CN106154285A - A kind of based on the variable field-of-view three-dimensional reconstruction apparatus swinging laser radar - Google Patents

A kind of based on the variable field-of-view three-dimensional reconstruction apparatus swinging laser radar Download PDF

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Publication number
CN106154285A
CN106154285A CN201610444260.7A CN201610444260A CN106154285A CN 106154285 A CN106154285 A CN 106154285A CN 201610444260 A CN201610444260 A CN 201610444260A CN 106154285 A CN106154285 A CN 106154285A
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China
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laser radar
swing
module
dimensional
line laser
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CN201610444260.7A
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Chinese (zh)
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CN106154285B (en
Inventor
钱超杰
戚明旭
杨明
王春香
王冰
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上海交通大学
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging

Abstract

The invention provides a kind of based on the variable field-of-view three-dimensional reconstruction apparatus swinging laser radar, module is rebuild including laser radar swing mechanism, mechanism kinematic control module and three-dimensional point cloud, wherein: single line laser radar is three dimensional point cloud collecting device, laser radar center fixed mechanism bears laser radar weight fixed laser radar center, laser radar oscillating control mechanism realizes the regulation of laser radar field range and drives its omnidirectional to swing, and three forms laser radar swing mechanism;Mechanism kinematic control module controls the motion of laser radar swing mechanism, and measures laser radar pose in real time;Three-dimensional point cloud is rebuild module and is spliced multiframe lidar measurement data, rebuilds space three-dimensional point cloud.The present invention can complete the measurement to three-dimensional environment and reconstruction, and is adjusted field range and some cloud distribution according to demand, to realize the focus measurement to diverse location spatial information, has that precision is high, highly reliable, the good feature of adaptability.

Description

A kind of based on the variable field-of-view three-dimensional reconstruction apparatus swinging laser radar
Technical field
The present invention relates to geographic information data and gather field, surrounding three-dimensional topographic field, in particular it relates to a kind of base In the variable field-of-view three-dimensional reconstruction apparatus swinging laser radar.
Background technology
Along with the fast development of mobile Robot industry, increasing smart machine puts into the work of unstructured moving grids In work, surrounding three-dimensional perception is growing with the demand of measurement.Wherein, due to all kinds of intelligent vehicles in motion to road, The dependency on informations such as building are higher, thus the three-dimensional reconstruction in outdoor environment seems even more important.
In current all kinds of three-dimensional measuring apparatus, laser radar is high by its precision, the feature of good stability obtains Widely used.But conventionally employed multi-line laser radar price is higher, and result points cloud is sparse, it is only capable of covering laser scanning line institute In region, it is impossible to meet the demand of three-dimensional measurement on a large scale.Therefore, many devices are by using lower-cost single line laser thunder Reach, Laser Radar Scanning plane is swung in space, and the measurement data under each pose is spliced, thus To highdensity space three-dimensional point cloud.
But the three-dimensional reconstruction demand of outdoor environment is complicated, existing apparatus is difficult to meet.On the one hand, in outdoor except surface Sky and the level land of underface, all there is a useful information in other directions, and current pendulous device limits nothing because of mechanism mostly Method carries out omnidirectional's scanning, can only carry out the space measurement of little scope, it is impossible to disposably complete the reconstruction to important information;The opposing party Face, different scenes, different application be the most different to the demand of measurement result, and in narrow environment, measurement apparatus need to be to nearby Information covers, and the information of distant place is with greater need for obtaining emphasis scanning in the environment of broad, but existing device visual field model Enclosing with the distribution of result points cloud is fixing mostly, it is impossible to be adjusted according to demand, is difficult to adapt to different measurement situations.
Summary of the invention
For the deficiencies in the prior art, the purpose of the present invention makes offer a kind of based on the variable field-of-view three swinging laser radar Dimension reconstructing device, by laser radar being carried out omnidirectional's oscillatory scanning, and the field range of device and result points cloud are distributed into Row regulation, meets the outdoor environment three-dimensional reconstruction demand in the case of different measuring.
For reaching object above, the concrete technical scheme of the present invention is as follows:
The present invention provides a kind of variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar, swings including laser radar Mechanism, mechanism kinematic control module and three-dimensional point cloud rebuild module;
Described laser radar swing mechanism, the omnidirectional being used for single line laser radar scanning plane swings, to visual field model Enclose and be adjusted with the distribution of result points cloud, and single line laser radar space three-dimensional measurement data information under each pose is sent Module is rebuild to three-dimensional point cloud;Described laser radar swing mechanism include single line laser radar, laser radar center fixed mechanism, Laser radar oscillating control mechanism, wherein: single line laser radar is fixed on the fixed mechanism of laser radar center, is used for gathering respectively Space three-dimensional information under pose, and the space three-dimensional measurement data under each pose is sent to three site clouds reconstruction modules;Swash Optical radar oscillating control mechanism is made up of the upper transmission bar being articulated and connected successively, middle part drive link and bottom driving lever, top Drive link is fixed on the fixed mechanism of laser radar center, and the upper and lower displacement of bottom driving lever is passed by middle part drive link, top Lever drives and is fixed on the single line laser radar motion on the fixed mechanism of laser radar center, it is achieved single line laser radar scanning is put down The Inclination maneuver in face, thus regulate the visual field of described device;The rotary motion of bottom driving lever is passed by middle part drive link, top Lever drives the single line laser radar being fixed on the fixed mechanism of laser radar center to carry out omnidirectional's swing, thus completes single line and swash Optical radar omnidirectional is scanned;
Described mechanism kinematic control module connects laser radar swing mechanism, for controlling the fortune of laser radar swing mechanism Dynamic, and laser radar swing mechanism pose is carried out Real-time Feedback, simultaneously by the real-time pose data message of single line laser radar It is sent to three-dimensional point cloud and rebuilds module;
Described three-dimensional point cloud is rebuild module and is connected with laser radar swing mechanism and mechanism kinematic control module respectively, is used for Receive the single line laser radar that sent of laser radar swing mechanism space three-dimensional measurement data under each pose and mechanism's fortune The single line laser radar real-time pose data message that dynamic control module is sent, and according to a cloud algorithm letter to receiving Breath is rebuild, it is achieved the reduction to space three-dimensional pattern.
Preferably, described laser radar center fixed mechanism includes base, center, laser radar bracket and four short axles, Wherein: base is made up of one piece of horizontal baffle, two pieces of vertical plates and two pieces of securing plates, has hole, two on horizontal baffle Block vertical plate upper end has a dead eye;The both sides of center are fixed a short axle respectively and are pacified respectively by rolling bearing Being contained in two dead eyes on two pieces of vertical plates of base, the other both sides of center have a dead eye;Laser thunder Reach the both sides of bracket to fix respectively in a short axle two dead eyes being separately mounted on center by rolling bearing;Single line Laser radar is fixed on laser radar bracket, and has dead eye at laser radar bracket base.
It is highly preferred that the axis of two short axles is the most vertical with the axis of two short axles on center on described laser radar bracket Directly, to form gimbals, two crossing point of axes positions are fixed so that single line laser radar center position is fixed, and energy Bear most of weight of single line laser radar, but do not affect single line laser radar under laser radar oscillating control mechanism drives Carry out omnidirectional's swing.
It is highly preferred that in described laser radar oscillating control mechanism: one end of upper transmission bar is installed by ball bearing In the dead eye of laser radar bracket base, the other end of upper transmission bar is articulated and connected with one end of middle part drive link, in The other end of portion's drive link is articulated and connected with one end of bottom driving lever, and one end of bottom driving lever is crossed sliding bearing and is arranged on sharp Optical radar center fixed mechanism is connected in the hole on the horizontal baffle of base and with mechanism kinematic control module.
Preferably, the hinged company between described upper transmission bar and middle part drive link, middle part drive link and bottom driving lever Connect, refer to: groove and hole are set at upper transmission bar, bottom driving lever, the corresponding end that connects of middle part drive link, and are cut with scissors by bolt Connect in succession.
Preferably, described mechanism kinematic control module, including ball-screw slide unit guide rail module, motor, encoder, motor Driver and single-chip microcomputer;Wherein: motor and encoder are arranged on ball-screw slide unit guide rail module, motor is put with laser radar Bottom driving lever in dynamic controlling organization connects;Described motor driver is connected with motor, for motor carries out rotation control; Single-chip microcomputer is connected with the motor in ball-screw slide unit guide rail module, is completed by pwm signal control, direction control signal Control to ball-screw slide unit guide rail module displacement;Single-chip microcomputer is connected with encoder, reads encoder numerical value, simultaneously single-chip microcomputer Rebuild module with three-dimensional point cloud and carry out the communication of laser radar real-time pose data.
It is highly preferred that the upper and lower displacement of described ball-screw slide unit guide rail module drives bottom driving lever upper and lower displacement, from And realize the control of single line laser radar scanning planar inclination;By the rotation rotating drive bottom driving lever of motor, thus The omnidirectional realizing single line laser radar swings.
It is highly preferred that the single-chip microcomputer in described mechanism kinematic control module is by the reading of encoder and ball-screw slide unit The position of guide rail module, extrapolates plane of scanning motion inclination angle and the swing corner of single line laser radar, and by Kinematic Algorithms meter Calculate the real-time pose obtaining single line laser radar.
Preferably, the plane of scanning motion is measured under each pose by described single line laser radar, and is surveyed by space three-dimensional Amount real-time data transmission rebuilds module to three-dimensional point cloud;Single-chip microcomputer in described mechanism kinematic control module is sliding by ball-screw The angle of inclination of the position calculation single line laser radar of platform guide rail module, calculates single line laser radar by the reading of encoder Pendulum angle, calculates the real-time pose of single line laser radar with this, and is transferred to three-dimensional point cloud reconstruction module.
It is connected with single line laser radar by data wire it is highly preferred that described three-dimensional point cloud rebuilds module, receives single line and swash Optical radar space three-dimensional measurement data under each pose, is connected with single-chip microcomputer by USB serial ports simultaneously, receives single-chip microcomputer and is counted The single line laser radar real-time pose calculated.
It is highly preferred that described three-dimensional point cloud rebuild module receive single line laser radar send scanning survey data and Single-chip microcomputer send corresponding real-time pose data after, each frame point Cloud transform to correspondence position and is overlapped, thus complete right The reconstruction of three-dimensional point cloud.
It is compared with the prior art, there is advantages that
(1) spatial distribution of the field range of laser radar and result points cloud can be adjusted by the present invention, and it is right to complete The focus measurement of three-dimensional appearance at different distance in space;
(2) present invention can complete omnidirectional's oscillatory scanning of laser radar, it is possible to disposably completes space main information Measure, easy to operate, result is stable;
(3) present invention can carry big quality, high-power laser radar, thus completes three-dimensional reconstruction on a large scale;
(4) the invention provides complete control feedback and some cloud system, use simple, integrated level height.
Accompanying drawing explanation
By the detailed description non-limiting example done with reference to the following drawings of reading, other features of the present invention, Purpose and advantage will become more apparent upon:
Fig. 1 is the structured flowchart of one embodiment of the invention;
Fig. 2 is the laser radar center fixed mechanism schematic three dimensional views of one embodiment of the invention;
Fig. 3 is that the laser radar swing mechanism of one embodiment of the invention is installed with subelement in mechanism kinematic control module Mode schematic three dimensional views;
Fig. 4 is the laser radar weave control mode schematic diagram of one embodiment of the invention;
Fig. 5 a, 5b are that the some cloud of one embodiment of the invention rebuilds effect schematic diagram;
In figure: 1 rebuilds module for three-dimensional point cloud, and 2 is single-chip microcomputer, and 3 is encoder, and 4 is slide unit module (ball-screw slide unit The abbreviation of guide rail module), 5 is motor driver, and 6 is motor, and 7 is single line laser radar, and 8 is base, and 9 is that two outsides are short Axle, 10 is center, and 11 is two short axles in inside, and 12 is laser radar bracket, and 13 is bottom driving lever, and 14 is middle part drive link, 15 is upper transmission bar, and 16 is motor rack, and 17 is gear train, and 18 is location bar, and A is laser radar fixed center, and B is scalable Field range.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area For personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into the present invention Protection domain.
As it is shown in figure 1, a kind of variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar, including: laser radar is put Motivation structure, mechanism kinematic control module and three-dimensional point cloud rebuild module 1, and three-dimensional point cloud is rebuild module 1 and controlled with mechanism kinematic Being communicated by USB serial ports between module, three-dimensional point cloud is rebuild and is passed through Ethernet between module 1 and laser radar swing mechanism Data wire communicates.Wherein:
Described laser radar swing mechanism, the omnidirectional being used for Laser Radar Scanning plane swings, to field range and The distribution of result points cloud is adjusted, and laser radar space three-dimensional measurement data information under each pose is sent to three-dimensional point Cloud rebuilds module;
Described mechanism kinematic control module, for controlling the motion of laser radar swing mechanism, and swings laser radar Mechanism's pose carries out Real-time Feedback, the real-time pose data message of laser radar is sent to three-dimensional point cloud simultaneously and rebuilds module;
Described three-dimensional point cloud rebuilds module, for receiving laser radar that laser radar swing mechanism sent at each pose Under space three-dimensional measurement data and the laser radar real-time pose data message that sent of mechanism kinematic control module, and according to The information received is rebuild by some cloud algorithm, it is achieved the reduction to space three-dimensional pattern.
Further, described laser radar swing mechanism include single line laser radar 7, laser radar center fixed mechanism and Laser radar oscillating control mechanism;Single line laser radar is three dimensional point cloud collecting device, laser radar center fixed mechanism Bearing laser radar weight fixed laser radar center, laser radar oscillating control mechanism realizes laser radar field range Regulate and drive its omnidirectional to swing;Wherein:
Single line laser radar 7 is arranged on the top of laser radar center fixed mechanism, for gathering the space under each pose Three-dimensional information, and the space three-dimensional measurement data under each pose is sent to three site clouds reconstruction modules;
Laser radar oscillating control mechanism is arranged on the middle part of laser radar center fixed mechanism;
Laser radar oscillating control mechanism is by the upper transmission bar being articulated and connected successively, middle part drive link and bottom driving lever Composition, upper transmission bar is fixed on the fixed mechanism of laser radar center, and middle part transmission is passed through in the upper and lower displacement of bottom driving lever Bar, upper transmission bar drive and are fixed on the single line laser radar motion on the fixed mechanism of laser radar center, it is achieved single line laser The Inclination maneuver of radar scanning plane, thus regulate the visual field of described device;The rotary motion of bottom driving lever is passed by middle part Lever, upper transmission bar drive the single line laser radar being fixed on the fixed mechanism of laser radar center to carry out omnidirectional's swing, from And complete the scanning of single line laser radar omnidirectional.
As in figure 2 it is shown, as a preferred implementation, described laser radar center fixed mechanism includes: base 8, two Outside short axle 9, center 10, two short axles in inside 11, laser radar bracket 12;Wherein:
Base 8 is made up of one piece of horizontal baffle, two pieces of vertical plates and two pieces of securing plates, has hole on horizontal baffle, A dead eye is had relative to position two pieces of vertical plate upper ends;The correspondence position of the both sides of center 10 has one Dead eye, the other both sides of center 10 are fixed with a short axle in outside 9 respectively, and are arranged on the two of base 8 by rolling bearing In block vertical plate upper shaft bearing bore;Laser radar bracket 12 and two short axles in inside 11 are fixed, and are arranged on by rolling bearing In two dead eyes on center 10;Single line laser radar 7 is fixed on laser radar bracket 12 by bolt, and is swashing Dead eye is had on optical radar bracket 12.
As a kind of optimal way, on laser radar bracket 12, two axles are mutually perpendicular to two axles on center 10.This design Define gimbals, make two axle position of intersecting point fix thus make single line laser radar 7 center fix, and can bear Most of weight of single line laser radar 7, but do not affect single line laser radar 7 and drive at described laser radar oscillating control mechanism Under the omnidirectional that carries out swing.
As it is shown on figure 3, in a preferred embodiment, described laser radar oscillating control mechanism includes: bottom driving lever 13, middle part drive link 14 and upper transmission bar 15, wherein:
Bottom driving lever 13 upper end and middle part drive link 14 lower end are by bolted splice, middle part drive link 14 upper end and top Bolted splice is passed through in drive link 15 lower end, and upper transmission bar 15 upper end is arranged on laser radar bracket 12 bottom by bearing simultaneously Dead eye in, bottom driving lever 13 is arranged in the hole on the horizontal baffle of base 8 by sliding bearing, bottom driving lever 13 Lower end is connected with the rotating shaft of motor 6 by positive coupling;The rotation of motor 6 rotating shaft drives bottom driving lever 13 to rotate, and passes through Middle part drive link 14, upper transmission bar 15 drive laser radar bracket 12 to rotate, thus drive and be arranged on laser radar bracket 12 On single line laser radar 7 rotate.
As shown in Figure 1,3, as a preferred implementation, described mechanism kinematic control module includes single-chip microcomputer 2, encoder 3, slide unit module 4, motor driver 5 and motor 6.Encoder 3, slide unit module 4 and motor 6 are arranged on laser radar center and fix The bottom of mechanism.
In described mechanism kinematic control module: slide unit module 4 is fixed under the horizontal baffle of base 8 by bolt Side, motor 6 and encoder 3 are each attached on motor rack 16, carry out transmission by gear train 17 between motor 6 and encoder 3, electricity Frame 16 is arranged on slide unit module 4, and motor 6 passes through rigidity shaft coupling with the bottom driving lever 13 of laser radar oscillating control mechanism Device connects, and location bar 18 is fixed on the horizontal baffle of base 8 by bolt and is entered motor rack 16 by sliding bearing Row location and reinforcing.
As a kind of optimal way, in described mechanism kinematic control module: single-chip microcomputer 2 is by simulation clock pins and data Read pin and complete the reading to encoder 3, and produce the stepping on pwm signal and direction control signal driving slide unit module 4 Motor movement, single-chip microcomputer 2 carries out single line laser radar 7 real-time pose number by USB serial ports with three-dimensional point cloud reconstruction module 1 simultaneously According to communication.Single-chip microcomputer 2 is rebuild module 1 to three-dimensional point cloud and is sent the frequency of single line laser radar 7 posture information in one embodiment Rate is 10Hz.
As a kind of optimal way, in described mechanism kinematic control module: motor driver 5 uses servomotor to drive Dynamic device, motor 6 uses DC servo motor, motor driver 5 to be connected by motor drive signal line with motor 6, thus Realize the rotation to motor 6 to control.
As a kind of optimal way, described laser radar swing mechanism and mechanism kinematic control module are capable of such as Fig. 4 Shown laser radar weave control.Owing to the center of single line laser radar 7 is fixed, by the up and down motion of slide unit module 4 Thus drive the upper and lower displacement of bottom driving lever 13, the plane of scanning motion angle of inclination of single line laser radar 7 can be regulated;By electricity The rotation rotating drive bottom driving lever 13 of machine 6, can control single line laser radar 7 and carry out omnidirectional's swing.
The plane of scanning motion is measured under each pose by described single line laser radar 7, and by the measurement under each pose Real-time data transmission rebuilds module 1 to three-dimensional point cloud;Single-chip microcomputer 2 in described mechanism kinematic control module is by slide unit module 4 The angle of inclination of position calculation single line laser radar 7, calculated the angle of oscillation of single line laser radar 7 by the reading of encoder 3 Degree, calculates the real-time pose of single line laser radar 7 with this, and is transferred to three-dimensional point cloud reconstruction module 1.
Described three-dimensional point cloud is rebuild module 1 and is being received scanning survey data and the single-chip microcomputer 2 that single line laser radar 7 sends After the corresponding real-time pose data sent, each frame data can be transformed to corresponding pose, complete splicing and the weight of spatial point cloud Build.Point cloud reconstruction effect is as shown in Fig. 5 a, 5b, and Fig. 5 a plane of scanning motion inclination angle is 45 °, and Fig. 5 b plane of scanning motion inclination angle is 20 °, its In: by regulating the plane of scanning motion inclination angle of single line laser radar 7, it is possible to adjust field range and the some cloud distribution of result points cloud, Thus realize the emphasis to diverse location three-dimensional information and detect.
Apparatus of the present invention can regulate Laser Radar Scanning planar inclination according to different measurement scenes, thus to result Field range and some cloud distribution are adjusted.When inclination angle is bigger, as shown in Figure 5 a, it is possible to obtain bigger field range, from And scan near objects more;When inclination angle is less, as shown in Figure 5 b, although field range is less but puts cloud density more High, it is possible to preferably reduction scenery at a distance, meet the outdoor environment three-dimensional reconstruction demand in the case of different measuring.
Above the preferred embodiments of the present invention are described in detail.It is to be appreciated that the invention is not limited in Above-mentioned particular implementation, those skilled in the art can make various deformation within the scope of the claims, substitute or revise, This has no effect on the flesh and blood of the present invention, and protection scope of the present invention should be as listed by claims.

Claims (10)

1. a variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar, it is characterised in that include that laser radar swings Mechanism, mechanism kinematic control module and three-dimensional point cloud rebuild module;
Described laser radar swing mechanism, the omnidirectional being used for single line laser radar scanning plane swings, to field range and The distribution of result points cloud is adjusted, and single line laser radar space three-dimensional measurement data information under each pose is sent to three Dimension point cloud rebuilds module;Described laser radar swing mechanism includes single line laser radar, laser radar center fixed mechanism, laser Radar oscillating control mechanism, wherein: single line laser radar is fixed on the fixed mechanism of laser radar center, is used for gathering each pose Under space three-dimensional information, and the space three-dimensional measurement data under each pose be sent to three site clouds rebuild modules;Laser thunder Reach oscillating control mechanism to be made up of the upper transmission bar being articulated and connected successively, middle part drive link and bottom driving lever, upper transmission Bar is fixed on the fixed mechanism of laser radar center, and middle part drive link, upper transmission bar are passed through in the upper and lower displacement of bottom driving lever Drive and be fixed on the single line laser radar motion on the fixed mechanism of laser radar center, it is achieved single line laser radar scanning plane Inclination maneuver, thus regulate the visual field of described device;Middle part drive link, upper transmission bar are passed through in the rotary motion of bottom driving lever Drive the single line laser radar being fixed on the fixed mechanism of laser radar center to carry out omnidirectional's swing, thus complete single line laser thunder Reach omnidirectional's scanning;
Described mechanism kinematic control module connects laser radar swing mechanism, for controlling the motion of laser radar swing mechanism, And laser radar swing mechanism pose is carried out Real-time Feedback, the real-time pose data message of single line laser radar is sent simultaneously Module is rebuild to three-dimensional point cloud;
Described three-dimensional point cloud is rebuild module and is connected with laser radar swing mechanism and mechanism kinematic control module respectively, is used for receiving The single line laser radar that laser radar swing mechanism is sent space three-dimensional measurement data under each pose and mechanism kinematic control The single line laser radar real-time pose data message that molding block is sent, and according to a cloud algorithm, the information received is entered Row is rebuild, it is achieved the reduction to space three-dimensional pattern.
A kind of variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar the most according to claim 1, its feature exists In, described laser radar center fixed mechanism includes base, center, laser radar bracket and four short axles, wherein: base is by one Block horizontal baffle, two pieces of vertical plates and two pieces of securing plate compositions, have hole on horizontal baffle, divide two pieces of vertical plate upper ends Do not have a dead eye;The both sides of center are fixed a short axle respectively and are separately mounted to two pieces of base by rolling bearing In two dead eyes on vertical plate, the other both sides of center have a dead eye;The both sides of laser radar bracket are divided Do not fix a short axle and be separately mounted to by rolling bearing
In two dead eyes on DAG25112 center;Single line laser radar is fixed on laser radar bracket, and is swashing Optical radar bracket base has dead eye.
A kind of variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar the most according to claim 2, its feature exists In, on described laser radar bracket, the axis of two short axles is mutually perpendicular to the axis of two short axles on center, to form one Gimbals, two crossing point of axes positions are fixed so that single line laser radar center position is fixed, and can be born single line laser Most of weight of radar, but do not affect single line laser radar and carry out omnidirectional's pendulum under laser radar oscillating control mechanism drives Dynamic.
A kind of variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar the most according to claim 2, its feature exists In, in described laser radar oscillating control mechanism: one end of upper transmission bar is arranged on laser radar bracket by ball bearing In the dead eye of bottom, the other end of upper transmission bar is articulated and connected with one end of middle part drive link, another of middle part drive link Holding and be articulated and connected with one end of bottom driving lever, one end of bottom driving lever is crossed sliding bearing and is arranged on laser radar center and fixes Mechanism is connected in the hole on the horizontal baffle of base and with mechanism kinematic control module.
5. according to a kind of based on swing laser radar the variable field-of-view three-dimensional reconstruction apparatus described in any one of claim 1-4, It is characterized in that, described mechanism kinematic control module, drive including ball-screw slide unit guide rail module, motor, encoder, motor Device and single-chip microcomputer;Wherein: motor and encoder are arranged on ball-screw slide unit guide rail module, motor swings control with laser radar Bottom driving lever in mechanism processed connects;Described motor driver is connected with motor, for motor carries out rotation control;Monolithic Machine is connected with the motor in ball-screw slide unit guide rail module, is completed rolling by pwm signal control, direction control signal The control of ballscrew slide unit guide rail module displacement;Single-chip microcomputer is connected with encoder, reads encoder numerical value, simultaneously single-chip microcomputer and three Dimension point cloud is rebuild module and is carried out the communication of laser radar real-time pose data.
A kind of variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar the most according to claim 5, its feature exists In, the upper and lower displacement of described ball-screw slide unit guide rail module drives bottom driving lever upper and lower displacement, thus realizes single line laser The control of radar scanning planar inclination;By the rotation rotating drive bottom driving lever of motor, thus realize single line laser thunder The omnidirectional reached swings.
A kind of variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar the most according to claim 6, its feature exists In, the single-chip microcomputer in described mechanism kinematic control module is by the position of the reading of encoder with ball-screw slide unit guide rail module Put, extrapolate plane of scanning motion inclination angle and the swing corner of single line laser radar, and it is sharp to be calculated single line by Kinematic Algorithms The real-time pose of optical radar.
A kind of variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar the most according to claim 6, its feature exists In, the plane of scanning motion is measured under each pose by described single line laser radar, and space three-dimensional measurement data is passed in real time It is defeated by three-dimensional point cloud and rebuilds module;Single-chip microcomputer in described mechanism kinematic control module is by ball-screw slide unit guide rail module The angle of inclination of position calculation single line laser radar, calculates the pendulum angle of single line laser radar by the reading of encoder, with This calculates the real-time pose of single line laser radar, and is transferred to three-dimensional point cloud reconstruction module.
A kind of variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar the most according to claim 8, its feature exists In, described three-dimensional point cloud is rebuild module and is connected with single line laser radar by data wire, receives single line laser radar at each pose Under space three-dimensional measurement data, be connected with single-chip microcomputer by USB serial ports simultaneously, the single line laser thunder that reception single-chip microcomputer is calculated Reach real-time pose.
A kind of variable field-of-view three-dimensional reconstruction apparatus based on swing laser radar the most according to claim 9, its feature exists In, described three-dimensional point cloud is rebuild module and is being received the scanning survey data of single line laser radar transmission and the right of single-chip microcomputer transmission After answering real-time pose data, each frame point Cloud transform to correspondence position and is overlapped, thus completes the reconstruction to three-dimensional point cloud.
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WO2019114317A1 (en) * 2017-12-11 2019-06-20 同方威视技术股份有限公司 Three-dimensional scanning device, robot and data processing method
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