Handheld double-laser radar three-dimensional mapping equipment
By integrating dual lidar and multiple cameras, this handheld 3D mapping device solves the problem of balancing point cloud density and texture clarity in existing equipment, enabling efficient and convenient 3D mapping operations, and is suitable for complex environments such as architectural surveying and interior design.
Patent Information
- Application Number
- CN202520093044.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-15
- Publication Date
- 2026-02-24
- Estimated Expiration
- 2035-01-15
AI Technical Summary
Existing 3D mapping equipment often cannot simultaneously achieve both point cloud density and texture clarity. Furthermore, the equipment is bulky and complex to operate, making it difficult to use flexibly in various scenarios and failing to meet the mapping needs of complex environments such as architectural surveying and interior design.
A handheld dual-LiDAR 3D mapping device was designed, integrating multiple sensors, including dual LiDAR and multiple cameras. It is easy to operate and can be used flexibly in various scenarios through the combination of a grip stick and a U-shaped connector.
It achieves the acquisition of high-density point cloud data and the presentation of clear texture information, meeting the complex environment mapping needs of multiple fields such as architectural surveying and interior design. It is easy to operate and highly adaptable.
Smart Images
Figure CN223941109U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of three-dimensional mapping and surveying, and in particular relates to a handheld dual-laser radar three-dimensional mapping device. Background Technology
[0002] In the field of 3D mapping, the accurate and efficient acquisition of spatial information has always been an important research and application direction. Traditional 3D mapping methods often have many limitations, such as using a single sensor resulting in insufficiently comprehensive and accurate information, or having bulky and complex equipment that is not convenient for flexible use in various scenarios.
[0003] With technological advancements, while some portable mapping devices have emerged, their functionality and performance still fall short of practical needs. Some devices cannot simultaneously achieve both point cloud density and texture clarity, resulting in poor mapping outcomes; others have limited sensor configurations, making it difficult to comprehensively capture environmental features.
[0004] In practical applications such as architectural surveying, interior design, and geographic exploration, there is a need for a handheld device that integrates multiple sensors, is easy to operate, and produces excellent mapping results. It should not only be able to quickly acquire high-density point cloud data but also clearly present texture information to adapt to the mapping needs of different scenarios and complex environments. However, existing technologies and equipment still have significant shortcomings in these aspects and cannot effectively meet the expectations of the market and users. Utility Model Content
[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a handheld dual-laser radar 3D mapping device.
[0006] The purpose of this utility model is achieved through the following technical solution: including a main support structure, a camera support structure, and a grip rod;
[0007] The main support structure and the camera support structure are connected to form the four side walls and the bottom wall of the main body, and cameras are installed on the four side walls; the main support structure forms one of the side walls and the bottom wall, the camera support structure forms the remaining walls, and lidar is installed on the bottom wall and the top of the main support structure.
[0008] The top of the gripping rod is installed at the bottom of the main support structure via a U-shaped connector, so that the bottom laser radar of the main support structure is located at the U-shaped gap between the U-shaped connector and the main support structure.
[0009] Furthermore, the main support structure and the camera support mechanism are connected to the camera via camera fasteners.
[0010] Furthermore, a housing with reserved camera holes is fixedly installed outside the camera support structure through mounting holes, and a top housing is installed above the camera support structure.
[0011] Furthermore, the main support structure is provided with mounting holes at the top and bottom, and the first main support reinforcing rod and the second main support reinforcing rod are fixed to the top and bottom of the main support structure through the mounting holes.
[0012] Furthermore, the equipment also includes: a data format conversion module, a data transmission and exchange module, an inertial navigation module, a camera data synchronization module, and an aviation connector;
[0013] The first main support reinforcing rod and the second main support reinforcing rod are provided with mounting holes on their upper sides. The first data module connection structure is fixed to the first main support reinforcing rod through the mounting holes. The second data module connection structure is fixed to the second main support reinforcing rod through the mounting holes. The data format conversion module is fixed to the lower side of the first main support reinforcing rod and the second main support reinforcing rod through the mounting holes. The data transmission exchange module is fixed to the first data module connection structure and the second data module connection structure through the mounting holes.
[0014] The inertial navigation module and camera data synchronization module are installed on the base plate of the main support structure;
[0015] The aviation plug is mounted on the base plate of the main support structure via an aviation plug fixing structure.
[0016] Furthermore, the data format conversion module is connected to the radar at the top of the main support structure via a cable, the data transmission exchange module is connected to the radar at the bottom of the main support structure via a cable, the inertial navigation module is connected to the data transmission exchange module via a cable, the data format conversion module is connected to the data transmission exchange module via a cable, and the data transmission exchange module (603) is connected to the aviation plug via a cable.
[0017] Furthermore, the grip rod has an assembly hole at the top, the upper U-shaped connector has a groove and an assembly hole at the bottom, and the lower U-shaped connector has a groove and an assembly hole at the top. The upper U-shaped connector and the lower U-shaped connector are connected by the groove. The grip rod is connected to the upper U-shaped connector and the lower U-shaped connector by the assembly hole. The upper U-shaped connector and the lower U-shaped connector are connected to the main support structure.
[0018] The beneficial effects of this invention are as follows: Compared with existing 3D mapping equipment, this invention integrates multiple sensors, with dual lidars and multiple cameras, enabling the acquisition of more comprehensive data and facilitating subsequent 3D mapping with dense point clouds and clear textures. The device adopts a handheld design, combining a grip stick with a U-shaped connector, making it easy to operate and use flexibly in various scenarios. The modules are compactly and rationally connected, and the assembly method facilitates installation and maintenance, effectively meeting the mapping needs of complex environments in fields such as architectural surveying and interior design. Attached Figure Description
[0019] Figure 1 This is a schematic diagram of the structure of a handheld dual-laser radar 3D mapping device according to this utility model;
[0020] Figure 2 This is a schematic diagram of the dual-radar structure of this utility model;
[0021] Figure 3 This is a schematic diagram of the camera fixing structure of this utility model;
[0022] Figure 4 This is a schematic diagram of the gripping support structure of this utility model;
[0023] Figure 5 This is a schematic diagram of the camera data connection of this utility model;
[0024] In the picture:
[0025] 101 Top shell, 102 Bottom shell,
[0026] 201 Main support structure, 202 First main support reinforcing rod, 203 Second main support reinforcing rod, 204 Aviation plug fixing structure, 205 First data module connection structure, 206 Second data module connection structure.
[0027] 301 Camera support structure, 302 Front camera fastener, 303 Left camera fastener, 304 Right camera fastener, 305 Rear camera fastener.
[0028] 401 Grip bar, 402 Upper U-shaped connector, 403 Lower U-shaped connector
[0029] 501 Top-mounted LiDAR, 502 Bottom-mounted LiDAR, 503 Front-side camera, 504 Left-side camera, 505 Right-side camera, 506 Rear-side camera, 507 Inertial navigation module.
[0030] 601 Camera data synchronization module, 602 Data format conversion module, 603 Data transmission and exchange module, 604 Aviation connector Detailed Implementation
[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the single embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0032] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.
[0033] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.
[0034] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, this utility model provides a handheld dual-LiDAR 3D mapping device. It includes a top shell 101, a bottom shell 102, a main support structure 201, a first main support reinforcing rod 202, a second main support reinforcing rod 203, an aviation plug fixing structure 204, a first data module connection structure 205, a second data module connection structure 206, a camera support structure 301, a front camera fastener 302, a left camera fastener 303, a right camera fastener 304, a rear camera fastener 305, a grip rod 401, an upper U-shaped connector 402, a lower U-shaped connector 403, a top LiDAR 501, a bottom LiDAR 502, a front camera 503, a left camera 504, a right camera 505, a rear camera 506, an inertial navigation module 507, a camera data synchronization module 601, a data format conversion module 602, a data transmission exchange module 603, and an aviation plug 604.
[0035] like Figure 1 As shown, the main support structure 201 has a top lidar 501 at the top and a bottom lidar 502 at the bottom. A front camera 503 is also provided on the front side of the main support structure 201.
[0036] like Figure 2 As shown, a camera support structure 301 is connected to the main support structure 201. A left camera 504 is provided on the left side of the camera support structure, a right camera 505 is provided on the right side of the camera support structure, and a rear camera 506 is provided on the rear side of the camera support structure.
[0037] Furthermore, such as Figure 1 , Figure 4 As shown, the grip rod 401 has an assembly hole at its top, an upper U-shaped connector 402 has a groove and an assembly hole at its bottom, and a lower U-shaped connector 403 has a groove and an assembly hole at its top. The upper U-shaped connector 402 and the lower U-shaped connector 403 are connected by the groove. The grip rod 401 is connected to the upper U-shaped connector 402 and the lower U-shaped connector 403 by the assembly hole. The upper U-shaped connector 402 and the lower U-shaped connector 403 are connected to the main support structure.
[0038] like Figure 2 As shown, the bottom of the main support structure 201 is provided with multiple mounting holes, and the inertial navigation module 507 and the camera data synchronization module 601 are fixed to the main support structure 201 through the mounting holes;
[0039] The inertial navigation module 507 uses a 6-DOF MEMS inertial sensor module designed and manufactured by Yuanji (Shanghai) Technology Co., Ltd., which is equipped with a standard output of a three-axis gyroscope and acceleration information. It features high precision and high resolution, capable of capturing minute vibrations and tilts. All modules undergo turntable calibration before leaving the factory, ensuring stable performance under various extreme conditions and guaranteeing high consistency in performance across all products.
[0040] The camera data synchronization module 601 uses the DuxCam series products designed and manufactured by Panodux, which can realize 8K resolution video content acquisition and 32-megapixel resolution image acquisition.
[0041] Furthermore, such as Figure 2 As shown, the main support structure 201 has mounting holes at the top and bottom, and the first main support reinforcing rod 202 and the second main support reinforcing rod 203 are fixed to the main support structure 201 through the mounting holes.
[0042] Furthermore, such as Figure 2 As shown, the bottom of the main support structure 201 is provided with an aviation plug fixing structure 204, and an aviation plug 604 is fixed on the aviation plug fixing structure 204.
[0043] Furthermore, such as Figure 3 As shown, the front camera 503 is connected to the main support structure 201 via the front camera fastener 302, the left camera 504 is connected to the camera support structure 301 via the left camera fastener 303, the right camera 505 is connected to the camera support structure 301 via the right camera fastener 304, and the rear camera 506 is connected to the camera support structure 301 via the rear camera fastener 305.
[0044] Furthermore, such as Figure 1 , Figure 2 , Figure 3 The camera support structure shown has two rows of mounting holes on its left and right sides. The top outer shell 101 is fixed to the camera support structure 301 through the top mounting holes, and the bottom outer shell 102 is fixed to the camera support structure 301 through the bottom mounting holes.
[0045] Furthermore, such as Figure 2 , Figure 3 As shown, the first main support reinforcing rod 202 and the second main support reinforcing rod 203 are provided with mounting holes on their upper sides. The first data module connection structure 205 is fixed to the first main support reinforcing rod 202 through the mounting holes. The second data module connection structure 206 is fixed to the second main support reinforcing rod 203 through the mounting holes. The data format conversion module 602 is fixed to the lower side of the first main support reinforcing rod 202 and the second main support reinforcing rod 203 through the mounting holes. The data transmission exchange module 603 is fixed to the first data module connection structure 205 and the second data module connection structure 206 through the mounting holes.
[0046] The data format conversion module 602 uses the Tas-Lan-751 serial-to-Ethernet communication module, enabling the device to transmit data via Ethernet. The data transmission conversion module 603 uses the CH9121 network serial port pass-through chip, which has its own Ethernet media transport layer (MAC) and physical layer (PHY), is fully compatible with the IEEE 802.3 protocol, and can realize bidirectional transmission of network data packets and serial port data without additional operation.
[0047] Furthermore, such as Figure 1 , Figure 2 As shown, the bottom shell 102 has several elongated openings at the bottom for heat dissipation and wiring of the bottom lidar 502.
[0048] Furthermore, such as Figure 1 , Figure 2 , Figure 3 , Figure 5 As shown, the top lidar 501 is connected to the data format conversion module 602 via a cable; the bottom lidar 502 is connected to the data transmission exchange module 603 via a cable; the inertial navigation module 507 is connected to the data transmission exchange module 603 via a cable; the data format conversion module 602 is connected to the data transmission exchange module 603 via a cable; the data transmission exchange module 603 is connected to the aviation plug 604 via a cable; and the camera data synchronization module 601 is connected to the front camera 503, the left camera 504, the right camera 505, the rear camera 506, and the data transmission exchange module 603 via cables.
[0049] The above embodiments are used to explain and illustrate the present utility model, and are not intended to limit the present utility model. Any modifications and changes made to the present utility model within the spirit and scope of the claims shall fall within the protection scope of the present utility model.
Claims
1. A handheld dual-LiDAR 3D mapping device, characterized in that, This includes the main support structure, camera support structure, and grip rod; The main support structure and the camera support structure are connected to form the four side walls and the bottom wall of the main body, and cameras are installed on the four side walls; the main support structure forms one of the side walls and the bottom wall, the camera support structure forms the remaining walls, and lidar is installed on the bottom wall and the top of the main support structure. The top of the gripping rod is installed at the bottom of the main support structure via a U-shaped connector, so that the bottom laser radar of the main support structure is located at the U-shaped gap between the U-shaped connector and the main support structure.
2. The handheld dual-LiDAR 3D mapping device according to claim 1, characterized in that, The main support structure and camera support mechanism are connected to the camera via camera fasteners.
3. The handheld dual-LiDAR 3D mapping device according to claim 1, characterized in that, The camera support structure is further reinforced with a housing with pre-drilled camera holes, and a top housing is installed above the camera support structure.
4. The handheld dual-LiDAR 3D mapping device according to claim 1, characterized in that, The main support structure is provided with assembly holes at the top and bottom. The first main support reinforcing rod and the second main support reinforcing rod are fixed to the top and bottom of the main support structure through the assembly holes.
5. A handheld dual-LiDAR 3D mapping device according to claim 4, characterized in that, The equipment also includes: a data format conversion module, a data transmission and exchange module, an inertial navigation module, a camera data synchronization module, and an aviation connector; The first main support reinforcing rod and the second main support reinforcing rod are provided with mounting holes on their upper sides. The first data module connection structure is fixed to the first main support reinforcing rod through the mounting holes. The second data module connection structure is fixed to the second main support reinforcing rod through the mounting holes. The data format conversion module is fixed to the lower side of the first main support reinforcing rod and the second main support reinforcing rod through the mounting holes. The data transmission exchange module is fixed to the first data module connection structure and the second data module connection structure through the mounting holes. The inertial navigation module and camera data synchronization module are installed on the base plate of the main support structure; The aviation plug is mounted on the base plate of the main support structure via an aviation plug fixing structure.
6. A handheld dual-laser radar 3D mapping device according to claim 5, characterized in that, The data format conversion module is connected to the radar at the top of the main support structure via a cable, the data transmission exchange module is connected to the radar at the bottom of the main support structure via a cable, the inertial navigation module is connected to the data transmission exchange module via a cable, the data format conversion module is connected to the data transmission exchange module via a cable, and the data transmission exchange module (603) is connected to the aviation plug via a cable.
7. A handheld dual-laser radar 3D mapping device according to claim 1, characterized in that, The grip rod has an assembly hole at the top, the upper U-shaped connector has a groove and an assembly hole at the bottom, and the lower U-shaped connector has a groove and an assembly hole at the top. The upper U-shaped connector and the lower U-shaped connector are connected by the groove. The grip rod is connected to the upper U-shaped connector and the lower U-shaped connector by the assembly hole. The upper U-shaped connector and the lower U-shaped connector are connected to the main support structure.