Three-dimensional laser scanning surveying and mapping device
Through the design of gravity-balanced joints and telescopic outriggers, the 3D laser scanning device automatically levels itself in complex terrain, solving the problem of poor terrain adaptability of traditional devices and achieving efficient and stable mapping results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-23
- Publication Date
- 2026-03-13
AI Technical Summary
Traditional 3D laser scanning mapping devices have poor terrain adaptability and low leveling efficiency. They are particularly difficult to operate on slopes, muddy ground, or discontinuous ground, and rely on manual adjustment of outrigger length and foot screws, requiring a high level of experience.
By employing gravity-balancing joints and telescopic outriggers, combined with counterweights and limiting structures, the main body of the 3D laser scanner can automatically maintain a vertical position in any terrain. The gravity-balancing joints can quickly level and fix the scanner, while the telescopic outriggers use a one-way locking structure to automatically unlock and lock, avoiding the risk of tipping over due to manual operation.
It improves the device's terrain adaptability and leveling efficiency, automatically maintains the stability of the 3D laser scanner body, reduces operational complexity and the risk of equipment tipping over, and can perform surveying quickly and stably, especially in complex terrain.
Smart Images
Figure CN223992102U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of scanning and mapping technology, and in particular relates to a three-dimensional laser scanning and mapping device. Background Technology
[0002] Three-dimensional laser scanning technology can quickly build high-precision three-dimensional models through high-speed laser ranging and point cloud data acquisition. Traditional equipment is usually supported by a tripod and needs to be manually leveled by extending and retracting the legs and adjusting the leveling screws to ensure that the coordinate system is aligned with the geodetic reference.
[0003] In order to model the survey area in a comprehensive manner, it is usually necessary to set up multiple survey points around the survey area. After each positioning point is moved, the surveying device needs to be readjusted. Since traditional surveying devices rely on manually adjusting the length of the outriggers and the foot screws to achieve horizontal calibration, the leveling efficiency is low, especially for complex terrains such as slopes, mud, or discontinuous ground. Furthermore, it requires a high level of operator experience and does not have good terrain adaptability. Utility Model Content
[0004] This invention proposes a three-dimensional laser scanning mapping device, which solves the problems of poor terrain adaptability and low leveling efficiency of existing mapping devices.
[0005] To achieve the above objectives, the present invention adopts the following technical solution:
[0006] A three-dimensional laser scanning and mapping device includes a three-dimensional laser scanner body and a device bracket for supporting the three-dimensional laser scanner body. The device bracket includes a gravity self-balancing joint and multiple telescopic legs.
[0007] The gravity self-balancing joint has a support ring with a spherical inner wall and a spherical movable shell. The spherical movable shell is movably connected to the support ring. The main body of the three-dimensional laser scanner is vertically installed on the top of the spherical movable shell, and a connecting rod is vertically installed at the bottom of the spherical movable shell. A counterweight is installed at the bottom of the connecting rod, so that the overall center of gravity of the three-dimensional laser scanner main body, the spherical movable shell and the counterweight is located below the spherical shape of the spherical movable shell. The support ring is provided with a limiting structure to restrict the rotation of the spherical movable shell.
[0008] The ends of the multiple telescopic outriggers are rotatably connected to connecting lugs that are fixedly mounted on the outer wall of the support ring.
[0009] Preferably, the support ring includes an upper ring body and a lower ring body, which are fixed together by bolts, and the mating surfaces of the upper and lower ring bodies coincide with the cross-section of the inner spherical surface of the support ring.
[0010] Preferably, the limiting structure includes a mounting groove formed on the upper ring body, a limiting ring threadedly connected in the mounting groove, the inner wall of the limiting ring being a spherical surface adapted to the spherical movable shell, and a plurality of friction plates being equidistantly arranged on the inner wall of the limiting ring.
[0011] Preferably, the inner wall of the support ring is covered with a polytetrafluoroethylene wear-resistant layer.
[0012] Preferably, the hinged end of the telescopic outrigger is provided with a fan-shaped groove, and a stop bar located in the fan-shaped groove is provided in the connecting ear.
[0013] Preferably, the telescopic outrigger includes an outer rod and an extension rod slidably disposed within the outer rod, and a one-way locking structure is provided between the outer rod and the extension rod to restrict the retraction of the extension rod.
[0014] Preferably, the one-way locking structure includes a plug rod that is symmetrically and coaxially slidably disposed at the bottom end of the outer sleeve rod. The plug rod extends into the extension rod, and the ends of the two plug rods are connected by a spring. The extension rod has a double-layer structure, and the plug rod can slide within the interlayer. The extension rod has a slot, and the sidewall of the slot has a plurality of linearly arrayed latches. The end of the plug rod is provided with a latching block that matches the contour of the latches.
[0015] Preferably, the cross-section of the card block is a trapezoid with an inclined upper side and a horizontal lower side.
[0016] In summary, the technical effects and advantages of this utility model are as follows: This utility model uses a counterweight and a spherical movable shell to enable the main body of the 3D laser scanner to automatically maintain a vertical state (residual tilt angle <0.5°) under any terrain, thereby improving the leveling efficiency. After leveling, the gravity self-balancing joint is quickly fixed by a limiting structure to avoid displacement caused by wind or contact.
[0017] The telescopic outriggers adopt a one-way locking structure. The outriggers automatically unlock when pulled out and automatically lock after being released. There is no need to manually rotate the knob or press the lock. During the adjustment process, there is no need to hold the outriggers continuously, avoiding the risk of equipment tipping caused by the traditional solution's "unlock → adjust → lock" process (especially in slope or one-handed operation scenarios). Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0019] Figure 2 This is a cross-sectional structural diagram of the present invention;
[0020] Figure 3 for Figure 2 A magnified structural diagram of part A in the middle;
[0021] Figure 4This is an exploded view of the support ring in this utility model;
[0022] Figure 5 This is a schematic diagram of the one-way locking structure in this utility model;
[0023] In the diagram: 1. Main body of the 3D laser scanner; 2. Equipment bracket; 3. Gravity self-balancing joint; 31. Support ring; 311. Upper ring body; 312. Lower ring body; 32. Spherical movable shell; 33. Connecting rod; 34. Counterweight; 35. Connecting lug; 351. Stop bar; 36. Limiting ring; 361. Friction plate; 4. Telescopic outrigger; 41. Outer rod; 411. Sector groove; 42. Extension rod; 43. Insert rod; 44. Spring; 45. Bayonet; 46. Locking block. Detailed Implementation
[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.
[0025] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.
[0026] Reference Figure 1-2 A three-dimensional laser scanning and mapping device includes a three-dimensional laser scanner body 1 and a device support 2 for supporting the three-dimensional laser scanner body 1. The device support 2 includes a gravity self-balancing joint 3 and multiple telescopic legs 4.
[0027] Reference Figure 2-4 The gravity self-balancing joint 3 has a support ring 31 with a spherical inner wall and a spherical movable shell 32. The spherical movable shell 32 is movably connected inside the support ring 31 and can rotate freely within the support ring 31 within a range of ±30°. The spherical inner wall of the support ring 31 is covered with a polytetrafluoroethylene wear-resistant layer. The extremely low friction characteristics of polytetrafluoroethylene reduce the sliding resistance between the spherical movable shell 32 and the support ring 31, improve the rotational flexibility between the spherical movable shell 32 and the support ring 31, ensure that the gravity self-balancing joint 3 responds quickly to changes in terrain, and avoids leveling errors caused by jamming or lag.
[0028] The support ring 31 includes an upper ring body 311 and a lower ring body 312, which are fixed together by bolts. The mating surfaces of the upper ring body 311 and the lower ring body 312 coincide with the cross-section of the inner spherical surface of the support ring 31. The support ring 31 is made of aluminum alloy cast upper ring body 311 and lower ring body 312, realizing a split structure, which facilitates the installation of the support ring 31 and the spherical movable shell 32.
[0029] Reference Figure 2-4 The 3D laser scanner body 1 is vertically mounted on top of the spherical movable shell 32. An electronic level is installed on the top of the spherical movable shell 32 to determine whether leveling is complete. A connecting rod 33 is vertically mounted on the bottom of the spherical movable shell 32, and a counterweight 34 is installed at the bottom of the connecting rod 33. The spherical movable shell 32, the connecting rod 33, and the counterweight 34 are located on the same axis, and this axis passes through the center of the spherical movable shell 32. Under the action of the counterweight 34, the center of gravity of the 3D laser scanner body 1, the spherical movable shell 32, and the counterweight 34 is located below the spherical shape of the spherical movable shell 32. Under the action of gravity, the spherical movable shell 32 and the support... The support ring 31 adapts to the movement until the 3D laser scanner body 1 is in a horizontal state. Because it is driven by gravity, the 3D laser scanner body 1 automatically maintains a vertical state in any terrain, improving the leveling efficiency. Furthermore, the support ring 31 is provided with a limiting structure to restrict the rotation of the spherical movable shell 32. After leveling, the gravity self-balancing joint 3 is quickly fixed by the limiting structure to avoid displacement caused by wind or contact. At the same time, since the overall center of gravity of the 3D laser scanner body 1, the spherical movable shell 32, and the counterweight 34 is located below the spherical movable shell 32, the stability of the device can be improved, reducing the risk of tipping over due to external force imbalance.
[0030] The limiting structure includes a mounting groove on the upper ring 311, with a limiting ring 36 threaded into the mounting groove. The inner wall of the limiting ring 36 is a spherical surface adapted to the spherical movable shell 32. By rotating the limiting ring 36, the axial displacement of the limiting ring 36 can be controlled, so that the limiting ring 36 contacts or separates from the surface of the spherical movable shell 32. Multiple friction plates 361 are equidistantly arranged on the inner wall of the limiting ring 36. When the friction plates 361 contact the spherical movable shell 32, the friction between the friction plates 361 and the spherical movable shell 32 restricts the rotation of the spherical movable shell 32. After automatic leveling is completed, the spherical movable shell 32 is limited, thereby ensuring the stability of the 3D laser scanner body 1.
[0031] Reference Figure 1-5 Multiple telescopic outriggers 4 are rotatably connected at their ends to connecting ears 35 fixedly installed on the outer wall of the support ring 31. The telescopic outriggers 4 support the support ring 31, so that the support ring 31 is stable at a suitable height. At least three telescopic outriggers 4 are provided.
[0032] The telescopic outrigger 4 has a fan-shaped groove 411 at its hinge end. A stop bar 351 is provided in the connecting ear 35, which is located in the fan-shaped groove 411. The stop bar 351 is smaller than the fan-shaped groove 411, so that the telescopic outrigger 4 can rotate at a certain angle. When the telescopic outrigger 4 deflects outward to the maximum angle, the stop bar 351 blocks the fan-shaped groove 411, thereby limiting the outward tilting angle of the telescopic outrigger 4.
[0033] The telescopic outrigger 4 includes an outer rod 41 and an extension rod 42 slidably disposed within the outer rod 41. The extension rod 42 allows for adaptive control of the length of the telescopic outrigger 4 according to the site environment. A one-way locking structure is provided between the outer rod 41 and the extension rod 42 to limit the retraction of the extension rod 42. Under the action of the one-way locking structure, the extension rod 42 is only allowed to be pulled outward. When the extension rod 42 is pulled outward, it automatically unlocks and automatically locks after release. There is no need to manually rotate the knob or press the locking buckle or other locking parts. During the adjustment process, there is no need to continuously hold the outrigger, avoiding the risk of equipment tipping caused by the "unlock → adjust → lock" process in the traditional solution.
[0034] The one-way locking structure includes a pin 43 that is coaxially and symmetrically slidably disposed at the bottom end of the outer sleeve rod 41. The pin 43 is perpendicular to the outer sleeve rod 41 and extends into the extension rod 42. The ends of the two pins 43 are connected by a spring 44. Under the elastic force of the spring 44, the two pins 43 move away from each other. The extension rod 42 has a double-layer structure, and the pin 43 can slide within the interlayer. Therefore, the pin 43 will not obstruct the extension and retraction of the extension rod 42. A slot is provided inside the extension rod 42, and multiple linearly arrayed latches 45 are provided on the sidewall of the slot. The end of the pin 43 is provided with a locking block 46 that conforms to the contour of the latches 45. Under the action of spring 44, the locking block 46 is inserted into the locking slot 45. When the extension rod 42 extends or retracts, the locking block 46 will abut against the inner wall of the locking slot 45. Both the locking slot 45 and the locking block 46 are trapezoidal with the upper side line inclined and the lower side line horizontal. When the extension rod 42 is pulled outward, the inclined side of the locking block 46 abuts against the inclined side of the locking slot 45. The squeezing force will cause the two insert rods 43 to move closer to each other and disengage from the locking slot 45, so as not to affect the extension rod 42 being pulled out. However, when the extension rod 42 retracts, the flat side of the locking block 46 abuts against the flat side of the locking slot 45. At this time, the extension rod 42 remains stable and cannot be directly retracted. It is necessary to manually press the insert rods 43.
[0035] The working principle of this utility model:
[0036] In use, multiple telescopic outriggers 4 are opened and the device is set up at a designated point. Under the action of gravity, the spherical movable shell 32 and the support ring 31 move adaptively until the 3D laser scanner body 1 is in a horizontal state, completing the adaptive leveling. By rotating the limiting ring 36, the axial displacement of the limiting ring 36 can be controlled to limit the spherical movable shell 32, thereby ensuring the stability of the 3D laser scanner body 1.
[0037] After completing the measurement at one point, the device is moved to the next point. By rotating the limiting ring 36 in the opposite direction, the limiting ring 36 is controlled to move upward until the spherical movable shell 32 can rotate freely. At this time, the device automatically levels itself again under the action of gravity. After rotating the limiting ring 36 to complete the limiting, the measurement can continue.
[0038] When the measurement point is located in complex terrain such as slopes, mud, or discontinuous ground, the overall tilt angle of the device is too large. This can be addressed by extending the telescopic outrigger 4 in the lower position and pulling out the extension rod 42. The inclined side of the locking block 46 abuts against the inclined side of the locking slot 45. The squeezing force will cause the two insert rods 43 to move closer to each other and disengage from the locking slot 45, thus allowing the extension rod 42 to be pulled out without affecting its movement. However, when the extension rod 42 retracts, the flat side of the locking block 46 abuts against the flat side of the locking slot 45. At this time, the extension rod 42 remains stable. After the approximate adjustment is completed, the subsequent automatic leveling can be achieved through the gravity self-balancing joint 3.
[0039] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.
Claims
1. A three-dimensional laser scanning mapping device comprising a three-dimensional laser scanner body (1) and a device support (2) for supporting the three-dimensional laser scanner body (1), characterized in that, The device support (2) comprises a gravity self-balancing joint (3) and a plurality of telescopic legs (4); The gravity self-balancing joint (3) has a support ring (31) with a spherical inner wall and a spherical movable shell (32) movably connected in the support ring (31), the three-dimensional laser scanner body (1) is vertically installed on the top of the spherical movable shell (32), and a connecting rod (33) is vertically installed on the bottom of the spherical movable shell (32), and a counterweight (34) is installed on the bottom of the connecting rod (33), so that the overall center of gravity of the three-dimensional laser scanner body (1), the spherical movable shell (32) and the counterweight (34) is located below the spherical surface of the spherical movable shell (32), and the support ring (31) is provided with a limiting structure for limiting the rotation of the spherical movable shell (32); A plurality of telescopic legs (4) are rotatably connected with the connecting ears (35) fixedly installed on the outer wall of the support ring (31).
2. The three-dimensional laser scanning mapping device according to claim 1, characterized in that The support ring (31) comprises an upper ring body (311) and a lower ring body (312), the upper ring body (311) and the lower ring body (312) are fixed by bolts, and the abutting surfaces of the upper ring body (311) and the lower ring body (312) coincide with the cross section of the spherical surface in the support ring (31).
3. The three-dimensional laser scanning mapping device according to claim 1, wherein, The limiting structure comprises a mounting groove opened on the upper ring body (311), a limiting ring (36) is threadedly connected in the mounting groove, the inner wall of the limiting ring (36) is a spherical surface matched with the spherical movable shell (32), and a plurality of friction plates (361) are equidistantly arranged on the inner wall of the limiting ring (36).
4. The three-dimensional laser scanning mapping device according to claim 1, characterized in that The spherical surface of the inner wall of the support ring (31) is covered with a polytetrafluoroethylene wear-resistant layer.
5. The three-dimensional laser scanning mapping device according to claim 1, wherein, The telescopic leg (4) is provided with a sector groove (411) at the hinged end, and the connecting ear (35) is provided with a stop rod (351) located in the sector groove (411).
6. The three-dimensional laser scanning mapping device according to claim 1, wherein, The telescopic leg (4) comprises an outer sleeve rod (41) and an extension rod (42) slidably arranged in the outer sleeve rod (41), and a one-way locking structure is arranged between the outer sleeve rod (41) and the extension rod (42) for limiting the retraction of the extension rod (42).
7. The three-dimensional laser scanning mapping device according to claim 6, characterized in that The one-way locking structure comprises coaxially and symmetrically arranged insertion rods (43) at the bottom end of the outer sleeve rod (41), the insertion rods (43) extend into the extension rod (42), and the ends of the two insertion rods (43) are connected by springs (44), the extension rod (42) has a double-layer structure, the insertion rods (43) can slide in the interlayer, a slot is formed in the extension rod (42), a plurality of clamping holes (45) are arranged on the side wall of the slot in linear array, and the end of the insertion rod (43) is provided with a clamping block (46) matched with the contour of the clamping hole (45).
8. The three-dimensional laser scanning mapping device according to claim 7, characterized in that The clamping block (46) has a trapezoidal cross section with an inclined upper side and a horizontal lower side.