Handheld laser radar scanning mapping device

Abstract

The utility model discloses a handheld laser radar scanning mapping device. The scanning and mapping device comprises a handheld handle, a shell, a battery pack, a main control board and a laser radar, the shell is connected to the handheld handle, the battery pack and the main control board are installed in the shell, the laser radar is installed outside the shell, the battery pack and the laser radar are electrically connected to the main control board, and the main control board is electrically connected to the shell. The laser radar is used for scanning terrain to obtain surveying and mapping information and transmitting the surveying and mapping information to the main control board. The main control board is used for analyzing the surveying and mapping information to form mapping information and transmitting the mapping information to an external terminal or a server. According to the utility model, the hardware design is optimized, an expensive Linux system master control is abandoned, and a more economical and efficient solution is adopted, so that the overall cost of equipment is obviously reduced; in addition, the device is compact in design, the handheld grip and the shell are ingeniously combined, it is ensured that a user can carry and operate the device easily, a complex installation or configuration process is not needed, the user can operate the device quickly, and plug and play is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to laser radar scanning mapping technical field especially relates to a hand -held laser radar scanning mapping device. BACKGROUND

[0002] In the field of intelligent surveying and mapping, how to quickly and simply realize real-time positioning and mapping through laser radar technology has always been the core challenge to improve the efficiency and accuracy of surveying and mapping. Laser radar technology can accurately measure the distance and position information of target objects by emitting laser and receiving the reflected signal, providing strong support for digital modeling of spatial environment.

[0003] With the rapid development of artificial intelligence and sensor technology, portable handheld laser radar equipment has gradually become the research focus in the field of surveying and mapping due to its high flexibility, strong adaptability and other characteristics. Such equipment not only requires high precision, real-time positioning and mapping capability, but also needs to consider portability, ease of use and cost effectiveness to meet the needs of various application scenarios.

[0004] Currently, to realize the synchronous positioning and mapping function of intelligent surveying and mapping equipment, it generally relies on complex hardware architecture, mainly including:

[0005] Expensive Linux system host: Linux system host is widely used in high-end intelligent surveying and mapping equipment due to its powerful multitasking ability, rich development resources and good stability. However, this configuration not only increases the cost of the equipment, but also puts forward higher requirements for the technical level of users, limiting the popularization range of the equipment.

[0006] Multi-sensor fusion technology: In order to improve the positioning accuracy and mapping quality, existing intelligent surveying and mapping equipment usually needs to integrate various sensors including inertial measurement unit (IMU), global positioning system, camera, etc., and perform data fusion through complex algorithms. Although this method significantly improves the overall performance of the system, it also brings additional hardware cost, energy consumption and data processing burden, making the equipment bulky and inconvenient to carry.

[0007] Real-time and stability problems: Without the configuration of Linux system host and multi-sensor fusion, intelligent surveying and mapping equipment often has difficulty in ensuring the accuracy and stability of real-time positioning and mapping. Without the support of high-level operating system and the complement of multi-sensor data, the equipment is prone to positioning deviation, incomplete mapping or delay when facing complex environment or dynamic change scene, which seriously affects the efficiency and quality of surveying and mapping work.

[0008] In summary, the existing intelligent surveying and mapping equipment faces challenges such as high cost, inconvenience to carry, high technical threshold and the like while pursuing high precision and real-time performance. Therefore, developing a portable handheld laser radar system which can guarantee real-time positioning and mapping performance and has low cost, high portability and easy operation becomes a key problem to be solved in the field of intelligent surveying and mapping. Practical new type content

[0009] The hand-held laser radar scanning mapping device aims at overcoming the shortcomings of the prior art.

[0010] In order to solve the above technical problems, the utility model adopts the following technical scheme:

[0011] The utility model discloses a hand-held laser radar scanning mapping device, which comprises a hand-held handle, a shell, a battery pack, a main control board and a laser radar, the shell is connected to the hand-held handle, the battery pack and the main control board are installed in the inside of the shell, the laser radar is installed in the outside of the shell, the battery pack and the laser radar are electrically connected to the main control board, the laser radar is used for scanning the terrain to obtain surveying and mapping information and is transmitted to the main control board, and the main control board is used for analyzing the surveying and mapping information to form mapping information and is transmitted to an external terminal or a server.

[0012] In a specific embodiment, the shell is further connected with a support, and the support is used for installing the external terminal.

[0013] In a specific embodiment, the shell is further connected with an OLED screen, and the OLED screen is electrically connected to the main control board.

[0014] In a specific embodiment, a button switch is arranged on the hand-held handle, and the button switch is electrically connected to the main control board.

[0015] In a specific embodiment, the shell is further connected with an adapter plate, and the laser radar is fixed to the adapter plate.

[0016] In a specific embodiment, a patch antenna is further connected to the adapter plate, and the patch antenna is electrically connected to the main control board.

[0017] In a specific embodiment, the main control board is further integrated with a driving LED lamp, a buzzer and an IMU gyroscope.

[0018] In a specific embodiment, the laser radar is a Tmini Plus laser radar, an MS200-TOF laser radar, a Silan C1M1 laser radar, a YDLIDAR 4ROS laser radar or a YDLIDAR X3Pro laser radar.

[0019] In one embodiment, the battery is secured to the interior of the housing by a magic tape.

[0020] In one embodiment, the main control board is secured to the interior of the housing by a copper column.

[0021] The handheld laser radar scanning mapping device of the utility model has the beneficial effects that compared with the prior art: the terrain is scanned by the laser radar to obtain surveying and mapping information and transmit to the main control board, the main control board analyzes the surveying and mapping information to form mapping information and transmit to an external terminal or a server, that is, by optimizing the hardware design, the expensive Linux system main control is abandoned, and a more economical and efficient solution is adopted, the overall cost of the equipment is significantly reduced, and meanwhile, the high-performance real-time ranging, mapping and positioning functions are maintained, the cost-effectiveness is improved, and this has important significance for promoting the wide application of the laser radar technology in the surveying and mapping field; in addition, the device is compact in design, the handheld handle is combined with the shell skillfully, the user can easily carry and operate, a complex installation or configuration process is not needed, the user can quickly start, and plug and play is realized.

[0022] The utility model will be further described below in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without the creative labor of the ordinary skilled in the art.

[0024] Figure 1 The structure schematic diagram of the handheld laser radar scanning mapping device provided by the utility model is equipped with Tmini-Plus laser radar;

[0025] Figure 2 The exploded schematic diagram of the handheld laser radar scanning mapping device provided by the utility model is equipped with Tmini-Plus laser radar;

[0026] Figure 3 The bottom drive frame diagram of the handheld laser radar scanning mapping device provided by the utility model;

[0027] Figure 4 The handheld laser radar scanning mapping device provided by the utility model and the ROS2 system communication framework diagram;

[0028] Figure 5 The intercommunication framework link diagram between the handheld laser radar scanning mapping devices provided by the utility model;

[0029] Figure 6 The application system block diagram of the handheld laser radar scanning mapping device is provided;

[0030] Figure 7 The structural schematic diagram of the handheld laser radar scanning mapping device provided by the utility model is equipped with MS200-TOF laser radar;

[0031] Figure 8 The structural schematic diagram of the handheld laser radar scanning mapping device provided by the utility model is equipped with SLAN C1M1 laser radar;

[0032] Figure 9 The structural schematic diagram of the handheld laser radar scanning mapping device provided by the utility model is equipped with YDLIDAR 4ROS laser radar;

[0033] Figure 10 The structural schematic diagram of the handheld laser radar scanning mapping device provided by the utility model is equipped with YDLIDAR X3Pro laser radar. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the utility model clearer and more apparent, the utility model will be further described in detail below in combination with the drawings and specific embodiments.

[0035] The technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0036] In the description of the utility model, it is understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0041] See Figures 1 to 10The utility model discloses a handheld laser radar scanning mapping device, including: handheld handle 10, casing 20, battery pack 30, main control board 40 and laser radar 50, casing 20 is connected in handheld handle 10, battery pack 30 and main control board 40 are installed in the inside of casing 20, laser radar 50 is installed in the outside of casing 20, battery pack 30 and laser radar 50 are electrically connected in main control board 40, laser radar 50 is used to scan topography to obtain surveying and mapping information and is transmitted to main control board 40, main control board 40 is used to resolve surveying and mapping information to form mapping information and is transmitted to external terminal or server.

[0042] Specifically, by laser radar 50 scanning topography to obtain surveying and mapping information and is transmitted to main control board 40, main control board 40 resolves surveying and mapping information to form mapping information and is transmitted to external terminal or server, namely by optimizing hardware design, discard the expensive Linux system main control, instead adopts more economic and efficient solution, significantly reduces the overall cost of equipment, and keeps high performance real-time ranging, mapping and positioning function, and this cost benefit improves, and it is important to promote laser radar 50 technology in the wide application of surveying and mapping field. In addition, the compact design of the device, the ingenious combination of handheld handle 10 and casing 20 ensures that users can easily carry and operate without complex installation or configuration process, and users can quickly get started and achieve plug and play. In addition, by supporting the combination of external terminal to view radar scanning mapping progress and position information in real time, the user's experience is further improved, making the surveying and mapping operation more intuitive and convenient. In addition, although not dependent on Linux system main control, the device still has the ability of WiFi wireless connection communication with Linux system, which provides more selection space for users, whether professional users using Linux system or ordinary users using other operating systems, can easily access and obtain surveying and mapping data, and this cross-platform compatibility enhances the flexibility and applicability of the device.

[0043] Referring to Figure 3 As shown, the main control board 40 is also integrated with a driving LED lamp, a buzzer and an IMU gyroscope, and the casing 20 is also connected with an OLED screen 70, which is electrically connected to the main control board 40.

[0044] Specifically, the main control board 40 adopts an ESP32-S3 single-chip microcomputer chip, uses C language to realize driving of external devices, and controls various module design schemes through I2C protocol, USRT protocol, and GPIO pin, including driving LED lights, a buzzer, an IMU gyroscope, an OLED screen 70, and a laser radar 50. Among them, the main control board 40 integrates the functions of driving LED lights, a buzzer, and an IMU gyroscope. This highly integrated design not only reduces the number of components required by the system, but also simplifies the circuit layout, thereby reducing the complexity and manufacturing cost of the system. At the same time, the integrated design helps to improve the speed of data transmission and processing, so that the entire system is significantly improved in response time and operating efficiency. The OLED screen 70 connected on the shell 20 is electrically connected with the main control board 40, realizing an intuitive information display function. The OLED screen 70 is used to display IMU data, radar model, and radar distance. The OLED screen 70 can display IMU data in real time, which is crucial for application scenarios that require accurate monitoring of device status. In addition, the display screen can also display the radar model and the radar distance, so that users can quickly understand the current device configuration and the surrounding environment status, greatly enhancing the convenience and intuitiveness of user interaction. In addition, through the integrated LED lights and buzzer of the main control board 40, the system can timely issue visual and audible alarms when detecting abnormalities or needing warnings. This multi-modal alarm system can more effectively attract the user's attention, ensuring that the user can quickly respond in emergency situations, thereby improving the overall safety and reliability of the system. The model of the IMU gyroscope is ICM-42670P.

[0045] Referring to Figures 3 to 6As shown, the information interface of the scanning mapping device is sent in the form of a ROS2 node by using microROS. The scanning mapping device is mounted on a Linux system with docker through the proxy mode of docker, and it is only necessary to ensure that the Linux system host is in the same local area network. The data uploaded by the main control board 40 (i.e., the surveying information) is obtained by using the Linux system with ROS2, as long as the scanning mapping device and the Linux system are in the same local area network and the Domain ID (DDS) of ROS2 remains consistent. The scanning mapping device communicates with the node implemented by different hosts with the ROS2 system through the framework of microROS to receive the sensor data of the handheld device, so that each individual ROS2 system can realize its own positioning and mapping. The communication of the scanning mapping device is also the udp wireless communication through the framework of microROS, which realizes multi-device reading data and multi-device viewing mapping effect, and the ROS2 system can also receive the sensor data in the form of nodes. The scanning mapping device performs scanning mapping and positioning in the form of laser odometry + handheld IMU data fusion + gmapping mapping on the Linxu system with ROS2, which can more efficiently, accurately and quickly establish the required image. The communication between the scanning mapping devices is carried out in the form of the node principle of ROS2, as long as the scanning mapping devices are in the same local area network and the Domain ID (DDS) of ROS2 remains consistent. Among them, the radar mapping and real-time positioning information are transmitted wirelessly to the top of the handheld device, and the mapping effect can be viewed on the mobile phone.

[0046] Referring to Figure 1 and Figure 2 As shown in an embodiment, the shell 20 is further connected with a support 60, and the support 60 is used for mounting the external terminal.

[0047] Specifically, the external terminal is a mobile phone or a tablet, etc. The support 60 provides a stable mounting platform for the external terminal, which enables users to easily combine personal handheld devices with the device without additional fixing devices or adapters. This design not only improves the flexibility of the device, but also greatly enhances the portability, making it easy for users to use it anytime and anywhere in different scenarios. In addition, the radar mapping and real-time positioning information are transmitted wirelessly to the mobile phone, which enables users to view the mapping effect and positioning information on the mobile phone in real time without the need for complex cable connections or additional display devices. Wireless transmission not only simplifies the operation process, but also improves the immediacy and accuracy of information acquisition, providing users with a more intuitive and convenient way of viewing information. In addition, by using a mobile phone or tablet as an information display and control interface, users can more intuitively understand the running status of the device and the surrounding environment information. At the same time, using the touch function of the mobile phone or tablet, users can easily make various settings and operations, such as adjusting radar parameters, viewing historical data, etc. This design not only improves the user experience, but also significantly improves the operation efficiency, enabling users to complete tasks more efficiently.

[0048] Referring to Figure 1 and Figure 2 In an embodiment, the handheld grip 10 is provided with a button switch 80, which is electrically connected to the main control board 40.

[0049] Specifically, the button switch 80 is provided on the handheld grip 10, so that users can control the opening or closing of the device through a simple pressing action. This design greatly simplifies the operation process, and users can easily achieve immediate control of the device state without the need for additional control components or complex operation sequences. This convenience not only improves the user experience, but also enables the device to respond quickly in emergency situations, improving overall operation efficiency. In addition, the button switch 80 is directly electrically connected to the main control board 40, ensuring accurate transmission of control signals and stable switching of device status. By precisely controlling the on-off of the circuit, the button switch 80 can effectively prevent abnormal operation of the device caused by misoperation or external interference. This design not only improves the safety of the device, but also ensures its stable operation in various use environments. In addition, the button switch 80 is provided on the handheld grip 10, so that users can easily access and operate while holding the device. This humanized design fully considers the user's usage habits and comfort, making the operation of the device more ergonomic.

[0050] Referring to Figure 1 and Figure 2 In an embodiment, the shell 20 is also connected with an adapter plate 90, and the laser radar 50 is fixed to the adapter plate 90.

[0051] Specifically, by connecting the adapter plate 90 on the shell 20 and fixing the lidar 50 to the adapter plate 90, the design significantly improves the installation flexibility of the lidar 50. As an intermediate connecting piece, the adapter plate 90 allows the installation position, angle and height of the lidar 50 to be adjusted according to actual needs, thereby meeting the measurement requirements in different application scenarios. This design enables the lidar 50 to be more widely applied in various complex environments, improving its adaptability and practicality. In addition, the adapter plate 90 can be applicable to different models of lidar 50.

[0052] Referring to Figure 1 and Figure 2 , in an embodiment, the adapter plate 90 is also connected with a patch antenna 100, and the patch antenna 100 is electrically connected to the main control board 40.

[0053] Specifically, the patch antenna 100 is bonded to the adapter plate 90. The patch antenna 100 is used for data information transmission within the same local area network, so that the mobile phone displays images. As a compact and efficient wireless transmission component, the patch antenna 100 can realize fast and stable data information transmission within the same local area network. This feature ensures that image data can flow between the device and the mobile phone or server, so that users can view and process image information in real time. Efficient data transmission not only improves the response speed of the system, but also ensures the integrity and accuracy of image information. In addition, the ability of the patch antenna 100 to support high-speed data transmission enables images to be displayed in real time on the mobile phone or server with higher resolution and frame rate. This improvement in real-time and clarity provides users with a smoother and more delicate visual experience.

[0054] Referring to Figure 1 , Figures 7 to 10 , in an embodiment, the lidar 50 is a Tmini Plus lidar 50, a MS200-TOF lidar 50, a Silliance C1M1 lidar 50, a YDLIDAR 4ROS lidar 50 or a YDLIDAR X3Pro lidar 50.

[0055] Specifically, the Tmini Plus LiDAR 50, the MS200-TOF LiDAR 50, the Silliance C1M1 LiDAR 50, the YDLIDAR 4ROS LiDAR 50, and the YDLIDAR X3Pro LiDAR 50 all have high-precision and high-stability measurement and perception capabilities. These LiDARs 50 can capture three-dimensional information of the surrounding environment in real time and accurately, providing detailed spatial data support for the system. This high-performance measurement and perception capability enables the system to operate stably in complex and variable environments and achieve accurate identification and tracking of targets. In addition, the above-mentioned LiDAR 50 models are diverse and each has its own characteristics, which can meet the needs of different application scenarios. For example, the Tmini Plus LiDAR 50 is suitable for small-range scanning mapping tasks due to its small size and excellent performance; the MS200-TOF LiDAR 50 can be applied in industrial automation ranging and mapping fields due to its long-distance measurement capability and high precision; the Silliance C1M1 LiDAR 50, the YDLIDAR 4ROS LiDAR 50, and the YDLIDAR X3Pro LiDAR 50 can be applied in intelligent scanning and mapping tasks in daily environments due to their high cost performance, easy integration, and high performance, respectively. This diverse application scenario adaptability enables the system to flexibly cope with various complex environments and task requirements.

[0056] Referring to Figure 2 As shown in the figure, in an embodiment, the battery pack 30 is fixed inside the shell 20 by the magic tape 110.

[0057] Specifically, the battery pack 30 is fixed inside the shell 20 by the magic tape 110, and the user can easily and quickly complete the installation and disassembly of the battery pack 30. The design of the magic tape 110 makes the fixing process not need to use complex tools or screws, and can be completed by simply pressing, thereby greatly saving the installation time. At the same time, the disassembly process is also simple, and the battery pack 30 can be taken out by simply tearing off the magic tape 110, which is convenient for replacement or maintenance. In addition, the magic tape 110 is made of high-strength and high-adhesion material, which can firmly fix the battery pack 30 inside the shell 20 and prevent it from shaking or shifting during device use. This stable fixing method not only ensures good contact between the battery pack 30 and the device, but also ensures the safety and reliability of the battery pack 30 in various use scenarios. In addition, the use of the magic tape 110 makes the installation position of the battery pack 30 more flexible, which can be freely adjusted according to the internal structure and space layout of the shell 20. This flexibility not only helps to optimize the overall design of the device and improve space utilization, but also provides more possibilities for the arrangement of other components, thereby improving the overall performance and user experience of the device.

[0058] Referring to Figure 2As shown, in an embodiment, the main control board 40 is fixed inside the shell 20 by the copper column 120.

[0059] Specifically, by fixing the main control board 40 inside the shell 20 through the copper column 120, a very stable fixing method is provided. The copper column 120 has high strength and rigidity, and can effectively resist the vibration and impact that may be generated by the main control board 40 during operation, ensuring that the main control board 40 and the electronic components thereon operate stably and do not affect the overall performance of the device due to loosening or displacement. In addition, the copper column 120 is a metal material with excellent heat conduction performance, which can form an effective heat conduction path between the main control board 40 and the shell 20. When the main control board 40 generates heat during operation, the heat can be rapidly conducted to the shell 20 through the copper column 120 and dissipated through the heat dissipation structure of the shell 20, thereby effectively reducing the temperature of the main control board 40 and improving its working stability and service life.

[0060] Referring to Figure 2 As shown, in an embodiment, the shell 20 is composed of an upper cover 21 and a lower shell 22, and the upper cover 21 and the lower shell 22 are both provided with a plurality of heat dissipation holes.

[0061] Specifically, the shell 20 is composed of the upper cover 21 and the lower shell 22, and both are provided with a plurality of heat dissipation holes, which significantly improves the heat dissipation efficiency of the device. The presence of the heat dissipation holes allows the heat generated inside the device to be promptly and effectively dissipated to the external environment through air convection, avoiding the problem of overheating of the device due to heat accumulation, which not only prolongs the service life of the device, but also ensures the stability and reliability of the device under high-intensity and long-time operation.

[0062] The above embodiment is a preferred implementation scheme of the present application, in addition to this, the present application can also be implemented in other ways, and any obvious replacement without departing from the technical scheme concept is within the protection scope of the present application.

Claims

1. A hand-held laser radar scanning mapping device, characterized by, The utility model relates to a handheld grip, a shell, a battery pack, a main control board and a laser radar, the shell is connected to the handheld grip, the battery pack and the main control board are installed in the inside of the shell, the laser radar is installed in the outside of the shell, the battery pack and the laser radar are electrically connected to the main control board, the laser radar is used for scanning the terrain to obtain surveying information and is transmitted to the main control board, the main control board is used for resolving the surveying information to form mapping information and is transmitted to the external terminal or server. The shell is further connected with a support, and the support is used for mounting the external terminal.

2. The hand-held laser radar scanning mapping device of claim 1, wherein, The shell is further connected with an OLED screen, and the OLED screen is electrically connected to the main control board.

3. The hand-held laser radar scanning mapping device of claim 1, wherein, A button switch is arranged on the handheld grip, and the button switch is electrically connected to the main control board.

4. The hand-held laser radar scanning mapping device of claim 1, wherein, The shell is further connected with an adapter plate, and the laser radar is fixed to the adapter plate.

5. The hand-held laser radar scanning mapping device of claim 1, wherein, A patch antenna is further connected to the adapter plate, and the patch antenna is electrically connected to the main control board.

6. The hand-held laser radar scanning mapping device of claim 5, wherein, The main control board is further integrated with a driving LED lamp, a buzzer and an IMU gyroscope.

7. The handheld ladar scanning mapping device of claim 1, wherein, The laser radar is a Tmini Plus laser radar, an MS200-TOF laser radar, a SLANT C1 M1 laser radar, a YDLIDAR 4ROS laser radar or a YDLIDAR X3Pro laser radar.

8. The handheld ladar scanning mapping device of claim 1, wherein, The battery pack is fixed to the inside of the shell through a magic tape.

9. The handheld ladar scanning mapping device of claim 1, wherein, The main control board is fixed to the inside of the shell through a copper column.

10. The handheld ladar scanning mapping device of claim 1, wherein, ​

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