CN107990874B - A kind of ground elevation three-dimensional laser scanner and scan method - Google Patents
A kind of ground elevation three-dimensional laser scanner and scan method Download PDFInfo
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- CN107990874B CN107990874B CN201711177928.7A CN201711177928A CN107990874B CN 107990874 B CN107990874 B CN 107990874B CN 201711177928 A CN201711177928 A CN 201711177928A CN 107990874 B CN107990874 B CN 107990874B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of ground elevation three-dimensional laser scanner and scan method, the aircraft for one in front and one in back synchronizing flight using two carries laser scanning and ranging system and forms aerial big cardinal distance laser triangular distance measuring apparatus, is controlled using ground control assembly the flight and scanning of aircraft.The ground elevation data that model of the present invention is simple, obtains are reliable and stable and precision is high；Equipment overall cost-effective performance is high, easy to use, is suitble to be generalized to base's use.
Description
Technical field
The present invention relates to Three Dimensional Ground scanning techniques fields.
Background technique
The three-dimensional measurement problem on ground is a long-term hot and difficult issue problem, has great pass to all kinds of ground surface works
Connection, the even basis of most critical.Due to the raising of the development of GPS technology, especially laser ranging technique, survey numerical value three-dimensional
Amount obtains great progress with reconstruct, and laser 3 d scanner therein becomes the mark of measuring technique development.
Three Dimensional Ground measurement basic skills be on the basis of the mesh coordinate of ground examination network face element height value, obtain
Obtain ground elevation data.The basic principle of the above method is the laser ranging 3-D scanning technical method using origin as base.
Laser ranging 3-D scanning technology, for different scale object, different measurement accuracy requirements, using different scanning side
Method.But with fastest developing speed is still that laser beam ranging scan target surface obtains target three-dimensional surface and largely puts cloud range data,
Basic principle is by pulse ranging or phase ranging method.Three-dimensional of the basic principle to fixed object such as historical relic, building
Scanning reconstruct, can stringent design basis, obtain data, it can be achieved that very high-precision reconstruct from multi-direction.But above-mentioned basic principle
All there are problems that benchmark and Motion correction to dynamic object or acquisition of advancing, especially to the precise measurement of ground three-dimensional shape condition by
To very big limitation.
The measurement situation of Three Dimensional Ground is complicated, there are many complicated landforms or danger zone, is difficult to the area reached etc., because
This, which measures Three Dimensional Ground from top surface using Aerial Surveying Technology, comes into being, wherein airborne, spaceborne high frequency measurement pulse scanning is made
Very good effect is obtained for planar survey in large area.Current high-altitude scanning is remained by pulse ranging or phase ranging method,
In the presence of cloud interval is big, measurement of higher degree precision is not high enough, does not stablize the problems such as stringent benchmark, additionally there are requirement conditions
High, costly, general user can not be easy to use.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of ground elevation three-dimensional laser
Scanner and scan method, for solving existing Three Dimensional Ground；
Technical solution: to achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of ground elevation three-dimensional laser scanner, including airflight scan components, ground control assembly and longitude and latitude
Acquisition Instrument；Wherein:
The airflight scan components include two aircraft, are respectively used to carry straight line laser generator and laser mark
Line image acquisition device, two aircraft are along scanning direction one in front and one in back synchronous flight, and two aircraft are in a scanning direction
Spacing is suitable with flying height；
The straight line laser generator projects laser to ground to be measured, forms the straight line laser perpendicular to scanning direction；
The straight line laser image collecting device is for acquiring straight line laser image, and straight line laser image is adopted in collection process
Acquisition means, straight line laser generator and ground to be measured keep range of triangle positional relationship；
The ground control assembly includes locator, Attitude Controller, scanning collection isochronous controller and laser mark
Line image processor；There is data interaction, the scanning collection synchronously control between the locator and Attitude Controller
Device and longitude and latitude Acquisition Instrument have data interaction between straight line laser image processor；Wherein:
The locator is used to carry out vision positioning to two aircraft, obtains flying for aircraft according to vision positioning result
Row height and forward travel distance；The data of the flying height of acquisition and forward travel distance are sent to flight attitude by the locator
Controller；
The flight for the current flight device that the Attitude Controller is arrived according to preset flight parameter and real-time reception
Highly, the data of forward travel distance control the flight attitude of two aircraft；
The scanning collection isochronous controller, which is used to send Image Acquisition to straight line laser image collecting device, controls signal
Straight line laser image processor is sent to for the acquisition of straight line laser image, and by the straight line laser image collected；
The longitude and latitude on ground where the longitude and latitude Acquisition Instrument acquires present laser graticule in real time simultaneously sends collection result
Give straight line laser image processor；
Straight line laser image is converted to the three-dimensional height of corresponding each point on ground by the straight line laser image processor
Number of passes evidence, and the longitude and latitude collection result of every bit on ground is matched with the three-dimensional elevation data of corresponding points, acquisition pair
Answer the three-dimensional elevation data on ground.
It is increasingly mature with unmanned air vehicle technique, the synchronously control to more unmanned planes may be implemented at present, therefore
In the present invention, it can choose unmanned plane as aircraft.
Based on principle of triangulation, in order to guarantee measurement accuracy, the present apparatus aircraft distance in a scanning direction with
Flying height need to keep almost the same, and it is also contemplated that the low difference of high-land, general plains region can sweep aircraft
The distance and flying height retouched on direction are configured smaller, can will fly in the biggish region of the relieves such as knob
Device distance in a scanning direction and the flying height of aircraft are configured higher.It is civilian for unmanned plane
Upper height limit is 120 meters, therefore flying height is recommended to measure between 10 meters~120 meters.
Further, in the present invention, one piece of different mark hot spot of color is respectively arranged on two aircraft；It is described
Locator includes 2 CCD and data processing system, is provided with and two carry-on mark light on the camera lens of the CCD
The corresponding narrow-band feature color filter of spot color；The mark hot spot of 2 CCD acquisition aircraft obtains light spot image and will
Light spot image passes to data processing system, the data processing system using binocular visual positioning method to two aircraft into
Row positioning.Binocular visual positioning method is the method simulated the eyes of people and carry out machine positioning to target, raw in current production
It is had a wide range of applications in work.
Further, in the present invention, using laser triangulation method, the basic principle of this method is in measured object body surface
It above face, is irradiated at an angle with beam of laser, in body surface reflection or scattering occur for laser, in another angle
Convergence imaging is carried out to laser reflection or scattering with imaging system, the change of facula position caused by laser irradiation on testee
Change, the angle of light reflection or scattering can also change, and be converged with optical system to light, hot spot is imaged on CCD or PSD
It sets on sensor, along laser direction when testee moves, the imaging facula on position sensor will be moved,
Its unique corresponding object moving distance, to indirectly realize laser measurement.Since incident and transmitting light constitutes a triangle,
Utilization to the calculating of spot displacement, geometric triangulation and laser, so laser triangulation method of gaining the name.By incident laser beam
With the angular relationship of testee surface normal, it is divided into oblique fire formula and direct-injection type two ways.In general, oblique fire formula can be surveyed
Measured surface is measured close to the reflected light of mirror surface, and direct-injection type can only receive the scattering light of testee, measure dissipating for body surface
Penetrating performance will get well.In addition, oblique fire formula compares direct-injection type, there are hot spots, and larger, light intensity is not concentrated, has difference with the variation of incident angle
Problem different, equipment volume is big but measurement range is small.So being more suitable in application scenarios of the invention and selecting direct-injection type
Laser triangulation method, so the straight line laser generator projects laser straight down.
Further, in the present invention, the longitude and latitude Acquisition Instrument sends out the longitude and latitude on ground where present laser graticule
Scanning collection isochronous controller is given, the scanning collection isochronous controller is passed through according to ground where the present laser graticule of acquisition
Latitude is simultaneously based on preset lateral separation and longitudinal control straight line laser image acquisition device straight line laser image.For
Guarantee measurement accuracy is preferably laterally spaced a certain value equal with longitudinal gap and for fixation.
It further, in the present invention, further include datum water level, the three-dimensional elevation data on the ground are with datum-plane
Face is coordinate basis.
The present invention also provides a kind of ground elevation 3 D laser scanning method simultaneously, using two aircraft, wherein one
Carry straight line laser generator, another carrying straight line laser image collecting device；
In flight course:
Using the flight attitude of Attitude Controller control aircraft, and keep one in front and one in back synchronizing along scanning direction winged
Row, and the spacing of two aircraft in a scanning direction is suitable with flying height；
The straight line laser generator projects laser to ground to be measured, forms the straight line laser perpendicular to scanning direction；
The straight line laser image collecting device acquires straight line laser image according to preset lateral separation and longitudinal gap,
Straight line laser image collecting device, straight line laser generator and ground to be measured keep range of triangle positional relationship in collection process；
Vision positionings are carried out to two aircraft using locator, and obtain the flying height of aircraft and advance away from
From；
Image Acquisition control signal is sent to straight line laser image collecting device using scanning collection isochronous controller to be used for
The acquisition of straight line laser image, and the straight line laser image collected is sent to straight line laser image processor；
The longitude and latitude on ground where acquiring present laser graticule in real time using longitude and latitude Acquisition Instrument simultaneously sends collection result
Give straight line laser image processor；
Using straight line laser image processor according to the warp on ground where straight line laser image and corresponding straight line laser
Latitude obtains the three-dimensional elevation data of corresponding ground.
In above-mentioned scan method, the longitude and latitude on ground where present laser graticule is sent to using longitude and latitude Acquisition Instrument and is swept
Retouch acquisition isochronous controller, the scanning collection isochronous controller according to ground longitude and latitude where the present laser graticule of acquisition simultaneously
Based on preset lateral separation and longitudinal control straight line laser image acquisition device straight line laser image.
The utility model has the advantages that
Ground elevation three-dimensional laser scanner provided by the invention and scan method, utilization one in front and one in back synchronize flight
Aircraft carries straight line laser generator and the big cardinal distance of straight line laser image collecting device composition in laser triangulation system
Laser triangular distance measuring apparatus realize to ground height and using ground control assembly control aircraft and laser triangular distance measuring apparatus
The measurement of number of passes evidence.Its online non-contact, nondestructive measurement mode, can in the case where not influencing ground normal activity into
Row.
Scan method of the invention is stringent profile scanning, and the principle is more relatively reliable rationally than point cloud method；And break
In face data continuum, packing density is higher than the point cloud of dispersion；The altitude data finally obtained is using uniform reference surface as base
Plinth, one time transient acquisition can get profile data together, and data are more intuitive, and the stability of unified basal plane is good, can be effective gram
Take that airborne platform is unstable, the uncertain problem of benchmark；Three-dimensional elevation data are converted into collected straight line laser image
Data processing method is simple and clear.
The present invention can obtain different measurement accuracy by adjusting cardinal distance and airborne CCD resolution ratio, when control flies
Row height be low-latitude flying and with cardinal distance quite, on the basis of the airborne CCD of selection is high-resolution area array CCD, accuracy rating can
Up to Centimeter Level even grade, measurement accuracy can be entirely capable of meeting the design of ground surface works and planning, management according to requiring to adjust
It is required that.
Finally, the various equipment in the present invention are relatively conventional, and moderate, equipment overall cost-effective performance is high, therefore, fits
Conjunction is generalized to base's use.
Detailed description of the invention
Fig. 1 is the schematic diagram of scanner in the present invention.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
As shown in Figure 1, being a kind of ground elevation three-dimensional laser scanner provided by the invention, including airflight scanning group
Part, ground control assembly, longitude and latitude Acquisition Instrument.
The airflight scan components include No.1 aircraft 1 and No. two aircraft 2, the flight selected in the present embodiment
Device is unmanned plane, wherein on No.1 aircraft 1 equipped with straight line laser image collecting device, on No. two aircraft 2 equipped with
Position straight line laser generator, No.1 aircraft 1 and scanning direction shown in arrow in No. two 2 figures of aircraft are one in front and one in back synchronous winged
Row, the spacing of No.1 aircraft 1 and No. two aircraft 2 in a scanning direction are suitable with flying height.
The straight line laser generator projects laser to ground to be measured, and in the present embodiment, straight line laser generator uses function
Rate is the linear laser source that 2W wavelength is 808nm, and fan-shaped plan light is formed on the laser optical path of projection, is finally handed over ground to be measured
Remittance forms the straight line laser perpendicular to scanning direction.
The straight line laser image collecting device is for acquiring straight line laser image, and straight line laser image is adopted in collection process
Acquisition means, straight line laser generator and ground to be measured keep range of triangle positional relationship；In order to reach higher resolution ratio, preferably
High-resolution area array CCD, if resolution ratio is 2352*1750.
The ground control assembly 6 includes locator, Attitude Controller, scanning collection isochronous controller and laser mark
Line image processor.
Between the locator and Attitude Controller have data interaction, the scanning collection isochronous controller and
Longitude and latitude Acquisition Instrument has data interaction between straight line laser image processor；Wherein:
The locator is used to carry out vision positioning to No.1 aircraft 1 and No. two aircraft 2, according to vision positioning result
The flying height and forward travel distance of aircraft are obtained, the locator is by the flying height of acquisition and the data of forward travel distance
It is sent to Attitude Controller.
Attitude Controller be used for aircraft carry out gesture stability, in the prior art, can by manually participating in controlling,
Automatic Control can also be passed through.Therefore, can fly with reference to preset either by artificial or full automatic mode
Flying height, the data of forward travel distance for the current flight device that row parameter and real-time reception arrive control flying for two aircraft
Row posture is flown according to preset flight parameter；The flight side to aircraft can also be realized by adjusting flight attitude
To and flying height change, to meet the needs of different measured zones and measurement range, such as plains region flying height mistake
Height can turn down flying height suitably then to obtain more preferably resolution ratio, if forward travel distance reaches the energy supply upper limit of aircraft, then may be used
Aircraft is withdrawn in time in order to avoid causing unnecessary loss.
The scanning collection isochronous controller, which is used to send Image Acquisition to straight line laser image collecting device, controls signal
Straight line laser image processor is sent to for the acquisition of straight line laser image, and by the straight line laser image collected.By
It is used outdoors in apparatus of the present invention, the coverage area of wireless signal is at hundred meters or so, therefore scanning collection isochronous controller here
That Image Acquisition control signal wirelessly can be sent to straight line laser image collecting device.
The longitude and latitude on ground where the longitude and latitude Acquisition Instrument acquires present laser graticule in real time simultaneously sends collection result
Straight line laser image processor is given, here the preferred electronic theodolite of longitude and latitude Acquisition Instrument.
Straight line laser image is converted to the three-dimensional height of corresponding each point on ground by the straight line laser image processor
Number of passes evidence, and the longitude and latitude collection result of every bit on ground is matched with the three-dimensional elevation data of corresponding points, acquisition pair
Answer the three-dimensional elevation data on ground.
The present apparatus is in order to guarantee the precision relatively having, the preferably tens of rice of flying height, such as No.1 aircraft 1 and No. two aircraft
A length of 20 meters of 2 spacing, that is, base in a scanning direction, flying height is 20 meters.
In order to realize the positioning to No.1 aircraft 1 and No. two aircraft 2, using machine vision positioning mode.
In certain embodiments, binocular visual positioning method is specifically selected, this method is as follows:
One piece of different mark hot spot of color is respectively arranged on two aircraft, for example, setting on No.1 aircraft 1
High brightness green light LED is set, brightness blue light LED is set on No. two aircraft 2, the light that mark hot spot issues flies as corresponding
The feature hot spot of row device is for representing corresponding aircraft in vision positioning.
As shown in Figure 1, the locator includes 2 CCD4,5 and data processing system, preferably high-resolution area array CCD with
Guarantee precision, the CCD4,5 camera lens on be provided with narrow-band feature corresponding with two carry-on mark hot spot colors
Color filter, so that the optical signal only in the specific band where mark hot spot is able to enter by the optical filter
CCD4,5；2 CCD4, the 5 mark hot spots for acquiring aircraft obtain light spot image and pass to light spot image at data
Reason system, the data processing system determine No.1 aircraft 1 and No. two aircraft 2 using binocular visual positioning method
Position.
In certain embodiments, the synchronously control of scanning collection isochronous controller needs to realize by longitude and latitude Acquisition Instrument.
The longitude and latitude on ground where present laser graticule is sent to scanning collection isochronous controller by the longitude and latitude Acquisition Instrument, described to sweep
Acquisition isochronous controller is retouched according to ground longitude and latitude where the present laser graticule of acquisition and is based on preset lateral separation and indulges
To Separation control straight line laser image acquisition device straight line laser image.
In certain embodiments, the lateral separation and longitudinal gap it is equal and be some fixed value, based on this obtain
Scan data point is uniformly distributed, and measurement error is small.
In above-mentioned each embodiment, in order to which the three-dimensional elevation data finally obtained are carried out with the unification of reference coordinate, also need
One datum water level is provided.Datum water level is placed on ground to be measured, using above-mentioned straight line laser generator to benchmark
Horizontal plane emits a branch of fan laser, and with straight line laser image collecting device in a manner of profile scanning to datum water level
It is scanned and obtains horizontal plane straight line laser image, the horizontal plane straight line laser image of acquisition is prestored as benchmark reticle image
Into straight line laser image processor, when straight line laser image processor is obtaining height according to the straight line laser image on ground to be measured
Number of passes according to when, expressed with the uniform coordinate data for forming total horizontal plane benchmark based on benchmark reticle image.
Another embodiment of the invention also provides a kind of ground elevation 3 D laser scanning method, utilizes two unmanned planes
As aircraft, wherein on No.1 aircraft 1 equipped with straight line laser image collecting device, equipped with position on No. two aircraft 2
Straight line laser generator；
In flight course:
The flight attitude of aircraft, arrow in No.1 aircraft 1 and No. two 2 figures of aircraft are controlled using Attitude Controller
The one in front and one in back synchronous flight, and the spacing of two aircraft in a scanning direction and flying height phase of scanning direction shown in head
When；
The straight line laser generator projects laser to ground to be measured, forms the straight line laser perpendicular to scanning direction；
The straight line laser image collecting device acquires straight line laser image according to preset lateral separation and longitudinal gap,
Straight line laser image collecting device, straight line laser generator and ground to be measured keep range of triangle positional relationship in collection process；
Vision positionings are carried out to two aircraft using locator, and obtain the flying height of aircraft and advance away from
From；
The flight attitude of two aircraft is controlled using Attitude Controller；
Image Acquisition control signal is sent to straight line laser image collecting device using scanning collection isochronous controller to be used for
The acquisition of straight line laser image, and the straight line laser image collected is sent to straight line laser image processor；
The longitude and latitude on ground where acquiring present laser graticule in real time using longitude and latitude Acquisition Instrument simultaneously sends collection result
Give straight line laser image processor；
Using straight line laser image processor according to the warp on ground where straight line laser image and corresponding straight line laser
Latitude obtains the three-dimensional elevation data of corresponding ground.
As previously mentioned, when synchronous scanning acquires, using longitude and latitude Acquisition Instrument by the longitude and latitude on ground where present laser graticule
Degree is sent to scanning collection isochronous controller, and the scanning collection isochronous controller is according to the present laser graticule location of acquisition
Face longitude and latitude is simultaneously based on preset lateral separation and longitudinal control straight line laser image acquisition device straight line laser figure
Picture realizes equidistant scanning.
Existing airborne spatial digitizer scans to obtain ground elevation point cloud, spatial movement seat using single-point pulse ranging
The uncertain processing difficulty of mark is big, high-altitude distance is big, resolving accuracy is not high.The present invention is directed to local ground, using flat in low latitude
Upper thread laser strictly by profile scanning, belongs to stringent three-dimensional measurement model, model is simple, profile data acquisition transient state is continuous,
Measuring height of section benchmark is more reliable, convenience of calculation is simple, solves the problems, such as that high-altitude length is low away from precision；But laser triangulation side is carried with single machine
Away from precision with highly drastically reducing, the present invention innovatively proposes that the synchronous flight of two-shipper forms big cardinal distance laser triangular distance measuring apparatus, surveys
Keep measurement triangular basis line length and height quite, it can be achieved that regulatable high-acruracy survey during amount, using high-resolution
Area array CCD as straight line laser image collecting device,, can to terrian elevation measurement precision under the conditions of tens meters of low-latitude flyings
Up to centimetre even grade.
The present invention keeps the lossless noiseless on-line measurement characteristic in space, and still has the excellent of the stringent profile scanning of high-precision
Point, data intuitive display is credible, and processing is convenient.
The component cost performance of equipment is high in the present invention, is suitble to be generalized to base's use.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of ground elevation three-dimensional laser scanner, it is characterised in that: including airflight scan components, ground control assembly
With longitude and latitude Acquisition Instrument；Wherein:
The airflight scan components include two aircraft, are respectively used to carry straight line laser generator and straight line laser figure
As acquisition device, two aircraft are along scanning direction one in front and one in back synchronous flight, the spacing of two aircraft in a scanning direction
It is identical as flying height；
The straight line laser generator projects laser to ground to be measured, forms the straight line laser perpendicular to scanning direction；
The straight line laser image collecting device is for acquiring straight line laser image, straight line laser image collector in collection process
It sets, straight line laser generator and ground to be measured keep range of triangle positional relationship；
The ground control assembly includes locator, Attitude Controller, scanning collection isochronous controller and straight line laser figure
As processor；Between the locator and Attitude Controller have data interaction, the scanning collection isochronous controller with
And longitude and latitude Acquisition Instrument has data interaction between straight line laser image processor；Wherein:
The locator is used to carry out vision positioning to two aircraft, and the flight for obtaining aircraft according to vision positioning result is high
Degree and forward travel distance；The data of flying height and forward travel distance that the locator obtains are sent to flight attitude control
Device；
The flying height for the current flight device that the Attitude Controller is arrived according to preset flight parameter and real-time reception,
The data of forward travel distance control the flight attitude of two aircraft；
The scanning collection isochronous controller is used to send Image Acquisition control signal to straight line laser image collecting device and is used for
The acquisition of straight line laser image, and the straight line laser image collected is sent to straight line laser image processor；
Collection result is simultaneously sent to sharp by the longitude and latitude on ground where the longitude and latitude Acquisition Instrument acquires present laser graticule in real time
Cursor line image processor；
Straight line laser image is converted to the three-dimensional elevation number of corresponding each point on ground by the straight line laser image processor
According to, and the longitude and latitude collection result of every bit on ground is matched with the three-dimensional elevation data of corresponding points, it obtains accordingly
The three-dimensional elevation data in face.
2. ground elevation three-dimensional laser scanner according to claim 1, it is characterised in that: the aircraft is for nobody
Machine.
3. ground elevation three-dimensional laser scanner according to claim 1, it is characterised in that: the flight of the aircraft is high
Degree is 10 meters~120 meters.
4. ground elevation three-dimensional laser scanner according to claim 1, it is characterised in that: set respectively on two aircraft
It is equipped with one piece of different mark hot spot of color；The locator includes 2 CCD and data processing system, on the camera lens of the CCD
It is provided with narrow-band feature color filter corresponding with two carry-on mark hot spot colors；2 CCD acquisition flies
The mark hot spot of row device obtains light spot image and light spot image is passed to data processing system, and the data processing system utilizes
Binocular visual positioning method positions two aircraft.
5. ground elevation three-dimensional laser scanner according to claim 1, it is characterised in that: the straight line laser generator
Laser is projected straight down.
6. ground elevation three-dimensional laser scanner according to claim 1, it is characterised in that: the longitude and latitude Acquisition Instrument will
The longitude and latitude on ground is sent to scanning collection isochronous controller, the scanning collection isochronous controller root where present laser graticule
According to ground longitude and latitude where the present laser graticule of acquisition and it is based on preset lateral separation and longitudinal control straight line laser
Image acquisition device straight line laser image.
7. ground elevation three-dimensional laser scanner according to claim 6, it is characterised in that: the lateral separation and longitudinal direction
It is spaced equal.
8. according to claim 1 to ground elevation three-dimensional laser scanner described in 7 any one, it is characterised in that: further include
Datum water level, the three-dimensional elevation data on the ground are using datum water level as coordinate basis.
9. a kind of ground elevation 3 D laser scanning method, it is characterised in that: two aircraft are utilized, wherein a carrying laser
Graticule generator, another carrying straight line laser image collecting device；
In flight course:
Using the flight attitude of Attitude Controller control aircraft, and keep along scanning direction one in front and one in back synchronous flight,
And the spacing of two aircraft in a scanning direction is identical as flying height；
The straight line laser generator projects laser to ground to be measured, forms the straight line laser perpendicular to scanning direction；
The straight line laser image collecting device acquires straight line laser image, acquisition according to preset lateral separation and longitudinal gap
Straight line laser image collecting device, straight line laser generator and ground to be measured keep range of triangle positional relationship in the process；
Vision positioning is carried out to two aircraft using locator, and obtains the flying height and forward travel distance of aircraft；
The flight attitude of two aircraft is controlled using Attitude Controller；
Image Acquisition control signal, which is sent, to straight line laser image collecting device using scanning collection isochronous controller is used for laser
The acquisition of reticle image, and the straight line laser image collected is sent to straight line laser image processor；
Collection result is simultaneously sent to sharp by the longitude and latitude on ground where acquiring present laser graticule in real time using longitude and latitude Acquisition Instrument
Cursor line image processor；
Using straight line laser image processor according to the longitude and latitude on ground where straight line laser image and corresponding straight line laser,
Obtain the three-dimensional elevation data of corresponding ground.
10. a kind of ground elevation 3 D laser scanning method according to claim 9, it is characterised in that: utilize longitude and latitude
The longitude and latitude on ground where present laser graticule is sent to scanning collection isochronous controller by Acquisition Instrument, and the scanning collection is synchronous
Controller is according to ground longitude and latitude where the present laser graticule of acquisition and is based on preset lateral separation and longitudinal control
Straight line laser image acquisition device straight line laser image.
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| CN109059799B (en) * | 2018-05-08 | 2024-03-22 | 安捷睿（厦门）机器人有限公司 | Laser three-dimensional scanner, scanning method thereof and scanning control device |
| CN111465822A (en) * | 2018-11-26 | 2020-07-28 | 深圳市大疆创新科技有限公司 | Ground point cloud map precision evaluation method, device and system and unmanned aerial vehicle |
| CN109945847B (en) * | 2019-03-20 | 2021-01-29 | 武汉建工集团股份有限公司 | Wall surface monitoring method and system based on line marking instrument |
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