Handheld laser scanner

Abstract

The utility model discloses a hand-held laser scanner comprising a scanning machine head, the lower end of the scanning machine head is provided with an alignment connection groove, and the alignment connection groove is internally provided with a power connection part and a connection lock hole; one end of the holding handle is provided with a plugging end corresponding to the alignment connection groove and a power supply part matched with the power connection part; a pressing part is arranged on the side wall, close to the inserting end, of the holding handle, and the pressing part is in linkage connection with a locking piece matched with the connecting lock hole; an elastic piece is connected between the locking piece and the plugging end, and the elastic piece is used for keeping the plugging end to be connected with the alignment connecting groove, and then the locking piece clamps and locks the connecting lock hole; when the pressing part carries the connecting lock hole to move to a preset position, the locking piece is clamped and separated from the connecting lock hole; and the power supply is arranged in the inner cavity of the holding handle shell and is electrically connected with the power supply part.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of laser scanning modeling devices, in particular to a handheld laser scanner. BACKGROUND

[0002] Thanks to the development of electronic component design and manufacturing, the originally large-size scanner that needs a carrier vehicle for transportation can be optimized to be smaller in size after the application of electronic components that are smaller in size, consistent in function and performance or stronger in function and performance.

[0003] However, the battery used to power the laser scanner is still proportional in volume, weight and capacity. When the battery capacity is larger, the handheld laser scanner is heavier, and the scanning personnel is more likely to be tired during use, which leads to unstable holding and affects the quality of the modeling material. The camera, laser emission and reception system of the laser scanner consume a lot of energy, have a short use duration and need to be frequently charged, which affects the continuity of the collection work and leads to low work efficiency. CONTENT OF THE UTILITY MODEL

[0004] The utility model mainly aims at the above problems, and provides a handheld laser scanner, which aims at solving the technical problems in the background art.

[0005] To achieve the above purpose, the utility model provides a handheld laser scanner, which comprises:

[0006] A scanning head is provided with a positioning connecting groove at the lower end, and an electricity connecting part and a connecting lock hole are arranged in the positioning connecting groove.

[0007] A holding handle is provided with a plug-in end corresponding to the positioning connecting groove and a power supply part matched with the electricity connecting part at one end. A pressing part is arranged on the side wall adjacent to the plug-in end of the holding handle. The pressing part is connected with a locking part matched with the connecting lock hole. An elastic part is arranged between the locking part and the plug-in end. The elastic part is used to keep the locking part from locking the connecting lock hole after the plug-in end is connected with the positioning connecting groove. When the pressing part carrying the connecting lock hole moves to a predetermined position, the locking part is separated from the connecting lock hole.

[0008] A power supply is arranged in the inner cavity of the holding handle shell and is electrically connected with the power supply part.

[0009] Further, one end of the holding handle away from the plug-in end is provided with a charging interface, and the charging interface is electrically connected with the power supply.

[0010] Further, a connecting base is included; the holding handle is provided with a connecting position at the end away from the plug-in end; the connecting base is detachably connected with the holding handle through the connecting position; the connecting base is provided with a closed anti-disengagement groove corresponding to the profile of the side wall of the holding handle; and the connecting base is provided with a mounting position corresponding to the terminal end of the external carrier.

[0011] Further, the plug-in end is provided with a guide limiting groove, the locking member is in sliding connection with the guide limiting groove, the locking member is provided with a guide rod at the end away from the pressing part, the plug-in end is provided with a guide plate for accommodating the guide rod, and the elastic member is respectively abutted at both ends of the locking member and the guide plate.

[0012] Further, a stop baffle is arranged between the locking member and the guide plate, and the guide rod is in sliding connection with the stop baffle; the elastic member is in two groups and is arranged on both sides of the stop baffle.

[0013] Further, a supporting base plate is included, and the guide limiting groove, the guide plate and the stop baffle are arranged on the supporting base plate; and the supporting base plate is detachably connected with the holding handle.

[0014] Further, the locking member is provided with a sliding inclined surface corresponding to the aperture of the connecting lock hole.

[0015] Further, the scanning head includes a laser radar, a wide-angle camera, a navigation camera and an RTK module; the laser radar is arranged at an inclination of 25° with respect to the scanning head body; the wide-angle camera and the navigation camera are arranged on the side wall of the scanning head body, the wide-angle camera is in two groups and is arranged on both sides of the navigation camera; and the RTK module is arranged adjacent to the laser radar.

[0016] Further, the included angle between the two wide-angle cameras is 120°.

[0017] Further, the scanning head is provided with a magnetic connection member.

[0018] Compared with the prior art, the hand-held laser scanner can be stably locked with the connecting lock hole through the locking member, and the guiding connection concave-convex butt joint connection relationship between the alignment connecting groove and the plug-in end, so that the scanning head and the holding handle are connected with high integrity and stability, and the connection can be easily released for replacement, thereby improving the user experience. Therefore, the power supply can also be selected to be not too heavy, thereby avoiding fatigue of the operator. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of the hand-held laser scanner.

[0020] Figure 2 It is a side view of the hand-held laser scanner.

[0021] Figure 3 It is a handheld laser scanner structure exploded view of the application.

[0022] Figure 4 It is a handheld laser scanner handle structure schematic view of the application.

[0023] Figure 5 It is a handheld laser scanner scanning head structure schematic view of the application.

[0024] Figure 6 It is a handheld laser scanner partial sectional view of the application.

[0025] Figure 7 It is a handheld laser scanner support base, locking member structure schematic view of the application.

[0026] The reference signs shown in the figure: 1, scanning head; 110, alignment connecting groove; 120, power connection part; 130, connecting lock hole; 140, laser radar; 150, wide-angle camera; 160, navigation camera; 170, RTK module; 2, holding handle; 210, plug-in end; 220, power supply part; 230, pressing part; 240, locking member; 241, guide rod; 242, sliding inclined surface; 250, elastic member; 260, charging interface; 280, support base; 281, guide limiting groove; 282, guide plate; 283, stop baffle; 3, connecting base; 310, enclosed anti-off groove; 320, mounting position; 4, magnetic attraction connecting member. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application. It can be understood that the drawings are only provided for reference and illustration, and are not used to limit the present application. The connection relationship shown in the drawings is only for clear description, and does not limit the connection mode.

[0028] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component, or a middle component can exist at the same time. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. It should also be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The terms used in the description of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application.

[0029] It should also be noted that in the description of the present application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0030] Please refer to Figure 1 Figure 7 The present embodiment provides a handheld laser scanner, comprising:

[0031] A scanning head 1, the lower end of the scanning head 1 is provided with a positioning connecting groove 110, and the inside of the positioning connecting groove 110 is provided with an electrical connection part 120 and a connecting lock hole 130;

[0032] A holding handle 2, one end of the holding handle 2 is provided with a plug-in end 210 corresponding to the positioning connecting groove 110 and a power supply part 220 matched with the electrical connection part 120; a pressing part 230 is arranged on the side wall of the holding handle 2 adjacent to the plug-in end 210, and the pressing part 230 is connected with a locking piece 240 matched with the connecting lock hole 130; an elastic piece 250 is connected between the locking piece 240 and the plug-in end 210, and the elastic piece 250 is used to keep the locking piece 240 clamping and locking the connecting lock hole 130 after the plug-in end 210 is connected with the positioning connecting groove 110; when the pressing part 230 carrying the connecting lock hole 130 moves to a predetermined position, the locking piece 240 clamping is separated from the connecting lock hole 130;

[0033] ​Preferably, the locking member 240 is in an integrated structure with the pressing portion 230, which is a bent plate structure.

[0034] A power supply (not shown) is built in the inner cavity of the holding handle shell 2 and is electrically connected with the power supply portion 220.

[0035] Working principle: the user presses the pressing portion 230 on the side wall of the plug-in end 210, and the pressing portion 230 drives the locking member 240 to move, so that the locking member 240 moves to a state of not hindering the plug-in end 210 from extending into the alignment connection groove 110 and not hindering the locking member 240 from fitting into the connection lock hole 130, and at the same time, the elastic force of the elastic member 250 is overcome.

[0036] After the plug-in end 210 is completely inserted into the alignment connection groove 110, the pressing on the pressing portion 230 is released, and under the elastic force of the elastic member 250, the elastic member 250 abuts against the locking member 240, so that the locking member 240 is clamped and locked with the connection lock hole 130, thereby avoiding the separation of the scanning head 1 and the holding handle 2.

[0037] When the power supply is out of power, the user can press the pressing portion 230 again to overcome the elastic force of the elastic member 250, the pressing portion 230 drives the locking member 240 to move, and the locking member 240 is clamped and separated from the connection lock hole 130, so that the holding handle 2 can be pulled out of the alignment connection groove 110, and the holding handle 2 with a full-power power supply can be replaced, so as to realize the continuous working of the scanning head 1. Preferably, the scanning head 1 can be built-in with a standby power supply, so as to ensure that the scanning head 1 does not shut down during the short replacement of the holding handle 2.

[0038] Through the stable locking of the locking member 240 and the connection lock hole 130 and the guiding connection concave-convex butt joint connection relationship of the alignment connection groove 110 and the plug-in end 210, when the scanning head 1 and the holding handle 2 are connected, the integration is high and stable, and it is also convenient to remove the connection for replacement, thereby improving the user experience. Therefore, the power supply can also be selected to be not too heavy, so as to avoid the fatigue of the operation user.

[0039] In some embodiments, the power contact 120 can be a metal contact, and the power supply portion 220 can be a metal needle.

[0040] Please refer to Figure 4 The end of the holding handle 2 away from the plug-in end 210 is provided with a charging interface 260, and the charging interface 260 is electrically connected with the power supply.

[0041] In some embodiments, the charging interface 260 is a Type-C interface. The replaced holding handle 2 can be immediately taken for charging.

[0042] In some embodiments, the power supply can be charged through the charging interface 260 while the holding handle 2 is connected to the scanning head 1, and the charging and use can be performed simultaneously.

[0043] Please refer to Figure 1 and Figure 3 , including a connecting base 3; the holding handle 2 is provided with a connecting position at one end away from the plug-in end 210; the connecting base 3 is detachably connected to the holding handle 2 through the connecting position; the connecting base 3 is provided with a surrounding anti-disengagement groove 310 corresponding to the side wall profile of the holding handle 2; and the connecting base 3 is provided with a mounting position 320 corresponding to the terminal of the external carrier.

[0044] When the space of the place to be scanned and modeled is large, the supply of the power supply needs to be sufficient, at which time a large-volume holding handle 2 with a large-capacity power supply can be selected, and through the connecting base 3, the holding handle 2 can be connected to the transport trolley, without the user having to hold it laboriously. This design that can switch the use mode is thoughtful. In addition to the transport trolley, the external carrier can also be a center pole.

[0045] In some examples, the connecting position is a threaded hole, and the connecting base 3 is connected to the holding handle 2 through a screw. The mounting position 320 is a connecting screw, which is connected to the threaded hole on the transport trolley.

[0046] The surrounding anti-disengagement groove 310 can make the connection of the holding handle 2 and the connecting base 3 more convenient, and the concave-convex butt joint connection relationship is stable.

[0047] Please refer to Figure 6 and Figure 7 , the plug-in end 210 is provided with a guide limiting groove 281, the locking member 240 is in sliding connection with the guide limiting groove 281, one end of the locking member 240 away from the pressing part 230 is provided with a guide rod 241, the plug-in end 210 is provided with a guide plate 282 in which the guide rod 241 is arranged, and the elastic member 250 is arranged at both ends of the locking member 240 and the guide plate 282, respectively.

[0048] The guide limiting groove 281 can limit the movement direction of the locking member 240 and the pressing part 230, so that the operation is reliable, efficient and stable, and the locking member 240 is prevented from moving obliquely after the pressing part 230 is pressed. The guide rod 241 and the guide plate 282 further improve the accuracy of the movement direction of the locking member 240 and the pressing part 230.

[0049] Please refer to Figure 6 and Figure 7 , a stop baffle 283 is arranged between the locking member 240 and the guide plate 282, and the guide rod 241 slides through the stop baffle 283; the number of the elastic member 250 is two groups, which are arranged on both sides of the stop baffle 283, respectively.

[0050] The stop baffle 283 is used to limit the user to press the pressing part 230, so that the limit position of the locking piece 240 is blocked, the pressure is shared, and the service life is prolonged.

[0051] In some embodiments, the elastic piece 250 is a cylindrical spring.

[0052] Please refer to Figure 6 and Figure 7 , including the support bottom plate 280, the guide limiting groove 281, the guide plate 282 and the stop baffle 283 are arranged on the support bottom plate 280; the support bottom plate 280 is detachably connected with the holding handle 2.

[0053] This design facilitates the disassembly and maintenance of the connection mechanism in units of support bottom plates 280.

[0054] Please refer to Figure 6 and Figure 7 , the locking piece 240 is provided with a sliding slope 242 corresponding to the aperture of the connection lock hole 130.

[0055] This design can enable the user to directly butt joint the plug-in end 210 into the connection slot 110 without pressing the pressing part 230, and utilize the sliding slope 242 to resist and move the locking piece 240 under stress, so that the elastic piece 250 is compressed and avoided, and then the sliding slope 242 passes through the aperture of the connection lock hole 130, the locking piece 240 enters the connection lock hole 130, and the clamping locking is realized.

[0056] Please refer to Figure 1 - Figure 3 , the scanning head 1 includes a laser radar 140, a wide-angle camera 150, a navigation camera 160 and an RTK module 170; the RTK module 170 is arranged adjacent to the laser radar 140.

[0057] The laser radar 140 is arranged to be inclined by 25° compared with the main body of the scanning head 1; for example, the operator with a height of about 170 cm is tested, compared with the traditional horizontal structure design, the inclined installation of this laser radar 140 layout design can fully utilize the radar scanning field of view, and can effectively avoid the ground missing and the body shielding of the operator in the operation process.

[0058] The horizontal installation of the radar can avoid the problem of ground missing within a radius of 11.4 m around the operator.

[0059] Compared with the vertical installation structure design, the inclined installation has a wider effective scanning range, and the operator can complete the data acquisition of the target area without additional body turning to supplement the scanning of the front area.

[0060] Avoid the problem that vertical installation of radar will cause large range of missing scan data in front of the operator greater than 18m.

[0061] The wide-angle cameras 150 and the navigation cameras 160 are arranged on the side wall of the main body of the scanning head 1, and the wide-angle cameras 150 are arranged on both sides of the navigation cameras 160.

[0062] Preferably, the included angle between the two wide-angle cameras 150 is 120°.

[0063] The two wide-angle cameras are distributed in the form of an included angle, which can capture a larger image range compared to a single camera solution, and can effectively avoid shooting the body part of the measurer compared to a traditional parallel distribution, thereby reducing invalid image data. The panoramic camera of the handheld laser scanner has a horizontal field of view angle of 140° and a vertical field of view angle of 200°, and the camera can have a mechanical shutter. The two wide-angle cameras 150 are installed at an included angle of 120°, so that the front of the two cameras has an overlap, ensuring that there is no dead angle in the front view, which is beneficial to coloring the point cloud, and at the same time ensures that the rear operating personnel will not be shot during operation; the wide-angle camera has a large field of view angle, and the two cameras can cover the front operating area during a single shooting, ensuring that there is no dead angle in collecting operating data on the operating site, and ensuring that the coloring is complete and accurate when coloring the point cloud in the later stage.

[0064] Compared with the solution of external camera, the point cloud data scanned by the radar can be combined with the image data captured by the camera in real time, realizing high-quality real-time color point cloud calculation and preview.

[0065] The photographing camera has a mechanical shutter, which can ensure that the photographed photo will not be blurred due to the movement of the operator during shooting.

[0066] The navigation camera 160 is preferably a 30Hz visual navigation camera, which can improve the robustness of SLAM in the case of laser degradation or long corridor scene, and solve the problem of laser odometry failure in the case of laser weakening.

[0067] The holding handle 2 of the power supply with a quick release structure can facilitate users to quickly replace the battery during operation to continue the operation and improve the operation efficiency. The battery handle that can be charged while discharging can charge the handle battery during operation, which can prolong the operation time and improve the operation efficiency of the user.

[0068] Please refer to Figure 3 The scanning head 1 is provided with a magnetic connection piece 4.

[0069] The magnetic connection 4 can connect a mobile terminal, such as an Apple Magsafe magnetic accessory or a magnetic mobile phone holder, and the mobile phone can display the spatial image collected by the laser radar 140, the wide-angle camera 150 and the navigation camera 160 in real time, preview the color point cloud in real time, intuitively understand the operation situation, control the details, ensure the scanning completeness and avoid rework.

[0070] In the specification and claims of this application, the words "comprise / comprising" and the words "have / having" and their conjugates attribute that the stated features, numbers, steps or components are present, but do not exclude the presence or addition of one or more other features, numbers, steps, components or combinations thereof.

[0071] Some features of the utility model are described in different embodiments for the sake of clarity, however, these features can also be combined in a single embodiment. Conversely, some features of the utility model are described in a single embodiment for the sake of brevity, however, these features can also be described separately or in any suitable combination in different embodiments.

[0072] The above is only the preferred embodiment of the utility model, and does not limit the utility model, and any modification, equivalent replacement and improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A handheld laser scanner, characterized in that, include: The scanning head has an alignment connection groove at its lower end, and the alignment connection groove has an electrical connection part and a connection lock hole inside; The grip has a handle, one end of which is provided with a plug-in end corresponding to the alignment connection slot and a power supply part matching the power receiving part; a pressing part is provided on the side wall of the grip near the plug-in end, and the pressing part is linked to a locking member matching the connection lock hole; an elastic member is connected between the locking member and the plug-in end, and the elastic member is used to keep the locking member locked in the connection lock hole after the plug-in end is connected to the alignment connection slot; when the pressing part moves the connection lock hole to a predetermined position, the locking member disengages from the connection lock hole. A power source is built into the inner cavity of the handle housing and is electrically connected to the power supply unit.

2. The handheld laser scanner according to claim 1, characterized in that, The end of the handle away from the plug end is provided with a charging interface, which is electrically connected to the power source.

3. The handheld laser scanner according to claim 1, characterized in that, It includes a connecting base; the end of the gripping handle away from the plug-in end is provided with a connection position; the connecting base is detachably connected to the gripping handle through the connection position; the connecting base is provided with an enclosing anti-detachment groove corresponding to the side wall contour of the gripping handle; the connecting base is provided with an installation position corresponding to the external carrier terminal.

4. The handheld laser scanner according to claim 1, characterized in that, The plug end is provided with a guide limiting groove, the locking member is slidably connected to the guide limiting groove, the end of the locking member away from the pressing part is provided with a guide rod, the plug end is provided with a guide plate for the guide rod to pass through, and the two ends of the elastic member abut against the locking member and the guide plate respectively.

5. The handheld laser scanner according to claim 4, characterized in that, A stop baffle is provided between the locking member and the guide plate, and the guide rod slides through the stop baffle; there are two sets of elastic members, which are respectively provided on both sides of the stop baffle.

6. The handheld laser scanner according to claim 5, characterized in that, It includes a supporting base plate, and the guide limiting groove, guide plate and stop baffle are all provided on the supporting base plate; the supporting base plate is detachably connected to the holding handle.

7. The handheld laser scanner according to claim 1, characterized in that, The locking component has a sliding inclined surface corresponding to the opening of the connecting lock hole.

8. The handheld laser scanner according to claim 1, characterized in that, The scanning head includes a lidar, a wide-angle camera, a navigation camera, and an RTK module; the lidar is arranged at a 25° angle relative to the main body of the scanning head; the wide-angle camera and the navigation camera are both located on the side wall of the main body of the scanning head, and there are two sets of wide-angle cameras located on both sides of the navigation camera; the RTK module is located adjacent to the lidar.

9. The handheld laser scanner according to claim 8, characterized in that, The angle between the two wide-angle cameras is 120°.

10. The handheld laser scanner according to claim 8, characterized in that, The scanning head is equipped with a magnetic connector.

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