Double-holder laser scanning device

Abstract

The utility model provides a double-holder laser scanning device. The double-holder laser scanning device comprises a sensor scanning measurement module and a movement control module, the sensor scanning measurement module comprises a sensor integrated control box and a laser radar; wherein the laser radar is mounted in the sensor integrated control box; the mobile control module comprises a control box fixing base and a guide rail module; wherein the control box fixing base is installed on the guide rail module, the sensor integrated control box is installed on the control box fixing base, and the control box fixing base comprises a double-rotation holder. According to the scheme provided by the invention, the laser radar, the horizontal guide rail, the double-rotation holder and the like are integrated and mounted on the transit ship truss, so that large-range and dead-angle-free three-dimensional point cloud extraction can be realized, and the volume of ship bulk cargo can be accurately measured.

Description

Technical Field

[0001] The utility model relates to the field of ship transportation, in particular to a double-pan platform laser scanning device. Background Art

[0002] With the rise of the modern shipping industry, bulk cargo transportation has become a vital component of global trade, boasting a massive market size and high competitiveness. In bulk cargo transportation, how to quickly determine the volume and accurately determine the location of bulk cargoes is crucial to the efficiency, cost, and safety of bulk cargo transportation.

[0003] Bulk cargo volume measurement primarily relies on sensors like LiDAR, which achieve fast, accurate, and automated volume calculations through non-contact measurement. Traditional measurement methods typically involve attaching LiDAR and other sensors to the trusses of a transfer vessel's platform. However, these sensors have a limited scanning range, leaving blind spots at the ends of the cabin and where obstructed by bulkheads. Furthermore, they are susceptible to the erratic movement of the vessel, resulting in low accuracy. Manual handheld LiDAR measurements can also be used, but these require traveling back and forth between two vessels, which is risky, time-consuming, and labor-intensive, making them particularly inconvenient to perform at night.

[0004] Therefore, there is an urgent need for a laser scanning device that is safe to operate, has a large scanning range, and has no blind spots to meet the needs of measuring the volume of bulk cargo on ships. Utility Model Content

[0005] The embodiment of the present application provides a dual-pan-tilt laser scanning device, which solves the problem of limited laser radar scanning range and blind spots during the measurement of bulk cargo volume on ships.

[0006] An embodiment of the present application provides a dual-pan-tilt laser scanning device, which includes: a sensor scanning and measurement module and a mobile control module; the sensor scanning and measurement module includes: a sensor integrated control box and a laser radar; wherein the laser radar is installed inside the sensor integrated control box; the mobile control module includes: a control box fixed base and a guide rail module; wherein the control box fixed base is installed on the guide rail module, the sensor integrated control box is installed on the control box fixed base, and the control box fixed base includes a dual rotating pan-tilt.

[0007] In one embodiment, the dual-rotation pan-tilt platform includes: a horizontal base servo motor and a vertical base servo motor.

[0008] In one embodiment, the horizontal base servo motor is used to drive the sensor integrated control box to rotate around the vertical axis.

[0009] In one embodiment, the vertical base servo motor is used to drive the sensor integrated control box to rotate around the horizontal axis.

[0010] In one embodiment, the guide rail module includes a slider base and a horizontal guide rail.

[0011] In one embodiment, the control box fixed base is mounted on the slider base, and the slider base is mounted on a horizontal guide rail.

[0012] In one embodiment, the slider base includes a slide rail servo motor.

[0013] In one embodiment, the horizontal guide rail comprises a rack.

[0014] In one embodiment, the end of the slide rail servo motor is provided with a gear that meshes with the rack; the slide rail servo motor drives the gear to rotate on the rack, so that the slider base moves horizontally on the horizontal guide rail.

[0015] In one embodiment, the sensor integrated control box includes a control unit, and the control unit is connected to the laser radar via a cable.

[0016] The solution provided in the above embodiments of the present application, by integrating laser radar, horizontal guide rails, dual rotating pan-tilt heads, etc., and installing them on the transfer ship truss, can realize large-scale and dead-angle-free three-dimensional point cloud extraction, so as to accurately measure the bulk cargo volume of the ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application.

[0018] Figure 1 This is a three-dimensional view of the dual-pan laser scanning device provided in an embodiment of the present application;

[0019] Figure 2 2. It is a side view of a dual-pan laser scanning device provided in an embodiment of the present application;

[0020] Figure 3 2. It is a front view of a dual-pan laser scanning device provided in an embodiment of the present application;

[0021] Figure 4 This is a top view of the dual-pan laser scanning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0023] Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0024] like Figure 1-4 The following are various views of the dual-pan-tilt laser scanning device of an embodiment of the present application, including a 3D view, a side view, a front view, and a top view. The dual-pan-tilt laser scanning device includes a sensor scanning and measurement module and a motion control module. The sensor scanning and measurement module can be removed and installed separately.

[0025] The sensor scanning and measurement module includes a sensor integrated control box 100 and a laser radar 101. The laser radar 101 can be a multi-line laser radar. The laser radar 101 is installed inside the sensor integrated control box 100, providing some protection against splashes and ensuring an unobstructed radar scanning field of view. It is used to transmit laser light into the cabin and measure the distance and reflection intensity of the laser emission direction during movement, thereby obtaining spatial point cloud data of the bulk cargo pile within the cabin.

[0026] The sensor integrated control box 100 contains a control unit, which can take the form of an industrial computer or development board. The LiDAR 101 transmits data to the control unit via cables. The sensor integrated control box 100 also includes a communication module, responsible for transmitting sensor information received by the control unit and positioning information obtained by the control unit after running the algorithm to a remote control device. This transmission method can be via a cable connection or wireless network. The sensor integrated control box 100 also contains a power module, which can be powered by a built-in rechargeable battery or by onboard cables. This module independently powers the control unit and LiDAR 101.

[0027] The mobile control module includes: a control box fixed base 200 and a guide rail module; wherein the control box fixed base 200 is installed on the guide rail module, the sensor integrated control box 100 is installed on the control box fixed base 200, and the control box fixed base 200 includes a dual rotating pan-tilt platform.

[0028] The dual-rotating pan-tilt head includes a horizontal base servo motor 201 and a vertical base servo motor 202. The horizontal base servo motor 201 drives the sensor integrated control box to rotate about its vertical axis, thereby increasing the sensor's horizontal field of view. The vertical base servo motor 202 drives the sensor integrated control box to rotate about its horizontal axis, thereby increasing the sensor's vertical field of view. These dual base servo motors form the dual-rotating pan-tilt head structure.

[0029] The guide rail module includes a slider base 203 and a horizontal guide rail 205 . The control box fixed base 200 is integrally mounted and fixed on the slider base 203 , and the slider base 203 is mounted on the horizontal guide rail 205 .

[0030] The slider base 203 includes a slide rail servo motor 204, and the horizontal guide rail 205 includes a rack 206. The slide rail servo motor 204 has a gear at its end that meshes with the rack 206. The slide rail servo motor 204 drives the gear on the rack 206 to rotate, causing the slider base 203 to move horizontally on the horizontal guide rail 205. This in turn drives the control box fixed base 200 and the sensor integrated control box 100 to move along the horizontal guide rail 205.

[0031] The dual-pan-tilt laser scanning device is generally arranged near the bulk carrier's cabin, and its stroke can be set according to the cabin length.

[0032] The embodiment of the present application adopts a structure that integrates a laser radar, a horizontal guide rail, and a dual-rotating pan-tilt head. The device has a simple structure and is installed on the transfer ship truss. It can provide a large-range, multi-angle scanning space, solving the problem of small range and blind spots when directly using laser radar for three-dimensional point cloud extraction.

[0033] In the embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0034] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0035] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0036] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A dual-pan laser scanning device, characterized in that: The device includes: a sensor scanning and measuring module and a movement control module; The sensor scanning measurement module includes: a sensor integrated control box and a laser radar; wherein the laser radar is installed inside the sensor integrated control box; The mobile control module includes: a control box fixed base and a guide rail module; wherein the control box fixed base is installed on the guide rail module, the sensor integrated control box is installed on the control box fixed base, and the control box fixed base includes a dual rotating pan-tilt platform.

2. The dual-pan-tilt laser scanning device according to claim 1, characterized in that: The dual-rotating platform includes a horizontal base servo motor and a vertical base servo motor.

3. The dual-pan-tilt laser scanning device according to claim 2, characterized in that: The horizontal base servo motor is used to drive the sensor integrated control box to rotate around the vertical axis.

4. The dual-pan-tilt laser scanning device according to claim 2, characterized in that: The vertical base servo motor is used to drive the sensor integrated control box to rotate around the horizontal axis.

5. The dual-pan-tilt laser scanning device according to claim 1, characterized in that: The guide rail module includes a slider base and a horizontal guide rail.

6. The dual-pan-tilt laser scanning device according to claim 5, characterized in that: The control box fixed base is installed on the slider base, and the slider base is installed on the horizontal guide rail.

7. The dual-pan-tilt laser scanning device according to claim 5, characterized in that: The slider base includes a slide rail servo motor.

8. The dual-pan-tilt laser scanning device according to claim 7, characterized in that: The horizontal guide rail includes a rack.

9. The dual-pan-tilt laser scanning device according to claim 8, characterized in that: The end of the slide rail servo motor is provided with a gear which meshes with the rack; the slide rail servo motor drives the gear to rotate on the rack so that the slider base moves horizontally on the horizontal guide rail.

10. The dual-pan-tilt laser scanning device according to claim 1, characterized in that: The sensor integrated control box includes a control unit, and the control unit is connected to the laser radar via a cable.

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