Portable lidar device
By incorporating a tilted front panel and lidar into a portable lidar device, the problem of low scanning accuracy in complex environments by traditional devices is solved, achieving higher scanning accuracy and computational efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHONGSHAN INST OF CHANGCHUN UNIV OF SCI & TECH
- Filing Date
- 2025-06-05
- Publication Date
- 2026-06-12
AI Technical Summary
Traditional lidar equipment has low scanning accuracy in complex environments, is easily affected by environmental interference, and has poor scene adaptability.
A portable lidar device was designed. By placing the lidar on the inclined front plate, its scanning plane forms a certain angle with the base plate, thus forming an inclined scanning plane. This reduces the probability of the laser beam being directly reflected back to the body by the reflective ground and prioritizes coverage of medium and long-range targets, thereby reducing clutter interference.
It improves scanning accuracy, reduces data processing load, and enhances the stability and computing efficiency of the equipment in complex environments.
Smart Images
Figure CN224354582U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of lidar technology, and more particularly to a portable lidar device. Background Technology
[0002] With the rapid development of modern technology, lidar technology, as an advanced detection and measurement method, has been widely used in many fields. LiDAR technology measures the distance and shape of target objects by emitting laser beams and receiving reflected signals, thereby achieving high-precision acquisition of three-dimensional spatial information.
[0003] In recent years, with the increasing demand for portability and efficiency, integrated and lightweight portable LiDAR devices have gradually become the focus of the market. These devices not only work efficiently in traditional outdoor environments, but also play an irreplaceable role in tasks such as underground facility digitization, geological information collection, and rapid acquisition of indoor and outdoor building information. Handheld 3D scanning devices, due to their portability and ease of operation, greatly improve the efficiency and flexibility of data acquisition.
[0004] However, traditional lidar equipment has poor scene adaptability, and its performance is particularly limited under conditions of changing indoor and outdoor lighting, uneven terrain, or obstruction.
[0005] Therefore, a technical solution is needed that can reduce the impact of environmental interference in complex environments to improve scanning accuracy. Utility Model Content
[0006] This application provides a portable lidar device to address the shortcomings of existing technologies that suffer from low scanning accuracy due to environmental interference in complex environments.
[0007] To achieve the above objectives, this application provides a portable lidar device, including: a main frame, a lidar unit, a motor, and a motor driver.
[0008] The main frame includes a top plate and a bottom plate opposite each other in the height direction, a front side plate and a rear side plate opposite each other in the length direction perpendicular to the height direction, and a left side plate and a right side plate opposite each other in the width direction. The front side plate includes a first front side plate and a second front side plate, and the rear side plate includes a first rear side plate and a second rear side plate. The first front side plate and the first rear side plate extend to a first height in the height direction, and the second front side plate and the second rear side plate extend towards each other at a first angle and a second angle, respectively, from the side of the first front side plate and the first rear side plate away from the bottom plate in the height direction to a second height. The sum of the first height and the second height is equal to the distance between the top plate and the bottom plate in the height direction.
[0009] The lidar is mounted on the second front side plate and is located on the outside of the second front side plate. The motor is mounted on the inside of the second front side plate and is connected to the lidar through a drive bracket passing through the second front side plate.
[0010] The motor driver is located inside one of the left and right side plates and at a height greater than the first height.
[0011] The rotation axis of the lidar is parallel to the second front side plate.
[0012] The portable lidar device provided in this application embodiment, by setting the front side plate to include a first front side plate extending perpendicularly to the base plate and a second front side plate extending at a first angle, and placing the lidar on the inclined second front side plate, makes the lidar's scanning plane form a certain angle with respect to the base plate, thereby forming an inclined scanning plane. This avoids the lidar's emitted laser beam being directly reflected back to the device body due to environmental factors such as reflective ground, causing overexposure when the sensor reads the reflected light, thus reducing scanning accuracy. In addition, the scanning range of the inclined scanning plane formed in this application embodiment can preferentially cover medium and long-range targets within the forward field of view, further reducing clutter interference caused by complex ground environments, reducing invalid scanning in edge areas, reducing the amount of data processing in the device, and thus reducing the processor's computational load.
[0013] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description
[0014] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:
[0015] Figure 1 This is a perspective view of a portable lidar device according to an embodiment of this application, with one side panel removed.
[0016] Figure 2 This is a side view of a portable lidar device according to an embodiment of this application, with one side panel removed. Detailed Implementation
[0017] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
[0018] With the rapid development of modern technology, lidar technology, as an advanced detection and measurement method, has been widely applied in many fields. LiDAR technology measures the distance and shape of target objects by emitting laser beams and receiving reflected signals, thereby achieving high-precision three-dimensional spatial information acquisition. Its applications cover multiple scenarios, including 3D modeling, terrain mapping, industrial inspection, and environmental perception in autonomous driving. In recent years, with the increasing demand for portability and efficiency, integrated and lightweight portable lidar devices have gradually become the focus of the market. These devices can not only work efficiently in traditional outdoor environments, but also play an irreplaceable role in tasks such as underground facility digitization, geological information collection, and rapid acquisition of indoor and outdoor building information. Handheld 3D scanning devices, due to their portability and ease of operation, greatly improve the efficiency and flexibility of data acquisition.
[0019] However, traditional LiDAR equipment still faces numerous technical bottlenecks and limitations in practical applications. First, traditional LiDAR equipment is typically large and heavy, with poor portability, making it difficult to meet the needs of outdoor mobile scenarios, especially in environments with complex terrain or limited space, severely restricting its use. Second, the scanning accuracy and range of traditional LiDAR equipment are limited by its mechanical rotating structure. This structure not only limits the equipment's performance but is also susceptible to vibration interference, leading to decreased stability and reliability of data acquisition. Furthermore, traditional equipment suffers from high latency in data processing, making it difficult to meet real-time requirements. It also lacks intelligent analysis capabilities, failing to quickly process and intelligently interpret the acquired data, thus limiting its application capabilities in dynamic scenarios. Finally, traditional LiDAR equipment has poor scene adaptability, its performance being particularly limited under conditions of changing indoor and outdoor lighting, uneven terrain, or obstructions.
[0020] For example, in complex environments, there may be objects or surfaces with high light reflectivity, such as smooth or wet surfaces. In such cases, when a lidar emits a laser beam into the field of view, the emitted laser beam will be reflected by such objects or surfaces with high light reflectivity. The reflected laser light will then be received by the sensor on the lidar device. Because the intensity of the laser beam reflected by such objects or surfaces is very high, much greater than that reflected by ordinary objects or surfaces, the sensor may experience overexposure when collecting the reflected beam. Furthermore, when the environment scanned by LiDAR is complex, the light intensity reflected by nearby objects is stronger. Therefore, the laser echo collected by the sensors on the LiDAR device contains a large number of reflected echoes from objects close to the LiDAR device. These echoes include many small objects with relatively high reflected intensity due to their proximity to the LiDAR device. These small objects actually constitute interference for the main subject in the environment that the LiDAR device is trying to detect. As a result, the processing unit of the LiDAR device needs to process and exclude these echo beam data when processing the collected data. This not only increases the processor's burden but also seriously affects the processing efficiency.
[0021] In response, this application provides a portable lidar device, such as... Figure 1 and Figure 2 As shown, Figure 1 This is a perspective view showing the structure of a portable lidar device according to an embodiment of this application. Figure 2 This is a side view showing the structure of a portable lidar device according to an embodiment of this application. Figure 1 and Figure 2 For illustrative purposes, side panels of the portable lidar device, such as the left side panel, are not shown. The portable lidar device according to embodiments of this application may include: a main frame 1, a lidar device 2, a motor 3, and a motor driver 4.
[0022] like Figure 2 As shown, the main frame 1 may include a top plate 11, a bottom plate 12, a front side plate 13, a rear side plate 14, and a left side plate and a right side plate (one of the left side plate and the right side plate is shown removed in the figure, and the other is not shown). The top plate 11 and the bottom plate 12 may be opposite each other in the height direction, and the front side plate 13 and the rear side plate 14 may be opposite each other in the length direction perpendicular to the height direction. Accordingly, the left side plate and the right side plate may be opposite each other in the width direction. In the embodiments of this application, the top plate 11 and the bottom plate 12, the front side plate 13 and the rear side plate 14, and the left side plate and the right side plate may be enclosed together to form a receiving space therein for accommodating other components.
[0023] In this embodiment, the front side panel 13 may include a first front side panel 131 and a second front side panel 132. The rear side panel 14 may include a first rear side panel 141 and a second rear side panel 142. The first front side panel 131 and the first rear side panel 141 may each extend to a first height in the height direction extending from the bottom plate 12 to the top plate 11, and the second front side panel 132 and the second rear side panel 142 may each extend towards each other at a first angle and a second angle, respectively, from the first front side panel 131 and the first rear side panel 141 in the height direction away from the bottom plate 12, i.e., towards the top plate 11, to a second height. In this embodiment, the first height and the second height both represent the extension distance in the direction from the bottom plate 12 to the top plate 11, i.e., the distance extending perpendicular to the bottom plate 12. Furthermore, in this embodiment, the sum of the first height and the second height may be equal to the distance between the top plate 11 and the bottom plate 12 in the height direction.
[0024] The first angle and the second angle at which the second front side plate 132 and the second rear side plate 142 extend obliquely can be the same or different. In the embodiments of this application, the first angle at which the second front side plate 132 is obliquely inclined toward the second rear side plate 142 can be 45 degrees or other angles, and this application does not limit this.
[0025] The lidar 2 can be mounted on the second front side plate 132 and located on the outer side of the second front side plate 132. That is, the lidar 2 can be fixed to the outer surface of the second front side plate 132, which extends at a first angle, and can be connected to the motor 3 via a drive bracket passing through the second front side plate. The motor 3 can be located on the inner side of the second front side plate 132 and drives the lidar 2 to rotate via a rotation shaft passing through the drive bracket. Figure 1 As shown, the rotation axis of the lidar 2 can be parallel to the plane of the second front side plate 132, so that the emitting surface of the lidar 2 can be at an angle relative to, for example, the plane of the base plate 12. Thus, when the lidar 2 is used, the base plate 12 is usually parallel to the ground, i.e., the horizontal plane. At this time, the radar emitting surface of the lidar 2 is perpendicular to the second front side plate 132, i.e., it emits laser at a certain angle relative to the horizontal plane.
[0026] For example, in this embodiment, the first angle can be 45 degrees. That is, when the lidar 2 is fixed to the outer surface of the second front side plate 132, it can be tilted at an angle of 45 degrees relative to the plane of the base plate 12, i.e., the horizontal plane. Since the second front side plate 132 is arranged to tilt towards the second rear side plate 142, the laser emission direction of the lidar 2 is tilted upward in the direction away from the horizontal plane at an angle corresponding to the first angle, such as 45 degrees. Therefore, in this embodiment, since the lidar 2 is set to tilt upward at a certain angle relative to the plane of the base plate 12, such as 45 degrees, its scanning plane also changes from being parallel to the first front side plate 131 to being parallel to the upwardly tilted second front side plate 132. As a result, most of the laser beam emitted by the lidar 2 will be emitted towards the distance, reducing the amount of laser beam emitted towards the ground. Furthermore, due to the high reflectivity surface present in complex environments, the amount of light beam directly reflected at high intensity and received by the body sensor is greatly reduced, reducing the risk of sensor overexposure. This makes the echo data received by the sensor easier to process by the processor, improving the scanning accuracy in complex environments.
[0027] Furthermore, in this embodiment, when the second front side plate 132 is arranged to tilt towards the second rear side plate 142 at a first angle, such as 45 degrees, since the scanning plane of the lidar 2 is parallel to the second front side plate 132, the radar beam emitted by the lidar 2 is also emitted obliquely upward relative to the plane of the base plate 12, i.e., the horizontal plane. Therefore, compared with the prior art where the scanning plane of the lidar is parallel to the plane of the base plate 12, the laser beam emitted by the lidar 2 in this embodiment can cover more targets at medium and long distances, and cover less debris near the ground. As a result, the number of echoes received by the sensors on the device due to debris near the ground is also less, significantly reducing the interference of clutter generated by ground debris. This makes the main environmental objects more prominent in the echo data, improving the accuracy of the device in detecting environmental objects from the echo data. Moreover, due to the reduction of clutter, the amount of data that the device's processor needs to process is also reduced accordingly, improving computing efficiency and reducing computing load and power consumption.
[0028] Furthermore, in this embodiment, when the first angle is set to 45 degrees, the error in the echo data in the vertical direction, i.e. the direction perpendicular to the plane of the base plate 12 or the height direction from the base plate 12 to the top plate 11, caused by hand tremors when the user holds the lidar device according to this embodiment in a handheld manner can be reduced. This can improve the stability of the point cloud data collected by the sensor without adding stabilizing components such as stabilizers.
[0029] like Figure 2As shown, the motor driver 4 can be disposed inside one of the left and right side plates (not shown) at a height greater than the first height. That is, the motor driver 4 can be disposed in the space enclosed by the second front side plate 132, the second rear side plate 142, and the top plate 11, and is electrically connected to the motor 3 to drive the motor 3 to rotate, thereby driving the lidar 2 to rotate via the rotation axis of the motor 3 extending perpendicularly to the second front side plate 132. In this embodiment, the rotation axis of the lidar 2 can be parallel to the plane of the second front side plate 132, so that it can scan in its circumferential direction during rotation.
[0030] Furthermore, in this embodiment, a synchronous wheel (not shown) may be provided, which is rotatably fixed to the inner surface of the second front side plate 132 and has a rotation axis extending perpendicular to the plane of the second front side plate 132. This rotation axis may be parallel to the rotation axis of the motor 3, and one end of it may extend through the second front side plate 132 for a predetermined distance, so that the lidar 2 can be fixed to this end. The rotation axis of the synchronous wheel may be configured such that its center is on the same straight line as the center of gravity of the lidar 2, that is, the rotation axis of the synchronous wheel may be configured to be perpendicular to the second front side plate 132 and its axis may pass through the center of gravity of the lidar 2. Therefore, when the synchronous wheel rotates around its rotation axis under the drive of the motor 3, the lidar 2 may rotate around the axis extending in the horizontal direction, that is, in the front-rear direction of the lidar. Therefore, when in use, the lidar can rotate circumferentially around its own rotation axis (i.e., the rotation axis parallel to the plane of the second front side plate 132) and also rotate around the rotation axis perpendicular to the plane of the second front side plate 132, thereby achieving 360-degree all-round scanning, so as to obtain the reflected echo of the environment from all directions, avoiding the scanning blind zone caused by the lidar 2 being fixed on the front side plate in the prior art.
[0031] In the embodiments of this application, such as Figure 1 and 2 As shown, the portable lidar device also includes a camera 5. The camera 5 can be positioned on the outer side of the first front panel 131, and its extension direction can be perpendicular to the first front panel 131. That is, the camera 5 can be positioned parallel to the first front panel 131 to acquire image information in the horizontal direction.
[0032] In this embodiment, the portable LiDAR device may further include a display screen 6. The display screen 6 may be disposed on the outer side of the second rear panel 142. Since the second rear panel 142 is inclined at a second angle toward the second front panel 132 relative to the plane of the base plate 12 (i.e., the horizontal plane), the second rear panel 142 has an inclination from the plane perpendicular to the base plate 12 toward the second front panel 132. Therefore, when the user uses the portable LiDAR device by hand or other means, the second rear panel 142 is actually facing the user, allowing the display screen 6 disposed on the surface of the second rear panel 142 to face the user directly for easy viewing. Furthermore, the display screen 6 may also be configured to have touch functionality, allowing the user to control the device by touching the screen 6.
[0033] Furthermore, the portable lidar device may also include a processing unit 7. The processing unit 7 may be disposed on the base plate 12 and located inside the first rear side plate 141. In some embodiments, the base plate 12 may have through openings at least at the location where the processing unit 7 is disposed, thereby providing airflow between the inside and outside of the device through these through openings, which facilitates the dissipation of heat generated by the processing unit 7 during operation to the outside of the device, thereby achieving a heat dissipation effect for the processing unit 7.
[0034] In this embodiment, the portable lidar device may further include a lidar driver box 8, which is disposed on the side of the processing device 7 away from the first rear side plate 141 and on the side of the motor driver 4 near the base plate 12. The lidar driver box 8 may contain a circuit board for driving the lidar 2 and related driving components, and may be electrically connected to the lidar 2 to control the rotation of the lidar 2 and the emission of the laser beam.
[0035] In this embodiment, a photoelectric switch 9 may also be provided on the outer side of the second front panel 132 for resetting the lidar 2.
[0036] Furthermore, the plates in the main frame 1 of the portable lidar device provided in this application embodiment can be made of carbon fiber composite material to reduce the thickness of the plates and the overall weight of the main frame 1. In addition, in this application embodiment, a radar interface and a camera interface can be respectively provided on the first front side plate 131 and the second front side plate 132, so that the lidar 2 and the camera 5 can be connected and fixed through the interface, and the processing device 7 can also be connected through the interface, thereby realizing the modularization of the various components in the device and allowing them to be replaced according to different scenarios.
[0037] The portable lidar device provided in this application embodiment, by setting the front side plate to include a first front side plate extending perpendicularly to the base plate and a second front side plate extending at a first angle, and placing the lidar on the inclined second front side plate, makes the lidar's scanning plane form a certain angle with respect to the base plate, thereby forming an inclined scanning plane. This avoids the lidar's emitted laser beam being directly reflected back to the device body due to environmental factors such as reflective ground, causing overexposure when the sensor reads the reflected light, thus reducing scanning accuracy. In addition, the scanning range of the inclined scanning plane formed in this application embodiment can preferentially cover medium and long-range targets within the forward field of view, further reducing clutter interference caused by complex ground environments, reducing invalid scanning in edge areas, reducing the amount of data processing in the device, and thus reducing the processor's computational load.
[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.
Claims
1. A portable lidar device, characterized in that, The portable lidar device includes: a main frame, a lidar unit, a motor, and a motor driver. The main frame includes a top plate and a bottom plate opposite each other in the height direction, a front side plate and a rear side plate opposite each other in the length direction perpendicular to the height direction, and a left side plate and a right side plate opposite each other in the width direction. The front side plate includes a first front side plate and a second front side plate, and the rear side plate includes a first rear side plate and a second rear side plate. The first front side plate and the first rear side plate extend to a first height in the height direction, and the second front side plate and the second rear side plate extend towards each other at a first angle and a second angle, respectively, from the side of the first front side plate and the first rear side plate away from the bottom plate in the height direction to a second height. The sum of the first height and the second height is equal to the distance between the top plate and the bottom plate in the height direction. The lidar is mounted on the second front side plate and is located on the outside of the second front side plate. The motor is mounted on the inside of the second front side plate and is connected to the lidar through a drive bracket passing through the second front side plate. The motor driver is located inside one of the left and right side plates and at a height greater than the first height. The rotation axis of the lidar is parallel to the second front side plate.
2. The portable lidar device according to claim 1, characterized in that, The portable lidar device also includes a camera. The camera is positioned on the outside of the first front panel, and the camera extends perpendicularly to the first front panel.
3. The portable lidar device according to claim 1, characterized in that, The portable lidar device also includes a display screen. The display screen is located on the outside of the second rear panel.
4. The portable lidar device according to claim 1, characterized in that, The portable lidar device also includes a processing unit. The processing device is disposed on the base plate and located inside the first rear side plate.
5. The portable lidar device according to claim 4, characterized in that, The portable lidar device also includes a radar driver box, which is disposed on the side of the processing device away from the first rear side plate and on the side of the motor driver near the base plate.
6. The portable lidar device according to claim 1, characterized in that, The base plate has multiple through openings.
7. The portable lidar device according to claim 1, characterized in that, A photoelectric switch is provided on the outer side of the second front panel.
8. The portable lidar device according to claim 1, characterized in that, The first angle is 45 degrees relative to the vertical direction perpendicular to the base plate.
9. The portable lidar device according to claim 1, characterized in that, The portable lidar device further includes a synchronization wheel, and the motor has a rotation axis extending perpendicular to the second front side plate. The synchronous wheel is rotatably fixed to the inner surface of the second front side plate and has a rotation axis extending perpendicular to the second front side plate. One end of the rotation axis of the synchronous wheel extends through the second front side plate and is fixed to the lidar. Wherein, one end of the rotating shaft of the motor is connected by a synchronous belt to the portion of the rotating shaft of the synchronous pulley located inside the second front side plate.