High-stability slam three-dimensional scanner

Abstract

The utility model discloses a high-stability slam three-dimensional scanner which comprises a placing table, a sleeve is fixedly connected below the placing table, a sleeve rod is movably connected below the sleeve, a supporting leg is fixedly connected below the sleeve rod, a first movable rod is hinged to one side of the supporting leg, a clamping block is fixedly connected to one side of the first movable rod, and a second movable rod is hinged to the other side of the clamping block. A second movable rod is hinged to the other side of the first movable rod, and a first hook column is fixedly connected to the side face of the second movable rod; the first movable rod and the second movable rod are operated to press downwards, the shifting piece clamping plate and the clamping block are in hook connection, the first movable rod and the second movable rod are unfolded and fixed, the universal wheels make contact with the ground accordingly, the stability of the first movable rod and the second movable rod is guaranteed through the reinforcing rods in the moving process, and deformation is prevented; the problem that an existing high-stability SLAM three-dimensional scanner is inconvenient to move although the existing high-stability SLAM three-dimensional scanner shows excellent performance in the aspects of maintaining high-precision map construction and stable positioning is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to three -dimensional scanner technical field, concretely is a kind of high stability slam three-dimensional scanner. BACKGROUND

[0002] The existing high stability SLAM three-dimensional scanner, although it shows excellent performance in maintaining high-precision map construction and stable positioning, it is inconvenient to move. This feature is particularly prominent in application scenarios that require flexible adjustment of scanning position, quick response to environmental changes or large-scale continuous scanning. After searching, Chinese patent publication No. CN220340391U discloses a kind of based on Slam three-dimensional laser scanner, high stability design is often accompanied by relatively cumbersome body structure, complex fixed installation requirements and high dependence on operating environment, thereby limiting the portability and immediate deployment capability of the scanner. In addition, the lack of built-in or convenient moving mechanism also increases the difficulty of manual handling and reconfiguration, which not only affects work efficiency, but also may adversely affect scanning accuracy due to vibration during frequent handling. SUMMARY

[0003] The utility model aims at: in order to solve the existing high stability SLAM three-dimensional scanner, although it shows excellent performance in maintaining high-precision map construction and stable positioning, it is inconvenient to move. This feature is particularly prominent in application scenarios that require flexible adjustment of scanning position, quick response to environmental changes or large-scale continuous scanning. After searching, Chinese patent publication No. CN220340391U discloses a kind of based on Slam three-dimensional laser scanner, high stability design is often accompanied by relatively cumbersome body structure, complex fixed installation requirements and high dependence on operating environment, thereby limiting the portability and immediate deployment capability of the scanner. In addition, the lack of built-in or convenient moving mechanism also increases the difficulty of manual handling and reconfiguration, which not only affects work efficiency, but also may adversely affect scanning accuracy due to vibration during frequent handling.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a kind of high stability slam three-dimensional scanner, comprising: placing table, the sleeve is fixedly connected below the placing table, the sleeve is movably connected with sleeve rod below, the sleeve rod is fixedly connected with support leg below, the support leg side is hinged with first movable rod, the first movable rod side is fixedly connected with clamping block, the first movable rod other side is hinged with second movable rod, the first movable rod side is fixedly connected with first hook column, the second movable rod side is connected with the second hook column of the side of the second movable rod through the hinge shaft of the other end of the second movable rod side, the first hook column and the second hook column are equipped with hook spring between, the first movable rod and the second movable rod side are all fixedly connected with reinforcing rod, the first movable rod and the second movable rod below are all fixedly connected with universal wheel, the support leg below is fixedly connected with antiskid rubber pad.

[0005] As a further scheme of the utility model: the support leg side is fixedly connected with fixed plate, the fixed plate upper side is fixedly connected with screw sleeve, the screw sleeve upper side is equipped with transverse bevel gear, the transverse bevel gear inside is screwed through connection with screw rod, the fixed plate upper side other end is fixedly connected with side plate, the side plate side is equipped with vertical bevel gear, the other side of the side plate is equipped with rotating handle.

[0006] As a further scheme of the utility model: three-dimensional scanner is equipped above the placing table.

[0007] As a further scheme of the utility model: the sleeve, the sleeve rod, the support leg, the reinforcing rod, the universal wheel and the anti-skid rubber pad are all provided with four groups, the first movable rod, the second movable rod, the clamping block, the sheet clamping plate, the first hook column, the second hook column and the hook spring are all provided with two groups, the support leg and the anti-skid rubber pad are four-end symmetrically arranged, two groups of the first movable rod are hinged to the two groups of the support leg on one side, two groups of the second movable rod are hinged to the two groups of the support leg on the other side, the sheet clamping plate side is fixedly connected with a hook, which is matched with the clamping block.

[0008] As a further scheme of the utility model: the screw sleeve, the transverse bevel gear, the screw rod, the side plate and the vertical bevel gear are all provided with two groups, the screw sleeve is matched with the screw rod, the transverse bevel gear is matched with the vertical bevel gear, the rotating handle is connected with the vertical bevel gear, and the two groups of vertical bevel gears are connected through the connecting rod.

[0009] Compared with the prior art, the utility model has the advantages that:

[0010] In the utility model, the first movable rod and the second movable rod are pressed downward to make the sheet clamping plate and the clamping block be connected by the hook, so that the first movable rod and the second movable rod are unfolded and fixed, the universal wheel contacts the ground, and the stability of the first movable rod and the second movable rod is ensured during the movement, so that the deformation is prevented, the existing high-stability SLAM three-dimensional scanner is improved, and the problem that the high-stability SLAM three-dimensional scanner is inconvenient to move is solved.

[0011] The vertical bevel gear is rotated by the rotating handle, the vertical bevel gear is matched with the transverse bevel gear and connected through the connecting rod, synchronous transmission is realized on both sides, the transverse bevel gear drives the screw rod to rotate and lift in the screw sleeve, the height of the support leg is adjusted through the sleeve rod, the overall height of the scanner is adjusted, and the problem that the existing high-stability SLAM three-dimensional scanner is inconvenient to adjust the height is solved. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is the overall structure schematic view of the high-stability SLAM three-dimensional scanner of the utility model;

[0013] Figure 2 is the structure schematic view of the lifting mechanism in the high-stability SLAM three-dimensional scanner of the utility model;

[0014] Figure 3 is a structure diagram of the recycling of the moving mechanism in the high-stability slam three-dimensional scanner according to the utility model;

[0015] Figure 4 is a structure diagram of the opening of the moving mechanism in the high-stability slam three-dimensional scanner according to the utility model;

[0016] Figure 5 is a structure diagram of A in the high-stability slam three-dimensional scanner according to the utility model.

[0017] In the figure: 1, placing table; 2, sleeve; 3, sleeve rod; 4, support leg; 5, first movable rod; 6, clamping block; 7, second movable rod; 8, first hook column; 9, push piece clamping plate; 10, second hook column; 11, hook spring; 12, reinforcing rod; 13, universal wheel; 14, antiskid rubber pad; 15, fixed plate; 16, screw sleeve; 17, transverse bevel gear; 18, screw; 19, side plate; 20, vertical bevel gear; 21, rotating handle; 22, three-dimensional scanner. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to 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 protection scope of the utility model.

[0019] In the description of the utility model, it is necessary to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or positional relationship is based on the orientation or positional relationship shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and is not indicating or implying that the device or element indicated must have a particular orientation, a particular orientation and operation, therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In the description of the utility model, it is necessary to explain, unless otherwise expressly specified and limited, the terms "mounting", "connecting", "connecting", "setting" should be broadly understood, for example, it can be fixedly connected, can also be detachably connected, or integrally connected, can be mechanically connected, can also be electrically connected, can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances. The embodiments will be described below according to the overall structure of the utility model.

[0020] Referring to Figures 1 to 5The utility model embodiment, a kind of high-stability slam three-dimensional scanner, comprising: placing table 1, sleeve 2 is fixedly connected below placing table 1, sleeve 2 is movably connected with sleeve rod 3 below, sleeve rod 3 is fixedly connected with support leg 4 below, first movable rod 5 is hinged on one side of support leg 4, first movable rod 5 is fixedly connected with clamping block 6 on one side, second movable rod 7 is hinged on the other side of first movable rod 5, first hook post 8 is fixedly connected with the side of second movable rod 7, second hook post 10 is fixedly connected with the other end of the side of second movable rod 7 by pivot connection of push piece clamping plate 9, second hook post 10 is fixedly connected with the side of push piece clamping plate 9, hook spring 11 is equipped between first hook post 8 and second hook post 10, reinforcing rod 12 is fixedly connected with the side of first movable rod 5 and second movable rod 7, universal wheel 13 is fixedly connected with the below of first movable rod 5 and second movable rod 7, antiskid rubber pad 14 is fixedly connected with the below of support leg 4, sleeve 2, sleeve rod 3, support leg 4, reinforcing rod 12, universal wheel 13 and antiskid rubber pad 14 are all provided with four groups, first movable rod 5, second movable rod 7, clamping block 6, push piece clamping plate 9, first hook post 8, second hook post 10 and hook spring 11 are all provided with two groups, support leg 4 and antiskid rubber pad 14 are four-end symmetrical arrangement, two groups of first movable rod 5 are hinged on the two groups of support leg 4 of one side, two groups of second movable rod 7 are hinged on the two groups of support leg 4 of the other side, push piece clamping plate 9 is fixedly connected with hook on the side, and is matched with clamping block 6, when needing to move, user operates first movable rod 5 and second movable rod 7 to press down, makes push piece clamping plate 9 and clamping block 6 between hook connection, so that first movable rod 5 and second movable rod 7 are unfolded and fixed, universal wheel 13 contacts ground along with it, reinforcing rod 12 ensures the stability of first movable rod 5 and second movable rod 7 in the process of moving, prevents deformation, user can easily move entire scanner to required position by pushing placing table 1 or universal wheel 13, the flexibility of universal wheel 13 allows scanner to move in different directions and terrain, improve the convenience of operation.

[0021] Refer to Figures 1 to 2The support leg 4 is fixed with a fixing plate 15 on the side, the fixing plate 15 is fixed with a screw sleeve 16 above, the screw sleeve 16 is provided with a transverse bevel gear 17 above, the transverse bevel gear 17 is screwed with a screw rod 18 inside, the fixing plate 15 is fixed with a side plate 19 on the other side, the side plate 19 is provided with a vertical bevel gear 20 on the side, the other side of the side plate 19 is provided with a rotating handle 21, the screw sleeve 16, the transverse bevel gear 17, the screw rod 18, the side plate 19 and the vertical bevel gear 20 are provided with two groups, the screw sleeve 16 is matched with the screw rod 18, the transverse bevel gear 17 is matched with the vertical bevel gear 20, the rotating handle 21 is connected with the vertical bevel gear 20, the two groups of vertical bevel gears 20 are connected through a connecting rod, the vertical bevel gear 20 is driven to rotate through the rotating handle 21, since the vertical bevel gear 20 is matched with the transverse bevel gear 17 and connected through the connecting rod, synchronous transmission on both sides is realized, the transverse bevel gear 17 drives the screw rod 18 to rotate in the screw sleeve 16, and then the height of the support leg 4 is adjusted through the sleeve rod 3, and finally the purpose of adjusting the overall height of the scanner is achieved.

[0022] With reference to Figure 1 The placing table 1 is provided with a three-dimensional scanner 22 above, the three-dimensional scanner 22 collects surrounding environment data in real time through a camera and the like, estimates the position and posture of the scanner itself in an unknown environment at the same time in combination with an internal algorithm, and constructs a three-dimensional map of the surrounding environment, in this process, the scanner needs to constantly process sensor data, perform environment feature recognition, data correlation, state estimation and map updating, so as to realize autonomous navigation and obstacle avoidance.

[0023] Meanwhile, the contents not described in detail in the specification all belong to the prior art known by those skilled in the art.

[0024] The working principle of the utility model is: in the static state, the scanner is placed on the placing table 1, the sleeve 2 is opposite fixed with the sleeve rod 3, so that the whole scanner is in a stable support state, the antiskid rubber mat 14 under the supporting leg 4 enhances the friction with the ground, prevents the scanner from moving in the scanning process, the first movable rod 5 and the second movable rod 7 keep close to the state of retraction, when needing to move, the user operates the first movable rod 5 and the second movable rod 7 to press down, makes the hook connection between the switch plate clamping plate 9 and the clamping block 6, makes the first movable rod 5 and the second movable rod 7 unfold fixed, the universal wheel 13 contacts the ground in turn, the reinforcing rod 12 ensures the stability of the first movable rod 5 and the second movable rod 7 in the moving process, prevents deformation, the user can easily move the whole scanner to the required position by pushing the placing table 1 or the universal wheel 13, the flexibility of the universal wheel 13 allows the scanner to move in different directions and terrains, improves the convenience of operation, if needing to adjust the height of the scanner, the user can drive the vertical bevel gear 20 to rotate by rotating the handle 21, since the vertical bevel gear 20 is matched with the horizontal bevel gear 17, and is connected through the connecting rod, realizes the synchronous transmission on both sides, the horizontal bevel gear 17 drives the lead screw 18 to rotate in the lead screw sleeve 16, and then adjusts the height of the supporting leg 4 through the sleeve rod 3, finally reaches the purpose of adjusting the overall height of the scanner, after moving to the target position, the user repeats the reverse operation of the second step, releases the hook connection between the switch plate clamping plate 9 and the clamping block 6, so that the first movable rod 5 and the second movable rod 7 retract under the action of gravity, and the universal wheel 13 is retracted, so that the scanner returns to the stable scanning state.

[0025] The above is only the preferred specific implementation of the utility model, but the protection scope of the utility model is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the utility model concept of the utility model within the technical range disclosed by the utility model, which should be covered in the protection scope of the utility model.

Claims

1. A high-stability slam three-dimensional scanner, characterized by, The application relates to a three-dimensional scanning device. The device comprises a placing table (1), a sleeve (2) fixedly connected below the placing table (1), a sleeve rod (3) movably connected below the sleeve (2), a supporting leg (4) fixedly connected below the sleeve rod (3), a first movable rod (5) hingedly connected to one side of the supporting leg (4), a clamping block (6) fixedly connected to one side of the first movable rod (5), a second movable rod (7) hingedly connected to the other side of the first movable rod (5), a first hook column (8) fixedly connected to the side of the second movable rod (7), a push piece clamping plate (9) connected to the other end of the side of the second movable rod (7) through a rotating shaft, a second hook column (10) fixedly connected to the side of the push piece clamping plate (9), a hook spring (11) arranged between the first hook column (8) and the second hook column (10), a reinforcing rod (12) fixedly connected to the side of the first movable rod (5) and the second movable rod (7), a universal wheel (13) fixedly connected below the first movable rod (5) and the second movable rod (7), and a non-slip rubber pad (14) fixedly connected below the supporting leg (4).

2. The high-stability slam three-dimensional scanner of claim 1, wherein, A fixed plate (15) is fixedly connected to the side of the supporting leg (4), a screw sleeve (16) is fixedly connected above the fixed plate (15), a horizontally arranged bevel gear (17) is arranged above the screw sleeve (16), a screw rod (18) is screwed through and connected inside the horizontally arranged bevel gear (17), a side plate (19) is fixedly connected to the other end above the fixed plate (15), a vertically arranged bevel gear (20) is arranged on the side of the side plate (19), and a rotating handle (21) is arranged on the other side of the side plate (19).

3. The high-stability slam three-dimensional scanner of claim 1, wherein, A three-dimensional scanner (22) is arranged above the placing table (1).

4. The high-stability slam three-dimensional scanner of claim 1, wherein, The sleeve (2), the sleeve rod (3), the supporting leg (4), the reinforcing rod (12), the universal wheel (13) and the non-slip rubber pad (14) are provided in four groups, the first movable rod (5), the second movable rod (7), the clamping block (6), the push piece clamping plate (9), the first hook column (8), the second hook column (10) and the hook spring (11) are provided in two groups, the supporting leg (4) and the non-slip rubber pad (14) are provided in four-end symmetry, two groups of the supporting leg (4) on one side are hingedly connected with two groups of the first movable rod (5), two groups of the supporting leg (4) on the other side are hingedly connected with two groups of the second movable rod (7), and the push piece clamping plate (9) is fixedly connected with a hook on the side, matched with the clamping block (6).

5. The high-stability slam three-dimensional scanner of claim 2, wherein, The screw sleeve (16), the horizontally arranged bevel gear (17), the screw rod (18), the side plate (19) and the vertically arranged bevel gear (20) are provided in two groups, the screw sleeve (16) is matched with the screw rod (18), the horizontally arranged bevel gear (17) is matched with the vertically arranged bevel gear (20), the rotating handle (21) is connected with the vertically arranged bevel gear (20), and the two groups of the vertically arranged bevel gear (20) are connected through connecting rods.

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