9 is the structure diagram of the abutting part in the first implementation form of the second embodiment of the handheld radar device of the present application.

[0024] Figure 10 is the structure diagram of the main expansion part in the second implementation form of the second embodiment of the handheld radar device of the present application.

[0025] Figure 11 is the combined state structure diagram of the main machine and the main expansion part in the second implementation form of the second embodiment of the handheld radar device of the present application.

[0026] Figure 12 is the structure exploded view of the main expansion part in the third implementation form of the second embodiment of the handheld radar device of the present application.

[0027] Figure 13This is a structural diagram of the combined state of the main unit and the main expansion component in the third embodiment of the second embodiment of the handheld radar device of the present invention.

[0028] Figure 14 This is an exploded view of the main unit and sub-extension components of the handheld radar device according to Embodiment 3 of the present invention.

[0029] Figure 15 This is a structural diagram of the combined state of the main unit, the secondary extension component, and the handle in Embodiment 3 of the handheld radar device of the present invention.

[0030] Figure 16 This is a structural diagram of the auxiliary expansion component of the third embodiment of the handheld radar device of the present invention.

[0031] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0034] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present invention, the terms "first" and "second" are used in the embodiments of the present invention to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0035] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0036] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0037] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0038] Please refer to Figures 1-14 This application provides a detachable handheld laser scanner system supporting multiple plug-in combinations. The system includes a main unit, an extension unit, and multiple external components. The extension unit is disposed on a housing corresponding to the main unit. The extension unit includes a mating cavity recessed in a first direction side of the housing, a first data interface disposed on the inner wall of the mating cavity, and a locking member movably disposed within the housing. The mating cavity has a first sidewall and a second sidewall disposed opposite to each other in a second direction intersecting the first direction. The locking member has a limiting part that can act on the external components. The external components include one or more of a high-precision lidar module, a structured light scanning module, and a high-resolution image acquisition module. Each external component has a fitting part that mates with the mating cavity, and the fitting part has a limiting part on its surface. The device is equipped with a data connector that mates with the first data interface. When the external component is inserted into the engagement cavity in the first direction, the fitting part engages with the engagement cavity in the first direction. By operating the locking member, the limiting part abuts against the fitting part together with the first sidewall in the second direction, thereby achieving a locked state between the host and the external component. The data connector connects to the first data interface to establish data communication. When the locking member is operated so that the distance between the limiting part and the first sidewall in the second direction is not less than the distance between the first sidewall and the second sidewall, the external component can be pulled out from the engagement cavity in the first direction, thereby achieving an unlocked state. Through the detachable connection between the extension part and the external component, the host can select and install corresponding external components according to different application scenario requirements to achieve at least one functional expansion in point cloud accuracy enhancement, micro-target modeling, and image texture fusion.

[0039] Specifically, this invention provides a modular and detachable handheld laser scanner system. Through the detachable connection between the main unit and external components, it enables flexible expansion of multimodal scanning capabilities. The core of the system comprises three parts: the main unit, the expansion section, and the external components. Through the coordinated design of mechanical structures (clamping components, guiding structures, electromagnetic adsorption) and electrical connections (data interfaces, drive adapters), it achieves rapid installation, stable locking, and intelligent function invocation of the external components, meeting the high-precision 3D scanning requirements in different scenarios.

[0040] The main unit has a handheld portable design, with status indicator lights and a touch screen (for human-computer interaction) integrated on the surface, and core components such as the main control chip, power module, and storage module integrated inside.

[0041] The extension includes: a recessed engagement cavity located on a first direction side of the housing (defined as "front-back direction" or "insertion direction"), the inner wall contour of which matches the shape of the fitting part of the external component to form a tight insertion fit; the cavity wall has a first sidewall and a second sidewall on a second direction (defined as "left-right direction" or "lateral direction") intersecting the first direction, for limiting the lateral movement of the external component. A first data interface is located on the inner wall of the engagement cavity, employing an elastic contact pad group (contact-type interface), and is electrically connected to the host main control chip via a flexible circuit board for data transmission and power supply. A locking component is movably configured within the housing, including a laterally sliding push rod, one end of which extends outside the housing to form an operating part (such as a protruding handle or button), and the other end is provided with a wedge-shaped protrusion (limiting part) facing the engagement cavity. The wedge-shaped protrusion is inclined towards the first sidewall and engages with the limiting slot of the external component to achieve locking.

[0042] External components include a high-precision lidar module (for long-distance, high-precision point cloud acquisition), a structured light scanning module (for micro-target detail modeling), and a high-resolution image acquisition module (for texture image acquisition), which can be used individually or in combination.

[0043] The fitting part matches the shape of the engagement cavity, and the two side walls are provided with guide protrusions extending along the first direction, which slide and cooperate with the guide grooves on the inner wall of the engagement cavity to ensure accurate alignment during insertion; the surface of the fitting part is provided with a data connector (contact type) to connect with the first data interface; the side of the fitting part is provided with a limiting slot to cooperate with the wedge-shaped protrusion of the locking part; the rear end of the fitting part is provided with an electromagnetic adsorption layer (such as ferromagnetic material), which cooperates with the magnetic base (electromagnetic coil) at the bottom of the engagement cavity to form an electromagnetic adsorption force.

[0044] The external component installation and locking process includes: Step 1: Insertion and docking: The external component is inserted into the engagement cavity along the first direction (e.g., from front to back). The guide protrusion of the fitting part slides along the guide groove of the engagement cavity to ensure lateral alignment. At the same time, the electromagnetic adsorption layer of the fitting part approaches the magnetic base at the bottom of the engagement cavity, and the data connector contacts the elastic contact plate group of the first data interface, initially establishing a physical connection. Step 2: Mechanical locking: The user pushes the push rod towards the first side wall (e.g., pushes laterally to the left) through the operating part. The push rod drives the wedge-shaped protrusion to move laterally. The inclined surface of the wedge-shaped protrusion is embedded in the limiting slot of the external component until the wedge-shaped protrusion and the first side wall abut against both sides of the fitting part (in the second direction), forming a mechanical locking state. At this time, the magnetic base is powered by the power module, and the electromagnetic adsorption layer and the magnetic base generate electromagnetic attraction to help fix the external component and prevent shaking. Step 3: Data Communication and Function Activation: The main control chip sends an identity query command to the external component through the first data interface, receives the returned type identification information (such as the ID code of the high-precision lidar module), retrieves the corresponding driver from the preset component driver library, and initializes the external component hardware (such as the lidar's transmitting unit). At the same time, the touch screen displays selectable scenes (such as "point cloud scanning" and "micro modeling"). After the user selects a scene, the main control chip calls the matching scanning parameter configuration file (such as laser emission frequency and structured light projection period) to complete the function activation.

[0045] The unlocking and disassembly process of the external component includes: Step 1: Releasing the mechanical lock: The user pulls the operating part away from the first sidewall (e.g., pulls it to the right), the push rod overcomes the elastic force of the return spring (one end of the spring is connected to the push rod, and the other end is fixed to the inner wall of the housing, so that the wedge-shaped protrusion moves away from the first sidewall in its natural state), and drives the wedge-shaped protrusion to move laterally until the distance between the wedge-shaped protrusion and the first sidewall is not less than the distance between the first sidewall and the second sidewall (i.e., greater than the lateral width of the fitting part), thus releasing the limitation on the fitting part. Step 2: Electromagnetic adsorption failure and removal: After the main control chip detects the unlocking operation, it controls the power module to cut off the power supply to the magnetic base, and the electromagnetic adsorption force disappears; the user pulls out the external component in the first direction, the data connector separates from the first data interface, and the disassembly is completed.

[0046] Point cloud accuracy enhancement (LiDAR module): After the LiDAR module collects the raw point cloud data, the main control chip calls the point cloud noise reduction algorithm. Noise points are removed by outlier filtering (such as RANSAC algorithm), and the point cloud distribution is optimized by density equalization processing (such as voxel grid downsampling) to improve the accuracy of subsequent modeling.

[0047] Miniature target modeling (structured light module) projects Gray code stripe patterns onto the target surface through the structured light module. The image sensor acquires the deformed stripe images, and the main control chip analyzes the stripe phase information based on the Gray code decoding algorithm. Combined with the triangulation principle, it calculates the three-dimensional coordinates of each point on the target surface and generates high-density three-dimensional point cloud data, which is suitable for modeling microstructures such as precision parts and cultural relic reliefs.

[0048] Image texture fusion (multi-module combination) involves the main control chip executing a multimodal data registration algorithm when simultaneously connecting a LiDAR module and an image acquisition module. First, feature points (such as SIFT features) are extracted from the image, matched with the 3D coordinates in the point cloud data, and a "texture-point cloud mapping table" is generated. Finally, the RGB texture information is mapped to the corresponding coordinates of the point cloud model, achieving realistic 3D model reconstruction with texture. The combination of mechanical engagement (wedge-shaped protrusions + limiting slots) and electromagnetic adsorption (magnetic base + electromagnetic adsorption layer) ensures that external components remain secure during scanning, solving the problem of poor contact in traditional plug-and-play connections.

[0049] The component recognition module automatically matches the driver and scanning parameters, eliminating the need for manual settings; the algorithm library dynamically calls processing logic (such as point cloud noise reduction and Gray code decoding) based on the module type, achieving an integrated experience of "plug and play hardware and automatic software adaptation".

[0050] By freely combining external components (such as simultaneous access of LiDAR, structured light, and image modules), it supports multimodal data acquisition and fusion, breaking through the limitations of traditional scanners with their single function, and meeting the needs of multiple scenarios such as industrial inspection, cultural heritage protection, and reverse engineering.

[0051] Examples of application scenarios for the system include: Industrial quality inspection: Inserting a high-precision LiDAR module to perform high-precision point cloud scanning on automotive body panel molds, combined with noise reduction algorithms to detect surface defects; Cultural relic digitization: Combining a structured light module and an image acquisition module to acquire the 3D details and color textures of bronze artifacts, generating a high-precision digital model that can be permanently saved; Reverse engineering: Using both LiDAR and structured light modules simultaneously to quickly construct 3D models of complex curved surfaces, combining texture fusion to enhance the realism of the model and shorten the modeling cycle. Through the above technical solutions, this invention achieves "modular hardware expansion + intelligent software adaptation" for handheld scanners, significantly outperforming traditional devices in terms of structural design, connection reliability, and functional flexibility, providing an efficient solution for the scenario-based application of 3D scanning technology.

[0052] In some embodiments, the outer contour of the fitting portion matches the inner wall contour of the engagement cavity, and at least two side walls of the fitting portion are provided with guide protrusions extending in a first direction, and the inner wall of the engagement cavity is provided with guide grooves that slide in cooperation with the guide protrusions; the data connector is a contact type connector, and the first data interface is an elastic contact pad group adapted to the contact type connector, and the elastic contact pad group is electrically connected to the main control chip of the host through a flexible circuit board.

[0053] The fitting part of the external component and the engagement cavity of the host expansion part are precisely aligned through a guide structure, while the data interface adopts a contact-type elastic connection scheme. Specifically, the fitting part has guide protrusions extending along a first direction on both side walls, and a corresponding guide groove is provided on the inner wall of the engagement cavity to form a sliding fit; the data connector is a contact-type connector, and the first data interface is an elastic contact piece group, which is electrically connected to the main control chip through a flexible circuit board.

[0054] When the external component is inserted, the guide protrusion of the fitting part slides along the guide groove of the mating cavity to ensure the uniqueness of the insertion direction (first direction) and the precise alignment of the lateral (second direction) position, avoiding misalignment of the data connector and interface due to tilting.

[0055] The contact-type connector is plated with gold (or other conductive material) and embedded in the mating part surface; the elastic contact piece group is made of elastic metal such as phosphor bronze and is fixed to the inner wall of the mating cavity. When in contact with the contact-type connector, it maintains a tight fit through elastic deformation. The flexible circuit board transmits electrical signals to the host main control chip.

[0056] The fit between the guide ridge and the groove ensures that there is no offset when the external component is inserted, avoiding connection failure due to manual alignment errors; the elastic clamping design of the elastic contact plate group can offset the loosening of the contact caused by the vibration of the handheld device, and the flexible circuit board can adapt to the slight displacement when the component is inserted and removed, ensuring the reliability of data communication.

[0057] In some embodiments, the engaging member includes a push rod slidably disposed within the housing, one end of the push rod extending outside the housing to form an operating portion, and the other end being provided with a limiting portion facing the engagement cavity; the limiting portion is a wedge-shaped protrusion inclined toward the first sidewall, and the engaging portion is provided with a limiting groove corresponding to the position of the limiting portion to cooperate with the wedge-shaped protrusion; when the operating portion is pushed along the second direction, the wedge-shaped protrusion is embedded in the limiting groove and abuts against the first sidewall to form the locking state.

[0058] The engaging component employs a wedge-shaped protrusion-limiting groove mechanical locking structure, which uses an operating part to drive a push rod to achieve locking of the external component. Specifically, one end of the push rod extends outside the housing to form an operating part (such as a push-pull button), and the other end is provided with a wedge-shaped protrusion (limiting part), which is inclined towards the first side wall of the engagement cavity; the engaging part is provided with a limiting groove at a corresponding position, which cooperates with the wedge-shaped protrusion to form a mechanical lock.

[0059] The locking process involves the user pushing the operating part towards the first sidewall in a second direction (e.g., laterally). The push rod drives the wedge-shaped protrusion to move laterally, and the inclined surface of the wedge-shaped protrusion is embedded into the limiting slot until the bottom surface of the protrusion and the first sidewall together press against the two sidewalls of the fitting part, forming a lateral limit and preventing the external component from coming out in the first direction.

[0060] The tilt angle of the wedge-shaped protrusion (e.g., 30°) is calculated mechanically to ensure that the contact surface between the protrusion and the slot can withstand external forces during the scanning process (e.g., hand-held shaking) when locked. At the same time, the tilted surface design facilitates automatic alignment during insertion (it can slide in without being fully aligned).

[0061] In some embodiments, a return spring is provided between the push rod and the housing, with one end of the return spring connected to the push rod and the other end connected to the inner wall of the housing; when the operating part is not subjected to external force, the return spring is in a naturally extended state, and the distance between the wedge-shaped protrusion and the first sidewall is greater than the width of the limiting groove; when an external force pulls the operating part in a direction away from the first sidewall, the distance between the wedge-shaped protrusion and the first sidewall increases to not less than the distance between the first sidewall and the second sidewall, forming the unlocked state.

[0062] Automatic reset of the unlocked state is achieved by adding a reset spring to the locking mechanism. Specifically, the reset spring is connected between the push rod and the inner wall of the housing. In the natural state, the spring pushes the push rod to move the wedge-shaped protrusion away from the first side wall. When unlocking, an external force pulls the operating part to compress the spring, increasing the distance between the wedge-shaped protrusion and the first side wall, thus releasing the limit.

[0063] The spring is installed by fixing one end of the return spring to the boss on the inner wall of the housing, and connecting the other end to the tail of the push rod. The spring axis is parallel to the second direction. When naturally extended, the distance between the wedge-shaped protrusion and the first side wall is greater than the width of the limiting slot (i.e., the initial state is the unlocked state).

[0064] The unlocking operation is performed by the user pulling the operating part in a direction away from the first sidewall (such as pulling to the right). The push rod moves in the second direction against the spring force until the distance between the wedge-shaped protrusion and the first sidewall is greater than or equal to the lateral width of the fitting part (i.e., the distance between the first sidewall and the second sidewall). At this time, the external component can be freely pulled out.

[0065] In some embodiments, the detachable connection further includes a sealing ring disposed at the edge of the engagement cavity opening, the sealing ring extending along the first direction and abutting against the front end face of the fitting portion; a pressure sensor is provided at the bottom of the engagement cavity, the pressure sensor being electrically connected to the main control chip of the host computer, for detecting whether the external component is fully inserted into the engagement cavity.

[0066] By adding a sealing ring and a pressure sensor to the mating cavity, the sealing performance and insertion detection capability are improved. Specifically, a sealing ring extending in a first direction is provided at the edge of the opening of the mating cavity, abutting against the front end face of the fitting part; a pressure sensor is provided at the bottom of the mating cavity, electrically connected to the main control chip, to detect whether the component is fully inserted.

[0067] The sealing design uses a silicone rubber sealing ring with a lip or O-shaped cross-section, which is embedded in the annular groove of the engagement cavity opening. When an external component is inserted, the front face of the fitting part presses against the sealing ring to form a dustproof and waterproof sealing structure (the protection level can reach IP54 or higher).

[0068] Insertion detection is achieved using a thin-film pressure sensor fixed to the bottom of the engagement cavity. When the external component is fully inserted, the rear end of the fitting part presses against the sensor, and the sensor signal triggers the main control chip to determine "connection complete". Otherwise, it is considered "not fully inserted" and an alarm is triggered via the status indicator light.

[0069] In some embodiments, when the external component is the high-precision lidar module, the main control chip of the host computer calls a point cloud noise reduction algorithm to perform outlier filtering and density equalization processing on the point cloud data collected by the high-precision lidar module, thereby realizing the point cloud accuracy enhancement function; when the external component is the structured light scanning module, the main control chip analyzes the stripe image projected by the structured light scanning module based on the Gray code decoding algorithm to generate three-dimensional point cloud data of the micro target, thereby realizing the micro target modeling function.

[0070] For different external components, the main control chip calls dedicated algorithms to enhance functionality. Specifically, when connecting to a high-precision LiDAR module, it calls a point cloud noise reduction algorithm (outlier filtering + density equalization); when connecting to a structured light scanning module, it generates a 3D point cloud of a miniature target based on a Gray code decoding algorithm.

[0071] Point cloud denoising includes: outlier filtering, which uses the RANSAC algorithm to fit planes or surfaces in the point cloud data, identifying and removing outliers that deviate from the main surface (such as environmental glare noise during scanning); density equalization, which uses voxel grid downsampling to downsample high-density areas and interpolation to supplement low-density areas, making the overall point cloud density uniform and improving the efficiency of subsequent modeling; and Gray code decoding, which projects multiple Gray code fringe images (e.g., 8-bit Gray code, 8 images in total) through a structured light module, with the image sensor acquiring the deformed fringes; the main control chip decodes the phase value of each pixel sequentially based on the grayscale changes of the fringes, and calculates the three-dimensional coordinates by combining the calibration parameters of the binocular camera, generating a micro-target point cloud with millimeter-level precision.

[0072] In some embodiments, when the external component includes both the high-resolution image acquisition module and the high-precision lidar module, the main control chip executes a multimodal data registration algorithm: first, it acquires a target surface texture image through the high-resolution image acquisition module and acquires target point cloud data through the high-precision lidar module; then, it performs feature matching based on the feature points in the texture image and the three-dimensional coordinates in the point cloud data to generate a texture-point cloud mapping table; finally, it fuses the texture image into the point cloud data according to the mapping table to realize the image texture fusion function.

[0073] By supporting multimodal data fusion when multiple external components are combined, accurate registration of image texture and point cloud data is achieved. Specifically, this includes: simultaneously connecting a high-resolution image acquisition module and a LiDAR module; the main control chip executing a feature matching algorithm to generate a texture-point cloud mapping table to achieve texture fusion.

[0074] Data acquisition is achieved by using an image module to obtain target RGB texture images (resolution ≥ 1920×1080) and a lidar module to obtain point cloud data with coordinates (accuracy ± 0.1 mm).

[0075] Feature matching employs the SIFT / SURF algorithm to extract feature points (such as edges and corners) from the image, while simultaneously calculating normal vectors from the point cloud data to extract 3D feature points. Using Euclidean distance matching, the coordinates of 2D feature points are associated with the coordinates of the 3D point cloud, generating at least 10 matching pairs and establishing a texture-point cloud mapping relationship. Texture fusion, based on the mapping table, assigns the RGB value of the pixel corresponding to each point cloud coordinate to that point, generating a textured 3D model in PLY / OBJ format, which supports visualization in professional software.

[0076] In some embodiments, the surface of the host housing is provided with a status indicator light and a touch display screen. The status indicator light is electrically connected to the main control chip of the host and is used to display the connection status of the external component. The touch display screen is used to receive scene selection instructions input by the user. In response to the scene selection instructions, the main control chip calls the scanning parameter configuration file that matches the selected external component. The scanning parameters include laser emission frequency, structured light projection period, and image acquisition frame rate.

[0077] The host integrates a human-machine interface, including status indicator lights and a touch screen, supporting scenario-based parameter configuration. Specifically, the status indicator lights display the connection status of external components (e.g., solid green indicates locked, flashing red indicates not properly inserted); the touch screen receives user scenario selection commands, and the main control chip calls the corresponding scanning parameters (laser frequency, structured light period, image frame rate).

[0078] The status indicator uses RGB tri-color LEDs embedded in the top of the host housing: a blue breathing light indicates standby, a solid green light indicates a normal connection, a fast-flashing red light indicates that the pressure sensor detected that the connection is not tight, and a flashing yellow light indicates an abnormal data transmission.

[0079] The parameter configuration is displayed on the touch screen as a list of selectable scenes (such as "industrial scanning", "cultural relic modeling" and "reverse engineering"). After the user clicks on a scene, the main control chip retrieves the corresponding parameters from the preset configuration file according to the selected external component type (such as setting the laser emission frequency to 100kHz and the structured light projection period to 50ms for industrial scenes) and automatically configures the module hardware.

[0080] In some embodiments, the host's main control chip has a built-in component identification module. The component identification module is configured to: when the external component is inserted into the mating cavity and the data connector is connected to the first data interface, send an identity query command to the external component through the data interface; receive type identification information returned by the external component, and retrieve the corresponding driver from a preset component driver library according to the type identification information. The driver is used to control the hardware operation and data format conversion of the external component.

[0081] The main control chip has a built-in component identification module, which enables automatic identification and driver adaptation of external components. Specifically, this includes: after data interface connection, sending an identity query command; receiving the type identifier returned by the component (such as "LIDAR-01" for a high-precision LiDAR module), and retrieving the corresponding driver program.

[0082] External components have a built-in EEPROM storage chip that stores a unique type identifier and driver version number. The data connector includes I2C / SPI communication pins. The main control chip sends read commands (such as "0x01") through the data interface, and the component returns a 16-bit binary identifier (the first 8 bits are the module type, and the last 8 bits are the version number). The host storage area has a pre-set component driver library. Each driver contains a hardware control instruction set (such as pulse emission control for LiDAR) and a data format conversion algorithm (such as converting raw point cloud data to the universal PLY format). The corresponding driver is matched and loaded according to the identifier.

[0083] In some embodiments, the rear end of the fitting portion of the external component is provided with an electromagnetic adsorption layer, and the bottom of the engagement cavity is provided with a magnetic base that cooperates with the electromagnetic adsorption layer. The magnetic base is electrically connected to the power module of the host. When the external component is inserted into the engagement cavity and is in the locked state, the power module supplies power to the magnetic base, so that the electromagnetic adsorption layer and the magnetic base form an electromagnetic adsorption force. When the external component is in the unlocked state, the power module cuts off the power supply to the magnetic base, and the electromagnetic adsorption force disappears.

[0084] Electromagnetic adsorption is used to assist in fixing and enhance the connection stability of external components. Specifically, it includes: an electromagnetic adsorption layer (ferromagnetic material, such as soft iron) at the rear end of the fitting part, and a magnetic base (electromagnetic coil) at the bottom of the joint cavity; when locked, the magnetic base is energized to generate electromagnetic attraction, and when unlocked, the power is cut off and the magnetism is demagnetized.

[0085] The magnetic base consists of a coil wound with enameled wire and an iron core, fixed to the bottom of the engagement cavity and powered by a power module (5V, 0.5A, generating an attractive force ≥5N). The electromagnetic adsorption layer is a rectangular iron-nickel alloy sheet, embedded at the rear end of the fitting part, directly opposite the magnetic base, with an insertion distance ≤1mm to ensure effective magnetic force. When the operating part is pushed to the locking position, the pressure sensor signal triggers the power module to supply power to the magnetic base, and the adsorption layer is magnetically fixed to the base. When unlocking, the operating part is pulled to the end, and the main control chip simultaneously cuts off the power to the magnetic base, the attractive force disappears, and disassembly is facilitated.

[0086] In some embodiments, a lightweight convolutional neural network (a PointNet++ derivative model) is introduced on top of traditional point cloud denoising to achieve intelligent identification of noise points and semantic completion of missing regions in complex scenes. The algorithm has a built-in target semantic classification module that dynamically adjusts the completion strategy according to the type of scanned object (such as mechanical parts or biological organs), supporting high-precision 3D reconstruction of incomplete objects.

[0087] Model training and deployment include: Training phase: A point cloud denoising and completion model is pre-trained using the ShapeNet dataset. The input is a partial point cloud containing Gaussian noise / outliers, and the output is a denoised and completed point cloud. For specific scenarios such as industrial parts and cultural relic reliefs, model parameters are fine-tuned through transfer learning. Lightweight processing: Model pruning and quantization techniques are used to compress the model size to less than 5MB, adapting to the computing power limitations of host main control chips (such as the Nvidia Jetson Nano embedded platform).

[0088] The real-time processing flow includes: Data input: The raw point cloud collected by external components (such as LiDAR modules) is preprocessed (invalid points are removed) and then input into the algorithm engine of the main control chip. Semantic classification: The model first determines the object category (output probability matrix) through a feature extraction layer (multilayer perceptron + farthest point sampling). For example, recognizing "gear" activates the mechanical parts completion mode, and recognizing "terracotta figurine" enables the surface smoothing completion strategy. Denoising and completion: Based on the classification results, outlier noise points are removed through a denoising branch (density-aware convolution), and the point cloud coordinates of the missing regions are predicted through a completion branch (generative adversarial network GAN structure) to generate complete point cloud data.

[0089] In some embodiments, a scanning efficiency optimization model is constructed, and an optimal scanning path for the target object is automatically generated using a reinforcement learning (RL) algorithm. The algorithm combines real-time point cloud density feedback with the motion trajectory of the handheld device to dynamically adjust the scanning speed and angle, reduce repeated scanning areas, and improve the modeling efficiency of complex curved surfaces.

[0090] The state space and action design include: State, which includes the point cloud density distribution of the current scanning area (statistically obtained through voxel mesh), device attitude angle (obtained by the host's built-in IMU sensor), remaining battery power, and external module type (e.g., structured light modules require close-range scanning). Action includes outputting scanning direction adjustment commands (forward / backward / left / right / tilt angle changes), scanning speed control (0.1-1m / s), and dynamic adjustment of laser emission frequency (automatically switching between high-frequency and low-frequency modes based on distance). The reward function uses "effective point cloud growth rate per unit time" as the core indicator, penalizing repeated scanning areas (calculated through point cloud overlap rate) and rewarding dense sampling in high-curvature areas.

[0091] The online optimization process includes: Initialization: After the user selects the scanning target, the host computer quickly captures a photo of the target using the image module. The YOLOv5 model identifies the approximate shape of the object (e.g., sphere, box, freeform surface) and loads the corresponding initial path template (e.g., surround scanning for spheres, orthogonal scanning for boxes). Real-time planning: During the scanning process, the reinforcement learning agent updates its state every 50ms, identifies uncovered areas based on the current point cloud data (detecting holes using an octree structure), generates a suggested pose for the next scan, and prompts the user to adjust the handheld angle via the touchscreen (or future versions may support motor-assisted guidance). Experience playback: After the scan is completed, the path data (state-action pairs) of this scan is stored in the experience pool and periodically trained offline while the host computer is in sleep mode to gradually optimize the scanning strategy for different object types.

[0092] In some embodiments, a spatiotemporal joint registration model is proposed for dynamic scenes (such as slightly shaking objects under test). This model integrates the timestamp information of lidar point clouds (sparse in the temporal domain), structured light dense point clouds (continuous in the temporal domain), and image textures (high-frequency temporal sequence). Cross-modal spatiotemporal constraints are constructed through graph optimization algorithms to solve the problem of accumulated error in traditional registration algorithms under dynamic conditions.

[0093] The spatiotemporal coordinate system is constructed by assigning an independent timestamp synchronization module (based on the host's high-precision clock chip) to each external module, ensuring that the sampling data of the LiDAR (10Hz), structured light (30Hz), and image sensor (60Hz) have nanosecond-level precision timestamps. A world coordinate system centered on the host is established, and the pose changes of the device during the scanning process (translation vector t, rotation matrix R) are acquired through the IMU sensor to construct the continuous-time pose trajectory T(t).

[0094] The dynamic registration process includes: Temporal alignment: Interpolating and synchronizing data streams of different frequencies (e.g., interpolating LiDAR point clouds to the structured light frame rate) to generate a joint dataset with equal time intervals. Feature association: In each frame of data, corner points (Harris3D features) from the structured light dense point cloud and SIFT features from the image are extracted. Cross-modal feature matching pairs are established through spatiotemporal consistency constraints (pose change between adjacent frames ≤ 5mm). Graph optimization solution: A factor graph containing "inter-module registration constraints" and "temporal pose constraints" is constructed. The optimization variables are the pose parameters of each frame and the global scaling factor. The objective function minimizes the reprojection error of cross-modal features and outputs a globally consistent registration result.

[0095] In some embodiments, a scene knowledge transfer model is constructed, which uses historical user scanning data to train general prior knowledge. When switching to a new scene, the optimal scanning parameters are quickly adapted through transfer learning, avoiding repeated debugging. The system has a built-in scene classifier that automatically identifies the scanning environment (such as strong light / weak light, indoor / outdoor) and the target material (metal / plastic / ceramic), and dynamically adjusts the module's operating parameters.

[0096] The corresponding input features include ambient light intensity (collected by the host light sensor), target surface reflectivity (statistical analysis of grayscale values ​​from image modules), external module combinations (e.g., whether LiDAR + structured light is connected), and point cloud quality indicators from historical scans (e.g., noise density, hole rate). The classification model uses a lightweight CNN (e.g., MobileNetV3) to classify scene images (an overview of the environment captured by the user) and outputs scene labels such as "industrial strong light," "cultural relic weak light," and "outdoor complex reflection."

[0097] The transfer learning process includes: Pre-training phase: Collecting scanning parameter configurations from a large number of publicly available scenes (such as NASA's space scanning parameters and reflective surface parameters in the automotive industry), training a general parameter optimization model on a cloud server, and extracting the mapping relationship between "module gain - environmental noise - material reflection". Local transfer: When the host machine recognizes a new scene (such as "weak light on ceramic artifacts"), it transfers a subset of parameters related to "low-exposure image acquisition + structured light phase compensation" from the pre-trained model. Combined with the current hardware status of the device (such as remaining battery power limiting laser power), it fine-tunes 5-10 key parameters (such as structured light projection brightness and laser emission pulse width) using a Bayesian optimization algorithm.

[0098] When scanning a new scene for the first time, the parameter adaptation time is shortened from the traditional 5-10 minutes to less than 30 seconds, which is especially suitable for emergency scanning (such as the emergency digitization of cultural relics); the user's historical successful scanning parameters are automatically included in the local training set to form a dedicated scene knowledge base, which becomes smarter the more it is used, solving the problem of parameter rigidity of general equipment in specific scenes.

[0099] In some embodiments, a dedicated defect detection algorithm chain is designed for industrial quality inspection scenarios: first, the defect features of the scanned data are enhanced using a GAN network, and then automated defect identification is achieved by combining weakly supervised learning. The algorithm supports sub-millimeter-level localization of defects such as scratches and dents on the surface of metal workpieces, and simultaneously generates a three-dimensional quantitative report of the defects (depth, area, and location coordinates).

[0100] The data augmentation module (GAN) includes: A generator: It takes point cloud data containing defects as input and outputs an augmented high-density point cloud (completing defect edge details). During training, it uses standard defect data from industrial CT scans as real samples and improves the resolution of defect features through adversarial training. A discriminator: It distinguishes between the augmented point cloud and real CT data, assisting the generator in optimization, ultimately improving the edge accuracy of the augmented defect point cloud to 0.1mm.

[0101] The defect detection process includes: Benchmark Modeling: Scanning a defect-free standard workpiece to generate a benchmark point cloud model. The alignment between the workpiece under test and the benchmark model is established using the ICP algorithm. Difference Calculation: Calculating the point-by-point distance between the measured point cloud and the benchmark model, generating a difference heatmap, and marking suspected defect areas with a set threshold (e.g., 0.3mm). Intelligent Classification: Performing SVM classification on the point cloud features (curvature changes, normal vector anomalies) of the marked areas. Combining this with a GAN-enhanced defect feature library, it distinguishes between genuine defects (e.g., cracks) and scanning noise, outputting the defect type (scratches / dents / protrusions) and a quantification report.

[0102] In some embodiments, see Figures 1-5 and Figure 7 The expandable handheld radar device provided by the present invention includes a host 100, the host 100 includes a housing 110 and a first detection module 120 disposed on the housing 110, and the housing 110 has an extension portion 130 for connecting an external component 200.

[0103] A coordinate system (XYZ) is established with reference to host 100. The Z-axis is parallel to the height of host 100, and is defined here as parallel to the plumb line direction; specifically, the +Z-axis is defined as the opposite direction of the plumb line. The X and Y axes are orthogonal to the Z-axis, and can be two horizontally extending orthogonal directions. Here, the X-axis is defined as parallel to the length of host 100, and the Y-axis is defined as parallel to the width of host 100. Furthermore, the Y-axis is defined as the first direction, and the Z-axis as the second direction. It should be noted that the directions indicated by the arrows in the attached diagram are the positive directions of the corresponding coordinate axes. Figure 1 The direction indicated by the arrow corresponding to the X-axis is the +X-axis direction (the positive direction of the X-axis), and the opposite direction (not shown in the figure, but it doesn't hinder understanding) is the -X-axis direction (the negative direction of the X-axis). Similarly, Figure 1 The direction indicated by the arrow corresponding to the Y-axis is the +Y-axis direction (the positive direction of the Y-axis), and the opposite direction is the -Y-axis direction (the negative direction of the Y-axis). Figure 1The direction indicated by the arrow corresponding to the Z-axis is the +Z-axis direction (positive direction of the Z-axis), and the opposite direction is the -Z-axis direction (negative direction of the Z-axis). The same criteria also apply to other attached figures.

[0104] The extension portion 130 has a first wall 131 and a second wall 132 facing each other in the Y-axis direction (i.e., the first direction) and a third wall 133 intersecting the first wall 131 and the second wall 132. The first wall 131 and the second wall 132 have a groove portion 134 extending in the Z-axis direction (i.e., the second direction). The groove portion 134 has two partition sidewalls 134a and an opening portion 134b that communicates with the third wall 133. The extension portion 130 also includes a slot portion 135 provided on the first wall 131 and / or the second wall 132. The third wall 133 is provided with a data interface 136. The engagement direction of the data interface 136 is parallel to the Z-axis direction.

[0105] The external component 200 includes a body portion 210 and a locking member 220 movably disposed on the body portion 210. The body portion 210 has a slider portion 211 that respectively engages with two groove portions 134. The locking member 220 can move along the Y-axis direction. The locking member 220 has an outward protrusion 221 that engages with the slot portion 135 on the side near the extension portion 130. The body portion 210 also includes a baffle portion 212 that can shield the third wall 133 in the Z-axis direction.

[0106] The external component 200 and the extension 130 can be engaged in the Z-axis direction through the cooperation of the slider portion 211 and the groove portion 134. When engaged with the extension 130, the external component 200 can be locked to the extension 130 by a locking member 220 movably provided on the body portion 210. Specifically, this is achieved by having the protrusion 221 enter the slot portion 135, thereby restricting relative movement and separation between the external component 200 and the extension 130 in the Z-axis direction. The restriction on both sides of the slider portion 211 by the partition sidewall 134a suppresses wobbling of the external component 200 in the X-axis direction during engagement, further ensuring the connection stability between the external component 200 and the extension 130. In the engaged state, the baffle portion 212 can shield the third wall 133, where the data interface 136 is located, in the Z-axis direction, thereby protecting the data interface 136. When the external component 200 is a functional expansion component, the data connector can be set on the baffle portion 212, so that the data connector and the data interface 136 can be docked synchronously during the engagement process between the external component 200 and the expansion portion 130 in the Z-axis direction.

[0107] The external member 200 has a first accommodating section 230 that extends through the body portion 210 in the Y-axis direction. The locking member 220 includes a rod 222 disposed in the first accommodating section 230. The middle part of the rod 222 is hinged to the body portion 210 and can rotate along the YZ plane. The first end of the rod 222 is connected to the body portion 210 through a force-applying member 223 that can elastically deform along the Y-axis direction. The protrusion 221 is provided on the side of the second end of the rod 222 near the extension portion 130.

[0108] The rod 222 can be a relatively simple implementation of the locking member 220. The first end of the rod 222, which is rotatably set on the main body 210, can serve as the operating end for manual unlocking. The second end of the rod 222 can serve as the functional end for locking the external member 200 and the main unit 100. The force-applying member 223 can hold the protrusion 221 in the slot 135 by the force generated by its own elastic deformation, thereby maintaining the locking state between the external member 200 and the main unit 100. In this embodiment, a compression spring is used as the force-applying member 223.

[0109] Considering the product positioning, the first detection module 120 integrated into the host 100 has relatively low requirements for detection accuracy. In the following embodiments, the first detection module 120 includes a first radar module 121 configured on the +Z axis side of the housing 110, and first optical lenses 122 configured on opposite sides of the housing 110 in the Y axis direction. The two first optical lenses 122 can have some differences in their functional positioning. For example, one can focus on capturing visual contour and texture information, while the other focuses on capturing environmental color information. The positions of the two first optical lenses 122 can be interchanged. The above is only one configuration example of the first detection module 120. Based on different host 100 design schemes and positioning, the first detection module 120 can also have other configuration options.

[0110] The housing 110 is connected to a handle 400 on the -Z side for easy gripping and operation. The circuit system inside the main unit 100 also includes a main control module (not shown in the figure) electrically connected to the first detection module 120 and the data interface 136. Additionally, the main unit 100 contains a battery (not shown in the figure) to power the circuit system. Both the main control module and the battery can refer to conventional configurations in the art and are not limited here. The battery can be configured inside the handle 400, which has a charging interface (not shown in the figure), allowing direct charging of the battery. The main unit 100 and the handle 400 are electrically connected via a power supply interface 140. A quick-release structure can also be introduced between the handle 400 and the main unit 100 for a fixed connection. When the battery of a single handle 400 is depleted, it is easy to replace it with another handle 400 to recharge the main unit 100. Furthermore, the scalable handheld radar proposed in this invention can be applied to the field of Simultaneous Localization and Mapping (SLAM).

[0111] See Figure 15 In some embodiments, the end of the handle 400 may also be connected to a base 410 to place the main unit 100 with the external component 200 on other objects stably, or to further achieve a fixed connection with other objects by means of the base 410.

[0112] Example 1: See Figures 1-5 The handheld radar device proposed in this embodiment conforms to the general description above in terms of the basic structure and the connection form of the external component 200. In this embodiment, the protective cover 200a is used as the external component 200. The extension 130 is based on the protrusion 130a provided on the +X axis direction side of the housing 110. The first wall and the second wall 132 are the Y axis direction end walls of the protrusion 130a, and the third wall 133 is the Z axis direction end wall of the protrusion 130a. The groove 134 is located on the side of the first wall 131 and the second wall 132 close to the housing 110. The extension 130 also includes a guide strip 137 formed on the side of the first wall 131 and the second wall 132 away from the housing 110. The slot 135 is recessed on the guide strip 137. The partition side wall 134a includes the +X axis direction end wall of the housing 110. The protective cover 200a also includes a guide groove 213 that cooperates with the guide strip 137. The external component 200 covers the +X axis direction side of the protrusion 130a.

[0113] The extension portion 130 is provided based on the protrusion 130a protruding from the X-axis side of the housing 110. The external component 200 connected to it is also located on the outside of the main unit 100, preventing interference between the external component 200 and the main unit 100 during installation. This also helps to increase the design freedom in terms of the shape and size of the external component 200. Furthermore, in addition to the cooperation between the slider portion 211 and the groove portion 134, the external component 200 and the extension portion 130 can also cooperate through the guide strip portion 137 and the guide groove portion 213, further improving connection stability. The external component 200 shields the +X-axis side of the protrusion 130a, better protecting the extension portion 130 from damage caused by impact.

[0114] When using the host 100 alone for surveying, there is no need to remove the protective cover 200a. The protective cover 200a is only required to be removed when an external component 200 with detection function is needed to expand the functionality.

[0115] Example 2: See Figures 6-9 The handheld radar device proposed in this embodiment conforms to the general description above in terms of its basic structure and the way it connects with the external component 200. In this embodiment, the main extension component 200b with a second detection module 240 is used as the external component 200. The main extension component 200b has a first data connector 214 that matches the data interface 136. The main extension component 200b mates with the extension portion 130 based on the external protrusion 130a in Embodiment 1, and the mating method is the same as that between the protective cover 200a and the external protrusion 130a. Related structural features follow the reference numerals in the drawings of Embodiment 1.

[0116] Based on this, the main extension member 200b also includes an abutment member 250 movably disposed on the main body 210. The abutment member 250 can move along the X-axis direction and abut against the +X-axis direction side of the outer protrusion 130a. The main body 210 has a second accommodating section 260 recessed on the side near the +X-axis direction side of the outer protrusion 130a. The second accommodating section 260 has a rotating shaft 261 and an arc-shaped inclined guide groove 262 on the -X-axis direction side. The inclined guide groove 262 includes a flat bottom section 262a and an inclined bottom section 262b. The abutment member 250 can also rotate along the YZ plane. The abutment member 250 includes a pressure plate section 251 and a lever section 252. The pressure plate section 251 has a shaft groove 2511 that mates with the rotating shaft 261 and a protrusion 2512 that mates with the inclined guide groove 262. The lever section 252 passes through the second accommodating section 260 and the -Z-axis direction side of the main body 210.

[0117] The introduction of the abutment member 250 can further improve the connection stability between the external component 200 and the main unit 100, and prevent the main extension member 200b from shaking or swaying relative to the main unit 100 in the X-axis direction, thereby helping to ensure the detection accuracy of the handheld radar device in the multi-measurement mode. By toggling the lever 252, the pressure plate 251 can be rotated, and the protrusion 2512 can slide along the flat bottom section 262a of the inclined guide groove 262 to the inclined bottom section 262b and finally move to abut against the side wall surface in the X-axis direction of the second accommodating interval 260. The pressure plate 251 can correspondingly move close to the outer protrusion 130a in the X-axis direction and abut against the outer protrusion 130a, thereby preventing the main extension member 200b from shaking or swaying relative to the main unit 100.

[0118] The main expansion component 200b has a detection function and can be connected to the main control module of the host 100 through the first data connector 214 to realize communication and interaction with the host 100 and be powered by the battery of the host 100. Therefore, it can be used as a supplement or enhancement to the surveying and mapping means built into the host 100 to realize multi-measurement integration.

[0119] The main expansion component 200b, as an optional expansion accessory that users can purchase later, does not significantly increase the overall size and weight of the device when installed on the main unit. Compared to purchasing a separate main unit with the same surveying performance as the main expansion component 200b, it is less expensive. Furthermore, since the main expansion component 200b moves along the same trajectory as the main unit 100 and can synchronize data in real time, it is easier to achieve multi-measurement integration. Considering that the main expansion component 200b is connected to the main unit 100 via the expansion section 130 and has good connection stability, the main expansion component 200b has relatively few limitations in terms of weight and size.

[0120] The configuration of the second detection module 240 is quite diverse, therefore this embodiment has multiple implementation forms, see [link to relevant documentation]. Figures 6-9 In this embodiment, a second radar module 241 is used as the second detection module 240 to enhance the detection capabilities of the host 100. Preferably, the second radar module 241 has higher detection accuracy than the first radar module 121. See also... Figure 10 , 11 In this embodiment, an optical scanner 242 is used as the second detection module 240. The optical scanner 242 can be a grating scanner or a spot scanner. The optical scanner 242 is used to enhance the optical detection performance of the host 100 and facilitate the modeling of small objects. Both grating scanners and spot scanners are not available in existing handheld radar devices, and both belong to the category of three-dimensional scanning modules.

[0121] See Figure 12 , 13In this embodiment, a second optical lens 243 is used as the second detection module 240 to enhance the optical detection means of the host 100. Preferably, the second optical lens 243 has a higher resolution than the first optical lens 122. Furthermore, a filter 243a can be installed on the second optical lens 243 to improve its performance; here, the filter 243a can be understood as an accessory of the second optical lens 243.

[0122] As can be seen from the above, the second detection module 240 in this embodiment can incorporate a detection module of the same type as the first detection module 120, or it can incorporate a detection module different from the first detection module 120. Both configuration modes help improve the overall detection efficiency and accuracy of the device. The above embodiments are only some configuration examples of the second detection module 240. Furthermore, both the first detection module 120 and the second detection module 240 can also be selected from other types of detection modules with relatively mature technology, such as multispectral sensor modules, infrared imaging modules, etc.

[0123] See Figure 3 , 6 This embodiment also includes an external display extension 300 that is communicatively connected to the host 100. The external display extension 300 includes a display module 310. Both the host 100 and the external display extension 300 have built-in wireless communication modules (not shown in the figure). The external display extension 300 is detachably mounted on the housing 110. In this embodiment, the external display extension 300 is magnetically connected to the host 100, and the host 100 has a magnetic module 150 disposed on the -X-axis side of the housing 110. This embodiment uses a smartphone with wireless charging capability as the external display extension 300, which has a magnetic component (not shown in the figure) that can act as a magnetic module.

[0124] The external display extension 300 can communicate with the host 100 and provide real-time visual display of the surveying results, facilitating simultaneous detection and monitoring operations by the user and thus improving surveying efficiency. Existing smartphones all possess high-resolution display modules 310 and wireless communication modules, which can serve as external display extensions 300 for handheld radar devices. Users can simply attach their smartphones to the host 100 and complete the connection and pairing process to use them as external display extensions 300, eliminating the need to purchase dedicated external display extensions and thus saving on hardware costs.

[0125] Considering that smartphones with wireless charging capabilities all have built-in magnetic connectors, setting up a magnetic module 150 inside the main unit 100 is a relatively easy connection solution between it and the smartphone. The connection method between the main unit 100 and the external display expansion component 300 is not limited to magnetic attraction. In other embodiments, the housing 110 and the external display expansion component 300 can also be detachably connected by means of snap-fit, fitting, or adhesive.

[0126] In other implementations, the external display extension 300 can also be a dedicated accessory developed for the host 100. This type of external display extension 300 can have a built-in power supply or draw power from the host 100 via a relevant physical interface. The external display extension 300 and the host 100 can communicate wirelessly or via a physical data interface. This customized solution for the external display extension 300 ensures a high degree of compatibility with the host 100.

[0127] Example 3: See Figures 14-16 The handheld radar device proposed in this embodiment conforms to the general description above in terms of its basic structure and the way it connects with the external component 200. This embodiment uses a secondary expansion component 200c equipped with a third detection module 270, and the secondary expansion component 200c has a second data connector 215. The third detection module 270 mounted on the secondary expansion component 200c in this embodiment has an RTK (Real-Time Kinematic) high-precision positioning module, which can provide real-time location information to the host 100. The RTK high-precision positioning module is small in size and has no special requirements for its placement on the radar device, making it suitable for use as the third detection module 270.

[0128] In this embodiment, an extension portion 130 is provided based on the housing 110. The first wall 131 and the second wall 132 are two side walls of the housing 110 facing each other in the Y-axis direction. The first wall 131 and the second wall 132 are both provided with a slot portion 135. The third wall 133 is the end wall of the housing 110 in the -Z-axis direction.

[0129] The introduction of the secondary expansion component 200c can also work in conjunction with the first detection module 120 to improve the performance of the host 100. The expansion part 130 based on the housing 110 can utilize the space arranged on the -Z axis side of the housing 110 for functional expansion. The secondary expansion component 200c can be locked with the corresponding slot part 135 by two locking parts 220 to ensure the connection stability between the secondary expansion component 200c and the host 100.

[0130] In order to protect the data interface 136 when the secondary expansion component 200c is not connected, this embodiment provides a soft rubber cover 138 on the housing 110 to cover the data interface 136. The end of the soft rubber cover 138 is fixedly connected to the housing 110 to prevent loss.

[0131] In some embodiments, a handheld radar device based on a "preliminary positioning host + high-precision expansion plug-in" is proposed, which achieves flexible switching between different accuracies and functions through modular design. The host unit integrates a low-cost, low-power primary detection module to achieve centimeter-level preliminary positioning; the external components can be replaced with functional plug-ins such as high-precision 3D radar, grating scanner, and infrared sensor, which can be quickly connected to the host through standardized expansion interfaces to meet diverse needs such as large-scene modeling, precision measurement, and multispectral detection.

[0132] Main Unit: The centimeter-level initial positioning module (main unit) includes: First detection module: containing a low-cost 2D radar module (such as a single-line or low-line-count mechanical rotating radar, with an accuracy of ±5cm) and dual optical lenses (the left lens is a grayscale camera, capturing contour and texture information; the right lens is a color camera, collecting environmental color information), both arranged on the +Z axis side (top) of the housing, working with the main control module to achieve initial positioning through visual and radar data fusion (SLAM algorithm). Expansion section: located on the side of the housing (both sides in the Y axis direction), including a groove extending along the Z axis (blocking the side wall to limit X-axis sway), a slot (on the first / second wall opposite to the Y axis), and a data interface on the third wall (such as Type-C or a custom high-speed interface, with the engagement direction parallel to the Z axis). Handle: a quick-release handle connected in the -Z axis direction (bottom), with a built-in battery and charging interface, connected to the main unit via a power supply interface, supporting hot-swappable battery replacement; a base can be installed at the end of the handle for flat or fixed installation of the device. The host computer scans the environmental outline using 2D radar and combines it with visual data from dual lenses. The main control module then calculates centimeter-level positioning coordinates and a preliminary environmental map in real time, providing a basic positioning framework for external high-precision plug-ins and reducing the computational load for subsequent detailed modeling.

[0133] The high-precision expansion plug-in (external component) includes: The high-precision 3D modeling plug-in (e.g., the Hesai XT32 MAX radar plug-in) has a main body with two side sliders embedded in the host's grooves, sliding and docking along the Z-axis; a baffle covering a third wall, with a built-in high-speed data connector (such as an Ethernet interface) matching the data interface, automatically connecting to the host's main control module during docking. The locking component is hinged to the main body at the middle of the rod, with a manual unlocking handle at the first end (exposed in the Y-axis direction) and a protruding part at the second end that engages with the host's slot. A spring maintains the locking state, preventing Z-axis separation. The plug-in is equipped with a high-precision linear solid-state LiDAR, quickly aligning with the initial positioning data provided by the host to generate a 3D point cloud map with millimeter-level accuracy, suitable for large-scale digital needs such as architectural scanning and industrial modeling. The precision measurement plug-in (e.g., a grating / spot scanner) integrates a line laser emitter and a high-resolution camera in its main body, forming a triangulation structure; the slider / locking component is designed in a standardized manner with the host, ensuring synchronous connection of the data interface during Z-axis docking. By projecting grating stripes or laser spots onto the surface of the object being measured, and combining this with deformation images acquired by a camera, the system calculates the 3D topography with sub-millimeter precision. This is suitable for small object modeling, such as precision parts inspection and artifact digitization. Functional detection plug-ins (e.g., infrared scanners) have built-in infrared thermal imaging sensors and multispectral filters in their main body, and the data connector in the baffle supports high-speed image transmission; no external power supply is required (powered by the main unit battery or the handle battery). It simultaneously acquires environmental thermal radiation data and visible light images to generate temperature-visual fusion maps, suitable for applications such as industrial equipment fault detection and security monitoring.

[0134] The modular switching process includes: Installing the plug: Insert the plug along the Z-axis of the main unit's expansion section. The slider slides along the groove to the bottom. Manually press the locking mechanism to engage the protruding part into the slot, completing the mechanical locking and data interface connection. Function activation: The main unit's control module identifies the plug type (via the data interface handshake protocol) and automatically switches to the corresponding algorithm (such as a high-precision modeling algorithm or a spectral analysis algorithm), fusing the main unit's initial positioning data with the plug's high-precision data. Removing the plug: Unlock the first end of the locking mechanism. The force-applying component elastically resets, disengaging the protruding part from the slot. Pull the plug out along the Z-axis; the switching can be completed without tools.

[0135] The technical advantages of this embodiment include: Hierarchical positioning architecture: Low-cost initial positioning by the host reduces system power consumption and computational load; external plug-ins can improve accuracy or expand functionality as needed, balancing performance and cost. Standardized interface design: Through groove-slider mechanical guidance, slot-locking mechanism, and automatic Z-axis data interface docking, plug-and-play functionality is achieved, compatible with multiple brand sensors (data protocol adaptation required). Battery life and portability: The quick-release handle supports hot-swappable batteries, and the base adapts to various installation scenarios, accommodating both handheld mobile operations and fixed platform deployments.

[0136] Corresponding application scenarios include: Construction engineering: the main unit performs initial positioning to construct the site outline, and an external high-precision radar is connected to generate a BIM model; Industrial quality inspection: replacing the grating scanner to detect surface defects in parts (sub-millimeter accuracy); Security patrol: switching the infrared plug-in to achieve nighttime thermal imaging monitoring and simultaneously recording positioning coordinates. Furthermore, the handheld radar device achieves a modular upgrade from "basic positioning" to "precision operation," meeting the differentiated accuracy and functional needs of various industries.

[0137] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A detachable handheld laser scanner system supporting multi-plug-in combinations, characterized in that, Includes the main unit, expansion units, and multiple external components; The expansion portion is provided on the housing corresponding to the host. The expansion portion includes a mating cavity recessed on the first direction side of the housing, a first data interface provided on the inner wall of the mating cavity, and a locking member movably disposed in the housing. The mating cavity has a first side wall and a second side wall disposed opposite to each other in a second direction intersecting the first direction. The locking member has a limiting portion that can act on an external component. The external components include one or more of a high-precision lidar module, a structured light scanning module, and a high-resolution image acquisition module. Each external component is provided with a fitting part that mates with the engagement cavity, and a data connector that mates with the first data interface is provided on the surface of the fitting part. When the external component is inserted into the engagement cavity in the first direction, the fitting part engages with the engagement cavity in the first direction. By operating the locking member, the limiting part abuts against the fitting part together with the first sidewall in the second direction, thereby realizing the locking state between the host and the external component. The data connector connects with the first data interface to establish data communication. When the operating latch makes the distance between the limiting part and the first sidewall in the second direction not less than the distance between the first sidewall and the second sidewall, the external component can be pulled out from the engagement cavity along the first direction to achieve the unlocked state; through the detachable connection between the extension part and the external component, the host can select and install the corresponding external component according to the needs of different application scenarios to realize at least one functional expansion in point cloud accuracy enhancement, micro target modeling, and image texture fusion. The outer contour of the fitting part matches the inner wall contour of the engagement cavity, and at least two side walls of the fitting part are provided with guide protrusions extending along a first direction. The inner wall of the engagement cavity is provided with guide grooves that slide and engage with the guide protrusions. The data connector is a contact type connector, and the first data interface is an elastic contact piece group adapted to the contact type connector. The elastic contact piece group is electrically connected to the main control chip of the host through a flexible circuit board. The locking member includes a push rod slidably disposed in the housing. One end of the push rod extends to the outside of the housing to form an operating part, and the other end is provided with the limiting part facing the engagement cavity. The limiting part is a wedge-shaped protrusion inclined towards the first side wall. The fitting part is provided with a limiting groove that engages with the wedge-shaped protrusion at the position corresponding to the limiting part. When the operating part is pushed along the second direction, the wedge-shaped protrusion is embedded in the limiting groove and abuts against the first side wall to form the locking state.

2. The system according to claim 1, characterized in that, A return spring is provided between the push rod and the housing. One end of the return spring is connected to the push rod, and the other end is connected to the inner wall of the housing. When the operating part is not subjected to external force, the return spring is in a naturally extended state, and the distance between the wedge-shaped protrusion and the first side wall is greater than the width of the limiting groove. When an external force pulls the operating part in a direction away from the first side wall, the distance between the wedge-shaped protrusion and the first side wall increases to not less than the distance between the first side wall and the second side wall, forming the unlocked state.

3. The system according to claim 1, characterized in that, The detachable connection also includes a sealing ring disposed at the edge of the opening of the engagement cavity, the sealing ring extending along the first direction and abutting against the front end face of the fitting part; a pressure sensor is provided at the bottom of the engagement cavity, the pressure sensor being electrically connected to the main control chip of the host computer, and used to detect whether the external component is fully inserted into the engagement cavity.

4. The system according to claim 1, characterized in that, When the external component is the high-precision lidar module, the main control chip of the host computer calls the point cloud noise reduction algorithm to perform outlier filtering and density equalization processing on the point cloud data collected by the high-precision lidar module, thereby realizing the point cloud accuracy enhancement function; when the external component is the structured light scanning module, the main control chip analyzes the stripe image projected by the structured light scanning module based on the Gray code decoding algorithm to generate three-dimensional point cloud data of the micro target, thereby realizing the micro target modeling function.

5. The system according to claim 4, characterized in that, When the external component includes both the high-resolution image acquisition module and the high-precision lidar module, the main control chip executes a multimodal data registration algorithm: first, it acquires a target surface texture image through the high-resolution image acquisition module and acquires target point cloud data through the high-precision lidar module; then, it performs feature matching based on the feature points in the texture image and the three-dimensional coordinates in the point cloud data to generate a texture-point cloud mapping table; finally, it fuses the texture image into the point cloud data according to the mapping table to achieve the image texture fusion function.

6. The system according to claim 1, characterized in that, The host's housing surface is provided with a status indicator light and a touch screen. The status indicator light is electrically connected to the host's main control chip and is used to display the connection status of the external component. The touch screen is used to receive scene selection commands input by the user. In response to the scene selection command, the main control chip calls the scanning parameter configuration file that matches the selected external component. The scanning parameters include laser emission frequency, structured light projection period, and image acquisition frame rate.

7. The system according to claim 1, characterized in that, The host's main control chip has a built-in component identification module. The component identification module is configured to: when the external component is inserted into the mating cavity and the data connector is connected to the first data interface, send an identity query command to the external component through the data interface; receive the type identification information returned by the external component, and retrieve the corresponding driver from the preset component driver library according to the type identification information. The driver is used to control the hardware operation and data format conversion of the external component.

8. The system according to claim 1, characterized in that, The external component has an electromagnetic adsorption layer at its rear end of the fitting portion, and a magnetic base corresponding to the electromagnetic adsorption layer is provided at the bottom of the engagement cavity. The magnetic base is electrically connected to the power module of the host. When the external component is inserted into the engagement cavity and is in the locked state, the power module supplies power to the magnetic base, causing the electromagnetic adsorption layer and the magnetic base to form an electromagnetic adsorption force. When the external component is in the unlocked state, the power module cuts off the power supply to the magnetic base, and the electromagnetic adsorption force disappears.

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