Integrated three-dimensional space environment data acquisition device

Abstract

The utility model relates to the technical field of three-dimensional space environment data acquisition, in particular to an integrated three-dimensional space environment data acquisition device, which comprises a mounting carrier; the real-time dynamic carrier phase difference positioning device is arranged on the mounting carrier and is used for acquiring the current geographic coordinates of the equipment; the laser radar sensor is arranged on the mounting carrier and is used for scanning the surrounding environment and acquiring three-dimensional point cloud data; the camera is arranged on the mounting carrier and is used for recording a video stream of the surrounding environment; and the communication component is arranged on the mounting carrier and is used for transmitting the geographic coordinates, the three-dimensional point cloud data and the video stream to a computing platform. The problems that three-dimensional point cloud data and image data need to be collected in batches through different devices, synchronous collection cannot be achieved, the workload of data collection is complex, labor is consumed, and the collection period is long are solved.

Description

Technical Field

[0001] This application relates to the field of three-dimensional spatial environment data acquisition technology, and in particular to an integrated three-dimensional spatial environment data acquisition device. Background Technology

[0002] In fields such as urban planning, real estate valuation, security monitoring, emergency rescue, and site selection, high-quality visual evaluation and analysis of the urban spatial environment is a crucial basis for decision-making. Traditional technical analysis methods mainly rely on two-dimensional image analysis or desktop software simulation.

[0003] Two-dimensional image analysis typically involves acquiring image data through manual on-site photography, calling Street View APIs, or using Street View data collection vehicles. Then, methods such as manual calculation, image segmentation, or convolutional neural networks are used to statistically analyze the pixel proportions of elements such as green space, sky, or buildings in the image, or to estimate indicators such as line-of-sight length and visible facade area by combining on-site feature point measurement data.

[0004] Desktop software-based simulation methods utilize 3D city models generated through data acquisition or modeling. They then perform field-of-view analysis by setting virtual viewpoints within the software, or use the software's built-in measurement tools for geometric calculations.

[0005] Regardless of the method, high-quality visual evaluation and analysis of the urban spatial environment requires the collection of urban spatial environment data. Traditional data collection methods involve multiple people collecting data in batches. For example, one person might first use a handheld LiDAR sensor to acquire 3D point cloud data, and then another person might use a handheld camera to record image data of the surrounding environment. The collection of 3D point cloud data and image data requires different devices to collect data in batches, and they cannot be collected simultaneously. This results in a cumbersome and labor-intensive data collection process with a long collection cycle. Utility Model Content

[0006] The purpose of this application is to propose an integrated three-dimensional spatial environment data acquisition device, which at least solves the problem that the acquisition of three-dimensional point cloud data and image data requires different devices to acquire them in batches, and cannot be acquired synchronously, resulting in a cumbersome workload, high labor consumption, and long acquisition cycle.

[0007] To achieve the above objectives, this application adopts the following technical solution:

[0008] An integrated three-dimensional spatial environment data acquisition device includes: a mounting carrier; a real-time dynamic carrier phase differential positioning device mounted on the mounting carrier for acquiring the device's current geographic coordinates; a lidar sensor mounted on the mounting carrier for scanning the surrounding environment and acquiring three-dimensional point cloud data; a camera mounted on the mounting carrier for recording video streams of the surrounding environment; and a communication component mounted on the mounting carrier for transmitting geographic coordinates, three-dimensional point cloud data, and video streams to a computing platform.

[0009] Based on the above scheme and as a preferred option, the installation carrier is a wearable carrier.

[0010] Based on the above scheme and as a preferred option: the mounting carrier is a hat with a chin strap.

[0011] Based on the above scheme and as a preferred option: both the lidar sensor and the camera are located on the front edge of the hat, and the lidar sensor and the camera are pointing in the same direction, both pointing directly in front of the wearer.

[0012] Based on the above solution and as a preferred embodiment of the above solution: it also includes a display device for receiving and displaying visualization results.

[0013] Based on the above scheme and as a preferred embodiment of the above scheme: the display device is VR glasses.

[0014] Based on the above scheme and as a preferred embodiment of the above scheme: the display device is connected to the communication component.

[0015] Based on the above scheme and as a preferred embodiment of the above scheme, it also includes a main control module; the real-time dynamic carrier phase differential positioning device, the lidar sensor and the camera are respectively connected to the main control module; the main control module is connected to the communication component.

[0016] Based on the above scheme and as a preferred option, it also includes a local storage module, which is connected to the main control module.

[0017] Based on the above scheme and as a preferred embodiment of the above scheme: a rechargeable mobile power supply device for power supply is provided on the mounting carrier.

[0018] To address the issue that acquiring 3D point cloud data and image data requires separate devices for batch acquisition, and cannot be done synchronously, resulting in cumbersome data acquisition workload, high labor consumption, and long acquisition cycles, this application offers the following advantages:

[0019] This integrated three-dimensional spatial environment data acquisition device integrates a real-time dynamic carrier phase differential positioning device, a lidar sensor, a camera, and communication components onto the same mounting carrier, thus constructing a hardware platform for synchronous acquisition and transmission of multi-source data.

[0020] Among them, the real-time dynamic carrier phase differential positioning device is responsible for providing a high-precision absolute spatial position reference (geographic coordinates). For example, by accessing differential signals through RTK, it completes the calibration of the geographic coordinates (longitude, latitude, and altitude) of the user's spatial position, providing accurate spatial position reference information for subsequent calculation and analysis on the computing platform.

[0021] The lidar sensor actively emits a laser beam to scan the environment and acquire 3D point cloud data with depth information to characterize the geometric structure of the environment; the camera records a color video stream to acquire texture information of the environment; and the subsequent computing platform uses the above information to perform color mapping in real time through system calibration to form a color point cloud.

[0022] Among them, the communication component serves as the interface for data aggregation and output, packaging and sending the three different but complementary types of sensor data (geographic coordinates, 3D point cloud data, and video stream) to an external computing platform in real time.

[0023] This integrated three-dimensional spatial environment data acquisition device can simultaneously acquire data from multiple complementary sensors in real time, eliminating the need for batch acquisition, simplifying the operation process, reducing labor time, and lowering the labor intensity of data acquisition to a certain extent. At the same time, the multiple sensors for data acquisition are integrated into the same mounting carrier, making it convenient to carry and use.

[0024] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. These will be further described in detail below with reference to figures. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional schematic diagram of the integrated three-dimensional spatial environment data acquisition device of this application;

[0027] Figure 2 This is a front view schematic diagram of the integrated three-dimensional spatial environment data acquisition device of this application;

[0028] Figure 3 This is a side view of the integrated three-dimensional spatial environment data acquisition device of this application;

[0029] Figure 4 This is a schematic diagram of the VR glasses setup for this application;

[0030] Figure 5 This is a structural block diagram of the integrated three-dimensional spatial environment data acquisition device of this application.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100. Mounting carrier; 101. Hat body; 102. Chin strap; 103. Rechargeable power bank device;

[0033] 200. Real-time dynamic carrier phase differential positioning device;

[0034] 300. LiDAR sensor;

[0035] 400, camera;

[0036] 500. Main control module;

[0037] 600. Local storage module;

[0038] 700. Communication components;

[0039] 800, computing platform;

[0040] 900. Display device; 901. VR glasses. Detailed Implementation

[0041] To make the technical problems, technical solutions, and beneficial effects to be solved by 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 are not intended to limit the scope of this application.

[0042] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it may be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it may be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positions based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0043] In fields such as urban planning, real estate valuation, security monitoring, emergency rescue, and site selection, high-quality visual evaluation and analysis of the urban spatial environment is a crucial basis for decision-making. Two-dimensional image analysis typically involves acquiring image data through on-site photography, using street view APIs, or employing street view data collection vehicles. Subsequently, methods such as manual calculation, image segmentation, or convolutional neural networks are used to statistically analyze the pixel proportions of elements like green space, sky, or buildings in the image, or to estimate indicators such as line-of-sight length and visible facade area by combining on-site feature point measurement data. Desktop software-based simulation methods utilize 3D urban models generated through data acquisition or modeling, performing field-of-sight analysis by setting virtual viewpoints within the software, or using the software's built-in measurement tools for geometric calculations. However, regardless of the method, high-quality visual evaluation and analysis of the urban spatial environment requires data collection. Traditional collection methods involve multiple people collecting data in batches; for example, one person might use a handheld LiDAR sensor to acquire 3D point cloud data, while another person uses a handheld camera to record image data of the surrounding environment. The acquisition of 3D point cloud data and image data requires different devices to collect them in batches, and they cannot be collected synchronously. This makes the data acquisition work cumbersome, labor-intensive, and has a long acquisition cycle.

[0044] See Figures 1-5 As shown, this application discloses an integrated three-dimensional spatial environment data acquisition device, which solves the problem that the acquisition of three-dimensional point cloud data and image data requires different devices and cannot be acquired synchronously, resulting in a relatively large workload for data acquisition.

[0045] In the embodiments of this disclosure, such as Figure 1 , Figure 2 and Figure 3As shown, this integrated 3D spatial environment data acquisition device includes a mounting carrier 100, a real-time dynamic carrier phase differential positioning device 200 (i.e., an RTK device), a lidar sensor 300, a camera 400, and a communication component 700. The real-time dynamic carrier phase differential positioning device 200 is mounted on the mounting carrier 100 to acquire the device's current high-precision geographic coordinates in real time; the lidar sensor 300 is mounted on the mounting carrier 100 to scan the surrounding environment and acquire 3D point cloud data; the camera 400 is mounted on the mounting carrier 100 to record video streams of the surrounding environment; and the communication component 700 is mounted on the mounting carrier 100 to transmit the data acquired by the real-time dynamic carrier phase differential positioning device 200, the lidar sensor 300, and the camera 400 to a computing platform 800 in real time. The computing platform 800 includes, but is not limited to, dedicated computing devices, computers, cloud platforms, etc., and can be understood as a remote server or a local portable computing host. Among them, the real-time dynamic carrier phase differential positioning device 200, the lidar sensor 300, the camera 400, etc., all have a relatively fixed positional relationship on the mounting carrier 100 to ensure the spatial correspondence of the collected data.

[0046] This integrated three-dimensional spatial environment data acquisition device integrates a real-time dynamic carrier phase differential positioning device, a lidar sensor, a camera, and communication components onto the same mounting carrier, thus constructing a hardware platform for synchronous acquisition and transmission of multi-source data.

[0047] This integrated three-dimensional spatial environment data acquisition device can simultaneously acquire data from multiple complementary sensors in real time, which reduces the labor intensity of data acquisition to a certain extent. At the same time, the multiple sensors for data acquisition are integrated into the same mounting carrier, making it convenient to carry and use.

[0048] Another point to note is that 2D image analysis typically involves acquiring image data through manual on-site photography, calling Street View APIs, or using Street View data collection vehicles. Then, methods such as manual calculations, image segmentation, or convolutional neural networks are used to statistically analyze the pixel proportions of elements like green spaces, sky, or buildings in the image, or to estimate indicators such as line-of-sight length and visible facade area by combining on-site feature point measurement data. This method is not only time-consuming and labor-intensive, but it can only reflect static 2D planar information from a specific perspective, failing to acquire depth information such as distance and occlusion relationships in 3D space, and is even less suitable for scenarios requiring real-time measurement and analysis.

[0049] Desktop software-based simulation methods utilize 3D city models generated through data acquisition or modeling. They then perform viewpoint analysis by setting virtual viewpoints within the software or use built-in measurement tools for geometric calculations. However, this method suffers from long creation and update cycles for 3D models, leading to data lag and an inability to reflect real-time changes in the city. Finally, traditional viewpoint analysis can only determine "visible" or "invisible," making it difficult to calculate complex landscape proportions (such as visible vegetation and water area) in real time. Adding realistic textures to large-scale 3D models for refined analysis is prohibitively expensive.

[0050] Therefore, existing technologies still have the problem of being unable to support decision-making needs for refined three-dimensional spatial scene analysis at the "current moment and current location".

[0051] like Figure 1 , Figure 5 As shown, this integrated 3D spatial environment data acquisition device integrates a real-time dynamic carrier phase differential positioning device 200, a lidar sensor 300, a camera 400, and a communication component 700 onto the same mounting carrier 100, constructing a hardware platform for synchronous acquisition and transmission of multi-source data. The real-time dynamic carrier phase differential positioning device 200 provides a high-precision absolute spatial position reference (geographic coordinates), for example, by using RTK to access differential signals and calibrating the geographic coordinates (longitude, latitude, and altitude) of the user's spatial location, providing accurate spatial reference information for subsequent calculations and analysis on the computing platform 800. The lidar sensor 300 actively emits a laser beam to scan the environment, acquiring 3D point cloud data with depth information to characterize the geometric structure of the environment; the camera 400 records a color video stream to acquire texture information of the environment; this information is then used by the computing platform 800 for real-time color mapping through system calibration to form a color point cloud. The communication component 700 serves as the interface for data aggregation and output, packaging the three different but complementary types of sensor data (high-precision positioning data, geometric point cloud data, and color image data) in real time and sending them to the external computing platform 800 for processing.

[0052] For example, a LiDAR scanner scans the environment at a frequency of 10Hz, generating a sparse point cloud. Simultaneously, a camera 400 records video, and a computing platform 800 maps the RGB colors from the video onto the LiDAR point cloud through time synchronization and extrinsic parameter calibration, generating a colored 3D point cloud. The current 3D spatial scene is then acquired through point cloud segmentation, model extraction, mesh reconstruction, texture mapping, scene generation, and visualization rendering (real-time modeling). The rendering results are then transmitted to a corresponding display device 900 (such as VR glasses 901 or a flat VR image) to further display the aforementioned visualization results in real time.

[0053] Furthermore, in terms of 3D visual analysis, the computing platform 800 is configured with a 3D visual analysis module to calculate 3D visual indicators and obtain results, such as view area analysis, visible area, average line-of-sight length, and landscape index. Moreover, in terms of real-time interaction and feedback, the aforementioned 3D visual analysis indicators are rendered in real-time through real-time modeling, allowing device users to clearly view environmental information.

[0054] In some embodiments, the mounting carrier 100 can serve as a fixed dedicated base, thereby allowing for the simple integration and installation of the real-time dynamic carrier phase differential positioning device 200, the lidar sensor 300, the camera 400, the communication component 700, and other components.

[0055] In some embodiments, the mounting carrier 100 may include a connecting base that can be fixed to an auxiliary device such as a vehicle. This connecting base is equipped with a dedicated, controllable, actively rotating mechanism, and a mounting platform mounted on this rotating mechanism. The real-time dynamic carrier phase differential positioning device 200, the lidar sensor 300, the camera 400, and the communication components 700 are integrated and mounted on this mounting platform. For example, when collecting street data, the connecting base can be installed at a specific location on the vehicle (such as the roof), and the mounting platform can be actively rotated in conjunction with the rotating mechanism during the data collection process to expand the collection range.

[0056] In this disclosure, Figure 1 , Figure 2 , Figure 3 As shown, the mounting carrier 100 is a wearable carrier. That is, it uses a structure that can be worn on the human body as the mounting base. This means that the real-time dynamic carrier phase differential positioning device 200, lidar sensor 300, camera 400, and communication components 700 no longer rely on handheld poles, tripods, etc., but are fixed to the user's body (such as the head, shoulders, or chest) through methods including but not limited to straps and brackets. This greatly improves the portability and mobility of this integrated three-dimensional spatial environment data acquisition device. When the user moves in complex environments (such as mountains, building interiors, narrow alleys), there is no need to frequently disassemble and assemble the equipment, achieving "wherever the person goes, the data is collected." At the same time, it frees the user's hands, allowing them to perform other operations simultaneously (such as recording, observing, or commanding), significantly improving the efficiency and scene adaptability of field data acquisition.

[0057] Furthermore, the mounting carrier 100 is a hat with a chin strap 102. Preferably, the lidar sensor 300 and the camera 400 are both located on the front edge of the hat, and the lidar sensor 300 and the camera 400 have the same illumination direction, both pointing directly in front of the wearer (user) (along the wearer's visual direction).

[0058] The hat body 101 provides a stable mounting platform, while the chin strap 102 is designed to securely fasten the hat to the user's head, preventing displacement or detachment of the hat and the sensors attached to it due to external forces such as rapid movement, head turning, or wind. Furthermore, the LiDAR sensor 300 and camera 400 are both positioned at the front edge of the hat (i.e., above the brim or on the front of the hat body), with their fields of view (illumination direction) configured to be parallel and pointing directly forward of the wearer, i.e., the wearer's normal line of sight. This ensures that the fields of view of the LiDAR sensor 300 and camera 400 are highly overlapped in space. Since both are pointing directly forward of the wearer, they can simultaneously acquire environmental information within the wearer's current field of view. This physical spatial alignment greatly simplifies the complexity of subsequent data fusion, providing optimal initial conditions for accurately mapping the color pixels acquired by the camera 400 to the corresponding spatial points of the LiDAR point cloud, thus ensuring the consistency of the generated color point cloud in terms of color and geometry.

[0059] In this embodiment of the disclosure, the integrated three-dimensional spatial environment data acquisition device further includes a display device 900, which is used to receive and display visualization results in real time.

[0060] Display device 900 can serve as an output unit. This display device 900 establishes a data connection with an external computing platform 800 (or directly with communication component 700) to receive the visualization results (such as rendered 3D models, heat maps, analysis charts, etc.) generated after processing by the computing platform 800, and presents them to the user. This facilitates the formation of a closed loop for data acquisition and feedback. Users are no longer merely data collectors; they can also see the analysis results in real time on-site, achieving a "what you see is what you get" real-time interaction. This allows for on-site assessment of data quality and adjustment of acquisition strategies or immediate decisions based on preliminary analysis results, greatly improving the intelligence level of operations and on-site work efficiency.

[0061] In some implementations, the display device 900 may be a flat-panel display, such as a color smart touchscreen, a common mobile terminal, etc., and the results may be displayed as VR panoramas, data, icons, etc.

[0062] In a preferred embodiment, such as Figure 4 As shown, the display device 900 is a VR headset 901, providing users with an immersive stereoscopic visual experience. It receives the three-dimensional visual calculation results from the computing platform 800 and presents these results to the user in a stereoscopic, panoramic manner.

[0063] Furthermore, the display device 900 is connected to either the communication component 700 or the main control module 500. Connection to the communication component 700 is preferred to optimize the data transmission link. This avoids the need for the display device 900 to establish a separate communication link with the computing platform 800, simplifying system connection complexity. Simultaneously, this design allows the communication component 700 to act as a data relay station, uniformly managing uplink (sensor data) and downlink (visualization results) data streams, facilitating data synchronization and integration, and reducing overall system latency.

[0064] In this embodiment, the integrated three-dimensional spatial environment data acquisition device further includes a main control module 500; a real-time dynamic carrier phase differential positioning device 200, a lidar sensor 300, and a camera 400 are respectively connected to the main control module 500; the main control module 500 is connected to a communication component 700. The main control module 500 is responsible for performing preliminary processing on the raw sensor data from various sources (such as format conversion, data encapsulation, adding timestamps, etc.), and then sending the uniformly processed data stream out through the communication component 700, realizing unified management of multi-source heterogeneous sensor data. It reduces the protocol adaptation pressure on the communication component 700, allowing the communication component 700 to focus on data transmission tasks. More importantly, the main control module 500 can perform hardware-level time synchronization and preliminary fusion of data from different sensors, ensuring that the data sent to the computing platform 800 is strictly aligned in time, providing a high-quality, synchronized data foundation for the computing platform 800 to perform high-precision three-dimensional reconstruction and visual analysis.

[0065] Furthermore, such as Figure 5 As shown, it also includes a local storage module 600, which is connected to the main control module 500. The local storage module 600 is also equipped with a data reading interface. The local storage module 600 is electrically connected to the main control module 500. While the main control module 500 is sending sensor data in real time via the communication component 700, or before sending the data, it writes the raw data or a pre-processed copy of the data into the local storage module 600 for storage.

[0066] The local storage module 600 provides data redundancy backup capabilities, enhancing the system's robustness. When poor communication network signal causes real-time transmission interruption, the main control module 500 can temporarily store data in the local storage module 600, resuming transmission once the network is restored, ensuring no data loss. Furthermore, the locally stored data can be retained as original archives for subsequent algorithm backtesting, accuracy verification, or higher-precision offline modeling and analysis, ensuring data security and traceability.

[0067] In the embodiments of this disclosure, such as Figure 5As shown, a rechargeable mobile power supply device 103 for power supply is installed on the mounting carrier 100. This rechargeable mobile power supply device 103 is mainly electrically connected to various power-consuming modules on the device (such as the real-time dynamic carrier phase differential positioning device 200, lidar sensor 300, camera 400, communication component 700, main control module 500, etc.) via wired connection, forming a self-contained power supply system. This eliminates the dependence of the entire integrated three-dimensional spatial environment data acquisition device on external power cables, achieving completely independent self-powered operation. This greatly expands the application scenarios of the device, enabling it to work for extended periods in any outdoor area without power grid coverage. Integrating the power supply and various sensors onto the same carrier also avoids the problems of cable dragging and inconvenience of carrying external power supplies, improving the device's integration, portability, and ease of use.

[0068] Among them, the real-time dynamic carrier phase differential positioning device 200 can refer to Tiangong Measurement & Control SKG12MR-02H; the lidar sensor 300 can refer to STMicroelectronics VL53L9; the camera 400 can refer to STMicroelectronics CAM-16GZ or CAM-66GY series; the main control module 500 can refer to Rockchip RK3588 series; and the communication component 700 can refer to Hailink HLK-RM58N.

[0069] The connection between the real-time dynamic carrier phase differential positioning device 200, the lidar sensor 300, the camera 400, and the communication component 700 and the mounting carrier 100 can be achieved by general and effective means, including but not limited to adhesive bonding, bolt fastening, and snap-fit ​​connection.

[0070] In summary, unlike static model analysis, this integrated 3D spatial environment data acquisition device provides human-centered, real-time, and high-precision data acquisition for 3D visual analysis technology through real-time acquisition of surrounding environmental data, high-precision positioning of current coordinates, and real-time data transmission. Whether in the dynamic monitoring of rapidly changing construction sites or the value assessment of river and lake view properties in the real estate sector, this integrated 3D spatial environment data acquisition device can greatly improve on-site decision-making efficiency and design quality. It enables refined 3D spatial scene analysis based on the "current moment and current location," exhibiting strong dynamic adaptability and effectively supporting real-time analysis of complex environments.

[0071] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An integrated three-dimensional spatial environment data acquisition device, characterized in that, include: Installation carrier; A real-time dynamic carrier phase differential positioning device is mounted on the mounting carrier to obtain the current geographic coordinates of the device. A lidar sensor, which is mounted on the mounting carrier, is used to scan the surrounding environment and acquire three-dimensional point cloud data; A camera, which is mounted on the mounting carrier, is used to record a video stream of the surrounding environment; A communication component, disposed on the mounting carrier, is used to transmit the geographic coordinates, the 3D point cloud data, and the video stream to the computing platform.

2. The integrated three-dimensional spatial environment data acquisition device according to claim 1, characterized in that, The installation carrier is a wearable carrier.

3. The integrated three-dimensional spatial environment data acquisition device according to claim 1 or 2, characterized in that, The mounting carrier is a hat with a chin strap.

4. The integrated three-dimensional spatial environment data acquisition device according to claim 3, characterized in that, Both the lidar sensor and the camera are located on the front edge of the hat, and the lidar sensor and the camera are pointing in the same direction, both pointing directly in front of the wearer.

5. The integrated three-dimensional spatial environment data acquisition device according to claim 1, characterized in that, It also includes a display device for receiving and displaying visualization results.

6. The integrated three-dimensional spatial environment data acquisition device according to claim 5, characterized in that, The display device is VR glasses.

7. The integrated three-dimensional spatial environment data acquisition device according to claim 5 or 6, characterized in that, The display device is connected to the communication component.

8. The integrated three-dimensional spatial environment data acquisition device according to claim 1, characterized in that, It also includes the main control module; The real-time dynamic carrier phase differential positioning device, the lidar sensor, and the camera are respectively connected to the main control module; The main control module is connected to the communication component.

9. The integrated three-dimensional spatial environment data acquisition device according to claim 8, characterized in that, It also includes a local storage module, which is connected to the main control module.

10. The integrated three-dimensional spatial environment data acquisition device according to claim 1, characterized in that, The mounting carrier is equipped with a rechargeable mobile power supply device for power supply.

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