Intelligent laser measuring device based on multi-sensor cooperative positioning

Abstract

The utility model relates to laser measurement field, concretely relates to an intelligent laser measuring device based on multi sensor cooperative positioning, horizontal shaft rotating component includes horizontal shaft motor, laser ranging assembly includes pitch axis motor, laser ranging module, the pivot of pitch axis motor is connected with laser ranging module, the pivot of pitch axis motor is perpendicular with laser emission pipe of laser ranging module, the pivot of pitch axis motor is perpendicular with the pivot of horizontal shaft motor, control component, main control board is connected with inertial navigation and RTK module, power module, horizontal shaft motor, pitch axis motor, laser ranging module electricity, the installation direction of inertial navigation and RTK module is parallel with the pivot of pitch axis motor, main control board is used for to gather data processing and fusion, still be used for according to spatial straight line distance, equipment attitude change, acceleration and position coordinate information, horizontal shaft motor, pitch axis motor's angle information calculates the three -dimensional space position of measurement target. Solve the problem of low measurement accuracy.

Description

Technical Field

[0001] This utility model relates to the technical field of laser measurement, specifically to an intelligent laser measurement device based on multi-sensor collaborative positioning. Background Technology

[0002] Currently, the surveying instrument field has formed a technical system mainly based on total stations, GNSS-RTK equipment, and laser rangefinders. However, each type of equipment has obvious limitations. Total stations achieve high-precision positioning by combining optical aiming and electronic ranging, but their operation is heavily reliant on manual operation. From setting up the instrument and centering and leveling to aiming at the target, it requires repeated adjustments by professional personnel, which is not only inefficient but also extremely difficult to operate in complex terrains (such as steep slopes and dense forests). At the same time, total stations require optical line-of-sight between the station and the target point, which often prevents them from working properly in urban areas with tall buildings or dense vegetation. GNSS-RTK equipment achieves centimeter-level real-time positioning by using satellite signals and differential technology with a base station, and it also eliminates the line-of-sight limitation. However, this technology is highly sensitive to the quality of satellite signals. In scenarios such as canyons, indoor spaces, and underground engineering projects, the signal is easily blocked or interfered with, leading to a sharp drop in positioning accuracy or even failure, making it difficult to meet the needs of continuous measurement. Laser rangefinders suffer from the limitations of being single-sensor devices, only able to acquire distance information and unable to determine spatial coordinates. While inertial navigation systems can provide dynamic attitude information, they accumulate drift errors over long periods. Furthermore, when multiple devices work together, issues such as inconsistent data formats and low time synchronization accuracy lead to poor reliability of the fusion results, hindering the realization of collaborative advantages. These shortcomings make it difficult for existing technologies to find a balance between efficiency, accuracy, and environmental adaptability, failing to meet the modern engineering demands for lightweight, integrated, and highly robust measurement equipment. Summary of the Invention

[0003] The present invention aims to provide an intelligent laser measurement device based on multi-sensor collaborative positioning to solve the problem of low measurement accuracy caused by a single sensor.

[0004] To achieve the above objectives, this utility model adopts the following technical solution: an intelligent laser measurement device based on multi-sensor collaborative positioning, comprising... A horizontal axis rotation assembly includes a horizontal axis motor, a fixed axis connection control assembly for the horizontal axis motor, and a rotating shaft connection laser ranging assembly for the horizontal axis motor. The laser ranging component includes a pitch axis motor and a laser ranging module. The rotation shaft of the pitch axis motor is connected to the laser ranging module. The rotation shaft of the pitch axis motor is perpendicular to the laser emitter of the laser ranging module. The rotation shaft of the pitch axis motor is perpendicular to the rotation shaft of the horizontal axis motor. The control component includes a control unit, which comprises a main control board, an inertial navigation and RTK module, and a power supply module. The inertial navigation and RTK module is installed parallel to the rotation axis of the pitch axis motor. The inertial navigation and RTK module, power supply module, horizontal axis motor, pitch axis motor, and laser ranging module are electrically connected to the main control board. The horizontal axis motor is used to adjust the horizontal axis angle of the laser ranging module according to the instructions from the main control board. The pitch axis motor is used to adjust the pitch axis angle of the laser ranging module according to the instructions from the main control board. The laser ranging module is used to acquire the spatial straight-line distance between the device and the target being measured. The inertial navigation and RTK module is used to acquire the device's attitude change, acceleration, and position coordinate information. The main control board is used to process and fuse the data acquired by the inertial navigation and RTK module and the laser ranging module, as well as the angle information from the horizontal axis motor and the pitch axis motor. It is also used to calculate the three-dimensional spatial position of the target being measured based on the spatial straight-line distance, device attitude change, acceleration, position coordinate information, and the angle information from the horizontal axis motor and the pitch axis motor.

[0005] The working principle and beneficial effects of this utility model are as follows: Two different motors are set up to adjust the horizontal and pitch axes, which are used to flexibly adjust the angle of the laser ranging module. During measurement, the main control board can adjust the angle of the laser ranging module through the horizontal axis motor and the pitch axis motor respectively. An inertial navigation and RTK module is set up to acquire the attitude and position coordinates of the current laser measuring device to compensate for measurement errors and provide accurate position coordinates. During measurement, the main control board aligns and fuses the distance data, horizontal and pitch angles, attitude and position coordinates of the laser measuring device collected by the laser ranging module, and calculates and generates the three-dimensional spatial position of the measurement target.

[0006] 1. This device integrates laser ranging, dual-axis angle motors, inertial navigation, and RTK. The laser ranging and dual-axis angle motors accurately acquire the distance and direction information of the target. The inertial navigation and RTK combine dynamic compensation and absolute positioning to improve measurement accuracy. Furthermore, the laser ranging component and the control component are connected through the horizontal axis rotation component, achieving integration and lightweight design. Compared with traditional total stations or multi-device combinations, this device is easy to carry and operate, making it suitable for mobile operations and operations in confined spaces.

[0007] 2. The pitch axis motor shaft is perpendicular to both the laser emitter and the horizontal axis motor shaft. Combined with the parallel design of the inertial navigation and RTK module mounting directions, this ensures the consistency of the coordinate system for angle measurement, attitude perception, and distance data, physically reducing fusion errors caused by structural deviations. The rotation centers of the horizontal and pitch axes, along with the laser extension line, converge at the same point (the measurement origin). This allows data from all sensors to be fused and calculated around the same reference point, avoiding coordinate transformation errors caused by multiple origins and providing a precise spatial reference for 3D coordinate inversion.

[0008] 3. The main control board automatically completes data synchronization, fusion and calculation without the need for manual intervention in coordinate transformation, reducing reliance on the professional skills of operators and improving the efficiency of single-point measurement.

[0009] Preferably, the control unit further includes a communication module electrically connected to the main control board, and a control terminal connected to the control board via the communication module. The main control board is used to send calculated data and collected data to the control terminal, and the control terminal is used to send control commands to the main control board. It is also used to generate monitoring information based on the calculated data and collected data from the main control board and to display it.

[0010] Beneficial effects: The main control board pushes the calculated 3D coordinates and raw acquisition data (such as laser distance, angle information, and IMU attitude) to the control terminal in real time through the communication module. Operators can intuitively view the measurement results without waiting for the device to store and export them, reducing the time cost of data verification. This is especially suitable for emergency scenarios that require rapid decision-making. The control terminal can send control commands to the main control board (such as adjusting the laser pointing angle and switching measurement modes), avoiding the limitation that operators need to have close contact with the equipment. In hazardous environments (such as high altitudes or confined spaces) or when working at a distance, the measurement process can be completed remotely through the terminal, improving operational safety and flexibility.

[0011] Preferably, the laser ranging assembly includes a first mounting part for mounting a pitch axis motor and a laser ranging module. The first mounting part is an open slot structure. The bottom of the open slot is fixedly connected to the rotating shaft of the horizontal axis motor. The opening of the slot is used to allow space for the laser emitted by the laser ranging module. A support shaft is supported on the slot wall. The slot wall in the extension direction of the support shaft is fixedly connected to the fixed shaft of the pitch axis motor. One end of the laser ranging module is fixedly connected to the rotating shaft of the pitch axis motor, and the other end is fixedly connected to the support shaft.

[0012] Beneficial effects: One end of the laser ranging module is fixed to the pitch axis motor shaft, and the other end is connected to the wall of the open slot through a support shaft, forming a "double-point support" structure. This effectively reduces the shaking or deformation of the laser ranging module when the pitch axis rotates, ensures the perpendicularity of the laser emission direction to the pitch axis motor shaft (refer to the structural requirements in the utility model content), and reduces angle measurement errors caused by loose components.

[0013] More preferably, the opening of the slot has two clearance notches, which are symmetrically arranged along the axis of the support shaft.

[0014] Beneficial effects: The notch design avoids contact or reflection between the laser beam and the slot structure, reducing the impact of stray light on ranging accuracy. Especially in high-precision measurement scenarios, it can reduce distance errors caused by signal interference and ensure the accuracy of the original data.

[0015] More preferably, the housing is further provided with an inertial navigation mounting plate. The inertial navigation mounting plate has an L-shaped cross-section and includes a fixed part and an extension part. The extension part extends perpendicularly to the end face of the fixed part. The fixed part is fixedly connected to the bottom of the housing. The extension part is provided with mounting holes for mounting the inertial navigation and RTK modules, so that the inertial navigation and RTK modules are parallel to the rotation axis of the pitch axis motor.

[0016] Beneficial effects: The L-shaped structure with the extension and fixing parts perpendicular to each other, combined with the mounting holes of the extension, can rigidly fix the installation direction of the inertial navigation and RTK modules, ensuring that they are strictly parallel to the pitch axis motor shaft (meeting the design requirements of the control components). This avoids coordinate system deviation caused by sensor installation tilt from the source, ensuring that the attitude angles (roll, pitch, yaw) collected by the inertial navigation and RTK modules are in the same reference system as the angle data of the dual-axis motors, reducing coordinate transformation errors during data fusion on the main control board. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a front view of the present invention; Figure 3 for Figure 2 Sectional view along the BB direction; Figure 4 This is a schematic diagram of the structure of the control component of this utility model; Figure 5 This is a front view of the control component of this utility model; Figure 6 for Figure 5 A sectional view along the CC direction; Figure 7 This is a diagram showing the internal structure of the control component of this utility model; Figure 8 This is a schematic diagram of the structure of the horizontal axis motor of this utility model; Figure 9 This is a logic block diagram of the present invention.

[0018] The markings in the accompanying drawings include: horizontal axis motor 1, fixed axis of horizontal axis motor 11, rotating axis of horizontal axis motor 12, pitch axis motor 2, fixed axis of pitch axis motor 21, rotating axis of pitch axis motor 22, laser ranging module 3, laser emitting tube 31, laser 32, main control board 4, inertial navigation and RTK module 5, fixing part 51, extension part 52, power module 6, communication module 7, first mounting part 8, support shaft 81, clearance notch 82, body 91, end cover 92, and switch button 10. Detailed Implementation

[0019] The following detailed description illustrates the specific implementation method: See Figures 1 to 9 A smart laser measurement device based on multi-sensor collaborative positioning, comprising: The horizontal axis rotation assembly includes a horizontal axis motor 1, the fixed axis 11 of the horizontal axis motor is connected to a control assembly, and the rotating shaft 12 of the horizontal axis motor is connected to a laser ranging assembly. The laser ranging component includes a pitch axis motor 2 and a laser ranging module 3. The rotating shaft 22 of the pitch axis motor is connected to the laser ranging module 3. The rotating shaft 22 of the pitch axis motor is perpendicular to the laser emitting tube 31 of the laser ranging module 3. The rotating shaft 22 of the pitch axis motor is perpendicular to the rotating shaft 12 of the horizontal axis motor. The control components include a control unit, which comprises a main control board 4, an inertial navigation and RTK module 5, and a power supply module 6. The inertial navigation and RTK module 5 is installed parallel to the rotation shaft 22 of the pitch axis motor. The inertial navigation and RTK module 5, the power supply module 6, the horizontal axis motor 1, the pitch axis motor 2, and the laser ranging module 3 are electrically connected to the main control board 4. The horizontal axis motor 1 is used to adjust the horizontal axis angle of the laser ranging module 3 according to the instructions of the main control board 4. The pitch axis motor 2 is used to adjust the pitch axis angle of the laser ranging module 3 according to the instructions of the main control board 4. The laser ranging module 3 is used to collect the spatial straight-line distance between the device and the target being measured. The inertial navigation and RTK module 5 is used to collect the device's attitude change, acceleration, and position coordinate information. The main control board 4 is used to process and fuse the data collected by the inertial navigation and RTK module 5 and the laser ranging module 3, as well as the angle information of the horizontal axis motor 1 and the pitch axis motor 2. It is also used to calculate the three-dimensional spatial position of the target being measured based on the spatial straight-line distance, the device's attitude change, acceleration, position coordinate information, and the angle information of the horizontal axis motor 1 and the pitch axis motor 2.

[0020] The control unit also includes a communication module 7, which is electrically connected to the main control board 4. The communication method of the communication module 7 can be Bluetooth or 5G. In this embodiment, Bluetooth communication is used.

[0021] Preferably, the laser ranging assembly includes a first mounting part 8 for mounting the pitch axis motor 2 and the laser ranging module 3. The first mounting part 8 is an open slot structure. The bottom of the open slot is fixedly connected to the rotating shaft 12 of the horizontal axis motor. In this embodiment, the connection is made by bolts. The opening of the slot is used to allow space for the laser 32 emitted by the laser ranging module 3. A support shaft 81 is supported on the slot wall by a bearing. The slot wall of the support shaft 81 is fixedly connected to the fixed shaft 21 of the pitch axis motor in the extending direction. One end of the laser ranging module 3 is fixedly connected to the rotating shaft 22 of the pitch axis motor, and the other end is fixedly connected to the support shaft 81, so that the laser emitting tube 31 of the laser ranging module 3 is perpendicular to the rotating shaft 22 of the pitch axis motor, and the laser emitting tube 31 of the laser ranging module 3 is located at the center of the open slot. The opening of the slot has two clearance notches 82, which are symmetrically arranged along the axis of the support shaft 81. The two clearance notches 82 are U-shaped structures extending towards the bottom of the slot.

[0022] Preferably, the control component includes a housing, and the control unit is disposed inside the housing. The housing has a circular cross-section and includes a body 91 and an end cap 92. The end cap 92 is fixedly connected to the body 91, specifically by bolts. The bottom of the body 91 is provided with a mounting groove for limiting and connecting the fixed shaft 11 of the horizontal axis motor. The mounting groove corresponds to the size of the fixed shaft 11 of the horizontal axis motor, and the fixed shaft 11 of the horizontal axis motor extends into the mounting groove and is fixedly connected to the bottom of the groove.

[0023] The housing is also provided with an inertial navigation mounting plate. The inertial navigation mounting plate has an L-shaped cross-section and includes a fixing part 51 and an extension part 52. The extension direction of the extension part 52 is perpendicular to the end face of the fixing part 51. The fixing part 51 is fixedly connected to the bottom of the housing. The extension part 52 is provided with mounting holes for mounting the inertial navigation and RTK module 5, so that the inertial navigation and RTK module 5 is parallel to the rotation shaft 22 of the pitch axis motor.

[0024] The power module 6 includes a power supply battery. A battery mounting slot is provided on the inner end face of the end cover 92 for mounting the power supply battery, and a measuring device mounting hole is provided on the outer end face of the end cover 92 for fixing the laser measuring device. In this embodiment, the battery power supply is 12V.

[0025] The control unit also includes a switch button 10, which is located outside the housing and is electrically connected to the main control board 4. The switch button 10 is used to control the laser measuring device to start or stop.

[0026] The main control board 4 and the communication module 7 of the control unit are both fixedly installed on the housing. The main control board 4 is located on one side of the power supply battery, and the communication module 7 is located on the other side of the power supply battery.

[0027] In this embodiment, the main control board 4 uses the STM32F103 main control chip, the pitch axis motor 2 is the H7231 servo motor from Jizhi Technology, the inertial navigation and RTK module 5 uses the STMicroelectronics BMI088 chip for inertial navigation and the UM980 chip from Hexin Xingtong for RTK, and the laser ranging module 3 is the LD40 green laser module from Liangxin Integrated.

[0028] Example 2 It also includes a control terminal, which is connected to the control board via communication module 7. The main control board 4 is used to send calculated data and collected data to the control terminal. The control terminal is used to send control commands to the main control board 4, and also to generate and display monitoring information based on the calculated data and collected data from the main control board 4. The control terminal can be a mobile app or a laptop computer; in this embodiment, the control terminal is a mobile app.

[0029] The above descriptions are merely embodiments of this utility model. Commonly known technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and 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 should 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. An intelligent laser measurement device based on multi-sensor collaborative positioning, characterized in that: include A horizontal axis rotation assembly includes a horizontal axis motor, a fixed axis connection control assembly for the horizontal axis motor, and a rotating shaft connection laser ranging assembly for the horizontal axis motor. The laser ranging component includes a pitch axis motor and a laser ranging module. The rotation shaft of the pitch axis motor is connected to the laser ranging module. The rotation shaft of the pitch axis motor is perpendicular to the laser emitter of the laser ranging module. The rotation shaft of the pitch axis motor is perpendicular to the rotation shaft of the horizontal axis motor. The control component includes a control unit, which comprises a main control board, an inertial navigation and RTK module, and a power supply module. The inertial navigation and RTK module is installed parallel to the rotation axis of the pitch axis motor. The inertial navigation and RTK module, power supply module, horizontal axis motor, pitch axis motor, and laser ranging module are electrically connected to the main control board. The horizontal axis motor is used to adjust the horizontal axis angle of the laser ranging module according to the instructions from the main control board. The pitch axis motor is used to adjust the pitch axis angle of the laser ranging module according to the instructions from the main control board. The laser ranging module is used to acquire the spatial straight-line distance between the device and the target being measured. The inertial navigation and RTK module is used to acquire the device's attitude change, acceleration, and position coordinate information. The main control board is used to process and fuse the data acquired by the inertial navigation and RTK module and the laser ranging module, as well as the angle information from the horizontal axis motor and the pitch axis motor. It is also used to calculate the three-dimensional spatial position of the target being measured based on the spatial straight-line distance, device attitude change, acceleration, position coordinate information, and the angle information from the horizontal axis motor and the pitch axis motor.

2. The intelligent laser measurement device based on multi-sensor collaborative positioning according to claim 1, characterized in that: The control unit also includes a communication module electrically connected to the main control board, and a control terminal connected to the control board via the communication module. The main control board is used to send calculated data and collected data to the control terminal, and the control terminal is used to send control commands to the main control board. It is also used to generate monitoring information based on the calculated data and collected data from the main control board and to display it.

3. The intelligent laser measurement device based on multi-sensor collaborative positioning according to claim 1, characterized in that: The laser ranging assembly includes a first mounting part for mounting a pitch axis motor and a laser ranging module. The first mounting part is an open slot structure. The bottom of the open slot is fixedly connected to the rotating shaft of the horizontal axis motor. The opening of the slot is used to allow the laser emitted by the laser ranging module to pass. A support shaft is supported on the slot wall. The slot wall in the extension direction of the support shaft is fixedly connected to the fixed shaft of the pitch axis motor. One end of the laser ranging module is fixedly connected to the rotating shaft of the pitch axis motor, and the other end is fixedly connected to the support shaft.

4. The intelligent laser measurement device based on multi-sensor collaborative positioning according to claim 3, characterized in that: The opening of the slot has two clearance notches, which are symmetrically arranged along the axis of the support shaft.

5. The intelligent laser measurement device based on multi-sensor collaborative positioning according to claim 1, characterized in that: The control component includes a housing, and the control unit is disposed inside the housing. The housing has a circular cross-section and includes a body and an end cover. The end cover is fixedly connected to the body. The bottom of the body is provided with a mounting groove, which corresponds to the dimension of the fixed axis of the horizontal axis motor. The fixed axis of the horizontal axis motor extends into the mounting groove and is fixedly connected to the bottom of the groove.

6. The intelligent laser measurement device based on multi-sensor collaborative positioning according to claim 5, characterized in that: The housing also includes an inertial navigation mounting plate with an L-shaped cross-section, comprising a fixed part and an extension part. The extension part extends perpendicularly to the end face of the fixed part. The fixed part is fixedly connected to the bottom of the housing. The extension part has mounting holes for mounting the inertial navigation and RTK modules, so that the inertial navigation and RTK modules are parallel to the rotation axis of the pitch axis motor.

7. The intelligent laser measurement device based on multi-sensor collaborative positioning according to claim 6, characterized in that: The inner end face of the end cover has a battery mounting groove for installing a power module, and the outer end face of the end cover has a measuring device mounting hole for fixing a laser measuring device.

Images