Handheld scanning equipment for surveying and mapping underground limited space

Abstract

The utility model discloses a handheld scanning device for underground limited space surveying and mapping, which comprises a host part and a rotating device, the rotating device rotates along the host part, and a laser radar and a high-definition camera are mounted through the rotating device; according to the utility model, a novel structure is designed, so that a special scanning device is designed under the condition that the device is limited by practical conditions of a narrow and limited space and is integrated with various sensors, and the design requirements of miniaturization and light weight of the device are met. Compared with a traditional equipment structure, the equipment is additionally provided with a laser ranging module. Besides, as the vertical visual angle of the laser radar is fixed, a rotary holder is selected, the scanning characteristics of horizontal 360-degree scanning and vertical fixed visual angle of the laser radar are combined, and the operation movement that a user holds a telescopic rod to extend equipment into the environment is matched, the complete scanning of data in the well chamber is realized.

Description

Technical Field

[0001] This utility model relates to a handheld scanning device for surveying underground confined spaces. Background Technology

[0002] For the acquisition of 3D point cloud data in confined underground spaces, while ensuring the acquisition of millimeter-level spatial dimensional accuracy to achieve high-precision digital modeling of urban underground spaces, current methods rely on manual measurement, which is time-consuming and labor-intensive. Some spaces are inaccessible to personnel, and the completeness and accuracy of the acquired data cannot be guaranteed. Using general high-precision fixed-station equipment, employing multi-marker scanning and mapping, and stitching together multiple sets of data, while meeting accuracy requirements, places high demands on the terrain and space of the installation environment. Generally, the space must be designed to allow personnel to carry the equipment through, and the equipment is typically large and heavy, making it difficult to deploy in relatively complex and confined underground spaces, especially in areas like underground wells and narrow pipe corridors where personnel have difficulty accessing them, further compromising the integrity of the acquired data. Furthermore, handheld LiDAR scanners are widely used in the market. These devices have relatively relaxed environmental requirements, but their accuracy is slightly lower. The ranging accuracy achieved by radar alone is generally at the centimeter level, and relying solely on radar point cloud mapping cannot guarantee the acquisition of high-precision millimeter-level spatial dimensional data, thus failing to adequately meet the needs of high-precision modeling. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a handheld scanning device for mapping underground confined spaces.

[0004] To solve the above problems, the present invention adopts the following technical solution:

[0005] A handheld scanning device for mapping underground confined spaces includes a main unit and a rotating device that rotates along the main unit. A lidar and a high-definition camera are mounted on the rotating device.

[0006] Preferably, the high-definition camera is a fisheye camera.

[0007] Preferably, the main unit includes a main frame with a mounting hole at the front end of the main frame, in which the rotating device rotates. A motor bracket is fixedly installed inside the main frame. An upper cover plate is detachably installed on the top of the main frame, and a lower cover plate is detachably installed on the bottom of the main frame. A rear cover plate is detachably installed on the end of the main frame away from the mounting hole. A connection hole for mounting a handle is machined on the top of the upper cover plate. A controller and an expansion board are also installed through the main frame.

[0008] Preferably, the rotating device includes a gimbal motor and a rotating base rotatably mounted by the gimbal motor. A comprehensive mounting base is provided at the bottom of the rotating base. The lidar is mounted on the top of the rotating base. The high-definition camera is fixedly mounted by the comprehensive mounting base. A conductive slip ring is installed at the axis of the gimbal motor, and the high-definition camera and the lidar are electrically connected through the conductive slip ring.

[0009] Preferably, the high-definition camera is tilted at an angle of 30 to 60°.

[0010] Preferably, a fill light plate is installed via the integrated mounting base, the high-definition camera is located at the front of the fill light plate, a through groove is provided at the middle position of the fill light plate, and the high-definition camera 4 is located at the through groove.

[0011] Preferably, a laser ranging module is also installed via the integrated mounting base, and the laser ranging module is installed horizontally.

[0012] Preferably, distance measuring mounting holes are provided on both sides of the main frame near the front position, and a fastener is installed inside the main frame. A first distance measuring module is installed through the fastener, and the first distance measuring module corresponds to the distance measuring mounting hole.

[0013] Both the ranging module and the first ranging module are laser ranging modules.

[0014] The beneficial effects of this utility model are:

[0015] Based on the portability of handheld devices and considering the acquisition of millimeter-level precision dimensional data, and taking into account various types of sensors, the device integrates sensors such as lidar, cameras, and ranging modules. 3D mapping is achieved using lidar point cloud data, and millimeter-level precision dimensional data acquired by a point-to-point high-precision lidar ranging module is used to calibrate and correct the 3D data acquired from lidar. This allows for the acquisition of rich data from within the well chamber using multi-sensor data, supporting high-precision modeling.

[0016] This invention features a novel structure designed to address the limitations of confined spaces while integrating numerous sensors, resulting in a dedicated scanning device that meets the requirements of miniaturization and lightweight design. Compared to traditional devices, this design incorporates a laser ranging module. To ensure the integrity of ranging parameters, openings are designed into the handheld scanner on the vertical and lateral sides, adding precise dimension ranging functionality to the mapping capabilities of a standard handheld scanner. Furthermore, given the fixed vertical viewing angle of the laser radar, scanning narrow, elongated pipe spaces such as underground wells is challenging due to the difficulty in achieving comprehensive scanning, leading to data loss in certain areas. To ensure the integrity of the collected data, a rotating pan-tilt head is used, combining the 360° horizontal scanning capability of the laser radar with its fixed vertical viewing angle. This, along with a user-operated telescopic pole for extending and moving the device inside the well chamber, enables complete scanning of the interior data. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a 3D view of the main unit.

[0020] Figure 3 This is an installation diagram of the main unit;

[0021] Figure 4 A three-dimensional view of the rotating device;

[0022] Figure 5 This is an exploded view of the structure of this device. Detailed Implementation

[0023] All features disclosed in this specification, or all steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps.

[0024] Any feature disclosed in this specification (including any appended claims, abstract, and drawings) may be replaced by other equivalent or similar features for a similar purpose, unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is merely one example of a series of equivalent or similar features.

[0025] SeeFigure 1 The handheld scanning device shown is used for mapping underground confined spaces. It includes a main unit 1 and a rotating device 2. The rotating device 2 rotates along the main unit 1. A lidar 3 and a high-definition camera 4 are mounted on the rotating device 2.

[0026] The high-definition camera 4 is a fisheye camera.

[0027] See Figure 2 , Figure 3 and Figure 5 As shown, the main unit 1 includes a main frame 101. A mounting hole 102 is provided at the front end of the main frame 101, within which the rotating device 2 rotates. A motor bracket 103 is fixedly installed within the main frame 101. An upper cover plate 104 is detachably installed on the top of the main frame 101, and a lower cover plate 105 is detachably installed on the bottom of the main frame 101. A rear cover plate 106 is detachably installed at the end of the main frame 101 away from the mounting hole 102. A connection hole 107 for mounting a handle is machined on the top of the upper cover plate 104. A controller and an expansion board are also mounted through the main frame 101.

[0028] Because the upper and lower covers have different functions, their structures and dimensions are not exactly the same. The upper cover is a closed device that supports handheld handle connection, while the lower cover, in addition to closing the device, also serves as a cover for opening and removing the battery, making it convenient for users to perform wireless remote non-contact operations in outdoor scenarios and underground spaces where it is inconvenient to use wired power supply.

[0029] See Figure 2 , Figure 4 and Figure 5 As shown, the rotating device 2 includes a gimbal motor 201 and a rotating base 202 rotatably mounted via the gimbal motor 201. A comprehensive mounting base 203 is provided at the bottom of the rotating base 202. The lidar 3 is mounted on the top of the rotating base 202. The high-definition camera 4 is fixedly mounted via the comprehensive mounting base 203. A conductive slip ring 221 is installed at the axis of the gimbal motor 201, and the conductive slip ring 221 is electrically connected to the high-definition camera 4 and the lidar 3.

[0030] The gimbal motor is fixedly connected to the main unit via a motor bracket on the main frame. The center of the gimbal motor has a through hole into which a conductive slip ring can be installed. One end of the conductive slip ring is connected to the power supply and data lines of sensors such as the lidar and ranging module, while the other end passes through the center of the gimbal motor and enters the main unit to connect to the interfaces of the controller and expansion board, thus enabling power supply and data transmission while rotating. The rotating acquisition part of the device uses the fixed mounting base and mounting holes of the gimbal motor to achieve a rigid connection with the main unit frame, and the conductive slip ring ensures a reliable electrical connection during continuous 360° rotation.

[0031] See Figure 4 As shown, a laser ranging module 6 is also installed via the integrated mounting base 203, and the laser ranging module 6 is installed horizontally.

[0032] See Figure 4 As shown, the high-definition camera 4 is tilted at an angle of 45°.

[0033] Regarding the inclined design for mounting the high-definition camera, since the fisheye camera itself has a relatively fixed field of view of approximately 240°, there may be missed scans when it is used with a telescopic rod to enter the well chamber pipe to collect data. Considering the introduction of the gimbal motor, the camera is fixedly mounted on the rotating end to achieve field of view compensation. However, at the same time, the laser ranging module for measuring depth requires vertical installation. Side and vertical mounting lenses are difficult to meet the requirements, and the reflected laser beam may directly damage the camera. Therefore, the inclined design ensures complete coverage of the well chamber sidewall and bottom while avoiding direct laser beam on the lens.

[0034] See Figure 4 and Figure 5 As shown, a fill light plate 5 is installed through the integrated mounting base 203, and the high-definition camera 4 is located at the front of the fill light plate 5. A through groove 51 is provided at the middle position of the fill light plate 5, and the high-definition camera 4 is located at the through groove 51.

[0035] For the other parts installed on the extended plane of the rotating base, to ensure the balanced deployment of the rotating acquisition head devices, they are deployed on the upper and lower surfaces of the extended plane of the rotating base. The larger and heavier lidar is fixed on the upper surface. For the fixing of other various sensors, a special integrated mounting base is designed to fix all kinds of sensors inside it. Then, the mounting base is installed as a whole on the lower surface of the extended plane of the rotating base to balance the upper surface.

[0036] See Figure 2 and Figure 5As shown, distance measuring mounting holes 133 are provided on both sides of the main frame 101 near the front position. Fixing members 134 are installed inside the main frame 101. A first distance measuring module 136 is installed through the fixing members 134. The first distance measuring module 136 corresponds to the distance measuring mounting holes 133.

[0037] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0038] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0039] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A handheld scanning device for mapping underground confined spaces, characterized in that: It includes a main unit (1) and a rotating device (2), which rotates along the main unit (1). A lidar (3) and a high-definition camera (4) are mounted on the rotating device (2).

2. The handheld scanning device for mapping underground confined spaces according to claim 1, characterized in that: The high-definition camera (4) is a fisheye camera.

3. The handheld scanning device for mapping underground confined spaces according to claim 1, characterized in that: The main unit (1) includes a main frame (101), with a mounting hole (102) at the front end of the main frame (101). The rotating device (2) rotates within the mounting hole (102). A motor bracket (103) is fixedly installed within the main frame (101). An upper cover plate (104) is detachably installed on the top of the main frame (101). A lower cover plate (105) is detachably installed on the bottom of the main frame (101). A rear cover plate (106) is detachably installed on the end of the main frame (101) away from the mounting hole (102). A connection hole (107) for installing a handle is machined on the top of the upper cover plate (104).

4. The handheld scanning device for mapping underground confined spaces according to claim 3, characterized in that: The rotating device (2) includes a gimbal motor (201) and a rotating base (202) rotatably mounted by the gimbal motor (201). A comprehensive mounting base (203) is provided at the bottom of the rotating base (202). The lidar (3) is mounted on the top of the rotating base (202). The high-definition camera (4) is fixedly mounted by the comprehensive mounting base (203). A conductive slip ring (221) is installed at the axis of the gimbal motor (201). The conductive slip ring (221) is electrically connected to the high-definition camera (4) and the lidar (3).

5. The handheld scanning device for mapping underground confined spaces according to claim 4, characterized in that: The high-definition camera (4) is tilted at an angle of 30 to 60 degrees.

6. The handheld scanning device for mapping underground confined spaces according to claim 4, characterized in that: A fill light plate (5) is installed through the integrated mounting base (203). The high-definition camera (4) is located at the front of the fill light plate (5). A through groove (51) is provided at the middle position of the fill light plate (5), and the high-definition camera (4) is located at the through groove (51).

7. The handheld scanning device for mapping underground confined spaces according to claim 6, characterized in that: A laser ranging module (6) is also installed via the integrated mounting base (203), and the laser ranging module (6) is installed horizontally.

8. The handheld scanning device for mapping underground confined spaces according to claim 3, characterized in that: Distance measuring mounting holes (133) are provided on both sides of the main frame (101) near the front position. Fixing members (134) are installed inside the main frame (101). A first distance measuring module (136) is installed through the fixing members (134). The first distance measuring module (136) corresponds to the distance measuring mounting holes (133).

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