WO2019085376A1 - Dispositif de balayage laser et son procédé de commande, et système de mesure mobile et son procédé de commande - Google Patents

Dispositif de balayage laser et son procédé de commande, et système de mesure mobile et son procédé de commande Download PDF

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Publication number
WO2019085376A1
WO2019085376A1 PCT/CN2018/080276 CN2018080276W WO2019085376A1 WO 2019085376 A1 WO2019085376 A1 WO 2019085376A1 CN 2018080276 W CN2018080276 W CN 2018080276W WO 2019085376 A1 WO2019085376 A1 WO 2019085376A1
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WIPO (PCT)
Prior art keywords
laser
module
scanning device
mirror
target
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PCT/CN2018/080276
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English (en)
Chinese (zh)
Inventor
毛庆洲
胡庆武
陈小宇
翁国康
宫汉鲁
杨正
符运强
王晖
刘佐牙
李清泉
邹蕾
卢金刚
肖亮
Original Assignee
武汉海达数云技术有限公司
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Publication of WO2019085376A1 publication Critical patent/WO2019085376A1/fr

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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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors

Definitions

  • the present invention relates to the field of laser scanning technology, and in particular to a laser scanning device and a control method thereof, a mobile measurement system and a control method thereof.
  • GNSS Global Navigation Satellite System
  • IMU Inertial Measurement Unit
  • the present invention provides a laser scanning device, a control method thereof, a mobile measurement system, and a control method thereof to improve the above problems.
  • the present invention provides the following technical solutions:
  • a laser scanning device includes a laser emitting module, a rotating module, a laser receiving module, a data collecting module, and a data processing module, wherein the laser emitting module and the laser receiving module are disposed on one side of the rotating module
  • the laser emitting module is configured to emit a laser
  • the rotating module is configured to change a direction of the laser to cause the laser to illuminate a target at each position of a target scene
  • the laser receiving module is configured to receive the laser Deriving a laser reflected by the target and performing photoelectric conversion to obtain an electrical signal
  • the data processing module configured to process the electrical signal to obtain a time difference between the laser light emitted by the laser emitting module and the laser light received by the laser receiving module
  • the data The acquisition module is configured to collect data of the laser emission module, the rotation module, and the data processing module to obtain point cloud data of the target scene.
  • the rotation module includes a first mirror, a second mirror, a first rotation module, and a second rotation module, and the first rotation module is connected to the first mirror.
  • the second rotating module is connected to the second mirror, the first rotating module is configured to drive the first mirror, the second mirror and the entire rotating module to rotate, and the second rotating module is configured to Driving the second mirror to rotate, the laser light emitted by the laser emitting module is reflected by the first mirror, and then reflected by the second mirror and then incident on the target object, and the first rotating module is configured to drive the whole
  • the rotation module rotates, and the second rotation module is configured to drive the second mirror to rotate, so that the laser light emitted by the laser emitting module can illuminate the target at each position of the target scene.
  • the rotation axis of the first rotation module is perpendicular to the rotation axis of the second rotation module.
  • the first rotating module includes a first motor, a first motor driving unit, and a first angle encoder, and the first motor is coupled to the first angle encoder, the first a motor configured to drive the first mirror to rotate;
  • the second rotating module includes a second motor, a second motor driving unit, and a second angle encoder, wherein the second motor is coupled to the second angle encoder
  • the second motor is configured to drive the second mirror to rotate;
  • the first angle encoder is configured to detect a rotation angle of the first motor, and the second angle encoder is configured to detect the second The angle of rotation of the motor.
  • the laser receiving module includes a concentrating unit and a photodetecting unit, and the concentrating unit is configured to condense the laser light reflected by the target, the photo detecting unit configured The laser light collected by the concentrating unit is photoelectrically converted to obtain an electrical signal.
  • the concentrating unit includes a filter and a condensing lens, and the filter is configured to filter laser light reflected by the target, and the condensing lens is configured to The light filtered by the filter is condensed.
  • the laser receiving module further includes a signal amplifying unit, the signal amplifying unit is connected to the photo detecting unit, and the signal amplifying unit is configured to amplify the electric signal
  • the signal amplifying unit includes a multi-channel amplifying circuit, and the amplification factors of the multi-channel amplifying circuit respectively correspond to a plurality of preset amplification factors.
  • the amplifying circuit includes a first amplifier, a second amplifier, a signal filter, and a third amplifier that are sequentially connected; the amplification factor of the amplifying circuit is a magnification of the first amplifier, and a second The product of the amplification factor of the amplifier and the amplification factor of the third amplifier.
  • the plurality of the amplifying circuits share the first amplifier, and each of the amplifying circuits is respectively provided with the second amplifier, the signal filter, and the third amplifier.
  • the laser emitting module includes a laser generating unit, a laser driving unit, and an optical collimating unit
  • the laser driving unit is connected to the laser generating unit
  • the laser driving unit is configured to drive the driving
  • the laser generating unit generates laser light
  • the optical collimating unit is configured to adjust the laser light generated by the laser generating unit to collimated laser light.
  • the laser emitting module further includes a third mirror, the laser light reflected from the target is incident on the third mirror after passing through the rotating module, and the third mirror A laser configured to reflect the target is reflected to the laser receiving module.
  • the data processing module is configured to process the time difference based on a TOF ranging algorithm to obtain a distance between the laser scanning device and the target.
  • a method of controlling a laser scanning device comprising: the laser emitting module emitting a laser; the rotating module changing a direction of the laser emitted by the laser emitting module, a target for causing the laser to be irradiated to respective positions of the target scene; a direction of the laser light emitted by the block to cause the laser to illuminate a target at each position of the target scene; the laser receiving module receives the a laser reflected by the target, and photoelectrically converting the received laser to obtain an electrical signal; the data processing module processes the electrical signal to obtain a laser emitted by the laser emitting module and a laser received by the laser receiving module
  • the data acquisition module collects data of the laser emitting module, the rotating module, and the data processing module to obtain point cloud data of the target scene.
  • a mobile measurement system comprising a processing device, an inertial measurement device, and the above-described laser scanning device, the processing device being respectively connected to the inertial measurement device and the laser scanning device, wherein the inertial measurement device is configured to Obtaining motion data of the mobile measurement system, the processing device configured to perform point cloud data of a target scene collected by an acquisition module of the laser scanning device and motion data acquired by the inertial measurement device based on a preset SLAM algorithm Processing to obtain a three-dimensional image of the target scene.
  • a method for controlling a mobile measurement system comprising: the inertial measurement device acquiring motion data of a positioning device; the laser scanning device acquiring point cloud data of a target scene; The processing device processes the point cloud data of the target scene and the motion data based on a preset SLAM algorithm to acquire a three-dimensional image of the target scene.
  • the invention provides a laser scanning device, a control method thereof, a mobile measuring system and a control method thereof, the laser scanning device comprising a laser emitting module, a rotating module, a laser receiving module, a data collecting module and data
  • the processing module, the laser emitting module and the laser receiving module are disposed on one side of the rotating module, the laser emitting module is configured to emit laser light, and the rotating module is configured to change the direction of the laser to irradiate the laser to the target of each position of the target scene, and the laser receiving The module is configured to receive the laser light reflected by the target and the laser light emitted by the laser emitting module and perform photoelectric conversion to obtain an electrical signal, and the data processing module is configured to process the electrical signal to obtain a time difference between the laser emitted by the laser emitting module and the laser received by the laser receiving module.
  • the data acquisition module is configured to collect data of the laser emitting module, the rotating module, and the data processing module to obtain point cloud data of the target scene.
  • the three-dimensional data of the three-dimensional space of the target scene can be obtained, and the real-time positioning and mapping can be performed by combining the inertial measurement device and the preset SLAM algorithm in the mobile measurement system, and solving the GNSS-free signal in the mobile measurement system in the prior art. Problems that cannot be worked in the environment.
  • FIG. 1 is a schematic structural diagram of a laser scanning device according to an embodiment of the present invention
  • FIG. 2 is a block diagram of a laser scanning device according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of another laser scanning device according to an embodiment of the present invention.
  • FIG. 4 is a circuit diagram of a signal amplifying unit of a laser scanning device according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of a method for controlling a laser scanning device according to an embodiment of the present invention
  • FIG. 6 is a block diagram of a mobile measurement system according to an embodiment of the present invention.
  • FIG. 7 is a flowchart of a control method of a mobile measurement system according to an embodiment of the present invention.
  • Icon 100-laser scanning device; 110-laser transmitting module; 111-laser generating unit; 112-laser driving unit; 113-optical collimating unit; 114-third mirror; 120-rotating module; 121-first reflection Mirror; 122-second mirror; 123-first rotating module; 1231-first motor; 1232-first motor driving unit; 1233-first angle encoder; 124-second rotating module; ; 1242 - second motor drive unit; 1243 - second angle encoder; 130 - laser receiving module; 131 - concentrating unit; 132 - photoelectric detecting unit; 133 - signal amplifying unit; U1 - first amplifier; U2- Two amplifiers; U3-signal filter; U4-third amplifier; 140-data acquisition module; 150-data processing module; 200-mobile measurement system; 210-processing device; 230-inertial measurement device.
  • the laser scanning device can only scan a planar area, and when applied to a building system of a three-dimensional digital model, the operating environment of the system is limited.
  • the inventors have provided a laser scanning device and its control method, a mobile measuring system and a control method thereof to improve existing problems through long-term research and extensive practice.
  • the laser scanning device can perform non-contact measurement of targets within a certain range by emitting laser light. Specifically, the laser scanning device can obtain the distance between the target and the target by acquiring the laser signal returned by the target, and based on the TOF (Time Of Flight) principle, and combining the high-precision two-dimensional rotation scanning method to obtain the surrounding scanned scene. 3D data. If the laser scanner is integrated and integrated with the Global Navigation Satellite System (GNSS) and the Inertial Measurement Unit (IMU), a three-dimensional digital model of the laser scanner's movement trajectory and surrounding environment can be obtained. When the laser scanner, GNSS, and IMU are integrated on a car or aircraft carrier, an on-board mobile measurement system or an on-board mobile measurement system can be formed.
  • GNSS Global Navigation Satellite System
  • IMU Inertial Measurement Unit
  • the embodiment of the present invention provides a laser scanning device.
  • the device can be portable and can be understood as a portable real-time positioning and mapping (SLAM, simultaneous localization and mapPI1782330WHng). Device.
  • the laser scanning device provided by the embodiment of the invention can also realize the rotational scanning 4 ⁇ spherical space by using the rotation module provided in the device without the GNSS signal to obtain the point cloud data of the target scene; thus the laser scanning device can be further measured with inertial measurement.
  • the device combines to form a measurement system, so that the measurement system obtains many small 3D scenes during the measurement of the traveling process, and then automatically splicing and aligning each small 3D scene by using the SLAM algorithm, so that real-time positioning and 3D construction can be realized.
  • the embodiment of the present invention provides a laser scanning device 100.
  • the laser scanning device 100 includes a laser emitting module 110, a rotating module 120, and a laser receiving module. 130.
  • the laser emitting module 110 and the laser receiving module 130 are disposed on one side of the rotating module 120.
  • the laser emitting module 110 is configured to emit laser light
  • the rotating module 120 is configured to change the direction of the laser light to cause the laser to illuminate the target at various locations of the target scene.
  • the laser receiving module 130 is configured to receive the laser light reflected by the target and perform photoelectric conversion to obtain an electrical signal.
  • the data processing module 150 is configured to process the electrical signals to obtain a time difference between the laser light emitted by the laser emitting module 110 and the laser light received by the laser receiving module 130.
  • the data acquisition module 140 is configured to collect data of the laser emitting module 110, the rotation module 120, and the data processing module 150 to obtain point cloud data of the target scene.
  • the laser emitting module 110 and the laser receiving module 130 may be disposed on one side of the rotating module 120 , and the laser emitting module 110 is disposed opposite to the laser receiving module 130 .
  • the laser light emitted by the laser emitting module 110 can be incident on the surface of the target through the optical device of the rotating module 120.
  • the laser reflected back from the surface of the target can also be incident on the optical device of the laser emitting module 110 after rotating the optical device of the module 120, and then It is reflected to the laser receiving module 130 to be received by the laser receiving module 130.
  • FIG. 2 specifically illustrates the data processing module 150 , the laser receiving module 130 , the laser emitting module 110 , the rotating module 120 , and the data processing module 150 .
  • the connection relationship may be an electrical connection.
  • data processing module 150 is coupled to laser receiving module 130.
  • the data acquisition module 140 is coupled to the laser emitting module 110, the rotating module 120, and the data processing module 150.
  • the rotating module 120 may include a first mirror 121 , a second mirror 122 , a first rotating module 123 , and a second rotating module 124 .
  • the first rotation module 123 is connected to the first mirror 121
  • the second rotation module 124 is connected to the second mirror 122.
  • the first rotating module 123 is configured to drive the first mirror 121, the second mirror 122 and the entire rotating module 120 to rotate
  • the second rotating module 124 is configured to drive the second mirror 122 to rotate.
  • the laser light emitted by the laser emitting module 110 is reflected by the first reflecting mirror 121, and then reflected by the second reflecting mirror 122 and then incident on the target object.
  • the first rotating module 123 is configured to drive the first reflecting mirror 121 and the entire rotating module 120 to rotate.
  • the second rotation module 124 is configured to drive the second mirror 122 to rotate, so that the laser light emitted by the laser emitting module 110 can illuminate the target at various positions of the target scene.
  • the rotation axis of the first rotation module 123 is perpendicular to the rotation axis of the second rotation module 124, so that the rotation module 120 can utilize the first rotation module 123 and the second rotation module perpendicular to the rotation axis. 124 changes the laser direction more reasonably and conveniently.
  • the first mirror 121 and the second mirror 122 may be oppositely disposed. While the first rotation module 123 drives the entire rotation module 120 to rotate, the second rotation module 124 can drive the second mirror 122 to rotate. With this arrangement, the direction of the laser light reflected from the laser emitting module 110 to the first mirror 121 and reflected to the second mirror 122 can be changed, and the second mirror 122 also causes the reflection direction of the laser light incident on the surface to occur. Changing, thereby changing the direction in which the laser is emitted.
  • the rotation axis of the first rotation module 123 and the rotation axis direction of the second rotation module 124 are vertically disposed, that is, the plane of the rotation direction is perpendicular, so that the laser can be irradiated to the 4 ⁇ spherical surface. Objects within range.
  • the first rotation module 123 includes a first motor 1231, a first motor 1231 driving unit 1232, and a first angle encoder 1233.
  • the first motor 1231 is connected to the first angle encoder 1233, the first angle encoder 1233 is configured to detect the rotation angle of the first motor 1231, and the first motor 1231 is configured to drive the first mirror 121 to rotate.
  • the second rotation module 124 includes a second motor 1241, a second motor 1241 driving unit 1242, and a second angle encoder 1243.
  • the second motor 1241 is coupled to the second angle encoder 1243.
  • the second angle encoder 1243 is connected to the second angle encoder 1243. It is configured to detect the angle of rotation of the second motor 1241.
  • the second motor 1241 is configured to drive the second mirror 122 to rotate.
  • the rotating shaft of the first motor 1231 serves as the rotating shaft of the first rotating module 123
  • the rotating shaft of the second motor 1241 serves as the rotating shaft of the second rotating module 124. Therefore, the rotational axis of the first motor 1231 is perpendicular to the rotational axis of the second motor 1241.
  • the first angle encoder 1233 and the second angle encoder 1243 may be angle sensors, and the first angle encoder 1233 and the second angle encoder 1243 may be respectively disposed on the rotation axes of the first motor 1231 and the second motor 1241, thereby The angle at which the first motor 1231 drives the first mirror 121 to rotate can be detected, and the second motor 1241 drives the angle at which the second mirror 122 rotates.
  • the first mirror 121 can be disposed on a casing
  • the second mirror 122 can be disposed in a casing.
  • the first motor 1231 and the second motor 1241 can be respectively connected to the housing of the first mirror 121 and the second mirror 122 through the rotating shaft, so that the first motor 1231 drives the first mirror 121 to rotate, and the second motor 1241 The second mirror 122 is driven to rotate.
  • the laser receiving module 130 includes a concentrating unit 131 and a photo detecting unit 132 .
  • the concentrating unit 131 is configured to condense and condense the laser light reflected by the object
  • the photodetecting unit 132 is configured to photoelectrically convert the laser light condensed by the concentrating unit 131 to obtain an electrical signal.
  • the concentrating unit 131 includes a filter 1311 and a collecting lens 1312.
  • the filter 1311 is arranged to filter the laser light reflected by the target, and the collecting lens 1312 is arranged to condense the light filtered by the filter.
  • the laser receiving module 130 further includes a signal amplifying unit 133.
  • the signal amplifying unit 133 is connected to the photodetecting unit 132.
  • the signal amplifying unit 133 is configured to amplify the electrical signal, and the signal amplifying unit 133 includes a multi-channel amplifying circuit, and the amplification factors of the multi-channel amplifying circuit respectively correspond to a plurality of preset amplification factors.
  • the amplifying circuit may include a first amplifier, a second amplifier, a signal filter, and a third amplifier that are sequentially connected; wherein the amplification factor of the amplification circuit is a magnification of the first amplifier, a magnification of the second amplifier, and The product of the amplification factor of the third amplifier.
  • the received electrical signal can be amplified to a better degree, so that the data processing module 150 can analyze and process the amplified electrical signal.
  • the multi-channel amplifying circuit can share a first amplifier, and each of the amplifying circuits is respectively provided with a second amplifier, a signal filter and a third amplifier.
  • the first amplifier can also be separately provided for each amplifier circuit.
  • the amplification factor of the amplification circuit can be flexibly set according to actual needs, and the number of amplifiers included in the amplification circuit and the connection relationship between the plurality of amplifiers and the signal filter can be flexibly set.
  • the signal amplifying unit 133 includes four amplifying circuits.
  • Each of the amplifying circuits includes a first amplifier U1 that is commonly connected, and a second amplifier U2, a signal filter U3, and a third amplifier U4 that are respectively disposed.
  • the three-stage amplification of the electrical signal outputted by the photodetecting unit 132 can be realized, so that the data processing module 150 can analyze and process the three-stage amplified electrical signal.
  • the preset amplification factor of each amplifier circuit is a product value obtained by multiplying the amplification factor of the first amplifier U1, the amplification factor of the second amplifier U2, and the amplification factor of the third amplifier U4.
  • the signal amplifying unit 133 can cooperate with the 10-bit AD conversion performance to make the dynamic range of the echo signal corresponding to the received laser reach a million times, thereby satisfying the dynamic range requirement of 0.2 m-300 m, and can better Solve the problem of wide dynamic range requirements for echo signals.
  • the signal synthesized by the laser corresponding to the laser received by the laser receiving module 130 and the time when the laser emitting module 110 emits the laser can be obtained, configured to be processed by the data processing module 150, and the laser and laser receiving by the laser emitting module 110 are obtained.
  • the laser emitting module 110 may include a laser generating unit 111, a laser driving unit 112, and an optical collimating unit 113.
  • the laser driving unit 112 is connected to the laser generating unit 111, the laser driving unit 112 is configured to drive the laser generating unit 111 to generate laser light, and the optical collimating unit 113 is configured to adjust the laser light generated by the laser generating unit 111 to collimated laser light.
  • the laser emitting module 110 may further include a third mirror 114 to realize that the laser light reflected from the target is incident on the third mirror 114 after passing through the rotating module 120, and then The three mirrors 114 are reflected to the laser receiving module 130 to enable the laser receiving module 130 to receive the laser light reflected back from the target.
  • the data processing module 150 may include a high speed ADC (Analog to Digital Converter) sampling board and an FPGA (Field-Programmable Gate Array) acquisition board, which can be accurately measured.
  • ADC Analog to Digital Converter
  • FPGA Field-Programmable Gate Array
  • the distance of the laser scanning device 100 from the target can be measured using the TOF (time of flight) principle.
  • the TOF principle based TOF ranging method belongs to the two-way ranging technology, mainly adopts the flight time difference ranging method.
  • the basic principle is to measure the distance between nodes by using the flight time between the two asynchronous transceivers.
  • the data processing module 150 can obtain the distance between the laser scanning device and the target.
  • the laser scanning device 100 may further include an industrial control module.
  • the industrial control module is configured to control other modules of the laser scanning device 100 and to store data transmitted by other modules.
  • the laser light emitted by the laser emitting module 110 passes through the rotating module 120 and is incident on the target object, and is diffusely reflected by the target object, and the laser light returned from the target object is again received by the laser receiving module 130 after passing through the precision scanning unit.
  • the laser receiving module 130 detects the received laser signal waveform and the laser signal emitted by the laser emitting module 110, and performs pulse signal amplification processing, and then inputs the amplified signal to the data processing module 150, and the data processing module 150 receives the signal.
  • the signal is processed to obtain a time difference between the laser light emitted by the laser emitting module 110 and the laser light received by the laser receiving module 130, and the distance of the target object from the laser scanning device 100 can be obtained by the TOF principle.
  • the first motor 1231 can drive the first mirror 121 to rotate, and the second motor 1241 can drive the second mirror 122 to rotate.
  • the first angle encoder 1233 can collect the angle at which the first motor 1231 drives the first mirror 121 to rotate.
  • the angle encoder 1243 can collect an angle at which the second motor 1241 drives the second mirror 122 to rotate.
  • the laser scanning device 100 provided by the embodiment can scan in a 4 ⁇ spherical space, and can also acquire the orientation of each moment through an angle encoder (the first angle encoder 1233 and the second angle encoder 1243). information.
  • the laser scanning device 100 provided by the embodiment of the present invention scans the rotation of the optical mirror to obtain point cloud data of the target scene.
  • the laser scanning device 100 has a compact structure and a small size, and can be a portable device, which is convenient for the user to carry it to any occasion.
  • an embodiment of the present invention provides a method for controlling a laser scanning device, which is applied to any of the laser scanning devices provided in the first embodiment, see a laser shown in FIG.
  • Step S502 The laser emitting module emits laser light
  • Step S504 The rotation module changes the direction of the laser light emitted by the laser emitting module to irradiate the laser to the target at each position of the target scene;
  • Step S506 the laser receiving module receives the laser light reflected by the target object, and photoelectrically converts the received laser light to obtain an electrical signal;
  • Step S508 The data processing module processes the electrical signal to obtain a time difference between the laser light emitted by the laser emitting module and the laser light received by the laser receiving module.
  • Step S510 The data acquisition module collects data of the laser transmitting module, the rotating module, and the data processing module to obtain point cloud data of the target scene.
  • the laser light is emitted by the laser emitting module, and then the laser module changes the laser direction to illuminate the target at each position of the target scene, and receives the reflected object by the laser receiving module.
  • the laser is converted into an electrical signal, and then the data processing module processes the electrical signal.
  • the data acquisition module can collect the data, and finally obtain the point cloud data of the target scene, which can make the laser scanning device in the 4 ⁇ spherical surface. Scan within the space and obtain point cloud data for the target scene.
  • the embodiment of the present invention provides a mobile measurement system 200. Please refer to the block diagram of a mobile measurement system shown in FIG. 6.
  • the mobile measurement system 200 includes a processing device 210 inertial measurement device 230 and the first embodiment of the present invention.
  • Laser scanning device 100 The processing device 210 is connected to the laser scanning device 100 and the inertial measurement device 230 respectively, and the specific connection manner may be electrical connection.
  • the inertial measurement device 230 is configured to acquire motion data of the mobile measurement system 200, and the processing device 210 is configured to point cloud of a target scene collected by a data acquisition module of the laser scanning device 100 based on a preset SLAM algorithm.
  • the data and the motion data acquired by the inertial measurement device 230 are processed to acquire a three-dimensional image of the target scene.
  • the SLAM algorithm can be used to solve the problem of positioning and map construction when the unknown environment is moving.
  • the observation of the environment can determine its own trajectory, and at the same time, the environment map can be constructed.
  • the mobile measurement system provided in this embodiment can use the SLAM algorithm to splicing the point cloud data of the target scene and the own motion data to obtain a three-dimensional image without using GNSS technology, so that the mobile measurement system 200 can be used when there is no GNSS signal.
  • the usage scenario is more extensive.
  • the mobile measurement system 200 provided by the embodiment of the present invention can acquire the 3D point cloud. data.
  • the mobile measurement system 200 provided by the embodiment of the present invention may be provided with a handheld portion for the user to conveniently hold the mobile measurement system for measurement by the handheld portion.
  • the mobile measurement system 200 may also be provided with a fixed portion, so that the mobile measurement system 200 It can be fixedly mounted on a mobile carrier such as a backpack or a cart, and is convenient to carry and simple to operate.
  • the embodiment of the present invention provides a method for controlling a mobile measurement system, which is applied to the mobile measurement system provided by the third embodiment.
  • a control method flow chart the method comprising the following steps:
  • Step S702 The inertial measurement device acquires motion data of the positioning device; wherein the positioning device is also a mobile measurement system.
  • Step S704 The laser scanning device acquires point cloud data of the target scene.
  • Step S706 The processing device processes the point cloud data of the target scene and the motion data based on the preset SLAM algorithm to acquire a three-dimensional image of the target scene.
  • the motion data is acquired by the inertial measurement device, and the point cloud data of the target scene is acquired by the laser scanning device, and the processing device can further process the motion data and the point cloud data of the target scene. , to obtain a three-dimensional image of the target scene.
  • the laser scanning device comprises a laser emitting module, a rotating module, a laser receiving module, a data collecting module and a data processing module.
  • the laser emitting module and the laser receiving module are disposed on one side of the rotating module, the laser emitting module is configured to emit laser light, and the rotating module is configured to change the direction of the laser to irradiate the laser to the target of each position of the target scene, and the laser receiving module is configured Receiving a laser reflected by the target and performing photoelectric conversion to obtain an electrical signal, the data processing module is configured to process the electrical signal to obtain a time difference between the laser emitted by the laser emitting module and the laser received by the laser receiving module, and the data collecting module is configured to collect the laser emitting module. , rotating the module and the data of the data processing module to obtain point cloud data of the target scene.
  • the three-dimensional data of the three-dimensional space of the target scene can be obtained, and the real-time positioning and mapping can be performed by combining the inertial measurement device and the preset SLAM algorithm in the mobile measurement system, and solving the GNSS-free signal in the mobile measurement system in the prior art. Problems that cannot be worked in the environment.
  • the terms “set”, “install”, “connected”, and “connected” are to be understood broadly, and may be fixed connections, for example, unless otherwise specifically defined and defined. It can also be a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be internal communication between the two elements.
  • the specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
  • the laser scanning device can scan in a 4 ⁇ spherical space and obtain point cloud data of the target scene, so as to perform mobile measurement without GNSS signals.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un dispositif de balayage laser et son procédé de commande, et un système de mesure mobile et son procédé de commande. Le dispositif de balayage laser comprend : un module d'émission laser (110), un module de rotation (120), un module de réception laser (130), un module d'acquisition de données (140) et un module de traitement de données (150). Le module d'émission laser (110) et le module de réception laser (130) sont prévus sur un côté du module de rotation (120). Le module de rotation (120) est destiné à modifier une direction d'un faisceau laser de sorte que le faisceau laser frappe des cibles à différents emplacements dans une scène cible. Le module de réception laser (130) est destiné à recevoir le faisceau laser réfléchi par les cibles et à convertir le faisceau laser en un signal électrique par conversion photoélectrique. Le module de traitement de données (150) est destiné à traiter le signal électrique pour obtenir une différence de temps entre le faisceau laser d'émission et le faisceau laser de réception. Le module d'acquisition de données (140) est destiné à acquérir des données à partir du module d'émission laser (110), du module de rotation (120) et du module de traitement de données (150), de façon à obtenir des données de nuage de points de la scène cible. Par conséquent, des données spatiales 3D d'une scène cible peuvent être obtenues et une mesure mobile peut être obtenue sans signal GNSS.
PCT/CN2018/080276 2017-10-30 2018-03-23 Dispositif de balayage laser et son procédé de commande, et système de mesure mobile et son procédé de commande WO2019085376A1 (fr)

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