Laser radar mapping trolley

Abstract

The utility model provides a laser radar mapping trolley which comprises a trolley body which comprises a chassis and wheels arranged on the chassis. The laser radar is arranged on the vehicle body; the processor is arranged on the vehicle body, and the laser radar is electrically connected with the processor; the pushing handle is connected to the vehicle body; and the counter weight is detachably connected to the chassis through a first quick release structure. By means of the technical scheme, the problem that in the prior art, a building robot for mapping is poor in portability and stability can be effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of building robots, in particular to a laser radar mapping trolley. BACKGROUND

[0002] Under the background of automation and intelligent transformation of the construction industry, as the key to the realization of autonomous navigation and accurate operation of building robots, the importance of laser radar mapping technology is increasingly prominent. Currently, laser radar mapping tools mainly adopt two schemes of trolley type and backpack type. For the trolley type scheme, when encountering common obstacles inside the building, the stability is poor. Although the backpack type scheme solves the problem of portability, the device is carried on the human body, which not only increases the burden of the operator, but also causes the radar to fluctuate unstably due to the natural movement of the human body, affecting the accuracy of mapping. Long-term movement scanning with heavy load is not only a test of the operator's physical fitness, but also limits the continuity and efficiency of scanning work.

[0003] In the prior art, neither the trolley type nor the backpack type laser radar mapping tool can effectively balance the needs of scanning stability, portability and human burden, especially in the application of complex environment inside the building, which highlights these defects. Therefore, there is an urgent need for a new type of laser radar mapping tool that can improve scanning accuracy while considering portability and stability to meet the efficient operation needs of building robots in complex environments. SUMMARY

[0004] The main purpose of the utility model is to provide a laser radar mapping trolley to solve the problem of poor portability and stability of the building robot in the prior art.

[0005] In order to achieve the above purpose, the utility model provides a laser radar mapping trolley, which comprises: a vehicle body comprising a chassis and wheels arranged on the chassis; a laser radar arranged on the vehicle body; a processor arranged on the vehicle body, the laser radar being electrically connected to the processor; a push handle connected to the vehicle body; and a counterweight detachably connected to the chassis through a first quick release structure.

[0006] In one embodiment, the chassis comprises a left side area and a right side area located on both sides of the center line in the front-rear direction, and the laser radar mapping trolley comprises a plurality of counterweights, which are evenly arranged in the left side area and the right side area.

[0007] In one embodiment, the first quick release structure comprises a vertically movable moving pin and a positioning block, the positioning block is provided with a vertically arranged positioning hole matched with the moving pin, one of the moving pin and the positioning block is arranged on the side wall of the chassis, and the other of the moving pin and the positioning block is arranged on the side wall of the counterweight.

[0008] In an embodiment, the first quick release structure further comprises a mounting block, and the moving pin is movably arranged on the mounting block.

[0009] In an embodiment, a handle is arranged on the side wall of the counterweight, and a containing space is formed between the handle and the side wall of the counterweight, and the moving pin is movably arranged in the containing space.

[0010] In an embodiment, the vehicle body further comprises a box arranged on the chassis, the counterweight is located in the box, the laser radar and the push handle are located outside the box, and a first avoiding hole avoiding the counterweight is arranged on the side wall of the box.

[0011] In an embodiment, the push handle comprises mounting rods pivotably arranged on two sides of the vehicle body and a push rod connected between the two mounting rods, the vehicle body is provided with a first positioning structure and a second positioning structure, the mounting rod has a working position connected with the first positioning structure and a recycling position connected with the second positioning structure, in the case that the mounting rod is located at the working position, the push rod is located above the vehicle body, and in the case that the mounting rod is located at the recycling position, the push rod falls in front of the vehicle body.

[0012] In an embodiment, the vehicle body is provided with an L-shaped positioning piece, the L-shaped positioning piece is provided with an L-shaped positioning groove, the end of the mounting rod extends into the L-shaped positioning groove and is pivotably arranged at the included angle of the L-shaped positioning piece, the vertical segment of the L-shaped positioning piece forms the first positioning structure, and the horizontal segment of the L-shaped positioning piece forms the second positioning structure, in the case that the mounting rod is located at the working position, the mounting rod is fixed in the positioning groove of the vertical segment, and in the case that the mounting rod is located at the recycling position, the mounting rod is fixed in the positioning groove of the horizontal segment.

[0013] In an embodiment, the laser radar mapping trolley further comprises a display screen which is detachably arranged on the push handle through a second quick release structure.

[0014] In an embodiment, the laser radar mapping trolley further comprises an adjusting rod which is height-adjustably arranged on the chassis, and the laser radar is arranged on the top of the adjusting rod.

[0015] In an embodiment, the adjusting rod comprises a plurality of rod segments which are detachably connected, the laser radar is arranged on the top of the uppermost rod segment, the vehicle body further comprises a box arranged on the chassis, a second avoiding hole avoiding the adjusting rod is arranged on the top wall of the box, the area of the second avoiding hole is greater than or equal to the sum of the areas of the cross sections of all the rod segments, or the adjusting rod is a telescopic rod, and the laser radar mapping trolley further comprises a driving device driving the telescopic rod to extend or retract.

[0016] The technical scheme of the utility model effectively improves the scanning stability and operation convenience of the laser radar in a complex building environment, thereby solving the stability and convenience problems proposed in the background art. The core of the technical scheme lies in the integrated design of the vehicle body, including the chassis and the wheels, which not only supports the installation of the laser radar, but also integrates the processor, ensuring that the data collected by the laser radar can be processed in real time and converted into map information. The addition of the push handle enables the operator to easily control the movement of the trolley, realizing comprehensive scanning of the entire building internal environment. What is particularly key is that the introduction of the counterweight and the design of the first quick-release structure significantly improve the stability of the laser radar mapping trolley. The counterweight is located on the chassis and can be detachably connected, effectively reducing the center of gravity of the vehicle body without adding too much burden, reducing the fluctuation of the laser radar when the ground is uneven or obstacles are encountered during travel, thereby ensuring the quality of the scanning data. At the same time, the addition of the first quick-release structure makes the installation and removal of the counterweight extremely fast, greatly improving the portability and adaptability of the equipment. When the laser radar mapping trolley needs to be transported, the counterweight can be removed to reduce the weight of the entire trolley, facilitating transportation. In addition, the design also takes into account the comfort and efficiency of the operator during use. Through the setting of the push handle, the operator can more easily control the trolley, reducing physical exertion, which is particularly important when performing long-term operations. The quick disassembly and assembly characteristics of the counterweight, as well as the lightweight design of the vehicle body, together solve the defect of heavy human burden mentioned in the background art, enabling the operator to work in a better state, improving the efficiency and quality of the work. In summary, the technical scheme of the utility model significantly improves the stability, portability and operation comfort of the laser radar mapping trolley through the optimization of the vehicle body structure, the ingenious combination of the counterweight and the quick-release structure, thereby solving the technical problems of traditional mapping tools in terms of radar scanning accuracy, human burden and storage and transportation, providing more reliable technical support for the autonomous navigation and precise operation of building robots in complex environments.

[0017] In addition to the purposes, features and advantages described above, the utility model has other purposes, features and advantages. The utility model will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings accompanying the specification of the utility model form a part of the utility model and serve to provide further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions serve to explain the utility model and do not constitute an improper limitation on the utility model. In the drawings:

[0019] Figure 1 A perspective structural schematic view of one angle of an embodiment of the laser radar mapping trolley according to the utility model is shown;

[0020] Figure 2 An enlarged structural schematic view of A of the laser radar mapping trolley of the application is shown; Figure 1

[0021] Figure 3 An enlarged structural schematic view of B of the laser radar mapping trolley of the application is shown; Figure 1

[0022] Figure 4 A perspective structural schematic view of the laser radar mapping trolley of the application from another angle is shown; Figure 1

[0023] Figure 5 A partial enlarged structural schematic view of the laser radar mapping trolley of the application when the display screen is not installed is shown; and Figure 4

[0024] Figure 6 A perspective structural schematic view of the laser radar mapping trolley of the application when stored is shown. Figure 1

[0025] Wherein, the above-mentioned drawings include the following reference signs:

[0026] 10, vehicle body; 11, chassis; 12, wheel; 13, box body; 131, first avoiding hole; 132, second avoiding hole; 133, cover body; 134, buckle hand; 135, heat dissipation opening; 20, laser radar; 30, pushing hand; 31, mounting rod; 32, pushing rod; 40, counterweight; 41, handle; 50, first quick release structure; 51, moving pin; 52, positioning block; 53, mounting block; 60, L-shaped positioning piece; 61, L-shaped positioning groove; 62, vertical section; 63, horizontal section; 70, display screen; 80, second quick release structure; 81, support plate; 82, mounting plate; 90, adjusting rod; 91, rod section; 100, mounting pin. DETAILED DESCRIPTION

[0027] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0028] In order for the persons in the technical field to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the persons in the field without creative labor should belong to the protection scope of the present application.

[0029] ​​​​​It should be noted that the terms "first", "second", and the like in the description and in the claims of the utility model of the present application and the above-mentioned drawings are used to distinguish similar objects and do not have to be used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances in order to describe the embodiments of the utility model described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0031] As Figure 1 , Figure 2 and Figure 4 shown, in the present embodiment, the laser radar mapping trolley comprises a trolley body 10, a laser radar 20, a processor, a pushing handle 30 and a counterweight 40. Among them, the trolley body 10 comprises a chassis 11 and wheels 12 arranged on the chassis 11; the laser radar 20 is arranged on the trolley body 10; the processor is arranged on the trolley body 10, and the laser radar 20 is electrically connected with the processor; the pushing handle 30 is connected with the trolley body 10; the counterweight 40 is detachably connected with the chassis 11 through a first quick release structure 50.

[0032] The technical scheme of the embodiment is applied to the vehicle body 10 including the chassis 11 and the wheels 12, which not only supports the installation of the laser radar 20, but also integrates the processor, ensuring that the data collected by the laser radar 20 can be processed in real time and converted into map information. The addition of the push handle 30 enables the operator to easily control the movement of the trolley, realizing comprehensive scanning of the entire building internal environment. What is particularly key is that the introduction of the counterweight 40 and the design of the first quick-release structure 50 significantly improve the stability of the laser radar mapping trolley. Among them, the counterweight 40 is located on the chassis 11, and the center of gravity of the vehicle body 10 is lowered by adding the counterweight 40, thereby improving the stability of the laser radar 20 during travel and reducing data errors caused by bumps or obstacles. In this way, when the laser radar 20 scans the internal environment of the building, the data is more accurate, and the accuracy of map construction is significantly improved. The addition of the first quick-release structure 50 makes the installation and removal of the counterweight 40 extremely fast, greatly improving the portability and adaptability of the equipment. When the laser radar mapping trolley needs to be transported, the counterweight 40 can be removed to reduce the weight of the entire trolley, facilitating transportation. In addition, this design also takes into account the comfort and efficiency of the operator during use. Through the setting of the push handle 30, the operator can more easily control the trolley, reducing physical exertion, which is particularly important when performing long-term work. The quick disassembly and assembly characteristics of the counterweight 40, as well as the lightweight design of the vehicle body 10, together solve the defect of heavy human burden mentioned in the background art, enabling the operator to work in a better state and improving work efficiency and quality. In summary, the technical scheme of the embodiment significantly improves the stability, portability, and operation comfort of the laser radar mapping trolley through the optimization of the vehicle body 10 structure, the ingenious combination of the counterweight 40 and the quick-release structure, thereby solving the technical problems of traditional mapping tools in terms of radar scanning accuracy, human burden, and storage and transportation, and providing more reliable technical support for the autonomous navigation and precise work of building robots in complex environments.

[0033] In the embodiment, the chassis 11 includes left and right regions on both sides of the centerline in the front-rear direction, and the laser radar mapping trolley includes a plurality of counterweights 40, which are evenly arranged in the left and right regions. The principle of this design is to further improve the stability of the vehicle body 10 by symmetrically distributing the counterweights 40 on both sides of the chassis 11, ensuring the data quality of the laser radar 20 during scanning. In this way, even on uneven ground, the laser radar 20 can remain stable, reducing data fluctuations and improving the accuracy and reliability of map construction.

[0034] Of course, in the present embodiment, the operator can select an appropriate distribution of the counterweights 40 according to the actual terrain to achieve the best stability effect. Specifically, first of all, the operator needs to make a preliminary assessment of the terrain to be scanned by the laser radar. Different terrains, such as flat ground, slopes, rugged construction sites or narrow corridors, have different requirements for the stability of the vehicle. For example, in relatively flat and open areas, the stability requirement of the vehicle is low, while in narrow or uneven terrain, higher stability is required to prevent the vehicle from tipping over or fluctuations in the laser radar data. Based on the terrain analysis, the operator should select the appropriate number and weight of the counterweights. In cases where high stability is required, the number and total weight of the counterweights can be increased. The selection of the counterweights should also take into account the total carrying capacity of the vehicle to avoid affecting the mobility due to excessive weight. The distribution of the counterweights 40 is crucial to the stability of the vehicle. In practical applications, the operator can evenly distribute the counterweights on the left and right side areas of the chassis 11, especially when encountering terrain with lateral forces such as turns or slopes, reasonable distribution of the counterweights can effectively balance the lateral forces and prevent the vehicle from tipping over. In addition, the counterweights can also be adjusted according to the unevenness of the terrain, such as when there are obstacles or slopes on one side, the counterweight on that side can be appropriately increased to maintain the balance of the vehicle. In actual operation, the operator may need to adjust the counterweights according to the real-time changes of the field terrain. The characteristics of the first quick release structure 50 allow the operator to quickly install or remove the counterweights without the need for tools, in order to adapt to changes in the terrain. When encountering obstacles or needing to pass through narrow passages, the operator can remove some of the counterweights to reduce the size and weight of the vehicle body, thereby improving the passability; when the terrain is complex or long-distance stable scanning is required, the counterweights should be increased to ensure that the laser radar remains stable in any situation.

[0035] As shown in Figure 1 , Figure 2 and Figure 4 , in the present embodiment, the first quick release structure 50 includes a vertically movable moving pin 51 and a positioning block 52, the positioning block 52 is provided with a vertically arranged positioning hole matched with the moving pin 51, one of the moving pin 51 and the positioning block 52 is arranged on the side wall of the chassis 11, and the other of the moving pin 51 and the positioning block 52 is arranged on the side wall of the counterweight 40. Specifically, when the operator needs to adjust the counterweight 40, he only needs to operate the moving pin 51 to match or separate it from the positioning hole of the positioning block 52, thereby completing the installation or removal of the counterweight 40. The above structure simplifies the operation process of the operator and improves the work efficiency. The operator can easily adjust the counterweight 40 as needed without the need for complex tools or long assembly time, improving the flexibility and operability of the equipment.

[0036] As shown in Figure 1 , Figure 2 and Figure 4As shown, in the present embodiment, the first quick-release structure 50 further comprises a mounting block 53, and the moving pin 51 is movably arranged on the mounting block 53. The above structure fixes the moving pin 51 through the mounting block 53, while allowing the moving pin 51 to move within a certain range to adapt to different sizes of the weight 40 or the side wall of the chassis 11. Thus, the versatility and compatibility of the first quick-release structure 50 are improved, so that the trolley 100 can adapt to more types of weights 40, and the adaptability of the equipment is enhanced.

[0037] As shown in Figure 1 , Figure 2 and Figure 4 , in the present embodiment, a handle 41 is arranged on the side wall of the weight 40, and a receiving space is formed between the handle 41 and the side wall of the weight 40, and the moving pin 51 is movably arranged in the receiving space. The above structure has the following two advantages: first, the handle facilitates the taking and placing of the weight, and the handle 41 is designed taking into account the ergonomic principle, providing sufficient gripping area, so that the operator can grasp the weight 40 in a more comfortable and stable manner. Second, the moving pin is arranged in the receiving space in the handle, making full use of the space inside the handle. Specifically, arranging the moving pin 51 in the receiving space in the handle 41 is a clever space utilization scheme. In traditional designs, the moving pin is often located outside the handle, which not only increases the external volume of the vehicle body, but also may cause the moving pin to collide with external objects during transportation, affecting its function or causing damage. In the present embodiment, the moving pin is hidden inside the handle, not only protecting the moving pin and avoiding potential damage, but also making the external profile of the vehicle body more concise, reducing the possibility of collision with external objects, and improving the transportation safety and convenience of the overall equipment. More importantly, this design makes full use of the internal space of the handle, so that the external size of the handle can be designed larger. The large-size handle not only provides a better gripping experience, but also provides more operating space for the operator, making the taking and placing action of the weight more natural and smooth. Especially in a narrow working environment, a large-size handle can help the operator control the movement of the weight more accurately, avoiding the difficulty of taking and placing due to space limitations. At the same time, the increase of the handle does not occupy additional space of the vehicle body, realizing the maximization of space utilization and improving the overall performance of the equipment and the user experience of the operator.

[0038] As shown in Figure 1 , Figure 4 and Figure 6As shown, in the embodiment, the vehicle body 10 further comprises a box 13 arranged on the chassis 11, the counterweight 40 and the processor are located in the box 13, the laser radar 20 and the pusher 30 are located outside the box 13, and the sidewall of the box 13 is provided with a first avoiding hole 131 avoiding the counterweight 40. Specifically, before starting the scanning, the operator checks whether the components in the box 13 are normal, and then operates through the external laser radar 20 and the pusher 30, and when it is necessary to adjust the counterweight 40, the first avoiding hole 131 can be used for quick disassembly and assembly. The above structure places the counterweight 40 and the processor in the box 13, which not only protects the key components, but also maintains the external operability of the laser radar 20 and the pusher 30, and the design of the first avoiding hole 131 ensures the quick disassembly and assembly of the counterweight 40.

[0039] As shown in Figure 1 , Figure 4 and Figure 6 , in the embodiment, the pusher 30 comprises mounting rods 31 pivotally arranged on both sides of the vehicle body 10 and a push rod 32 connected between the two mounting rods 31, the vehicle body 10 is provided with a first positioning structure and a second positioning structure, the mounting rod 31 has a working position connected with the first positioning structure and a recovery position connected with the second positioning structure, in the case that the mounting rod 31 is located at the working position, the push rod 32 is located above the vehicle body 10, and in the case that the mounting rod 31 is located at the recovery position, the push rod 32 falls in front of the vehicle body 10. Specifically, when the operator scans the work, the mounting rod 31 is positioned at the working position to ensure that the push rod 32 is located above the vehicle body 10, which is convenient for pushing; when it is necessary to be stored, the mounting rod 31 is pivoted to the recovery position, and the push rod 32 falls in front of the vehicle body 10, which is convenient for transportation and storage of the equipment. The above structure realizes quick switching of the pusher 30 between the working and storage states through pivoting and positioning of the mounting rod 31, the working position ensures the comfort and stability of the operator when pushing the trolley 100, and the recovery position is convenient for transportation and storage of the equipment. The above structure improves the portability and operation efficiency of the trolley 100, and the operator can easily switch between different states to meet the needs of different working scenes.

[0040] As shown in Figure 1 , Figure 3 and Figure 4As shown, in this embodiment, the vehicle body 10 is provided with an L-shaped positioning member 60, the L-shaped positioning member 60 is provided with an L-shaped positioning groove 61, the end of the mounting rod 31 extends into the L-shaped positioning groove 61 and is pivotally arranged at the angle of the L-shaped positioning member 60, the vertical section 62 of the L-shaped positioning member 60 forms a first positioning structure, and the horizontal section 63 of the L-shaped positioning member 60 forms a second positioning structure. In the case where the mounting rod 31 is in the working position, the mounting rod 31 is fixed in the positioning groove of the vertical section 62, and in the case where the mounting rod 31 is in the recycling position, the mounting rod 31 is fixed in the positioning groove of the horizontal section 63. Specifically, the end of the mounting rod 31 is pivotally arranged at the angle of the L-shaped positioning groove 61, and when the operator needs to adjust the state of the push handle 30, it is pivoted to align with the positioning groove of the vertical section 62 or the horizontal section 63 as needed, and the stable position of the mounting rod 31 is ensured through the fixing structure (mounting pin 100), so as to realize the quick switching of the push handle 30. The above structure utilizes the structural characteristics of the L-shaped positioning member 60, and realizes the stable switching of the push handle 30 between the working and recycling states through the cooperation of the positioning groove and the mounting rod 31. The implementation effect is that the positioning of the push handle 30 is more accurate, and the operator can easily switch between different states, improving the operation convenience and stability of the equipment.

[0041] As shown in Figure 1 , Figure 4 and Figure 5 , in this embodiment, the laser radar mapping trolley further comprises a display screen 70 which is detachably arranged on the push handle 30 through a second quick release structure 80. Before starting the scanning, the operator installs the display screen 70 on the push handle 30 through the second quick release structure 80, then views the data in real time during the scanning process, adjusts as needed, and after the scanning is completed, the display screen 70 can be quickly detached for the transportation and storage of the equipment. The above structure realizes the quick installation and detachment of the display screen 70 through the second quick release structure 80, so that the operator can view the scanning data in real time and adjust when needed. Thus, the real-time monitoring ability of the operator and the adjustment efficiency of the map data are improved, and the smooth progress of the scanning task is ensured.

[0042] Preferably, as shown in Figure 1 and Figure 6 , in this embodiment, the box body 13 comprises a side wall and a cover body 133 arranged at the opening of the side wall, the cover body 133 is pivotally arranged on the side wall, facilitating the opening and closing of the cover body, and when storage is needed, the cover body 133 can be opened, and then the detached display screen 70 is stored in the box body 13. The cover body is fixed to the side wall through a lock body.

[0043] Further preferably, as shown in Figure 1 and Figure 6 , the side wall of the box body 13 is further provided with a handhold 134, facilitating the carrying of the operator.

[0044] Further preferably, as shown in Figure 1 and Figure 6 The box 13 is also provided with a heat dissipation opening to ensure the service life of the electrical components in the box 13.

[0045] As shown in Figure 1 , Figure 4 and Figure 6 In this embodiment, the laser radar mapping trolley further comprises an adjustable rod 90 which is adjustably arranged on the chassis 11, and the laser radar 20 is arranged on the top of the adjustable rod 90. Before starting the scanning, the operator adjusts the height of the adjustable rod 90 according to the scanning requirements to ensure that the laser radar 20 is in the best scanning position, and then performs environmental scanning. After the scanning is completed, the adjustable rod 90 can be adjusted to the lowest position to facilitate transportation and storage of the equipment. The above structure adjusts the height of the adjustable rod 90 to realize scanning of the laser radar 20 at different heights to adapt to different working environments and requirements, thereby improving the scanning range and flexibility of the laser radar 20 and obtaining more comprehensive and accurate environmental data. At the same time, the above structure also realizes the storage of the adjustable rod 90, which is convenient for transportation and storage.

[0046] As shown in Figure 1 , Figure 4 and Figure 6 In this embodiment, the adjustable rod 90 comprises a plurality of rod segments 91 which are detachably connected, the laser radar 20 is arranged on the top of the uppermost rod segment 91, and the vehicle body 10 further comprises a box 13 arranged on the chassis 11, the top wall of the box 13 is provided with a second avoiding hole 132 which avoids the adjustable rod 90, and the area of the second avoiding hole 132 is greater than or equal to the sum of the cross-sectional areas of all the rod segments 91. The above structure realizes flexible adjustment of the laser radar 20 at different heights through detachable connection of the adjustable rod 90, and the design of the second avoiding hole 132 ensures that the adjustable rod 90 does not interfere with the box 13 when it is stored. Thus, the scanning flexibility of the laser radar 20 and the overall portability of the equipment are improved, the operator can quickly adjust the scanning height as needed, and when not in use, the adjustable rod 90 can be detached or stored in the box 13 to facilitate transportation and storage of the equipment.

[0047] Of course, in other embodiments not shown in the figure, the adjustable rod 90 is a telescopic rod, and the laser radar mapping trolley further comprises a driving device for driving the telescopic rod to extend or retract. The above structure is simple, so that the height of the telescopic rod can be automatically extended or retracted, simplifying the operation steps of the operator and improving the use experience of the laser radar mapping trolley.

[0048] Preferably, in this embodiment, the material of the vehicle body is all-aluminum, which not only ensures the strength but also is light, suitable for single-person carrying. When scanning is needed, the counterweight 40 is installed to improve the stability of the whole vehicle.

[0049] Preferably, in the present embodiment, a battery is also provided on the chassis 11, which can directly power the laser radar 20 and other electrical components such as the processor, eliminating the need for external power supply and ensuring the flexibility of the laser radar mapping trolley.

[0050] Each figure will be described in detail below:

[0051] Figure 1 The basic structure of a laser radar mapping trolley is shown. The vehicle body 10 is composed of a chassis 11 and wheels 12, which are installed on the chassis 11 to provide the trolley with the ability to move. The laser radar 20 is arranged on the top of the vehicle body for environmental scanning and data collection. The processor (not explicitly labeled in the figure, but can be understood as an electronic component integrated inside the vehicle body) is electrically connected to the laser radar 20 and is responsible for processing the data collected by the laser radar to generate map information. The push handle 30 is designed to facilitate the operator to push the trolley, which is connected to the vehicle body through the mounting rod 31 and the push rod 32, providing a comfortable operating experience for the operator.

[0052] The counterweight 40 is connected to the chassis 11 through the first quick release structure 50, which includes a moving pin 51 and a positioning block 52. These components make the installation and removal of the counterweight simple and fast, facilitating the adjustment of the stability of the trolley according to different terrains and task requirements. In addition, the counterweight 40 is provided with a handle 41, which is convenient for users to move or disassemble when needed.

[0053] Figure 2 More detailed views of the laser radar mapping trolley are provided. The chassis 11 is provided with multiple counterweights 40 (only one is shown in the figure), which are evenly distributed in the left and right areas to ensure the balance and stability of the trolley when moving. Each counterweight 40 is facilitated to be disassembled through the handle 41 on its side wall, and at the same time, the moving pin 51 is movable in the accommodating space, so that the installation of the counterweight is not only stable, but also very convenient.

[0054] Figure 3Another detailed view of the laser radar mapping trolley is provided. The L-shaped positioning piece 60 is provided with an L-shaped positioning groove 61. The L-shaped positioning piece 60 includes a vertical section 62 and a horizontal section 63. When the operator needs to move the push handle 30 to the recovery position, it is pivoted to align with the positioning groove of the horizontal section 63 as needed, and the groove bottom of the positioning groove of the horizontal section 63 can limit the position of the mounting rod 31 to prevent the mounting rod 31 from continuing to fall. The operator can then fix the mounting rod 31 to the groove bottom of the positioning groove of the horizontal section 63 using the mounting pin 100. When the operator needs to move the push handle 30 to the working position, it is pivoted to align with the positioning groove of the vertical section 62 as needed, and the groove bottom of the positioning groove of the vertical section 62 can limit the position of the mounting rod 31 to prevent the mounting rod 31 from continuing to rotate. The operator can then fix the mounting rod 31 to the groove bottom of the positioning groove of the vertical section 62 using the mounting pin 100.

[0055] Figure 4 Another view of the laser radar mapping trolley is disclosed, which can see that the height of the adjusting rod 90 is adjustably arranged on the chassis 11, wherein the adjusting rod 90 is composed of multiple rod sections 91, which are connected in a detachable manner, so that users can adjust the installation height of the laser radar according to actual needs. The top of the uppermost rod section 91 is provided with the laser radar 20, which provides height flexibility to adapt to measurement requirements in different environments. Specifically, the multiple rod sections 91 are connected together by a clamp, which is tightened or loosened by a hand screw bolt.

[0056] Figure 5 The details of the push handle 30 are shown, especially its connection with the display screen 70. Specifically, the push handle includes two pivotally arranged mounting rods 31 and a push rod 32 connected between the two mounting rods, and the second quick release structure 80 includes a support plate 81 fixed to the push rod 32 and a mounting plate 82. The support plate 81 is provided with a mounting hole, and the mounting plate 82 is opposite to the mounting hole. The display screen 70 includes a display screen body and a mounting boss, the display screen body is supported by the support plate 81, and the mounting boss is detachably connected with the mounting plate 82 through the fixing member after passing through the mounting hole. The above structure is simple and can realize quick disassembly and assembly of the display screen 70.

[0057] Figure 6 The structure of the laser radar mapping trolley after recovery is provided, specifically, Figure 6 The design of the adjusting rod 90 of the multiple rod sections 91 is shown. By detachably connecting multiple rod sections, users can adjust the installation height of the laser radar 20 according to needs, which greatly improves the adaptability and flexibility of the equipment. The second avoiding hole 132 on the top wall of the box body, when transporting the laser radar mapping trolley, the multiple rod sections 91 can be recovered into the box body 13 through the second avoiding hole 132.

[0058] Through detailed analysis of the drawings, we can see that the laser radar mapping trolley of the present application fully considers the convenience, stability and adaptability of actual operation in design. The connection and design of key components such as the vehicle body, laser radar, processor, push handle and counterweight all follow the principle of improving the performance of the equipment and the user experience. The quick release structure, adjustable height adjusting rod and the use of all-aluminum materials not only optimize the maintenance and transportation of the equipment, but also improve its performance in complex environments. The integration of these technical solutions makes the laser radar mapping trolley a high-efficiency, flexible and stable tool, providing a solid foundation for building robot navigation and intelligent construction.

[0059] The relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application unless otherwise specifically stated. At the same time, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship for the convenience of description. The technology, methods and equipment known to those skilled in the related art can not be discussed in detail, but under appropriate circumstances, the technology, methods and equipment should be considered as part of the authorized description. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0060] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial positional relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device as described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0061] In the description of the utility model, need understanding is, the orientation word such as " before, after, top, bottom, left, right " " horizontal, vertical, perpendicular, horizontal " and " top, bottom " and so on indicated orientation or positional relationship usually is based on the orientation or positional relationship shown in drawing, just is for the convenience of describing the utility model and simplifying description, under the condition of not making opposite statement, these orientation words do not indicate and suggest the device or element indicated must have a particular orientation or with a particular orientation structure and operation, therefore can not be understood as the restriction of the protection scope of the utility model;The orientation word " inside, outside " refers to the inside and outside relative to the outline of each component.

[0062] The above only for the preferred embodiment of the utility model has, and does not for limiting the utility model, for the person skilled in the art, the utility model can have various changes and changes. Any modification, equivalent replacement, improvement etc. that is made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A laser mapping trolley, characterized in that, The application relates to a mapping handcart comprising the following parts: a vehicle body (10) comprising a chassis (11) and wheels (12) arranged on the chassis (11); a laser radar (20) arranged on the vehicle body (10); a processor arranged on the vehicle body (10), the laser radar (20) being electrically connected to the processor; a push handle (30) connected to the vehicle body (10); a counterweight (40) detachably connected to the chassis (11) through a first quick-release structure (50).

2. The lidar mapping cart of claim 1, wherein, The chassis (11) comprises a left area and a right area on both sides of the middle line in the front-rear direction, and the mapping handcart with the laser radar (20) comprises a plurality of counterweights (40) which are evenly arranged in the left area and the right area.

3. The lidar mapping cart of claim 1, wherein, The first quick-release structure (50) comprises vertically movable moving pins (51) and positioning blocks (52), the positioning blocks (52) are provided with vertically arranged positioning holes matched with the moving pins (51), one of the moving pins (51) and the positioning blocks (52) is arranged on the side wall of the chassis (11), and the other of the moving pins (51) and the positioning blocks (52) is arranged on the side wall of the counterweight (40).

4. The lidar mapping cart of claim 3, wherein, The first quick-release structure (50) further comprises mounting blocks (53), and the moving pins (51) are movably arranged on the mounting blocks (53).

5. The lidar mapping cart of claim 3, wherein, A handle (41) is arranged on the side wall of the counterweight (40), a containing space is formed between the handle (41) and the side wall of the counterweight (40), and the moving pins (51) are movably arranged in the containing space.

6. The lidar mapping cart of claim 1, wherein, The vehicle body (10) further comprises a box (13) arranged on the chassis (11), the counterweight (40) and the processor are arranged in the box (13), the laser radar (20) and the push handle (30) are arranged outside the box (13), and a first avoiding hole (131) for avoiding the counterweight (40) is arranged on the side wall of the box (13).

7. The lidar mapping cart of claim 1, wherein, The push handle (30) comprises mounting rods (31) which are pivotally arranged on both sides of the vehicle body (10) and a push rod (32) connected between the two mounting rods (31), the vehicle body (10) is provided with a first positioning structure and a second positioning structure, the mounting rods (31) have a working position connected with the first positioning structure and a recycling position connected with the second positioning structure, the push rod (32) is arranged above the vehicle body (10) when the mounting rods (31) are located at the working position, and the push rod (32) falls in front of the vehicle body (10) when the mounting rods (31) are located at the recycling position.

8. The lidar mapping cart of claim 7, wherein, The vehicle body (10) is provided with an L-shaped positioning piece (60), the L-shaped positioning piece (60) is provided with an L-shaped positioning groove (61), the end of the mounting rod (31) extends into the L-shaped positioning groove (61) and is pivotally arranged at the included angle of the L-shaped positioning piece (60), the vertical section (62) of the L-shaped positioning piece (60) forms the first positioning structure, the horizontal section (63) of the L-shaped positioning piece (60) forms the second positioning structure, in the case that the mounting rod (31) is located at the working position, the mounting rod (31) is fixed in the positioning groove of the vertical section (62), and in the case that the mounting rod (31) is located at the recycling position, the mounting rod (31) is fixed in the positioning groove of the horizontal section (63).

9. The lidar mapping cart of claim 1, wherein, The laser radar (20) mapping trolley further comprises: A display screen (70) is detachably arranged on the push hand (30) through a second quick release structure (80).

10. The lidar mapping cart of claim 1, wherein, The laser radar (20) mapping trolley further comprises: An adjusting rod (90) is adjustably arranged on the chassis (11), and the laser radar (20) is arranged on the top of the adjusting rod (90).

11. The lidar mapping cart of claim 10, wherein, The adjusting rod (90) comprises a plurality of detachable rod sections (91), the laser radar (20) is arranged on the top of the uppermost rod section (91), and the vehicle body (10) further comprises a box (13) arranged on the chassis (11), a second avoiding hole (132) for avoiding the adjusting rod (90) is arranged on the top wall of the box (13), the area of the second avoiding hole (132) is greater than or equal to the sum of the cross-sectional areas of all the rod sections (91), or The adjusting rod (90) is a telescopic rod, and the laser radar (20) mapping trolley further comprises a driving device for driving the telescopic rod to extend or retract.

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