Handheld three-dimensional space distance measuring equipment

Abstract

The utility model relates to the technical field of laser measuring equipment, and particularly discloses handheld three-dimensional space distance measuring equipment which comprises a shell, a laser distance measuring module, an inertial navigation module, a communication module and a storage module which are electrically connected with a controller are installed in the shell, and a battery and a cooling fan are further installed in the shell; the input end of the controller is electrically connected with the laser ranging module, the inertial navigation module and the binocular camera, the output end of the controller is electrically connected with the storage module and the communication module, and after the controller receives an external instruction, distance information, space positioning information and three-dimensional information stored in the storage module are sent outwards through the communication module. According to the scheme, the problems that in existing three-dimensional space measurement work, when different types of data need to be collected, a total station, a laser scanner and other monitoring devices are inconvenient to carry, and when small devices are adopted, the devices need to be sequentially used for collecting the data, and then the data of the devices are exported, so that time cost is high can be solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to laser measuring equipment technical field, concretely relates to a hand -held three -dimensional space ranging equipment. BACKGROUND

[0002] Laser range finder, it is the instrument that utilizes modulated laser's certain parameter to realize the distance measurement of target. According to ranging method, it is divided into phase method range finder and pulse method range finder, and pulse laser range finder is in work when it emits a beam or a sequence of short-lived pulse laser beam to target, and the laser beam that is reflected by photoelectric element target is received, and the time that laser beam is from emission to reception is measured by timer, and the distance from observer to target is calculated. Phase method laser range finder is to utilize the phase difference that occurs when detecting emission light and reflected light propagates in space to detect distance.

[0003] Visual SLAM, also called VSLAM, refers to the real-time positioning and map construction technology for mapping and positioning by using visual sensor. The commonly used visual sensor is camera, of course, there are many classifications of camera, such as monocular camera, binocular camera, depth camera and the like. This kind of camera is collectively referred to as visual sensor. After obtaining sensor data, a preprocessing process is carried out, and then the front end carries out feature extraction and feature tracking on sensor data to obtain a mileage estimation information, and the calculation of three-dimensional space displacement is realized.

[0004] At present, in three-dimensional space measurement work, laser range finder is generally used for manual measurement, in order to make up for the limitation that laser range finder can only obtain one type of data, total station, laser scanner and other equipment are used. But the hardware cost of total station is high, and the equipment is inconvenient to carry. Laser scanner has data redundancy and low subsequent data efficiency. If you want to collect different types of data, you need to use multiple devices that can collect single data type, such as laser range finder, gyroscope, binocular camera, etc. After collecting single data by using the equipment in turn, the data in different devices is exported, and the alignment and correction of different types of data are carried out on the computer software. The time cost is high, the operation is complex, and a kind of monitoring equipment integrated with multiple functions, convenient to carry and low in cost is urgently needed to solve these problems. UTILITY MODEL CONTENTS

[0005] The utility model provides a hand -held three -dimensional space ranging equipment to solve the problem of high time cost caused by the inconvenience of carrying monitoring equipment such as total station and laser scanner when collecting different types of data in the existing three-dimensional space measurement work, and the need to use each device to collect data in turn and export the data of each device when using small equipment.

[0006] The utility model discloses a handheld three -dimensional space ranging equipment, its characterized in that: including shell, install respectively electric connection controller's laser ranging module, inertial navigation module, communication module, storage module in the shell, still install the battery for each module power supply in the shell, the heat dissipation fan for each module heat dissipation, ranging direction of laser ranging module points to the whole equipment's positive front, and laser ranging module places horizontally, and the pitch angle and the roll angle are 0, the Y axle direction that inertial navigation module defines points to the whole equipment's positive front, and the pitch angle and the roll angle are 0, the controller is installed in the rear in the device shell, and the heat dissipation fan is installed in the one side of the computing board block close to the rear of the device, and the communication module is installed below binocular camera,

[0007] Laser ranging module is used for obtaining the distance information of the measured target to the device, the inertial navigation module is used for obtaining the spatial positioning information of the device, the spatial positioning information includes the three-axis acceleration and angle information of the device, and a binocular camera is further installed on the top of the shell.

[0008] The input end of the controller is electrically connected with the laser ranging module, the inertial navigation module and the binocular camera, and the output end of the controller is electrically connected with the storage module and the communication module.

[0009] The basic principle of the scheme is that the controller stores the distance information, the spatial positioning information and the three-dimensional information obtained by the binocular camera, the laser ranging module and the inertial navigation module, and can obtain the three types of data simultaneously within a collection time. When the collection is completed, the three types of data are transmitted to the outside through the communication module, and the acquisition of the three types of data can be completed through one collection and one transmission.

[0010] The beneficial effects of the scheme are that the existing ranging work has obstacles between the measured objects, which makes it impossible to directly measure the distance between them, and multiple measurements are required. In this process, the workers need to move the total station and the laser scanner and other equipment back and forth, which not only causes measurement errors, but also is inconvenient to move and has high labor intensity. The use of small single collection equipment can only collect a single type of data at a time, and then import it into the external computer software, which is time-consuming and complex. The combination of the handheld laser range finder, the inertial navigation module and the binocular camera in the scheme realizes the replacement of the bracket + laser range finder measurement mode, and the target location can be collected once to obtain three types of data at the same time. After the collection is completed, the data can be exported once, which reduces the hardware cost of the measurement work and improves the portability and terrain adaptability of the equipment.

[0011] Further, the side of the shell is provided with a push type power switch, which is connected with the battery.

[0012] Further, the shell is in the shape of "7" for easy holding, and a trigger is installed on the front side of the shell to control the opening of the laser ranging module.

[0013] Further, the inertial navigation module is horizontally placed, and the central axis of the inertial navigation module chip and the laser emitting point of the laser ranging module are on the same vertical axis; the midpoint of the line connecting the centers of the two lenses of the binocular camera and the laser emitting point are on the same vertical axis, or the line connecting the centers of the two lenses of the binocular camera passes through the vertical plane where the laser emitting path is located. Through the position layout of the three devices, the relative position relationship of the three devices is arranged in the same coordinate system, which is convenient for data integration and analysis in subsequent data analysis.

[0014] Further, the controller includes a power supply interface for connecting with the battery, a heat dissipation fan interface for connecting with the heat dissipation fan, a TF card slot for connecting with the external memory card, a binocular camera interface for connecting with the binocular camera, a laser ranging module interface for connecting with the laser ranging module, an inertial navigation module interface for connecting with the inertial navigation module, a Bluetooth communication module interface for connecting with the Bluetooth barrel type module, and a trigger switch interface for connecting with the trigger.

[0015] Further, the controller adopts a Raspberry Pi CM4 processor module.

[0016] Further, the battery is detachably connected to the lower end of the shell, the lower end of the shell is a handle part, the handle part is provided with a battery connecting groove, the battery connecting groove includes three battery grooves with openings upward, and the battery is vertically installed in the battery groove. It is convenient to replace the battery.

[0017] Further, the inertial navigation module includes a gyroscope and an acceleration sensor. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic view of an embodiment of the present application;

[0019] Figure 2 is an exploded schematic view of an embodiment of the present application. DETAILED DESCRIPTION

[0020] The following will be further described in detail through specific embodiments:

[0021] The reference signs in the drawings of the specification include: a shell 01, a laser ranging module 1, a binocular camera 2, an inertial navigation module 3, a power switch 4, a trigger 5, a controller 6, a heat dissipation fan 7, a communication module 8, and a battery 9.

[0022] The embodiment is basically as shown in the accompanying Figure 1 to the accompanying Figure 2 drawings:

[0023] A handheld three-dimensional space ranging device includes a shell 01, and the shell 01 is internally provided with a controller 6, a laser ranging module 1, an inertial navigation module 3, a heat dissipation fan 7, a communication module 8, and a battery 9.

[0024] The shell 01 is a handheld shell in the shape of a "7", and the lower end of the shell 01 is a handheld part, so that a worker can hold the entire device with one hand. The battery 9 is built into the internal cavity of the handheld part, and the battery 9 is vertically installed in a detachable battery 9 slot, and the battery 9 slot is clamped with the handheld part.

[0025] A trigger 5 for finger pressing is installed on the front side of the handheld part, and the trigger 5 is used to control the opening and closing of the laser ranging module 1.

[0026] A power switch 4 is installed on the upper side wall of the shell, and the power switch 4 is used to control the power supply of the entire device.

[0027] Specifically, the laser ranging module 1 is a laser range finder; specifically, the inertial navigation module 3 includes a gyroscope and an acceleration sensor; specifically, the binocular camera 2 is an Intel RealSense T265; and specifically, the communication module 8 is a Bluetooth communication module. During installation, the laser ranging module is horizontally installed, the inertial navigation module is horizontally installed, the pitch angle and the roll angle of the two are both 0, the Y-axis direction defined by the inertial navigation module points to the front of the entire device, and the central axis of the inertial navigation module chip and the laser emitting point of the laser ranging module are on the same vertical axis. The midpoint of the line connecting the centers of the two lenses of the binocular camera is on the same vertical axis as the laser emitting point, or the line connecting the centers of the two lenses of the binocular camera passes through the vertical plane where the laser emitting path is located. Thus, the binocular camera, the laser range finder, and the inertial navigation module are guaranteed to be in the same vertical coordinate system

[0028] The controller 6 is fixed vertically installed at the rear of the upper end of the shell, and the controller is installed on the computing board and is provided with a power supply interface, a heat dissipation fan interface, a TF card slot, a binocular camera interface, a laser range finder interface, an inertial navigation module interface, a Bluetooth communication module interface, and a trigger switch interface. The controller 6 is used for connecting and controlling various modules, wherein the power supply interface is used for connecting the battery 9, the heat dissipation fan 7 interface is used for connecting the heat dissipation fan 7, the TF card slot is used for plugging and unplugging the storage card of the external device, the binocular camera interface is used for connecting the binocular camera 2 and transmitting signals, the laser range finder interface is used for connecting the laser ranging module 1 and receiving and transmitting signals, the inertial navigation module interface is used for connecting the inertial navigation module 3 and receiving and transmitting signals, the Bluetooth communication module interface is used for signal transmission, and the trigger switch interface is used for connecting the trigger, and the working of the laser ranging module is indicated according to the action of the trigger.

[0029] The specific implementation process is as follows: the device in the embodiment adopts a three-dimensional space distance measurement control method to obtain the distance between two measurement points, including the following steps:

[0030] S1, the device is started through the interactive power switch 4 button, and the controller 6 is powered on to other modules, the binocular camera 2 and the inertial navigation module 3 automatically start transmitting data to the software on the external computer through the communication module after being powered on;

[0031] S2, after the laser ranging module 1 is powered on, the user aims the laser at the first measurement point, pulls the trigger, and sends an instruction to the controller 6 to turn on the laser;

[0032] S3, the laser ranging module 1 measures the distance from the device to the point to obtain the distance information of the first measurement point, and obtains the angle data of the device at this time from the inertial navigation module 3; taking the position of the device at the first measurement as the origin, the software converts the first measurement point coordinates into the world coordinate system. At the same time, the software starts collecting the data of the binocular camera 2 and the inertial navigation module 3;

[0033] S4, the user needs to aim the device at the second measurement point to be measured, and move the device to the second measurement point. In this process, the software uses the visual SLAM technology to fuse the data output by the binocular camera 2 and the inertial navigation module 3, calculates the displacement of the device in the world coordinate system according to the three-axis acceleration information of the device in the moving process;

[0034] S5, the user aims the laser at the second measurement point, pulls the trigger, and the laser ranging module 1 measures the distance from the device to the second measurement point to obtain the distance information, and obtains the angle information of the device at this time from the inertial navigation module 3, and converts the second measurement point into the world coordinate system;

[0035] S6, the software calculates the distance between the two points in space according to the coordinates of the first and second points and the displacement of the device, copies and stores the calculation result and sends it to the display end;

[0036] S7, on the basis of the known previous measurement point, when the device is moved to the next measurement point by the staff, the controller 6 obtains the data through the laser ranging module 1, the inertial navigation module 3 and the binocular camera 2, and sends the above-mentioned data to the software on the external computer through the communication module, automatically calculates the position of the next measurement point in the world coordinate system and the distance between the next measurement point and the previous point through the software, and digitizes the distance information, spatial positioning information and three-dimensional information of the plurality of points collected in the embodiment through the software, thereby obtaining the digital model after three-dimensional scanning.

[0037] The above is only an embodiment of the present application, and the well-known specific structure and characteristics in the scheme are not described in detail. It should be pointed out that for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.

Claims

1. A hand-held three-dimensional space ranging device, characterized by: The shell is internally provided with a laser ranging module, an inertial navigation module, a communication module and a storage module which are electrically connected with a controller, and is also internally provided with a battery for supplying power to the modules and a cooling fan for dissipating heat of the modules; the ranging direction of the laser ranging module is directed to the front of the whole device, and the laser ranging module is horizontally placed with a pitch angle and a roll angle of 0; the Y-axis direction defined by the inertial navigation module is directed to the front of the whole device with a pitch angle and a roll angle of 0; the controller is installed at the rear in the shell, and the cooling fan is installed on one side of the computing board close to the rear of the device; the communication module is installed below the binocular camera; The laser ranging module is used to acquire distance information of a measured target to the device, the inertial navigation module is used to acquire spatial positioning information of the device, the spatial positioning information includes three-axis acceleration and angle information of the device, and the shell is also provided with a binocular camera at the top for acquiring three-dimensional information of the measured target. The input end of the controller is electrically connected with the laser ranging module, the inertial navigation module and the binocular camera, and the output end of the controller is electrically connected with the storage module and the communication module; after receiving an external instruction, the controller sends the distance information, the spatial positioning information and the three-dimensional information stored in the storage module to the outside through the communication module.

2. A hand-held three-dimensional space distance measuring apparatus according to claim 1, characterized in that: The side of the shell is provided with a push-type power switch which is connected with the battery.

3. A hand-held three-dimensional space distance measuring apparatus according to claim 2, wherein: The shell is in a "7" shape which is convenient for hand holding, a trigger is installed on the front side of the shell for controlling the opening of the laser ranging module.

4. A hand-held three-dimensional space distance measuring apparatus according to claim 3, wherein: The inertial navigation module is horizontally placed, and the central axis of the inertial navigation module chip and the laser emitting point of the laser ranging module are on the same vertical axis; the midpoint of the connecting line of the centers of the two lenses of the binocular camera and the laser emitting point are on the same vertical axis, or the connecting line of the centers of the two lenses passes through the vertical plane where the laser emitting path is located.

5. A hand-held three-dimensional space distance measuring apparatus according to claim 4, wherein: The controller includes a power supply interface for connecting with the battery, a cooling fan interface for connecting with the cooling fan, a TF card slot for connecting with an external memory card, a binocular camera interface for connecting with the binocular camera, a laser ranging module interface for connecting with the laser ranging module, an inertial navigation module interface for connecting with the inertial navigation module, a Bluetooth communication module interface for connecting with a Bluetooth cylinder module, and a trigger switch interface for connecting with the trigger.

6. A hand-held three-dimensional space distance measuring apparatus according to claim 5, wherein: The controller adopts a Raspberry Pi CM4 processor module.

7. A hand-held three-dimensional space distance measuring apparatus according to claim 6, characterized in that: The battery is detachably connected to the lower end of the shell, the lower end of the shell is a handle part, the handle part is provided with a battery connecting groove, the battery connecting groove includes three battery grooves with openings upward, and the battery is vertically installed in the battery grooves.

8. A hand-held three-dimensional space distance measuring apparatus according to claim 7, characterized in that: The inertial navigation module includes a gyroscope and an acceleration sensor.

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