Portable picture scanning and welting device

Abstract

The utility model provides a portable picture scanning and edge pasting device which comprises a box body, walking wheels are arranged on the two sides of the bottom of the box body, a supporting frame is hinged to the top of the box body so that the supporting frame can be folded and placed into the box body, a picture scanning mechanism is arranged at the free end of the supporting frame, and an edge pasting auxiliary mechanism is arranged on the side face of the box body. The welting auxiliary mechanism is used for indicating the walking wheels located on the same side of the welting auxiliary mechanism to walk in a welting mode. A user can push the box body to walk after unfolding the supporting frame of the device and scan a picture through the picture scanning mechanism, and the welting auxiliary mechanism arranged on the side face of the box body can indicate the walking wheels located on the same side of the welting auxiliary mechanism to walk in a welting mode, so that human eyes are assisted in judging whether welting walking is accurate or not; the sweeping vehicle can scan images in advance and walk along the edge to collect data before arriving at the scene, so that the landing speed of the equipment is accelerated; the supporting frame can be folded and stored in the box body, and carrying and express transportation are convenient.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot scanning and mapping technology, specifically to a portable scanning and edge-fitting device. Background Technology

[0002] With the development of artificial intelligence, driverless sweepers have been more widely used. Before a driverless sweeper can operate, it needs to perform laser mapping of the working environment and edge-keeping maneuvering to avoid obstacles and define the working path or area. Currently, most driverless sweepers on the market rely on their own positioning system and LiDAR to perform mapping, moving along the cleaning boundary to create the working path and area.

[0003] However, relying on the sweeper's own movement to scan maps and move along edges has many limitations and shortcomings. First, the sweeper is large and the boundaries are mostly irregular paths, making it difficult to accurately control the sweeper to move along the required boundaries, resulting in poor flexibility. Second, the sweeper needs to be on-site before scanning can be carried out, making it impossible to scan maps in advance, and the on-site operation time is long. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model proposes a portable scanning and edge-tracing device that can scan and trace edges to collect data before the sweeper arrives at the site, thereby accelerating the deployment of the equipment.

[0005] The technical solution of this utility model is implemented as follows:

[0006] A portable scanning and edge-fitting device includes a housing with wheels on both sides of the bottom. A support frame is hinged to the top of the housing so that the support frame can be folded and placed inside the housing. A scanning mechanism is provided at the free end of the support frame. An edge-fitting auxiliary mechanism is provided on the side of the housing to instruct the wheels located on the same side as the edge-fitting auxiliary mechanism to move along the edge.

[0007] Preferably, the scanning mechanism includes a lidar.

[0008] Preferably, the scanning mechanism also includes an IMU and an antenna.

[0009] Preferably, the edge-fitting auxiliary mechanism is a laser light, a brush, or a roller.

[0010] Preferably, the top of the box is provided with a rotating fixing seat, and the support frame is hinged to the top of the box through the rotating fixing seat.

[0011] Preferably, a fixing structure is provided between the support frame and the rotating fixed seat to fix the folded support frame.

[0012] Preferably, the fixing structure includes a pin and a socket provided at one end of the support frame near the rotating fixing seat, the pin passing through the rotating fixing seat and the socket to fix the folded support frame;

[0013] Alternatively, the fixing structure includes screws and threaded holes located at one end of the support frame near the rotating mounting base. The screws pass through the rotating mounting base and are screwed into the threaded holes to fix the folded support frame.

[0014] Preferably, the back of the box is hinged to a bracket, and the free end of the bracket is provided with two casters.

[0015] Preferably, the back of the box is equipped with a telescopic handle.

[0016] Preferably, the diameter of the walking wheels is 20mm or more.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] (1) The top of the device is hinged with a support frame. After the user unfolds the support frame of the device, the user can push the device to move and scan the map through the scanning mechanism. Moreover, the edge-fitting auxiliary mechanism on the side of the device can instruct the walking wheel located on the same side of the edge-fitting auxiliary mechanism to move along the edge, thereby assisting the human eye in judging whether the edge-fitting movement is accurate. This enables the scanning and edge-fitting movement to collect data in advance before the sweeper arrives at the site, thus speeding up the landing of the equipment.

[0019] (2) Since the support frame is hinged to the top of the box, the support frame can be folded and put into the box. When stored, it is a suitcase structure, and no additional tools are required for storage, making it convenient to carry and transport by express. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 This is a schematic diagram of the support frame in its folded state in this utility model;

[0022] Figure 3 for Figure 2 A magnified structural diagram of point A in the middle.

[0023] Attached image labels:

[0024] 1-Box; 101-Groove; 2-Support frame; 201-Socket; 3-IMU; 4-LiDAR; 5-Antenna; 6-Laser light; 7-Universal wheel; 8-Walking wheel; 9-Telescopic handle; 10-Rotating mounting base; 11-Pin; 12-Bracket. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, unless otherwise expressly specified and limited, the terms "installed," "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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] See Figure 1 and Figure 2 This embodiment provides a portable scanning and edge-fitting device, including a housing 1. The bottom two sides of the housing 1 are provided with wheels 8. The top of the housing 1 is hinged with a support frame 2 so that the support frame 2 can be folded and put into the housing 1. The free end of the support frame 2 is provided with a scanning mechanism. The side of the housing 1 is provided with an edge-fitting auxiliary mechanism, which is used to instruct the wheels 8 located on the same side as the edge-fitting auxiliary mechanism to move along the edge.

[0028] After the user unfolds the support frame 2 of this device, the box 1 can be pushed to move and scan the map through the scanning mechanism. Moreover, the edge-fitting auxiliary mechanism set on the side of the box 1 can instruct the walking wheel 8 located on the same side of the edge-fitting auxiliary mechanism to move along the edge, thereby assisting the human eye in judging whether the edge-fitting movement is accurate. This allows the map to be scanned and edge-fitting movement to collect data in advance before the sweeper arrives at the site, thus speeding up the deployment of the equipment.

[0029] In addition, since the support frame 2 is hinged to the top of the case 1, the support frame 2 can be folded and put into the case 1. When stored, it has the structure of a suitcase and no additional tools are required for storage, making it convenient to carry and transport by express.

[0030] Specifically, the mapping mechanism includes a LiDAR 4, which provides a 3D map of the surrounding environment. The LiDAR 4 performs mapping as the housing 1 moves. Besides LiDAR 4, other mapping devices such as cameras and 3D laser scanners can also be used for mapping.

[0031] Furthermore, the scanning mechanism also includes an IMU3 and an antenna 5. An IMU is an inertial measurement unit that can measure the three-axis attitude angles (or angular rates) and acceleration of an object using accelerometers and gyroscopes. During the movement of the device, the IMU can provide the motion information of the device in real time, thereby realizing motion compensation for the data of the lidar 4 and reducing errors caused by motion. The antenna 5 is used to transmit or receive electromagnetic waves and is responsible for transmitting the data collected by the lidar 4 and IMU3 to external devices or systems for processing and analysis.

[0032] Preferably, during operation, the lidar 4 is positioned above the IMU 3 to avoid the lidar 4 being blocked or interfered with; the antenna 5 is positioned above the lidar 4 to avoid the lidar 4 affecting the reception of the antenna 5 signal.

[0033] In this embodiment, the support frame 2 is rod-shaped. In fact, the shape of the support frame 2 is not limited, as long as it can accommodate the scanning mechanism.

[0034] The edge-following assist mechanism is a laser light 6, which illuminates a crosshair onto the ground to assist the human eye in judging the accuracy of edge-following movement. The midpoint of the crosshair on the edge indicates that the device is moving along the edge. In other embodiments, the edge-following assist mechanism can be a brush or rollers, which can also be used to guide the walking wheels 8 located on the same side of the edge-following assist mechanism to move along the edge. When the device moves close to the edge, the brush will make slight contact with the edge. An observer can judge whether the device maintains an appropriate distance from the edge by observing the state of the brush. If the brush is flattened or bent, it may mean that the device has approached or slightly exceeded the edge. When the device moves along the edge, the rollers should be able to closely follow the edge. An observer can judge whether the device is consistent with the edge by observing the position and state of the rollers. If the rollers deviate from the edge or exhibit abnormal jumping, it may mean that the device is not moving along the edge correctly.

[0035] Preferably, the top of the housing 1 is provided with a rotating fixing seat 10, and the support frame 2 is hinged to the top of the housing 1 through the rotating fixing seat 10, thereby realizing the unfolding and folding of the support frame 2. When scanning is required, the support frame 2 is unfolded so that the scanning mechanism is located outside the housing 1. After scanning is completed, the support frame 2 is folded and put into the housing 1 for storage, saving space.

[0036] Preferably, a fixing structure is provided between the support frame 2 and the rotating fixing seat 10 to fix the folded support frame 2. In this embodiment, see... Figure 3 The fixing structure includes a pin 11 and a socket 201 located at one end of the support frame 2 near the rotating fixing seat 10. The pin 11 passes through the rotating fixing seat 10 and the socket 201 to fix the folded support frame 2. When the support frame 2 needs to be folded, first pull out the pin 11, rotate the support frame 2 back into the housing 1, and then insert the pin 11 to fix the support frame 2 by aligning it with the hole and the socket 201 of the rotating fixing seat 10.

[0037] In other embodiments, the fixing structure includes screws and a threaded hole located at one end of the support frame 2 near the rotating fixing seat 10. The screws pass through the rotating fixing seat 10 and are screwed into the threaded hole to fix the folded support frame 2. When the support frame 2 needs to be folded, first unscrew the screws, rotate the support frame 2 back into the housing 1, and then screw in the screws to fix the support frame 2 by aligning them with the holes and threaded holes of the rotating fixing seat 10.

[0038] Preferably, a support 12 is hinged to the back of the housing 1, and two casters 7 are provided at the free end of the support 12. When the support 12 is unfolded, the casters 7 are behind the wheels 8. When the housing 1 moves, the casters 7 and the wheels 8 support the housing 1, making the device move more stably. Moreover, the direction of movement can be flexibly changed by the casters 7, thereby achieving precise edge contact.

[0039] Furthermore, the back of the housing 1 is provided with a groove 101 that can accommodate the casters 7. When the bracket 12 is retracted, the casters 7 are partially hidden in the groove 101, which can save storage space.

[0040] Preferably, the back of the box 1 is provided with a telescopic handle 9, which allows the user to push the box 1 to move. The user can also flexibly control the direction of the casters 7 through the telescopic handle 9, thereby changing the direction of travel and achieving precise edge contact.

[0041] Preferably, the diameter of the walking wheels 8 is 20mm or more, in order to reduce the vibration impact of uneven road surfaces on the device and facilitate forward movement.

[0042] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1.A portable mapping and edge following device, characterized in that, a box body is provided with walking wheels on both sides of the bottom, and a support frame is hingedly connected to the top of the box body so that the support frame can be folded into the box body, a mapping mechanism is provided at the free end of the support frame, and an edge following auxiliary mechanism is provided on the side of the box body to indicate the walking wheels on the same side of the edge following auxiliary mechanism to follow the edge. 2.The portable mapping and edge following device according to claim 1, characterized in that, the mapping mechanism comprises a laser radar. 3.The portable mapping and edge following device according to claim 2, characterized in that, the mapping mechanism further comprises an IMU and an antenna. 4.The portable mapping and edge following device according to claim 1, characterized in that, the edge following auxiliary mechanism is a laser lamp, a brush or a roller. 5.The portable mapping and edge following device according to claim 1, characterized in that, a rotating fixing seat is provided on the top of the box body, and the support frame is hingedly connected to the top of the box body through the rotating fixing seat. 6.The portable mapping and edge following device according to claim 5, characterized in that, a fixing structure is provided between the support frame and the rotating fixing seat to fix the folded support frame. 7.The portable mapping and edge following device according to claim 6, characterized in that, the fixing structure comprises a bolt and a hole provided at one end of the support frame close to the rotating fixing seat, and the bolt passes through the rotating fixing seat and the hole to fix the folded support frame; or the fixing structure comprises a screw and a threaded hole provided at one end of the support frame close to the rotating fixing seat, and the screw passes through the rotating fixing seat and is screwed into the threaded hole to fix the folded support frame. 8.The portable mapping and edge following device according to claim 1, characterized in that, a support is hingedly connected to the back of the box body, and two universal wheels are provided at the free end of the support. 9.The portable mapping and edge following device according to claim 1, characterized in that, a telescopic handle is provided on the back of the box body. 10.The portable mapping and edge following device according to any one of claims 1 to 9, characterized in that, the diameter of the walking wheels is more than 20 mm. ​

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