CN108089198B - Three-dimensional scanning device, robot, and data processing method - Google Patents

Three-dimensional scanning device, robot, and data processing method Download PDF

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Publication number
CN108089198B
CN108089198B CN201711302700.6A CN201711302700A CN108089198B CN 108089198 B CN108089198 B CN 108089198B CN 201711302700 A CN201711302700 A CN 201711302700A CN 108089198 B CN108089198 B CN 108089198B
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Prior art keywords
laser
scanning
calibration
information data
rotation angle
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CN108089198A (en
Inventor
林东
崔锦
陈萌
谭杨
陈存柱
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Nuctech Co Ltd
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Nuctech Co Ltd
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Priority to PCT/CN2018/101625 priority patent/WO2019114316A1/en
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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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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • 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 invention relates to a three-dimensional scanning device, a robot and a data processing method, wherein the three-dimensional scanning device comprises: the laser radar device comprises a laser radar (1), a rotating mechanism (2) and a data processing module (3), wherein the scanning range of laser comprises an environment scanning area (B) and a calibration area (A) provided by an angle determination auxiliary component (5), and the rotating mechanism (2) drives a body of the laser radar (1) to rotate and pass through each preset rotating angle; the data processing module (3) is used for obtaining laser scanning information data of a calibration point in the calibration area (A) and laser scanning information data of an environment scanning area (B) under each preset rotation angle through which the body rotates, and determining a preset rotation angle corresponding to the laser scanning information data of the environment scanning area (B) according to the laser scanning information data of the calibration point in the calibration area (A). The invention can obtain more accurate three-dimensional scanning data.

Description

Three-dimensional scanning device, robot, and data processing method
Technical Field
The present invention relates to environment sensing technology, and more particularly, to a three-dimensional scanning device, a robot, and a data processing method.
Background
With the continuous development of robot technology, service robots have been applied in the fields of environmental monitoring, public safety, disaster relief, anti-terrorism and explosion prevention, etc. In a complex unstructured environment, a service robot needs to acquire three-dimensional space data of an external environment to complete various tasks such as estimation of the pose of the robot, recognition and obstacle avoidance of obstacles with different heights, automatic planning of a motion track, recognition and detection of a target object and the like. Thus, establishing three-dimensional spatial information of the environment is a prerequisite for the service robot to realize various functions.
In a complex unstructured environment, a laser radar is required to be capable of realizing a scanning function in a three-dimensional space due to obstacles of different heights and target objects of different sizes. The current multi-line lidar capable of three-dimensional environmental measurements is very expensive and its volume and weight are not adapted to a typical service robot. The single-line laser radar is usually arranged at a certain height of the robot, can only be used for acquiring space information on a two-dimensional plane, and cannot realize the scanning function of a three-dimensional space.
There are some solutions in the related art that a single-line laser radar is mounted on a moving platform, and three-dimensional mapping is completed by rotating a scanning plane. Such a solution relies heavily on the motion precision drive of the motion platform, requiring the use of expensive high precision servo drive equipment, and suffers from the disadvantage of being susceptible to motion platform precision. In addition, since the rotating mechanism to which the motion platform belongs needs to transmit angle data to the processing module, scan information data of the single-line laser radar also needs to be transmitted to the processing module. The movement of the platform from one angle to the next may take a certain amount of time, and may stay at each angle for a certain period of time, and the laser scanning in the lidar may take a single rotation (e.g., 25 milliseconds), which may vary. Moreover, the angle data and the laser scanning information data are transmitted through different lines, so that the time required by the transmission of the angle data and the laser scanning information data is likely to be different, namely the time delay is different, the generation and the transmission of the two data cannot be synchronous, and the processing module cannot correctly and correspondingly match the received laser scanning information data and the angle data. For this problem, the processing module in the related art adopts the following two methods for data processing.
The first method is that the processing module receives the angle data and the laser scanning information data simultaneously, and the generation and the transmission of the angle data and the laser scanning information data are considered to be completely synchronous, namely the angle data and the laser scanning information data received at the same time are considered to be completely corresponding, but the mode is very rough, and corresponding errors are easy to occur. In the three-dimensional mapping, a mapping error is caused by a small error of a preset rotation angle, and the error is linearly amplified along with the increase of a measurement distance, so that the environment description is inaccurate, and the method is difficult to be applied to a service robot.
The second method is that the processing module receives the angle data and the laser scanning information data at the same time, and then the received angle data is correspondingly matched with the laser scanning information data in a linear manner according to the time proportion, so that the mode is rough and the corresponding error is easy to occur.
Disclosure of Invention
The invention aims to provide a three-dimensional scanning device, a robot and a data processing method, which can obtain more accurate three-dimensional scanning data.
To achieve the above object, the present invention provides a three-dimensional scanning device comprising: the laser radar comprises a laser radar, a rotating mechanism and a data processing module, wherein laser in the laser radar is subjected to rotary scanning, and the scanning range of the laser comprises an environment scanning area and a calibration area provided by an angle determination auxiliary component; the rotating mechanism drives the laser radar body to rotate and pass through each preset rotating angle; the data processing module receives laser scanning information data of a calibration point in the calibration area and laser scanning information data of an environment scanning area, which are obtained by the laser radar under each preset rotation angle through which the body rotates, and determines the preset rotation angle corresponding to the laser scanning information data of the environment scanning area according to the laser scanning information data of the calibration point in the calibration area.
In one embodiment, the number of lines of the lidar is a single line, or the number of lines of the lidar is one of two lines to six lines.
In one embodiment, the rotating mechanism drives the body of the laser radar to rotate by taking an axis with the direction different from the axis direction of laser rotation scanning as an axis, a scanning surface formed by laser of the laser radar rotates along with the body of the laser radar, and the laser emergent axis is always positioned on the rotating axis of the body.
In one embodiment, the scan angle corresponding to the environmental scan area is less than the effective angular range of the lidar, such that at least a portion of the scan angle corresponding to the calibration area is within the effective angular range.
In one embodiment, the rotating mechanism drives the body of the laser radar to continuously rotate towards a preset direction or to reciprocally swing within a preset angle range.
In one embodiment, the predetermined angular range is 180 ° or more than 180 °.
In one embodiment, the rotation mechanism stays at the respective predetermined rotation angles for a predetermined time during rotation of the body of the lidar driven by the rotation mechanism.
In one embodiment, the predetermined time is equal to or longer than a time of one turn of laser scanning of the lidar.
In one embodiment, the body of the lidar does not dwell at each predetermined angle of rotation.
In one embodiment, the angle determination auxiliary component is a component belonging to a three-dimensional scanning device or other structure not belonging to the three-dimensional scanning device, the calibration area is formed in a range in which laser light of the laser radar scans on a surface of the angle determination auxiliary component, and the calibration area is kept relatively stationary with respect to a rotation axis of a body of the laser radar.
In one embodiment, the angle determination assistance part is configured such that a relationship of the predetermined rotation angle, the orientation of the corresponding calibration point, and the distance conforms to a preset formula, or such that a relationship of the predetermined rotation angle, the distance of the corresponding calibration point conforms to a preset formula.
In one embodiment, the angle determination aid provides a part of the calibration area in the shape of one of a circle, involute, ellipse or triangle, as seen in a main view direction of the laser radar from an ambient scanning area along a rotation axis of the body of the laser radar.
In one embodiment, the angle determination auxiliary member includes a housing rotatably connected to the rotation mechanism or a separate structure provided separately from the rotation mechanism, and the rotation mechanism drives the body of the lidar to rotate relative to the housing or the separate structure.
In one embodiment, the housing or the independent structure has a concave portion that avoids a movement space of the body, and the calibration area is formed in a scanning range of laser light of the laser radar on an inner peripheral surface of the concave portion.
In one embodiment, the concave portion is configured such that at least one intersection line of an inner peripheral surface thereof with a laser scanning surface at each predetermined rotation angle of a body of the laser radar is circular arc-shaped, and a center of the circular arc is located on an exit axis of laser light of the laser radar.
In one embodiment, the angle determination aid is an external environment or facility that exists independently of the three-dimensional scanning device, the external environment or facility remaining stationary relative to the axis of rotation of the body.
In one embodiment, the calibration area comprises a single calibration point, a plurality of calibration points in continuous or discrete form at each predetermined angle of rotation through which the body rotates.
In one embodiment, the plurality of calibration points partially or completely cover the calibration area.
In one embodiment, the single calibration point is an edge point of the calibration area, or a starting point of the laser radar from the environment scanning area into the calibration area.
In one embodiment, the laser scan information data for the calibration point comprises distance data for the calibration point or the laser scan information data for the calibration point comprises distance data and azimuth data for the calibration point.
In one embodiment, when the laser scan information data of the calibration point under a certain predetermined angle is not enough to determine the predetermined rotation angle corresponding to the laser scan information data of the environment scan area, the laser scan information data of the calibration point under an adjacent predetermined rotation angle is further combined to determine the predetermined rotation angle corresponding to the laser scan information data of the environment scan area.
In one embodiment, the laser scan information data of corresponding calibration points at different predetermined angles of rotation are different from each other.
In one embodiment, the rotation mechanism includes a lidar mounting bracket and a rotation drive assembly, the lidar is mounted on the lidar mounting bracket, and the housing is mounted between the rotation drive assembly and the lidar mounting bracket.
In one embodiment, the lidar mounting bracket is rotatably coupled to the housing via a slew bearing.
In one embodiment, the rotational drive assembly includes a power element and a toothed engagement transmission mechanism, the power element being operatively connected to the lidar mounting bracket via the toothed engagement transmission mechanism to drive rotation of the lidar mounting bracket about the rotational axis of the body.
In one embodiment, the toothed engagement transmission is a synchronous belt transmission or a multi-toothed transmission.
In one embodiment, the power element comprises a servo motor and a decelerator, or the power element comprises a stepper motor.
In one embodiment, the data processing module comprises:
a scanning data receiving unit for receiving laser scanning information data of a calibration point in the calibration area and laser scanning information data of an environment scanning area, which are obtained by the laser radar at each preset rotation angle through which the body rotates;
and the rotation angle determining unit is used for determining a preset rotation angle corresponding to the laser scanning information data of the environment scanning area according to the laser scanning information data of the calibration points in the calibration area.
In one embodiment, the data processing module further comprises:
and the point cloud data generation unit is used for generating three-dimensional environment point cloud data by combining the preset rotation angle and the laser scanning information data of the environment scanning area.
In one embodiment, the data processing module further comprises at least one of the following elements:
the starting signal response unit is used for responding to the data acquisition starting signal from the rotating mechanism and triggering the scanning data receiving unit to start receiving laser scanning information data obtained by the laser radar;
and the stop signal response unit is used for responding to the data acquisition stop signal from the rotating mechanism and controlling the scanning data receiving unit to stop receiving the laser scanning information data obtained by the laser radar after a preset time.
In one embodiment, the laser scanning information data of each predetermined rotation angle and the calibration point corresponding to each predetermined rotation angle in the rotation range of the rotation mechanism follows a preset formula, and the rotation angle determining unit specifically includes:
and the formula calculation and determination subunit calculates a corresponding preset rotation angle according to the preset formula and the laser scanning information data of the calibration points, so as to obtain a preset rotation angle matched with the laser scanning information data of the corresponding environment scanning area.
In one embodiment, the device further comprises a mapping information pre-storing module for pre-storing a mapping information table between the laser scanning information data of the calibration point and the preset rotation angle.
In one embodiment, the system further comprises a mapping information calculation module, wherein the mapping information calculation module calculates a mapping relation between at least one of the laser scanning information data of the standard points and a preset rotation angle according to a preset formula, and provides the mapping information to the mapping information pre-storing module for storage.
In one embodiment, the rotation angle determining unit includes:
and the table look-up determining subunit is used for searching the laser scanning information data of the pre-stored calibration point which is the same as or closest to the laser scanning information data of the detected calibration point in the mapping information table, and further determining the preset rotation angle corresponding to the laser scanning information data of the same or closest pre-stored calibration point as the laser scanning information data of the detected environment scanning area to be matched with the laser scanning information data of the detected environment scanning area.
In one embodiment, the data processing module further includes a calibration unit, receives the predetermined rotation angle provided by the rotation mechanism and laser scanning information data of a calibration point in the calibration area obtained by the laser radar, and correspondingly stores the predetermined rotation angle and the laser scanning information data of the calibration point in the mapping information table.
In one embodiment, the calibration unit receives laser scanning information data of the calibration point obtained by the laser radar after receiving the predetermined rotation angle provided by the rotation mechanism when rotating to each predetermined rotation angle, and stores the laser scanning information data of the calibration point in the map information table in correspondence with the predetermined rotation angle.
In one embodiment, the mapping information table is stored in the mapping information pre-storing module in an unmodified manner.
In one embodiment, the calibration unit performs recalibration when the relative state change of the angle determination auxiliary component and the rotating shaft of the rotating mechanism exceeds a threshold value, or after a preset time period elapses, and the mapping information pre-storing module updates the mapping information table based on the mapping information table obtained after recalibration.
In one embodiment, the laser radar and the angle determination auxiliary component are further provided with a sealing cover for sealing the laser radar and the angle determination auxiliary component, and the sealing cover is transparent to a laser wave band emitted by the laser radar.
In order to achieve the above purpose, the invention also provides a robot, which comprises the three-dimensional scanning device.
In order to achieve the above object, the present invention also provides an angle determination auxiliary member provided in or near a three-dimensional scanning apparatus including a laser radar in which laser light is rotationally scanned, a scanning range of the laser light including an environmental scanning area and a calibration area provided by the angle determination auxiliary member, and a rotation mechanism driving a body of the laser radar to rotate through respective predetermined rotation angles with an axis having a direction different from an axis direction of the laser light rotational scanning as a rotation axis,
wherein the calibration area remains relatively stationary with respect to the axis of rotation of the body of the lidar.
In one embodiment, the angle determination aid is configured to have a regular shape such that the predetermined rotation angle, the orientation and the distance of the corresponding calibration point form a specific formula, or such that the predetermined rotation angle, the distance of the corresponding calibration point form a specific formula.
In one embodiment, the angle determination auxiliary component comprises a housing having a concave portion that is clear of a movement space of the body, the rotation mechanism comprises a lidar mounting bracket on which the lidar is mounted and a rotation drive assembly, and the lidar mounting bracket is rotatably connected with the housing via a swivel bearing.
In order to achieve the above object, the present invention further provides a data processing method based on the three-dimensional scanning device, including:
the data processing module receives laser scanning information data of the calibration points in the calibration area and laser scanning information data of an environment scanning area, which are obtained by the laser radar under each preset rotation angle through which the body rotates;
and the data processing module determines a preset rotation angle corresponding to the laser scanning information data of the environment scanning area according to the laser scanning information data of the calibration points in the calibration area.
In one embodiment, the data processing method further comprises:
and the data processing module combines the preset rotation angle and the laser scanning information data of the environment scanning area to generate three-dimensional environment point cloud data.
In one embodiment, the data processing method further comprises at least one of the following steps:
responding to a data acquisition starting signal from the rotating mechanism, and triggering the data processing module to start receiving laser scanning information data obtained by the laser radar by the data processing module;
and responding to a data acquisition stop signal from the rotating mechanism, and controlling the data processing module to stop receiving laser scanning information data obtained by the laser radar after a preset time by the data processing module.
In one embodiment, laser scanning information data of each preset rotation angle and a calibration point corresponding to each preset rotation angle in the rotation range of the rotation mechanism follow a preset formula; the operation of determining the predetermined rotation angle specifically includes:
and the data processing module calculates a corresponding preset rotation angle according to the preset formula and the laser scanning information data of the calibration points, so as to obtain a preset rotation angle matched with the laser scanning information data of the corresponding environment scanning area.
In one embodiment, the three-dimensional scanning device further comprises a mapping information pre-storing module for pre-storing a mapping information table between the laser scanning information data of the calibration point and the preset rotation angle; the operation of determining the predetermined rotation angle specifically includes:
the data processing module searches the mapping information table for pre-stored mapping information matched with the laser scanning information data of the standard point obtained by the laser radar, and further determines a preset rotation angle in the pre-stored mapping information to be matched with the detected laser scanning information data of the environment scanning area.
In one embodiment, the operation of pre-storing the mapping information table specifically includes:
And calculating the mapping relation between at least one of the laser scanning information data of the standard points and the preset rotation angle according to a preset formula, and providing the mapping relation to the mapping information pre-storing module for storage.
In one embodiment, the data processing module further comprises a calibration unit; the data processing method further comprises the following steps:
the calibration unit receives laser scanning information data of the calibration point obtained by the laser radar after receiving the preset rotation angle provided by the rotation mechanism when the rotation mechanism rotates to each preset rotation angle, and stores the laser scanning information data of the calibration point in the mapping information table corresponding to the preset rotation angle.
In one embodiment, the mapping information table is stored in the mapping information pre-storing module in an unmodified manner; alternatively, the data processing method further includes:
and after a preset time period passes or when the relative state change of the angle determination auxiliary component and the rotating shaft of the rotating mechanism exceeds a threshold value, recalibrating, and updating the mapping information pre-storing module based on a mapping information table obtained after recalibration.
In order to achieve the above object, the present invention also provides a three-dimensional scanning device, including: the system comprises a laser radar, a rotating mechanism and a data processing module, wherein laser in the laser radar performs rotary scanning; the rotating mechanism drives the laser radar body to rotate and pass through each preset rotating angle; the data processing module receives laser scanning information data of an environment scanning area obtained by the laser radar under the preset rotation angle after receiving the preset rotation angle sent by the rotation mechanism, and then the rotation mechanism rotates the body of the laser radar to the next preset rotation angle; repeating the receiving operation of the data processing module and the rotating operation of the rotating mechanism until the laser scanning information data of the environment scanning area corresponding to all the preset rotating angles are obtained, and generating three-dimensional environment point cloud data by combining the preset rotating angles and the laser scanning information data of the environment scanning area.
In one embodiment, in the process that the data processing module receives the laser scanning information data of the environment scanning area, determining whether the laser scanning information data of the environment scanning area is stable, if not, the rotating mechanism stays waiting until the laser scanning information data of the environment scanning area is stable, and then correspondingly storing the laser scanning information data of the environment scanning area with the preset rotation angle and the stable laser scanning information data of the environment scanning area.
Based on the above technical scheme, in one embodiment of the invention, the scanning range of the laser radar under each preset rotation angle is at least divided into an environment scanning area and a calibration area, when the laser radar performs environment scanning, the data processing module can receive the laser scanning information data of the calibration point in the calibration area corresponding to each preset rotation angle measured by the laser radar and the laser scanning information data of the environment scanning area, and the preset rotation angle is accurately determined by the laser scanning information data of the calibration point. Compared with the related art related to the background technology, the embodiment of the invention utilizes the measurement data of the laser radar as the calibration information to obtain the swing angle, so that the dependence on the motion precision control of the motion mechanism is reduced, the measurement precision is higher, the error is smaller, and the obtained three-dimensional scanning data is more accurate.
According to the invention, after the preset rotation angle sent by the rotation mechanism is received, the laser scanning information data of the environment scanning area obtained by the laser radar under the preset rotation angle is received, and the corresponding relation between the preset rotation angle and the laser scanning information data of the environment scanning area can be clarified, so that the dependence on the motion precision control of the motion mechanism can be reduced, the measurement precision is higher, the error is smaller, and the obtained three-dimensional scanning data is more accurate.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic block diagram of an embodiment of a three-dimensional scanning apparatus of the present invention.
Fig. 2 is a schematic block diagram of another embodiment of the three-dimensional scanning apparatus of the present invention.
Fig. 3 is a schematic block diagram of a further embodiment of the three-dimensional scanning device of the present invention.
Fig. 4 is a schematic top cross-sectional view of a single line lidar of an embodiment of the three-dimensional scanning device of the present invention.
Fig. 5 is a schematic front view of an embodiment of a three-dimensional scanning device of the present invention.
Fig. 6 is a schematic partially cut-away perspective view of an embodiment of a three-dimensional scanning device of the present invention.
Detailed Description
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Referring to fig. 1, a schematic block diagram of an embodiment of the three-dimensional scanning device of the present invention is shown, in conjunction with fig. 4 and 5, in a schematic top cross-sectional view and a front view, respectively, of a single-line lidar in the embodiment of the three-dimensional scanning device. Referring to fig. 1, 4 and 5, a three-dimensional scanning apparatus according to an embodiment of the present invention includes: a laser radar 1, a rotating mechanism 2 and a data processing module 3.
Referring to fig. 4 and 5, the laser radar 1 can realize a ranging function by emitting laser light as a detection signal and receiving a signal reflected back from a target, and the laser light can be rotationally scanned with the longitudinal center axis of the laser radar where the laser light emission axis O point is located as a rotation axis. When the body of the single-line laser radar is stationary, the laser emitted from the emitting axis O point is located on a plane, and the plane forms a laser scanning plane. When the body of the single-line laser radar moves continuously, laser emitted from the emitting axis O point is positioned on a spiral surface, and the spiral surface within the range of 360 degrees can be called a laser scanning surface. Wherein the longitudinal central axis about which the laser light rotates may be referred to as the "first axis". The laser may be rotated continuously in a certain direction, which rotation may be achieved by e.g. mechanical rotation of the mirror. The number of lines of the lidar 1 may be preferably a single line, or the number of lines may be one of two to four lines, and preferably not more than six lines. When the body of the multi-line laser radar is stationary, a plurality of laser scanning surfaces are also present. The embodiment of the invention can realize omnibearing three-dimensional scanning by using a single-line radar or a low-line number radar with low manufacturing cost.
Within 360 degrees of laser rotation, only the internal structure of the lidar may beValid data can be obtained in a range of, for example, 270 degrees, and thus the valid scanning range can be defined as "valid angle range". The laser scan information data may include azimuth of the laser light and distance data (e.g., distance to a point on the surface of the target) at the corresponding azimuth, e.g., assuming a certain index point a 1 The laser scan information data of (1) is (10 °,30 mm). In the following description, if a certain calibration point is irradiated with laser light, the "azimuth of laser light" included in the laser scanning information data at this time may also be referred to as the "azimuth of the calibration point".
The rotation of the laser light in the lidar is described above, and the rotation (or may also be referred to as "rotation") of the body of the lidar is described below. According to the embodiment of the present application, a rotation mechanism 2 that drives the body of the lidar 1 to rotate may be provided. Specifically, the rotating mechanism 2 drives the body of the laser radar 1 to rotate around another rotation axis (passing through the O point and being perpendicular to the paper surface of fig. 5), so that the scanning surface formed by the laser also rotates along with the rotation axis, and thus the scanning area corresponding to the scanning surface under each rotation angle can realize the scanning ranging function of the three-dimensional space. Wherein the further axis of rotation may be referred to as "second axis". The direction of the "second axis" is different from the aforementioned "first axis", that is, the rotation mechanism 2 drives the body of the laser radar 1 to rotate about an axis having a direction different from the axis direction of the laser rotation scanning.
In order to distinguish the rotation angle of the body of the laser radar 1 from the rotation azimuth angle of the laser light inside the laser radar 1, the rotation angle of the body of the laser radar 1 is hereinafter referred to as "rotation angle". The rotation mechanism 2 may drive the laser radar 1 to rotate continuously in a certain direction, or may swing reciprocally in a preset angle range (for example, the size of the preset angle range is 180 °), for example, the rotation mechanism 2 swings reciprocally in 180 ° with reference to a horizontal plane, so that after the body of the laser radar rotates reciprocally by 180 °, the scanning surface can cover a three-dimensional scanning range of 360 ° in the main view plane. In another embodiment, the size of the preset angle range may be 180 ° or more, for example, 200 ° or more, so as to ensure a certain margin. Of course, 180 ° is preferred in the case where a fast scan of the target is required. Referring to fig. 5, the laser light emitting axis O formed by the laser radar 1 is always located on the rotation axis (i.e., the "second axis" in front) of the turning mechanism 2.
Referring to the schematic top cross-sectional view of the lidar shown in fig. 4, it can be seen that the scan range of one revolution (360 °) of the lidar 1 includes an environment scan area B and a calibration area a, and may of course also include an invalid angle range. The environment scanning area B is an area of the target and the environment in which the target is located, and the calibration area a is a surface area of an angle determination auxiliary member (described in detail later) to which the laser scanning surface is scanned and in which a calibration point exists. At least one calibration point exists in the intersection line of the calibration area A and the laser scanning surface under each preset rotation angle of the body of the laser radar 1. If the number of calibration points present on the intersection line of one laser scanning surface and the calibration area at each predetermined rotation angle is a plurality, the plurality of calibration points may constitute one calibration point group, and the calibration area has one calibration point group at each predetermined rotation angle. The laser emits to the calibration point and receives the reflected signal to obtain laser scan information data for the calibration point. The laser scan information data of the calibration points is used to help determine a predetermined rotation angle of the body of the lidar 1. After scanning the calibration points in the environment scanning area B and the calibration area a, the laser radar obtains laser scanning information data of the environment scanning area B and the calibration points, which are transmitted together to the data processing module 3, and the laser scanning information data of the calibration points in the calibration area a will be used to help determine at what predetermined rotation angle of the body of the laser radar 1 the laser scanning information data of the environment scanning area B in the same circle transmitted together with the same.
To form the calibration area a, an embodiment of the three-dimensional scanning device of the invention may comprise an angle determination aid 5. The index point may be within a valid angular range (e.g., the 270 range mentioned earlier) to ensure that valid laser scan information can be returned. Fig. 6 is a schematic partially cut-away perspective view of an embodiment of a three-dimensional scanning device of the present invention.
Referring to fig. 4, 5 and 6, in one embodiment, the angle determination assistance part 5 may include a housing 51 rotatably connected with the rotation mechanism 2. The turning mechanism 2 drives the lidar 1 to rotate relative to the housing 51 about the second axis as a rotation axis so that the laser scanning surface can sweep the contour surface of the housing 51. The rotating mechanism 2 is rotatably mounted on the housing 51 and drives the body of the laser radar 1 to rotate, and this structure makes the three-dimensional scanning device as a whole more compact and stable. When the laser light is scanned one 360 degrees at a certain predetermined rotation angle θ by the rotation mechanism 2, the laser light scans the environment scanning area B (if an object exists in the area B, the laser light is reflected back), and the laser light also scans the two calibration areas a on the contour surface of the housing 51. In addition, an invalid region in the middle of the two calibration regions a may be scanned.
Referring to fig. 4, in one embodiment, the sum of the angles of the calibration area a and the environment scanning area B may be smaller or larger than the effective angle range (for example, 270 ° mentioned above), and the range of the environment scanning area B may be selected according to the desired scanning range, and the corresponding scanning angle of the environment scanning area B is preferably smaller than the effective angle range, so as to ensure that at least a portion of the corresponding scanning angle of the calibration area a is within the effective angle range, that is, to ensure that there is an effective calibration point in the calibration area a of the housing 51.
In the three-dimensional scanning device according to the present invention, the angle determination auxiliary member 5 may be a member belonging to the three-dimensional scanning device or may be another structure not belonging to the three-dimensional scanning device. The calibration area a may be formed in a range in which the laser light of the laser radar 1 scans over the surface of the angle determination aid, while the calibration area remains relatively stationary with respect to the axis of rotation (i.e., the second axis) of the body of the laser radar 1. In addition, in addition to the configuration in which the angle determination assistance member includes the housing 51 rotatably connected to the rotation mechanism 2, a separate structure may be employed including a separate arrangement from the rotation mechanism 2, with respect to which the rotation mechanism 2 can drive the body of the laser radar 1 to rotate. The independent structure is not connected or in contact with the rotating mechanism 2, but is capable of maintaining a relatively stationary relationship with the second axis in order to provide a stable reference. Another example of an angle determination aid may be an external environment or installation that exists independently of the three-dimensional scanning device, such as a wall, a step, a naturally occurring object, etc. around the installation location of the three-dimensional scanning device, which, accordingly, needs to be kept stationary with respect to the axis of rotation of the body of the lidar 1.
The structure of the housing 51 of this embodiment is described in further detail below. As shown in fig. 4 and 6, the housing 51 may have a concave portion that bypasses the movement space of the body of the laser radar 1, and the calibration area a may be formed by the laser radar 1 at the inner peripheral surface (inner peripheral outline of fig. 5) of the concave portion. For reference, the foregoing independent structure may also have a concave portion that avoids the movement space of the body of the laser radar 1, and the calibration area a may be formed in the scanning range of the laser light of the laser radar 1 on the inner peripheral surface of the concave portion.
The calibration points may completely cover the calibration area a, but the invention is not limited thereto, and the calibration points may also partially cover the calibration area. In one embodiment, the calibration area a at any one of the predetermined angles of rotation may comprise a continuous plurality of calibration points or a discrete plurality of calibration points. In another embodiment, the calibration area at any one predetermined rotation angle may have only one calibration point, i.e. a single calibration point, e.g. the single calibration point being the edge point of the calibration area a or the starting point of the laser entering the calibration area a from the environment scanning area B.
The smaller the number of the calibration points is, the smaller the laser scanning information data of the calibration area processed by the data processing module is, and the faster the processing/operation speed is; the more the number of the calibration points is, the more the laser scanning information data of the calibration area is processed by the data processing module, and the slower the processing speed is, but due to the fact that the data of the plurality of the calibration points are provided, the data of the plurality of points can be comprehensively considered, so that influence caused by unexpected distortion points (for example, flying insects suddenly fly between the laser radar and the angle determination auxiliary component or sudden signal distortion) is avoided or at least reduced.
Further optimization is possible in case the calibration area at each predetermined rotation angle employs a plurality of calibration points. The laser scanning surface at each predetermined rotation angle of the body of the laser radar 1 may have one or more intersecting lines with the inner peripheral surface of the concave portion. At least one intersection line is in a circular arc shape, and the center of the circular arc is positioned on the laser emergent axis of the laser radar 1. Specifically, referring to fig. 4 (top view) and fig. 6, in the top view of fig. 4, when the body of the laser radar 1 is at the position of 0 degrees, the laser scanning surface is parallel to the paper surface (horizontal plane), two intersecting lines of the laser scanning surface at each predetermined rotation angle of the body of the laser radar 1 and the inner peripheral surface of the concave portion of the housing 51 are seen, and both intersecting lines are seen to be in the shape of an arc. With this arrangement, the distance from the axis O of the lidar 1 to each calibration point on the right calibration area a of fig. 4 is the same D 2 The distance from the axis O to each point on the calibration area A on the left side of FIG. 4 is the same D 1 . Thus, even in the case of a large length of the calibration area a, the laser has only a calibration distance of at most two values (i.e., D 1 And D 2 ) The calculation process can be simplified. In addition, noise reduction and abnormal point removal can be achieved through means such as averaging and abnormal point removal.
Further, as long as the laser radar is actually turned upside down from upright, i.e. rotated 180 °, the laser scanning surface can cover the whole 360 ° space, as seen in the main view direction shown in fig. 5, so that only a calibration area with a scanning angle of 180 ° in the main view direction is actually required to help determine the predetermined rotation angle. For example, in the embodiment of fig. 5, the upper part of the inner peripheral outline of the housing 51 is a semicircle, and the lower part of the inner peripheral outline is two parallel lines, as seen in the front view direction, only the area of 0 ° -180 ° of the upper part is required as the calibration area. At this time, it can be seen that the laser scanning surface on each predetermined rotation angle of the body of the laser radar 1 has two intersecting lines on the left and right with the inner peripheral surface of the concave portion of the housing 51, but since the calibration area takes only a semicircle of the upper half of fig. 5, the laser scanning surface on each predetermined rotation angle of the body of the laser radar 1 has only one intersecting line with the calibration area a of the housing 51, the intersecting line is set in a circular arc shape with the center of the circular arc line on the axis O. With this arrangement, the distance from the axis O of the laser radar 1 to each calibration point on the calibration area a is the same value, so that the calculation process can be simplified even more.
The present invention is not limited to the embodiment of fig. 5, and the angle determination assistance part may be configured such that the relationship of the predetermined rotation angle, the orientation of the corresponding calibration point, and the distance conforms to a preset formula, or such that the relationship of the predetermined rotation angle, the distance of the corresponding calibration point conforms to a preset formula. For example, the angle determination auxiliary member 5 provides a part of the calibration area a in a whole or a part of a shape of one of a circle, an involute shape, an ellipse, or a triangle, as viewed from the environment scanning area B toward the main viewing direction of the laser radar 1 along the rotation axis of the body of the laser radar 1.
Referring to fig. 5, it is sufficient that the inner peripheral surface of the housing 51 is correspondingly configured to conform to a preset formula, for example, the circumferential profile of the concave portion in the range of at least 180 ° may be set to be circular, involute, elliptical, triangular, or the like, as viewed in the aforementioned front view direction. Specifically, each predetermined rotation angle within the rotation range of the rotation mechanism 2 and the azimuth and distance data of the corresponding calibration point follow a preset function, and the three can form a specific formula (or the distance constitutes a binary function of the azimuth and the predetermined rotation angle). Of course, there is a simplified form in which if the calibration area at each predetermined rotation angle has only one calibration point (i.e., there is only one calibration point on the inner peripheral surface, for example, the starting point of the laser light entering the calibration area from the environment scanning area B is taken as the only calibration point), both the predetermined rotation angle variable and the distance variable follow a specific formula (or a function of the predetermined rotation angle), and this case can also be considered that the inner peripheral surface of the housing 51 conforms to a preset formula.
In one embodiment, in order to determine the uniquely corresponding lidar 1 by means of laser scan information data of a calibration pointThe predetermined rotation angles of the body may make the laser scanning information data of the calibration point at each predetermined rotation angle of the body of the laser radar 1 different from the laser scanning information data of the calibration points at other predetermined rotation angles. For example, assume that there are three index points A at a predetermined rotation angle of 0 DEG 1 、A 2 And A 3 The laser scanning information data are (10 DEG, 30 DEG, 13 DEG, 51 DEG, and (15 DEG, 37 DEG), and three corresponding calibration points B at a predetermined rotation angle of 9 DEG 1 、B 2 And B 3 The laser scanning information data of (10 °,33 mm), (13 °,47 mm) and (15 °,37 mm) are obtained, and then three calibration points A can be passed at this time 1 、A 2 And A 3 Laser scanning information data and three index points B 1 、B 2 And B 3 To determine the respective predetermined rotation angle or at least to distinguish between two predetermined rotation angles 0 deg. and 9 deg..
The aforementioned difference in laser scanning information data of the calibration points does not require difference in distance data of all the corresponding calibration points (laser orientations correspond), and may be different only in distance data of the corresponding calibration points, for example, in the above example, although a 3 And B 3 Is the same but A 1 And B is connected with 1 Different, A 2 And B is connected with 2 Different, therefore, distinction can be made. Here, the laser scanning information data of the calibration points may include distance data of the calibration points, and for example, in the case where only one calibration point is present in the calibration area corresponding to each predetermined rotation angle or the distance data of each calibration point is substantially the same, only the distance data of the calibration point may be used as the laser scanning information data of the calibration points.
In addition, at least one of the number of calibration points, the coverage of the calibration points, and the adjacent predetermined rotation angle may be transmitted to the data processing module as additional information. For example, when the predetermined rotation angle corresponding to the laser scanning information data of the environment scanning area B is not determined enough from the laser scanning information data of the calibration point at a certain predetermined angle, the predetermined rotation angle corresponding to the laser scanning information data of the environment scanning area B may be determined further in combination with the laser scanning information data of the calibration point at an adjacent predetermined rotation angle. Preferably, in order to make the distance data of the calibration points corresponding to each predetermined rotation angle different, and in order to simplify the form of the aforementioned "preset formula", the calibration points at all the predetermined rotation angles of the rotation mechanism 2 may be made to conform to the preset formula.
As shown in fig. 5, in one embodiment, the curves where the calibration points corresponding to all the predetermined rotation angles are located may be formed into involute curves to conform to the involute formula, so that the distance from the calibration point to the axis O increases with the increase of the predetermined rotation angle, and the calculation relationship between the predetermined rotation angle and the distance data (and the azimuth data of the calibration point, etc.) is simplified. Of course, the preset formula optionally used in the embodiment of the present invention is not limited to the involute formula, and in another embodiment, the preset formula may be another preset function curve formula in which the distance monotonically changes along with the change of the preset rotation angle, so that not only can the difference of the distance data of the calibration points corresponding to each preset rotation angle be ensured, but also the preset rotation angle can be easily calculated from the distance data according to the preset function curve formula.
The embodiment shown in fig. 5 will be described in detail. When the laser radar 1 is eccentrically disposed in the concave portion of the housing 51 (i.e., when the axis O of the laser radar 1 does not coincide with the center of the upper half circumference of the housing 51), the distance from the axis O to the inner circumferential surface of the concave portion increases with an increase in the predetermined rotation angle of the body of the laser radar 1. When the body of the lidar 1 is in an upright state (i.e., the predetermined rotation angle is 0 °), the axis O point is closest to the calibration area a (right side of the inner peripheral surface), which is D 2 The method comprises the steps of carrying out a first treatment on the surface of the Then rotate anticlockwise, the distance from the axis O point to the upper calibration area A of the inner peripheral surface becomes larger and larger, for example, becomes D 3 The method comprises the steps of carrying out a first treatment on the surface of the Finally, the distance from the axis O point to the left calibration area A of the inner peripheral surface reaches the maximum and becomes D 1 。
During the oscillation of the body of the laser radar 1, it can be considered that half of the scanning surface of the laser radar 1 is 0 ° from the right (assumingReference D for fig. 5 2 Is oriented 180 deg. to the left (assumed to be labeled D of fig. 5) 1 And may stay at each discrete predetermined rotation angle for a predetermined time, which is preferably equal to or longer than the time of one turn of the laser scanning of the laser radar 1. For example, if 25ms is required for one laser scan in a certain type of laser radar 1, the time that the laser radar stays at each predetermined rotation angle (for example, 0 degrees, 9 degrees, 18 degrees, … …) is greater than or equal to 25ms, so as to ensure that the laser radar 1 can completely collect data of one laser scan at the predetermined rotation angle. While the dwell time may be greater than 25ms, e.g. 30ms or 50ms, etc., in order to ensure a certain margin. Of course, in case a fast scan is required, the dwell time is preferably equal to 25ms. After the swing to 180 °, the laser radar swings from 180 ° to 0 °, thereby achieving reciprocating swing. Of course, if the rotational speed of the body of the lidar is lower than the predetermined speed and the detection accuracy requirement is low, the body of the lidar 1 may not stay at each predetermined rotational angle.
In another embodiment, even though there may be a case where the laser scanning information data of the calibration points corresponding to the two predetermined rotation angles are the same, it is still possible to simply distinguish the two predetermined rotation angles by their respective adjacent predetermined rotation angles, which is also within the scope of the present application. I.e. seen in the front view (i.e. seen in the direction of fig. 5), a circumferential profile (which may be the upper half-circumference profile of fig. 5, or may be the lower half-circumference profile, the left half-circumference profile, the oblique half-circumference profile, etc.), within at least 180 ° of the concave portion of the housing 51, may be set as the calibration area. D marked in FIG. 5 2 Corresponding to a preset rotation angle of 0 DEG, the rotation angle becomes larger when the rotation is anticlockwise, D 1 The corresponding angle is 180 °.
In the case where the interval between adjacent predetermined rotation angles is 1 °: it is assumed that the laser azimuth data and the distance data of the calibration point (or calibration point group) A1 at the predetermined rotation angle of 5 ° are the same as those of the calibration point (or calibration point group) A2 at the predetermined rotation angle of 130 °. If only these two sets of data are viewed, it is not possible to determine which set corresponds to a predetermined rotation angle of 5 ° and which set corresponds to a predetermined rotation angle of 130 °. At this time, corresponding data of the last adjacent predetermined rotation angle (first predetermined rotation angle) and/or the next adjacent predetermined rotation angle (third predetermined rotation angle) to the unknown predetermined rotation angle (assumed to be the second predetermined rotation angle) may be introduced. For example, if the data at the previous predetermined rotation angle 4 ° of 5 ° is different from the data at the previous predetermined rotation angle 129 ° of 130 °, then in another embodiment, the predetermined rotation angles corresponding to the detected laser scanning information data of A1 and the detected laser scanning information data of A2 may be determined by the laser scanning information data of the previous predetermined rotation angle.
In another embodiment of the present invention, in constructing the angle determination assistance member, the angle determination assistance member may be constructed in an arbitrary irregular shape without conforming the relation of the predetermined rotation angle, the orientation of the corresponding calibration point, and the distance to a preset formula. The laser scanning information data of the set of calibration points at each predetermined rotation angle through which the body rotates are randomly distributed. In this case, the calculation will become complicated or even difficult to realize, but the embodiment will determine the corresponding predetermined rotation angle not by the formula calculation but by the calibration process mentioned later. An advantage of this embodiment is that the shape and size of the auxiliary component need not be manufactured to exact dimensions, nor is the mounting required to be accurate, and the manufacturing and mounting costs will be greatly reduced.
As shown in fig. 6, a schematic partially cut-away perspective view of an embodiment of the three-dimensional scanning device of the present invention is shown. In fig. 6, the rotation mechanism 2 specifically includes a lidar mounting bracket 28 and a rotation driving assembly, the lidar 1 is mounted on the lidar mounting bracket 28, and a housing 51 is mounted between the rotation driving assembly and the lidar mounting bracket 28. The housing 51 may be secured to or be part of the chassis of the rotary drive assembly by the mounting plate 23.
Referring to fig. 6, the rotary drive assembly may specifically include a power element and a tooth mesh transmission. The power element is operatively connected to the lidar mounting bracket 28 by the toothed engagement transmission mechanism to drive the lidar mounting bracket 28 to rotate about the axis of rotation. In fig. 6, the power elements may include a servo motor 21 and a decelerator 22. A clutch or the like may be further provided as needed. In another embodiment, the power element may also include a stepper motor or other power form of component such as a pneumatic motor, a rotary cylinder, or a hydraulic motor, among others.
The toothed engagement transmission mechanism can realize accurate power transmission through toothed engagement, and can comprise a synchronous belt transmission mechanism. In fig. 6, the timing belt transmission mechanism may specifically include a drive pulley 24, a toothed belt 25, and a driven pulley 26. In order to make the rotation of the lidar mounting bracket 28 smoother, the lidar mounting bracket 28 and the housing 51 may be rotatably connected by a swivel bearing 27. In another embodiment, the toothed engagement transmission may also comprise a multi-toothed transmission, i.e. an engagement transmission by means of a plurality of gears.
In another embodiment of the three-dimensional scanning device of the present invention, a sealing cover for sealing the laser radar 1 and the angle determination auxiliary component 5 may be further included, where the sealing cover is transparent to the laser wave band emitted by the laser radar 1, so that the problem that the laser scanning information data of the calibration point cannot be normally or accurately obtained due to the fact that foreign matters such as hands or winged insects of an operator enter between the laser radar 1 and the angle determination auxiliary component 5 by mistake can be eliminated, thereby improving the reliability of the three-dimensional scanning device.
The data processing module 3 can receive laser scanning information data (such as a laser azimuth angle and a corresponding distance) of the calibration area a and the environment scanning area B obtained by the single-line laser radar 1 at each predetermined rotation angle. Fig. 2 is a schematic structural diagram of another embodiment of the three-dimensional scanning device according to the present invention. In contrast to the embodiment of fig. 1, the data processing module 3 comprises: a scan data receiving unit 31 and a rotation angle determining unit 32. Wherein the scan data receiving unit 31 receives laser scan information data of a calibration point in the calibration area a and laser scan information data of the environment scan area B obtained by the laser radar 1 with the body at each predetermined rotation angle. The rotation angle determining unit 32 determines a predetermined rotation angle from the laser scanning information data of the calibration point. For the angle determination assisting section 5 that provides the calibration area a, the rotation angle determining unit 32 may calculate a predetermined rotation angle corresponding to the laser scanning information data of the calibration point from the aforementioned "preset formula" and the received laser scanning information data of the calibration point (e.g., distance data, azimuth data, etc. of the calibration point).
In another embodiment, the data processing module 3 may further include a point cloud data generating unit that may generate three-dimensional environmental point cloud data in combination with the predetermined rotation angle and the distance data of the environmental scan area B. Since the laser scanning information data of the calibration point comes from the measurement data of the laser radar 1 itself, the laser scanning information data of the calibration point of the same circle and the laser scanning information data of the environment scanning area B are located in the same data unit (for example, the same frame) and transmitted through the same line architecture, so the data processing module 3 can also use the two data as the same data unit when receiving the two data. In this way, after the rotation angle determining unit 32 determines the predetermined rotation angle according to the laser scanning information data of the calibration point, the point cloud data generating unit can accurately correspond the predetermined rotation angle of the body of the laser radar 1 to the laser scanning information data of the environment scanning area B, so as to avoid the problem that the data cannot be synchronized and are erroneously matched due to the delay of receiving different data, so that the data processing module 3 obtains the accurate predetermined rotation angle, and further, the map construction based on the space three-dimensional point cloud data is more accurate.
According to an embodiment of the present invention, in one three-dimensional scan, the rotation mechanism 2 may send at most two signals to the data processing module, where the first signal is that the body of the laser radar 1 is at 0 ° (for example, the state shown in fig. 5 in which the laser radar is upright and the frustum is small and big down) and the rotation mechanism 2 is ready to start rotating the body of the laser radar 1, the rotation mechanism 2 sends a data acquisition start signal to the data processing module 3, where the data acquisition start signal may represent the initial position or have the initial angle data of 0 °, and of course may not represent any angle. The second signal is that when the body of the laser radar 1 is at 180 ° (for example, the state of the laser radar being inverted and the frustum being large and small in the upside down in fig. 5), the rotation mechanism 2 transmits a data acquisition stop signal to the data processing module 3, and the data acquisition stop signal may represent the stop position or have the stop angle data of 180 °, or may not represent any angle. In summary, the rotation mechanism 2 may not transmit any angle data to the data processing module, or the rotation mechanism 2 may transmit only data acquisition start signals and data acquisition stop signals of at most two present initial angles and end angles.
Accordingly, the data processing module 3 may include at least one of a start signal response unit and a stop signal response unit. Wherein, the starting signal response unit responds to the data acquisition starting signal from the rotating mechanism, and triggers the scanning data receiving unit 31 to start receiving the laser scanning information data obtained by the laser radar 1. The stop signal response unit controls the scan data receiving unit 31 to stop receiving the laser scan information data obtained by the laser radar 1 after a predetermined time in response to the data acquisition stop signal from the rotating mechanism. For example, after receiving the second signal, the receiving of the laser scanning information data is stopped after a short predetermined time (for example, a time required for scanning the laser radar 1 for one turn, for example, 25ms, or a time slightly longer than one turn of scanning), so long as it is ensured that a complete turn of the laser scanning information data under a predetermined rotation angle of 180 ° can be received.
Because the rotating mechanism 2 can send data to the data processing module at most twice according to the requirement, the data processing capacity of the data processing module 3 is reduced, the processing process is simplified, and the communication interference and the power consumption are reduced.
When the data processing module 3 receives the laser scanning information data of the calibration point in the calibration area a obtained by the laser radar 1 at each predetermined rotation angle, the predetermined rotation angle can be determined according to the laser scanning information data of the calibration point. According to the embodiment of the present invention, there are several methods of determining the predetermined rotation angle for the angle determination auxiliary member configured such that the relationship of the predetermined rotation angle, the orientation of the corresponding calibration point, and the distance conforms to a preset formula, or such that the relationship of the predetermined rotation angle, the distance of the corresponding calibration point conforms to a preset formula. The first method is a method using a formula calculation, and the second method is a method using a lookup table. Among the methods using the lookup table, the method using the lookup table with fixed data and the method using the lookup table with updated data are classified. These methods will be explained in detail in the following description with respect to fig. 2 and 3.
With respect to the first formula calculation method, under the condition that each predetermined rotation angle of the body of the laser radar 1 and the laser scanning information data of the calibration point corresponding to the predetermined rotation angle follow a specific formula, the rotation angle determining unit 32 may specifically include a formula calculation determining subunit capable of calculating the corresponding predetermined rotation angle according to a preset formula and the laser scanning information data of the calibration point, thereby obtaining a predetermined rotation angle matching the laser scanning information data of the corresponding environmental scanning area B.
The determination of the predetermined rotation angle is not limited to the calculation according to a specific formula, and may be performed by the aforementioned second lookup table. Fig. 3 is a schematic structural diagram of a three-dimensional scanning device according to another embodiment of the present invention. Compared with the previous embodiment, the present embodiment may further include a mapping information pre-storing module 4 for pre-storing a mapping information table, i.e. a pre-storing lookup table, between the laser scanning information data of the calibration point and the predetermined rotation angle. The data mapping information in the mapping information table may be obtained by calculation according to a formula, that is, in another embodiment, the three-dimensional scanning device may further include a mapping information calculation module, which calculates a mapping relationship between at least one of the laser scanning information data of the calibration point and the predetermined rotation angle according to a preset formula, and provides the mapping information to the mapping information pre-storing module 4 for storing.
For the mapping information table pre-stored in the mapping information pre-storing module 4, it may include at least one set of pre-stored mapping information records, and the pre-stored mapping information records may include laser scanning information data of each predetermined rotation angle and a calibration point corresponding to the predetermined rotation angle. In one embodiment, the rotation angle determining unit 32 may include a look-up table determining subunit that may look up the same or closest laser scanning information data of the pre-stored calibration point as the detected laser scanning information data of the calibration point in the mapping information table, and further determine that the predetermined rotation angle corresponding to the same or closest laser scanning information data of the pre-stored calibration point matches the detected laser scanning information data of the environment scanning area B. Here, the laser scanning information data of the closest pre-stored calibration point means that the difference between the laser scanning information data of the pre-stored calibration point and the laser scanning information data of the detected calibration point is very small, and this difference may be caused by an error (such as jitter, etc.) of the three-dimensional scanning device during operation, so that the data matching can still be considered within a preset difference range, and on the other hand, the laser scanning information data of the closest pre-stored calibration point also means that the difference between the laser scanning information data of the pre-stored calibration point corresponding to each predetermined rotation angle and the laser scanning information data of the detected calibration point is minimum.
The aforementioned methods of the lookup table are classified into a method of using a lookup table with fixed data and a method of using a lookup table with updated data. The method of using a data-fixed lookup table is first described herein. When the machining precision of the shape of the angle determination auxiliary component is high, that is, the deviation between the actual shape and the preset shape is small, the map information pre-storing module 4 stores a plurality of discrete preset rotation angles and a plurality of corresponding distance data calculated in advance according to the preset formula, and even a plurality of corresponding laser orientations may be included. These values are fixed in the mapping information pre-storing module 4 at the time of shipment of the device and are not changed later. Of course, in addition to calculation using a preset formula, in the case where the angle determining auxiliary member directly adopts any irregular shape, respective corresponding data (predetermined rotation angle and corresponding laser scanning information data) may be obtained through a calibration experiment (which will be described in detail later) before shipment, and all relevant data may be stored in the mapping information pre-storing module 4, and no change may be made later. The calibration method is not only suitable for the angle determination auxiliary component with an irregular shape, but also suitable for the angle determination auxiliary component with a regular shape which accords with a preset formula. In summary, the mapping information table may be stored in the mapping information pre-storing module 4 in an unmodified manner.
In yet another embodiment, when the angle determination auxiliary member is poor in stability to the environment or is not firmly installed, or when the rotation mechanism 2 frequently drives the body of the lidar 1 to rotate, such a situation may occur that: after a certain time, the change in the relative state (mainly the relative position) of the angle determination auxiliary member 5 and the rotation axis of the rotation mechanism 2 may exceed the threshold value, and in this case, it is necessary to recalibrate every predetermined period of time or every time the change in the relative state of the angle determination auxiliary member 5 and the rotation axis of the rotation mechanism 2 exceeds the threshold value, and the map information pre-storing module 4 updates the map information table obtained after recalibration.
The calibration operation may be performed by a calibration unit in the data processing module, i.e. in another embodiment the data processing module 3 may further comprise a calibration unit. The calibration unit can receive the predetermined rotation angle provided by the rotation mechanism 2 and the laser scanning information data of the calibration point in the calibration area a obtained by the laser radar 1, and correspondingly store the predetermined rotation angle and the laser scanning information data of the calibration point into the mapping information table. For example, the predetermined rotation angle and the corresponding laser scanning information data are stored in the mapping information pre-storing module 4 by setting a predetermined rotation angle and then receiving the laser scanning information data of the calibration point in the calibration area a under the predetermined rotation angle.
Accordingly, in the process of actually measuring the target, after the laser scanning information of the environment scanning area B and the calibration point is obtained, the rotation angle determining unit 32 can search the calibration point data closest to the scanning information of the actually measured calibration point from the latest calibrated data of the mapping information pre-storing module 4, so that the corresponding predetermined rotation angle can be very accurately found according to the mapping relation. By using the periodic calibration mode, not only can the dependence on the motion precision control and the machining precision of the motion mechanism be reduced, but also the adverse effect caused by the mechanical vibration of the motion mechanism can be greatly reduced, thereby the equipment cost can be reduced, the measurement precision is higher, and the error is smaller.
The calibration operation mentioned above firstly causes the rotating mechanism to rotate the body of the laser radar to a certain preset rotation angle, then sends the angle data about the preset rotation angle to the calibration unit in the data processing module, and after receiving the preset rotation angle data, the calibration unit receives the laser scanning information data of the calibration point obtained by the laser radar, and stores the laser scanning information data of the calibration point in the mapping information table corresponding to the preset rotation angle. When receiving the laser scan information data of the calibration point obtained by the laser radar, it is preferable to wait for a period of time to determine that the laser scan information data of the calibration point is substantially unchanged (in case that the laser scan information data of the calibration point of the calibration area corresponding to the last angle is received), and then store the predetermined rotation angle in a corresponding area of the storage module (e.g., a map information pre-storing module) corresponding to the determined scan information data. And then the rotating mechanism rotates the laser radar body to the next preset rotating angle, the process is repeated, and all calibration information can be obtained finally.
Although the method described above is for calibration, in another embodiment of the three-dimensional scanning device of the invention, the method described above can be used directly to detect stationary target objects. That is, the rotating mechanism rotates the laser radar body to a certain preset rotating angle, and then the preset rotating angle data about the preset angle is sent to the data processing module. The data processing module receives laser scanning information data of an environment scanning area obtained by the laser radar under the preset rotation angle after receiving the preset rotation angle sent by the rotation mechanism, and then the rotation mechanism rotates the body of the laser radar to the next preset rotation angle; repeating the receiving operation of the data processing module and the rotating operation of the rotating mechanism until the laser scanning information data of the environment scanning area corresponding to all the preset rotating angles are obtained, and generating three-dimensional environment point cloud data by combining the preset rotating angles and the laser scanning information data of the environment scanning area.
If there is a longer delay such as wireless transmission, in the process of receiving the laser scanning information data of the environment scanning area, the data processing module needs to determine whether the laser scanning information data of the environment scanning area is stable (i.e. determine whether the laser scanning information data of a plurality of circles received under the predetermined rotation angle is basically the same, prevent the receiving of the laser scanning information data under the last predetermined rotation angle), if not, the rotation mechanism continues to stay waiting until the laser scanning information data of the environment scanning area is stable, and then correspondingly store the predetermined rotation angle and the stable laser scanning information data of the environment scanning area. This detection method is suitable for a scene where rapid detection is not required (for example, in the case where a laser radar is mounted on a moving robot or a car, or in the case where a laser radar detects a moving car or a pedestrian).
The embodiments of the three-dimensional scanning device of the invention can be applied to various occasions and equipment needing three-dimensional scanning, for example, the three-dimensional space map construction is realized by using the obtained laser scanning information data. The three-dimensional scanning device may be mounted on a stationary device or on a moving device. For example, it can be applied to an unmanned car, but is particularly suitable for a robot. The invention thus also provides a robot comprising an embodiment of any of the three-dimensional scanning devices described above.
In addition, referring to the description of the foregoing embodiments of the three-dimensional scanning apparatus, the present invention may further provide an angle determination auxiliary member 5 provided in or near the three-dimensional scanning apparatus including the laser radar 1 and the rotation mechanism 2, the laser light in the laser radar 1 being rotationally scanned, the scanning range of the laser light including an environment scanning area B and a calibration area a provided by the angle determination auxiliary member 5, the rotation mechanism 2 driving the body of the laser radar 1 to rotate through respective predetermined rotation angles with an axis having a direction different from an axis direction of the rotational scanning of the laser light as a rotation axis, wherein the calibration area a remains relatively stationary with respect to the rotation axis of the body of the laser radar 1.
The angle determination assistance part 5 may be configured to have a regular shape such that the predetermined rotation angle, the orientation and the distance of the corresponding calibration point form a specific formula, or such that the predetermined rotation angle, the distance of the corresponding calibration point form a specific formula. In terms of construction, the angle determining auxiliary part 5 may include a housing 51 having a concave portion that is formed to avoid a movement space of the body, and the rotation mechanism 2 may include a lidar mounting bracket 28 and a rotation driving assembly, the lidar 1 being mounted on the lidar mounting bracket 28, the lidar mounting bracket 28 being rotatably connected to the housing 51 through a slew bearing 27.
Based on the foregoing embodiment of the three-dimensional scanning device, the present invention also provides a corresponding three-dimensional environmental point cloud data generating method, including:
the data processing module 3 receives laser scanning information data of the calibration point in the calibration area A and laser scanning information data of an environment scanning area B, which are obtained by the laser radar 1 at each preset rotation angle through which the body rotates;
the data processing module 3 determines a predetermined rotation angle corresponding to the laser scanning information data of the environment scanning area B according to the laser scanning information data of the calibration points in the calibration area a.
In the above embodiment, the scanning plane formed by the lidar 1 may always pass through the rotation axis of the rotation mechanism 2. The rotating mechanism 2 can drive the laser radar 1 to rotate continuously or swing reciprocally within a preset angle range. The size of the preset angle range may be 180 ° or more than 180 °. Accordingly, the turning mechanism 2 can reciprocally rotate within 180 ° with reference to the horizontal plane.
In order to further form three-dimensional environment point cloud data for realizing three-dimensional space mapping, the data processing method may further include: the data processing module 3 generates three-dimensional environmental point cloud data by combining the predetermined rotation angle and the laser scanning information data of the environmental scanning area B.
In the above embodiment, the data processing method may further include at least one of the following steps:
in response to a data acquisition starting signal from the rotating mechanism 2, the data processing module 3 triggers the data processing module 3 to start receiving laser scanning information data obtained by the laser radar 1;
in response to a data acquisition stop signal from the rotating mechanism 2, the data processing module 3 controls the data processing module 3 to stop receiving laser scanning information data obtained by the laser radar 1 after a predetermined time.
In another method embodiment, laser scanning information data of each predetermined rotation angle in the rotation range of the rotation mechanism 2 and a calibration point corresponding to each predetermined rotation angle follow a preset formula; the operation of determining the predetermined rotation angle may specifically include: the data processing module 3 calculates a corresponding preset rotation angle according to the preset formula and the laser scanning information data of the calibration points, so as to obtain a preset rotation angle matched with the laser scanning information data of the corresponding environment scanning area B.
Referring to the embodiment of the three-dimensional scanning apparatus shown in fig. 3, the three-dimensional scanning apparatus may further include a mapping information pre-storing module 4 pre-storing a mapping information table between the laser scanning information data of the calibration point and the predetermined rotation angle. Accordingly, the operation of determining the predetermined rotation angle may specifically include: the data processing module 3 searches the mapping information table for pre-stored mapping information matched with the laser scanning information data of the calibration point obtained by the laser radar 1, and further determines a preset rotation angle in the pre-stored mapping information to be matched with the detected laser scanning information data of the environment scanning area B. The operation of pre-storing the mapping information table may specifically include: and calculating the mapping relation between at least one of the laser scanning information data of the standard points and the preset rotation angle according to a preset formula, and providing the mapping relation to the mapping information pre-storing module 4 for storage.
For the table look-up mode, the mapping information table can be stored in the mapping information pre-storing module 4 in a non-changing mode; or stored in an updatable manner in the mapping information pre-storing module 4. Namely, the data processing method further comprises: and after a preset time period passes or when the relative state change of the angle determination auxiliary part 5 and the rotating shaft of the rotating mechanism 2 exceeds a threshold value, recalibrating is carried out, and the mapping information pre-storing module 4 updates the mapping information table based on the recalibrated mapping information table.
In a further method embodiment, the data processing module 3 may also comprise a calibration unit. The corresponding data processing method further comprises the following steps: the calibration unit receives the laser scanning information data of the calibration point obtained by the laser radar 1 after receiving the predetermined rotation angle provided by the rotation mechanism 2 when rotating to each predetermined rotation angle, and stores the laser scanning information data of the calibration point in the map information table in correspondence with the predetermined rotation angle.
The description of the embodiments of the data processing method may refer to the description of the contents and technical effects of the embodiments of the three-dimensional scanning device, and will not be repeated here. In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The above description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Claims (48)

1. A three-dimensional scanning device, comprising: the laser radar system comprises a laser radar (1), a rotating mechanism (2) and a data processing module (3), wherein laser in the laser radar (1) carries out rotary scanning, and the scanning range of the laser comprises an environment scanning area (B) and a calibration area (A) provided by an angle determination auxiliary component (5); the rotating mechanism (2) drives the body of the laser radar (1) to rotate and pass through each preset rotating angle; the data processing module (3) receives laser scanning information data of a calibration point in the calibration area (A) and laser scanning information data of an environment scanning area (B) obtained by the laser radar (1) under each preset rotation angle through which the body rotates, and determines the preset rotation angle corresponding to the laser scanning information data of the environment scanning area (B) according to the laser scanning information data of the calibration point in the calibration area (A).
2. The three-dimensional scanning device according to claim 1, wherein the number of lines of the laser radar (1) is a single line, or the number of lines of the laser radar (1) is one of two lines to six lines.
3. The three-dimensional scanning device according to claim 1, wherein the rotation mechanism (2) drives the body of the laser radar (1) to rotate with an axis whose direction is different from the axis direction of the laser rotation scanning, a scanning surface formed by the laser of the laser radar (1) rotates together with the body of the laser radar (1), and the laser emission axis is always located on the rotation axis of the body.
4. The three-dimensional scanning device according to claim 1, wherein the scanning angle corresponding to the environmental scanning area (B) is smaller than the effective angular range of the lidar (1) such that at least a part of the scanning angle corresponding to the calibration area (a) is within the effective angular range.
5. The three-dimensional scanning device according to claim 1, wherein the rotation mechanism (2) drives the body of the laser radar (1) to continuously rotate toward a preset direction or to reciprocally oscillate within a preset angle range.
6. The three-dimensional scanning device of claim 5, wherein the preset angular range has a size of 180 ° or more than 180 °.
7. The three-dimensional scanning device according to claim 1, wherein the rotation mechanism (2) stays at the respective predetermined rotation angles for a predetermined time in a process in which the rotation mechanism (2) drives the body of the lidar (1) to rotate.
8. The three-dimensional scanning device according to claim 7, wherein the predetermined time is equal to or longer than a time of one turn of laser scanning of the laser radar (1).
9. The three-dimensional scanning device according to claim 1, wherein the body of the lidar (1) does not stay at each predetermined rotation angle.
10. The three-dimensional scanning device according to claim 1, wherein the angle determination auxiliary component (5) is a component belonging to the three-dimensional scanning device or is other structure not belonging to the three-dimensional scanning device, the calibration area (a) being formed at a range in which the laser light of the lidar (1) scans over the surface of the angle determination auxiliary component (5), the calibration area (a) remaining relatively stationary with respect to the rotational axis of the body of the lidar (1).
11. The three-dimensional scanning device according to claim 10, wherein the angle determination assisting section (5) is configured such that a relationship of a predetermined rotation angle, the orientation of the corresponding calibration point, and the distance conforms to a preset formula, or such that a relationship of a predetermined rotation angle, the distance of the corresponding calibration point conforms to a preset formula.
12. The three-dimensional scanning device according to claim 11, wherein the angle determination auxiliary member (5) provides the portion of the calibration area (a) with an overall or partial shape of one of a circle, an involute, an ellipse, or a triangle, as viewed in a main viewing direction, which is a direction seen from an environmental scanning area (B) toward the laser radar (1) along a rotation axis of a body of the laser radar (1).
13. The three-dimensional scanning device according to claim 10, wherein the angle determination auxiliary member (5) includes a housing (51) rotatably connected to the rotation mechanism (2) or a separate structure provided separately from the rotation mechanism (2), the rotation mechanism (2) driving the body of the lidar (1) to rotate relative to the housing (51) or the separate structure.
14. The three-dimensional scanning device according to claim 13, wherein the housing (51) or the independent structure has a concave portion that avoids a movement space of the body, and the calibration area (a) is formed in a scanning range of the laser light of the laser radar (1) on an inner peripheral surface of the concave portion.
15. The three-dimensional scanning device according to claim 14, wherein the concave portion is configured such that at least one intersection line of an inner peripheral surface thereof with a laser scanning surface at each predetermined rotation angle of a body of the laser radar (1) is in a circular arc shape, and a center of the circular arc shape is located on an exit axis of laser light of the laser radar (1).
16. The three-dimensional scanning device according to claim 1, wherein the angle determination auxiliary component (5) is an external environment or installation that exists independently of the outside of the three-dimensional scanning device, which external environment or installation remains stationary relative to the axis of rotation of the body.
17. A three-dimensional scanning device according to claim 1, wherein the calibration area (a) comprises a single calibration point, a plurality of calibration points in continuous or discrete form at respective predetermined angles of rotation through which the body rotates.
18. The three-dimensional scanning device according to claim 17, wherein the plurality of calibration points partially or completely cover the calibration area (a).
19. The three-dimensional scanning device according to claim 17, wherein the single calibration point is an edge point of the calibration area (a) or a starting point of the laser radar (1) from the environment scanning area (B) into the calibration area (a).
20. The three-dimensional scanning device of claim 1, wherein the laser scanning information data of the calibration point comprises distance data of the calibration point or the laser scanning information data of the calibration point comprises distance data and azimuth data of the calibration point.
21. The three-dimensional scanning device according to claim 1, wherein when the predetermined rotation angle corresponding to the laser scanning information data of the environment scanning area (B) is not determined sufficiently from the laser scanning information data of the calibration point at a certain predetermined angle, the predetermined rotation angle corresponding to the laser scanning information data of the environment scanning area (B) is determined further in combination with the laser scanning information data of the calibration point at an adjacent predetermined rotation angle.
22. The three-dimensional scanning device according to claim 1, wherein laser scanning information data of corresponding calibration points at different predetermined rotation angles are different from each other.
23. The three-dimensional scanning device of claim 13, wherein the rotation mechanism (2) comprises a lidar mounting bracket (28) and a rotation drive assembly, the lidar (1) being mounted on the lidar mounting bracket (28), the housing (51) being mounted between the rotation drive assembly and the lidar mounting bracket (28).
24. The three-dimensional scanning device of claim 23, wherein the lidar mounting bracket (28) is rotatably connected to the housing (51) via a swivel bearing (27).
25. The three-dimensional scanning device of claim 23, wherein the rotational drive assembly comprises a power element and a toothed engagement transmission mechanism, the power element being operatively connected to the lidar mounting bracket (28) via the toothed engagement transmission mechanism to drive rotation of the lidar mounting bracket (28) about the rotational axis of the body.
26. The three-dimensional scanning device of claim 25, wherein the toothed engagement transmission is a synchronous belt transmission or a multi-toothed transmission.
27. The three-dimensional scanning device of claim 25, wherein the power element comprises a servo motor (21) and a decelerator (22), or the power element comprises a stepper motor.
28. The three-dimensional scanning device according to claim 1, wherein the data processing module (3) comprises:
a scanning data receiving unit (31) that receives laser scanning information data of a calibration point in the calibration area (a) and laser scanning information data of an environment scanning area (B) obtained by the laser radar (1) at each predetermined rotation angle through which the body rotates;
and a rotation angle determining unit (32) for determining a predetermined rotation angle corresponding to the laser scanning information data of the environment scanning area (B) according to the laser scanning information data of the calibration point in the calibration area (A).
29. The three-dimensional scanning device of claim 28, wherein the data processing module (3) further comprises:
and a point cloud data generation unit for generating three-dimensional environmental point cloud data by combining the predetermined rotation angle and the laser scanning information data of the environmental scanning area (B).
30. The three-dimensional scanning device according to claim 28, wherein the data processing module (3) further comprises at least one of the following units:
A start signal response unit, which is used for responding to a data acquisition start signal from the rotating mechanism (2) and triggering the scanning data receiving unit (31) to start receiving laser scanning information data obtained by the laser radar (1);
and a stop signal response unit for controlling the scan data receiving unit (31) to stop receiving the laser scan information data obtained by the laser radar (1) after a predetermined time in response to a data acquisition stop signal from the rotating mechanism (2).
31. The three-dimensional scanning device according to claim 28, wherein laser scanning information data of each predetermined rotation angle within the rotation range of the rotation mechanism (2) and a calibration point corresponding to each predetermined rotation angle follow a preset formula, the rotation angle determining unit (32) specifically includes:
and a formula calculation and determination subunit, for calculating a corresponding preset rotation angle according to the preset formula and the laser scanning information data of the calibration point, thereby obtaining a preset rotation angle matched with the laser scanning information data of the corresponding environment scanning area (B).
32. The three-dimensional scanning apparatus according to claim 28, further comprising a map information pre-storing module (4) that pre-stores a map information table between laser scanning information data of the calibration point and the predetermined rotation angle.
33. The three-dimensional scanning device according to claim 32, further comprising a mapping information calculation module for calculating a mapping relationship between at least one of the laser scanning information data of the calibration points and a predetermined rotation angle according to a preset formula, and providing the mapping information to the mapping information pre-storing module (4) for storage.
34. The three-dimensional scanning device according to claim 32, wherein the rotation angle determination unit (32) includes:
and a table look-up determining subunit, configured to look up, in the mapping information table, laser scan information data of a pre-stored calibration point that is the same as or closest to the detected laser scan information data of the calibration point, and further determine a predetermined rotation angle corresponding to the laser scan information data of the same or closest pre-stored calibration point as matching with the detected laser scan information data of the environmental scan area (B).
35. The three-dimensional scanning apparatus according to claim 32, wherein the data processing module (3) further comprises a calibration unit that receives the predetermined rotation angle provided by the rotation mechanism (2) and laser scanning information data of a calibration point in the calibration area (a) obtained by the laser radar (1), and correspondingly saves the predetermined rotation angle and the laser scanning information data of the calibration point into the map information table.
36. The three-dimensional scanning apparatus according to claim 35, wherein the calibration unit receives laser scanning information data of the calibration point obtained by the laser radar (1) after receiving the predetermined rotation angle provided by the rotation mechanism (2) upon rotation to each predetermined rotation angle, and stores the laser scanning information data of the calibration point in the map information table in correspondence with the predetermined rotation angle.
37. The three-dimensional scanning device according to claim 1, further comprising a closing cap closing the lidar (1) and the angle determination aid (5), the closing cap being transparent for the laser band emitted by the lidar (1).
38. A robot comprising the three-dimensional scanning device of any one of claims 1 to 37.
39. An angle determination auxiliary member (5) provided in or near a three-dimensional scanning apparatus including a laser radar (1), a rotation mechanism (2) and a data processing module (3), the laser light in the laser radar (1) being rotationally scanned, a scanning range of the laser light including an environmental scanning area (B) and a calibration area (a) provided by the angle determination auxiliary member (5), the rotation mechanism (2) driving a body of the laser radar (1) to rotate through respective predetermined rotation angles with an axis having a direction different from an axis direction of laser light rotation scanning as a rotation axis, the laser radar (1) being capable of obtaining laser scanning information data of the calibration point in the calibration area (a) and laser scanning information data of the environmental scanning area (B) by scanning the calibration area (a) at the respective predetermined rotation angles through which the body of the laser radar (1) rotates so that the data processing module (3) determines the predetermined rotation angle data corresponding to the laser scanning information data of the environmental scanning area (B) according to the scanning information data of the calibration point in the calibration area (a);
Wherein the calibration area (A) remains relatively stationary with respect to the axis of rotation of the body of the lidar (1).
40. The angle determination aid (5) according to claim 39, wherein the angle determination aid (5) is configured to have a regular shape such that the predetermined rotation angle, the orientation and the distance of the corresponding calibration point form a specific formula or such that the predetermined rotation angle, the distance of the corresponding calibration point form a specific formula.
41. The angle determination aid (5) according to claim 39, wherein the angle determination aid (5) comprises a housing (51) having a concave portion that is clear of a movement space of the body, the rotation mechanism (2) comprises a lidar mounting bracket (28) and a rotation drive assembly, the lidar (1) is mounted on the lidar mounting bracket (28), the lidar mounting bracket (28) is rotatably connected with the housing (51) by a swivel bearing (27).
42. A data processing method based on the three-dimensional scanning device of any one of claims 1 to 37, comprising:
a data processing module (3) receives laser scanning information data of the calibration point in the calibration area (A) and laser scanning information data of an environment scanning area (B) obtained by the laser radar (1) under each preset rotation angle through which the body rotates;
The data processing module (3) determines a preset rotation angle corresponding to the laser scanning information data of the environment scanning area (B) according to the laser scanning information data of the calibration points in the calibration area (A).
43. A data processing method according to claim 42, wherein the data processing method further comprises:
the data processing module (3) combines the preset rotation angle and the laser scanning information data of the environment scanning area (B) to generate three-dimensional environment point cloud data.
44. A data processing method according to claim 42, wherein the data processing method further comprises at least one of:
responding to a data acquisition starting signal from the rotating mechanism (2), triggering the data processing module (3) to start receiving laser scanning information data obtained by the laser radar (1) by the data processing module (3);
in response to a data acquisition stop signal from the rotating mechanism (2), the data processing module (3) controls the data processing module (3) to stop receiving laser scanning information data obtained by the laser radar (1) after a predetermined time.
45. The data processing method according to claim 42, wherein laser scanning information data of each predetermined rotation angle in the rotation range of the rotation mechanism (2) and a calibration point corresponding to each predetermined rotation angle follow a preset formula; the operation of determining the predetermined rotation angle specifically includes:
The data processing module (3) calculates a corresponding preset rotation angle according to the preset formula and the laser scanning information data of the calibration points, so that the preset rotation angle matched with the laser scanning information data of the corresponding environment scanning area (B) is obtained.
46. The data processing method according to claim 42, wherein the three-dimensional scanning device further comprises a map information pre-storing module (4) that pre-stores a map information table between laser scanning information data of the calibration point and the predetermined rotation angle; the operation of determining the predetermined rotation angle specifically includes:
the data processing module (3) searches the mapping information table for pre-stored mapping information matched with the laser scanning information data of the standard point obtained by the laser radar (1), and further determines a preset rotation angle in the pre-stored mapping information to be matched with the detected laser scanning information data of the environment scanning area (B).
47. The data processing method of claim 46, wherein the pre-storing the mapping information table comprises:
and calculating the mapping relation between at least one of the laser scanning information data of the standard points and the preset rotation angle according to a preset formula, and providing the mapping relation to the mapping information pre-storing module (4) for storage.
48. A data processing method according to claim 46, wherein the data processing module (3) further comprises a calibration unit; the data processing method further comprises the following steps:
the calibration unit receives laser scanning information data of the calibration point obtained by the laser radar (1) after receiving the preset rotation angle provided by the rotation mechanism (2) when the rotation mechanism rotates to each preset rotation angle, and stores the laser scanning information data of the calibration point in the mapping information table corresponding to the preset rotation angle.
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