CN108089198A - Three-dimensional scanner, robot and data processing method - Google Patents
Three-dimensional scanner, robot and data processing method Download PDFInfo
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- CN108089198A CN108089198A CN201711302700.6A CN201711302700A CN108089198A CN 108089198 A CN108089198 A CN 108089198A CN 201711302700 A CN201711302700 A CN 201711302700A CN 108089198 A CN108089198 A CN 108089198A
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Classifications
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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
-
- 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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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of three-dimensional scanner, robot and data processing method, three-dimensional scanner includes：Laser radar (1), rotating mechanism (2) and data processing module (3), the scanning range of laser includes environmental scanning region (B) and the calibration region (A) provided by angle-determining accessory (5), and the body of rotating mechanism (2) driving laser radar (1) rotates and passes through each predetermined rotational angular；The laser scanning information data of calibration point and the laser scanning information data of environmental scanning region (B) in the calibration region (A) obtained under each predetermined rotational angular that data processing module (3) laser radar (1) is rotated through in the body, and the laser scanning information data of the calibration point in calibration region (A) determines predetermined rotational angular corresponding with the laser scanning information data of the environmental scanning region (B).The present invention can obtain more accurately 3 d scan data.
Description
Technical field
The present invention relates to a kind of environment perception technology more particularly to three-dimensional scanner, robot and data processing methods.
Background technology
With the continuous development of robot technology, service robot is rescued, instead in environmental monitoring, public safety, the disaster relief
It is probably explosion-proof that fields is waited to realize application.In complicated non-structured environment, service robot needs to obtain the three of external environment
Dimension space data, to complete the automatic rule of the estimation of robot pose, the identification of different height barrier and avoidance, movement locus
It draws, each tasks such as the identification of target object and detection.Therefore, the three-dimensional spatial information for establishing environment is that service robot is realized
The prerequisite of various functions.
In complicated non-structured environment, due to there are the barrier of different height and different size of target object,
Therefore need laser radar that can realize the scan function of three dimensions.The multi-thread laser of three-dimensional environment measurement can be carried out at present
Radar is very expensive, and volume and weight is not suitable for general service robot.And single line laser radar is commonly placed at
In some certain height of robot, it is only used for obtaining the spatial information on two dimensional surface, it is impossible to realize the scanning of three dimensions
Function.
There are some that on the moving platform, single line laser radar installation is completed three by rotation sweep plane in correlation technique
Dimension builds the solution of figure.Such scheme is highly dependent on the kinematic accuracy driving of motion platform, it is necessary to using more expensive high-precision
Servo-drive equipment is spent, and there is the defects of easily being influenced be subject to motion platform precision.Further, since belonging to motion platform
Rotating mechanism needs angle-data being sent to processing module, and the scanning information data of single line laser radar are also required to be sent to
Processing module.Motion platform rotates to next angle from an angle needs certain time, can also be stopped in each angle
For a period of time, the laser scanning in laser radar, which rotates a circle, is also required to the time (such as 25 milliseconds), these times may respectively not
It is identical.Moreover, angle-data and laser scanning information data are propagated by different circuits, therefore required for the propagation of the two
Time be likely to different, i.e. delay is different, therefore the generation of two kinds of data can not be synchronous with transmission, and processing module can not will
Correctly Corresponding matching comes out the laser scanning information data received with angle-data.For the problem, in correlation technique
Processing module carries out data processing using following two method.
First method is processing module receiving angle data and laser scanning information data, and think the two simultaneously
Generation and transmission it is all fully synchronized, that is, think that angle-data that synchronization receives and laser scanning information data are completely right
Should, but such mode is very coarse, is susceptible to corresponding mistake.It is built in three-dimensional in figure, predetermined rotational angular is small
Error, which will result in, builds figure error, and error can with the increase of measurement distance Linear Amplifer so that environment description is inaccurate
Really, therefore, it is difficult to be suitable for service robot.
Second method is then processing module while receiving angle data and laser scanning information data will receive
Angle-data temporally proportional linearity with laser scanning information data Corresponding matching, such mode is also very coarse, easily
There is corresponding mistake.
The content of the invention
The purpose of the present invention is to propose to a kind of three-dimensional scanner, robot and data processing methods, can obtain more
Accurately 3 d scan data.
To achieve the above object, the present invention provides a kind of three-dimensional scanner, including：Laser radar, rotating mechanism and
Data processing module, wherein, the laser in the laser radar carries out rotation sweep, and the scanning range of laser includes environmental scanning
Region and the calibration region provided by angle-determining accessory；The rotating mechanism drives the body of the laser radar to rotate
And pass through each predetermined rotational angular；The data processing module reception laser radar rotates through every in the body
The laser scanning information data of calibration point and environmental scanning region in the calibration region obtained under a predetermined rotational angular
Laser scanning information data, and the laser scanning information data of calibration point in the calibration region determines and the ring
The corresponding predetermined rotational angular of laser scanning information data of border scanning area.
In one embodiment, the line number of the laser radar is that the line number of single line or the laser radar is two lines
One kind into six lines.
In one embodiment, the rotating mechanism drives the body of the laser radar with direction and laser rotary scanning
The different axis of axis direction be that axis rotates, the laser-formed scanning plane of the laser radar with the laser radar sheet
Body rotates together, and laser emitting axle center is always positioned on the pivot center of the body.
In one embodiment, the corresponding scanning angle in the environmental scanning region is less than the effective angle of the laser radar
Scope is spent, so that the corresponding scanning angle of at least a portion in the calibration region is in the range of the effective angle.
In one embodiment, the rotating mechanism drives the body of the laser radar continuously to be rotated towards preset direction,
Or the reciprocally swinging in the range of predetermined angle.
In one embodiment, the size of the predetermined angle scope is for 180 ° or more than 180 °.
In one embodiment, during the rotating mechanism drives the body of the laser radar to rotate, rotate
Mechanism stops the predetermined time at each predetermined rotational angular.
In one embodiment, the predetermined time is equal to or is longer than the time that the laser scanning one of laser radar is enclosed.
In one embodiment, at each predetermined rotational angular, the body of the laser radar does not stop.
In one embodiment, the angle-determining accessory is to belong to the component of three-dimensional scanner or do not belong to
In the other structures of three-dimensional scanner, the laser that the calibration region is formed at the laser radar is auxiliary in the angle-determining
The scope scanned on the surface of component is helped, keeps relatively quiet between the pivot center of the body for demarcating region and laser radar
Only.
In one embodiment, the angle-determining accessory is configured such that predetermined rotational angular, corresponding mark
The relation of the azimuth-range of fixed point meets preset formula or causes predetermined rotational angular, the distance of corresponding calibration point
Relation meets preset formula.
In one embodiment, along the laser radar body pivot center from environmental scanning region to the laser
The main view direction that radar is looked is observed, and the part that the angle-determining accessory provides the calibration region is rounded, gradually opens
A kind of entirety or local shape in linear, oval or triangle.
In one embodiment, the angle-determining accessory includes the shell being rotatably coupled with the rotating mechanism
Body or the absolute construction separately positioned with the rotating mechanism, the rotating mechanism drive the body of the laser radar opposite
It is rotated in the housing or absolute construction.
In one embodiment, the housing or absolute construction have the inner fovea part for the space for avoiding the body
Point, the calibration region is formed in the scanning range of inner peripheral surface of the laser of the laser radar in the female parts.
In one embodiment, the female parts are configured such that the every of the body of its inner peripheral surface and laser radar
At least one intersection in the laser scanning face in a predetermined rotational angular is arc-shaped, and the arc-shaped center of circle is positioned at described
On the outgoing axle center of the laser of laser radar.
In one embodiment, the angle-determining accessory is independently of having outside the three-dimensional scanner
External environment or facility, the external environment or facility compared with remains stationary between the pivot center of the body.
In one embodiment, include under each predetermined rotational angular that the calibration region is rotated through in the body
Single calibration point, continuous or discrete form multiple calibration points.
In one embodiment, the multiple calibration point partially or even wholly covers the calibration region.
In one embodiment, marginal point or the laser radar of the single calibration point for the calibration region
Laser from the environmental scanning region into it is described calibration region starting point.
In one embodiment, the laser scanning information data of the calibration point includes the range data of the calibration point,
Or the laser scanning information data of the calibration point includes the range data and bearing data of the calibration point.
In one embodiment, when the laser scanning information data according to the calibration point under a certain predetermined angular is also not enough to
Determine with the laser scanning information data in the environmental scanning region during the corresponding predetermined rotational angular, then further combined with
The laser scanning information data of calibration point under adjacent predetermined rotational angular determines that the laser with the environmental scanning region is swept
Retouch the corresponding predetermined rotational angular of information data.
In one embodiment, the laser scanning information data of corresponding calibration point is not mutually in different predetermined rotational angulars
It is identical.
In one embodiment, the rotating mechanism includes laser radar mounting bracket and rotates drive component, described to swash
Optical radar is mounted in the laser radar mounting bracket, and the housing is mounted on the rotation drive component and the laser thunder
Up between mounting bracket.
In one embodiment, the laser radar mounting bracket is rotationally connected with the housing by floating bearing
It connects.
In one embodiment, the rotation drive component includes dynamical element and tooth form engagement transmission mechanism, described dynamic
Power element is operably connected by the tooth form engagement transmission mechanism with the laser radar mounting bracket, drives the laser
Radar mounting bracket is around the pivot axis of the body.
In one embodiment, the tooth form engagement transmission mechanism is synchronous belt drive mechanism or multi-gear driver
Structure.
In one embodiment, the dynamical element, which includes servomotor and retarder or the dynamical element, includes
Stepper motor.
In one embodiment, the data processing module includes：
Scan data receiving unit receives each predetermined rotational angular that the laser radar is rotated through in the body
The laser scanning information data of calibration point and the laser scanning information in environmental scanning region in the calibration region of lower acquisition
Data；
Rotational angle determination unit, the laser scanning information data of the calibration point in the calibration region determines and institute
State the corresponding predetermined rotational angular of laser scanning information data in environmental scanning region.
In one embodiment, the data processing module further includes：
Cloud data generation unit, with reference to the predetermined rotational angular and the laser scanning information in the environmental scanning region
Data generate three-dimensional environment cloud data.
In one embodiment, the data processing module is also included at least with one of lower unit：
Enabling signal response unit in response to the data acquisition enabling signal from the rotating mechanism, is swept described in triggering
Data receipt unit is retouched to start to receive the laser scanning information data that the laser radar obtains；
Stop signal response unit in response to the data acquisition stop signal from the rotating mechanism, is swept described in control
Data receipt unit is retouched to stop receiving the laser scanning information data that the laser radar obtains after the predetermined time.
In one embodiment, each predetermined rotational angular in the slewing area of the rotating mechanism makes a reservation for turn with each
The laser scanning information data of calibration point corresponding to dynamic angle follows preset formula, and the rotational angle determination unit is specifically wrapped
It includes：
Formula calculates determination subelement, is calculated according to the laser scanning information data of the preset formula and the calibration point
Go out corresponding predetermined rotational angular, it is matched with the laser scanning information data in the corresponding environmental scanning region so as to obtain
Predetermined rotational angular.
In one embodiment, the pre- storing module of map information is further included, the laser scanning Information Number for the calibration point that prestores
According to the map information table between the predetermined rotational angular.
In one embodiment, map information computing module is further included, swashing for the calibration point is calculated according to preset formula
Mapping relations of at least one of the optically scanning information data between predetermined rotational angular, and it is supplied to the map information pre-
Storing module is preserved.
In one embodiment, the rotational angle determination unit includes：
It tables look-up determination subelement, for the laser scanning letter for the calibration point searched and detected in the map information table
Cease that data are identical or the laser scanning information data of the immediate calibration point to be prestored, so will with it is described identical or closest
The calibration point to be prestored the corresponding predetermined rotational angular of the laser scanning information data environment that is determined as and detects
The laser scanning information data matching of scanning area.
In one embodiment, the data processing module further includes calibration unit, receives what the rotating mechanism provided
The laser scanning information data of calibration point in the calibration region that the predetermined rotational angular and the laser radar obtain,
And the map information table is accordingly saved in the laser scanning information data of the predetermined rotational angular and the calibration point
In.
In one embodiment, the calibration unit is turning to each predetermined rotational angular in the reception rotating mechanism
When the predetermined rotational angular that provides after, receive the laser scanning Information Number of the calibration point that the laser radar obtains
According to, and the laser scanning information data of the calibration point and the predetermined rotational angular are accordingly stored into the map information
In table.
In one embodiment, the map information table is stored in the pre- storing module of the map information with non-changing mode
In.
In one embodiment, the calibration unit is in the opposite of the rotation axis of angle-determining accessory and rotating mechanism
When state change is more than threshold value or after preset duration, re-scaled, the pre- storing module of map information is based on
The map information table obtained after re-calibration is updated.
In one embodiment, the envelope closed to the laser radar and the angle-determining accessory is further included
Cover is closed, the seal bootr is transparent for the laser wavelength that the laser radar emits.
To achieve the above object, the present invention also provides a kind of robot, including foregoing three-dimensional scanner.
To achieve the above object, the present invention also provides a kind of angle-determining accessory, it is arranged at 3-D scanning dress
It puts or is arranged near three-dimensional scanner, the three-dimensional scanner includes laser radar and rotating mechanism, the laser
Laser in radar carries out rotation sweep, and the scanning range of laser includes environmental scanning region and carried by angle-determining accessory
The calibration region of confession, the rotating mechanism drive the body of the laser radar with direction and the axis direction of laser rotary scanning
Different axis rotates through each predetermined rotational angular for rotation axis,
Wherein, keep opposing stationary between the pivot center of the body of the calibration region and laser radar.
In one embodiment, the angle-determining accessory is configured to have well-regulated shape, so that in advance
Determine rotational angle, the azimuth-range of corresponding calibration point forms specific formula or cause predetermined rotational angular, corresponding
The distance of calibration point forms specific formula.
In one embodiment, the angle-determining accessory is included with the interior of the space for avoiding the body
The housing of recess portion, the rotating mechanism include laser radar mounting bracket and rotate drive component, the laser radar installation
In laser radar mounting bracket, the laser radar mounting bracket is rotatably coupled with the housing by floating bearing.
To achieve the above object, the present invention also provides a kind of data processing sides based on foregoing three-dimensional scanner
Method, including：
Data processing module receives to be obtained under each predetermined rotational angular that the laser radar is rotated through in the body
The laser scanning information data of the calibration point and the laser scanning information in environmental scanning region in the calibration region obtained
Data；
The laser scanning information data of calibration point of the data processing module in the calibration region determines and institute
State the corresponding predetermined rotational angular of laser scanning information data in environmental scanning region.
In one embodiment, the data processing method further includes：
The data processing module is with reference to the predetermined rotational angular and the laser scanning information in the environmental scanning region
Data generate three-dimensional environment cloud data.
In one embodiment, the data processing method also includes at least one of following steps：
In response to the data acquisition enabling signal from the rotating mechanism, the data processing module triggers the data
Processing module starts to receive the laser scanning information data that the laser radar obtains；
In response to the data acquisition stop signal from the rotating mechanism, the data processing module controls the data
Processing module stopped receiving the laser scanning information data that the laser radar obtains after the predetermined time.
In one embodiment, each predetermined rotational angular in the slewing area of rotating mechanism and each predetermined rotational angle
The laser scanning information data of the corresponding calibration point of degree follows preset formula；Determine that the operation of predetermined rotational angular is specifically wrapped
It includes：
The data processing module is calculated according to the laser scanning information data of the preset formula and the calibration point
Corresponding predetermined rotational angular, it is matched pre- with the laser scanning information data in the corresponding environmental scanning region so as to obtain
Determine rotational angle.
In one embodiment, the three-dimensional scanner further includes the pre- storing module of map information, and prestore the calibration point
Laser scanning information data and the predetermined rotational angular between map information table；Determine the operation tool of predetermined rotational angular
Body includes：
The data processing module searches the calibration point obtained with the laser radar in the map information table
The matched map information that prestores of laser scanning information data, it is and then the predetermined rotational angular in the map information that prestores is true
It is set to and is matched with the laser scanning information data in the environmental scanning region detected.
In one embodiment, the operation for the map information table that prestores specifically includes：
At least one of laser scanning information data of the calibration point and predetermined rotational angle are calculated according to preset formula
Mapping relations between degree, and the pre- storing module of the map information is supplied to be preserved.
In one embodiment, the data processing module further includes calibration unit；The data processing method further includes：
The calibration unit provides described pre- when receiving the rotating mechanism and turning to each predetermined rotational angular
After determining rotational angle, the laser scanning information data for the calibration point that the laser radar obtains is received, and by the mark
The laser scanning information data of fixed point is accordingly stored with the predetermined rotational angular in the map information table.
In one embodiment, the map information table is stored in the pre- storing module of the map information with non-changing mode
In；Alternatively, the data processing method further includes：
After preset duration or in the angle-determining accessory and the phase of the rotation axis of the rotating mechanism
When being more than threshold value to state change, re-scaled, the pre- storing module of map information is reflected based on what is obtained after re-calibration
Information table is penetrated to be updated.
To achieve the above object, the present invention also provides a kind of three-dimensional scanner, including：Laser radar, rotating mechanism
And data processing module, wherein, the laser in the laser radar carries out rotation sweep；The rotating mechanism drives the laser
The body of radar rotates and passes through each predetermined rotational angular；The data processing module is receiving the rotating mechanism transmission
The predetermined rotational angular and then receive the environmental scanning area that the laser radar obtains under the predetermined rotational angular
The laser scanning information data in domain, then the rotating mechanism body of the laser radar is turned into next predetermined turn again
Dynamic angle；The reception operation of data processing module described above and the rotation process of the rotating mechanism are repeated, until obtaining institute
Have a laser scanning information data in the environmental scanning region corresponding to predetermined rotational angular, and with reference to the predetermined rotational angular and
The laser scanning information data generation three-dimensional environment cloud data in the environmental scanning region.
In one embodiment, the laser scanning Information Number in the environmental scanning region is received in the data processing module
During, determine whether the laser scanning information data in the environmental scanning region is stablized, it is described if do not stablized
Rotating mechanism, which stops, to be waited, until the laser scanning information data in the environmental scanning region is stablized, it then again will be described predetermined
The laser scanning information data in rotational angle and the environmental scanning region stablized accordingly is stored.
Based on above-mentioned technical proposal, one embodiment of the present of invention sweeping under each predetermined rotational angular by laser radar
It retouches scope and is at least divided into environmental scanning region and calibration region, when laser radar carries out environmental scanning, data processing module can
With receive lidar measurement to each predetermined rotational angular corresponding to calibration region in calibration point laser scanning believe
Data and the laser scanning information data in environmental scanning region are ceased, are accurately determined by the laser scanning information data of calibration point
Predetermined rotational angular.Compared to the correlation technique involved in background technology, the embodiment of the present invention is due to make use of laser radar certainly
The measurement data of body obtains swing angle as calibration information, not only reduce to the motion accuracy control of motion according to
Rely, and measurement accuracy higher, error smaller, the 3 d scan data of acquisition are more accurate.
An alternative embodiment of the invention is receiving the predetermined rotational angular of rotating mechanism transmission and then is receiving laser
The laser scanning information data in the environmental scanning region that radar obtains under the predetermined rotational angular, can specify predetermined rotational angle
Degree and the correspondence of the laser scanning information data in environmental scanning region, therefore can also reduce the movement essence to motion
The dependence of control is spent, and measurement accuracy higher, error smaller, the 3 d scan data of acquisition are more accurate.
Description of the drawings
Attached drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description does not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the schematic block diagram of an embodiment of the three-dimensional scanner of the present invention.
Fig. 2 is the schematic block diagram of another embodiment of the three-dimensional scanner of the present invention.
Fig. 3 is the schematic block diagram of the another embodiment of the three-dimensional scanner of the present invention.
Fig. 4 is the diagrammatic sectional top plan view of the single line laser radar of the embodiment of the three-dimensional scanner of the present invention.
Fig. 5 is the schematic elevational view of the embodiment of the three-dimensional scanner of the present invention.
Fig. 6 is that the schematic partial cutaway of the embodiment of the three-dimensional scanner of the present invention removes stereogram.
Specific embodiment
Below by drawings and examples, technical scheme is described in further detail.
As shown in Figure 1, the schematic block diagram of the embodiment for the three-dimensional scanner of the present invention, with reference to Fig. 4 and Fig. 5 points
The diagrammatic sectional top plan view and front view of single line laser radar in the three-dimensional scanner embodiment not shown.With reference to Fig. 1, figure
4 and Fig. 5, the three-dimensional scanner of one embodiment of the invention include：Laser radar 1, rotating mechanism 2 and data processing module 3.
With reference to figure 4 and Fig. 5, laser radar 1 can laser be used as detectable signal and reception is reflected back from target by emitting
The signal come realizes distance measurement function, and laser can be with the laser radar vertical central axis where the O points of laser emitting axle center
Carry out rotation sweep for rotation axis.When the body of single line laser radar is static, it is located at one from the laser of outgoing axle center O points outgoing
In plane, which forms laser scanning face.When the body of single line laser radar ceaselessly moves always, from outgoing axle center O
The laser of point outgoing is located on a helicoid, can the helicoid in the range of 360 ° be known as laser scanning face.It wherein it is possible to will
The vertical central axis that laser rotates around it are known as " first axle ".The laser can continuously be rotated towards some direction, which can
It is realized for example, by the machinery rotation of speculum.The line number of laser radar 1 is preferably single line, and line number can also elect two lines as
One kind into four lines, preferably not more than six lines.It, also can there are multiple laser when the body of the laser radar of multi-thread number is static
Scanning plane.The embodiment of the present invention can realize comprehensive 3-D scanning with cheap single line radar or low line number radar.
In the range of 360 degree of laser rotary, due to the internal structure of laser radar, model that may be only such as 270 degree
Valid data can be obtained in enclosing, therefore the effective scanning scope can be defined as " effective angle scope ".Laser scanning is believed
Range data under the azimuth of laser and respective party parallactic angle can be included (such as to certain point on the surface of target by ceasing data
Distance), for example, it is assumed that some calibration point A1Laser scanning information data be (10 °, 30mm).In the following description, if
Laser irradiation is some calibration point, then " orientation of laser " at this time included by laser scanning information data is alternatively referred to as " mark
The orientation of fixed point ".
Described above is the rotation of the laser in laser radar, describe below the body of laser radar rotation (or
It can referred to as " rotate ").According to an embodiment of the present application, the rotating machine of the body rotation of driving laser radar 1 can be set
Structure 2.Specifically, rotating mechanism 2 drives the body of laser radar 1 (to cross O points and perpendicular to the paper of Fig. 5 around another rotation axis
Face) rotation, so that the scanning plane that laser is formed also rotates with, sweeping for scanning plane is corresponded under so each rotation angle
The scanning distance measurement function of three dimensions can be realized by retouching region.Wherein, another rotation axis can be known as " second axis ".
Should " second axis " direction it is different from foregoing " first axle ", i.e., the body of the driving of rotating mechanism 2 laser radar 1 with direction and
The axis that the axis direction of laser rotary scanning is different rotates for axis.
In order to by the rotational orientation angle phase region of the laser inside the rotation angle of the body of laser radar 1 and laser radar 1
Point, the rotation angle of the body of laser radar 1 is known as " rotational angle " below.Rotating mechanism 2 can drive 1 court of laser radar
A direction continuously rotates, can also be in predetermined angle scope (such as the size of predetermined angle scope is 180 °) toward physical pendulum
It is dynamic, such as the reciprocally swinging in 180 ° on the basis of horizontal plane of rotating mechanism 2, such body reciprocating rotary in laser radar
It can make 360 ° of 3-D scanning scope in scanning plane covering main view plane after 180 °.In another embodiment, preset angle
Spend scope size or 180 ° or more, such as 200 ° etc., to ensure certain nargin.Certainly, need to target into
In the case of the quick scanning of row, preferably 180 °.With reference to figure 5, laser emitting axle center O that laser radar 1 is formed is always positioned at described
On the rotation axis (i.e. " second axis " of front) of rotating mechanism 2.
With reference to the diagrammatic sectional top plan view of laser radar shown in Fig. 4, it can be seen that laser radar 1 one encloses (360 °)
Scanning range includes environmental scanning region B and calibration region A, can also include ineffective angle scope certainly.Environmental scanning region B
It is the region of target and the environment residing for target, calibration region A is the angle-determining accessory that laser scanning face is swept to
The surface region of (will be described in detail later) and there are calibration points in this region.Demarcate the body of region A and laser radar 1
Each predetermined rotational angular under laser scanning face intersection in there are at least one calibration points.If each predetermined rotational angle
The quantity of a lower laser scanning face of degree and calibration point present on the intersection in calibration region is multiple, then this multiple calibration point
A calibration point group is may be constructed, there are one calibration point groups at this point, calibration region has under each predetermined rotational angular.Laser
It is transmitted to calibration point and receives the signal that reflects to obtain the laser scanning information data of calibration point.The laser of calibration point is swept
Retouch the predetermined rotational angular that information data is used to help determine the body of laser radar 1.Laser radar is in scanning circumstance scanning area
After calibration point in domain B and calibration region A, the laser scanning information data of environmental scanning region B and calibration point is obtained,
Both data are sent to data processing module 3 together, and the laser scanning information data for the calibration point demarcated in the A of region will be used
In the laser scanning information data for assisting in the environmental scanning region B in the same circle therewith sent be in laser thunder
What measured under up to predetermined rotational angular of 1 body.
In order to form calibration region A, the embodiment of three-dimensional scanner of the invention can include angle-determining assisted parts
Part 5.Calibration point can be in effective angle scope (such as above-mentioned 270 ° scope), effective to guarantee to return
Laser scanning information.Fig. 6 is that the schematic partial cutaway of the embodiment of the three-dimensional scanner of the present invention removes stereogram.
With reference to Fig. 4, Fig. 5 and Fig. 6, in one embodiment, angle-determining accessory 5 can include and rotating mechanism 2
The housing 51 being rotatably coupled.Rotating mechanism 2 drives laser radar 1 to be revolved using second axis as rotation axis compared with housing 51
Turn, so that laser scanning face can be with the contour surface of inswept housing 51.Rotating mechanism 2 is installed in rotation on housing 51 simultaneously
The body rotation of laser radar 1 is driven, this structure so that three-dimensional scanner is integrally compacter and stablizes.When laser is in quilt
When the scanning for carrying out 360 degree of a circle is arrived under some predetermined rotational angular θ in the driving of rotating mechanism 2, laser can scanning circumstance scanning area
Domain B (if laser reflection can then be returned there are target in the B of region), and laser can also scan the contour surface of housing 51
On two calibration region A.In addition it is also possible to it scans to the inactive area among two calibration region A.
With reference to Fig. 4, in one embodiment, the sum of angle of calibration region A and environmental scanning region B can both be less than or
Effective angle scope (such as above-mentioned 270 °) can be more than, and the scope of environmental scanning region B then can be according to expectation
Scanning range make choice, the corresponding scanning angle of corresponding environmental scanning region B is preferably smaller than effective angle scope, to protect
At least part of corresponding scanning angle of card calibration region A is in the range of effective angle, that is, ensures the calibration of housing 51
There are effective calibration points in the A of region.
For the three-dimensional scanner of the present invention, angle-determining accessory 5 can belong to three-dimensional scanner
Component or be not belonging to the other structures of three-dimensional scanner.Calibration region A can be formed in swashing for laser radar 1
In the scope that light scans on the surface of angle-determining accessory, and demarcate region and the rotation axis of the body of laser radar 1
Keep opposing stationary between line (i.e. second axis).In addition, except angle-determining accessory is included with rotating mechanism 2 rotatably
Outside the structure type of the housing 51 of ground connection, can also use includes the absolute construction separately positioned with rotating mechanism 2, rotates
Mechanism 2 can drive the body of laser radar 1 to be rotated compared with the absolute construction.The absolute construction is not connected to rotating mechanism 2
Or contact, but the opposing stationary relation with second axis can be kept, it is acted in order to provide stable reference.It is another
The example of angle-determining accessory can be independently of existing external environment or facility outside three-dimensional scanner, such as
Wall, step, Natural beings around the installation site of three-dimensional scanner etc., correspondingly, needing to make external environment or set
Apply the pivot center remains stationary compared with the body of laser radar 1.
The structure of the housing 51 of the embodiment is detailed further below.As shown in Figure 4 and Figure 6, housing 51 can have
Have avoid laser radar 1 body space female parts, by laser radar 1 female parts inner peripheral surface (Fig. 5
Inner circumferential profile) can be formed calibration region A.It can refer to, foregoing absolute construction, which can also have, avoids laser radar 1
Body space female parts, calibration region A can be formed at the laser of laser radar 1 in the female parts
In the scanning range of perimeter surface.
Calibration point can fully cover calibration region A, and certainly, the invention is not limited thereto, and calibration point can also be partly
Covering calibration region.In one embodiment, demarcating calibration regions of the region A under any one predetermined rotational angular can include
Continuous multiple calibration points or discrete multiple calibration points.In another embodiment, region is demarcated in any one predetermined rotation
Calibration region under angle can only only exist a calibration point, i.e., single calibration point, for example, single calibration point is calibration area
The marginal point or laser of domain A enters the starting point of calibration region A from environmental scanning region B.
Calibration point quantity is fewer, then the laser scanning information data in the calibration region of data processing module processing is fewer, place
Reason/arithmetic speed is faster；Calibration point quantity is more, then the laser scanning information data in the calibration region of data processing module processing
It is more, although processing speed is slower, due to that with multiple data of calibration point, can consider the data of multiple points comprehensively, so as to
It avoids or at least reduces unexpected distortion point (for example, there is winged insect to fly into suddenly between laser radar and angle-determining accessory
Or signal distorts suddenly) influence that brings.
It, can also be further excellent in the case that calibration region under each predetermined rotational angular uses multiple calibration points
Change.The inner peripheral surface in laser scanning face and the female parts in each predetermined rotational angular of the body of laser radar 1 can
To there is one or more intersection.Wherein at least one intersection is arc-shaped, and the arc-shaped center of circle is located at the laser thunder
Up on 1 laser emitting axle center.Specifically, with reference to figure 4 (top view) and Fig. 6, in the top view of Fig. 4, laser thunder at this time
Body up to 1 is on 0 degree of position, and laser scanning face is parallel to paper (horizontal plane), it can be seen that the body of laser radar 1
Each predetermined rotational angular on the inner peripheral surface of female parts of laser scanning face and housing 5 have two intersections in left and right, can
To see that this two intersections are arc-shaped shape.Under such setting, the calibration on the right side of axle center O to Fig. 4 of laser radar 1
The distance of each calibration point on the A of region is identical D2, on the calibration region A in the left side of axle center O to Fig. 4 each put away from
From being identical D1.Even if in this way, in the case where the length of calibration region A is larger, laser is during one circle of scanning
Calibration distance (the i.e. D of only most two values1And D2), therefore calculating process can be simplified.It is furthermore it is also possible to flat by asking
, the means such as rejecting abnormalities point carry out noise reduction, remove abnormal point.
Further, look up from the main view side shown in Fig. 5, as long as actually laser radar becomes standing upside down from upright, i.e.,
After 180 ° of rotation, laser scanning face can cover entire 360 degree of space, therefore actually only need to sweep on main view direction
The calibration region that angular dimension is 180 ° is retouched to be used to help determine predetermined rotational angular.For example, in the 5 embodiment of figure 5,
It looks up in main view side, the top of the inner circumferential profile of housing 51 is a semicircle, and the lower part of inner circumferential profile is then parallel for two
Line, it is only necessary to by the use of the region on 0 ° -180 ° of top as calibration region.At this point it is possible to see the every of the body of laser radar 1
The inner peripheral surface in laser scanning face and the female parts of housing 51 in a predetermined rotational angular, which has, controls two intersections, but by
The semicircle of the top half of Fig. 5, therefore swashing in each predetermined rotational angular of the body of laser radar 1 are only taken in calibration region
Optical scanning face and the calibration region A of housing 51 only have an intersection, this intersection is arranged to circular shape, and makes circular arc line
The center of circle on the O of axle center.Under such setting, each calibration point on the axle center O of laser radar 1 to calibration region A away from
From being an identical numerical value, it so can more simplify calculating process.
The invention is not restricted to the embodiment of Fig. 5, angle-determining accessory could be configured such that predetermined rotational angular,
The relation of the azimuth-range of corresponding calibration point meets preset formula or causes predetermined rotational angular, corresponding calibration point
The relation of distance meet preset formula.For example, along the laser radar 1 body pivot center from environmental scanning region B
The main view direction looked to the laser radar 1 is observed, and the angle-determining accessory 5 provides the portion of the calibration region A
Divide a kind of entirety or local shape in rounded, involute, ellipse or triangle.
With reference to figure 5, the inner peripheral surface of housing 5 is configured to conform to preset formula accordingly, for example, being previously mentioned
Main view side look up, the circumferential profile in the range of at least 180 ° of female parts can be provided in round, is involute, ellipse
Circular or triangle etc..Specifically, each predetermined rotational angular in the slewing area of rotating mechanism 2 and corresponding calibration
The azimuth-range data of point follow preset function, and three can form specific formula (or apart from forming orientation and predetermined turn
The binary function of dynamic angle).Certainly, there is a kind of form of simplification, i.e., if calibration region under each predetermined rotational angular
Only there are one calibration point (i.e. inner peripheral surface only exists a calibration point, for example, by laser since the B of environmental scanning region into
Enter to demarcate the starting point in region as unique calibration point), then predetermined rotational angular variable and follow spy apart from both variables
Fixed formula (or function that distance is predetermined rotational angular), such case it is also assumed that the inner peripheral surface of housing 5 meet it is pre-
If formula.
In one embodiment, in order to determine unique corresponding laser thunder by the laser scanning information data of calibration point
Up to the predetermined rotational angular of 1 body, can make laser radar 1 body each predetermined rotational angular under calibration point swash
Optically scanning information data are different from the laser scanning information data of the calibration point under other predetermined rotational angulars.It is for example, it is assumed that pre-
Calibration point A there are three determining under 0 ° of rotational angle1、A2And A3, laser scanning information data is (10 °, 30mm), (13 °, 51mm)
(15 °, 37mm), and three corresponding calibration point B under 9 ° of predetermined rotational angular1、B2And B3Laser scanning information data be
(10 °, 33mm), (13 °, 47mm) and (15 °, 37mm) can then pass through three calibration point A at this time1、A2And A3Laser scanning letter
Cease data and three calibration point B1、B2And B3Laser scanning information data come determine corresponding predetermined rotational angular or
At least two 0 ° and 9 ° of predetermined rotational angulars are distinguished.
The laser scanning information data difference of calibration point noted earlier is not required for all corresponding calibration point (laser sides
Position is corresponding) range data it is different, can only a pair of corresponding calibration point range data it is different, for example, in above example
In, although A3And B3Range data it is identical, but A1With B1Difference, A2With B2Difference, therefore can accomplish to distinguish.Here mark
The laser scanning information data of fixed point can include the range data of calibration point, such as each predetermined rotational angular corresponds in front
Calibration region only there are one calibration point or each calibration point range data it is essentially identical in the case of, mark can be only used
Laser scanning information data of the range data of fixed point as calibration point.
It furthermore it is also possible to will be in the quantity including calibration point, the coverage of calibration point and adjacent predetermined rotational angular
At least one is sent to data processing module as additional information.For example, when swashing according to the calibration point under a certain predetermined angular
Optically scanning information data are also not enough to determine corresponding with the laser scanning information data of the environmental scanning region B described predetermined
During rotational angle, it can also be determined further combined with the laser scanning information data of the calibration point under adjacent predetermined rotational angular
The predetermined rotational angular corresponding with the laser scanning information data of the environmental scanning region B.Preferably, it is each in order to make
The range data of the corresponding calibration point of predetermined rotational angular is different, while in order to become the form of above-mentioned " preset formula "
It obtains simply, the calibration point under all predetermined rotational angulars of rotating mechanism 2 can be made to meet preset formula.
As shown in figure 5, in one embodiment, can allow where the corresponding each calibration point of all predetermined rotational angulars
Curve formed involute, to meet involute formula so that calibration point to axle center O distance with the increasing of predetermined rotational angular
Increase greatly, it is more simple to simplify the calculated relationship of predetermined rotational angular and range data (and bearing data of calibration point etc.)
It is single.Certainly, the available preset formula of the embodiment of the present invention is not limited to involute formula, in another embodiment, presets public affairs
Formula can also be other preset function curve equations that distance is monotonically changed with the variation of predetermined rotational angular, so not only may be used
To ensure the range data of the corresponding calibration point of each predetermined rotational angular difference, and can be readily according to preset function
Curve equation from range data calculates predetermined rotational angular.
It is specifically described below by taking the embodiment shown in Fig. 5 as an example.When laser radar 1 is eccentrically set in housing 51
When in recess portion (when the center of circle of the axle center O of laser radar 1 and the upper semicircumference of housing 51 is misaligned), axle center O to inner fovea part
The distance for the inner peripheral surface divided increases with the increase of the predetermined rotational angular of the body of laser radar 1.When laser radar 1
When body is in upright state (i.e. predetermined rotational angular is 0 °), axle center O points to calibration region A (right side of inner peripheral surface) distance
Recently, it is D2；Then rotate counterclockwise, the distance of the calibration region A of axle center O points to the top of inner peripheral surface is increasing, example
Such as become D3；The distance of last axle center O points to the calibration region A in the left side of inner peripheral surface reach maximum, become D1。
During the body oscillatory of laser radar 1, it is believed that the half of the scanning plane of laser radar 1 is from right side
0 ° (it is assumed that the mark D of Fig. 52Direction) towards 180 ° of left side (it is assumed that the mark D of Fig. 51Direction) swing, and can be with
The predetermined time is suitably stopped in the predetermined rotational angular of various discrete, which is preferably equal to or is longer than laser radar 1
Laser scanning one enclose time.For example, the circle of laser scanning one in the laser radar 1 of certain model needs 25ms, then laser thunder
Up to each predetermined rotational angular (for example, 0 degree, 9 degree, 18 degree ...) under residence time be more than or equal to 25ms, to ensure to swash
Optical radar 1 can intactly collect the data of the circle of laser scanning one under the predetermined rotational angular.And in order to ensure certain
Nargin, residence time can be more than 25ms, such as 30ms or 50ms etc..Certainly, in the case where needing quick scanning, stop
Time be preferably equal to 25ms.This is after swinging to 180 °, and laser radar is again from 180 ° to 0 ° swing, so as to fulfill past physical pendulum
It is dynamic.Certainly, if the velocity of rotation of the body of laser radar is less than predetermined speed, and accuracy of detection requirement is relatively low, then each
Predetermined rotational angular, the body of laser radar 1 can not also stop.
In another embodiment, even if the laser scanning there may be the corresponding calibration point of two predetermined rotational angulars is believed
Cease the identical situation of data, but its still can by its each adjacent predetermined rotational angular by the two predetermined rotational angulars
It is simply distinguished, then such case is also to fall within the bounds of the present application.It looks up in main view side (i.e. from Fig. 5's
Side look up), can by the range of at least 180 ° of the female parts of housing 5 circumferential profile (can be Fig. 5 upper half profile,
Or lower half profile, left half cycle profile, the oblique half cycle profile etc. being not shown in figure) be set as demarcating region.It is marked in Fig. 5
D2Corresponding 0 ° of predetermined rotational angular, then rotational angle becomes larger for rotation counterclockwise, D1Corresponding angle is 180 °.
In the case where adjacent predetermined rotational angular is at intervals of 1 °：It is assumed that the calibration point under 5 ° of predetermined rotational angular
Calibration point (or calibration point under the laser azimuth data and range data of (or calibration point group) A1 and 130 ° of predetermined rotational angular
Group) A2 laser azimuth data it is identical with range data.If only seeing this two groups of data, their which groups actually can not be determined
It is predetermined rotational angular 5 ° corresponding, which group is predetermined rotational angular 130 ° corresponding.At this point, it can introduce unknown predetermined with this
Upper one adjacent predetermined rotational angular (the first predetermined rotational angular) of rotational angle (assuming that being the second predetermined rotational angular) and/
Or the corresponding data of next adjacent predetermined rotational angular (the 3rd predetermined rotational angular).For example, adjacent predetermined turn of upper the one of 5 °
The data under data 129 ° of predetermined rotational angular adjacent with upper the one of 130 ° under dynamic 4 ° of angle differ, then implement at another
In example, it can also determine to obtain the laser scanning information data of A1 with detection by the laser scanning information data of adjacent angular
Predetermined rotational angular corresponding with the laser scanning information data of A2.
In another embodiment of the present invention, when constructing angle-determining accessory, predetermined rotational angle can not be made
Degree, the relation of azimuth-range of corresponding calibration point meet preset formula, but angle-determining accessory are configured to appoint
The irregular shape of meaning.The laser scanning information of calibration point group under each predetermined rotational angular rotated through in the body
Data random distribution.In this case, calculating will become complicated or even be difficult to realize, but the embodiment will not pass through formula
It calculates to determine corresponding predetermined rotational angular, but the calibration process by being subsequently mentioned is swept come definite with the laser detected
Retouch the corresponding predetermined rotational angular of information data.The advantages of this embodiment, is to determine that the shape and size of accessory need not
It manufactures, installs also without precision, manufacture installation cost will be substantially reduced according to accurate dimension.
As shown in fig. 6, the schematic partial cutaway for the embodiment of the three-dimensional scanner of the present invention removes stereogram.In Fig. 6
In, rotating mechanism 2 specifically includes laser radar mounting bracket 28 and rotates drive component, and laser radar 1 is mounted on laser radar
In mounting bracket 28, housing 51, which is mounted on, to be rotated between drive component and laser radar mounting bracket 28.Housing 51 can pass through
Installing plate 23 is fixed on the chassis for rotating drive component, or rotates a part for the chassis of drive component.
With reference to figure 6, dynamical element and tooth form engagement transmission mechanism can be specifically included by rotating drive component.Dynamical element leads to
It crosses the tooth form engagement transmission mechanism to be operably connected with laser radar mounting bracket 28, driving laser radar mounting bracket 28
It is rotated around rotation axis.In figure 6, dynamical element may include servomotor 21 and retarder 22.It as needed, can also be into one
Step sets clutch etc..In another embodiment, dynamical element can also include stepper motor or the portion of other power forms
Part is such as air motor, rotary cylinder or hydraulic motor.
Tooth form engagement transmission mechanism can to realize, accurately power transfers by tooth form engagement, can include synchronous belt
Transmission mechanism.In figure 6, synchronous belt drive mechanism can specifically include driving wheel 24, odontoid belt 25 and driven wheel 26.In order to
It rotates laser radar mounting bracket 28 more smoothly, laser radar mounting bracket 28 can be made to pass through rotating shaft with the housing 5
Hold 27 rotation connections.In another embodiment, tooth form engagement transmission mechanism can also include multiple tooth wheel drive mechanism, that is, pass through
Multiple gears carry out engaged transmission.
In another embodiment of three-dimensional scanner of the present invention, it can also include to the laser radar 1 and the angle
Degree determines the seal bootr that accessory 5 is closed, and the laser wavelength which emits for the laser radar 1 is transparent
, be strayed into this makes it possible to foreign matters such as the hands or winged insect for excluding operator between laser radar 1 and angle-determining accessory 5 and
Problem can not normally or accurately be obtained by causing the laser scanning information data of calibration point, can so as to improve three-dimensional scanner
By property.
Data processing module 3 can receive the calibration region A that the single line laser radar 1 under each predetermined rotational angular obtains
With the laser scanning information data (such as laser azimuth angle and corresponding distance etc.) of environmental scanning region B.As shown in Fig. 2,
For the structure diagram of another embodiment of three-dimensional scanner of the present invention.Compared with the embodiment of Fig. 1, data processing module 3
Including：Scan data receiving unit 31 and rotational angle determination unit 32.Wherein, scan data receiving unit 31 receives laser thunder
The laser scanning information data and ring of calibration point in the calibration region A obtained under each predetermined rotational angular are in body up to 1
The laser scanning information data of border scanning area B.Rotational angle determination unit 32 is according to the laser scanning information data of calibration point
Determine predetermined rotational angular.For providing the angle-determining accessory 5 of calibration region A, rotational angle determination unit 32 can be with
According to the laser scanning information data of above-mentioned " preset formula " and the calibration point received (such as the distance of calibration point
Data, bearing data etc.) calculate the corresponding predetermined rotational angular of laser scanning information data of calibration point.
In another embodiment, data processing module 3 can further include cloud data generation unit, the unit
It can be with reference to the predetermined rotational angular and the range data of environmental scanning region B generation three-dimensional environment cloud data.By
Come from laser radar 1 measurement data of itself in the laser scanning information data of the calibration point, the calibration point of same circle swashs
Optically scanning information data and the laser scanning information data of environmental scanning region B are located in same data cell (such as same frame)
And pass through identical line architecture transmission, therefore data processing module 3 also can be as same when receiving both data
One data cell.In this way, when rotational angle determination unit 32 determines predetermined turn according to the laser scanning information data of calibration point
After dynamic angle, cloud data generation unit just can be by the predetermined rotational angular of the body of laser radar 1 and environmental scanning area
The laser scanning information data of domain B exactly correspondence comes out, and avoid due to different data reception delay caused by data without
Method is synchronous and the problem of erroneous matching so that data processing module 3 obtains accurate predetermined rotational angular, and then ensures based on sky
Between three dimensional point cloud to build figure more accurate.
According to an embodiment of the invention, in a 3-D scanning, rotating mechanism 2 can be sent most to data processing module
More two signals, the first signal are that the body of laser radar 1 is in 0 ° (for example, laser radar shown in Fig. 5 is upright, on frustum
Small lower big state) and rotating mechanism 2 when preparing to start to allow the body of laser radar 1 to rotate, rotating mechanism 2 is to data processing
Module 3 sends a data acquisition enabling signal, this data acquisition enabling signal can embody initial position or with first
0 ° of beginning angle-data, naturally it is also possible to not embody any angle.Secondary signal be laser radar 1 body be in 180 ° (for example,
The state that the laser radar opposite with Fig. 5 stands upside down, frustum is up big and down small) when, rotating mechanism 2 sends one to data processing module 3
A data acquisition stop signal, the data acquisition stop signal can embody stop position or with stop angle data
180 °, naturally it is also possible to not embody any angle.To sum up, rotating mechanism 2 can not be any to data processing module transmission
Angle-data or rotating mechanism 2 at most only send two data acquisition enabling signals for embodying initial angle and angle at the end
With data acquisition stop signal.
Correspondingly, data processing module 3 can be included at least in enabling signal response unit and stop signal response unit
One of.Wherein, enabling signal response unit is swept described in triggering in response to the data acquisition enabling signal from the rotating mechanism
Data receipt unit 31 is retouched to start to receive the laser scanning information data that the laser radar 1 obtains.Stop signal response unit
In response to the data acquisition stop signal from the rotating mechanism, the scan data receiving unit 31 is controlled in the predetermined time
Stop receiving the laser scanning information data that the laser radar 1 obtains afterwards.For example, after above-mentioned secondary signal is received again
Postpone very short predetermined time (such as the laser scanning one of laser radar 1 is enclosed the required time, such as 25ms, certainly
The time of one circle of scanning can also be slightly greater than) stop receiving laser scanning information data afterwards, as long as it can ensure that receiving
The complete circle scanning information data of laser radar under 180 ° of predetermined rotational angular.
Since rotating mechanism 2 can send out data twice by most multidirectional data processing module as needed, data are reduced
The data processing amount of processing module 3, simplifies processing procedure, decreases Communication Jamming and power consumption.
Data processing module 3 receives calibration point in the calibration region A that laser radar 1 under each predetermined rotational angular obtains
During laser scanning information data, can predetermined rotational angular be determined according to the laser scanning information data of calibration point.According to this hair
Bright embodiment, for being configured such that it is pre- that the relation of azimuth-range of predetermined rotational angular, corresponding calibration point meets
If formula so that the angle-determining that predetermined rotational angular, the relation of the distance of corresponding calibration point meet preset formula is auxiliary
It helps for component, there is the method for several definite predetermined rotational angulars.First method be using formula calculate method, second
Method is the method using look-up table.And in the method using look-up table, it is divided into as using the side of the fixed look-up table of data
The method of the look-up table of method and use data update.These methods will be directed in the description of Fig. 2 and Fig. 3 and solve in detail below
It releases.
For the method that the first formula calculates, turn in each predetermined rotational angular of the body of laser radar 1 with predetermined
Under conditions of the laser scanning information data of calibration point corresponding to dynamic angle follows specific formulation, rotational angle determination unit 32
Formula can be specifically included and calculate determination subelement, which can be according to the laser scanning of preset formula and the calibration point
Information data calculates corresponding predetermined rotational angular, so as to obtain the laser scanning with the corresponding environmental scanning region B
The matched predetermined rotational angular of information data.
The definite mode for being not limited to be calculated according to specific formulation of predetermined rotational angular can also be looked into for foregoing second
The mode of table.As shown in figure 3, the structure diagram of the another embodiment for three-dimensional scanner of the present invention.With a upper embodiment
It compares, the present embodiment can further include the pre- storing module 4 of map information, the laser scanning Information Number for the calibration point that prestores
According to the map information table between the predetermined rotational angular, that is, prestore look-up table.Data mapping information in map information table
It can be calculated and obtained by formula, i.e., in another embodiment, three-dimensional scanner can also include map information computing module,
At least one of laser scanning information data of the calibration point is calculated according to preset formula between predetermined rotational angular
Mapping relations, and the pre- storing module 4 of the map information is supplied to be preserved.
For the map information table being pre-stored in the pre- storing module 4 of map information, it can prestore including at least one set
Map information records, and the map information record that prestores can include each predetermined rotational angular and the predetermined rotational angular corresponds to
Calibration point laser scanning information data.And in one embodiment, rotational angle determination unit 32 can include tabling look-up really
Stator unit, the laser scanning information data for the calibration point which can search and detect in the map information table
The laser scanning information data of the identical or immediate calibration point to be prestored, so will with it is described identical or immediate pre-
The environmental scanning area that the corresponding predetermined rotational angular of laser scanning information data for the calibration point deposited is determined as and detects
The laser scanning information data matching of domain B.Here the laser scanning information data of the immediate calibration point to be prestored refers to this
The gap of the laser scanning information data of the calibration point to be prestored and the laser scanning information data of the calibration point detected is very
It is small, and this gap may be because caused by the error (such as shake etc.) of three-dimensional scanner operationally, therefore pre-
If gap in the range of still it can be assumed that for Data Matching, on the other hand, the laser of the immediate calibration point to be prestored is swept
Information data is retouched to be also illustrated in the laser scanning information data of the calibration point to be prestored corresponding to each predetermined rotational angular
It is minimum with the gap of the laser scanning information data of the calibration point detected.
The method of look-up table mentioned above is divided into using the method for the fixed look-up table of data and looking into using data update
The method for looking for table.Here the method using the fixed look-up table of data is introduced first.When the shape of angle-determining accessory
Machining accuracy is higher, i.e., when true form is with default form variations very little, is then stored in the pre- storing module 4 of map information
It is according to discrete multiple predetermined rotational angulars that foregoing preset formula calculated in advance obtains and multiple corresponding range data, very
To being also possible that multiple corresponding laser azimuths.These numerical value are just fixed on the pre- storing module of map information when equipment is dispatched from the factory
In 4, no longer change later.Certainly, in addition to being calculated using preset formula, in angle-determining accessory directly using arbitrary
In the case of irregular shape, can also each phase be obtained by the calibration experiment (then will be described in detail) before dispatching from the factory
The data (predetermined rotational angular and corresponding laser scanning information data) answered, and all relevant data are stored in mapping
In pre-storing module of information 4, no longer change later.The method of this calibration is applicable not only to the angle-determining using irregular shape
Accessory is also applied for the angle-determining accessory with regular shape for meeting preset formula.In conclusion mapping letter
Breath table, which may be employed, to be stored in non-changing mode in the pre- storing module 4 of the map information.
And in another embodiment, when angle-determining accessory is to the stability difference of environment or insecure installation,
Or when the frequently body rotation of driving laser radar 1 of rotating mechanism 2, it is possible that such situation：By certain
After time, relative status (mainly relative position) variation of angle-determining accessory 5 and the rotation axis of rotating mechanism 2 can
Can be more than threshold value, then in this case it is necessary to every preset duration or whenever angle-determining accessory 5 and rotating machine
When the relative status variation of the rotation axis of structure 2 is more than threshold value, calibration is re-started, the pre- storing module 4 of map information is based on marking again
The map information table obtained after fixed is updated.
Proving operation can be performed by the calibration unit in data processing module, i.e., in another embodiment, at data
Reason module 3 can further include calibration unit.Calibration unit can receive the predetermined rotational angle of the offer of rotating mechanism 2
The laser scanning information data of calibration point in the calibration region A that degree and the laser radar 1 obtain, and to described predetermined
The laser scanning information data of rotational angle and the calibration point is accordingly saved in the map information table.For example, pass through
One predetermined rotational angular is first set, then receives the laser scanning that calibration point in the A of region is demarcated under the predetermined rotational angular again
Information data, by predetermined rotational angular with corresponding laser scanning information data storing in the pre- storing module 4 of map information.
Correspondingly, during actually target is measured, believe in the laser scanning for obtaining environmental scanning region B and calibration point
After breath, rotational angle determination unit 32 can just be searched from the pre- storing module 4 of map information in newest calibrated data
It, and then can be according to mapping relations extremely accurate with the immediate data of calibration point of scanning information of actually measured calibration point
Find out corresponding predetermined rotational angular.Using the mode of this periodic calibrating, the movement essence to motion can not only be reduced
Degree control and the dependence of machining accuracy, and the unfavorable shadow that the mechanical oscillation that can greatly reduce motion are brought
It rings, so as to reduce equipment cost, and measurement accuracy higher, error smaller.
Proving operation above-mentioned first allows rotating mechanism that the body of laser radar is turned to a certain predetermined rotational angular,
Then the calibration unit that will be sent on the angle-data of the predetermined rotational angular in data processing module, calibration unit are connecing
After receiving the predetermined rotational angle degrees of data, then the laser scanning information data of the calibration point of laser radar acquisition is received, and
The laser scanning information data of the calibration point and the predetermined rotational angular are accordingly stored in the map information table.
When receiving the laser scanning information data for the calibration point that laser radar is obtained, preferably wait for a period of time to determine calibration point
Laser scanning information data do not have substantially variation (to prevent reception be a upper angle it is corresponding calibration region in calibration point
Laser scanning information data), the predetermined rotational angular and definite scanning information data are then correspondingly stored in storage mould
In the corresponding region (such as the pre- storing module of map information) of block.Then rotating mechanism again turns to the body of laser radar next
A predetermined rotational angular, repeats the above process, and so in cycles, finally can obtain whole calibration information.
Although this method presented hereinbefore is for demarcating, but in another embodiment of three-dimensional scanner of the present invention
In, static target object can be directly detected in aforementioned manners.First allow rotating mechanism that laser radar body is rotated to certain
One predetermined rotational angular, then will be on the predetermined rotational angular data sending of the predetermined angular to data processing module.Data
Processing module is receiving the predetermined rotational angular of the rotating mechanism transmission and then is receiving the laser radar in institute
State the laser scanning information data in the environmental scanning region obtained under predetermined rotational angular, then the rotating mechanism again will described in
The body of laser radar turns to next predetermined rotational angular；Repeat reception operation and the institute of data processing module described above
The rotation process of rotating mechanism is stated, until obtaining the laser scanning letter in the environmental scanning region corresponding to all predetermined rotational angulars
Data are ceased, and with reference to the predetermined rotational angular and the laser scanning information data in environmental scanning region generation three-dimensional environment
Cloud data.
If there is wireless transmission etc. delays it is longer in the case of, data processing module receive environment scanning area swash
During optically scanning information data, it is thus necessary to determine that whether the laser scanning information data in environmental scanning region, which is stablized, (judges
Whether essentially identical between the multi-turn laser scanning information data received under the predetermined rotational angular, prevent from receiving is upper one
Scanning information data under predetermined rotational angular), if do not stablized, rotating mechanism stays on wait, until the ring
The laser scanning information data of border scanning area is stablized, then again by the predetermined rotational angular and the environmental scanning stablized
The laser scanning information data in region is accordingly stored.This detection method is suitable for the scene that need not quickly detect
(such as laser radar be loaded in the robot of movement or the vehicle of the situation on vehicle or laser radar detection movement or
The situation of pedestrian).
Each embodiment of the above-mentioned three-dimensional scanner of the present invention is applicable to all kinds of occasions for needing to carry out 3-D scanning
Realize that three dimensions builds figure etc. in equipment, such as using obtained laser scanning information data.Three-dimensional scanner can be with
In fixed equipment, it can also be mounted in the equipment of movement.For example, pilotless automobile is can be applied to, but it is outstanding
It is suitable for robots.Therefore present invention provides a kind of robot, the implementation of foregoing any three-dimensional scanner is included
Example.
In addition, with reference to the explanation of foregoing three-dimensional scanner embodiment, it is auxiliary that the present invention can also provide a kind of angle-determining
Component 5 is helped, be arranged in three-dimensional scanner or is arranged near three-dimensional scanner, the three-dimensional scanner includes swashing
Optical radar 1 and rotating mechanism 2, the laser in the laser radar 1 carry out rotation sweep, and the scanning range of laser is swept including environment
Region B and the calibration region A provided by angle-determining accessory 5 are retouched, the rotating mechanism 2 drives the laser radar 1
The body axis different from the axis direction of laser rotary scanning using direction rotates through each predetermined rotational angular as rotation axis,
Wherein, keep opposing stationary between the pivot center of the body of the calibration region A and laser radar 1.
Angle-determining accessory 5 is constructed with the shape of rule, so that predetermined rotational angular, correspondence
Calibration point azimuth-range formed specific formula or cause predetermined rotational angular, corresponding calibration point apart from shape
Into specific formula.In composition, angle-determining accessory 5 can be included with the interior of the space for avoiding the body
The housing 51 of recess portion, rotating mechanism 2 can include laser radar mounting bracket 28 and rotate drive component, the laser radar
1 is mounted in laser radar mounting bracket 28, and the laser radar mounting bracket 28 passes through floating bearing 27 with the housing 51
It is rotatably coupled.
Based on foregoing three-dimensional scanner embodiment, present invention provides the generations of corresponding three-dimensional environment cloud data
Method, including：
Data processing module 3 is received under each predetermined rotational angular that the laser radar 1 is rotated through in the body
The laser scanning information data of the calibration point and the laser scanning of environmental scanning region B in the calibration region A obtained
Information data；
The data processing module 3 according to it is described calibration region A in calibration point laser scanning information data determine with
The corresponding predetermined rotational angular of laser scanning information data of the environmental scanning region B.
In above-described embodiment, the scanning plane that laser radar 1 is formed can pass through the rotation axis of the rotating mechanism 2 always.
The rotating mechanism 2 can drive the laser radar 1 continuously rotation or the reciprocally swinging in the range of predetermined angle.Preset angle
The size for spending scope can be 180 ° or 180 ° or more.Correspondingly, rotating mechanism 2 can be past in 180 ° on the basis of horizontal plane
Multiple rotation.
In order to be further formed the three-dimensional environment cloud data for being used to implement three dimensions and building figure, data processing method may be used also
To include：Data processing module 3 is with reference to the predetermined rotational angular and the laser scanning information data of the environmental scanning region B
Generate three-dimensional environment cloud data.
In the above-described embodiments, data processing method can also include at least one of following steps：
In response to the data acquisition enabling signal from the rotating mechanism 2, the data processing module 3 triggers the number
Start to receive the laser scanning information data that the laser radar 1 obtains according to processing module 3；
In response to the data acquisition stop signal from the rotating mechanism 2, the data processing module 3 controls the number
Stop receiving the laser scanning information data of the acquisition of laser radar 1 after the predetermined time according to processing module 3.
In another embodiment of the method, each predetermined rotational angular in the slewing area of rotating mechanism 2 with it is each pre-
The laser scanning information data for determining the calibration point corresponding to rotational angle follows preset formula；Determine the operation of predetermined rotational angular
It can specifically include：The data processing module 3 is according to the laser scanning information data of the preset formula and the calibration point
Corresponding predetermined rotational angular is calculated, so as to obtain the laser scanning information data with the corresponding environmental scanning region B
Matched predetermined rotational angular.
The embodiment of three-dimensional scanner with reference to shown in figure 3, three-dimensional scanner can also prestore mould including map information
Block 4, the map information table between the laser scanning information data and the predetermined rotational angular of the calibration point that prestores.Accordingly
, determining the operation of predetermined rotational angular can specifically include：The data processing module 3 is searched in the map information table
The matched map information that prestores of laser scanning information data of the calibration point obtained with the laser radar 1, and then by institute
State the laser scanning information of the environmental scanning region B that the predetermined rotational angular in the map information that prestores is determined as and detects
Data Matching.Wherein, the operation for the map information table that prestores can specifically include：Swashing for the calibration point is calculated according to preset formula
Mapping relations of at least one of the optically scanning information data between predetermined rotational angular, and it is supplied to the map information pre-
Storing module 4 is preserved.
For lookup table mode, map information table can be stored in non-changing mode in the pre- storing module 4 of the map information；
Or it is stored in a manner of renewable in the pre- storing module 4 of map information.I.e. data processing method further includes：When by presetting
It is more than threshold value after length or in the angle-determining accessory 5 and the variation of the relative status of the rotation axis of the rotating mechanism 2
When, it is re-scaled, the pre- storing module 4 of map information is updated based on the map information table obtained after re-calibration.
In another embodiment of the method, data processing module 3 can also include calibration unit.Corresponding data processing side
Method further includes：Described in the calibration unit is provided when receiving the rotating mechanism 2 and turning to each predetermined rotational angular
After predetermined rotational angular, the laser scanning information data for the calibration point that the laser radar 1 obtains is received, and by described in
The laser scanning information data of calibration point is accordingly stored with the predetermined rotational angular in the map information table.
The explanation of each embodiment of above-mentioned data processing method can refer to the content of each embodiment of foregoing three-dimensional scanner
With the explanation of technique effect, which is not described herein again.Each embodiment is described by the way of progressive in this specification, each to implement
What example stressed is all difference from other examples, and identical similar portion is mutually referring to i.e. between each embodiment
It can.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or using the disclosure.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can in other embodiments be realized without departing from the spirit or the scope of the present disclosure.Therefore, the disclosure
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Obviously, described embodiment is only disclosure part of the embodiment, instead of all the embodiments.It is right above
The description only actually of at least one exemplary embodiment is illustrative, is never used as to the disclosure and its application or use
Any restrictions.Based on the embodiment in the disclosure, those of ordinary skill in the art are without creative efforts
All other embodiments obtained belong to the scope of disclosure protection.
Unless specifically stated otherwise, the component and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Up to the unlimited the scope of the present disclosure processed of formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to be drawn according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as authorizing explanation
A part for book.In shown here and discussion all examples, any occurrence should be construed as merely illustrative, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label
Similar terms is represented in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It need not be further discussed in figure.
Claims (50)
1. a kind of three-dimensional scanner, including：Laser radar (1), rotating mechanism (2) and data processing module (3), wherein, institute
It states the laser in laser radar (1) and carries out rotation sweep, the scanning range of laser is including environmental scanning region (B) and true by angle
The calibration region (A) of accessory (5) offer is provided；The rotating mechanism (2) drives the body of the laser radar (1) to rotate simultaneously
By each predetermined rotational angular；The data processing module (3) receives the laser radar (1) and is rotated through in the body
Each predetermined rotational angular under calibration point in the calibration region (A) that obtains laser scanning information data and environment sweep
Retouch the laser scanning information data in region (B), and the laser scanning information data of the calibration point in calibration region (A)
Determine the predetermined rotational angular corresponding with the laser scanning information data of the environmental scanning region (B).
2. three-dimensional scanner according to claim 1, wherein, the line number of the laser radar (1) is single line, Huo Zhesuo
The line number of laser radar (1) is stated as one kind in two lines to six lines.
3. three-dimensional scanner according to claim 1, wherein, the rotating mechanism (2) drives the laser radar (1)
The body axis different from the axis direction of laser rotary scanning using direction rotated as axis, the laser of the laser radar (1)
The scanning plane of formation is rotated with the body of the laser radar (1), and laser emitting axle center is always positioned at the body
Pivot center on.
4. three-dimensional scanner according to claim 1, wherein, the corresponding scanning angle of the environmental scanning region (B)
Less than the effective angle scope of the laser radar (1), so that the corresponding scan angle of at least a portion of calibration region (A)
Degree is in the range of the effective angle.
5. three-dimensional scanner according to claim 1, wherein, the rotating mechanism (2) drives the laser radar (1)
Body continuously rotated towards preset direction or the reciprocally swinging in the range of predetermined angle.
6. three-dimensional scanner according to claim 5, wherein, the size of the predetermined angle scope for 180 ° or is more than
180°。
7. three-dimensional scanner according to claim 1, wherein, drive the laser radar in the rotating mechanism (2)
(1) during body rotates, rotating mechanism (2) stops the predetermined time at each predetermined rotational angular.
8. three-dimensional scanner according to claim 7, wherein, the predetermined time is equal to or is longer than the laser thunder
The time that laser scanning one up to (1) is enclosed.
9. three-dimensional scanner according to claim 1, wherein, at each predetermined rotational angular, the laser radar
(1) body does not stop.
10. three-dimensional scanner according to claim 1, wherein, the angle-determining accessory (5) is to belong to three-dimensional
The component of scanning means is either not belonging to the other structures of three-dimensional scanner, and calibration region (A) is formed at described sharp
The scope that the laser of optical radar (1) scans on the surface of the angle-determining accessory (5), it is described calibration region (A) with
Keep opposing stationary between the pivot center of the body of laser radar (1).
11. three-dimensional scanner according to claim 10, wherein, the angle-determining accessory (5) is configured to
So that predetermined rotational angular, the relation of the azimuth-range of corresponding calibration point meet preset formula or cause predetermined rotate
Angle, the relation of the distance of corresponding calibration point meet preset formula.
12. three-dimensional scanner according to claim 11, wherein, it is observed along main view direction, the angle-determining auxiliary
Component (5) provides a kind of entirety in the rounded part for demarcating region (A), involute, ellipse or triangle
Or local shape, wherein, the main view direction is the pivot center along the body of the laser radar (1) from environmental scanning area
The direction that domain (B) is looked to the laser radar (1).
13. three-dimensional scanner according to claim 10, wherein, the angle-determining accessory (5) includes and institute
State housing (51) or the absolute construction separately positioned with the rotating mechanism (2) that rotating mechanism (2) is rotatably coupled, institute
Stating rotating mechanism (2) drives the body of the laser radar (1) to be rotated compared with the housing (51) or absolute construction.
14. three-dimensional scanner according to claim 13, wherein, the housing (51) or absolute construction have avoidance institute
The female parts of the space of body are stated, calibration region (A) is formed at the laser of the laser radar (1) described interior
In the scanning range of the inner peripheral surface of recess portion.
15. three-dimensional scanner according to claim 14, wherein, the female parts are configured such that its interior weekly form
At least one intersection in face and the laser scanning face in each predetermined rotational angular of the body of laser radar (1) is arc-shaped,
And the arc-shaped center of circle is located on the outgoing axle center of the laser of the laser radar (1).
16. three-dimensional scanner according to claim 1, wherein, the angle-determining accessory (5) is independently of institute
It states outside three-dimensional scanner and existing external environment or facility, the external environment or facility turn compared with the body
Remains stationary between shaft line.
17. three-dimensional scanner according to claim 1, wherein, calibration region (A) rotates through in the body
Each predetermined rotational angular under include single calibration point, continuous or discrete form multiple calibration points.
18. three-dimensional scanner according to claim 17, wherein, the multiple calibration point partially or even wholly covers
Calibration region (A).
19. three-dimensional scanner according to claim 17, wherein, the single calibration point is calibration region (A)
Marginal point or the laser radar (1) laser from the environmental scanning region (B) into calibration region (A)
Starting point.
20. three-dimensional scanner according to claim 1, wherein, the laser scanning information data of the calibration point includes
The range data of the calibration point or the laser scanning information data of the calibration point include the range data of the calibration point
And bearing data.
21. three-dimensional scanner according to claim 1, wherein, when swashing according to the calibration point under a certain predetermined angular
Optically scanning information data deficiencies is corresponding with the laser scanning information data of the environmental scanning region (B) described predetermined to determine
During rotational angle, then determined and institute further combined with the laser scanning information data of the calibration point under adjacent predetermined rotational angular
State the corresponding predetermined rotational angular of laser scanning information data in environmental scanning region (B).
22. three-dimensional scanner according to claim 1, wherein, corresponding calibration point in different predetermined rotational angulars
Laser scanning information data it is different.
23. three-dimensional scanner according to claim 13, wherein, the rotating mechanism (2) is installed including laser radar
Stent (28) and rotation drive component, the laser radar (1) are mounted on the laser radar mounting bracket (28), the shell
Body (51) is mounted between the rotation drive component and the laser radar mounting bracket (28).
24. three-dimensional scanner according to claim 23, wherein, the laser radar mounting bracket (28) and the shell
Body (51) is rotatably coupled by floating bearing (27).
25. three-dimensional scanner according to claim 23, wherein, the rotation drive component includes dynamical element and tooth
Shape engagement transmission mechanism, the dynamical element pass through the tooth form engagement transmission mechanism and the laser radar mounting bracket (28)
It is operably connected, drives the laser radar mounting bracket (28) around the pivot axis of the body.
26. three-dimensional scanner according to claim 25, wherein, the tooth form engagement transmission mechanism is toothed belt transmission
Mechanism or multiple tooth wheel drive mechanism.
27. three-dimensional scanner according to claim 25, wherein, the dynamical element includes servomotor (21) and subtracts
Fast device (22) or the dynamical element include stepper motor.
28. three-dimensional scanner according to claim 1, wherein, the data processing module (3) includes：
Scan data receiving unit (31) receives each predetermined rotation that the laser radar (1) is rotated through in the body
The laser scanning information data of calibration point in the calibration region (A) obtained under angle and swashing for environmental scanning region (B)
Optically scanning information data；
Rotational angle determination unit (32), the laser scanning information data of the calibration point in calibration region (A) determine
Predetermined rotational angular corresponding with the laser scanning information data of the environmental scanning region (B).
29. three-dimensional scanner according to claim 28, wherein, the data processing module (3) further includes：
Cloud data generation unit, with reference to the predetermined rotational angular and the laser scanning information in the environmental scanning region (B)
Data generate three-dimensional environment cloud data.
30. three-dimensional scanner according to claim 28, wherein, the data processing module (3) also include at least with
One of lower unit：
Enabling signal response unit in response to coming from the data acquisition enabling signal of the rotating mechanism (2), triggers the scanning
Data receipt unit (31) starts to receive the laser scanning information data of the laser radar (1) acquisition；
Stop signal response unit in response to coming from the data acquisition stop signal of the rotating mechanism (2), controls the scanning
Data receipt unit (31) stopped receiving the laser scanning information data that the laser radar (1) obtains after the predetermined time.
31. three-dimensional scanner according to claim 28, wherein, it is each in the slewing area of the rotating mechanism (2)
A predetermined rotational angular and the laser scanning information data of the calibration point corresponding to each predetermined rotational angular follow preset formula,
The rotational angle determination unit (32) specifically includes：
Formula calculates determination subelement, is calculated pair according to the laser scanning information data of the preset formula and the calibration point
The predetermined rotational angular answered, it is matched with the laser scanning information data of the corresponding environmental scanning region (B) so as to obtain
Predetermined rotational angular.
32. three-dimensional scanner according to claim 28, wherein, the pre- storing module of map information (4) is further included, prestore institute
State the map information table between the laser scanning information data of calibration point and the predetermined rotational angular.
33. three-dimensional scanner according to claim 32, wherein, map information computing module is further included, according to default
Formula calculates mapping relations of at least one of the laser scanning information data of the calibration point between predetermined rotational angular,
And the pre- storing module of the map information (4) is supplied to be preserved.
34. three-dimensional scanner according to claim 32, wherein, the rotational angle determination unit (32) includes：
It tables look-up determination subelement, for the laser scanning Information Number for the calibration point searched and detected in the map information table
According to the laser scanning information data of the identical or immediate calibration point to be prestored, and then will be with described identical or immediate quilt
The environmental scanning that the corresponding predetermined rotational angular of laser scanning information data of the calibration point to prestore is determined as and detects
The laser scanning information data matching in region (B).
35. three-dimensional scanner according to claim 32, wherein, it is single that the data processing module (3) further includes calibration
Member receives the predetermined rotational angular of the rotating mechanism (2) offer and the calibration area of the laser radar (1) acquisition
The laser scanning information data of calibration point in domain (A), and to the laser scanning of the predetermined rotational angular and the calibration point
Information data is accordingly saved in the map information table.
36. three-dimensional scanner according to claim 35, wherein, the calibration unit is receiving the rotating mechanism
(2) after the predetermined rotational angular provided when turning to each predetermined rotational angular, receive the laser radar (1) and obtain
The laser scanning information data of the calibration point obtained, and the laser scanning information data of the calibration point is made a reservation for turn with described
Dynamic angle is accordingly stored in the map information table.
37. three-dimensional scanner according to claim 1, wherein, it further includes to the laser radar (1) and the angle
Determine the seal bootr that accessory (5) is closed, the laser wavelength that the seal bootr emits for the laser radar (1) is
Transparent.
38. a kind of robot, including any three-dimensional scanner in claims 1 to 37.
39. a kind of angle-determining accessory (5), it is arranged in three-dimensional scanner or to be arranged on three-dimensional scanner attached
Closely, the three-dimensional scanner includes laser radar (1) and rotating mechanism (2), and the laser in the laser radar (1) is revolved
Turn scanning, the scanning range of laser includes environmental scanning region (B) and the calibration region provided by angle-determining accessory (5)
(A), the rotating mechanism (2) drive the body of the laser radar (1) with the axis direction of direction and laser rotary scanning not
Same axis rotates through each predetermined rotational angular for rotation axis,
Wherein, keep opposing stationary between the pivot center of the body of calibration region (A) and laser radar (1).
40. angle-determining accessory (5) according to claim 39, wherein, angle-determining accessory (5) quilt
The shape of rule is configured with, so that predetermined rotational angular, the azimuth-range of corresponding calibration point are formed specifically
Formula causes predetermined rotational angular, the distance of corresponding calibration point to form specific formula.
41. angle-determining accessory (5) according to claim 39, wherein, angle-determining accessory (5) bag
The housing (51) of the female parts with the space for avoiding the body is included, the rotating mechanism (2) includes laser radar
Mounting bracket (28) and rotation drive component, the laser radar (1) are mounted in laser radar mounting bracket (28), described to swash
Optical radar mounting bracket (28) is rotatably coupled with the housing (51) by floating bearing (27).
42. a kind of data processing method based on any three-dimensional scanner in claims 1 to 37, including：
Data processing module (3) is received under each predetermined rotational angular that the laser radar (1) rotates through in the body
The laser scanning information data of the calibration point and the laser of environmental scanning region (B) in the calibration region (A) obtained
Scanning information data；
The data processing module (3) according to it is described calibration region (A) in calibration point laser scanning information data determine with
The corresponding predetermined rotational angular of laser scanning information data of the environmental scanning region (B).
43. data processing method according to claim 42, wherein, the data processing method further includes：
The data processing module (3) is believed with reference to the laser scanning in the predetermined rotational angular and the environmental scanning region (B)
Cease data generation three-dimensional environment cloud data.
44. data processing method according to claim 42, wherein, the data processing method also includes at least following step
It is one of rapid：
In response to coming from the data acquisition enabling signal of the rotating mechanism (2), the data processing module (3) triggers the number
Start to receive the laser scanning information data of the laser radar (1) acquisition according to processing module (3)；
In response to coming from the data acquisition stop signal of the rotating mechanism (2), the data processing module (3) controls the number
Stop receiving the laser scanning information data of laser radar (1) acquisition after the predetermined time according to processing module (3).
45. data processing method according to claim 42, wherein, it is each pre- in the slewing area of rotating mechanism (2)
The laser scanning information data for determining rotational angle and the calibration point corresponding to each predetermined rotational angular follows preset formula；It determines
The operation of predetermined rotational angular specifically includes：
The data processing module (3) calculates pair according to the laser scanning information data of the preset formula and the calibration point
The predetermined rotational angular answered, it is matched with the laser scanning information data of the corresponding environmental scanning region (B) so as to obtain
Predetermined rotational angular.
46. data processing method according to claim 42, wherein, it is pre- that the three-dimensional scanner further includes map information
Storing module (4), the map information table between the laser scanning information data and the predetermined rotational angular of the calibration point that prestores；
Determine that the operation of predetermined rotational angular specifically includes：
The data processing module (3) searches the calibration obtained with the laser radar (1) in the map information table
The matched map information that prestores of laser scanning information data of point, and then by the predetermined rotational angular in the map information that prestores
It is determined as matching with the laser scanning information data of the environmental scanning region (B) detected.
47. data processing method according to claim 46, wherein, the operation for the map information table that prestores specifically includes：
Calculated according to preset formula at least one of laser scanning information data of the calibration point and predetermined rotational angular it
Between mapping relations, and the pre- storing module of the map information (4) is supplied to be preserved.
48. data processing method according to claim 46, wherein, it is single that the data processing module (3) further includes calibration
Member；The data processing method further includes：
The calibration unit provides described predetermined when receiving the rotating mechanism (2) and turning to each predetermined rotational angular
After rotational angle, the laser scanning information data of the calibration point of the laser radar (1) acquisition is received, and by the mark
The laser scanning information data of fixed point is accordingly stored with the predetermined rotational angular in the map information table.
49. a kind of three-dimensional scanner, including：Laser radar (1), rotating mechanism (2) and data processing module (3), wherein, institute
The laser stated in laser radar (1) carries out rotation sweep；The rotating mechanism (2) drives the body of the laser radar (1) to turn
It moves and passes through each predetermined rotational angular；The data processing module (3) is receiving the described of the rotating mechanism (2) transmission
The environmental scanning region that predetermined rotational angular and then the reception laser radar (1) obtain under the predetermined rotational angular
(B) laser scanning information data, then the rotating mechanism (2) body of the laser radar (1) is turned to again next
A predetermined rotational angular；The reception operation and the rotation of the rotating mechanism (2) for repeating data processing module (3) described above are grasped
Make, until the laser scanning information data in the environmental scanning region (B) corresponding to all predetermined rotational angulars is obtained, and with reference to institute
State the laser scanning information data generation three-dimensional environment cloud data in predetermined rotational angular and the environmental scanning region (B).
50. three-dimensional scanner according to claim 49, wherein, receive the ring in the data processing module (3)
During the laser scanning information data of border scanning area (B), the laser scanning information of the environmental scanning region (B) is determined
Whether data are stablized, if do not stablized, the rotating mechanism (2), which stops, to be waited, until the environmental scanning region (B)
Laser scanning information data is stablized, then again by the sharp of the environmental scanning region (B) of the predetermined rotational angular and stabilization
Optically scanning information data are accordingly stored.
Priority Applications (2)
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|---|---|---|---|
| CN201711302700.6A CN108089198B (en) | 2017-12-11 | 2017-12-11 | Three-dimensional scanning device, robot, and data processing method |
| PCT/CN2018/101625 WO2019114316A1 (en) | 2017-12-11 | 2018-08-22 | Three-dimensional scanning device, robot, and data processing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711302700.6A CN108089198B (en) | 2017-12-11 | 2017-12-11 | Three-dimensional scanning device, robot, and data processing method |
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