CN211955814U - Laser radar three-dimensional imaging device - Google Patents
Laser radar three-dimensional imaging device Download PDFInfo
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Abstract
The utility model provides a three-dimensional imaging device of laser radar relates to photoelectric detection's technical field, include: the device comprises a laser scanner, a motor, an angle measurer and a controller, wherein the laser scanner is respectively connected with the motor and the controller, and the controller is respectively connected with the motor and the angle measurer; the laser scanner is used for scanning the environment where the three-dimensional imaging device is located to obtain three-dimensional scanning data; the motor is used for adjusting the space posture of the three-dimensional imaging device; the angle measurer is used for detecting the space attitude and generating space attitude data; the controller is used for generating the three-dimensional point cloud of the environment where the three-dimensional imaging device is located by utilizing the three-dimensional scanning data and the spatial attitude data, and the technical problem that the three-dimensional point cloud of the environment cannot be directly obtained in the prior art is solved.
Description
Technical Field
The utility model belongs to the technical field of photoelectric detection's technique and specifically relates to a laser radar three-dimensional imaging device is related to.
Background
With the development of the photoelectric imaging technology, the laser three-dimensional imaging-based industries in the fields of industry, surveying and mapping, electric power, traffic and the like are increasingly widely applied, and compared with a two-dimensional image, a mass of three-dimensional point clouds provided by the laser three-dimensional imaging technology have richer characteristic information. The essence of the laser scanner is multi-angle ranging, and taking an industrially common single line scanner as an example, the scanner realizes single section scanning (the multi-line scanner is only actually section scanning at a plurality of different angles) by an optical scanning method, and a three-dimensional point cloud cannot be directly formed to realize the acquisition of three-dimensional space information of a target.
No effective solution has been proposed to the above problems.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a laser radar three-dimensional imaging device to the technical problem of the unable three-dimensional point cloud that directly acquires the environment among the prior art has been alleviated.
In a first aspect, an embodiment of the present invention provides a laser radar three-dimensional imaging device, including: the device comprises a laser scanner, a motor, an angle measurer and a controller, wherein the laser scanner is respectively connected with the motor and the controller, and the controller is respectively connected with the motor and the angle measurer; the laser scanner is used for scanning the environment where the three-dimensional imaging device is located to obtain three-dimensional scanning data; the motor is used for adjusting the space posture of the three-dimensional imaging device; the angle measurer is used for detecting the space attitude and generating space attitude data; the controller is used for generating a three-dimensional point cloud of the environment where the three-dimensional imaging device is located by utilizing the three-dimensional scanning data and the space attitude data.
Further, the spatial pose data comprises at least one of: a differential signal representing a placement angle of the three-dimensional imaging device, wherein the differential signal is used to characterize a spatial pose of the laser scanner.
Further, the motor includes: the device comprises a first posture adjusting module and a second posture adjusting module, wherein the first posture adjusting module is used for adjusting the rotation angle of the laser scanner; and the second attitude adjusting module is used for adjusting the pitching angle of the laser scanner.
Further, the motor further includes: and the speed adjusting module is used for adjusting the movement speed of the three-dimensional imaging device.
Further, the goniometer includes: the encoder is used for detecting the space attitude of the laser scanner, generating the differential signal and sending the differential signal to the controller; the inclination angle sensor is used for measuring the placing angle and sending the placing angle to the controller.
Further, the encoder is also configured to send the differential signal to the laser scanner.
Further, the apparatus further comprises: the electric turntable comprises an electric turntable, a conductive sliding ring and a transmission gear, wherein the electric turntable is respectively connected with the laser scanner and the transmission gear, the conductive sliding ring is arranged at a central through hole of the electric turntable, and the conductive sliding ring is respectively connected with the laser scanner and the encoder.
Further, the controller includes: the first control module is respectively connected with the motor, the encoder and the second control module, and the second control module is connected with the tilt sensor; the first control module is used for sending a first electric signal to the motor so as to enable the motor to adjust the spatial posture of the three-dimensional imaging device based on the first electric signal; the first control module is further configured to collect the differential signal, and determine spatial attitude data of the laser scanner by using the differential signal, where the spatial attitude data of the laser scanner includes at least one of: pitch angle, rotation angle; the second control module is used for generating the three-dimensional point cloud by utilizing the spatial attitude data of the laser scanner, the placement angle of the three-dimensional imaging device and the three-dimensional scanning data.
Further, the apparatus further comprises: the photoelectric switch is connected with the second control module; and the photoelectric switch is used for calibrating the absolute origin of the three-dimensional imaging device.
Further, the apparatus further comprises: the plug, display screen and power, wherein, the second control module respectively with the plug with the display screen is connected, the power respectively with first control module with the second control module is connected.
In the embodiment of the present invention, first, the motor adjusts the spatial attitude of the three-dimensional imaging device; then, the laser scanner scans the environment where the three-dimensional imaging device is located to obtain three-dimensional scanning data; then the angular measurer detects the space attitude to generate space attitude data; and finally, the controller generates the three-dimensional point cloud of the environment where the three-dimensional imaging device is located by utilizing the three-dimensional scanning data and the spatial attitude data, so that the purpose of obtaining the three-dimensional point cloud of the environment where the three-dimensional imaging device is located is achieved, the technical problem that the three-dimensional point cloud of the environment cannot be directly obtained in the prior art is solved, and the technical effect of directly obtaining the three-dimensional point cloud of the environment is achieved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of a three-dimensional laser radar imaging apparatus according to an embodiment of the present invention;
fig. 2 is a schematic diagram of another lidar three-dimensional imaging apparatus provided by an embodiment of the present invention;
fig. 3 is an electrical connection diagram of a three-dimensional laser radar imaging apparatus according to an embodiment of the present invention;
fig. 4 is a structural diagram of another lidar three-dimensional imaging device provided by the embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The first embodiment is as follows:
according to the embodiment of the utility model provides a laser radar three-dimensional imaging device's embodiment is provided, figure 1 is according to the utility model discloses current acquisition system's schematic diagram.
As shown in fig. 1, the utility model provides a three-dimensional imaging device of laser radar, include: the laser scanning device comprises a laser scanner 10, a motor 20, an angle measurer 30 and a controller 40, wherein the laser scanner 10 is respectively connected with the motor 20 and the controller 40, and the controller 40 is respectively connected with the motor 20 and the angle measurer 30;
the laser scanner 10 is configured to scan an environment where the three-dimensional imaging device is located, so as to obtain three-dimensional scanning data;
specifically, in the embodiment of the utility model provides an in, foretell laser scanner realizes single line or multi-line scanning range finding formation of image to obtain three-dimensional scanning data, laser scanner scanning speed can reach 100Hz, and its distance measurement precision can reach 2cm, and rotation angle resolution ratio is the highest can reach 0.0125.
The motor 20 is used for adjusting the space posture of the three-dimensional imaging device;
preferably, the motor may be a stepping motor or a dc motor.
The angle measurer 30 is configured to detect the spatial attitude and generate spatial attitude data;
in addition, the spatial orientation data includes: and the differential signal is used for representing the spatial posture of the laser scanner.
The controller 40 is configured to generate a three-dimensional point cloud of an environment where the three-dimensional imaging device is located by using the three-dimensional scanning data and the spatial attitude data.
In the embodiment of the present invention, first, the motor adjusts the spatial attitude of the three-dimensional imaging device; then, the laser scanner scans the environment where the three-dimensional imaging device is located to obtain three-dimensional scanning data; then the angular measurer detects the space attitude to generate space attitude data; and finally, the controller generates the three-dimensional point cloud of the environment where the three-dimensional imaging device is located by utilizing the three-dimensional scanning data and the spatial attitude data, so that the purpose of obtaining the three-dimensional point cloud of the environment where the three-dimensional imaging device is located is achieved, the technical problem that the three-dimensional point cloud of the environment cannot be directly obtained in the prior art is solved, and the technical effect of directly obtaining the three-dimensional point cloud of the environment is achieved.
In addition, it should be noted that the laser scanner may receive an external synchronization pulse signal (e.g., a differential signal sent by an angle measurer), support input of a single-path or two-path pulse signal, automatically calculate a pulse increment inside the scanner, and automatically add pulse increment data to a frame of output scan data of the scanner.
In the embodiment of the present invention, as shown in fig. 2, the motor includes: a first posture adjustment module 21 and a second posture adjustment module 22.
The first posture adjustment module 21 is configured to adjust a rotation angle of the laser scanner;
and the second posture adjustment module 22 is configured to adjust a pitch angle of the laser scanner.
The embodiment of the utility model provides an in, first attitude adjustment module and second attitude adjustment module can adjust laser scanner's rotation angle and every single move angle after accepting the control command that the controller sent to can make laser scanner carry out comprehensive scanning to the environment of locating, and then obtain comprehensive complete three-dimensional point cloud.
As shown in fig. 2, in the embodiment of the present invention, the motor further includes:
and the speed adjusting module 23 is used for adjusting the movement speed of the three-dimensional imaging device.
It should be noted that, the speed adjustment module adopts a stepping motor or a direct current motor as power input, and can make the first attitude adjustment module and the second attitude adjustment module decelerate, specifically, the speed adjustment module adopts a planetary reduction gear or a worm and gear reduction gear, and supports 10: the reduction ratio of more than 1 meets the requirement of low-speed rotation of the motor.
In the embodiment of the present invention, as shown in fig. 2 to 3, the angle measurer 30 includes: an encoder 31 and a tilt sensor 32, wherein the controller is connected with the encoder and the tilt sensor, respectively, and the encoder is connected with the laser scanner.
The encoder 31 is configured to detect a spatial gesture of the laser scanner, generate the differential signal, and send the differential signal to the controller;
the tilt sensor 32 is configured to measure the placement angle and send the placement angle to the controller.
The embodiment of the utility model provides an in, foretell encoder adopts incremental encoder, scans laser scanner's space gesture to obtain 3 differential signal groups, wherein AB differential signal divide into two the tunnel, inputs the controller all the way for control laser scanner's rotation rate and rotation angle, another way is through inputting laser scanner, as laser scanner's rotation synchronization signal.
Preferably, the tilt sensor is rigidly connected to a fixed end bottom plate of the three-dimensional imaging device by using a 2-axis tilt sensor, and an X axis and a Y axis of the tilt sensor are respectively consistent with an X axis and a Y axis of the radar three-dimensional imaging device, so that the tilt sensor is used for arranging a pitch angle and a roll angle (namely, a spatial attitude of the three-dimensional imaging device) when the three-dimensional imaging device is used.
In the embodiment of the present invention, as shown in fig. 4, the apparatus further includes: the electric rotary table comprises an electric rotary table 50, a conductive sliding ring 60 and a transmission gear 70, wherein the electric rotary table is respectively connected with the laser scanner and the transmission gear, the conductive sliding ring is arranged at a central through hole of the electric rotary table, and the conductive sliding ring is respectively connected with the laser scanner and the encoder.
The electric turntable is used as a movement mechanism, the electric turntable is of a hollow structure, and a through hole in the center of the electric turntable is larger than 30 mm; the laser scanner is arranged on the rotating table surface of the electric turntable, and the conductive slip ring is arranged in a central through hole of the electric turntable; overall structure adopts 2 segmentation structures, and the upper portion is rotatory end, and the lower part is fixed mounting end.
In order to realize the compact structure of the three-dimensional imaging device, the rotating table surface of the electric turntable is eccentrically connected with the incremental encoder through a transmission gear, and the transmission ratio of the transmission gear is more than 1; through the introduction of the transmission gear, the actual resolution of the angle measurement of the rotary table top of the electric rotary table can be increased through gear transmission on the basis of solving the problem of compact structural layout.
Preferably, the electric turntable can adopt a worm and gear speed reducing mechanism, and the rotation speed reducing ratio is not lower than 10: 1.
the resolution of the incremental encoder is not lower than 2048PRM, and the transmission gear ratio k of the transmission gear is not lower than 1.75; the total number of the conductive slip ring is not less than 12 lines, and the diameter of the conductive slip ring is not more than 25 mm.
In the embodiment of the present invention, the controller 40 includes: a first control module 41 and a second control module 42, wherein the first control module is respectively connected with the motor, the encoder and the second control module, and the second control module is connected with the tilt sensor;
the first control module 41 is configured to send a first electrical signal to the motor, so that the motor adjusts a spatial posture of the three-dimensional imaging apparatus based on the first electrical signal;
the first control module 41 is further configured to acquire the differential signal, and determine spatial attitude data of the laser scanner by using the differential signal, where the spatial attitude data of the laser scanner includes at least one of: pitch angle, rotation angle;
the second control module 42 is configured to generate the three-dimensional point cloud by using the spatial attitude data of the laser scanner, the placement angle of the three-dimensional imaging device, and the three-dimensional scanning data.
The first control module adopts an FPGA, and the first control module sends a first electric signal to the motor so that the motor adjusts the space posture of the three-dimensional imaging device based on the first electric signal.
In addition, the first control module can realize the turntable control and the turntable angle implementation measurement (namely, the space attitude data of the laser scanner) through the differential signal after acquiring the differential signal sent by the encoder.
According to the designed installation mode, the current measurement values (D, theta) of the laser scanner are set, and the following are provided:
[x,y,z]＝[0,Dsinθ,Dcosθ]
if the effective resolution N of the incremental encoder is set and the transmission ratio k of the transmission gear 2 is set, thenAfter transmission by the transmission gear 2, the actual rotation angle resolution N' of the turntable table top is kN, and if the number of pulses N recorded by the current laser scanner 3 is set, there is the turntable rotation angle
In a coordinate system taking the table top of the electric turntable as the center, the three-dimensional point cloud calculation formula is as follows:
wherein,
is a spatial coordinate rotation matrix. Similarly, the pitch angle alpha and the roll angle beta acquired by the 2-axis tilt angle sensor are set, and horizontal point cloud calculation can be achieved by adopting a form of formula (2), wherein
The second control module can adopt an ARM (advanced RISC machine) and an ARM built-in Linux operating system, designs control and data processing upper computer software, supports high-capacity storage media such as SATA (serial advanced technology attachment) hard disks and TF (Transflash) cards, and supports external control and communication interfaces such as Ethernet and RS 485.
In the embodiment of the present invention, as shown in fig. 3, the apparatus further includes: a photoelectric switch 80, wherein the photoelectric switch is connected with the second control module;
and the photoelectric switch 80 is used for calibrating the absolute origin of the three-dimensional imaging device.
Specifically, the working state of the photoelectric switch is normally open, and the photoelectric switch is installed in the Y-axis forward direction of the three-dimensional imaging device, and the problem that the absolute origin of the system is fuzzy due to the introduction of the transmission gear is solved by the normally open photoelectric switch, namely, the absolute origin of the three-dimensional imaging device is restrained by the photoelectric switch.
In the embodiment of the present invention, as shown in fig. 3 and 4, the apparatus further includes: the plug 90, the display screen 100 and the power supply 110, wherein the second control module is respectively connected with the plug and the display screen, and the power supply is respectively connected with the first control module and the second control module.
It should be noted that the display screen may be a touch LCD display screen; the power supply adopts a 24V lithium battery.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A lidar three-dimensional imaging apparatus, comprising: the device comprises a laser scanner, a motor, an angle measurer and a controller, wherein the laser scanner is respectively connected with the motor, the angle measurer and the controller, and the controller is respectively connected with the motor and the angle measurer;
the laser scanner is used for scanning the environment where the three-dimensional imaging device is located to obtain three-dimensional scanning data;
the motor is used for adjusting the space posture of the three-dimensional imaging device;
the angle measurer is used for detecting the space attitude and generating space attitude data;
the controller is used for generating a three-dimensional point cloud of the environment where the three-dimensional imaging device is located by utilizing the three-dimensional scanning data and the space attitude data.
2. The apparatus of claim 1, wherein the spatial pose data comprises at least one of: a differential signal representing a placement angle of the three-dimensional imaging device, wherein the differential signal is used to characterize a spatial pose of the laser scanner.
3. The apparatus of claim 2, wherein the motor comprises: a first attitude adjustment module and a second attitude adjustment module, wherein,
the first posture adjustment module is used for adjusting the rotation angle of the laser scanner;
and the second attitude adjusting module is used for adjusting the pitching angle of the laser scanner.
4. The apparatus of claim 2, wherein the motor further comprises:
and the speed adjusting module is used for adjusting the movement speed of the three-dimensional imaging device.
5. The apparatus of claim 2, wherein the goniometer comprises: the controller is respectively connected with the encoder and the inclination angle sensor, and the encoder is connected with the laser scanner;
the encoder is used for detecting the space attitude of the laser scanner, generating the differential signal and sending the differential signal to the controller;
the inclination angle sensor is used for measuring the placing angle and sending the placing angle to the controller.
6. The apparatus of claim 5, wherein the encoder is further configured to send the differential signal to the laser scanner.
7. The apparatus of claim 5, further comprising: the electric turntable comprises an electric turntable, a conductive sliding ring and a transmission gear, wherein the electric turntable is respectively connected with the laser scanner and the transmission gear, the conductive sliding ring is arranged at a central through hole of the electric turntable, and the conductive sliding ring is respectively connected with the laser scanner and the encoder.
8. The apparatus of claim 7, wherein the controller comprises: the first control module is respectively connected with the motor, the encoder and the second control module, and the second control module is connected with the tilt sensor;
the first control module is used for sending a first electric signal to the motor so as to enable the motor to adjust the spatial posture of the three-dimensional imaging device based on the first electric signal;
the first control module is further configured to collect the differential signal, and determine spatial attitude data of the laser scanner by using the differential signal, where the spatial attitude data of the laser scanner includes at least one of: pitch angle, rotation angle;
the second control module is used for generating the three-dimensional point cloud by utilizing the spatial attitude data of the laser scanner, the placement angle of the three-dimensional imaging device and the three-dimensional scanning data.
9. The apparatus of claim 8, further comprising: the photoelectric switch is connected with the second control module;
and the photoelectric switch is used for calibrating the absolute origin of the three-dimensional imaging device.
10. The apparatus of claim 8, further comprising: the plug, display screen and power, wherein, the second control module respectively with the plug with the display screen is connected, the power respectively with first control module with the second control module is connected.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113985420A (en) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | Method for compensating scanning light path error of laser radar inclined by 45 degrees |
| CN116571852A (en) * | 2023-07-11 | 2023-08-11 | 四川吉埃智能科技有限公司 | Automatic welding method and system for robot stud |
| CN117647792A (en) * | 2024-01-30 | 2024-03-05 | 山东省科学院海洋仪器仪表研究所 | Laser radar two-dimensional scanning control method and system based on FPGA |
| CN118089598A (en) * | 2024-04-17 | 2024-05-28 | 四川吉埃智能科技有限公司 | Pipeline lengthening method, device, equipment and medium based on three-dimensional detection |
| CN118602986A (en) * | 2024-08-07 | 2024-09-06 | 成都航宇汇智科技有限公司 | Three-dimensional surface contour measuring method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113985420A (en) * | 2021-12-28 | 2022-01-28 | 四川吉埃智能科技有限公司 | Method for compensating scanning light path error of laser radar inclined by 45 degrees |
| CN113985420B (en) * | 2021-12-28 | 2022-05-03 | 四川吉埃智能科技有限公司 | Method for compensating scanning light path error of laser radar inclined by 45 degrees |
| CN116571852A (en) * | 2023-07-11 | 2023-08-11 | 四川吉埃智能科技有限公司 | Automatic welding method and system for robot stud |
| CN116571852B (en) * | 2023-07-11 | 2023-09-26 | 四川吉埃智能科技有限公司 | Automatic welding method and system for robot stud |
| CN117647792A (en) * | 2024-01-30 | 2024-03-05 | 山东省科学院海洋仪器仪表研究所 | Laser radar two-dimensional scanning control method and system based on FPGA |
| CN117647792B (en) * | 2024-01-30 | 2024-04-16 | 山东省科学院海洋仪器仪表研究所 | Laser radar two-dimensional scanning control method and system based on FPGA |
| CN118089598A (en) * | 2024-04-17 | 2024-05-28 | 四川吉埃智能科技有限公司 | Pipeline lengthening method, device, equipment and medium based on three-dimensional detection |
| CN118602986A (en) * | 2024-08-07 | 2024-09-06 | 成都航宇汇智科技有限公司 | Three-dimensional surface contour measuring method |
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