A handheld multi-functional laser scanning measurement device

Abstract

This application relates to the field of building engineering inspection and testing technology, specifically disclosing a handheld multifunctional laser scanning and measuring device. It includes a detachably connected battery pack, a computing control module, and a measuring unit. The battery pack and level calibration module are located at the lower part of the measuring device, while the computing control module and measuring unit are located at the upper part. The upper and lower parts of the measuring device are connected together by a connecting device. The purpose of this patent is to solve the problem of low accuracy in existing scanning and measuring devices. It is mainly used for scanning and measuring rectangular or non-rectangular rooms.

Description

Technical Field

[0001] This utility model relates to the field of building engineering inspection and testing technology, and in particular to a handheld multi-functional laser scanning measurement device. Background Technology

[0002] When conducting safety assessments through architectural surveying, traditional manual measurement methods have significant drawbacks: firstly, each component needs to be measured individually, which is inefficient and prone to omissions and data deviations due to human factors; secondly, when dealing with non-rectangular building structures, additional angle measuring tools are required to obtain key parameters such as the angles between walls, making the operation complex and accuracy difficult to guarantee. These pain points severely restrict the rapid generation of floor plans.

[0003] In the prior art, for example, Chinese utility model patent CN217543393U discloses a handheld laser scanner, which integrates a laser radar module, a drive module, an inertial sensor, and a computer in a housing. It uses a motor to drive the laser radar to rotate and scan spatial information, and combines the inertial data to synthesize three-dimensional graphics. Although this device can achieve three-dimensional scene reconstruction, its technical objectives focus on mine outline scanning and three-dimensional model construction, and do not involve specialized surveying functions for building floor plans.

[0004] Furthermore, existing laser scanning devices have inherent limitations: their 3D point cloud reconstruction algorithms primarily serve terrain modeling and cannot directly extract key geometric parameters required for architectural floor plans, such as the precise angles between adjacent walls and the specific dimensions and locations of doors and windows within the building space. When applied to non-rectangular building spaces, the lack of specialized measurement modules and algorithms for wall angles and door / window dimensions makes it difficult to convert the generated models into 2D floor plans suitable for structural analysis.

[0005] Therefore, there is an urgent need to develop a new type of handheld laser measuring device to solve the problem of low accuracy of existing scanning measuring devices. Utility Model Content

[0006] To address the shortcomings of existing technologies, the technical problem solved by this utility model is to provide a handheld multi-functional laser scanning and measuring device, thereby solving the problem of low accuracy in existing scanning and measuring devices.

[0007] To solve the above problems, the technical solution adopted by this utility model is: a handheld multifunctional laser scanning measurement device, including a detachably connected battery pack, a horizontal calibration module, a calculation control module, and a measurement unit; the battery pack is fixed inside the handle at the bottom of the measurement device, and the calculation control module and the measurement unit are fixed inside the measurement box at the top of the measurement device; the measurement unit includes a two-dimensional lidar module, an inertial measurement module, and a laser ranging module, with the two-dimensional lidar module fixed to the top of the measurement box; a laser hole is opened on the side of the measurement box, and the horizontal calibration module is fixed inside a connecting device, which connects the handle and the measurement box into a whole.

[0008] Compared with existing technologies, the beneficial effects of this solution are as follows: This application uses a two-dimensional lidar, an inertial measurement module, and a laser ranging module for collaborative measurement, and overcomes the problem of low accuracy in measuring door and window openings and wall angles by relying on a single lidar to scan the space through multi-source data fusion.

[0009] Furthermore, the inertial measurement module and the two-dimensional lidar module adopt a time-synchronized triggering mechanism.

[0010] Furthermore, the handle base has an enlarged rectangular base.

[0011] Furthermore, the top of the handle is provided with a first opposing hole through which the axle pin can pass, and the lower part of the connecting device is provided with a through hole through which the axle pin can pass. The lower part of the connecting device can be inserted into the handle, and the axle pin passes through the first opposing hole and the through hole to connect the handle and the connecting device.

[0012] Furthermore, the lower part of the measuring box is provided with a second opposite hole through which the shaft pin can pass; the upper part of the connecting device is provided with two blocks and a positioning block, the outer edge formed by the blocks and the positioning block can be covered by the measuring box, and the opposite position of the blocks is provided with a third opposite hole through which the shaft pin can pass. The shaft pin passes through the second opposite hole and the third opposite hole to connect the connecting device and the measuring box.

[0013] Furthermore, the connecting device has a cross-shaped opening on its side.

[0014] Furthermore, the computing control module is located at the bottom of the measuring box and is electrically connected to the measuring unit. It can receive and process the data from the measuring unit and then output it to the terminal through the wireless communication module.

[0015] Furthermore, the wireless communication module is installed inside the enlarged rectangular base at the bottom of the handle. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the measuring device structure of this application.

[0017] Figure 2 This is an exploded view of the measuring device of this application.

[0018] Figure 3 This is a schematic diagram of the measuring device used in this application for horizontal scanning.

[0019] Figure 4 This is a schematic diagram of the measuring device used in vertical scanning according to this application.

[0020] The reference numerals in the accompanying drawings include:

[0021] Handle 1; First opposing hole 11;

[0022] Measuring box 2; Second opposing hole 21; Laser hole 22;

[0023] Connecting device 3; through hole 31; third opposite hole 32;

[0024] Room 4;

[0025] Calculation control module 5;

[0026] Measurement unit 6; two-dimensional lidar module 61; inertial measurement module 62; laser ranging module 63. Detailed Implementation

[0027] The following detailed description illustrates the specific implementation method:

[0028] Example 1

[0029] As attached Figure 1-2As shown: A handheld multi-functional laser scanning measurement device includes a detachably connected battery pack, a horizontal calibration module, a calculation and control module 5, and a measurement unit 6. The battery pack is fixed inside a handle 1 at the bottom of the measurement device. The bottom of the handle 1 has an enlarged rectangular base for placing the measurement device, and the top of the handle 1 has a first opposing hole 11 through which a pivot pin can pass. The calculation and control module 5 and the measurement unit 6 are fixed inside a measurement box 2 at the top of the measurement device. The measurement unit 6 includes a two-dimensional lidar module 61, an inertial measurement module 62, and a laser ranging module 63. The two-dimensional lidar module 61 is fixed to the top of the measurement box 2. A laser hole 22 is provided on the side, through which the laser from the laser ranging module 63 is emitted and received. The lower part of the measuring box 2 has a second opposing hole 21 through which a pin can pass. The horizontal calibration module is located between the handle 1 and the measuring box 2, and is fixed within the connecting device 3. The connecting device 3 has a cross-shaped opening on its side, and two stops and a positioning block on its upper part. The outer edge formed by the stops and positioning block can be covered by the measuring box 2. A third opposing hole 32 through which a pin can pass is provided at the opposite position of the stops. A through hole 31 through which a pin can pass is provided at the lower part of the connecting device 3, allowing the lower part of the connecting device 3 to be inserted into the handle 1. The pin passes through the first opposing hole 11 and the through hole 31 to connect the handle 1 and the connecting device 3. This design facilitates battery replacement, allows the device to operate continuously, and improves the convenience and efficiency of measurement. The pin passes through the second opposing hole 21 and the third opposing hole 32 to connect the connecting device 3 and the measuring box 2. Screw holes are also provided at the four corners of the connecting device 3, through which screws can fix the measuring box 2 to the connecting device 3.

[0030] Specifically, the horizontal calibration module is located between the handle 1 and the measuring box 2. The horizontal calibration module is fixed in the connecting device 3. After the horizontal calibration module is powered on, it will emit a cross-shaped red laser line to illuminate the wall, which is used to assist in adjusting the horizontal and vertical status of the measuring device.

[0031] Specifically, the calculation and control module 5 is located at the bottom of the measurement box 2 and is electrically connected to the measurement unit 6. The calculation and control module 5 can receive and process data from the two-dimensional lidar module 61, the inertial measurement module 62, and the laser ranging module 63. For example, it can fuse the circular scan data collected by the two-dimensional lidar module 61, the spatial attitude data acquired by the inertial measurement module 62, and the local ranging data obtained by the laser ranging module 63, and then output the data to an external terminal via a wireless communication module installed inside the enlarged rectangular base at the bottom of the handle 1.

[0032] Specifically, the measurement unit 6 includes a two-dimensional lidar module 61, an inertial measurement module 62, and a laser ranging module 63, which work together to complete the measurement task of the building space.

[0033] The two-dimensional lidar module 61 is fixed on the top of the measuring box 2, measuring the planar dimensions of the space and saving point cloud data information through 360° circumferential scanning. It includes a laser emitting device and a receiving device. The laser emitting device uses a semiconductor laser, which has the advantages of high energy and high efficiency; the receiving device is a photodetector used to receive the reflected laser signal.

[0034] The inertial measurement module 62 is placed below the two-dimensional lidar module 61 and fixed inside the measurement box 2. The inertial measurement module 62 and the two-dimensional lidar module 61 employ a time-synchronized triggering mechanism to ensure consistent data acquisition timing between the two modules. The inertial measurement module 62 is a combination module of a three-axis gyroscope and an accelerometer. The three-axis gyroscope measures the angular velocity of an object along three axes, while the accelerometer measures the acceleration of the object along three axes. Together, they can acquire the spatial position and attitude parameters of the measurement unit 6 in the three-dimensional coordinate system in real time. The inertial measurement module 62 can also be replaced by a combination of a fiber optic gyroscope and an accelerometer.

[0035] The laser ranging module 63 is placed below the inertial measurement module 62 and above the calculation and control module 5, fixed inside the measuring box 2. It emits and receives laser light through a side laser aperture 22. The laser ranging module 63 provides supplementary resolution for local areas such as the edges of door and window openings. The laser ranging module 63 includes a laser transmitter and a receiver. The laser transmitter emits a laser beam of a specific wavelength, and the receiver receives the reflected laser beam to calculate the distance. The laser ranging module 63 measures the distance, while the inertial measurement module 62 calculates the angle by fusing data from a three-axis gyroscope and accelerometer. The laser ranging module 63 and the inertial measurement module 62 work together to further confirm the angle of the wall. Alternatively, an infrared pulse ranging module can be used to replace the laser ranging module, achieving the same accurate ranging function.

[0036] Specific implementation process

[0037] As attached Figure 3-4 As shown:

[0038] Step 1: Power on the device, connect to the mobile app, set the measurement parameters such as the measurement area location, and select horizontal scan measurement.

[0039] Step 2: Activate the horizontal calibration module, observe the cross-shaped red laser line on the wall, and adjust the posture of the measuring device to keep the cross-shaped red laser line horizontal.

[0040] Step 3: Click "Start Measurement" on the app. The two-dimensional LiDAR module 61 will begin operation. Since the horizontal scanning angle of the two-dimensional LiDAR module 61 can reach 360 degrees, but the vertical scanning angle is only 15 to 40 degrees, the measuring device needs to be moved from top to bottom or bottom to top along the plumb line of room 4. After the point cloud data in the app display interface forms a closed loop, click "Complete Measurement".

[0041] Step 4: Use the laser ranging module 63 to verify the height and width of local areas such as door and window openings; at the same time, combine the inertial measurement module 62 to indirectly calculate the angle by fusing data from the three-axis gyroscope and accelerometer, and verify the included angle of the wall.

[0042] Step 5: Select the vertical scanning measurement mode in the app interface, observe the red cross-shaped red laser line on the top of the wall or the ground, click "Start Measurement" on the app, and the two-position lidar module 61 will start working. Hold the measuring device and move it from one end of room 4 to the other along the direction of the laser line. After the point cloud data in the app display interface forms a closed loop, click "Complete Measurement".

[0043] Step 6: Repeat step 4 to verify the height and width of the door and window openings, as well as the angle of the wall.

[0044] Step 7: The calculation and control module 5 performs data calculation and processing. After completion, the scan measurement effect image is displayed in the app interface. Click to save the data and image, and click to complete the measurement of room 4.

[0045] Working principle

[0046] The computational control module 5 and the measurement unit 6 are connected by a circuit to ensure signal transmission and control. The computational control module 5 communicates with external terminals such as mobile apps via Bluetooth or WiFi. These external terminals are smart mobile terminals configured with dedicated client programs. This allows operators to read and process data from the computational control module 5 in real time on the mobile app, while simultaneously displaying the data measured by the 2D LiDAR and a plan view of the measured space.

[0047] The two-dimensional lidar module 61 performs a wide-area scan, while the laser ranging module 63 performs high-precision measurements on local areas.

[0048] The calculation and control module 5 fuses the data from the measurement unit 6 and uses a built-in algorithm to fit the point cloud data of the two-dimensional lidar module 61 into line segments. At the same time, it marks the size and location information of door and window openings, and finally forms a building space plan.

[0049] The various modules of this device work together to achieve rapid and accurate measurement of building space dimensions. The two-dimensional lidar module 61 performs a comprehensive scan, acquiring planar dimensions and point cloud data; the inertial measurement module 62 provides spatial attitude data to ensure measurement accuracy; the laser ranging module 63 performs high-precision supplementary measurements of local areas; and the level calibration module ensures the device is level, improving measurement accuracy. The calculation and control module 5 fuses and processes the data to ultimately generate a building space plan. Compared with traditional measurement methods, this significantly improves measurement efficiency, reduces measurement errors, and has a wider range of applications, easily handling both rectangular and non-rectangular buildings, providing strong support for building safety performance assessment and testing.

[0050] The above descriptions are merely embodiments of this utility model, and common knowledge regarding specific structures and characteristics is not elaborated upon here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of this utility model, and these should also be considered within the scope of protection of this utility model. These modifications will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application shall be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A hand-held multifunctional laser scanning measuring device, comprising a detachably connected battery pack, a horizontal calibration module, a computing control module and a measuring unit, the battery pack is fixed in the handle of the lower part of the measuring device, the computing control module and the measuring unit are fixed in the measuring box of the upper part of the measuring device, characterized in that: The measurement unit includes a two-dimensional lidar module, an inertial measurement module, and a laser ranging module. The two-dimensional lidar module is fixed on the top of the measurement box. A laser hole is opened on the side of the measurement box. The horizontal calibration module is fixed in the connecting device, which connects the handle and the measurement box into a whole.

2. The handheld multi-functional laser scanning and measuring device according to claim 1, characterized in that: The inertial measurement module and the two-dimensional lidar module adopt a time-synchronized triggering mechanism.

3. The handheld multi-functional laser scanning and measuring device according to claim 1, characterized in that: The handle has an enlarged rectangular base.

4. The handheld multi-functional laser scanning and measuring device according to claim 1, characterized in that: The handle has a first opposing hole at the top that allows the pin to pass through, and the connecting device has a through hole at the bottom that allows the pin to pass through. The bottom of the connecting device can be inserted into the handle, and the pin passes through the first opposing hole and the through hole to connect the handle and the connecting device.

5. The handheld multi-functional laser scanning and measuring device according to claim 1, characterized in that: The lower part of the measuring box is provided with a second opposite hole through which the shaft pin can pass; the upper part of the connecting device is provided with two blocks and a positioning block, the outer edge formed by the blocks and the positioning block can be covered by the measuring box, and the opposite position of the blocks is provided with a third opposite hole through which the shaft pin can pass. The shaft pin passes through the second opposite hole and the third opposite hole to connect the connecting device and the measuring box.

6. The handheld multi-functional laser scanning and measuring device according to claim 1, characterized in that: The connecting device has a cross-shaped opening on its side.

7. The handheld multi-functional laser scanning and measuring device according to claim 1, characterized in that: The computing control module is located at the bottom of the measuring box and is electrically connected to the measuring unit. It can receive and process the data from the measuring unit and then output it to the terminal through the wireless communication module.

8. The handheld multi-functional laser scanning and measuring device according to claim 3, characterized in that: The wireless communication module is installed inside the enlarged rectangular base at the bottom of the handle.

Images