CN106199626B - Based on the indoor three-dimensional point cloud map generation system and method for swinging laser radar - Google Patents
Based on the indoor three-dimensional point cloud map generation system and method for swinging laser radar Download PDFInfo
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- CN106199626B CN106199626B CN201610510585.0A CN201610510585A CN106199626B CN 106199626 B CN106199626 B CN 106199626B CN 201610510585 A CN201610510585 A CN 201610510585A CN 106199626 B CN106199626 B CN 106199626B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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Abstract
The present invention provides a kind of based on the indoor three-dimensional point cloud map generation system for swinging laser radar, including three dimensional point cloud acquisition module and data processing module, wherein: three dimensional point cloud acquisition module includes laser radar and oscillation actuating mechanism, laser radar is used to acquire the point cloud data of mobile platform ambient enviroment, and oscillation actuating mechanism is for carrying laser radar, driving its reciprocally swinging and sending swing angle data to data processing module；Data processing module as point cloud data processing, storage equipment, control three dimensional point cloud acquisition module starts/halted state, the laser radar scanning data received and swing angle data fusion are generated into indoor three dimensional point cloud, and then is spliced and is generated indoor three-dimensional point cloud map and store.The configuration of the present invention is simple, easy to implement, cost performance is high, and the point cloud map datum of generation is intensive, precision is high, and the three-dimensional point cloud map of generation may be directly applied to the various applications of indoor navigation positioning.
Description
Technical field
The present invention relates to a kind of three-dimensional point cloud map generation systems, and specifically, design is a kind of based on swing laser thunder
The indoor point cloud map generation system and method reached.
Background technique
With the broad development in the fields such as robot services indoors, the environment disaster relief, mapping services, indoor environment is established
Three dimensional spatial map has become a critically important function of mobile robot.And it establishes high-precision three-dimensional map and often faces
The acquisition of high-precision spatial data, robot pose estimation and the later period map optimization etc. particular problems.
Currently, building in figure scheme in the common indoor three-dimensional environment of mobile robot, Multi-sensor Fusion is generallyd use
Mode, for example, using odometer, inertial navigation (IMU), global positioning system (GPS), laser radar, the first-class sensor of binocular camera shooting into
The fusion of row data carries out the estimation of mobile platform pose and builds figure simultaneously, multiple compared with system design is general with blending algorithm design
It is miscellaneous, and be to obtain more reliable, the higher data of precision to generally require to increase the equipment cost investment of sensor.In addition, to obtain
The three-dimensional data of degree of precision and density is obtained, laser radar, which is usually fixed, is installed on mobile platform, passes through the cumulative of scanning frame
It completes three-dimensional and builds figure, this mode not only low efficiency, and also building that figure precision also becomes in the indoor environment of larger size can not
It leans on, packing density is also usually relatively low because the speed of mobile platform is depended on.
In addition it is also possible to which (VO, visual odometry) reckoning estimates robot by way of visual odometry
Pose.But this mode relies on 3 d scan data precision, data volume and its corresponding Processing Algorithm very big.
Through retrieving, Publication No. CN 104573733A, application No. is 201410838713.5 applications for a patent for invention, should
A kind of fine map based on high definition orthophotoquad of patent disclosure generates system and method, which includes: image taking
Module, horizontal laser light radar, GPS processing module, inertial navigation module, rotary encoder, image and data preprocessing module with
And geographic information processing module, in which: road image is acquired with vehicle-mounted image taking module, with laser radar scanning obstacle
Object, while acquiring geographic information data；Optimization in precision is carried out to GPS information；The orthophotoquad of road image is obtained, and
It rotated, cut, generating corresponding geographical message file operation；By full orthography graphic sequence and corresponding geography information file
In conjunction with and splice, generate global map base map；All kinds of geographic information datas are marked on map base map.This invention can be used for
Informative map datum is generated, but there are systems numerous and jumbled, redundancy, deployment are comparatively laborious, sensor higher cost, data are melted
The deficiencies of specifically processing of conjunction process is more, map datum is only two dimensional form.
Summary of the invention
Based on the analysis to problem above, the object of the present invention is to provide a kind of low cost, be easy to transplant, it is convenient to carry out,
Figure is built accurately reliably based on the indoor three-dimensional point cloud map generation system and method for swinging laser radar, and the map of generation can be straight
Scoop out the navigation and positioning for Indoor Robot platform.
To achieve the above objectives, it is described that technical scheme is as follows:
According to an aspect of the present invention, providing a kind of generate based on the indoor three-dimensional point cloud map for swinging laser radar is
System, comprising: three dimensional point cloud acquisition module and data processing module；
The three dimensional point cloud acquisition module, as the acquisition equipment of point cloud data, for three-dimensional point cloud in collection room
Initial data, including laser radar scanning data and laser radar swing angle data, and send it to data processing module；
The data processing module, processing, storage equipment as point cloud data, the indoor three-dimensional point for will receive
Three dimensional point cloud in cloud Raw Data Generation room, and indoor three dimensional point cloud is spliced and generates indoor point cloud map and deposits
Storage；
Wherein:
The three dimensional point cloud acquisition module includes laser radar and oscillation actuating mechanism, and laser radar is moved for acquiring
The scanning profile data of moving platform ambient enviroment, and collected scanning profile data are sent to data processing module；It swings
Laser radar swing angle data are sent to by executing agency for carrying laser radar and driving laser radar reciprocally swinging
Data processing module；
The data processing module includes that main control computer, three-dimensional point cloud reconstruct submodule and three-dimensional map rebuild submodule
Block, main control computer is for receiving laser radar swing angle data, laser radar scanning outline data, and to three-dimensional point cloud number
It sends to scan according to the oscillation actuating mechanism of acquisition module and starts, stops scan instruction, after acquisition, three-dimensional point cloud reconstructs submodule
Block carries out three-dimensional point cloud reconstruct, and three-dimensional map rebuilds submodule and carries out three-dimensional map reconstruction, completes the creation of three-dimensional point cloud map.
Preferably, the oscillation actuating mechanism, motion mode are as follows: with the straight of the laser radar plane of scanning motion and planar central excessively
Line is the rotation of rotary shaft；
For multi-line laser radar, the laser radar plane of scanning motion is crossed are as follows: over-scan center and perpendicular to laser radar laser
The plane of head rotary shaft axial direction.
Preferably, installation of the laser radar on oscillation actuating mechanism, it is desirable that the plane of scanning motion of laser radar not by
Oscillation actuating mechanism is blocked.
Preferably, after the scanning sign on of the three dimensional point cloud acquisition module reception data processing module, to number
Laser radar data frame and laser radar swing angle data corresponding with data frame, three-dimensional point cloud weight are sent according to processing module
Laser radar data frame is reduced to three dimensional point cloud according to swing angle data by structure submodule.
Preferably, the three-dimensional map rebuilds submodule, comprising: the normal distribution transform based on horizontal plane dimensions registration
Front-end algorithm submodule and back-end algorithm submodule based on figure optimization algorithm；Wherein:
The front-end algorithm submodule generates open loop three-dimensional point cloud for the registration between neighbouring sample three dimensional point cloud
Map；
The back-end algorithm submodule is rectified for optimizing the result i.e. open loop three-dimensional point cloud map of front-end algorithm submodule
Positive open loop error.
It is highly preferred that the neighbouring sample three dimensional point cloud, refers to: not in same place, successively scanning on the time
Three dimensional point cloud, the data have most space overlap.
Three dimensional point cloud is handled in real time it is highly preferred that the three-dimensional map rebuilds submodule, the front end is calculated
Method submodule obtains a three dimensional point cloud frame progress once every, and the back-end algorithm submodule is adopted in whole map datums
It is carried out after collection.
According to another aspect of the present invention, it provides a kind of based on the indoor three-dimensional point cloud map generation for swinging laser radar
Method includes the following steps:
Step 1: data processing module obtains the laser radar original number of a cycle from three dimensional point cloud acquisition module
According to sequence and corresponding swing angle data sequence, using one three dimensional point cloud of generation after three-dimensional point cloud restructing algorithm
Frame；
Step 2: data processing module often obtains a three dimensional point cloud frame from step 1 and open loop registration in front end is used to calculate
New three-dimensional data frame is registrated by method with previous data frame, except wherein first frame three-dimensional point cloud is as map origin,
Registration until completing all indoor three dimensional point clouds is directed to the normal distribution of the horizontal plane dimensions registration of three-dimensional point cloud
Convert algorithm；
Step 3: completing the open loop three-dimensional point cloud map of acquisition indoor environment after step 2, data processing module uses rear end
Algorithm divided ring three-dimensional point cloud map carries out global optimization, is directed to figure optimization algorithm, generates the indoor three-dimensional point cloud of high-precision
Map.
Preferably, the data processing module all stores the high-precision interior three-dimensional point cloud map that step 3 generates, with
Just it is directly used as offline map packet for other application.
Compared with prior art, the method have the advantages that:
1, the configuration of the present invention is simple, flexible for installation, easy to implement, cost performance is high；
2, the present invention does not need the sensor auxiliary of other pose measurements；
3, the present invention uses laser radar as measurement sensor, and data precision is high, distance is remote, and implements oscillatory scanning side
Case allows point cloud data more crypto set, and point cloud map is more reliable；
4, interior is directly applied to as offline map data after using the three-dimensional point cloud map of the invention generated can store
The various applications of navigator fix.
Detailed description of the invention
The detailed description that non-limiting embodiment is done referring to the following drawings by reading, other features of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the system structure diagram of one embodiment of the invention；
Fig. 2 is the space wheel of laser radar oscillatory scanning in the three dimensional point cloud acquisition module of one embodiment of the invention
It is wide；
Fig. 3 is the laser radar oscillatory scanning structural schematic diagram of one embodiment of the invention；
Fig. 4 is the point cloud schematic diagram of the generation of one embodiment of the invention；
In figure: 1 is laser radar scanning ray；2 be laser radar scanning lower bound；3 be the laser radar scanning upper bound；4 are
Laser radar scanning facial contour line；5 both sides of the edge clockwise swung for laser radar scanning face；6 be laser radar scanning face
The both sides of the edge counterclockwise swung；7 be laser radar；8 be oscillation actuating mechanism.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1-3, generating system based on the indoor three-dimensional point cloud map for swinging laser radar the present embodiment provides a kind of
System, the system comprises three dimensional point cloud acquisition module and data processing modules, in which:
The three dimensional point cloud acquisition module includes laser radar 7 and oscillation actuating mechanism 8, and oscillation actuating mechanism 8 is taken
It carries laser radar 7 and drives 7 reciprocally swinging of optical radar；
Led between the oscillation actuating mechanism 8 and data processing module by universal asynchronous receiving-transmitting transmitter (UART)
Letter, oscillation actuating mechanism 8 receive beginning/stopping scan instruction that data processing module issues, and into data processing module
Main control computer sends laser radar swing angle data；
It is connected between the laser radar 7 and data processing module by data line, the laser radar 7 is moved for acquiring
The outline data of moving platform ambient indoor environment, and collected scanning profile data are sent to data processing module；
The outline data received is merged laser radar swing angle data by the data processing module, generates interior three
Point cloud data frame is tieed up, the specific effect of one of indoor three-dimensional point cloud is as shown in Figure 4.
In the present embodiment, different location repeatedly carries out the process of data acquisition in environment indoors, so as to obtain room
Interior three dimensional point cloud frame sequence.
In the present embodiment, the data processing module is applied raw based on the indoor three-dimensional point cloud map for swinging laser radar 7
At method with completing indoor three-dimensional point cloud map generalization.
The laser radar 7 uses UTM-30LX as a preferred method,.
The three dimensional point cloud acquisition module is vertically-mounted on a mobile platform as a preferred method, and mobile
Platform keeps horizontal movement during different location acquires three dimensional point cloud.
Three dimensional point cloud acquisition module mobile platform during progress keeps quiet as a preferred method,
Only.
As a preferred method, in Fig. 3 the initial position setting of laser radar 7 in laser radar as shown in Figure 2
Scanning surface (plane surrounded by laser radar scanning lower bound 2, the laser radar scanning upper bound 3 and laser radar scanning facial contour line)
Laser radar scanning face swing both sides of the edge clockwise 5 or laser radar scanning face swing both sides of the edge counterclockwise 6；Institute
State laser radar 7 sample mobile platform ambient indoor contour line process i.e. Fig. 2 in laser radar scanning ray 1 in laser radar
It turns over to form mobile platform ambient indoor environment contour line in scanning lower bound 2, the laser radar scanning upper bound 3, i.e. laser radar is swept
Retouch facial contour line 4；The inverse time that the both sides of the edge clockwise 5 and laser radar scanning face that the laser radar scanning face is swung are swung
Unidirectionally swinging once between needle both sides of the edge 6 is a swing period (i.e. three dimensional point cloud sampling period), in each period
An available frame by mobile platform ambient indoor environment contour line scanning frame sequence and laser radar swing angle data
Angle sequence indoor three dimensional point cloud frame generated, is illustrated in figure 4 an effect of indoor three dimensional point cloud frame.
As a preferred method, in each swing period, the laser radar 7 sweeps each of its each plane of scanning motion
Described point position data is sent to data processing module by data line, and data processing module is obtained from oscillation actuating mechanism 8 simultaneously
One corresponding angle of oscillation angle value carries out three-dimensional point cloud reconfiguration program and generates spatial point cloud.
As a preferred method, the oscillation actuating mechanism 7 only receive data processing module sending start sweep
Setting in motion after the control instruction retouched, the stop motion after the instruction for the stopping scanning for receiving data processing module sending, and
And laser radar swing angle data, laser radar swing angle data and laser thunder are provided to data processing module during this period
It is corresponded in time up to scan data frame.
As shown in Figure 1, the data processing module completes map generation as follows:
Step 1: after the movement that oscillation actuating mechanism completes a cycle, data processing module is adopted from three dimensional point cloud
The laser radar scanning frame sequence of collection module acquisition a cycle and corresponding swing angle sequence, carry out three-dimensional point cloud weight
A frame three dimensional point cloud is generated after structure program；
Step 2: the mobile platform load system is continuously finished a series of swings in different location along certain track indoors and sweeps
After retouching, three-dimensional point cloud frame sequence is generated by step 1, data processing module often obtains a three dimensional point cloud frame from step 1
Front end open loop registration Algorithm is carried out, new three-dimensional data frame is registrated (first frame three-dimensional point cloud with previous data frame
Except map origin), the registration until completing all indoor three dimensional point clouds is directed to the horizontal plane of three-dimensional point cloud
The normal distribution transform algorithm of dimension registration；
Step 3: completing the open loop three-dimensional point cloud map of acquisition indoor environment after step 2, data processing module carries out rear end
Algorithm divided ring three-dimensional point cloud map carries out global optimization, is directed to figure optimization algorithm, generates the indoor three-dimensional point cloud of high-precision
Map；
Step 4: finally, data processing module all stores the high-precision interior three-dimensional point cloud map that step 3 generates, with
Just it is directly used as offline map packet for other application.
The configuration of the present invention is simple, easy to implement, cost performance is high, and the point cloud map datum of generation is intensive, precision is high, generation
Three-dimensional point cloud map may be directly applied to the various applications of indoor navigation positioning.
The preferred embodiment of the present invention is described in detail above.It is to be appreciated that the invention is not limited to
Above-mentioned particular implementation, those skilled in the art can make various modifications, substitution or modification within the scope of the claims,
This is not affected the essence of the present invention, and protection scope of the present invention should be as listed in the claims.
Claims (6)
1. a kind of based on the indoor three-dimensional point cloud map generation system for swinging laser radar characterized by comprising three-dimensional point cloud
Data acquisition module and data processing module；
The three dimensional point cloud acquisition module, it is original for three-dimensional point cloud in collection room as the acquisition equipment of point cloud data
Data, including laser radar scanning data and laser radar swing angle data, and send it to data processing module；
The data processing module, processing, storage equipment as point cloud data, for the indoor three-dimensional point cloud received is former
Beginning data generate indoor three dimensional point cloud, and indoor three dimensional point cloud is spliced and generates indoor point cloud map and stores；
Wherein:
The three dimensional point cloud acquisition module includes laser radar and oscillation actuating mechanism, and laser radar is mobile flat for acquiring
The scanning profile data of platform ambient enviroment, and collected scanning profile data are sent to data processing module；It swings and executes
Laser radar swing angle data are sent to data for carrying laser radar and driving laser radar reciprocally swinging by mechanism
Processing module；
The data processing module includes that main control computer, three-dimensional point cloud reconstruct submodule and three-dimensional map rebuild submodule, main
Control computer is adopted for receiving laser radar swing angle data, laser radar scanning outline data to three dimensional point cloud
Collection module oscillation actuating mechanism send scanning starts, stops scan instruction, after acquisition, three-dimensional point cloud reconstruct submodule into
The reconstruct of row three-dimensional point cloud, three-dimensional map rebuild submodule and carry out three-dimensional map reconstruction, complete the creation of three-dimensional point cloud map；
The three-dimensional map rebuilds submodule, comprising: front-end algorithm of the normal distribution transform based on horizontal plane dimensions registration
Module and back-end algorithm submodule based on figure optimization algorithm；Wherein:
The front-end algorithm submodule generates open loop three-dimensional point cloud map for the registration between neighbouring sample three dimensional point cloud；
The back-end algorithm submodule, for optimizing front-end algorithm submodule open loop three-dimensional point cloud map obtained, correction is opened
Ring error；
The neighbouring sample three dimensional point cloud, refers to: not in same place, the three dimensional point cloud successively scanned on the time,
The data have most space overlap；
The three-dimensional map is rebuild submodule and is handled in real time three dimensional point cloud, and the front-end algorithm submodule is obtained often
It is once registrated when obtaining a three dimensional point cloud frame, the back-end algorithm submodule is after whole map data collectings
It is corrected.
2. it is according to claim 1 a kind of based on the indoor three-dimensional point cloud map generation system for swinging laser radar, it is special
Sign is, the oscillation actuating mechanism, motion mode are as follows: to cross the straight line of the laser radar plane of scanning motion and planar central is rotation
The rotation of axis；
For multi-line laser radar, the laser radar plane of scanning motion is crossed are as follows: over-scan center and revolve perpendicular to laser radar laser head
The plane of shaft axial direction.
3. it is according to claim 1 a kind of based on the indoor three-dimensional point cloud map generation system for swinging laser radar, it is special
Sign is, installation of the laser radar on oscillation actuating mechanism, it is desirable that the plane of scanning motion of laser radar is not executed by swing
Mechanism is blocked.
4. it is according to claim 1 a kind of based on the indoor three-dimensional point cloud map generation system for swinging laser radar, it is special
Sign is, after the three dimensional point cloud acquisition module receives the scanning sign on of data processing module, to data processing mould
Block sends laser radar data frame and laser radar swing angle data corresponding with data frame, and three-dimensional point cloud reconstructs submodule
Laser radar data frame is reduced to three dimensional point cloud according to swing angle data.
5. a kind of indoor three-dimensional point cloud map generation side based on swing laser radar carried out using system described in claim 1
Method, which comprises the steps of:
Step 1: data processing module obtains the laser radar initial data sequence of a cycle from three dimensional point cloud acquisition module
Column and corresponding swing angle data sequence, using one three dimensional point cloud frame of generation after three-dimensional point cloud restructing algorithm；
Step 2: open loop registration Algorithm in front end is used when data processing module often obtains a three dimensional point cloud frame from step 1,
New three-dimensional data frame is registrated with previous data frame, except wherein first frame three-dimensional point cloud is as map origin, directly
To the registration for completing all indoor three dimensional point clouds, wherein being become using the normal distribution that the horizontal plane dimensions of three-dimensional point cloud are registrated
Scaling method；
Step 3: completing the open loop three-dimensional point cloud map of acquisition indoor environment after step 2, data processing module uses back-end algorithm
Divided ring three-dimensional point cloud map carries out global optimization, wherein utilizing figure optimization algorithm, generates the indoor three-dimensional point cloud map of high-precision.
6. a kind of based on the indoor three-dimensional point cloud for swinging laser radar drawing generating method according to claim 5, special
Sign is, the data processing module all stores the high-precision interior three-dimensional point cloud map that step 3 generates, so as to as from
Line map packet is directly used for other application.
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| CN101493526A (en) * | 2008-11-28 | 2009-07-29 | 北京工业大学 | Lunar vehicle high speed three-dimensional laser imaging radar system and imaging method |
| CN201293837Y (en) * | 2008-11-28 | 2009-08-19 | 北京工业大学 | Moonmobile high speed three-dimensional laser imaging radar system |
| CN104808192A (en) * | 2015-04-15 | 2015-07-29 | 中国矿业大学 | Three-dimensional laser scanning swing device and coordinate conversion method thereof |
| CN104793619A (en) * | 2015-04-17 | 2015-07-22 | 上海交通大学 | Warehouse roadway automatic guided vehicle navigation device based on swing single-line laser radar |
| CN105216905A (en) * | 2015-10-27 | 2016-01-06 | 北京林业大学 | Instant location and map building survey search and rescue robot |
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