Positioning and point selecting device of SLAM (Simultaneous Localization and Mapping) scanning measurement system

Abstract

The utility model discloses a positioning and point selecting device of an SLAM scanning and measuring system, which comprises a laser SLAM scanning system provided with a laser module, and further comprises a shell, and a quick mounting base is formed at the bottom of the shell; the laser generator is arranged in the shell; the shell is assembled at the top of the laser module through the quick-assembly base; the laser generator emits linear visible laser beams to be aligned with collected control points, the laser SLAM scanning system is used for obtaining intersection points of the laser beams and a point cloud structure constructed by the laser SLAM scanning system by judging the relative positions and postures of the laser module and the laser generator, and control point collection is completed. Through the above structure, the defect that control point acquisition cannot be carried out in many scenes in an existing traditional hand-held base and long rod contact acquisition mode is overcome, and the problems that the acquisition precision is reduced due to excessive manual operation, and the ground area is required are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile surveying and mapping devices, in particular to a positioning and point selection device for a SLAM scanning measurement system. Background Art

[0002] Since mobile SLAM scanning and measurement systems can build maps without relying on GNSS positioning, they are very suitable for closed scenes such as mine tunnels. Therefore, mobile SLAM scanning and measurement systems are now widely used to construct three-dimensional data in mines. During scanning operations, due to common conditions such as excavation, transportation, and flooding, the ground inside the mine tunnel cannot be permanently marked as mine tunnel reference positioning points. Therefore, coordinate marking points are often placed on the top of the mine tunnel.

[0003] Traditional mobile SLAM scanning and measurement systems generally use a control point acquisition method in which the fixed hollow mark on the handle base is aligned with the mark of the reference positioning point. Therefore, when the positioning point is at the top of the mine tunnel, the handle base cannot fit with the mark, resulting in the inability to collect data. The previous solution has a complicated operation process, and too much manual operation leads to a decrease in acquisition accuracy. It also has requirements for the ground area, and translation conversion cannot be performed in cases of silt, waterlogging, etc.

[0004] Another way is to replace the handle with a long pole, or to install a long pole on the top of the scanning end of the SLAM scanning measurement system to replace the function of the hollow mark on the base of the original handle. However, this method requires carrying a long pole, which is extremely inconvenient.

[0005] It can be seen that the above-mentioned existing control point acquisition method still has inconveniences and defects in structure and use, and urgently needs to be further improved. Utility Model Content

[0006] The technical problem to be solved by the utility model is to provide a positioning point selection device for a SLAM scanning measurement system, which solves the disadvantages of the traditional contact collection method of a handheld base and a long pole that the control point collection cannot be performed in many scenarios, the acquisition accuracy is reduced due to excessive manual operation, and there are requirements for the ground area.

[0007] In order to solve the above technical problems, the utility model provides a positioning point selection device of a SLAM scanning measurement system, comprising: a laser SLAM scanning system, wherein the laser SLAM scanning system is provided with a laser module and further comprises:

[0008] The housing has a quick-install base formed on its bottom;

[0009] a laser generator, which is disposed in the housing;

[0010] The housing is assembled on the top of the laser module through the quick-release base;

[0011] The laser generator emits a linear visible laser beam aimed at the collected control points, and the laser scanning system determines the relative position and posture of the laser module and the laser generator to obtain the intersection point of the laser beam and the point cloud structure constructed by the laser SLAM scanning system, thereby completing the control point collection.

[0012] As an improvement of the present invention, the quick-release base includes:

[0013] An anti-reverse insertion limit block, one side corner of which is divided into an inclined wall, the anti-reverse insertion limit block is installed on the top of the laser module, and the inclined wall abuts against the inner wall of the laser module to prevent reverse insertion;

[0014] A circuit contact slot is provided at the bottom of the quick-release base and contacts the laser module;

[0015] And a limiting fixing block, which is connected and fixed to the top of the laser module for quick installation.

[0016] As an improvement of the present invention, the laser generator is provided with a laser emission port, and the laser emission port is located at the top of the shell.

[0017] As an improvement of the present invention, a fill light is provided on the top of the shell, and the fill light is an LED light.

[0018] As an improvement of the present invention, a power switch is provided on one side of the shell, and the power switch is configured as a three-stage switch structure, and the power switch controls the opening and closing of the fill light and the laser generator.

[0019] As an improvement of the present invention, a mounting seat connected to the quick-release base is provided on the top of the laser module, and the mounting seat is recessed inward to form a mounting groove.

[0020] As an improvement of the present invention, the corners of the mounting groove are divided to form anti-reverse insertion oblique walls, which abut against the oblique sides of the anti-reverse insertion limit block to limit the quick-release base and prevent reverse insertion.

[0021] As an improvement of the present invention, a circuit connection contact is provided in the installation groove, the circuit connection contact is connected to the circuit contact groove, and the circuit contact groove is configured as a cross-shaped structure.

[0022] As an improvement of the present invention, a fixing buckle is provided on an inner wall of one side of the installation groove, and the fixing buckle is engaged and fixed with the quick-release base.

[0023] As an improvement of the present invention, a buckle button is provided on a side of the outer wall of the mounting seat opposite to the fixing buckle, and the fixing buckle controls the engagement with the quick-release base based on the buckle button.

[0024] After adopting such a design, the utility model has at least the following advantages:

[0025] 1. The positioning point selection device of the SLAM scanning measurement system uses a laser generator to emit a laser beam, and uses a visible laser beam to align the control points to be collected. The laser replaces the traditional physical structure. By taking advantage of the miniaturization and distance freedom of the laser, it effectively solves the disadvantage of the traditional contact collection method of the handheld base and long pole that cannot collect control points in many scenarios. It reduces the structural burden and can easily complete the control point collection through laser pointing.

[0026] 2. The bottom of the housing is designed as a quick-release base, which is connected and fixed to the mounting base on the SLAM scanning measurement system to ensure the relative position of the device and the laser module in the SLAM scanning system is fixed and the movement posture is synchronized during scanning;

[0027] 3. By setting the circuit contact slot, it can be connected to the SLAM scanning system and obtain power supply in a contact-electrical way, so as to achieve quick installation and connection of power supply;

[0028] 4. Set the power switch. Press the switch once to turn on the fill light, press it a second time to turn on the laser generator, and press it a third time to turn off everything. It is easy and quick to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] Figure 1 This is a schematic diagram of the overall structure of a positioning point selection device of a SLAM scanning measurement system in one embodiment of the present invention.

[0031] Figure 2 It is a top view of the positioning point selection device in the utility model.

[0032] Figure 3 It is a structural schematic diagram of the quick-install base of the positioning point selection device in the utility model.

[0033] Figure 4 It is an overall schematic diagram of the SLAM scanning measurement system and the positioning point selection device in the utility model.

[0034] Figure 5This is a schematic diagram of the installation of the positioning point selection device and the SLAM scanning measurement system in the utility model.

[0035] Figure 6 It is a structural schematic diagram of the mounting base in the SLAM scanning measurement system of the present invention.

[0036] Description of reference numerals:

[0037] 1. Laser SLAM scanning system; 11. Positioning point selection device;

[0038] 2. Housing; 21. Quick-release base; 211. Anti-reverse insertion limit block; 212. Circuit contact slot; 213. Limit fixing block; 22. Laser generator; 221. Laser emission port; 23. Fill light; 24. Power switch;

[0039] 3. Laser module; 31. Mounting base; 32. Mounting slot; 321. Circuit connection contact; 322. Fixing clip; 323. Clip button. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be described clearly and completely below with reference to the accompanying drawings.

[0041] See Figures 1 to 6 A specific implementation method of a positioning point selection device for a SLAM scanning and measurement system is shown. The device can be quickly installed in the SLAM scanning and measurement system to achieve plug-and-play, quick plug-in, and precise matching effects. The device can align the control points to be collected through a visible laser beam during the scanning process of the SLAM scanning and measurement system. The SLAM scanning and measurement system obtains the intersection point of the laser emitted by the laser generator and the point cloud structure constructed by the current SLAM scanning and measurement system through the relative position and posture of the device, and records it as a control point, which effectively solves the disadvantage that the traditional handheld base and long pole contact collection method cannot collect control points in many scenarios, reduces structural burden, and can easily complete control point collection through laser pointing.

[0042] like Figures 1 to 6 As shown, in this embodiment, the positioning and point selection device of the SLAM scanning measurement system includes a laser SLAM scanning system 1, which is provided with a laser module 3 and a shell 2, the bottom of which is formed with a quick-release base 21; a laser generator 22, which is arranged in the shell 2; the shell 2 is assembled on the top of the laser module 3 through the quick-release base 21; the laser generator 22 emits a linear visible laser beam to align with the collected control point, and the laser scanning system is used to obtain the intersection point of the laser beam and the point cloud structure constructed by the laser SLAM scanning system 1 by judging the relative position and posture of the laser module 3 and the laser generator 22, thereby completing the control point collection.

[0043] Specifically, if Figure 1 As shown, the device is a positioning point selection and acquisition device for a mobile SLAM scanning system, and its shell 2 is an overall rectangular structure, the laser generator 22 is located at the top of the shell 2, and a quick-release base 21 is integrally formed at the bottom of the shell 2. The quick-release base 21 can be quickly installed on the laser module 3 of the laser SLAM scanning system 1 host. When selecting points for measurement, the visible laser beam is used to align the control points to be collected, and the SLAM scanning measurement system records the control points. The method of recording control points is based on the self-positioning algorithm of the SLAM scanning measurement system. The quick-release base 21 ensures that the positioning point selection device 11 is bound to the structure of the SLAM scanning measurement system and utilizes the linear propagation of the laser to ensure the uniqueness of the relationship between the point pointed by the laser beam of the laser generator 22 and the laser module 3 on the system host. At the moment of recording the control point, the system can obtain the intersection point of the laser emitted by the laser generator 22 and the point cloud structure constructed by the current SLAM scanning measurement system through the relative position and posture with the positioning point selection device 11, and record it as the control point.

[0044] Specifically, if Figure 2 As shown, the quick-install base 21 includes an anti-reverse insertion limit block 211, one side corner of which is divided into an inclined wall. The anti-reverse insertion limit block 211 is installed on the top of the laser module 3, and the inclined wall abuts against the inner wall of the laser module 3 to prevent reverse insertion; a circuit contact groove 212, which is opened at the bottom of the quick-install base 21 and contacts the laser module 3, and a limit fixing block 213, which is connected and fixed to the top of the laser module 3 for quick installation.

[0045] It can be understood that one corner of the anti-reverse insertion limit block 211 is cut to form a vertical inclined wall, which is distinguished from other straight walls to prevent reverse insertion. The circuit contact slot 212 is set into a cross-shaped structure. After installation, it can be connected to the SLAM scanning system and obtain power supply through contacts. It is fixed to the top of the laser module 3 through the limit fixing block 213, and the quick-release base 21 is quickly installed on the top of the laser module 3 of the host. It has the effect of quick plug-in and precise matching, and is used to ensure the relative position of the shell 2 and the laser module 3 and inertial navigation module in the SLAM scanning system and the synchronization of the movement posture during scanning.

[0046] It should be noted that the positioning point selection device 11 is not limited to being connected and fixed to the SLAM scanning measurement system by setting a quick-release base 21 at the bottom of the shell 2. The circuit contact slot 212 includes but is not limited to being connected to the SLAM scanning measurement system and obtaining power supply in the form of contacts in the quick-release base 21 at the bottom of the shell 2.

[0047] Specifically, if Figure 2As shown, the laser generator 22 is provided with a laser emission port 221, which is located at the top of the shell 2. A fill light 23 is provided on the top of the shell 2, and the fill light 23 is configured as an LED lamp. The laser emission port 221 is formed at the top of the shell 2, and a straight laser beam is emitted through the laser emission port 221. The miniaturization and distance freedom characteristics of the laser are utilized to solve the disadvantages of the traditional contact collection method of the handheld base and the long pole that cannot collect control points in many scenarios.

[0048] Specifically, a power switch 24 is provided on one side of the shell 2. The power switch 24 is set to a three-stage switch structure. The power switch 24 controls the opening and closing of the fill light 23 and the laser generator 22. Turn on the power switch 24 located on the shell 2. Press the power switch 24 once to turn on the fill light 23, press it a second time to turn on the laser, and press it a third time to turn off everything. The operation is cyclical.

[0049] Furthermore, if Figures 4 to 6 As shown, a mounting seat 31 connected to a quick-release base 21 is provided on the top of the laser module 3 of the host in the SLAM scanning and measurement system. The mounting seat 31 is recessed inward to form a mounting groove 32. The corners of the mounting groove 32 are divided to form anti-reverse insertion oblique walls. The anti-reverse insertion oblique walls are abutted against the oblique sides of the anti-reverse insertion limit block 211, and are used to limit the quick-release base 21 to prevent the positioning point selection device 11 from being installed reversely.

[0050] Preferably, if Figure 6 As shown, a circuit connection contact 321 is provided in the mounting groove 32 , and the circuit connection contact 321 is connected to the cross-shaped circuit contact groove 212 on the quick-release base 21 . The circuit connection contact 321 extends into the housing 2 and is electrically connected to the positioning point selection device 11 .

[0051] Specifically, a fixing buckle 322 is provided on the inner wall of one side of the mounting groove 32, and the fixing buckle 322 is engaged and fixed with the quick-release base 21. A buckle button 323 is provided on the outer wall of the mounting base 31 opposite to the fixing buckle 322, and the fixing buckle 322 is engaged with the quick-release base 21 based on the control of the buckle button 323.

[0052] In this embodiment, the positioning point selection device 11 is connected to the SLAM scanning measurement system via a quick-change base, ensuring that the posture and position of both devices remain unchanged during scanning. The positioning point selection device 11 utilizes a modular design for ease of installation and disassembly. The quick-change base 21 and mounting slot 32 are electrically connected via contacts, allowing for flexible assembly and disassembly. This addresses the drawback of traditional contact-based acquisition methods using handheld bases and long poles, which often prevent control point acquisition in many scenarios, and reduces structural complexity.

[0053] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as a limitation on the present invention.

[0054] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0055] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Those skilled in the art can make some simple modifications, equivalent changes or modifications based on the technical content disclosed above, which fall within the scope of protection of the present invention.

Claims

1. A positioning point selection device for a SLAM scanning measurement system, comprising a laser SLAM scanning system, wherein the laser SLAM scanning system is provided with a laser module, characterized in that: Also includes: The housing has a quick-install base formed on its bottom; a laser generator, which is disposed in the housing; The housing is assembled on the top of the laser module through the quick-release base; The laser generator emits a linear visible laser beam aimed at the collected control points, and the laser SLAM scanning system determines the relative position and posture of the laser module and the laser generator to obtain the intersection point of the laser beam and the point cloud structure constructed by the laser SLAM scanning system, thereby completing the control point collection.

2. The positioning point selection device of the SLAM scanning measurement system according to claim 1, wherein The quick-install base comprises: An anti-reverse insertion limit block, one side corner of which is divided into an inclined wall, the anti-reverse insertion limit block is installed on the top of the laser module, and the inclined wall abuts against the inner wall of the laser module to prevent reverse insertion; A circuit contact slot is provided at the bottom of the quick-release base and contacts the laser module; And a limiting fixing block, which is connected and fixed to the top of the laser module for quick installation.

3. The positioning point selection device of the SLAM scanning measurement system according to claim 2, wherein The laser generator is provided with a laser emission port, and the laser emission port is located at the top of the shell.

4. The positioning point selection device of the SLAM scanning measurement system according to claim 1, wherein A fill light is arranged on the top of the shell, and the fill light is an LED light.

5. The positioning point selection device of the SLAM scanning measurement system according to claim 4, characterized in that, A power switch is provided on one side of the shell. The power switch is configured as a three-stage switch structure. The power switch controls the opening and closing of the fill light and the laser generator.

6. The positioning point selection device of the SLAM scanning measurement system according to claim 2, characterized in that: A mounting seat connected to the quick-release base is provided on the top of the laser module, and the mounting seat is recessed inward to form a mounting groove.

7. The positioning point selection device of the SLAM scanning measurement system according to claim 6, characterized in that: The corners of the mounting groove are divided to form anti-reverse insertion oblique walls, which abut against the oblique sides of the anti-reverse insertion limiting block to limit the quick-release base and prevent reverse insertion.

8. The positioning point selection device of the SLAM scanning measurement system according to claim 6, characterized in that: A circuit connection contact is provided in the installation groove, and the circuit connection contact is connected to the circuit contact groove, and the circuit contact groove is configured as a cross-shaped structure.

9. The positioning point selection device of the SLAM scanning measurement system according to claim 6, characterized in that: A fixing buckle is provided on an inner wall of one side of the installation groove, and the fixing buckle is engaged and fixed with the quick-release base.

10. The positioning point selection device of the SLAM scanning measurement system according to claim 9, characterized in that: A buckle button is provided on a side of the outer wall of the mounting seat opposite to the fixing buckle, and the fixing buckle is engaged with the quick-release base based on the control of the buckle button.

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