Laser SLAM (Simultaneous Localization and Mapping) measurement target and measurement equipment

Abstract

The utility model discloses a laser SLAM (Simultaneous Localization and Mapping) measuring target and measuring equipment. The laser SLAM measurement target comprises a first cone, a second cone, a target ball and an adapter. The first cone is provided with a first tip and a first bottom end; the second cone is provided with a second tip and a second bottom end; two opposite sides of the target ball are respectively connected with the first tip and the second tip; and the adapter is connected with the second bottom end. Through the unique three-dimensional shapes of the first cone and the second cone, a scanning object with obvious characteristics is provided for laser SLAM measurement, and laser SLAM measurement is facilitated. After the first cone and the second cone are connected through the target ball, the target ball serves as a target center; rapid combined measurement of coordinates and elevation is facilitated, and a target center can be conveniently found for matching during data processing. The 360-degree three-dimensional target supports scanning and combined measurement at any angle, the number of distributed target points can be reduced, the measurement work quality can be guaranteed, and the measurement efficiency can be improved.

Description

Technical Field

[0001] This utility model relates to the field of engineering measurement technology, specifically to a laser SLAM measurement target and measurement equipment. Background Technology

[0002] Simultaneous Localization and Mapping (SLAM) can measure the surrounding environment using onboard sensors in environments without prior information, achieving both self-localization and real-time mapping while in motion. It has wide applications in autonomous driving, mobile robotics, surveying engineering, and space exploration. In particular, laser SLAM measurement technology offers higher accuracy and is unaffected by lighting conditions, enabling tasks such as topographic mapping, elevation measurement, structural measurement, detail measurement, and modeling in closed or semi-closed scenarios without Global Navigation Satellite System (GNSS) signals. In surveying, it is often necessary to convert laser SLAM measurement results to a specific coordinate system, thus requiring the deployment of target points to provide high-precision positional references. Furthermore, in scenarios with insufficient environmental features or significant dynamic interference, target points are also needed to assist in measurement and reduce the cumulative error of SLAM measurements.

[0003] In SLAM measurements, traditional targets have some limitations. For example, mirror targets are expensive and complex to install; geometrically shaped targets are environmentally dependent and have limited accuracy; and barcode targets require inspection and are susceptible to interference. Traditional targets generally only consider some application scenarios, and the workload for joint measurement is relatively large.

[0004] In summary, existing targets suffer from technical problems such as high cost, complex installation, and limited accuracy. Utility Model Content

[0005] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a laser SLAM measurement target and measurement device to solve the technical problems of high cost, complex installation and limited accuracy in the prior art.

[0006] To achieve the above-mentioned technical objectives, this application adopts the following technical solution:

[0007] In one aspect, this application provides a laser SLAM measurement target, including a first cone, a second cone, a target sphere, and an adapter.

[0008] A first cone, the first cone having a first tip and a first base;

[0009] The second cone has a second tip and a second bottom end;

[0010] A target ball, wherein the two opposite sides of the target ball are respectively connected to the first tip and the second tip;

[0011] An adapter that is connected to the second bottom end.

[0012] In some embodiments of this application, the target ball includes a sphere and two connecting screws. The first tip has a first threaded hole, and the second tip has a second threaded hole. The two connecting screws are respectively disposed on opposite sides of the sphere and are respectively connected to the first threaded hole and the second threaded hole.

[0013] In some embodiments of this application, the first threaded hole extends along the axial direction of the first cone, and the second threaded hole extends along the axial direction of the second cone.

[0014] In some embodiments of this application, the outline of the first cone is a cone, and the outline of the second cone is a cone.

[0015] In some embodiments of this application, the bottom diameter of the first cone is equal to the bottom diameter of the second cone, the height of the first cone is equal to the height of the second cone, and the first cone and the second cone are centrally symmetrically distributed.

[0016] In some embodiments of this application, a first reflector, a second reflector, a third reflector, and a fourth reflector are also included. The first reflector and the second reflector are arranged adjacent to each other and together cover the entire side surface of the first cone. The third reflector and the fourth reflector are arranged adjacent to each other and together cover the entire side surface of the second cone.

[0017] In some embodiments of this application, the first reflector and the third reflector are the same color and are centrally symmetrically distributed, and the second reflector and the fourth reflector are the same color and are centrally symmetrically distributed.

[0018] In some embodiments of this application, the unfolded outlines of the first reflector, the second reflector, the third reflector, and the fourth reflector are fan-shaped with equal areas.

[0019] In some embodiments of this application, the adapter includes an adapter portion and an adapter screw, the second bottom end is provided with a third threaded hole, the third threaded hole extends along the axial direction of the second cone, and the adapter screw is disposed on the side of the adapter portion facing the second cone and connected to the third threaded hole.

[0020] Secondly, this application also provides a laser SLAM measurement device, including a universal prism frame and a laser SLAM measurement target as described in any embodiment of the first aspect, wherein the universal prism frame is connected to the laser SLAM measurement target via an adapter.

[0021] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include:

[0022] This application utilizes the unique three-dimensional shapes of the first and second cones to provide a clearly defined scanning target for laser SLAM measurements, facilitating the execution of laser SLAM work. By connecting the first and second cones with a target sphere, the target sphere is cleverly positioned as the target center of this target; this facilitates rapid coordinate and elevation measurements and makes it easier to locate the target center for matching during data processing. This target is a 360-degree three-dimensional target, supporting scanning and measurement at any angle. When installed in SLAM measurement applications, it reduces the number of target points required, thus ensuring the quality of SLAM measurements and improving measurement efficiency. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the embodiments will be briefly described below:

[0024] Figure 1 This is a schematic diagram of the structure of a laser SLAM measurement target provided in an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of an explosion of a laser SLAM measurement target provided in an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of the structure of a laser SLAM measurement device provided in an embodiment of this application.

[0027] Figure label:

[0028] Laser SLAM measurement target 1, first cone 11, second cone 12, target ball 13, ball 131, connecting screw 132, adapter 14, adapter part 141, adapter screw 142, first reflector 15, second reflector 16, third reflector 17, fourth reflector 18;

[0029] General Purpose Prism Frame 2. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] Those skilled in the art will understand that, in this specification, the term "comprising" is an open-ended expression, meaning that the stated feature is present but other features are excluded. Directional terms such as "upper," "lower," "left," and "right" refer to exemplary directions based on the accompanying drawings. Features specified as "first" or "second" implicitly include one or more of that feature. Singular expressions can also be used in plural forms. "Multiple" means two or more. The terms "installed," "connected," and "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection via an intermediate medium, and it can be a connection within two components. Furthermore, "linked" can include wireless connections.

[0032] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a laser SLAM measurement target and measurement device to solve the technical problems of high cost, complex installation and limited accuracy in the prior art.

[0033] To achieve the above-mentioned technical objectives, this application adopts the following technical solution:

[0034] like Figures 1-2 As shown. In a first aspect, this application provides a laser SLAM measurement target 1, including a first cone 11, a second cone 12, a target ball 13, and an adapter 14.

[0035] The first cone 11 has a first tip and a first base; the second cone 12 has a second tip and a second base; these two cones have different tips and bases, forming a unique three-dimensional shape. This design allows the target to exhibit rich feature points during laser scanning, facilitating feature extraction and matching by the laser SLAM algorithm.

[0036] The target sphere 13 is connected to the first tip and the second tip on opposite sides, respectively; the target sphere 13 connects the tips of the two cones, serving as the target center of the entire target. Its spherical structure allows for consistent feature points to be obtained from scanning at any angle, facilitating rapid coordinate and elevation measurements.

[0037] The adapter 14 is connected to the second bottom end. The adapter 14 is also connected to the bottom end of the second cone 12 for installing the target at the measurement site. The design of the adapter 14 can adapt to different installation requirements, ensuring the stability and reliability of the target.

[0038] This application utilizes the unique three-dimensional shapes of the first cone 11 and the second cone 12 to provide a clearly defined scanning target for laser SLAM measurements, facilitating the execution of laser SLAM measurements. By connecting the first cone 11 and the second cone 12 with a target sphere 13, the target sphere 13 is cleverly positioned as the target center of this target; this facilitates rapid coordinate and elevation measurements and makes it easier to find the target center for matching during data processing. This target is a 360-degree three-dimensional target, supporting scanning and measurement at any angle. When installed in SLAM measurement applications, it reduces the number of target points required, thus ensuring the quality of SLAM measurements and improving measurement efficiency.

[0039] In some embodiments of this application, the target ball 13 includes a ball 131 and two connecting screws 132. The first tip has a first threaded hole, and the second tip has a second threaded hole. The two connecting screws 132 are respectively disposed on opposite sides of the ball 131 and are respectively connected to the first threaded hole and the second threaded hole.

[0040] As the core component of the target, sphere 131 provides a symmetrical and uniform surface, facilitating scanning from any angle by the laser SLAM system. Two connecting screws 132 are respectively located on opposite sides of sphere 131 for connection to the tips of the first cone 11 and the second cone 12.

[0041] The connection between the sphere 131 and the two cones is more stable through the connecting screw 132, which can resist external impacts during the measurement process and ensure the stability of the target. This stable connection reduces target swaying during measurement, thereby improving the accuracy of laser SLAM measurements. The design of the connecting screw 132 makes the target easy to assemble and disassemble, facilitating transportation and storage, and also simplifying target maintenance and replacement.

[0042] In some embodiments of this application, the first threaded hole extends along the axial direction of the first cone 11, and the second threaded hole extends along the axial direction of the second cone 12.

[0043] Since the threaded hole extends along the axis of the cone, the connection direction of the connecting screw 132 is consistent with the axis of the cone, which further enhances the stability and alignment of the connection.

[0044] The threaded hole extends along the axis of the cone, ensuring better alignment of the connecting screw 132 during connection, reducing target center offset due to connection deviation, and improving measurement accuracy. The connection screw 132, connected along the axis of the cone, concentrates the connection force more on the axis of the cone, enhancing the stability of the target during measurement and reducing the possibility of wobbling and displacement.

[0045] In some embodiments of this application, the first cone 11 has a cone-shaped profile, and the second cone 12 has a cone-shaped profile.

[0046] The cones are symmetrical in all directions, ensuring the measurement accuracy of the target in all directions. The first cone 11 and the second cone 12 are designed as cones, located on both sides of the sphere 131 and fixedly connected to the sphere 131. This design gives the target a symmetrical center, namely the center of the sphere 131, which can serve as a reference point for the laser SLAM system to perform measurements.

[0047] The symmetry of the cone helps ensure consistent reflectivity of the target in all directions, thereby improving the measurement accuracy of the laser SLAM system. The cone's shape also allows the target to maintain good stability under external forces, reducing the possibility of swaying and displacement. Furthermore, the symmetry and simplicity of the cone make the target highly versatile, suitable for various laser SLAM systems and measurement scenarios.

[0048] In some embodiments of this application, the bottom diameter of the first cone 11 is equal to the bottom diameter of the second cone 12, the height of the first cone 11 is equal to the height of the second cone 12, and the first cone 11 and the second cone 12 are centrally symmetrically distributed.

[0049] The first cone 11 and the second cone 12 have the same base diameter, meaning they have the same horizontal projection size. This helps ensure consistency in target feature information obtained when the laser SLAM system scans from different horizontal angles. The first cone 11 and the second cone 12 have the same height, meaning they have the same vertical dimension. This helps ensure consistency in target feature information obtained when the laser SLAM system scans from different vertical angles.

[0050] The first cone 11 and the second cone 12 are centrally symmetrical, meaning they are symmetrical about the center of the sphere 131, which is beneficial for the laser SLAM system to perform omnidirectional scanning and measurement. This center can serve as a reference benchmark for the laser SLAM system to perform measurements.

[0051] Regardless of the scanning angle, laser SLAM systems obtain consistent target feature information, which helps improve the accuracy and reliability of data processing. The symmetry of the target simplifies and simplifies the data processing process. Laser SLAM systems can more easily identify and match target features, thereby improving the efficiency and accuracy of data processing.

[0052] The first cone 11, the second cone 12, and the target ball 13 are made of stainless steel. Stainless steel has excellent corrosion resistance and wear resistance. The target can withstand harsher environmental conditions, such as moisture and chemical exposure, without easily being damaged or deformed. This reduces the frequency of target replacement and lowers maintenance costs. Stainless steel typically has high strength and hardness, which allows the target to withstand greater impact forces without easily being damaged. It also reduces the risk of vibration and collisions.

[0053] In some embodiments of this application, a first reflector 15, a second reflector 16, a third reflector 17, and a fourth reflector 18 are also included. The first reflector 15 and the second reflector 16 are arranged adjacent to each other and together cover all sides of the first cone 11. The third reflector 17 and the fourth reflector 18 are arranged adjacent to each other and together cover all sides of the second cone 12.

[0054] The reflector is made of a material with high reflectivity, such as a reflective film or a high-reflectivity coating. When a laser beam strikes the reflector, most of the laser energy is reflected back, creating a strong reflected signal. This reflected signal can be detected by the sensors of a laser SLAM system, thus helping the system identify and locate the target.

[0055] Multiple reflectors provide multiple reflection points, helping the system to more accurately identify and locate the target, thereby improving measurement accuracy. The high reflectivity of the reflectors enhances the reflected signal, improves the signal-to-noise ratio, makes it easier for the system to detect the target, and increases the measurement range and reliability. In complex environments with multiple reflective surfaces or obstructions, multiple reflectors can help the system identify and locate the target more reliably. Strong reflected signals and accurate target positioning can shorten measurement time and improve measurement efficiency. Strong reflected signals can reduce the power requirements of the laser and extend its lifespan.

[0056] In some embodiments of this application, the first reflector 15 and the third reflector 17 are the same color and are centrally symmetrically distributed, and the second reflector 16 and the fourth reflector 18 are the same color and are centrally symmetrically distributed.

[0057] By using different colors, additional visual information can be provided to the laser SLAM system, helping the system distinguish between different reflectors. The first reflector 15 and the third reflector 17 are centrally symmetrically distributed, meaning they are symmetrical about the target center (i.e., the center of the target sphere 13). Similarly, the second reflector 16 and the fourth reflector 18 are also symmetrical about the target center. The system can simultaneously utilize color information and spatial distribution information to identify the target.

[0058] Color coding provides the system with additional visual information, helping it quickly distinguish different reflectors and improving the accuracy and efficiency of identification. In complex environments with multiple reflective surfaces or obstructions, the combination of color and symmetrical distribution helps the system more reliably identify and locate targets. Identification using a combination of color and symmetrical distribution simplifies data processing and increases the system's processing speed. Accurate target identification is key to improving measurement precision. Color coding and symmetrical distribution enable more accurate target identification, thereby improving measurement accuracy.

[0059] In some embodiments of this application, the unfolded outlines of the first reflector 15, the second reflector 16, the third reflector 17, and the fourth reflector 18 are fan-shaped with equal areas.

[0060] The four reflectors have equal sector areas, ensuring that each reflector has the same optical properties when reflecting light. Because of their equal areas, each reflector can reflect light uniformly when illuminated by a laser, ensuring consistent reflected signals. The four sector-shaped reflectors can be symmetrically distributed around a central point, which helps to provide uniform reflection characteristics in all directions.

[0061] The first reflector 15, the second reflector 16, the third reflector 17 and the fourth reflector 18 are all made of acrylic. The first reflector 15 and the third reflector 17 are black, and the second reflector 16 and the fourth reflector 18 are white.

[0062] The high light transmittance and excellent reflectivity of acrylic material ensure that the reflector provides a strong reflected signal when illuminated by a laser. The combination of black and white reflectors offers different optical properties for various measurement tasks, meeting diverse measurement needs. By using reflectors of different colors, the laser SLAM system can more easily distinguish and identify each reflector, thereby improving target identification accuracy. The high contrast of black and white reflectors helps the system accurately identify targets in complex environments.

[0063] In some embodiments of this application, the adapter 14 includes an adapter portion 141 and an adapter screw 142. The second bottom end is provided with a third threaded hole, which extends along the axial direction of the second cone 12. The adapter screw 142 is disposed on the side of the adapter portion 141 facing the second cone 12 and is connected to the third threaded hole.

[0064] The adapter 141 is the main body of the adapter 14, used to connect the second cone 12 to other equipment or structures. The adapter screw 142 is used to fix the adapter 141 and the second cone 12. The adapter screw 142 connects to the third threaded hole, and the adapter 141 and the second cone 12 are firmly connected together by the tightening action of the adapter screw 142.

[0065] A robust connection effectively resists external forces, ensuring the target remains stable during measurement. The adapter screw 142 connection method makes the adapter 14 easy to install and disassemble, simplifying the target assembly process and improving work efficiency. The presence of the adapter 141 allows the target to be connected to other equipment or structures, such as tripods, measurement platforms, etc.

[0066] like Figure 3 As shown. In a second aspect, this application also provides a laser SLAM measurement device, including a universal prism frame 2 and a laser SLAM measurement target 1 as described in any embodiment of the first aspect, wherein the universal prism frame 2 is connected to the laser SLAM measurement target 1 via an adapter 14.

[0067] The universal prism holder 2 is connected to the laser SLAM measurement target 1 via an adapter 14. The adapter 14 is fitted onto the end of the prism holder 2 for a secure and precise connection.

[0068] During laser SLAM measurement, the laser SLAM measurement target 1 is placed within the measurement area. The laser scanning device emits a laser beam and receives the laser signal reflected back from the target. By analyzing the reflection time and angle of the laser signal, the position and orientation of the target in three-dimensional space can be calculated. The universal prism frame 2 provides stable support and positioning for the laser SLAM measurement target 1, ensuring measurement accuracy.

[0069] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include:

[0070] The unique three-dimensional shapes of the first cone 11 and the second cone 12 provide a distinctive scanning object for laser SLAM measurement. At the same time, the two-color reflective stickers on the surface of the cones increase the color differentiation of the target. By combining the three-dimensional shape and color, it is beneficial to carry out laser SLAM measurement.

[0071] After connecting the first cone 11 and the second cone 12 with the target ball 13, the target ball 13 is cleverly used as the target center of this target; at the same time, the two-color reflectors on the first cone 11 and the second cone 12 assist the target aiming; it facilitates the rapid joint measurement of coordinates and elevation, and makes it easier to find the target center for matching during data processing.

[0072] This invention is a 360-degree stereo target that supports scanning and measurement at any angle. When installed in SLAM measurement applications, it can reduce the number of target points required, which helps to ensure the quality of SLAM measurement work and improve measurement efficiency.

[0073] Those skilled in the art will understand that the steps, measures, and schemes in the various operations, methods, processes, and procedures discussed in this application can be alternated, modified, rearranged, decomposed, combined, or deleted.

[0074] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of the claims of this application.

Claims

1. A laser SLAM measuring target, characterized in that, include: A first cone, the first cone having a first tip and a first base; The second cone has a second tip and a second bottom end; A target ball, wherein the two opposite sides of the target ball are respectively connected to the first tip and the second tip; An adapter that is connected to the second bottom end.

2. The laser SLAM measurement target of claim 1, wherein, The target ball includes a sphere and two connecting screws. The first tip has a first threaded hole, and the second tip has a second threaded hole. The two connecting screws are respectively disposed on opposite sides of the sphere and are connected to the first threaded hole and the second threaded hole, respectively.

3. The laser SLAM measurement target of claim 2, wherein, The first threaded hole extends along the axial direction of the first cone, and the second threaded hole extends along the axial direction of the second cone.

4. The laser SLAM measurement target of claim 1, wherein, The first cone has a cone-shaped outline, and the second cone has a cone-shaped outline.

5. The laser SLAM measurement target according to claim 4, characterized in that, The bottom diameter of the first cone is equal to the bottom diameter of the second cone, the height of the first cone is equal to the height of the second cone, and the first cone and the second cone are centrally symmetrically distributed.

6. The laser SLAM measurement target according to claim 1, characterized in that, It also includes a first reflector, a second reflector, a third reflector and a fourth reflector. The first reflector and the second reflector are arranged adjacent to each other and together cover the entire side surface of the first cone. The third reflector and the fourth reflector are arranged adjacent to each other and together cover the entire side surface of the second cone.

7. The laser SLAM measurement target according to claim 6, characterized in that, The first reflector and the third reflector are the same color and are centrally symmetrically distributed, and the second reflector and the fourth reflector are the same color and are centrally symmetrically distributed.

8. The laser SLAM measurement target according to claim 7, characterized in that, The unfolded outlines of the first reflector, the second reflector, the third reflector, and the fourth reflector are fan-shaped with equal areas.

9. The laser SLAM measurement target according to claim 1, characterized in that, The adapter includes an adapter part and an adapter screw. The second bottom end is provided with a third threaded hole, which extends along the axial direction of the second cone. The adapter screw is located on the side of the adapter part facing the second cone and is connected to the third threaded hole.

10. A laser SLAM measurement device, characterized in that, It includes a universal prism frame and a laser SLAM measurement target as described in any one of claims 1 to 9, wherein the universal prism frame is connected to the laser SLAM measurement target via an adapter.

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