WO2019114316A1

WO2019114316A1 - Three-dimensional scanning device, robot, and data processing method

Info

Publication number: WO2019114316A1
Application number: PCT/CN2018/101625
Authority: WO
Inventors: 林东; 崔锦; 陈萌; 谭杨; 陈存柱
Original assignee: 同方威视技术股份有限公司
Priority date: 2017-12-11
Filing date: 2018-08-22
Publication date: 2019-06-20
Also published as: CN108089198B; CN108089198A

Abstract

A three-dimensional scanning device, a robot, and a data processing method. The three-dimensional scanning device comprises: a laser radar (1), a rotating mechanism (2) and a data processing module (3), wherein the laser scanning range comprises an environment scanning area (B) and a calibration area (A) provided by an angle determination assistance component (5), and the rotating mechanism (2) drives the body of the laser radar (1) to rotate and pass through pre-determined rotation angles; and 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 the environment scanning area (B) that are obtained by the laser radar (1) at each pre-determined rotation angle through which the body rotates, and determines a pre-determined 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). More accurate three-dimensional scanning data can thus be obtained.

Description

Three-dimensional scanning device, robot and data processing method

Cross-reference to related applications

The present application is based on the application of the CN application number 201711302700.6, filed on December 11, 2017, and the priority of which is hereby incorporated by reference.

Technical field

The present disclosure relates to environment sensing technologies, and in particular, to a three-dimensional scanning device, a robot, and a data processing method.

Background technique

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. In a complex and unstructured environment, the service robot needs to obtain the three-dimensional spatial data of the external environment to complete the estimation of the robot's pose, the recognition and obstacle avoidance of different height obstacles, the automatic planning of the motion trajectory, the identification and detection of the target object. And other tasks. Therefore, establishing three-dimensional spatial information of the environment is a prerequisite for the service robot to implement various functions.

In a complex unstructured environment, due to the presence of obstacles of different heights and target objects of different sizes, it is necessary to realize a three-dimensional scanning function of the laser radar. Multi-line laser radars that are currently capable of three-dimensional environmental measurements are very expensive, and their size and weight are not suitable for general service robots. The single-line laser radar is usually placed at a certain height of the robot, and can only be used to acquire spatial information on a two-dimensional plane, and cannot perform a three-dimensional scanning function.

Some related technologies have installed a single-line laser radar on a motion platform to complete a three-dimensional mapping solution by rotating the scanning plane. Such a solution relies heavily on the motion accuracy of the motion platform, requires the use of expensive high-precision servo-driven devices, and has the drawback of being susceptible to the accuracy of the motion platform. In addition, since the rotating mechanism to which the motion platform belongs needs to transmit the angle data to the processing module, the scanning information data of the single-line laser radar also needs to be sent to the processing module. It takes a certain time for the motion platform to rotate from one angle to the next, and it can stay for a period of time at each angle. It takes time (for example, 25 milliseconds) for the laser scanning in the laser to rotate one revolution, and these times may be different. Moreover, the angle data and the laser scanning information data are transmitted through different lines, so the time required for the propagation of the two is likely to be different, that is, the delay is different, so the generation and transmission of the two kinds of data cannot be synchronized, and the processing module cannot The received laser scanning information data is correctly matched with the angle data. For this problem, the processing module in the related art adopts the following two methods for data processing.

In the first method, the processing module simultaneously receives the angle data and the laser scanning information data, and assumes that both generation and transmission are completely synchronized, that is, it is assumed that the angle data received at the same time and the laser scanning information data completely correspond, but The way is very rough and prone to corresponding errors. In the three-dimensional construction, the slight error of the predetermined rotation angle will cause the construction error, and the error will linearly increase with the increase of the measurement distance, making the environment description inaccurate, so it is difficult to apply to the service robot.

In the second method, the processing module simultaneously receives the angle data and the laser scanning information data, and then linearly matches the received angle data to the laser scanning information data in a time proportional manner, which is also rough and prone to corresponding errors. .

Summary of the invention

Embodiments of the present disclosure provide a three-dimensional scanning device, a robot, and a data processing method, which can obtain more accurate three-dimensional scan data.

In an aspect of the disclosure, a three-dimensional scanning apparatus is provided, comprising:

a laser radar in which the laser is scanned for rotation, and the scanning range of the laser includes an environmental scanning area and a calibration area provided by the angle determining auxiliary component;

a rotating mechanism configured to drive the body of the laser radar to rotate and pass each predetermined rotation angle; and

a data processing module configured to receive laser scanning information data of the calibration point in the calibration area and the laser scanning information data of the environmental scanning area obtained by the laser radar at each predetermined rotation angle through which the body rotates, And determining the predetermined rotation angle corresponding to the laser scanning information data of the environmental scanning area according to the laser scanning information data of the calibration point in the calibration area.

In some embodiments, 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 some embodiments, the rotating mechanism is configured to drive the body of the laser radar to rotate in an axis that is different from the axis direction of the laser rotation scan, such that the laser scanning surface of the laser radar is The body of the lidar rotates together and the laser exit axis is always on the axis of rotation of the body.

In some embodiments, the environmental scanning region corresponds to a scan angle that is less than an effective angular extent of the lidar such that at least a portion of the corresponding scan angle of the calibration region is within the effective angular range.

In some embodiments, the rotating mechanism is configured to drive the body of the lidar to continuously rotate in a predetermined direction or to reciprocate within a predetermined range of angles.

In some embodiments, the predetermined range of angles is 180° or more than 180°.

In some embodiments, the rotating mechanism is configured to remain at the respective predetermined rotational angles for a predetermined time during rotation of the body of the laser radar by the rotating mechanism.

In some embodiments, the predetermined time is equal to or longer than the time that the laser of the lidar scans one revolution.

In some embodiments, the body of the lidar does not stay at each predetermined angle of rotation.

In some embodiments, the angle determining auxiliary component is a component belonging to the three-dimensional scanning device or other structure not belonging to the three-dimensional scanning device, and the calibration region is formed by the laser of the laser radar at the angle determining auxiliary component. The extent of the surface scan, which remains relatively stationary between the calibration area and the axis of rotation of the body of the lidar.

In some embodiments, the angle determining auxiliary component is configured such that a relationship between a predetermined rotation angle and an orientation and a distance of a calibration point corresponding to a predetermined rotation angle conforms to a preset formula, or causes a predetermined rotation angle to correspond to a predetermined rotation angle The relationship of the distances of the calibration points conforms to the preset formula.

In some embodiments, the angle determining auxiliary component provides a unitary or partial shape of a portion of the calibration area that is circular, involute, elliptical, or triangular when viewed in a front view; The direction of the lidar is directed from the environmental scanning area along the axis of rotation of the body of the lidar. .

In some embodiments, the angle determining auxiliary component comprises:

a housing rotatably coupled to the rotating mechanism, the rotating mechanism configured to drive the body of the lidar to rotate relative to the housing; or

A separate structure disposed separately from the rotating mechanism, the rotating mechanism configured to drive a body of the lidar to rotate relative to the separate structure.

In some embodiments, the housing or the separate structure has a concave portion that avoids a movement space of the body, the calibration area being formed by scanning a laser of the laser radar on an inner circumferential surface of the concave portion In the scope.

In some embodiments, the concave portion is configured such that at least one intersection of an inner peripheral surface thereof and a laser scanning surface at each predetermined rotational angle of the body of the lidar is circular arc shape, and The center of the circular arc is located on the exit axis of the laser of the laser radar.

In some embodiments, the angle determining auxiliary component is an external environment or external facility that exists independently of the three-dimensional scanning device, the external environment or external facility remaining stationary relative to the axis of rotation of the body .

In some embodiments, the calibration area includes a single calibration point, a plurality of calibration points in a continuous form, or a plurality of calibration points in discrete form at each predetermined rotational angle through which the body rotates.

In some embodiments, the plurality of calibration points partially or completely cover the calibration area.

In some embodiments, the single calibration point is an edge point of the calibration area, or a laser of the lidar enters a starting point of the calibration area from the environmental scanning area.

In some embodiments, the laser scanning information data of the calibration point includes distance data of the calibration point, or the laser scanning information data of the calibration point includes distance data and orientation data of the calibration point.

In some embodiments, the data processing module is configured to not be sufficient to determine the predetermined rotation corresponding to laser scanning information data of the environmental scanning area when laser scanning information data according to a calibration point at a predetermined angle is insufficient At an angle, the predetermined rotation angle corresponding to the laser scanning information data of the environmental scanning area is further determined by combining the laser scanning information data of the calibration points at adjacent predetermined rotation angles.

In some embodiments, the laser scanning information data of the corresponding calibration points at different predetermined rotation angles are different from each other.

In some embodiments, the rotating mechanism comprises:

a lidar mounting bracket, the lidar being mounted on the lidar mounting bracket; and

A rotary drive assembly configured to drive rotation of the lidar mounting bracket, the housing being mounted between the rotary drive assembly and the lidar mounting bracket.

In some embodiments, the lidar mounting bracket is rotatably coupled to the housing by a slewing bearing.

In some embodiments, the rotary drive assembly includes a power element and a toothed engagement transmission, the power element being operatively coupled to the lidar mounting bracket by the toothed engagement transmission and configured to drive The lidar mounting bracket rotates about an axis of rotation of the body.

In some embodiments, the toothed engagement mechanism is a timing belt drive or a multi-gear transmission.

In some embodiments, the power element comprises a servo motor and a speed reducer, or the power element comprises a stepper motor.

In some embodiments, the data processing module includes:

a scan data receiving unit configured to receive laser scanning information data of the calibration point in the calibration area and the laser scanning information data of the environmental scanning area obtained by the laser radar at each predetermined rotation angle through which the body rotates ;

The rotation angle determining unit is configured to determine a predetermined rotation angle corresponding to the laser scanning information data of the environmental scanning area based on the laser scanning information data of the calibration point in the calibration area.

In some embodiments, the data processing module further includes:

The point cloud data generating unit is configured to generate the three-dimensional environment point cloud data in combination with the predetermined rotation angle and the laser scanning information data of the environment scanning area.

In some embodiments, the data processing module further includes at least one of the following units:

Activating a signal response unit configured to trigger the scan data receiving unit to start receiving laser scan information data obtained by the laser radar in response to a data acquisition enable signal from the rotating mechanism;

The stop signal response unit is configured to control the scan data receiving unit to stop receiving the laser scan information data obtained by the laser radar after a predetermined time in response to a data acquisition stop signal from the rotation mechanism.

In some embodiments, the laser scanning information data of the calibration point corresponding to each predetermined rotation angle of the rotation mechanism and the predetermined rotation angle follows a preset formula, and the rotation angle determining unit specifically includes:

a formula calculation determining subunit configured to calculate a corresponding rotation angle according to the preset formula and the laser scanning information data of the calibration point as a predetermined rotation matching the laser scanning information data of the corresponding environmental scanning area angle.

In some embodiments, a mapping information pre-storing module is further configured to pre-store a mapping information table between the laser scanning information data of the calibration point and the predetermined rotation angle.

In some embodiments, further comprising a mapping information calculation module configured to calculate a mapping relationship between at least one of the laser scanning information data of the calibration point and a predetermined rotation angle according to a preset formula, and provide the The mapping information pre-stored module is saved.

In some embodiments, the rotation angle determining unit includes:

a lookup table determining subunit configured to search, in the mapping information table, laser scanning information data of a pre-stored calibration point that is the same as or closest to the detected laser scanning information data of the calibration point, and thus Or a predetermined rotation angle corresponding to the laser scanning information data of the closest pre-stored calibration point as a predetermined rotation angle matching the detected laser scanning information data of the environmental scanning area.

In some embodiments, the data processing module further includes a calibration unit configured to receive the predetermined rotation angle provided by the rotation mechanism and laser scanning information of a calibration point in the calibration area obtained by the laser radar Data is stored in the mapping information table corresponding to the predetermined rotation angle and the laser scanning information data of the calibration point.

In some embodiments, the data processing module further includes a calibration unit configured to receive the laser radar obtained after receiving the predetermined rotation angle provided by the rotation mechanism when rotated to each predetermined rotation angle The laser scanning information data of the calibration point stores the laser scanning information data of the calibration point in the mapping information table corresponding to the predetermined rotation angle.

In some embodiments, the mapping information table is stored in the mapping information pre-storage module in a non-modified manner.

In some embodiments, the calibration unit performs re-calibration when the relative state change of the angle determining auxiliary component and the rotating shaft of the rotating mechanism exceeds a threshold value, or after a preset time period, the mapping information pre-storing module is based on re-calibration The resulting mapping information table is updated.

In some embodiments, a closure is also provided that encloses the lidar and the angle determining auxiliary component, the enclosure being transparent to a laser band emitted by the lidar.

In one aspect of the present disclosure, a robot is provided, including the aforementioned three-dimensional scanning device.

In an aspect of the present disclosure, there is provided an angle determining auxiliary component disposed in or disposed adjacent to a three-dimensional scanning device including a laser radar and a rotating mechanism, the laser in the laser radar Performing a rotational scan, the scanning range of the laser includes an environmental scanning area and a calibration area provided by the angle determining auxiliary member, the rotating mechanism driving the body of the laser radar to rotate in an axis different from the axial direction of the laser rotation scanning The shaft rotates through each predetermined rotation angle,

Therein, the calibration area remains relatively stationary between the axis of rotation of the body of the lidar.

In some embodiments, the angle determining auxiliary component is configured to have a regular shape such that a predetermined rotation angle and an orientation and a distance of a calibration point corresponding to the predetermined rotation angle conform to a preset formula, or a predetermined rotation angle is made The distance from the calibration point corresponding to the predetermined rotation angle conforms to a preset formula.

In some embodiments, the angle determining auxiliary component includes a housing having a concave portion that avoids a moving space of the body, the rotating mechanism including a lidar mounting bracket and a rotational driving assembly, the laser radar being mounted on the laser On the radar mounting bracket, the lidar mounting bracket is rotatably coupled to the housing by a slewing bearing.

In an aspect of the present disclosure, a data processing method based on the foregoing three-dimensional scanning apparatus is provided, including:

Receiving, by the data processing module, the laser scanning information data of the calibration point and the laser scanning information data of the environment scanning area in the calibration area obtained by the laser radar at each predetermined rotation angle through which the body rotates;

And determining, by the data processing module, a predetermined rotation angle corresponding to the laser scanning information data of the environmental scanning area according to the laser scanning information data of the calibration point in the calibration area.

In some embodiments, the data processing method further includes:

The three-dimensional environment point cloud data is generated by the data processing module in combination with the predetermined rotation angle and the laser scanning information data of the environment scanning area.

In some embodiments, the data processing method further includes at least one of the following steps:

Retrieving the data processing module to start receiving laser scan information data obtained by the laser radar in response to a data acquisition enable signal from the rotating mechanism;

The data processing module is controlled to stop receiving laser scanning information data obtained by the laser radar after a predetermined time in response to a data acquisition stop signal from the rotating mechanism.

In some embodiments, the laser scanning information data of each predetermined rotation angle in the rotation range of the rotating mechanism and the calibration point corresponding to each predetermined rotation angle follows a preset formula; the operation of determining the predetermined rotation angle specifically includes:

And calculating, by the data processing module, a corresponding rotation angle according to the preset formula and the laser scanning information data of the calibration point as a predetermined rotation angle matching the laser scanning information data of the corresponding environmental scanning area.

In some embodiments, the three-dimensional scanning device further includes a mapping information pre-storing module configured to pre-store a mapping information table between the laser scanning information data of the calibration point and the predetermined rotation angle; and an operation of determining a predetermined rotation angle Specifically include:

Searching, by the data processing module, the pre-stored mapping information matching the laser scanning information data of the calibration point obtained by the laser radar in the mapping information table, and further determining a predetermined rotation angle in the pre-stored mapping information as The detected predetermined rotation angle of the laser scanning information data of the environmental scanning area is matched.

In some embodiments, the operation of pre-storing the mapping information table specifically includes:

Calculating a mapping relationship between at least one of the laser scanning information data of the calibration point and a predetermined rotation angle according to a preset formula, and providing the mapping information pre-storage module for saving.

In some embodiments, the data processing module further includes a calibration unit; the data processing method further includes:

Receiving the laser scanning information data of the calibration point obtained by the laser radar by the calibration unit after the calibration unit receives the predetermined rotation angle provided by the rotation mechanism when rotating to each predetermined rotation angle, And storing the laser scanning information data of the calibration point in the mapping information table corresponding to the predetermined rotation angle.

In some embodiments, the mapping information table is stored in the mapping information pre-storing module in a non-modified manner; or the data processing method further includes:

Re-calibrating after a predetermined period of time has elapsed or when a relative state change of the auxiliary member and the rotating shaft of the rotating mechanism exceeds a threshold value, the mapping information pre-storing module performs a mapping information table obtained after re-calibration Update.

a laser radar in which the laser in the laser radar is rotated;

a data processing module configured to receive laser scanning information data of an environmental scanning area obtained by the laser radar at the predetermined rotation angle after receiving the predetermined rotation angle sent by the rotating mechanism, and then The rotating mechanism rotates the body of the laser radar to a next predetermined rotation angle; repeats the receiving operation of the data processing module and the rotating operation of the rotating mechanism until all environmental scanning regions corresponding to the predetermined rotation angle are obtained The laser scans the information data and generates three-dimensional environment point cloud data in combination with the predetermined rotation angle and the laser scanning information data of the environment scanning area.

In some embodiments, in the process of the data processing module receiving the laser scanning information data of the environment scanning area, the rotating mechanism is configured to wait while the laser scanning information data of the environmental scanning area is not stable. And the data processing module is configured to store the predetermined scan angle and the laser scan information data of the stable environment scan area correspondingly when the laser scan information data of the environment scan area is stable.

Based on the above technical solution, some embodiments of the present disclosure divide the scanning range of the laser radar at at least a predetermined rotation angle into at least an environmental scanning area and a calibration area, and the data processing module can receive the laser radar measurement when the laser radar performs environmental scanning. The laser scanning information data of the calibration point in the calibration area corresponding to each predetermined rotation angle and the laser scanning information data of the environmental scanning area are accurately determined by the laser scanning information data of the calibration point. Compared with the related art involved in the background art, the embodiment of the present disclosure not only reduces the dependence on the motion precision control of the motion mechanism but also the measurement accuracy by utilizing the measurement data of the laser radar itself as the calibration information to obtain the swing angle. The error is smaller and the obtained 3D scan data is more accurate.

According to still another embodiment of the present disclosure, after receiving the predetermined rotation angle transmitted by the rotating mechanism, the laser scanning information data of the environmental scanning area obtained by the laser radar at the predetermined rotation angle is received, and the predetermined rotation angle and the environment scanning area can be clearly defined. The correspondence between the laser scanning information data can also reduce the dependence on the motion precision control of the motion mechanism, and the measurement accuracy is higher, the error is smaller, and the obtained three-dimensional scan data is more accurate.

DRAWINGS

The drawings described herein are provided to provide a further understanding of the present disclosure, which is a part of the present disclosure, and the description of the present disclosure and the description thereof are not intended to limit the disclosure. In the drawing:

1 is a schematic block diagram of some embodiments of a three-dimensional scanning device of the present disclosure.

2 is a schematic block diagram of further embodiments of a three-dimensional scanning device of the present disclosure.

3 is a schematic block diagram of still further embodiments of a three-dimensional scanning device of the present disclosure.

4 is a schematic top cross-sectional view of a single-line lidar of some embodiments of a three-dimensional scanning device of the present disclosure.

Figure 5 is a schematic front view of some embodiments of a three-dimensional scanning device of the present disclosure.

6 is a schematic partial cutaway perspective view of some embodiments of a three-dimensional scanning device of the present disclosure.

It should be understood that the dimensions of the various parts shown in the drawings are not drawn in the actual scale relationship. Further, the same or similar reference numerals denote the same or similar components.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the invention. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. The examples are provided to make the disclosure thorough and complete, and to fully express the scope of the disclosure to those skilled in the art. It should be noted that the relative arrangement of the components and the steps in the embodiments are to be construed as illustrative only and not as a limitation.

The words "first," "second," and similar terms used in the present disclosure do not denote any order, quantity, or importance, but are used to distinguish different parts. The words "including" or "comprising" and the like mean that the elements preceding the word include the elements listed after the word, and do not exclude the possibility of the other elements. "Upper", "lower", "left", "right", etc. are only used to indicate the relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may also change accordingly.

In the present disclosure, when it is described that a particular device is located between the first device and the second device, there may be intervening devices between the particular device and the first device or the second device, or there may be no intervening devices. When it is described that a particular device is connected to other devices, that particular device can be directly connected to the other device without intervening devices, or without intervening devices directly connected to the other devices.

All terms (including technical or scientific terms) used in the present disclosure have the same meaning as understood by one of ordinary skill in the art to which this disclosure belongs, unless specifically defined otherwise. It should also be understood that terms defined in, for example, a general dictionary should be interpreted as having a meaning consistent with their meaning in the context of the related art, without the application of idealized or extremely formal meanings, unless explicitly stated herein. Defined like this.

Techniques, methods and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but the techniques, methods and apparatus should be considered as part of the specification, where appropriate.

1 is a schematic block diagram of some embodiments of a three-dimensional scanning device of the present disclosure, a schematic top cross-sectional view and a front view of a single-line laser radar in an embodiment of a three-dimensional scanning device shown in FIGS. 4 and 5, respectively. Referring to Figures 1, 4 and 5, a three-dimensional scanning device of some embodiments of the present disclosure includes a laser radar 1, a rotating mechanism 2, and a data processing module 3.

Referring to FIGS. 4 and 5, the laser radar 1 can realize the ranging function by emitting laser light as a detection signal and receiving a signal reflected from the target, and the laser can be rotated by the longitudinal center axis of the laser radar where the laser exits the axis O point. The axis rotates the scan. When the body of the single-line laser radar is stationary, the laser light exiting from the exiting axis O is located on a plane that constitutes the laser scanning surface. When the body of the single-line laser radar keeps moving continuously, the laser light emitted from the point O of the exit axis is located on a spiral surface, and the spiral surface in the range of 360° can be referred to as a laser scanning surface. Among them, the longitudinal central axis about which the laser is rotated can be referred to as a "first axis." The laser can be continuously rotated in a direction that can be achieved by mechanical rotation of, for example, a mirror. The number of lines of the Lidar 1 can be selected as a single line, and the number of lines can also be selected as one of two lines to four lines, optionally no more than six lines. When the body of the multi-line laser radar is stationary, there are also multiple laser scanning planes. Embodiments of the present disclosure can achieve full-scale three-dimensional scanning with a low-cost single-line radar or low-line radar.

Within the 360 degree range of laser rotation, due to the internal structure of the laser radar, valid data may be obtained only in the range of, for example, 270 degrees, so the effective scanning range can be defined as the "effective angle range". The laser scan information data may include the azimuth of the laser and distance data at a corresponding azimuth (eg, a distance to a point on the surface of the target). For example, assume that the laser scanning information data of a certain calibration point A ₁ is (10°, 30 mm). In the following description, if the laser is irradiated with a certain calibration point, the "orientation of the laser light" included in the laser scanning information data at this time may also be referred to as "the orientation of the calibration point".

The rotation of the laser in the laser radar is described above, and the rotation of the body of the laser radar (or may also be referred to as "rotation") is described below. According to an embodiment of the present application, a rotation mechanism 2 that drives the rotation of the body of the laser radar 1 can be provided. Specifically, the rotating mechanism 2 drives the body of the laser radar 1 to rotate about another rotation axis (over the O point and perpendicular to the paper surface of FIG. 5), so that the scanning surface formed by the laser also rotates, so that the respective rotation angles The scanning area corresponding to the scanning surface can realize the scanning and ranging function of the three-dimensional space. Wherein, the other axis of rotation may be referred to as a "second axis." The direction of the "second axis" is different from the aforementioned "first axis", that is, the rotating mechanism 2 drives the body of the laser radar 1 to rotate about an axis 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 of the laser light inside the laser radar 1, the rotation angle of the body of the laser radar 1 will be referred to as a "rotation angle" hereinafter. The rotating mechanism 2 can drive the laser radar 1 to continuously rotate in a certain direction, or can reciprocate within a preset angle range (for example, the preset angle range is 180°), for example, the rotating mechanism 2 is within 180° based on the horizontal plane. The reciprocating oscillating motion enables the scanning surface to cover a 360° three-dimensional scanning range in the main viewing plane after the reciprocating rotation of the laser radar body by 180°. In other embodiments, the predetermined angular range may also be 180° or more, such as 200°, to ensure a certain margin. Of course, 180° can be selected if a quick scan of the target is required. Referring to Fig. 5, the laser exiting axis O formed by the laser radar 1 is always located on the rotational axis of the rotating mechanism 2 (i.e., the front "second axis").

Referring to the schematic top cross-sectional view of the laser radar shown in FIG. 4, it can be seen that the scanning range of the laser radar 1 (360°) includes the environmental scanning area B and the calibration area A, and may of course include an invalid angle range. The environmental scanning area B is a target and an area of the environment in which the target is located, and the calibration area A is a surface area of an angle determining auxiliary member (described later in detail) scanned by the laser scanning surface and a calibration point exists in the area. There is at least one calibration point in the intersection of the calibration area A and the laser scanning plane at each predetermined rotation angle of the body of the laser radar 1. If there are a plurality of calibration points existing on the intersection of a laser scanning surface and a calibration area at each predetermined rotation angle, the plurality of calibration points may constitute a calibration point group, and at this time, the calibration area is in each There is a set of calibration points at a predetermined rotation angle. The laser is emitted to the calibration point and receives the reflected signal to obtain laser scanning information data of the calibration point. The laser scanning information data of the calibration point is used to help determine the predetermined angle of rotation of the body of the laser radar 1. After scanning the calibration points in the environmental scanning area B and the calibration area A, the laser radar obtains the laser scanning information data of the environmental scanning area B and the calibration point, and the two kinds of data are sent together to the data processing module 3, in the calibration area A. The laser scanning information data of the calibration point will be used to help determine the laser scanning information data of the environmental scanning area B in the same circle to be transmitted together with what predetermined rotation angle of the body of the laser radar 1 is measured.

In order to form the calibration area A, an embodiment of the three-dimensional scanning apparatus of the present disclosure may include an angle determination assisting member 5. The calibration point can be within a valid angular range (such as the aforementioned range of 270°) to ensure that valid laser scan information can be returned. Figure 6 is a schematic partial cutaway perspective view of an embodiment of a three-dimensional scanning device of the present disclosure.

Referring to Figures 4, 5 and 6, in some embodiments, the angle determining aid 5 can include a housing 51 that is rotatably coupled to the rotating mechanism 2. The rotation mechanism 2 drives the laser radar 1 to rotate relative to the housing 51 with the second axis as a rotation axis, so that the laser scanning surface can sweep across 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. This structure makes the three-dimensional scanning device as a whole more compact and stable. When the laser is scanned by the rotating mechanism 2 to a predetermined rotation angle θ for a 360-degree scan, the laser scans the environmental scanning area B (if the target exists in the area B, the laser is reflected back), and the laser Two calibration areas A on the contoured surface of the housing 51 are also scanned. In addition, it is also possible to scan an invalid area in the middle of two calibration areas A.

Referring to FIG. 4, in some embodiments, 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, the aforementioned 270°), and the range of the environmental scanning area B may be According to the desired scanning range, the corresponding scanning range of the environment scanning area B may be smaller than the effective angle range, so as to ensure that at least a part of the scanning angle range of the calibration area A is within the effective angle range, that is, the housing is guaranteed. There is a valid calibration point in the calibration area A of 51.

For the three-dimensional scanning device of the present disclosure, the angle determining auxiliary component 5 may be a component belonging to the three-dimensional scanning device, or may be other structures not belonging to the three-dimensional scanning device. The calibration area A can be formed in a range in which the laser light of the laser radar 1 is scanned on the surface of the angle determining auxiliary member, while the calibration area remains relatively stationary between the rotation axis of the body of the laser radar 1 (i.e., the second axis). Further, in addition to the angular determination auxiliary member including the structural form of the housing 51 rotatably coupled to the rotating mechanism 2, a separate structure including the separation from the rotating mechanism 2 may be employed, and the rotating mechanism 2 may drive the body of the laser radar 1. Rotate relative to the separate structure. The separate structure is not connected or in contact with the rotating mechanism 2, but can maintain a relative static relationship with the second axis to provide a stable reference. Another example of the angle determining auxiliary component may be an external environment or an external facility existing independently of the three-dimensional scanning device, such as a wall, a step, a natural presence, etc. around the mounting position of the three-dimensional scanning device, and correspondingly, The external environment or external facility remains stationary relative to the axis of rotation of the body of the laser radar 1.

The structure of the casing 51 of this embodiment will be described in further detail below. As shown in FIGS. 4 and 6, the housing 51 may have a concave portion that avoids the movement space of the body of the laser radar 1, and the inner circumferential surface of the inner concave portion of the lidar 1 (the inner circumferential contour of FIG. 5) may be The calibration area A is formed. As can be referred to, the foregoing independent structure may also have a concave portion for avoiding the movement space of the body of the laser radar 1, and the calibration area A may be formed in the laser range of the laser radar 1 in the scanning range of the inner circumferential surface of the concave portion .

The calibration point may completely cover the calibration area A. Of course, the present disclosure is not limited thereto, and the calibration point may also partially cover the calibration area. In some embodiments, the calibration area of the calibration area A at any predetermined rotation angle may include a plurality of consecutive calibration points or discrete plurality of calibration points. In other embodiments, the calibration area of the calibration area at any predetermined rotation angle may have only one calibration point, ie, a single calibration point, for example, a single calibration point is an edge point of the calibration area A, or a laser scanning area from the environment. B enters the starting point of the calibration area A.

The smaller the number of calibration points, the less the laser scanning information data of the calibration area processed by the data processing module, the faster the processing/operation speed; the more the number of calibration points, the more the laser scanning information data of the calibration area processed by the data processing module Although the processing speed is slow, due to the multiple calibration point data, multiple points of data can be fully considered, thereby avoiding or at least reducing accidental distortion points (for example, flying insects suddenly fly into the laser radar and angle determination accessories) The effect between the signal or the sudden distortion of the signal.

In the case where the calibration area at each predetermined rotation angle employs a plurality of calibration points, it can be further optimized. The laser scanning surface at each predetermined rotation angle of the body of the laser radar 1 may have one or more intersection lines with the inner circumferential surface of the concave portion. At least one of the intersection lines has a circular arc shape, and the center of the circular arc shape is located on the laser emission axis of the laser radar 1. Specifically, referring to FIG. 4 (top view) and FIG. 6, in the top view of FIG. 4, at this time, the body of the laser radar 1 is at a position of 0 degrees, and the laser scanning surface is parallel to the paper surface (horizontal plane), and the laser radar can be seen. The laser scanning surface at each predetermined rotation angle of the body of the body has two left and right intersection lines with the inner circumferential surface of the concave portion of the casing 5, and it can be seen that the two intersection lines have an arc shape. With such an arrangement, the distance from the axis O of the laser radar 1 to each of the calibration points on the calibration area A on the right side of FIG. 4 is the same D ₂ , and the axis O is to the calibration area A on the left side of FIG. The distance at each point on is the same D ₁ . Thus, even in the case where the length of the calibration area A is large, the laser has only a maximum of two numerical calibration distances (i.e., D ₁ and D ₂ ) during one scan, so that the calculation process can be simplified. In addition, it is also possible to reduce noise by means of averaging, eliminating abnormal points, and the like.

Further, from the front view direction shown in FIG. 5, in fact, as long as the laser radar changes from erect to inverted, that is, after rotating 180 degrees, the laser scanning surface can cover the entire 360-degree space, so actually only need A calibration area having a scanning angle of 180° in the main viewing direction is used to help determine the predetermined rotation angle. For example, in the embodiment of Fig. 5, the upper portion of the inner peripheral contour of the casing 51 is a semicircular shape in the front view direction, and the lower portion of the inner peripheral contour is two parallel lines, and only the upper portion is required to be 0°. The -180° area is available as a calibration area. At this time, it can be seen that the laser scanning surface at each predetermined rotation angle of the body of the laser radar 1 has two left-right intersections with the inner circumferential surface of the concave portion of the casing 51, but since the calibration area only takes the view of FIG. The semicircle of the upper half, so that the laser scanning surface at each predetermined rotation angle of the body of the laser radar 1 has only one intersection with the calibration area A of the casing 51, and the intersection line is set into a circular arc shape and makes the circle The center of the arc is on the axis O. With such an arrangement, the distance from the axis O of the laser radar 1 to each of the calibration points on the calibration area A is the same value, which simplifies the calculation process.

The present disclosure is not limited to the embodiment of FIG. 5, and the angle determining auxiliary member may be configured such that a relationship of a predetermined rotation angle with an orientation and a distance of a calibration point corresponding to a predetermined rotation angle conforms to a preset formula, or causes a predetermined rotation angle to correspond to The relationship of the distances of the calibration points of the predetermined rotation angle conforms to the preset formula. For example, viewed along the direction of the main viewing direction of the laser radar 1 from the environmental scanning area B along the axis of rotation of the body of the laser radar 1, the angle determining auxiliary part 5 provides a portion of the calibration area A in a circular shape. An overall or partial shape that is linear, elliptical, or triangular.

Referring to FIG. 5, the inner circumferential surface of the casing 5 is correspondingly configured to conform to a preset formula, for example, the circumferential direction of the concave portion may be at least 180° as viewed in the aforementioned front view direction. The outline is set to a circle, an involute, an ellipse or a triangle. Specifically, the respective predetermined rotation angles within the rotation range of the rotation mechanism 2 and the orientation and distance data of the corresponding calibration points follow a preset function, and the three can form a specific formula (or a distance binary and a predetermined rotation angle) function). Of course, there is also a simplified form, that is, if there is only one calibration point in the calibration area under each predetermined rotation angle (that is, there is only one calibration point on the inner circumference surface, for example, starting from the environmental scanning area B into the calibration area) The starting point is the only calibration point), then both the predetermined rotation angle variable and the distance variable follow a specific formula (or the distance is a function of a predetermined rotation angle), and it is also considered that the inner circumferential surface of the casing 5 conforms to the preset. Formula.

In some embodiments, in order to determine a predetermined rotation angle of the body of the unique corresponding laser radar 1 by laser scanning information data of the calibration point, laser scanning of the calibration point at each predetermined rotation angle of the body of the laser radar 1 may be performed. The information data is different from the laser scanning information data of the calibration points at other predetermined rotation angles. For example, suppose that there are three calibration points A ₁ , A ₂ and A _{3 at a} predetermined rotation angle of 0°, and the laser scanning information data is (10°, 30 mm), (13°, 51 mm), and (15°, 37 mm). The laser scanning information data of the three corresponding calibration points B ₁ , B ₂ and B ₃ at a predetermined rotation angle of 9° are (10°, 33 mm), (13°, 47 mm) and (15°, 37 mm). The laser scanning information data of the three calibration points A ₁ , A ₂ and A _{3 and} the laser scanning information data of the three calibration points B ₁ , B ₂ and B ₃ can be used to determine the respective predetermined rotation angles or at least two The predetermined rotation angles are separated by 0° and 9°.

The difference in the laser scanning information data of the calibration point mentioned above does not require that all the distance data corresponding to the calibration point (corresponding to the laser orientation) is different, and only one pair of distance data corresponding to the calibration point may be different, for example, in the above example, Although the distance data of A ₃ and B ₃ are the same, A ₁ is different from B ₁ , and A ₂ is different from B ₂ , so that distinction can be made. The laser scanning information data of the calibration point herein may include distance data of the calibration point. For example, if only one calibration point or the distance data of each calibration point is substantially the same in the calibration area corresponding to each predetermined rotation angle, only the calibration point may be used. The distance data is used as the laser scanning information data of the calibration point.

In addition, at least one of the number including the calibration point, the coverage of the calibration point, and the adjacent predetermined rotation angle may be transmitted to the data processing module as additional information. For example, when the laser scanning information data according to the calibration point at a certain predetermined angle is insufficient to determine the predetermined rotation angle corresponding to the laser scanning information data of the environmental scanning area B, the adjacent predetermined rotation may be further combined. The laser scanning information data of the calibration point at an angle determines the predetermined rotation angle corresponding to the laser scanning information data of the environmental scanning area B. Alternatively, in order to make the distance data of the calibration points corresponding to each predetermined rotation angle different, and in order to make the form of the aforementioned "preset formula" simple, all the predetermined rotation angles of the rotation mechanism 2 can be made. The calibration point conforms to the preset formula.

As shown in FIG. 5, in some embodiments, the curve of each calibration point corresponding to all predetermined rotation angles may be formed into an involute to conform to the involute formula, so that the distance from the calibration point to the axis O is The predetermined rotation angle is increased to increase, so that the calculation relationship between the predetermined rotation angle and the distance data (and the orientation data of the calibration point, etc.) is simplified. Certainly, the preset formula that can be used in the embodiment of the present disclosure is not limited to the involute formula. In other embodiments, the preset formula may also be other preset function curve formulas whose distance changes monotonously with the change of the predetermined rotation angle. This not only ensures that the distance data of the calibration points corresponding to the respective predetermined rotation angles is different, but also can easily calculate the predetermined rotation angle from the distance data according to the preset function curve formula.

The embodiment shown in FIG. 5 will be specifically described below as an example. When the laser radar 1 is eccentrically disposed in the concave portion of the casing 51 (that is, when the axis O of the laser radar 1 does not coincide with the center of the upper half circumference of the casing 51), the axial center O reaches the inner circumference of the concave portion. The distance of the surface increases as the predetermined rotational angle of the body of the laser radar 1 increases. When the body of the laser radar 1 is in an upright state (ie, the predetermined rotation angle is 0°), the axis O point is closest to the calibration area A (the right side of the inner circumferential surface), which is D ₂ ; then the counterclockwise rotation, the axis The distance from the point O of the heart to the calibration area A of the upper portion of the inner peripheral surface becomes larger, for example, becomes D ₃ ; finally, the distance from the point O of the axis to the calibration area A on the left side of the inner peripheral surface reaches the maximum, becomes D ₁ .

In the course of the body swing of the laser radar 1, it can be considered that half of the scanning surface of the laser radar 1 is from 0° on the right side (assumed to be the direction of the mark D ₂ in FIG. 5) to 180 degrees on the left side (assumed to be FIG. 5). The direction of the label D ₁ is swung, and may be appropriately stopped for each discrete predetermined rotation angle for a predetermined time, which may be equal to or longer than the time of one round of laser scanning of the laser radar 1. For example, if a laser in a certain type of laser radar 1 takes 25 ms to scan a circle, 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 25 ms, It is ensured that the laser radar 1 can completely collect data of one round of laser scanning at the predetermined rotation angle. In order to ensure a certain margin, the stay time can be greater than 25ms, such as 30ms or 50ms. Of course, in the case of a fast scan, the time of stay can be chosen to be equal to 25ms. After swinging to 180°, the laser radar is again swung from 180° to 0°, thereby achieving a reciprocating swing. Of course, if the rotational speed of the body of the laser radar is lower than the predetermined speed and the detection accuracy is low, the body of the laser radar 1 may not stay at each predetermined rotation angle.

In other embodiments, even though there may be the same case where the laser scanning information data of the calibration points corresponding to the two predetermined rotation angles are the same, they can simply lower the two predetermined rotation angles by their respective adjacent predetermined rotation angles. This is also the case within the scope of this application. That is, in the direction of the front view (ie, viewed from the direction of FIG. 5), the circumferential contour of the concave portion of the housing 5 can be at least 180° (may be the upper half contour of FIG. 5, or A lower half contour, a left half contour, a diagonal half contour, and the like, which are not shown in the drawings, are set as the calibration areas. The predetermined rotation angle corresponding to D ₂ marked in FIG. 5 is 0°, and the rotation angle becomes larger when rotated counterclockwise, and the angle corresponding to D ₁ is 180°.

In the case where the interval between adjacent predetermined rotation angles is 1°: assuming that the laser azimuth data and the distance data of the calibration point (or the calibration point group) A1 at a predetermined rotation angle of 5° and the predetermined rotation angle of 130° The laser azimuth data of the fixed point (or calibration point group) A2 is the same as the distance data. If only the two sets of data are viewed, it is impossible to determine which group of them is a predetermined rotation angle corresponding to 5°, and which group is a predetermined rotation angle corresponding to 130°. At this time, a previous adjacent predetermined rotation angle (first predetermined rotation angle) and/or a next adjacent predetermined rotation angle (third predetermined rotation) with the unknown predetermined rotation angle (assumed to be the second predetermined rotation angle) may be introduced. The corresponding data of the angle). For example, the data of the previous adjacent predetermined rotation angle of 4° of 5° is different from the data of the previous adjacent predetermined rotation angle of 129° of 130°, and in other embodiments, the adjacent angle may also be adopted. The laser scan information data is used to determine a predetermined rotation angle corresponding to the laser scanning information data of the detected A1 and the laser scanning information data of A2, respectively.

In other embodiments of the present disclosure, when the auxiliary angle is determined at the construction angle, the relationship between the predetermined rotation angle, the orientation of the corresponding calibration point, and the distance may not be conformed to the preset formula, but the angle determination auxiliary component may be configured to be arbitrary. Irregular shape. The laser scanning information data of the calibration point group at each predetermined rotation angle through which the body rotates is randomly distributed. In this case, the calculation will become complicated or even difficult to implement, but this embodiment will not determine the corresponding predetermined rotation angle by the formula calculation, but will determine and detect the laser scan information by the calibration process mentioned later. The predetermined rotation angle corresponding to the data. An advantage of this embodiment is that it is determined that the shape and size of the auxiliary components do not need to be manufactured to exact dimensions, that installation does not require precision, and manufacturing and installation costs are greatly reduced.

As shown in FIG. 6, a schematic partial cutaway perspective view of an embodiment of a three-dimensional scanning device of the present disclosure. In Fig. 6, the rotating mechanism 2 specifically includes a laser radar mounting bracket 28 and a rotary drive assembly. The laser radar 1 is mounted on a laser radar mounting bracket 28, and the housing 51 is mounted between the rotary drive assembly and the laser radar mounting bracket 28. The housing 51 may be fixed to the chassis of the rotary drive assembly by a mounting plate 23 or may be part of a chassis of the rotary drive assembly.

Referring to Figure 6, the rotary drive assembly can specifically include a power element and a toothed engagement transmission. The power element is operatively coupled to the lidar mounting bracket 28 by the toothed engagement drive mechanism to drive the lidar mounting bracket 28 to rotate about the axis of rotation. In FIG. 6, the power element may include a servo motor 21 and a speed reducer 22. A clutch or the like can be further provided as needed. In other embodiments, the power element may also include a stepper motor or other form of power such as a pneumatic motor, a rotary cylinder, or a hydraulic motor.

The toothed meshing mechanism can achieve precise power transmission by toothed engagement, which can include a timing belt drive. In FIG. 6, the timing belt transmission mechanism may specifically include a driving wheel 24, a toothed belt 25, and a driven wheel 26. In order to make the lidar mounting bracket 28 rotate more smoothly, the lidar mounting bracket 28 can be rotatably coupled to the housing 5 via the slewing bearing 27. In other embodiments, the toothed engagement mechanism can also include a multi-gear transmission mechanism that engages the transmission through a plurality of gears.

In still other embodiments of the three-dimensional scanning device of the present disclosure, a closed cover for closing the laser radar 1 and the angle determining auxiliary component 5 may be further included, and the laser band emitted by the closed cover for the laser radar 1 is Transparent, so that the operator's hand or flying insects and other foreign objects can be prevented from entering the laser radar 1 and the angle determining auxiliary component 5, so that the laser scanning information data of the calibration point cannot be correctly or accurately acquired, thereby improving the three-dimensional scanning. The reliability of the device.

The data processing module 3 is capable of receiving laser scanning information data (eg, laser azimuth and corresponding distance, etc.) of the calibration area A and the environmental scanning area B obtained by the single-line laser radar 1 at each predetermined rotation angle. 2 is a schematic structural view of another embodiment of the three-dimensional scanning device of the present disclosure. Compared with the embodiment of FIG. 1, the data processing module 3 includes a scan data receiving unit 31 and a rotation angle determining unit 32. The scan data receiving unit 31 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 of the laser radar 1 and the laser scanning information data of the environmental scanning area B. The rotation angle determining unit 32 determines a predetermined rotation angle based on the laser scanning information data of the calibration point. For the angle determining auxiliary part 5 that provides the calibration area A, the rotation angle determining unit 32 can perform laser scanning information data according to the aforementioned "preset formula" and the received calibration point (for example, distance data of the calibration point, orientation data, etc.) Calculating a predetermined rotation angle corresponding to the laser scanning information data of the calibration point.

In other embodiments, the data processing module 3 may further include a point cloud data generating unit that may generate the three-dimensional environment point cloud data in combination with the predetermined rotation angle and the distance data of the environment scanning area B. Since the laser scanning information data of the calibration point is 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 environmental scanning area B are located in the same data unit (for example, the same frame). The data is transmitted through the same line architecture, so the data processing module 3 can also treat the two data as the same data unit. Thus, after the rotation angle determining unit 32 determines the predetermined rotation angle based on the laser scanning information data of the calibration point, the point cloud data generating unit can set the predetermined rotation angle of the body of the laser radar 1 and the laser scanning information data of the environment scanning area B. Corresponding accurately, and avoiding the problem that the data cannot be synchronized due to the reception delay of different data and mismatching, the data processing module 3 obtains an accurate predetermined rotation angle, thereby ensuring more accurate mapping based on the spatial three-dimensional point cloud data.

According to an embodiment of the present disclosure, in one three-dimensional scanning, the rotating mechanism 2 can transmit up to two signals to the data processing module, the first signal being that the body of the laser radar 1 is at 0° (for example, the laser radar shown in FIG. 5 is positive When the rotating mechanism 2 is ready to start rotating the body of the laser radar 1, the rotating mechanism 2 sends a data acquisition start signal to the data processing module 3, and the data acquisition start signal can reflect the initial position. Or with the initial angle data 0 °, of course, can not reflect any angle. The second signal is that when the body of the laser radar 1 is at 180° (for example, the laser radar is inverted upside down in FIG. 5 and the frustum is large and small), the rotating mechanism 2 sends a data acquisition stop signal to the data processing module 3, The data acquisition stop signal can reflect the stop position or 180° with the stop angle data, and of course, can not reflect any angle. In summary, the rotating mechanism 2 may not transmit any angle data to the data processing module, or the rotating mechanism 2 may only transmit at most two data acquisition start signals and data acquisition stop signals embodying the initial angle and the end angle.

Correspondingly, the data processing module 3 can include at least one of a start signal response unit and a stop signal response unit. The activation signal response unit triggers the scan data receiving unit 31 to start receiving the laser scan information data obtained by the laser radar 1 in response to a data acquisition enable signal from the rotation mechanism. 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 a data acquisition stop signal from the rotation mechanism. For example, after receiving the second signal, a short predetermined time is extended (for example, the time required for the laser scanning of the laser radar 1 to take one revolution, for example, 25 ms, of course, may be slightly longer than one scan) Receiving the laser scanning information data, as long as it can receive a complete scan information data of the laser radar at a predetermined rotation angle of 180°.

Since the rotating mechanism 2 can send data to the data processing module twice as much as needed, the data processing amount of the data processing module 3 is reduced, the processing is simplified, and communication interference and power consumption are also 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 an embodiment of the present disclosure, for a relationship configured such that a predetermined rotation angle, a position of a corresponding calibration point, and a distance conform to a preset formula, or a relationship of a predetermined rotation angle and a distance of a corresponding calibration point conforms to a preset formula There are several ways to determine the predetermined angle of rotation for angle determination aids. The first method is to use the formula calculation method, and the second method is to use the lookup table method. In the method of using the lookup table, it is further divided into a method of using a fixed lookup table of data, and a method of using a lookup table of data update. These methods will be explained in detail below with respect to the description of FIGS. 2 and 3.

For the method of calculating the first formula, the rotation angle determining unit 32 may specifically include a formula under the condition that the laser scanning information data of the calibration point corresponding to the predetermined rotation angle of the body of the laser radar 1 and the predetermined rotation angle follow a specific formula. Calculating a determination subunit, wherein the subunit is capable of calculating a corresponding predetermined rotation angle according to the preset formula and the laser scanning information data of the calibration point, thereby obtaining a predetermined matching with the laser scanning information data of the corresponding environmental scanning area B The angle of rotation.

The determination of the predetermined rotation angle is not limited to the manner of calculation according to a specific formula, and the second method of looking up the table. FIG. 3 is a schematic structural view of still another embodiment of the three-dimensional scanning device of the present disclosure. Compared with some embodiments, the embodiment may further include a mapping information pre-storing module 4, pre-stored a mapping information table between the laser scanning information data of the calibration point and the predetermined rotation angle, that is, a pre-stored lookup table. The data mapping information in the mapping information table may be obtained by a formula, that is, in other embodiments, the three-dimensional scanning device may further include a mapping information calculation module, and calculate at least the laser scanning information data of the calibration point according to a preset formula. A mapping relationship with a predetermined rotation angle is provided to the mapping information pre-storage module 4 for saving.

For the mapping information table in the pre-existing mapping information pre-storage module 4, it may include at least one set of pre-stored mapping information records, and the pre-stored mapping information records may include lasers of each predetermined rotation angle and the calibration point corresponding to the predetermined rotation angle. Scan information data. In some embodiments, the rotation angle determining unit 32 may include a lookup table determining subunit, and the subunit may search for the same or the closest to the detected laser scanning information data of the calibration point in the mapping information table. The laser scanning information data of the calibration point, and further determining a predetermined rotation angle corresponding to the laser scanning information data of the same or the closest pre-stored calibration point as the laser scanning information of the detected environmental scanning area B The data matches. The laser scanning information data of the closest pre-stored calibration point here 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 the difference may be because The error of the 3D scanning device during operation (such as jitter, etc.), so it can still be recognized as data matching within the preset gap. On the other hand, the laser scanning information data of the closest pre-stored calibration point is also represented. The difference between the laser scanning information data of the pre-stored calibration points corresponding to each predetermined rotation angle and the laser scanning information data of the detected calibration points is the smallest.

The methods mentioned above for looking up a table are divided into a method of using a fixed lookup table of data and a method of using a lookup table of data update. Here we first introduce the method of using a fixed data lookup table. When the machining accuracy of the shape of the angle determining auxiliary component is high, that is, the actual shape and the preset shape deviation are small, the mapping information pre-storing module 4 stores the discrete plurality of predetermined calculations calculated in advance according to the aforementioned preset formula. The rotation angle is corresponding to a plurality of corresponding distance data, and may even include a plurality of corresponding laser orientations. These values are fixed in the mapping information pre-storage module 4 when the device is shipped from the factory and will not change in the future. Of course, in addition to the calculation using the preset formula, in the case where the angle determining auxiliary component directly adopts any irregular shape, each corresponding data (predetermined rotation) can also be obtained by a calibration experiment before leaving the factory (described later in detail). The angle and the corresponding laser scan information data), and all relevant data are stored in the mapping information pre-storage module 4, and will not change in the future. This method of calibration is not only applicable to the determination of the auxiliary part by the angle of the irregular shape, but also to the angle determining auxiliary part having the regular shape conforming to the preset formula. In summary, the mapping information table may be stored in the mapping information pre-storage module 4 in a non-modified manner.

In still other embodiments, when the angle determining auxiliary component is poor in stability to the environment or the mounting is not strong, or when the rotating mechanism 2 frequently drives the body of the laser radar 1 to rotate, such a situation may occur: after a certain period of time Thereafter, the change in the relative state (mainly relative position) of the angle determining auxiliary member 5 and the rotating shaft of the rotating mechanism 2 may exceed the threshold value, and in this case, it is necessary to determine the auxiliary member 5 every predetermined time period or whenever the angle is determined. When the relative state change with the rotation axis of the rotation mechanism 2 exceeds the threshold value, the calibration is performed again, and the mapping information pre-storage module 4 updates based on the mapping information table obtained after the re-calibration.

The calibration operation can be performed by a calibration unit in the data processing module, ie, in other embodiments, the data processing module 3 can further include a calibration unit. The calibration unit is capable of receiving the predetermined rotation angle provided by the rotation mechanism 2 and laser scanning information data of the calibration point in the calibration area A obtained by the laser radar 1, and the predetermined rotation angle and the calibration point The laser scanning information data is correspondingly saved in the mapping information table. For example, the predetermined rotation angle and the corresponding laser scanning information data are stored in the mapping information pre-storage module 4 by first setting a predetermined rotation angle and then receiving the laser scanning information data of the calibration point in the calibration area A at the predetermined rotation angle.

Correspondingly, in the process of actually measuring the target, after obtaining the laser scanning information of the environment scanning area B and the calibration point, the rotation angle determining unit 32 can find and actualize from the newly calibrated data of the mapping information pre-storing module 4. The measured calibration information of the calibration point is the closest to the calibration point data, and the corresponding predetermined rotation angle can be found very accurately according to the mapping relationship. By using such a periodic calibration method, not only the dependence on the motion precision control and the machining accuracy of the motion mechanism can be reduced, but also the adverse effects caused by the mechanical vibration of the motion mechanism can be greatly reduced, thereby reducing the equipment cost and the measurement accuracy. Higher, the error is smaller.

The calibration operation mentioned above first causes the rotating mechanism to rotate the body of the laser radar to a predetermined rotation angle, and then transmits angle data about the predetermined rotation angle to the calibration unit in the data processing module, and the calibration unit receives the reservation. After the angle data is rotated, the laser scanning information data of the calibration point obtained by the laser radar is received, and the laser scanning information data of the calibration point is stored in the mapping information table corresponding to the predetermined rotation angle. When receiving the laser scanning information data of the calibration point obtained by the laser radar, it is optional to wait for a period of time to determine that the laser scanning information data of the calibration point is substantially unchanged (in case the laser of the calibration point in the calibration area corresponding to the previous angle is received) The information data is scanned, and then the predetermined rotation angle is stored in a corresponding area of the storage module (for example, a mapping information pre-stored module) corresponding to the determined scan information data. Then, the rotating mechanism rotates the body of the laser radar to the next predetermined rotation angle, repeats the above process, and so on, and finally obtains all the calibration information.

Although the method described above is for calibration, in other embodiments of the three-dimensional scanning device of the present disclosure, the above-described method can be used to detect a stationary target object. That is, the rotating mechanism first rotates the lidar body to a predetermined rotation angle, and then transmits predetermined rotation angle data about the predetermined angle to the data processing module. After receiving the predetermined rotation angle sent by the rotating mechanism, the data processing module receives laser scanning information data of the environmental scanning area obtained by the laser radar at the predetermined rotation angle, and then the rotating mechanism Rotating the body of the laser radar to a next predetermined 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 environmental scanning area corresponding to all predetermined rotation angles is obtained And generating the three-dimensional environment point cloud data in combination with the predetermined rotation angle and the laser scanning information data of the environment scanning area.

If there is a long delay such as wireless transmission, the data processing module needs to determine whether the laser scanning information data of the environment scanning area is stable during the process of receiving the laser scanning information data of the environment scanning area (ie, determining the predetermined rotation angle) Whether the received multi-turn laser scanning information data is substantially the same, preventing the scanning information data from being received at the last predetermined rotation angle). If it is not stable, the rotating mechanism continues to wait. The data processing module stores the predetermined rotation angle and the laser scanning information data of the stable environment scanning area correspondingly until the laser scanning information data of the environmental scanning area is stabilized. This detection method is suitable for scenes that do not require rapid detection (such as when a lidar is loaded on a moving robot or on a vehicle, or where a lidar detects a moving vehicle or pedestrian).

The embodiments of the above-described three-dimensional scanning device of the present disclosure can be applied to various occasions and equipments that require three-dimensional scanning, for example, using the obtained laser scanning information data to realize three-dimensional space mapping and the like. The 3D scanning device can be mounted on a fixed device or on a moving device. For example, it can be applied to driverless cars, but is especially suitable for robots. The present disclosure therefore also provides a robot, including an embodiment of any of the foregoing three-dimensional scanning devices.

In addition, referring to the description of the foregoing three-dimensional scanning device embodiment, the present disclosure may further provide an angle determining auxiliary component 5 disposed in the vicinity of the three-dimensional scanning device or disposed in the vicinity of the three-dimensional scanning device, the three-dimensional scanning device including the laser radar 1 and Rotating mechanism 2, the laser light in the laser radar 1 is subjected to rotational scanning, and the scanning range of the laser light includes an environmental scanning area B and a calibration area A provided by the angle determining auxiliary part 5, and the rotating mechanism 2 drives the laser radar 1 The body rotates through the respective predetermined rotational angles with respect to an axis different from the axial direction of the laser rotation scan, wherein the calibration area A and the axis of rotation of the body of the laser radar 1 remain relatively stationary.

The angle determining auxiliary member 5 may be configured to have a regular shape such that the predetermined rotational angle, the orientation and distance of the corresponding calibration point form a specific formula, or the predetermined rotational angle, the distance of the corresponding calibration point forms a specific formula. In terms of configuration, the angle determining auxiliary member 5 may include a housing 51 having a concave portion that avoids a moving space of the body, and the rotating mechanism 2 may include a laser radar mounting bracket 28 and a rotational driving assembly, and the laser radar 1 is mounted on On the laser radar mounting bracket 28, the lidar mounting bracket 28 is rotatably coupled to the housing 51 via a slewing bearing 27.

Based on the foregoing three-dimensional scanning device embodiment, the present disclosure also provides a corresponding three-dimensional environment point cloud data generating method, including:

Receiving, by the data processing module 3, the laser scanning information data of the calibration point in the calibration area A and the laser of the environmental scanning area B obtained by the laser radar 1 at each predetermined rotation angle through which the body rotates Scanning information data;

The predetermined rotation angle corresponding to the laser scanning information data of the environmental scanning area B is determined by the data processing module 3 based on the laser scanning information data of the calibration point in the calibration area A.

In the above embodiment, the scanning surface formed by the laser radar 1 can always pass through the rotation axis of the rotating mechanism 2. The rotating mechanism 2 can drive the laser radar 1 to continuously rotate or reciprocate within a preset angle range. The preset angle range may be 180° or more. Accordingly, the rotating mechanism 2 can reciprocally rotate within 180° with reference to the horizontal plane.

In order to further form the three-dimensional environment point cloud data for realizing the three-dimensional space mapping, the data processing method may further include: generating, by the data processing module 3, the three-dimensional combined with the predetermined rotation angle and the laser scanning information data of the environmental scanning area B Environmental point cloud data.

In the above embodiment, the data processing method may further include at least one of the following steps:

In response to the data acquisition enable signal from the rotating mechanism 2, triggering the data processing module 3 to start receiving laser scan information data obtained by the laser radar 1;

In response to the data acquisition stop signal from the rotating mechanism 2, the data processing module 3 is controlled to stop receiving the laser scanning information data obtained by the laser radar 1 after a predetermined time.

In another embodiment of the method, the laser scanning information data of the calibration point corresponding to each predetermined rotation angle and the predetermined rotation angle of the rotating mechanism 2 follows a preset formula; the operation of determining the predetermined rotation angle may specifically include: And calculating, by the data processing module 3, a corresponding predetermined rotation angle according to the preset formula and the laser scanning information data of the calibration point, thereby obtaining a laser scanning information data matching the corresponding environmental scanning area B. The predetermined angle of rotation.

Referring to the embodiment of the three-dimensional scanning device shown in FIG. 3, the three-dimensional scanning device may further include a mapping information pre-storing module 4 for pre-storing a mapping information table between the laser scanning information data of the calibration point and the predetermined rotation angle. Correspondingly, the determining the predetermined rotation angle may specifically include: searching, by the data processing module 3, the pre-stored mapping information that matches the laser scanning information data of the calibration point obtained by the laser radar 1 in the mapping information table. And determining a predetermined rotation angle in the pre-stored mapping information to match the detected laser scanning information data of the environmental scanning area B. The operation of pre-storing the mapping information table may include: calculating a mapping relationship between at least one of the laser scanning information data of the calibration point and a predetermined rotation angle according to a preset formula, and providing the mapping information to the mapping information pre-storage module 4 to save.

For the lookup table mode, the mapping information table can be stored in the mapping information pre-storage module 4 in a non-modified manner; or stored in the mapping information pre-storage module 4 in an updateable manner. That is, the data processing method further includes re-calibrating after the preset duration or after the relative state change of the angle determining auxiliary member 5 and the rotating shaft of the rotating mechanism 2 exceeds a threshold value, the mapping information pre-storing module 4 The update is performed based on the mapping information table obtained after recalibration.

In another method embodiment, the data processing module 3 may further comprise a calibration unit. The corresponding data processing method further includes: receiving, after the predetermined rotation angle provided by the rotating mechanism 2 when rotating to each predetermined rotation angle, receiving the calibration point obtained by the laser radar 1 The laser scans the information data, and stores the laser scanning information data of the calibration point in the mapping information table in correspondence with the predetermined rotation angle.

For the description of the embodiments of the data processing method, reference may be made to the description of the content and technical effects of the foregoing embodiments of the three-dimensional scanning device, and details are not described herein again. The various embodiments in the present specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the various embodiments may be referred to each other.

The above description of the disclosed embodiments enables those skilled in the art to make or use the disclosure. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments shown herein, but the scope of the invention is to be accorded

It is apparent that the described embodiments are only a part of the embodiments of the present disclosure, and not all of them. The above description of the at least one exemplary embodiment is merely illustrative, and is in no way intended to limit the invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without departing from the inventive scope are the scope of the disclosure.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in the embodiments are not intended to limit the scope of the disclosure. In the meantime, it should be understood that the dimensions of the various parts shown in the drawings are not drawn in the actual scale relationship for the convenience of the description. Techniques, methods and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and apparatus should be considered as part of the authorization specification. In all of the examples shown and discussed herein, any specific values are to be construed as illustrative only and not as a limitation. Thus, other examples of the exemplary embodiments may have values that are not + the same. It should be noted that similar reference numerals and letters indicate similar items in the following figures, and therefore, once an item is defined in one figure, it is not required to be further discussed in the subsequent figures.

Claims

A three-dimensional scanning device comprising:

a laser radar (1), the laser in the laser radar (1) performs a rotational scan, and the scanning range of the laser includes an environmental scanning area (B) and a calibration area (A) provided by the angle determining auxiliary component (5);

a rotating mechanism (2) configured to drive the body of the laser radar (1) to rotate and pass each predetermined rotation angle; and

a data processing module (3) configured to receive laser scanning information data of a calibration point in the calibration area (A) obtained by the laser radar (1) at each predetermined rotation angle through which the body rotates Laser scanning information data of the environmental scanning area (B), and determining the predetermined correspondence corresponding to the laser scanning information data of the environmental scanning area (B) based on the laser scanning information data of the calibration point in the calibration area (A) The angle of rotation.
The three-dimensional scanning apparatus 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.
The three-dimensional scanning apparatus according to claim 1, wherein the rotating mechanism (2) is configured to drive the body of the laser radar (1) to rotate in an axis with a direction different from an axial direction of the laser rotation scanning, The scanning surface formed by the laser of the laser radar (1) is rotated together with the body of the laser radar (1), and the laser output axis is always located on the axis of rotation of the body.
The three-dimensional scanning apparatus according to claim 1, wherein said environmental scanning area (B) corresponds to a scanning angle range smaller than an effective angular range of said laser radar (1) such that said calibration area (A) is at least A portion of the corresponding scan angle range is within the effective angle range.
The three-dimensional scanning apparatus according to claim 1, wherein the rotating mechanism (2) is configured to drive the body of the laser radar (1) to continuously rotate in a predetermined direction or to reciprocate in a predetermined angular range.
The three-dimensional scanning apparatus according to claim 5, wherein the predetermined angular range has a size of 180° or more than 180°.
The three-dimensional scanning apparatus according to claim 1, wherein in the process of rotating the body of the laser radar (1) by the rotating mechanism (2), the rotating mechanism (2) is configured to be in the respective predetermined rotations Stay at the angle for a predetermined time.
The three-dimensional scanning apparatus according to claim 7, wherein said predetermined time is equal to or longer than a time when said laser of said laser radar (1) scans one revolution.
The three-dimensional scanning apparatus according to claim 1, wherein the body of the laser radar (1) does not stay at each predetermined rotation angle.
The three-dimensional scanning apparatus according to claim 1, wherein said angle determining auxiliary member (5) is a component belonging to the three-dimensional scanning device or other structure not belonging to the three-dimensional scanning device, and said calibration region (A) is formed in the The laser of the laser radar (1) is scanned over the surface of the angle determining auxiliary part (5), and the calibration area (A) remains relatively stationary between the axis of rotation of the body of the laser radar (1).
The three-dimensional scanning apparatus according to claim 10, wherein said angle determining assisting member (5) is configured such that a relationship between a predetermined rotational angle and an orientation and a distance of a calibration point corresponding to a predetermined rotational angle conforms to a preset formula, or The relationship of the predetermined rotation angle to the distance of the calibration point corresponding to the predetermined rotation angle is made to conform to the preset formula.
The three-dimensional scanning apparatus according to claim 11, wherein said angle determining auxiliary member (5) provides a portion of said calibration area (A) in a circular shape, an involute shape, and an elliptical shape when viewed in a front view direction Or a general or partial shape of a triangle; the principal viewing direction is a direction from the environmental scanning area (B) to the laser radar (1) along the axis of rotation of the body of the laser radar (1).
The three-dimensional scanning apparatus according to claim 10, wherein said angle determining auxiliary component (5) comprises:

a housing (51) rotatably coupled to the rotating mechanism (2), the rotating mechanism (2) being configured to drive a body of the laser radar (1) to rotate relative to the housing (51); or

A separate structure separate from the rotating mechanism (2), the rotating mechanism (2) being configured to drive the body of the laser radar (1) to rotate relative to the independent structure.
The three-dimensional scanning apparatus according to claim 13, wherein the casing (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 the laser radar ( The laser of 1) is in the scanning range of the inner peripheral surface of the concave portion.
The three-dimensional scanning device according to claim 14, wherein the concave portion is configured such that at least one of an inner peripheral surface thereof and a laser scanning surface at each predetermined rotation angle of the body of the laser radar (1) The intersection line has a circular arc shape, and the center of the circular arc is located on the exit axis of the laser of the laser radar (1).
The three-dimensional scanning apparatus according to claim 1, wherein said angle determining auxiliary member (5) is an external environment or an external facility existing independently of said three-dimensional scanning device, said external environment or external facility being relative to The axis of rotation of the body remains stationary.
The three-dimensional scanning apparatus according to claim 1, wherein said calibration area (A) includes a single calibration point, a plurality of calibration points in a continuous form, or a plurality of discrete forms at each predetermined rotation angle through which said body rotates Calibration points.
The three-dimensional scanning apparatus according to claim 17, wherein the plurality of calibration points in a continuous form or a plurality of calibration points in a discrete form partially or completely cover the calibration area (A).
The three-dimensional scanning apparatus according to claim 17, wherein said single calibration point is an edge point of said calibration area (A), or laser light of said laser radar (1) enters from said environmental scanning area (B) The starting point of the calibration area (A).
The three-dimensional scanning apparatus according to claim 1, wherein the laser scanning information data of the calibration point includes distance data of the calibration point, or the laser scanning information data of the calibration point includes distance data of the calibration point and Bearing data.
The three-dimensional scanning apparatus according to claim 1, wherein said data processing module (3) is configured to insufficiently determine laser scanning information data according to a calibration point at a predetermined angle with said environmental scanning area (B) And determining, according to the predetermined rotation angle corresponding to the laser scanning information data, the laser scanning information data corresponding to the calibration point at the adjacent predetermined rotation angle to determine the laser scanning information data corresponding to the environmental scanning area (B) The predetermined angle of rotation.
The three-dimensional scanning apparatus according to claim 1, wherein the laser scanning information data of the corresponding calibration points at different predetermined rotation angles are different from each other.
The three-dimensional scanning device according to claim 13, wherein said rotating mechanism (2) comprises:

a laser radar mounting bracket (28), the lidar (1) being mounted on the lidar mounting bracket (28); and

Rotating the drive assembly configured to drive the lidar mounting bracket (28) to rotate,

Wherein the housing (51) is mounted between the rotary drive assembly and the laser radar mounting bracket (28).
The three-dimensional scanning apparatus according to claim 23, wherein said laser radar mounting bracket (28) and said housing (51) are rotatably coupled by a slewing bearing (27).
A three-dimensional scanning apparatus according to claim 23, wherein said rotational drive assembly comprises a power element and a toothed engagement transmission mechanism, said power element passing said toothed engagement transmission mechanism and said laser radar mounting bracket (28) Operablely coupled and configured to drive the lidar mounting bracket (28) to rotate about an axis of rotation of the body.
The three-dimensional scanning device according to claim 25, wherein the toothed engagement transmission mechanism is a timing belt transmission mechanism or a multi-gear transmission mechanism.
A three-dimensional scanning apparatus according to claim 25, wherein said power element comprises a servo motor (21) and a speed reducer (22), or said power element comprises a stepper motor.
The three-dimensional scanning device according to claim 1, wherein said data processing module (3) comprises:

a scan data receiving unit (31) configured to receive laser scanning information data of a calibration point in the calibration area (A) obtained by the laser radar (1) at each predetermined rotation angle through which the body rotates And laser scanning information data of the environmental scanning area (B); and

The rotation angle determining unit (32) is configured to determine a predetermined rotation angle corresponding to the laser scanning information data of the environmental scanning area (B) based on the laser scanning information data of the calibration point in the calibration area (A).
The three-dimensional scanning device according to claim 28, wherein the data processing module (3) further comprises:

The point cloud data generating unit is configured to generate three-dimensional environment point cloud data in conjunction with the predetermined rotation angle and the laser scanning information data of the environment scanning area (B).
The three-dimensional scanning device according to claim 28, wherein said data processing module (3) further comprises at least one of the following units:

a start signal response unit configured to trigger the scan data receiving unit (31) to start receiving laser scan information data obtained by the laser radar (1) in response to a data acquisition enable signal from the rotating mechanism (2);

a stop signal response unit configured to control the scan data receiving unit (31) to stop receiving the laser light obtained by the laser radar (1) after a predetermined time in response to a data acquisition stop signal from the rotating mechanism (2) Scan information data.
The three-dimensional scanning device according to claim 28, wherein the laser scanning information data of the calibration points corresponding to the respective predetermined rotation angles of the rotation mechanism (2) and the respective predetermined rotation angles follow a preset formula, The rotation angle determining unit (32) specifically includes:

a formula calculation determining subunit configured to calculate a corresponding rotation angle according to the preset formula and the laser scanning information data of the calibration point, as matching with the laser scanning information data of the corresponding environmental scanning area (B) The predetermined angle of rotation.
The three-dimensional scanning apparatus according to claim 28, further comprising a mapping information pre-storing module (4) configured to pre-store a mapping information table between the laser scanning information data of the calibration point and the predetermined rotation angle.
The three-dimensional scanning apparatus according to claim 32, further comprising a mapping information calculation module configured to calculate a mapping relationship between at least one of the laser scanning information data of the calibration point and a predetermined rotation angle according to a preset formula, And providing the mapping information pre-storing module (4) for saving.
The three-dimensional scanning apparatus according to claim 32, wherein said rotation angle determining unit (32) comprises:

a lookup table determining subunit configured to search, in the mapping information table, laser scanning information data of a pre-stored calibration point that is the same as or closest to the detected laser scanning information data of the calibration point, and thus Or a predetermined rotation angle corresponding to the laser scanning information data of the closest pre-stored calibration point as a predetermined rotation angle matching the detected laser scanning information data of the environmental scanning area (B).
The three-dimensional scanning apparatus according to claim 32, wherein said data processing module (3) further comprises a calibration unit configured to receive said predetermined rotation angle and said laser radar provided by said rotation mechanism (2) ( 1) Obtaining laser scanning information data of the calibration point in the calibration area (A), and storing the predetermined rotation angle and the laser scanning information data of the calibration point in the mapping information table.
A three-dimensional scanning apparatus according to claim 32, wherein said data processing module (3) further comprises a calibration unit configured to receive the rotation mechanism (2) when it is rotated to each predetermined rotation angle After the predetermined rotation angle, receiving the laser scanning information data of the calibration point obtained by the laser radar (1), and storing the laser scanning information data of the calibration point to the mapping corresponding to the predetermined rotation angle In the information form.
A three-dimensional scanning apparatus according to claim 1, further comprising a closed cover for closing said laser radar (1) and said angle determining auxiliary member (5), said closed cover being emitted for said laser radar (1) The laser band is transparent.
A robot comprising the three-dimensional scanning device according to any one of claims 1 to 37.
An angle determining auxiliary component (5) disposed in or near the three-dimensional scanning device, the three-dimensional scanning device comprising a laser radar (1) and a rotating mechanism (2), wherein the laser radar (1) The laser is subjected to rotational scanning, and the scanning range of the laser includes an environmental scanning area (B) and a calibration area (A) provided by the angle determining auxiliary part (5), and the rotating mechanism (2) drives the laser radar (1) The body rotates through the respective predetermined rotation angles with the axis different from the axis direction of the laser rotation scanning as the rotation axis.

Therein, the calibration area (A) remains relatively stationary between the axis of rotation of the body of the lidar (1).
An angle determining auxiliary member (5) according to claim 39, wherein said angle determining auxiliary member (5) is configured to have a regular shape such that a predetermined turning angle and a calibration point corresponding to said predetermined turning angle The orientation and distance conform to the preset formula, or the distance of the predetermined rotation angle from the calibration point corresponding to the predetermined rotation angle conforms to a preset formula.
An angle determining auxiliary member (5) according to claim 39, wherein said angle determining auxiliary member (5) comprises a housing (51) having a concave portion that avoids a moving space of said body, said rotating mechanism (2) comprising a lidar mounting bracket (28) and a rotary drive assembly, the lidar (1) being mounted on a lidar mounting bracket (28), the lidar mounting bracket (28) and the housing (51) ) rotatably connected by a slewing bearing (27).
A data processing method based on the three-dimensional scanning device according to any one of claims 1 to 37, comprising:

Receiving, by the data processing module (3), laser scanning information data of the calibration point in the calibration area (A) obtained by the laser radar (1) at each predetermined rotation angle through which the body rotates Laser scanning information data of the environmental scanning area (B);

A predetermined rotation angle corresponding to the laser scanning information data of the environmental scanning area (B) is determined by the data processing module (3) based on the laser scanning information data of the calibration point in the calibration area (A).
The data processing method according to claim 42, wherein the data processing method further comprises:

The three-dimensional environment point cloud data is generated by the data processing module (3) in combination with the predetermined rotation angle and the laser scanning information data of the environment scanning area (B).
The data processing method according to claim 42, wherein said data processing method further comprises at least one of the following steps:

Retrieving the data processing module (3) to start receiving laser scanning information data obtained by the laser radar (1) in response to a data acquisition enable signal from the rotating mechanism (2);

The data processing module (3) is controlled to stop receiving laser scanning 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).
The data processing method according to claim 42, wherein each of the predetermined rotation angles within the rotation range of the rotation mechanism (2) and the laser scanning information data corresponding to the calibration points of the respective predetermined rotation angles follow a preset formula; The operation of the predetermined rotation angle specifically includes:

Calculating, by the data processing module (3), a corresponding rotation angle according to the preset formula and the laser scanning information data of the calibration point as laser scanning information data corresponding to the corresponding environmental scanning area (B) Matching predetermined rotation angle.
The data processing method according to claim 42, wherein said three-dimensional scanning device further comprises a mapping information pre-storing module (4) configured to pre-store between the laser scanning information data of said calibration point and said predetermined rotation angle Mapping information table; determining the predetermined rotation angle specifically includes:

Searching, in the mapping information table, the pre-stored mapping information matching the laser scanning information data of the calibration point obtained by the laser radar (1) by the data processing module (3), and further storing the pre-stored mapping information The predetermined rotation angle is a predetermined rotation angle that matches the detected laser scanning information data of the environmental scanning area (B).
The data processing method according to claim 46, wherein the operation of pre-storing the mapping information table specifically comprises:

Calculating a mapping relationship between at least one of the laser scanning information data of the calibration point and a predetermined rotation angle according to a preset formula, and providing the mapping information pre-storage module (4) for saving.
The data processing method according to claim 46, wherein the data processing module (3) further comprises a calibration unit; the data processing method further comprises:

Receiving, by the calibration unit, the calibration point obtained by the laser radar (1) after the calibration unit receives the predetermined rotation angle provided by the rotation mechanism (2) when rotating to each predetermined rotation angle The laser scans the information data, and stores the laser scanning information data of the calibration point in the mapping information table corresponding to the predetermined rotation angle.
A three-dimensional scanning device comprising:

a laser radar (1), wherein the laser in the laser radar (1) performs a rotational scan;

a rotating mechanism (2) configured to drive the body of the laser radar (1) to rotate and pass each predetermined rotation angle; and

a data processing module (3) configured to receive an environmental scanning area obtained by the laser radar (1) at the predetermined rotation angle after receiving the predetermined rotation angle transmitted by the rotating mechanism (2) (B) laser scanning information data, and then the rotating mechanism (2) rotates the body of the laser radar (1) to a next predetermined rotation angle; repeating the receiving operation of the data processing module (3) described above and Rotating operation of the rotating mechanism (2) until laser scanning information data of the environmental scanning area (B) corresponding to all predetermined rotation angles is obtained, and combining the predetermined rotation angle and the laser of the environmental scanning area (B) Scan the information data to generate 3D environment point cloud data.
The three-dimensional scanning apparatus according to claim 49, wherein in the process of receiving the laser scanning information data of the environmental scanning area (B) by the data processing module (3), the rotating mechanism (2) is configured to Waiting while the laser scanning information data of the environmental scanning area (B) is not stable, the data processing module (3) is configured until the laser scanning information data of the environmental scanning area (B) is stable, and then The predetermined rotation angle and the laser scanning information data of the stable environmental scanning area (B) are correspondingly stored.