A surveying device for a building survey

Abstract

The application provides a surveying and mapping device for house surveying, and belongs to the technical field of surveying and mapping devices, which comprises a main shell, a laser scanning module and a main control board arranged in the main shell, the main shell is provided with a holding part integrated with a tactile feedback unit, a visual guidance unit comprising a miniature projection light machine is arranged at a measuring end, an inertial measurement unit is further arranged in the main shell, and the inertial measurement unit, the laser scanning module, the tactile feedback unit and the miniature projection light machine are electrically connected with the main control board. The device posture is acquired in real time by the inertial measurement unit, the house structure point cloud data collected by the laser scanning module is combined, a positioning mark is projected on a wall surface to be surveyed by the miniature projection light machine, and the user is helped to quickly align the surveying point position; when the operation deviation exceeds the preset range, the tactile feedback unit vibrates to prompt the user to adjust the device posture, the surveying efficiency and precision of complex house structures can be improved, the manual alignment error can be reduced, and the surveying operation intensity can be reduced.

Description

Technical Field

[0001] This invention relates to the field of surveying equipment technology, and specifically to a surveying equipment for house surveying. Background Technology

[0002] With the development of SLAM (Simultaneous Localization and Mapping) technology, handheld house surveying devices have been widely used in real estate measurement, interior design, and other fields. Users only need to walk around the room with the handheld device to generate a 3D point cloud model of the house, completing the surveying and output of the house's dimensions and structure, which greatly improves the efficiency of house measurement and lowers the threshold for professional measurement.

[0003] For novice users, these handheld surveying devices can be difficult to use. They may move too fast or deviate from their intended path during the scan, resulting in missing or distorted point cloud data. Consequently, the generated floor plan model may not be accurate enough, requiring repeated scans and re-measurements.

[0004] Referring to Chinese patent document CN218765204U entitled "A Handheld 3D Scanner," the scanner includes a scanner body, a mounting plate, and a handle. In use, by inserting the secondary and primary locking blocks into their corresponding slots, a drive motor rotates the output rod, causing the mounting plate to rotate the scanner body. Holding the handle, the scanner body performs 3D scanning. A micro-cylinder moves the button block, and a transmission column pushes the secondary locking block into the first groove, allowing the primary locking block to be removed. Twisting the mounting cover opens it, allowing for the replacement of the power supply. The power supply can be charged via a charging head, improving the ease of assembly and scanning range of the 3D scanner.

[0005] However, while this handheld 3D scanner can achieve 3D modeling, it requires a high level of operator expertise in practical use. For example, the operator needs to maintain a constant speed of movement; moving too fast will result in sparse point clouds and loss of features, while moving too slowly will lead to low efficiency. In addition, in complex indoor environments (such as corners with clutter or connecting areas between multiple rooms), the operator is prone to missing scans or overlapping scan paths, resulting in gaps or errors in the subsequent modeling.

[0006] Referring to the above technical solutions, existing surveying devices are one-way output tools, only responsible for recording data and unable to provide real-time guidance and correction for the operator's actions. For non-professional users (such as ordinary homeowners renovating their homes), it is difficult to generate high-quality floor plans in one go. Therefore, a house surveying device with human-computer interaction guidance functions is needed to assist users in standardizing their operations and solve the problems existing in the current technology. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a surveying device for house surveying, which can prevent the problem of low quality of scanned data due to improper operation by providing real-time guidance to the operator.

[0008] To solve the above-mentioned technical problems, the present invention provides a surveying device for house surveying, including a main unit housing, a laser scanning module and a main control board disposed in the main unit housing, a gripping part on the main unit housing, a tactile feedback unit integrated in the gripping part, a visual guidance unit at the measuring end of the main unit housing, the visual guidance unit including a micro projection optical engine, and an inertial measurement unit disposed in the main unit housing. The inertial measurement unit, the laser scanning module, the tactile feedback unit and the micro projection optical engine are all electrically connected to the main control board. The main control board is configured to: calculate the moving speed and angular velocity of the device based on the acceleration and angular velocity data collected by the inertial measurement unit; when the moving speed or angular velocity deviates from the preset scanning threshold, control the tactile feedback unit to generate a tactile signal; identify environmental features based on the point cloud data collected by the laser scanning module, such as wall corners or door frame edges, and control the micro-projection optical engine to project guide signs onto the location of the environmental features.

[0009] Optionally, the haptic feedback unit includes an eccentric wheel motor, which is electrically connected to the main control board. The eccentric wheel motor is used to generate vibration signals to remind the operator to adjust the moving speed or grip posture.

[0010] Optionally, the visual guidance unit also includes a semi-transparent mirror, which is tilted at the measurement end optical path exit of the main unit housing to guide the image of the micro-projection optical engine to the wall or ground being measured. The micro-projection optical engine is located inside the main unit housing.

[0011] Optionally, the main control board has a built-in feature recognition module and motion analysis module. The feature recognition module is configured to generate a marking command when the corner of the wall or the edge of the door frame of the measured area is detected, and control the micro projection optical engine to project a bright spot or outline on the corner or the edge of the door frame. The motion analysis module is configured to calculate the moving speed and angular velocity of the device based on the acceleration and angular velocity data collected by the inertial measurement unit, and output a deviation signal when the moving speed or angular velocity deviates from the preset scanning threshold.

[0012] Optionally, the outer surface of the grip is covered with a flexible anti-slip layer, and a pressure sensor is installed on the inner side of the flexible anti-slip layer. The pressure sensor is electrically connected to the main control board and is used to detect the user's grip strength. Optionally, the main control board is configured to: when the pressure sensor detects that the grip force exceeds a preset safety threshold and the inertial measurement unit detects that the device's moving speed exceeds a preset maximum scanning threshold, determine that the operation is shaky, and control the tactile feedback unit to issue a reverse vibration prompt.

[0013] Optionally, the laser scanning module includes a single-line lidar and an area array camera. The single-line lidar is used to measure contour distance, and the area array camera is used to acquire texture information.

[0014] Optionally, the main unit housing is equipped with function buttons, which are used to trigger the device to enter the auxiliary teaching mode. In the auxiliary teaching mode, the micro projector is used to project a preset standard scanning path on the ground.

[0015] Optionally, a voice broadcast module is also connected to the main control board to issue voice prompts when the device deviates from the standard scanning path of the projection.

[0016] In summary, compared with the prior art, the present invention has at least one of the following beneficial technical effects: 1. This invention provides visual guidance by projecting a pre-planned scanning path. Combined with voice prompts and vibration feedback when deviating from the path, even non-professional users can quickly master the standardized scanning operation through multimodal guidance and complete house surveying without professional training, effectively lowering the threshold for using 3D house scanning surveying.

[0017] 2. This invention monitors the device's position and motion status in real time through an inertial measurement unit, which can promptly remind the operator to correct deviations from the path, adjust the movement speed and grip posture, and prevent problems such as missed scans and point cloud data distortion caused by improper operation from the source. It eliminates the need for repeated rework and rescanning, which can ensure the accuracy of the final modeling and improve the overall efficiency of surveying and mapping operations.

[0018] 3. Most existing scanning devices rely solely on the operator's experience and judgment. This solution provides multi-dimensional real-time feedback guidance, ensuring that the operator maintains the required scanning state at all times. It can collect complete and accurate point cloud data of the entire building area, resulting in more reliable surveying results, improving the device's practicality, and better meeting the needs of low-cost and high-efficiency surveying of civilian buildings. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a surveying device for house surveying according to the present invention; Figure 2 This is a cross-sectional view of the internal structure of the main housing of the present invention; Figure 3 This is the overall logic framework diagram of the control system of the present invention; Figure 4 This is a control logic framework diagram of the haptic feedback unit of the present invention; Figure 5 This is a control logic framework diagram of the visual guidance unit of the present invention.

[0020] Explanation of reference numerals in the attached diagram: 1. Main unit housing; 11. Grip part; 12. Measuring end; 13. Flexible anti-slip layer; 2. Laser scanning module; 21. Single-line lidar; 22. Area array camera; 3. Human-computer interaction feedback component; 31. Tactile feedback unit; 311. Eccentric wheel motor; 32. Visual guidance unit; 321. Miniature projection optical engine; 322. Semi-transparent and semi-reflective mirror; 323. Projection lens; 4. Inertial measurement unit; 5. Main control board; 51. Feature recognition module; 52. Motion analysis module; 53. Voice broadcast module; 6. Pressure sensor; 7. Function button; 8. Battery. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will be described in conjunction with the embodiments of the present invention. Figures 1-5 The technical solutions of the embodiments of the present invention will be clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0022] Reference Figures 1-5 This embodiment provides a surveying device for house surveying, including a main unit housing 1, a laser scanning module 2, a human-computer interaction feedback component 3, an inertial measurement unit 4, and a main control board 5. The human-computer interaction feedback component 3 includes a tactile feedback unit 31 and a visual guidance unit 32. The main unit housing 1 has an overall gun-shaped structure adapted for handheld use. The interior of the main unit housing 1 is used to house the laser scanning module 2, the inertial measurement unit 4, and the main control board 5. The inertial measurement unit 4, the laser scanning module 2, the tactile feedback unit 31, and the micro-projection optical engine 321 are all electrically connected to the main control board 5.

[0023] Reference Figure 1 and Figure 2The main unit housing 1 includes a grip 11, a measuring end 12, a flexible anti-slip layer 13, and function buttons 7. The grip 11 houses a pressure sensor 6 and a battery 8. The outer surface of the grip is covered with a flexible anti-slip layer, and a pressure sensor is located on the inner side of the layer. The pressure sensor is electrically connected to the main control board and can detect the operator's gripping force on the grip 11 in real time, transmitting the force data to the main control board 5 to assist in determining the operator's current operating status. The battery 8 powers all electrical modules of the device, ensuring that the device can perform outdoor or whole-house surveying operations without an external power source. The function buttons 7 are located on the side of the main unit housing 1 in a convenient thumb-pressing position. By pressing the function buttons 7, the operator can trigger the device to enter the auxiliary teaching mode. In this mode, the device first completes a preliminary whole-house scan using a laser scanning module to generate the house's planar outline, then automatically plans the optimal standard scanning path and projects it onto the ground using a micro-projector 321, guiding the operator to complete the scan along the planned path. This mode is suitable for novice users to learn standard operating procedures.

[0024] Reference Figure 3 The laser scanning module 2 is fixedly installed on the measuring end 12 of the main housing 1, and is used to emit lasers to collect point cloud data of the contour distance of the interior walls, beams, columns, doors and windows of the house. The inertial measurement unit 4 is fixedly installed inside the main housing 1, and is used to collect the acceleration and angular velocity data of the device in real time, and feed them back to the main control board 5 to calculate the current moving speed and angular velocity of the device. The main control board 5 is the control core of the device. On the one hand, it processes and analyzes the collected point cloud data and attitude data. On the other hand, it controls the tactile feedback unit 31 and the visual guidance unit 32 to output corresponding guidance signals according to the analysis results, so as to realize real-time operation guidance for the operator. The tactile feedback unit 31 is integrated inside the grip part 11, and is used to output vibration tactile signals according to the instructions of the main control board 5 to remind the operator of the moving speed. The visual guidance unit 32 is installed on the measuring end 12 of the main housing 1, and is used to project positioning marks or guidance paths onto the measured wall and ground through the micro projection optical engine 321 to help the user intuitively align feature points and standardize the scanning route.

[0025] Reference Figure 3 and Figure 5 The laser scanning module 2 includes a single-line lidar 21 and an area array camera 22. The single-line lidar 21 is used to measure contour distance, and the area array camera 22 is used to collect texture information.

[0026] Reference Figure 4 The laser tactile feedback unit 31 includes an eccentric wheel motor 311. When the eccentric wheel motor 311 is powered on and rotates, it can generate regular vibration signals. When the main control board 5 detects that the device's moving speed exceeds the preset maximum scanning threshold or deviates from the planned scanning path, it will drive the eccentric wheel motor 311 to work and directly remind the operator to slow down or adjust the position through vibration.

[0027] Reference Figure 5 The visual guidance unit 32 includes a micro-projection optical engine 321, a semi-transparent mirror 322, and a projection lens 323. The micro-projection optical engine 321 is fixedly installed inside the main unit housing 1. The semi-transparent mirror 322 is tilted at the light path exit position of the laser scanning module 2, which will not block the light path of the laser scanning module 2 emitting and receiving lasers, and can reflect the projected image output by the micro-projection optical engine 321 and project it onto the wall or ground to be measured in front of it through the projection lens 323, thus preventing the projection components from being exposed and affecting the overall compactness of the device structure.

[0028] Reference Figure 3 and Figure 4 The main control board 5 has a built-in feature recognition module 51, motion analysis module 52, and voice broadcast module 53. During the scanning operation, the feature recognition module 51 of the main control board 5 processes the point cloud data collected by the laser scanning module 2 in real time. When key features of the building such as corners, door frames, beams, and columns are identified, corresponding marking instructions are generated to control the micro-projection optical engine 321 to project a bright spot or outline at the corresponding feature position, prompting the operator to stop scanning at this position to avoid missing features. When the pressure sensor 6 detects that the operator's grip force exceeds the preset safety threshold, and the inertial measurement unit 4 detects that the device movement exceeds the preset maximum scanning threshold, the main control board 5 will determine that there is hand tremor during operation and directly control the tactile feedback unit 31 to issue a reverse vibration prompt, reminding the operator to relax their hand and slow down the movement.

[0029] When the operator triggers the assisted teaching mode, the device will complete a preliminary scan of the entire house through the laser scanning module to generate house point cloud data. The feature recognition module of the main control board identifies the positions of key features such as wall corners and door frames. Then, the motion analysis module automatically plans the optimal standard scanning path based on these features. Subsequently, it controls the micro-projection optical engine 321 to project the planned scanning path onto the ground. The operator only needs to walk along the projected path to scan. At the same time, the main control board 5 will monitor the actual position of the device in real time through the inertial measurement unit 4. When the device deviates from the projected standard scanning path, the voice broadcast module 53 will issue a voice reminder. Combined with the vibration prompts of the tactile feedback unit 31, it helps novice users quickly master the correct scanning operation method and effectively improves the success rate and accuracy of a single scan modeling.

[0030] The implementation principle of a surveying device for house surveying according to an embodiment of the present invention is as follows: The device collects motion data of the device in real time through the inertial measurement unit 4, and combines it with the point cloud data collected by laser scanning. The main control board 5 analyzes the operator's operation status and environmental characteristics in real time. On the one hand, the tactile feedback unit 31 outputs vibration signals to remind the operator to adjust the movement speed and grip posture. On the other hand, the visual guidance unit 32 projects guidance marks and planned paths into the environment, combined with voice broadcast reminders, to achieve multi-dimensional real-time operation guidance. This solves the problems of missed scans and data distortion caused by non-professional users' non-standard operation, and can effectively improve the accuracy and success rate of one-time scanning modeling, and lower the threshold for using house surveying.

[0031] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A surveying device for house surveying, comprising a main unit housing, a laser scanning module disposed within the main unit housing, and a main control board, characterized in that: The main unit housing is provided with a gripping part, and the gripping part integrates a tactile feedback unit. The measuring end of the main unit housing is provided with a visual guidance unit, which includes a micro projection optical engine. The main unit housing is also provided with an inertial measurement unit. The inertial measurement unit, laser scanning module, tactile feedback unit and micro projection optical engine are all electrically connected to the main control board. The main control board is configured to: calculate the moving speed and angular velocity of the device based on the acceleration and angular velocity data collected by the inertial measurement unit; when the moving speed or angular velocity deviates from the preset scanning threshold, control the tactile feedback unit to generate a tactile signal; identify environmental features based on the point cloud data collected by the laser scanning module, wherein the environmental features are corners or door frame edges, and control the micro projection optical engine to project guide signs onto the location of the environmental features.

2. The surveying device for house surveying according to claim 1, characterized in that: The tactile feedback unit includes an eccentric wheel motor, which is electrically connected to the main control board. The eccentric wheel motor is used to generate vibration signals to remind the operator to adjust the moving speed or grip posture.

3. The surveying device for house surveying according to claim 1, characterized in that: The visual guidance unit also includes a semi-transparent and semi-reflective mirror, which is tilted at the measurement end optical path outlet of the main unit housing and is used to guide the image of the micro-projection optical engine to the wall or ground to be measured. The micro-projection optical engine is located inside the main unit housing.

4. A surveying device for house surveying according to claim 1, characterized in that: The main control board has a built-in feature recognition module and a motion analysis module. The feature recognition module is configured to generate a marking command when it recognizes the corner of the wall or the edge of the door frame in the measured area, and control the micro projection optical engine to project a bright spot or outline at the corner of the wall or the edge of the door frame. The motion analysis module is configured to calculate the moving speed and angular velocity of the device based on the acceleration and angular velocity data collected by the inertial measurement unit, and output a deviation signal when the moving speed or angular velocity deviates from a preset scanning threshold.

5. A surveying device for house surveying according to claim 1, characterized in that: The outer surface of the grip is covered with a flexible anti-slip layer, and a pressure sensor is provided on the inner side of the flexible anti-slip layer. The pressure sensor is electrically connected to the main control board and is used to detect the user's grip strength.

6. A surveying device for house surveying according to claim 5, characterized in that: The main control board is configured to: when the pressure sensor detects that the grip force exceeds a preset safety threshold and the inertial measurement unit detects that the device's moving speed exceeds a preset maximum scanning threshold, determine that the operation is shaky, and control the tactile feedback unit to issue a reverse vibration prompt.

7. A surveying device for house surveying according to claim 1, characterized in that: The laser scanning module includes a single-line lidar and an area array camera. The single-line lidar is used to measure contour distance, and the area array camera is used to collect texture information.

8. A surveying device for house surveying according to claim 1, characterized in that: The main unit housing is equipped with function buttons, which are used to trigger the device to enter the auxiliary teaching mode. In the auxiliary teaching mode, the micro projection optical engine is used to project a preset standard scanning path on the ground.

9. A surveying device for house surveying according to claim 1, characterized in that: The main control board is also connected to a voice broadcast module, which is used to issue voice reminders when the device deviates from the standard scanning path of the projection.

Images