CN106597470A - Three-dimensional point cloud data acquisition device and three-dimensional point cloud data acquisition method by means of two-dimensional laser scanner - Google Patents
Three-dimensional point cloud data acquisition device and three-dimensional point cloud data acquisition method by means of two-dimensional laser scanner Download PDFInfo
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- CN106597470A CN106597470A CN201611195025.7A CN201611195025A CN106597470A CN 106597470 A CN106597470 A CN 106597470A CN 201611195025 A CN201611195025 A CN 201611195025A CN 106597470 A CN106597470 A CN 106597470A
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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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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 invention discloses a three-dimensional point cloud data acquisition device and a three-dimensional point cloud data acquisition method by means of a two-dimensional laser scanner, wherein a coordinate conversion method of laser point cloud data from two-dimensional data to three-dimensional data is presented. Influences of factors such as sensor working mode difference and hardware process level to a conversion process are analyzed, and furthermore a corresponding settlement method is presented. The settlement method comprises the steps of approximating true speed of a turntable through Kalman filtering; correcting serial-port data acquisition time; compensating an angle change amount of a laser point in one period; and calculating angle deviation and position deviation of the laser scanner in a horizontal axis and a longitudinal axis. Experiments represent a fact that a spatial three-dimensional point cloud structure can be accurately acquired in static three-dimensional laser scanning by means of a rotating platform. In moving scanning, because of relatively small size, the position of a moving platform can be obtained through data registration in acquiring the three-dimensional data, thereby realizing synchronous map acquisition and positioning.
Description
Technical field
The present invention relates to 2D laser range sensors realize that 3D builds diagram technology field, and in particular to one kind utilizes two-dimensional laser
The three dimensional point cloud acquisition device of scanner and method.
Background technology
Three-dimensional laser scanner is obtained in that the data message on whole three dimensions, but three-dimensional laser scanner is universal
It is expensive, and volume is relatively large.Such as velodyne HDL-64E (RMB of price about 300,000), ibeo Scala laser (sell
The RMB of valency about 200,000).
When 3 D laser scanning is carried out, often " stop walking " formula scanning, and must be in ground set in advance spot scan.So
And in some particular surroundings, such as mine or cave environment, generally require the Handheld laser mapping equipment of more convenient dexterity
[1-2].It is that a kind of inexpensive 3D builds figure scheme to realize that 3D builds figure based on 2D laser range sensors, while being also that one kind can be real
Existing 360 degree of omniranges 3D build the preferred plan of figure, have high practicality with the 3D of closing space measurements application indoors
Meaning and commercial value.Therefore, a kind of limitation that can change 2D radars in such application is urgently developed in the industry, and two dimension is swashed
Optical radar is changed into the laser radar that can move 3-D scanning.
It is currently based on 2D laser range sensors and realizes that 3D builds figure and mainly there are two kinds of motor patterns, one kind is that 180 degree swings
Pattern, a kind of is the pattern of continuous rotation.The purpose of both of which be provided to by 2D measuring surface carry out rotation obtain 3D survey
Quantity space.
The first pattern, 180 degree weave mode, needing can be with left and right pendulum in the range of 180 degree installed in one by laser instrument
On dynamic device, with the warble of 1Hz.This motor pattern is simply easily realized, but the acceleration and deceleration of two endpoint locations
Motion result in that unitary rotation speed is uneven, affect the coordinate conversion relation of 2D to 3D, and the inertia concussion for swinging to laser
Device has certain damage, reduces the service life of equipment.
Second pattern, continuous rotary mode, be by laser instrument be arranged on one can continuously one direction rotate device
On, velocity of rotation keeps constant, is conducive to calculating interpolation to go out accurate position relationship, so as to obtain more accurate 2D to 3D conversion
Relation.And the inertia direction of continuous rotation is constant, and to laser instrument damage is not shaken.
It is several etc. to realize the laser scanner technique of both the above pattern, and disclose it and carried out using laser point cloud data
The correlative code [3] that three-dimensional map builds.M.Bosse et al. devises the equipment for carrying out oscillatory scanning using spring force, cries
Zebedee is, the integration of equipments two dimensional laser scanning instrument and inertial navigation set [4]. the 3D LASERSCAN companies of Germany
Both the above pattern is equally realized, and the commercialization [5] of product is realized based on this technology.But do not have in their document
It is described the coordinate transformation method of 2D to 3D of the laser point cloud data before registering composition is carried out.
[1]M.Kaess,H.Johannsson,R.Roberts,V.Ila,J.Leonard,and F.Dellaert,
“iSAM2:Incremental smoothing and mapping using the bayes tree,”The
International Journal of Robotics Research,vol.31,pp.217–236,2012.
[2]R.Zlot and M.Bosse,“Efficient large-scale 3D mobile mapping and
surface reconstruction of an underground mine,”in The 7th International
Conference on Field and Service Robots,Matsushima,Japan,July 2012.
[3]J.Zhang and S.Singh.LOAM:Lidar Odometry and Mapping in Real-
time.Robotics:Science and Systems Conference(RSS).Berkeley,CA,July 2014.
[4]M.Bosse,R.Zlot,and P.Flick,“Zebedee:Design of a spring-mounted 3-D
range sensor with application to mobile mapping,”vol.28,no.5,pp.1104–1119,
2012.
[5]http://www.3d-scanner.net/faq.html.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of three dimensional point cloud of utilization two dimensional laser scanning instrument and obtains dress
Put and method, can accurately obtain the three-dimensional point cloud structure in space.
For achieving the above object, the present invention is adopted the following technical scheme that：
A kind of three dimensional point cloud acquisition device of utilization two dimensional laser scanning instrument, including two dimensional laser scanning instrument, rotating shaft,
Drive, encoder, multi-path conducting slip ring, motor, pallet, drive bearing；The two dimensional laser scanning instrument is fixed on
On pallet, pallet lower end is connected by drive bearing with drive；Drive connects motor, and by motor its turn is driven
Dynamic, so as to drive pallet to rotate, pallet drives the rotation of two dimensional laser scanning instrument；Encoder is arranged in rotating shaft, is turned to calculate
The anglec of rotation of axle；Multi-path conducting slip ring is arranged in rotating shaft；Encoder is by multi-path conducting slip ring and serial ports of computers
Connection, the data that it is obtained are read by serial ports of computers；Laser data interface on two dimensional laser scanning instrument passes through multi-path
Conducting slip ring connects the network interface of computer, and by computer network interface the laser scanning data of two dimensional laser scanning instrument is read.
A kind of three dimensional point cloud coordinate transformation method based on claim 1 described device, comprises the steps：
Step a：Assume that the time point for obtaining laser scanning data from computer network interface is Tl, now read from serial ports of computers
The anglec of rotation of the device for taking is θ0, its time point is Ts, both time differences are Td=Ts-Tl, the angle that the time difference causes
Error is ω * Td, correct the error and obtain TlWhen engraving device the actual anglec of rotation be θ1=θ0-ω*Td, wherein ω represents device
Angular speed；
Step is a.1：The angular velocity omega of computing device；
If the two neighboring anglec of rotation read from serial ports is respectively α1, α2, the corresponding time is respectively T1, T2, then device
Instantaneous angular velocity be：
ω=(α1-α2)/(T1-T2) (1)
Step is a.2：The amendment of time is obtained to serial data：
If by having the anglec of rotation in the first data that serial ports reads, keeping T nowsIt is constant；If first
Without the anglec of rotation in data, the anglec of rotation is obtained from the second data of serial ports, then the now actual anglec of rotation
It should be T that degree obtains time points'=Ts-0.01；
Step b：With the laser scanning center in a laser scanning cycle as origin, horizontal direction is x-axis, vertical direction
For y-axis, coordinate system is set up；If the x of laser spots P, y-coordinate is respectively P [0], P [1], then it is within the laser scanning cycle
The anglec of rotation is a tan2 (P [1], P [0]), and within the laser scanning cycle, device have rotated ω * t degree, and t is laser scanning
Cycle, therefore skew of laser spots P within this cycle is：
θ2=[α tan 2 (P [1], P [0]+λ]/(2 π × ω × t)
Wherein λ is the scanning angle of two dimensional laser scanning instrument；
For each laser point data, the revised anglec of rotation is θ3=θ1+θ2；
Step c：Obtain the differential seat angle θ of laser scanner and horizontal plane4, and in the rotating shaft of laser scanning center and device
Heart relative distance r；
Step d：Construction spin matrix M1, M2, wherein
M1Have modified the horizontal level deviation of laser scanner, M2Have modified the spindle central at laser scanning center and device
Position deviation and the deviation that causes of laser spots anglec of rotation error.
Step e：To each laser spots, make following conversion：
Pout=M2*M1*Pin
PinBe by serial ports of computers read device the anglec of rotation, PoutFor the anglec of rotation of the device after Coordinate Conversion
Degree.
Further, in step a, angular velocity of rotation ω is filtered by Kalman filtering algorithm；Specifically
Design is as follows：
State vector：X=[ω], measurement vector：Z=[ω], state equation is Xk+1=Xk+Wk, k=0,1,2 ... n, W are
System noise；
Observational equation is obtained using formula (1), dynamic noise Q=0.0001, and initial value chooses X0=360 °, state vector is estimated
Meter variance P0=(5 °)2, measurement noise R by observation vector mean square deviation obtain, result of calculation R=4.03 °.
Further, the differential seat angle θ of laser scanner and horizontal plane is measured by high accuracy inclinometer in step c4
Value；The spindle central relative distance r value at laser scanning center and device is measured using slide measure.
Beneficial effects of the present invention are：1st, when the device provided using the present invention carries out static three-dimensional laser scanning, can be with
Accurately obtain the three-dimensional point cloud structure in space；2nd, when the device provided using the present invention moves scanning, due to its volume
It is relatively light, obtain three-dimensional data while, by data with the position that will definitely obtain mobile platform, realize map
It is synchronous to obtain and positioning；3rd, The present invention gives laser point cloud data is from the coordinate transformation method of 2 d-to-3 d；Analyze by
In the impact of working sensor pattern differentials, hardware fresh water (FW) equality factor to conversion process, and give corresponding solution party
Method：The true velocity of turntable is approached by Kalman filter；Have modified the acquisition time of serial data；Compensate for a cycle
The angle variable quantity of interior laser spots；Extrapolate angle, position deviation of the laser scanner in trunnion axis and the longitudinal axis.
Description of the drawings
Fig. 1 is apparatus of the present invention structure chart；Fig. 2 is the angular speed after Kalman filter；Fig. 3 is the angle after Kalman filter
Velocity error is contrasted；Fig. 4 is serial data figure；Fig. 5 is the angle change of laser data point in a swing circle；Fig. 6 is sharp
Light angular deviation θ on the horizontal axis4；Fig. 7 is the range deviation r at laser scanning center and spindle central；Fig. 8 is Kalman filters
The revised scanning result of ripple；Fig. 9 is the scanning result before Kalman filter amendment；Figure 10 is θ4The Error Graph for causing (is amplified
To 2.6 degree)；The error (being amplified to 0.14 meter) that Figure 11 causes for r；Figure 12 is two-dimensional laser plan；Figure 13 sweeps for low-rotate speed
Retouch result；Figure 14 is rated speed scanning result.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described further.
1st, theory of mechanics of the invention：
The laser scanner that the present embodiment is used is the 30LX type laser radars of HOKUYO companies, is capable of achieving 270 ° of two dimension
Flat scanning, detects the barrier of farthest 30m.By rotating minute surface by pulse laser to all directions transmitting in plane and by swashing
Optical receiver receives reflection light, and barrier is gone out to the distance of radar by calculating the time difference measurements between reflection and reception.
So as to obtain the information of the one or more points of the barrier in the plane of scanning motion.The distance of barrier is obtained using the information
(depth) and width information, but do not know elevation information, it is impossible to accurately identify barrier and carry out the perception of three-dimensional environment.
Realize a difficult problem that HOKUYO-30LX radars at the uniform velocity rotate be will while keep the connection of its netting twine and power line,
And speed will be stablized as far as possible, such as rotation per second 1 week, velocity error is less than 1%, is capable of the angle of real time record laser rotary
Degree, angle precision requires 0.25 degree, and angle output frequency is 100HZ.Control mouth (RS232), power port (12V/ are provided simultaneously
3A), laser data interface (100Mbps Ethernet).Serial ports adopt RS232 agreements, baud rate is 115200, serial ports with meter
Calculation machine is connected, for reading pendulum angle data and issuing control command.
For achieving the above object, present configuration is as shown in figure 1, by two dimensional laser scanning instrument 1, rotating shaft 2, drive 3, volume
Code device 4, multi-path conducting slip ring 5, motor 7, pallet 8, drive bearing 6 are constituted.Two dimensional laser scanning instrument 1 is fixed on pallet
On 8, pallet 8 is connected with drive 3 by rolling bearing 6.Motor 7 drives pallet 8 by controlling the rotation of drive 3
Rotation.Its anglec of rotation is calculated by the encoder 4 being fixed in rotating shaft 2.The company of netting twine and power line in rotary course
Connected multi-path conducting slip ring 5 to solve.Multi-path conducting slip ring 5 is arranged in rotating shaft 2；Encoder 4 is led by multi-path
Electric slip ring 5 is connected with serial ports of computers, and the data that it is obtained are read by serial ports of computers；Swashing on two dimensional laser scanning instrument 1
Light data interface connects the network interface of computer by multi-path conducting slip ring 5, and by computer network interface two dimensional laser scanning is read
The laser scanning data of instrument 1.The axis of rolling bearing 6 is use up with the central point that the LIDAR beam of two dimensional laser scanning instrument 1 is launched
May be on a vertical line.So that pallet pivot is consistent with laser beam pivot, answering for Coordinate Conversion calculating is reduced
Polygamy.
2nd, Coordinate Conversion：
For 2D radars, what it was obtained is all the coordinate that relative scanning center is origin.And in order to realize that data are matched somebody with somebody
Standard needs the point coordinates in these planes to be transformed into three dimensions.Ideally, in the rotation for obtaining laser data point
After angle, coordinate transform is carried out to each data point and is capable of achieving the conversion.Yet with hardware technological level, sensor
The impact of the factors such as mode of operation difference so that it is difficult to obtain change in location of the accurate laser spots in rotary course.Below
Three main error sources and final method for transformation of the laser spots during coordinate transformation are discussed.
2.1 laser scannings and the difference of serial ports operating frequency
The frequency of laser scanning is 40HZ, and the operating frequency of serial ports is 100HZ, it is assumed that obtain laser scanning time point be
Tl, subsequently it is designated as θ from the angle value of the current rotation platform of serial ports reading at once0, its time is designated as Ts.Both time differences are Td
=Ts-Tl, the angular error of the device that the time difference causes is ω * Td, correct device when the error obtains obtaining laser data
The actual anglec of rotation is θ1=θ0-ω*Td, wherein ω represents the angular speed of whirligig.
1) angular speed of whirligig is obtained
The speed of whirligig is defaulted as 360 degree per seconds, yet with hardware technique, PID programs without so high essence
The reason for spending, can cause the turntable anglec of rotation in 360 degree or so floatings, or even violent change occurs.If adjacent obtain twice laser data
When corresponding pendulous device angle be respectively α1, α2；The corresponding time is respectively T1, T2, then the instantaneous angular velocity of whirligig
For：
ω=(α1-α2)/(T1-T2) (1)
We have sampled the measured value of 13400 angular speed, after filtering out exceptional value, retain angular speed at 355～365 degree
Point per second.
In order to more accurately obtain the anglec of rotation of device, the angular speed of device was carried out by Kalman filtering
Filter.Specific design is as follows：
State vector：X=[ω], measurement vector：Z=[ω].
State equation is：Xk+1=Xk+Wk, k=0,1,2,3 ..., n.
Observational equation is obtained using formula (1), dynamic noise Q=0.0001, and initial value chooses X0=360, state vector is estimated
Meter variance P0=(5°)2, measurement noise R by observation vector mean square deviation obtain, result of calculation be R=4.03 °.
Can be seen by Fig. 2, the angular speed of whirligig is mostly between 350～370 degree.After Kalman filter
Angular speed relative smooth is a lot, and the concussion substantially between 358～362 degree, mean error also diminishes, as shown in Figure 3 and Table 1.
The rotation platform angle of table 1/angular speed errors table
2) serial data obtains matter of time
With the rotational angle of the code-disc data recording equipment read from serial ports, as schemed, angle precision reaches data form
0.05 degree.
The serial ports angle-data form of table 2
Because whirligig is inconsistent with radar data frequency, when we obtain radar data, inquiry at once swings
Angle, at most has the time difference of 0.02 second.It is real because there is a complete angle recordings in order to ensure read data
To read a data in the operation of border more.Include within 0.02 second 0.01 second that waits serial data to arrive and read Article 2 data latency
0.01 second.But there is huge deviation it is also possible that obtaining point cloud registering within this 0.02 second.360 degree of the swing per second of hypothesis turntable, 0.02
Second error has 7.2 degree.
So the time T arrived to serial datasFollowing amendment is done, if what its angle-data can be read at first
Obtain in serial data, then keep TsIt is constant；It is real if its angle-data can be obtained in the serial data that Article 2 is read
Border illustrates to have sent angle-data in first, only because the problem of serial data frequency has blocked data, institute
Should be T ' with real data obtaining times=Ts-0.01。
The acquisition time of data point of 2.2 laser scanning datas in (0.025 second) in a swing circle is different
HOKUYO laser scanning datas probably have 1080 points within a scan period, 0.25 degree of its angular resolution,
Sweep limits is 270 degree.The acquisition of 1080 points has the regular hour poor, and while laser prism rotation, scanner itself
It is slightly devious in angle so as to cause this 1080 points with whirligig rotation, although very little, works as scanned object
When distant, little angular error can also cause larger skew.In addition in rotation sweep, it sweeps the prism of laser internal
Retouch cycle needs 0.025 second, in this time slice, due to rotation status of the laser in 360 degree per seconds, in theory, make
The point that scans at first of laser is poor with the point for finally scanning 9 degree, and because the effective scanning scope of laser is 270 degree,
So the value is about 6.75 degree.Fig. 5 is 1080 within a scan period when whirligig instantaneously goes to 160.35 degree
The corresponding angle of point.
With the laser scanning center in a laser scanning cycle as origin, horizontal direction is x-axis, and vertical direction is y-axis,
Set up coordinate system.If the x of laser spots P, y-coordinate is P [0], P [1], then the angle that it rotates within this cycle is a tan2 (P
[1], P [0]), within the time that laser prism rotates a circle, whirligig have rotated 0.025 degree of ω *, therefore the point in this week
Skew in phase is θ2=[a tan2 (P [1], P [0])+3/4 π]/2 π * ω * 0.025, for each laser point data, repair
The anglec of rotation after just is θ3=θ1+θ2。
2.3 hardware technological factors
Laser scanner is fixed on rotation platform by four screws, due to the restriction of hardware technique, it is difficult to ensure that swashing
Photoscanner is fully horizontal, if it is θ with the differential seat angle of horizontal plane4, the value is difficult with the naked eye to recognize or measure, and can pass through journey
Sequence is debugged.Another laser scanning center is not strict with the axis of rotation platform point-blank, if its center is relative
Distance is r, and the value also can be obtained by program debugging.
The present embodiment measures θ by high accuracy inclinometer4Value；R values are measured using slide measure.
2.4 coordinate transformation method
Coordinate transformation method mainly has following 3 steps：
Step 1, reads every time after laser data, calculates θ0, θ1, θ2, θ3, θ4
Step 2, constructs spin matrix M1, M2, wherein
M1Have modified the horizontal level deviation of laser scanner, M2Have modified laser scanner center and device spindle central
Position deviation and the point deviation that causes of cloud anglec of rotation error.
Step 3, to each laser spots, does following conversion：
Pout=M2*M1*Pin
PinBe by serial ports of computers read rotation platform the anglec of rotation, PoutFor the rotation of the whirligig after conversion
Gyration.
3rd, test
3.1 static scanning
At the center in room, Jing after kalman filtering, speed becomes rotation platform angular speed rotating scanning device fixed placement
Change is relatively more stable, and error is relatively small such that it is able to obtains and more accurately put cloud space coordinates, can be clearly in such as Fig. 8
See the lines and incandescent lamp on the ceiling in cloud data；And original rotation platform angular speed error is larger, obtain
Point cloud space coordinates error it is larger so that floor space profile is more coarse, as shown in Figure 9.
Figure 10, Figure 11 are the scanning results caused in the angle of trunnion axis and the longitudinal axis, position deviation by laser scanner
Deformation.In order to be able to highlight this error, the angular error of trunnion axis is amplified to 2.6 degree (actual 0.6 degree), is now difficult to see
Go out the edge contour in house, because having piled up many coordinates in edge has the point of error；Longitudinal central position deviation r is amplified to
0.14 meter (actual 0.04 meter), the cloud data that can now find room there occurs overall skew, and this is just in scan data
The heart and Pivot axle result not on a longitudinal axis.
3.2 dynamic scan
We are placed in laser rotary platform above mobile robot.First with 2D laser scannings (rotary-tray is motionless,
Laser data level is kept in ground), the corridor shape of 5 buildings is scanned out using HECTOR MAPPING algorithms, as shown in figure 12.When
When pallet rotates, using LOAM programs the three dimensional point cloud in environment is obtained.When mobile robot rectilinear movement or the anglec of rotation
When degree is less, 3D scannings can accurately obtain the 3d space cloud data of institute's scanning space very much；And work as the mobile robot anglec of rotation
When spending larger, angular velocity of rotation can not be excessive.During experiment, control angular speed is less than 40 degree per seconds, is obtained in that accurate ring
Border 3D point cloud data, as shown in figure 13；Otherwise too fast angular velocity of rotation causes the public point data between consecutive points cloud to subtract relatively
It is few, cause registration Algorithm error occur, there is deviation so as to cause 3D point cloud map, as shown in figure 14.
4th, conclusion
The present invention carries out corresponding laser spots data coordinates conversion by the accurate anglec of rotation for calculating rotation platform,
Obtain the three-dimensional data in whole space.The 3-D scanning that this utilization rotation platform is realized not only higher than three-dimensional laser sweep by cost performance
Retouch instrument, and its volume is relatively light, can while three-dimensional data is obtained, by data with the position that will definitely obtain scanner
Put, solve the synchronous of map and obtain and location technology.The next step subject matter to be solved is：
1) more stable, the accurate anglec of rotation is obtained, this needs the further hardware design level, optimization error of being lifted to mend
Repay algorithm.
2) the accurate motion track of mobile platform is obtained, can be by the auxiliary of IMU, while by figure optimized algorithm to obtaining
The registration result of the cloud data for taking does global optimization.
Claims (4)
1. a kind of three dimensional point cloud acquisition device of utilization two dimensional laser scanning instrument, it is characterised in that sweep including two-dimensional laser
Retouch instrument (1), rotating shaft (2), drive (3), encoder (4), multi-path conducting slip ring (5), motor (7), pallet (8), biography
Dynamic bearing (6)；The two dimensional laser scanning instrument (1) is fixed on pallet (8), and pallet (8) lower end is by drive bearing (6) and biography
Driving wheel (3) is connected；Drive (3) connection motor (7), drives it to rotate, so as to drive pallet (8) by motor (7)
Rotation, pallet (8) drives two dimensional laser scanning instrument (1) rotation；Encoder (4) is arranged in rotating shaft (2), to calculate rotating shaft
(2) the anglec of rotation；Multi-path conducting slip ring (5) is arranged in rotating shaft (2)；Encoder (4) is by multi-path conducting slip ring (5)
It is connected with serial ports of computers, the data that it is obtained are read by serial ports of computers；Laser data on two dimensional laser scanning instrument (1)
Interface connects the network interface of computer by multi-path conducting slip ring (5), and by computer network interface two dimensional laser scanning instrument (1) is read
Laser scanning data.
2. a kind of three dimensional point cloud coordinate transformation method based on claim 1 described device, it is characterised in that including as follows
Step：
Step a：Assume that the time point for obtaining laser scanning data from computer network interface is Tl, now read from serial ports of computers
The anglec of rotation of device is θ0, its time point is Ts, both time differences are Td=Ts-Tl, the angular error that the time difference causes
For ω * Td, correct the error and obtain TlWhen engraving device the actual anglec of rotation be θ1=θ0-ω*Td, wherein ω represents the angle of device
Speed；
Step is a.1：The angular velocity omega of computing device；
If the two neighboring anglec of rotation read from serial ports is respectively α1, α2, the corresponding time is respectively T1, T2, then wink of device
When angular speed be：
ω=(α1-α2)/(T1-T2) (1)
Step is a.2：The amendment of time is obtained to serial data：
If by having the anglec of rotation in the first data that serial ports reads, keeping T nowsIt is constant；If the first data
In without the anglec of rotation, the anglec of rotation is obtained from the second data of serial ports, then the now actual anglec of rotation is obtained
Time point should be T 's=Ts-0.01；
Step b：With the laser scanning center in a laser scanning cycle as origin, horizontal direction is x-axis, and vertical direction is y
Axle, sets up coordinate system；If the x of laser spots P, y-coordinate is respectively P [0], P [1], then its rotation within the laser scanning cycle
Gyration is a tan 2 (P [1], P [0]), and within the laser scanning cycle, device have rotated ω * t degree, and t is laser scanning
Cycle, therefore skew of laser spots P within this cycle is：
θ2=[α tan 2 (P [1], P [0]+λ]/(2 π × ω × t)
Wherein λ is the scanning angle of two dimensional laser scanning instrument；
For each laser point data, the revised anglec of rotation is θ3=θ1+θ2；
Step c：Obtain the differential seat angle θ of laser scanner and horizontal plane4, and the spindle central phase of laser scanning center and device
Adjust the distance r；
Step d：Construction spin matrix M1, M2, wherein
M1Have modified the horizontal level deviation of laser scanner, M2Have modified the position at laser scanning center and the spindle central of device
Put the deviation that deviation and laser spots anglec of rotation error cause.
Step e：To each laser spots, make following conversion：
Pout=M2*M1*Pin
PinBe by serial ports of computers read device the anglec of rotation, PoutFor the anglec of rotation of the device after Coordinate Conversion.
3. a kind of laser data point coordinates method for transformation according to claim 2, it is characterised in that in step a, leads to
Cross Kalman filtering algorithm to filter angular velocity of rotation ω；Specific design is as follows：
State vector：X=[ω], measurement vector：Z=[ω], state equation is Xk+1=Xk+Wk, k=0,1,2 ... n, W is system
Noise；
Observational equation is obtained using formula (1), dynamic noise Q=0.0001, and initial value chooses X0=360 °, state vector estimation side
Difference P0=(5 °)2, measurement noise R by observation vector mean square deviation obtain, result of calculation R=4.03 °.
4. a kind of laser data point coordinates method for transformation according to claim 2, it is characterised in that lead in step c
Cross the differential seat angle θ that high accuracy inclinometer measures laser scanner and horizontal plane4Value；Laser scanning center is measured using slide measure
With the spindle central relative distance r value of device.
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