Backpack type laser radar measuring device

Abstract

The utility model discloses a backpack type laser radar measuring device, comprising a rotation measuring unit comprising a laser radar which carries out 360-degree scanning around a first direction, a holder which carries out 360-degree rotation around a second direction, a global positioning assembly, an inertial navigation module and a handle, the inertial navigation module is arranged in the handle; the supporting frame assembly comprises a back frame, a telescopic extension rod, an upper support and a lower support, the upper support and the lower support are arranged on the back frame, the telescopic extension rod is fixed to the upper support, and the top end of the telescopic extension rod is detachably connected to the rotary measuring unit; and the electrical unit comprises a control unit and a power supply unit, the electrical unit is arranged on the lower bracket, and the control unit is detachably arranged on the lower bracket.

Description

Technical Field

[0001] The utility model relates to the technical field of laser radar based on photoelectric detection, in particular to a backpack type laser radar measuring device. Background Art

[0002] LiDAR is a sensor that senses surrounding targets through laser signals. Due to its measurement advantages such as high precision and high resolution, it has been widely used in various fields.

[0003] During the measurement process, the measurement range of a single laser radar is limited. How to expand its measurement range is an urgent problem to be solved by technicians in this field. In tunnels, piles and other working places, workers are usually required to carry laser radars for data collection on foot. Providing workers with more convenient products and improving the adaptability of equipment to the environment can greatly improve productivity and increase average production efficiency. Summary of the invention

[0004] The technical problem solved by the utility model is to provide a backpack-type laser radar measurement device, which is used to realize multi-dimensional large field of view measurement under the premise of only setting up one laser radar.

[0005] Furthermore, you can switch between two usage modes: hands-free mode and handheld mode.

[0006] Furthermore, mode switching can be easily operated with bare hands, making it convenient to use.

[0007] Furthermore, it has an ultra-long battery life, which improves the sustainability of outdoor operations.

[0008] The utility model discloses a backpack-type laser radar measuring device, comprising:

[0009] A rotation measurement unit, comprising a laser radar that performs 360-degree scanning around a first direction, a pan-tilt that performs 360-degree rotation around a second direction, a global positioning component, an inertial navigation module, and a handle, wherein the laser radar is arranged on the pan-tilt and rotates with the pan-tilt, and the inertial navigation module is arranged in the handle;

[0010] A support frame assembly, comprising a back frame, a telescopic extension rod, an upper bracket and a lower bracket, wherein the upper bracket and the lower bracket are arranged on the back frame, the telescopic extension rod is fixed to the upper bracket, and the top end of the telescopic extension rod is detachably connected to the rotation measurement unit;

[0011] The electrical unit comprises a control unit and a power supply unit. The electrical unit is arranged on the lower bracket, and the control unit is detachably arranged on the lower bracket.

[0012] The first direction is perpendicular to the second direction.

[0013] The backpack-type laser radar measuring device further includes: a tripod bracket;

[0014] The rotation measuring unit is detachably connected to a tripod bracket, and the tripod bracket is connected to the handle to form a handheld mode.

[0015] The telescopic extension rod is fixed to the upper bracket through a quick-release buckle.

[0016] The top end of the telescopic extension rod is detachably connected to the handle.

[0017] The laser radar, global positioning component and inertial navigation module are all electrically connected to the control unit.

[0018] The gimbal includes a motor, or the gimbal includes a motor and a harmonic reducer.

[0019] The laser radar is connected to the gimbal via a U-shaped frame.

[0020] The control unit comprises a battery unit, and the power supply unit is used for charging the control unit.

[0021] The lower bracket includes a first partition and a second partition, the first partition is an L-shaped structure, and the second partition has a carrying basket for carrying the control unit.

[0022] The backpack-type laser radar measuring device of the utility model realizes multi-dimensional large field of view measurement under the premise of only setting up one laser radar, and is provided with multiple use modes, which can be switched between the hands-free mode and the handheld mode. The mode switching can be operated by hand, which is convenient to use. The backpack-type laser radar measuring device of the utility model has an ultra-long battery life, the adaptability of the equipment to the environment, and improves the sustainability of outdoor operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Shown is a schematic structural diagram of the backpack-type laser radar measurement device of the present invention.

[0024] Figure 2 , 3 Shown is a partial structural schematic diagram of the rotation measurement unit of the utility model.

[0025] Figure 4 Shown is a schematic structural diagram of the pan / tilt platform of the present invention.

[0026] Figure 5 Shown is a cross-sectional view of the handle of the present invention.

[0027] Figure 6 Shown is a structural schematic diagram of the support frame assembly of the utility model.

[0028] Figure 7 Shown is a structural schematic diagram of the upper bracket assembly of the utility model.

[0029] Figure 8 Shown is a schematic structural diagram of the back frame of the utility model.

[0030] Fig. 9 Shown is a circuit connection schematic diagram of the utility model.

[0031] Fig.10 , 11 Shown is a schematic diagram of the state of the utility model in the handheld mode. DETAILED DESCRIPTION

[0032] The implementation process of the technical solution of the present utility model is described below in conjunction with specific embodiments, which is not intended to limit the present utility model.

[0033] The utility model is used to provide a backpack-type laser radar measurement device, which can realize multi-dimensional large field of view measurement under the premise of only setting up one laser radar. Multiple usage modes are set, and the two usage modes of freeing hands mode and handheld mode can be switched. The mode switching can be easily operated by hand, which is convenient to use. The backpack-type laser radar measurement device of the utility model has an ultra-long battery life, the adaptability of the device to the environment, and improves the sustainability of outdoor operation.

[0034] The backpack-type laser radar measurement device of the utility model has two usage modes, a hands-free mode and a handheld mode. Figure 1 The figure shows the structure of the backpack laser radar measuring device of the utility model. In the hands-free mode, the worker carries the laser radar measuring device on his back and collects laser point cloud data while walking.

[0035] The backpack laser radar measuring device 100 includes a rotation measuring unit 10 , a support frame assembly 20 and an electrical unit 30 .

[0036] The rotation measurement unit 10 includes a laser radar 11, a gimbal 12, a global positioning assembly 13, an inertial navigation module 14 and a handle 15. The support frame assembly 20 includes a back frame 21, a telescopic extension rod 22, an upper bracket 23 and a lower bracket 24. The electrical unit 30 includes a control unit 31 and a power supply unit 32.

[0037] The laser radar 11 has a 360-degree field of view, which is distributed around a first direction X. The gimbal 12 rotates 360 degrees around a second direction Y, and the laser radar 11 is arranged on the gimbal and rotates with the gimbal. The first direction is perpendicular to the second direction. It can be seen that as the gimbal rotates, the field of view of the laser radar 11 is stereoscopically expanded, and the measurement of a three-dimensional large field of view is realized in a three-dimensional space established based on two rotation axis directions XY.

[0038] Specifically, if Figure 2 , 3 , which is a schematic diagram of a local structure of the rotation measurement unit 10 .

[0039] The laser radar 11 is connected to a U-shaped frame 16 , and the U-shaped frame 16 is connected to the gimbal 12 . The gimbal 12 drives the laser radar to rotate by driving the U-shaped frame 16 to rotate.

[0040] The U-shaped frame has a base 161, a circular load-bearing side wall 162 and a snap-on side wall 163. The bottom surface of the laser radar can be fixed to the circular load-bearing side wall 162 and constrained by the snap-on side wall 163 to keep the position fixed. The base 161 is driven by the gimbal.

[0041] In one embodiment, the gimbal includes a motor, and specifically a high torque motor can be used. In another embodiment, the gimbal 12 includes a motor and a harmonic reducer, and the harmonic reducer is arranged above the motor, and the harmonic reducer drives the U-shaped frame to rotate, thereby driving the laser radar 11 to rotate. Figure 4 The figure shows a schematic diagram of the structure of the gimbal 12, in particular, a gimbal with a harmonic reducer 121. By setting the harmonic reducer 121, the torque can be increased and the kinetic energy for driving the laser radar 11 to rotate can be improved.

[0042] The handle 15 is fixed to the side of the gimbal 12, and the inertial navigation module 14 is embedded in the handle. Figure 5 As shown, the relative position of the inertial navigation module 14 relative to the gimbal is fixed, that is, the relative position of the three-dimensional coordinate system established relative to the two rotation axis directions XY is kept fixed, so as to facilitate the subsequent point cloud data solution. The inertial navigation module 14 is an IMU module. The global positioning component 13 is a GPS antenna, and the global positioning component 13 remains fixed relative to the gimbal. The bottom of the handle has a connector that can be detachably connected to the telescopic extension rod or the tripod bracket, for example, by screw rotation.

[0043] The rotation measuring unit 10 is a relatively independent whole, which can be detachably connected to the telescopic extension rod or the tripod. The rotation measuring unit 10 can be separated from the support frame assembly 20 to participate in the handheld mode.

[0044] The support frame assembly 20 includes a back frame 21, a telescopic extension rod 22, an upper bracket 23 and a lower bracket 24. The back frame 21 is used to carry all components, and the shoulder strap 41 and the waist belt 42 are also connected to the back frame 21. In order to facilitate taking the backpack-type laser radar measurement device, a handle 211 is also provided at the upper end of the back frame 21. The upper bracket 23 and the lower bracket 24 are fixedly connected to the back frame 21. The upper bracket 23 is arranged above the lower bracket 24.

[0045] The upper bracket 23 is a hollow cube with two sides penetrated. A quick release buckle 25 is provided on one side of the upper bracket 23, and the telescopic extension rod 22 is detachably fixed to the upper bracket 23 through the quick release buckle 25. The top end of the telescopic extension rod is detachably connected to the handle of the rotation measurement unit 10. By stretching the length of the telescopic extension rod 22, the overall height of the rotation measurement unit 10 can be increased to reach the required measurement position and expand the measurement area. The quick release buckle can be made of aluminum alloy and can be operated by hand without the assistance of tools such as screwdrivers, so that the staff can adjust the height of the rotation measurement unit 10 by hand at any time at the work site to adapt to the needs of the work site.

[0046] The other side of the upper bracket 23 is provided with a V-shaped buckle 232, and the back frame 21 is provided with a V-shaped groove 211, and the upper bracket 23 is engaged with the V-shaped groove through the V-shaped buckle, so that the upper bracket 23 and all components attached thereto are fixed to the back frame 21. The lower bracket 24 is also connected to the V-shaped groove 211 of the back frame 21 through the V-shaped buckle.

[0047] The upper bracket 23 also includes a support bracket 231, which is used to support the gimbal, so that the rotation measurement unit 10 is stably attached to the upper bracket 23 under the joint action of the quick-release buckle, the telescopic extension rod and the support bracket, thereby ensuring the safety and stability of the device in the hands-free mode.

[0048] The lower bracket 24 includes a first partition 241 and a second partition 242. The first partition is an L-shaped structure, and the second partition has a carrying basket for carrying a control unit. The L-shaped structure of the lower bracket 24 and the bottom surface of the carrying basket enable the backpack-type laser radar measurement device 100 to be stably placed on the ground without tipping over, so that it can be placed on the ground to collect initial points during operation.

[0049] The electrical unit 30 is disposed on the lower bracket 24. The electrical unit 30 includes a control unit 31 and a power supply unit 32. The laser radar 11, the global positioning component 13 and the inertial navigation module 14 are all electrically connected to the control unit 31. Fig. 9As shown. The control unit is used to control whether the laser radar 11, the global positioning component 13 and the inertial navigation module 14 are enabled or not and to receive the collected data. The wires connecting the laser radar 11, the global positioning component 13, the inertial navigation module 14 to the control unit pass through the inside of the upper bracket 23, and the upper bracket 23 protects the safety of the wires. The control unit further includes a battery unit, and the power supply unit is used to charge the battery unit of the control unit so that the control unit can be replenished at any time when the power is exhausted. The control unit is detachably arranged on the lower bracket, specifically, the control unit is arranged in the supporting basket of the second partition. The power supply unit can be provided with 1 to 2 pieces, and the power supply unit is fixedly arranged in the first partition of the lower bracket. By additionally arranging the power supply unit, the battery life can be extended, the sustainability of outdoor operation can be improved, and the adaptability of the equipment to the environment can be improved.

[0050] like Fig.10 , 11 The figure shows the status diagram in handheld mode.

[0051] The backpack-type laser radar measuring device of the utility model is also equipped with a tripod bracket 51. In the handheld mode, the staff can remove the rotating measuring unit 10 from the top of the telescopic extension rod. The rotating measuring unit is detachably connected to the tripod bracket. In particular, the tripod bracket is connected to the handle, and the tripod bracket can be rotatably connected by a screw. Through the tripod bracket, the rotating measuring unit 10 can be firmly placed on the ground to achieve the function of being placed on the ground to collect the initial point. The control unit is still connected to the rotating measuring unit 10. The staff can carry the control unit and hold the tripod bracket without carrying the backpack to collect data.

[0052] During the mode switching process, you only need to open the quick-release buckle, remove the connection between the handle and the telescopic extension rod, set the connection between the tripod bracket and the handle, and then disassemble and assemble the corresponding wires and control unit. You can quickly switch the mode by hand and select the appropriate working mode at any time according to the needs of the work site to improve the convenience of operation.

[0053] The backpack-type laser radar measuring device of the utility model realizes multi-dimensional large field of view measurement under the premise of only setting up one laser radar, and is provided with multiple use modes, which can be switched between the hands-free mode and the handheld mode. The mode switching can be operated by hand, which is convenient to use. The backpack-type laser radar measuring device of the utility model has an ultra-long battery life, the adaptability of the equipment to the environment, and improves the sustainability of outdoor operation.

[0054] The above embodiments are only used to describe the technical solution of the present invention and are not to be regarded as limiting the present invention.

Claims

1. A backpack laser radar measurement device, characterized in that: include: A rotation measurement unit, comprising a laser radar that performs 360-degree scanning around a first direction, a pan-tilt that performs 360-degree rotation around a second direction, a global positioning component, an inertial navigation module, and a handle, wherein the laser radar is arranged on the pan-tilt and rotates with the pan-tilt, and the inertial navigation module is arranged in the handle; A support frame assembly, comprising a back frame, a telescopic extension rod, an upper bracket and a lower bracket, wherein the upper bracket and the lower bracket are arranged on the back frame, the telescopic extension rod is fixed to the upper bracket, and the top end of the telescopic extension rod is detachably connected to the rotation measurement unit; The electrical unit comprises a control unit and a power supply unit. The electrical unit is arranged on the lower bracket, and the control unit is detachably arranged on the lower bracket.

2. The backpack laser radar measurement device according to claim 1, characterized in that: The first direction is perpendicular to the second direction.

3. The backpack laser radar measurement device according to claim 1, characterized in that: Also includes: Tripod bracket; The rotation measuring unit is detachably connected to a tripod bracket, and the tripod bracket is connected to the handle to form a handheld mode.

4. The backpack laser radar measurement device according to claim 1, characterized in that: The telescopic extension rod is fixed to the upper bracket through a quick-release buckle.

5. The backpack laser radar measurement device according to claim 1, characterized in that: The top end of the telescopic extension rod is detachably connected to the handle.

6. The backpack laser radar measurement device according to claim 1, characterized in that: The laser radar, global positioning component and inertial navigation module are all electrically connected to the control unit.

7. The backpack laser radar measurement device according to claim 1, characterized in that: The gimbal includes a motor, or the gimbal includes a motor and a harmonic reducer.

8. The backpack laser radar measurement device according to claim 7, characterized in that: The laser radar is connected to the gimbal via a U-shaped frame.

9. The backpack laser radar measurement device according to claim 1, characterized in that: The control unit comprises a battery unit, and the power supply unit is used for charging the control unit.

10. The backpack laser radar measurement device according to claim 1, characterized in that: The lower bracket includes a first partition and a second partition, the first partition is an L-shaped structure, and the second partition has a carrying basket for carrying the control unit.

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