[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

CN106597470A - Three-dimensional point cloud data acquisition device and three-dimensional point cloud data acquisition method by means of two-dimensional laser scanner - Google Patents

Three-dimensional point cloud data acquisition device and three-dimensional point cloud data acquisition method by means of two-dimensional laser scanner Download PDF

Info

Publication number
CN106597470A
CN106597470A CN201611195025.7A CN201611195025A CN106597470A CN 106597470 A CN106597470 A CN 106597470A CN 201611195025 A CN201611195025 A CN 201611195025A CN 106597470 A CN106597470 A CN 106597470A
Authority
CN
China
Prior art keywords
laser
rotation
data
dimensional
laser scanning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201611195025.7A
Other languages
Chinese (zh)
Other versions
CN106597470B (en
Inventor
李昕
吕婧
王坚
李增科
张爱娟
赵智博
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Guangdu Mapping Information Technology Co ltd
Original Assignee
China University of Mining and Technology CUMT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China University of Mining and Technology CUMT filed Critical China University of Mining and Technology CUMT
Priority to CN201611195025.7A priority Critical patent/CN106597470B/en
Publication of CN106597470A publication Critical patent/CN106597470A/en
Application granted granted Critical
Publication of CN106597470B publication Critical patent/CN106597470B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4817Constructional features, e.g. arrangements of optical elements relating to scanning

Landscapes

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

Abstract

The invention discloses a three-dimensional point cloud data acquisition device and a three-dimensional point cloud data acquisition method by means of a two-dimensional laser scanner, wherein a coordinate conversion method of laser point cloud data from two-dimensional data to three-dimensional data is presented. Influences of factors such as sensor working mode difference and hardware process level to a conversion process are analyzed, and furthermore a corresponding settlement method is presented. The settlement method comprises the steps of approximating true speed of a turntable through Kalman filtering; correcting serial-port data acquisition time; compensating an angle change amount of a laser point in one period; and calculating angle deviation and position deviation of the laser scanner in a horizontal axis and a longitudinal axis. Experiments represent a fact that a spatial three-dimensional point cloud structure can be accurately acquired in static three-dimensional laser scanning by means of a rotating platform. In moving scanning, because of relatively small size, the position of a moving platform can be obtained through data registration in acquiring the three-dimensional data, thereby realizing synchronous map acquisition and positioning.

Description

A kind of three dimensional point cloud acquisition device and method of utilization two dimensional laser scanning instrument
Technical field
The present invention relates to 2D laser range sensors realize that 3D builds diagram technology field, and in particular to one kind utilizes two-dimensional laser The three dimensional point cloud acquisition device of scanner and method.
Background technology
Three-dimensional laser scanner is obtained in that the data message on whole three dimensions, but three-dimensional laser scanner is universal It is expensive, and volume is relatively large.Such as velodyne HDL-64E (RMB of price about 300,000), ibeo Scala laser (sell The RMB of valency about 200,000).
When 3 D laser scanning is carried out, often " stop walking " formula scanning, and must be in ground set in advance spot scan.So And in some particular surroundings, such as mine or cave environment, generally require the Handheld laser mapping equipment of more convenient dexterity [1-2].It is that a kind of inexpensive 3D builds figure scheme to realize that 3D builds figure based on 2D laser range sensors, while being also that one kind can be real Existing 360 degree of omniranges 3D build the preferred plan of figure, have high practicality with the 3D of closing space measurements application indoors Meaning and commercial value.Therefore, a kind of limitation that can change 2D radars in such application is urgently developed in the industry, and two dimension is swashed Optical radar is changed into the laser radar that can move 3-D scanning.
It is currently based on 2D laser range sensors and realizes that 3D builds figure and mainly there are two kinds of motor patterns, one kind is that 180 degree swings Pattern, a kind of is the pattern of continuous rotation.The purpose of both of which be provided to by 2D measuring surface carry out rotation obtain 3D survey Quantity space.
The first pattern, 180 degree weave mode, needing can be with left and right pendulum in the range of 180 degree installed in one by laser instrument On dynamic device, with the warble of 1Hz.This motor pattern is simply easily realized, but the acceleration and deceleration of two endpoint locations Motion result in that unitary rotation speed is uneven, affect the coordinate conversion relation of 2D to 3D, and the inertia concussion for swinging to laser Device has certain damage, reduces the service life of equipment.
Second pattern, continuous rotary mode, be by laser instrument be arranged on one can continuously one direction rotate device On, velocity of rotation keeps constant, is conducive to calculating interpolation to go out accurate position relationship, so as to obtain more accurate 2D to 3D conversion Relation.And the inertia direction of continuous rotation is constant, and to laser instrument damage is not shaken.
It is several etc. to realize the laser scanner technique of both the above pattern, and disclose it and carried out using laser point cloud data The correlative code [3] that three-dimensional map builds.M.Bosse et al. devises the equipment for carrying out oscillatory scanning using spring force, cries Zebedee is, the integration of equipments two dimensional laser scanning instrument and inertial navigation set [4]. the 3D LASERSCAN companies of Germany Both the above pattern is equally realized, and the commercialization [5] of product is realized based on this technology.But do not have in their document It is described the coordinate transformation method of 2D to 3D of the laser point cloud data before registering composition is carried out.
[1]M.Kaess,H.Johannsson,R.Roberts,V.Ila,J.Leonard,and F.Dellaert, “iSAM2:Incremental smoothing and mapping using the bayes tree,”The International Journal of Robotics Research,vol.31,pp.217–236,2012.
[2]R.Zlot and M.Bosse,“Efficient large-scale 3D mobile mapping and surface reconstruction of an underground mine,”in The 7th International Conference on Field and Service Robots,Matsushima,Japan,July 2012.
[3]J.Zhang and S.Singh.LOAM:Lidar Odometry and Mapping in Real- time.Robotics:Science and Systems Conference(RSS).Berkeley,CA,July 2014.
[4]M.Bosse,R.Zlot,and P.Flick,“Zebedee:Design of a spring-mounted 3-D range sensor with application to mobile mapping,”vol.28,no.5,pp.1104–1119, 2012.
[5]http://www.3d-scanner.net/faq.html.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of three dimensional point cloud of utilization two dimensional laser scanning instrument and obtains dress Put and method, can accurately obtain the three-dimensional point cloud structure in space.
For achieving the above object, the present invention is adopted the following technical scheme that:
A kind of three dimensional point cloud acquisition device of utilization two dimensional laser scanning instrument, including two dimensional laser scanning instrument, rotating shaft, Drive, encoder, multi-path conducting slip ring, motor, pallet, drive bearing;The two dimensional laser scanning instrument is fixed on On pallet, pallet lower end is connected by drive bearing with drive;Drive connects motor, and by motor its turn is driven Dynamic, so as to drive pallet to rotate, pallet drives the rotation of two dimensional laser scanning instrument;Encoder is arranged in rotating shaft, is turned to calculate The anglec of rotation of axle;Multi-path conducting slip ring is arranged in rotating shaft;Encoder is by multi-path conducting slip ring and serial ports of computers Connection, the data that it is obtained are read by serial ports of computers;Laser data interface on two dimensional laser scanning instrument passes through multi-path Conducting slip ring connects the network interface of computer, and by computer network interface the laser scanning data of two dimensional laser scanning instrument is read.
A kind of three dimensional point cloud coordinate transformation method based on claim 1 described device, comprises the steps:
Step a:Assume that the time point for obtaining laser scanning data from computer network interface is Tl, now read from serial ports of computers The anglec of rotation of the device for taking is θ0, its time point is Ts, both time differences are Td=Ts-Tl, the angle that the time difference causes Error is ω * Td, correct the error and obtain TlWhen engraving device the actual anglec of rotation be θ10-ω*Td, wherein ω represents device Angular speed;
Step is a.1:The angular velocity omega of computing device;
If the two neighboring anglec of rotation read from serial ports is respectively α1, α2, the corresponding time is respectively T1, T2, then device Instantaneous angular velocity be:
ω=(α12)/(T1-T2) (1)
Step is a.2:The amendment of time is obtained to serial data:
If by having the anglec of rotation in the first data that serial ports reads, keeping T nowsIt is constant;If first Without the anglec of rotation in data, the anglec of rotation is obtained from the second data of serial ports, then the now actual anglec of rotation It should be T that degree obtains time points'=Ts-0.01;
Step b:With the laser scanning center in a laser scanning cycle as origin, horizontal direction is x-axis, vertical direction For y-axis, coordinate system is set up;If the x of laser spots P, y-coordinate is respectively P [0], P [1], then it is within the laser scanning cycle The anglec of rotation is a tan2 (P [1], P [0]), and within the laser scanning cycle, device have rotated ω * t degree, and t is laser scanning Cycle, therefore skew of laser spots P within this cycle is:
θ2=[α tan 2 (P [1], P [0]+λ]/(2 π × ω × t)
Wherein λ is the scanning angle of two dimensional laser scanning instrument;
For each laser point data, the revised anglec of rotation is θ312
Step c:Obtain the differential seat angle θ of laser scanner and horizontal plane4, and in the rotating shaft of laser scanning center and device Heart relative distance r;
Step d:Construction spin matrix M1, M2, wherein
M1Have modified the horizontal level deviation of laser scanner, M2Have modified the spindle central at laser scanning center and device Position deviation and the deviation that causes of laser spots anglec of rotation error.
Step e:To each laser spots, make following conversion:
Pout=M2*M1*Pin
PinBe by serial ports of computers read device the anglec of rotation, PoutFor the anglec of rotation of the device after Coordinate Conversion Degree.
Further, in step a, angular velocity of rotation ω is filtered by Kalman filtering algorithm;Specifically Design is as follows:
State vector:X=[ω], measurement vector:Z=[ω], state equation is Xk+1=Xk+Wk, k=0,1,2 ... n, W are System noise;
Observational equation is obtained using formula (1), dynamic noise Q=0.0001, and initial value chooses X0=360 °, state vector is estimated Meter variance P0=(5 °)2, measurement noise R by observation vector mean square deviation obtain, result of calculation R=4.03 °.
Further, the differential seat angle θ of laser scanner and horizontal plane is measured by high accuracy inclinometer in step c4 Value;The spindle central relative distance r value at laser scanning center and device is measured using slide measure.
Beneficial effects of the present invention are:1st, when the device provided using the present invention carries out static three-dimensional laser scanning, can be with Accurately obtain the three-dimensional point cloud structure in space;2nd, when the device provided using the present invention moves scanning, due to its volume It is relatively light, obtain three-dimensional data while, by data with the position that will definitely obtain mobile platform, realize map It is synchronous to obtain and positioning;3rd, The present invention gives laser point cloud data is from the coordinate transformation method of 2 d-to-3 d;Analyze by In the impact of working sensor pattern differentials, hardware fresh water (FW) equality factor to conversion process, and give corresponding solution party Method:The true velocity of turntable is approached by Kalman filter;Have modified the acquisition time of serial data;Compensate for a cycle The angle variable quantity of interior laser spots;Extrapolate angle, position deviation of the laser scanner in trunnion axis and the longitudinal axis.
Description of the drawings
Fig. 1 is apparatus of the present invention structure chart;Fig. 2 is the angular speed after Kalman filter;Fig. 3 is the angle after Kalman filter Velocity error is contrasted;Fig. 4 is serial data figure;Fig. 5 is the angle change of laser data point in a swing circle;Fig. 6 is sharp Light angular deviation θ on the horizontal axis4;Fig. 7 is the range deviation r at laser scanning center and spindle central;Fig. 8 is Kalman filters The revised scanning result of ripple;Fig. 9 is the scanning result before Kalman filter amendment;Figure 10 is θ4The Error Graph for causing (is amplified To 2.6 degree);The error (being amplified to 0.14 meter) that Figure 11 causes for r;Figure 12 is two-dimensional laser plan;Figure 13 sweeps for low-rotate speed Retouch result;Figure 14 is rated speed scanning result.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described further.
1st, theory of mechanics of the invention:
The laser scanner that the present embodiment is used is the 30LX type laser radars of HOKUYO companies, is capable of achieving 270 ° of two dimension Flat scanning, detects the barrier of farthest 30m.By rotating minute surface by pulse laser to all directions transmitting in plane and by swashing Optical receiver receives reflection light, and barrier is gone out to the distance of radar by calculating the time difference measurements between reflection and reception. So as to obtain the information of the one or more points of the barrier in the plane of scanning motion.The distance of barrier is obtained using the information (depth) and width information, but do not know elevation information, it is impossible to accurately identify barrier and carry out the perception of three-dimensional environment.
Realize a difficult problem that HOKUYO-30LX radars at the uniform velocity rotate be will while keep the connection of its netting twine and power line, And speed will be stablized as far as possible, such as rotation per second 1 week, velocity error is less than 1%, is capable of the angle of real time record laser rotary Degree, angle precision requires 0.25 degree, and angle output frequency is 100HZ.Control mouth (RS232), power port (12V/ are provided simultaneously 3A), laser data interface (100Mbps Ethernet).Serial ports adopt RS232 agreements, baud rate is 115200, serial ports with meter Calculation machine is connected, for reading pendulum angle data and issuing control command.
For achieving the above object, present configuration is as shown in figure 1, by two dimensional laser scanning instrument 1, rotating shaft 2, drive 3, volume Code device 4, multi-path conducting slip ring 5, motor 7, pallet 8, drive bearing 6 are constituted.Two dimensional laser scanning instrument 1 is fixed on pallet On 8, pallet 8 is connected with drive 3 by rolling bearing 6.Motor 7 drives pallet 8 by controlling the rotation of drive 3 Rotation.Its anglec of rotation is calculated by the encoder 4 being fixed in rotating shaft 2.The company of netting twine and power line in rotary course Connected multi-path conducting slip ring 5 to solve.Multi-path conducting slip ring 5 is arranged in rotating shaft 2;Encoder 4 is led by multi-path Electric slip ring 5 is connected with serial ports of computers, and the data that it is obtained are read by serial ports of computers;Swashing on two dimensional laser scanning instrument 1 Light data interface connects the network interface of computer by multi-path conducting slip ring 5, and by computer network interface two dimensional laser scanning is read The laser scanning data of instrument 1.The axis of rolling bearing 6 is use up with the central point that the LIDAR beam of two dimensional laser scanning instrument 1 is launched May be on a vertical line.So that pallet pivot is consistent with laser beam pivot, answering for Coordinate Conversion calculating is reduced Polygamy.
2nd, Coordinate Conversion:
For 2D radars, what it was obtained is all the coordinate that relative scanning center is origin.And in order to realize that data are matched somebody with somebody Standard needs the point coordinates in these planes to be transformed into three dimensions.Ideally, in the rotation for obtaining laser data point After angle, coordinate transform is carried out to each data point and is capable of achieving the conversion.Yet with hardware technological level, sensor The impact of the factors such as mode of operation difference so that it is difficult to obtain change in location of the accurate laser spots in rotary course.Below Three main error sources and final method for transformation of the laser spots during coordinate transformation are discussed.
2.1 laser scannings and the difference of serial ports operating frequency
The frequency of laser scanning is 40HZ, and the operating frequency of serial ports is 100HZ, it is assumed that obtain laser scanning time point be Tl, subsequently it is designated as θ from the angle value of the current rotation platform of serial ports reading at once0, its time is designated as Ts.Both time differences are Td =Ts-Tl, the angular error of the device that the time difference causes is ω * Td, correct device when the error obtains obtaining laser data The actual anglec of rotation is θ10-ω*Td, wherein ω represents the angular speed of whirligig.
1) angular speed of whirligig is obtained
The speed of whirligig is defaulted as 360 degree per seconds, yet with hardware technique, PID programs without so high essence The reason for spending, can cause the turntable anglec of rotation in 360 degree or so floatings, or even violent change occurs.If adjacent obtain twice laser data When corresponding pendulous device angle be respectively α1, α2;The corresponding time is respectively T1, T2, then the instantaneous angular velocity of whirligig For:
ω=(α12)/(T1-T2) (1)
We have sampled the measured value of 13400 angular speed, after filtering out exceptional value, retain angular speed at 355~365 degree Point per second.
In order to more accurately obtain the anglec of rotation of device, the angular speed of device was carried out by Kalman filtering Filter.Specific design is as follows:
State vector:X=[ω], measurement vector:Z=[ω].
State equation is:Xk+1=Xk+Wk, k=0,1,2,3 ..., n.
Observational equation is obtained using formula (1), dynamic noise Q=0.0001, and initial value chooses X0=360, state vector is estimated Meter variance P0=(5°)2, measurement noise R by observation vector mean square deviation obtain, result of calculation be R=4.03 °.
Can be seen by Fig. 2, the angular speed of whirligig is mostly between 350~370 degree.After Kalman filter Angular speed relative smooth is a lot, and the concussion substantially between 358~362 degree, mean error also diminishes, as shown in Figure 3 and Table 1.
The rotation platform angle of table 1/angular speed errors table
2) serial data obtains matter of time
With the rotational angle of the code-disc data recording equipment read from serial ports, as schemed, angle precision reaches data form 0.05 degree.
The serial ports angle-data form of table 2
Because whirligig is inconsistent with radar data frequency, when we obtain radar data, inquiry at once swings Angle, at most has the time difference of 0.02 second.It is real because there is a complete angle recordings in order to ensure read data To read a data in the operation of border more.Include within 0.02 second 0.01 second that waits serial data to arrive and read Article 2 data latency 0.01 second.But there is huge deviation it is also possible that obtaining point cloud registering within this 0.02 second.360 degree of the swing per second of hypothesis turntable, 0.02 Second error has 7.2 degree.
So the time T arrived to serial datasFollowing amendment is done, if what its angle-data can be read at first Obtain in serial data, then keep TsIt is constant;It is real if its angle-data can be obtained in the serial data that Article 2 is read Border illustrates to have sent angle-data in first, only because the problem of serial data frequency has blocked data, institute Should be T ' with real data obtaining times=Ts-0.01。
The acquisition time of data point of 2.2 laser scanning datas in (0.025 second) in a swing circle is different
HOKUYO laser scanning datas probably have 1080 points within a scan period, 0.25 degree of its angular resolution, Sweep limits is 270 degree.The acquisition of 1080 points has the regular hour poor, and while laser prism rotation, scanner itself It is slightly devious in angle so as to cause this 1080 points with whirligig rotation, although very little, works as scanned object When distant, little angular error can also cause larger skew.In addition in rotation sweep, it sweeps the prism of laser internal Retouch cycle needs 0.025 second, in this time slice, due to rotation status of the laser in 360 degree per seconds, in theory, make The point that scans at first of laser is poor with the point for finally scanning 9 degree, and because the effective scanning scope of laser is 270 degree, So the value is about 6.75 degree.Fig. 5 is 1080 within a scan period when whirligig instantaneously goes to 160.35 degree The corresponding angle of point.
With the laser scanning center in a laser scanning cycle as origin, horizontal direction is x-axis, and vertical direction is y-axis, Set up coordinate system.If the x of laser spots P, y-coordinate is P [0], P [1], then the angle that it rotates within this cycle is a tan2 (P [1], P [0]), within the time that laser prism rotates a circle, whirligig have rotated 0.025 degree of ω *, therefore the point in this week Skew in phase is θ2=[a tan2 (P [1], P [0])+3/4 π]/2 π * ω * 0.025, for each laser point data, repair The anglec of rotation after just is θ312
2.3 hardware technological factors
Laser scanner is fixed on rotation platform by four screws, due to the restriction of hardware technique, it is difficult to ensure that swashing Photoscanner is fully horizontal, if it is θ with the differential seat angle of horizontal plane4, the value is difficult with the naked eye to recognize or measure, and can pass through journey Sequence is debugged.Another laser scanning center is not strict with the axis of rotation platform point-blank, if its center is relative Distance is r, and the value also can be obtained by program debugging.
The present embodiment measures θ by high accuracy inclinometer4Value;R values are measured using slide measure.
2.4 coordinate transformation method
Coordinate transformation method mainly has following 3 steps:
Step 1, reads every time after laser data, calculates θ0, θ1, θ2, θ3, θ4
Step 2, constructs spin matrix M1, M2, wherein
M1Have modified the horizontal level deviation of laser scanner, M2Have modified laser scanner center and device spindle central Position deviation and the point deviation that causes of cloud anglec of rotation error.
Step 3, to each laser spots, does following conversion:
Pout=M2*M1*Pin
PinBe by serial ports of computers read rotation platform the anglec of rotation, PoutFor the rotation of the whirligig after conversion Gyration.
3rd, test
3.1 static scanning
At the center in room, Jing after kalman filtering, speed becomes rotation platform angular speed rotating scanning device fixed placement Change is relatively more stable, and error is relatively small such that it is able to obtains and more accurately put cloud space coordinates, can be clearly in such as Fig. 8 See the lines and incandescent lamp on the ceiling in cloud data;And original rotation platform angular speed error is larger, obtain Point cloud space coordinates error it is larger so that floor space profile is more coarse, as shown in Figure 9.
Figure 10, Figure 11 are the scanning results caused in the angle of trunnion axis and the longitudinal axis, position deviation by laser scanner Deformation.In order to be able to highlight this error, the angular error of trunnion axis is amplified to 2.6 degree (actual 0.6 degree), is now difficult to see Go out the edge contour in house, because having piled up many coordinates in edge has the point of error;Longitudinal central position deviation r is amplified to 0.14 meter (actual 0.04 meter), the cloud data that can now find room there occurs overall skew, and this is just in scan data The heart and Pivot axle result not on a longitudinal axis.
3.2 dynamic scan
We are placed in laser rotary platform above mobile robot.First with 2D laser scannings (rotary-tray is motionless, Laser data level is kept in ground), the corridor shape of 5 buildings is scanned out using HECTOR MAPPING algorithms, as shown in figure 12.When When pallet rotates, using LOAM programs the three dimensional point cloud in environment is obtained.When mobile robot rectilinear movement or the anglec of rotation When degree is less, 3D scannings can accurately obtain the 3d space cloud data of institute's scanning space very much;And work as the mobile robot anglec of rotation When spending larger, angular velocity of rotation can not be excessive.During experiment, control angular speed is less than 40 degree per seconds, is obtained in that accurate ring Border 3D point cloud data, as shown in figure 13;Otherwise too fast angular velocity of rotation causes the public point data between consecutive points cloud to subtract relatively It is few, cause registration Algorithm error occur, there is deviation so as to cause 3D point cloud map, as shown in figure 14.
4th, conclusion
The present invention carries out corresponding laser spots data coordinates conversion by the accurate anglec of rotation for calculating rotation platform, Obtain the three-dimensional data in whole space.The 3-D scanning that this utilization rotation platform is realized not only higher than three-dimensional laser sweep by cost performance Retouch instrument, and its volume is relatively light, can while three-dimensional data is obtained, by data with the position that will definitely obtain scanner Put, solve the synchronous of map and obtain and location technology.The next step subject matter to be solved is:
1) more stable, the accurate anglec of rotation is obtained, this needs the further hardware design level, optimization error of being lifted to mend Repay algorithm.
2) the accurate motion track of mobile platform is obtained, can be by the auxiliary of IMU, while by figure optimized algorithm to obtaining The registration result of the cloud data for taking does global optimization.

Claims (4)

1. a kind of three dimensional point cloud acquisition device of utilization two dimensional laser scanning instrument, it is characterised in that sweep including two-dimensional laser Retouch instrument (1), rotating shaft (2), drive (3), encoder (4), multi-path conducting slip ring (5), motor (7), pallet (8), biography Dynamic bearing (6);The two dimensional laser scanning instrument (1) is fixed on pallet (8), and pallet (8) lower end is by drive bearing (6) and biography Driving wheel (3) is connected;Drive (3) connection motor (7), drives it to rotate, so as to drive pallet (8) by motor (7) Rotation, pallet (8) drives two dimensional laser scanning instrument (1) rotation;Encoder (4) is arranged in rotating shaft (2), to calculate rotating shaft (2) the anglec of rotation;Multi-path conducting slip ring (5) is arranged in rotating shaft (2);Encoder (4) is by multi-path conducting slip ring (5) It is connected with serial ports of computers, the data that it is obtained are read by serial ports of computers;Laser data on two dimensional laser scanning instrument (1) Interface connects the network interface of computer by multi-path conducting slip ring (5), and by computer network interface two dimensional laser scanning instrument (1) is read Laser scanning data.
2. a kind of three dimensional point cloud coordinate transformation method based on claim 1 described device, it is characterised in that including as follows Step:
Step a:Assume that the time point for obtaining laser scanning data from computer network interface is Tl, now read from serial ports of computers The anglec of rotation of device is θ0, its time point is Ts, both time differences are Td=Ts-Tl, the angular error that the time difference causes For ω * Td, correct the error and obtain TlWhen engraving device the actual anglec of rotation be θ10-ω*Td, wherein ω represents the angle of device Speed;
Step is a.1:The angular velocity omega of computing device;
If the two neighboring anglec of rotation read from serial ports is respectively α1, α2, the corresponding time is respectively T1, T2, then wink of device When angular speed be:
ω=(α12)/(T1-T2) (1)
Step is a.2:The amendment of time is obtained to serial data:
If by having the anglec of rotation in the first data that serial ports reads, keeping T nowsIt is constant;If the first data In without the anglec of rotation, the anglec of rotation is obtained from the second data of serial ports, then the now actual anglec of rotation is obtained Time point should be T 's=Ts-0.01;
Step b:With the laser scanning center in a laser scanning cycle as origin, horizontal direction is x-axis, and vertical direction is y Axle, sets up coordinate system;If the x of laser spots P, y-coordinate is respectively P [0], P [1], then its rotation within the laser scanning cycle Gyration is a tan 2 (P [1], P [0]), and within the laser scanning cycle, device have rotated ω * t degree, and t is laser scanning Cycle, therefore skew of laser spots P within this cycle is:
θ2=[α tan 2 (P [1], P [0]+λ]/(2 π × ω × t)
Wherein λ is the scanning angle of two dimensional laser scanning instrument;
For each laser point data, the revised anglec of rotation is θ312
Step c:Obtain the differential seat angle θ of laser scanner and horizontal plane4, and the spindle central phase of laser scanning center and device Adjust the distance r;
Step d:Construction spin matrix M1, M2, wherein
M 1 = cosθ 4 sinθ 4 0 0 - sinθ 4 cosθ 4 0 0 0 0 1 0 0 0 0 1 , M 2 = 1 0 0 0 0 cosθ 3 - sinθ 3 - r sinθ 3 0 sinθ 3 cosθ 3 r cosθ 3 0 0 0 1
M1Have modified the horizontal level deviation of laser scanner, M2Have modified the position at laser scanning center and the spindle central of device Put the deviation that deviation and laser spots anglec of rotation error cause.
Step e:To each laser spots, make following conversion:
Pout=M2*M1*Pin
PinBe by serial ports of computers read device the anglec of rotation, PoutFor the anglec of rotation of the device after Coordinate Conversion.
3. a kind of laser data point coordinates method for transformation according to claim 2, it is characterised in that in step a, leads to Cross Kalman filtering algorithm to filter angular velocity of rotation ω;Specific design is as follows:
State vector:X=[ω], measurement vector:Z=[ω], state equation is Xk+1=Xk+Wk, k=0,1,2 ... n, W is system Noise;
Observational equation is obtained using formula (1), dynamic noise Q=0.0001, and initial value chooses X0=360 °, state vector estimation side Difference P0=(5 °)2, measurement noise R by observation vector mean square deviation obtain, result of calculation R=4.03 °.
4. a kind of laser data point coordinates method for transformation according to claim 2, it is characterised in that lead in step c Cross the differential seat angle θ that high accuracy inclinometer measures laser scanner and horizontal plane4Value;Laser scanning center is measured using slide measure With the spindle central relative distance r value of device.
CN201611195025.7A 2016-12-22 2016-12-22 A kind of three dimensional point cloud coordinate transformation method based on three dimensional point cloud acquisition device Active CN106597470B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611195025.7A CN106597470B (en) 2016-12-22 2016-12-22 A kind of three dimensional point cloud coordinate transformation method based on three dimensional point cloud acquisition device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611195025.7A CN106597470B (en) 2016-12-22 2016-12-22 A kind of three dimensional point cloud coordinate transformation method based on three dimensional point cloud acquisition device

Publications (2)

Publication Number Publication Date
CN106597470A true CN106597470A (en) 2017-04-26
CN106597470B CN106597470B (en) 2019-01-18

Family

ID=58600389

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611195025.7A Active CN106597470B (en) 2016-12-22 2016-12-22 A kind of three dimensional point cloud coordinate transformation method based on three dimensional point cloud acquisition device

Country Status (1)

Country Link
CN (1) CN106597470B (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108107433A (en) * 2017-12-05 2018-06-01 北京无线电计量测试研究所 One kind is used for the pinpoint method of millimetre-wave radar system
CN108508430A (en) * 2018-04-03 2018-09-07 中国人民解放军国防科技大学 Laser radar rotation control method for target detection
CN109305629A (en) * 2017-07-27 2019-02-05 南通通镭软件有限公司 A kind of bridge crane cantilever crane avoiding collision
CN109489623A (en) * 2018-11-24 2019-03-19 上海勘察设计研究院(集团)有限公司 A method of using three-dimensional laser scanner measurement bridge approach differential settlement
CN109782015A (en) * 2019-03-21 2019-05-21 同方威视技术股份有限公司 Laser velocimeter method, control device and laser velocimeter
CN110601068A (en) * 2019-08-08 2019-12-20 国家电网有限公司 Full-automatic dynamic laser aiming device and method
CN111366908A (en) * 2020-04-22 2020-07-03 北京国电富通科技发展有限责任公司 Laser radar rotary table and measuring device and measuring method thereof
CN111451468A (en) * 2020-05-11 2020-07-28 沈阳广泰真空科技有限公司 Crucible control method and device in pouring process
CN112114331A (en) * 2020-10-22 2020-12-22 中国电波传播研究所(中国电子科技集团公司第二十二研究所) Homogenization processing method for airborne cone type scanning laser radar data
CN112630795A (en) * 2020-12-24 2021-04-09 浙江大学滨海产业技术研究院 Three-dimensional point cloud data synthesis system based on 2D laser radar
CN113475215A (en) * 2021-06-19 2021-10-08 北京正兴鸿业金属材料有限公司 Unmanned lawnmower using laser ranging and positioning control
CN113630105A (en) * 2021-07-26 2021-11-09 珠海格力电器股份有限公司 Filtering method and device for encoder output pulse signal and encoder
CN113777580A (en) * 2021-07-19 2021-12-10 长春理工大学 Three-dimensional laser scanner based on rotatable single line laser radar

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101493526A (en) * 2008-11-28 2009-07-29 北京工业大学 Lunar vehicle high speed three-dimensional laser imaging radar system and imaging method
CN104808192A (en) * 2015-04-15 2015-07-29 中国矿业大学 Three-dimensional laser scanning swing device and coordinate conversion method thereof
CN105866793A (en) * 2016-06-27 2016-08-17 东北大学 Portable three-dimensional scanning device based on 2D laser radar
CN106017351A (en) * 2016-07-20 2016-10-12 北京国泰星云科技有限公司 3D data acquisition system and method for identifying and positioning container

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101493526A (en) * 2008-11-28 2009-07-29 北京工业大学 Lunar vehicle high speed three-dimensional laser imaging radar system and imaging method
CN104808192A (en) * 2015-04-15 2015-07-29 中国矿业大学 Three-dimensional laser scanning swing device and coordinate conversion method thereof
CN105866793A (en) * 2016-06-27 2016-08-17 东北大学 Portable three-dimensional scanning device based on 2D laser radar
CN106017351A (en) * 2016-07-20 2016-10-12 北京国泰星云科技有限公司 3D data acquisition system and method for identifying and positioning container

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109305629A (en) * 2017-07-27 2019-02-05 南通通镭软件有限公司 A kind of bridge crane cantilever crane avoiding collision
CN108107433A (en) * 2017-12-05 2018-06-01 北京无线电计量测试研究所 One kind is used for the pinpoint method of millimetre-wave radar system
CN108107433B (en) * 2017-12-05 2023-03-03 北京无线电计量测试研究所 Method for accurately positioning millimeter wave radar system
CN108508430A (en) * 2018-04-03 2018-09-07 中国人民解放军国防科技大学 Laser radar rotation control method for target detection
CN108508430B (en) * 2018-04-03 2020-07-17 中国人民解放军国防科技大学 Laser radar rotation control method for target detection
CN109489623B (en) * 2018-11-24 2021-05-11 上海勘察设计研究院(集团)有限公司 Method for measuring uneven settlement of approach at bridge head by adopting three-dimensional laser scanner
CN109489623A (en) * 2018-11-24 2019-03-19 上海勘察设计研究院(集团)有限公司 A method of using three-dimensional laser scanner measurement bridge approach differential settlement
CN109782015A (en) * 2019-03-21 2019-05-21 同方威视技术股份有限公司 Laser velocimeter method, control device and laser velocimeter
CN110601068A (en) * 2019-08-08 2019-12-20 国家电网有限公司 Full-automatic dynamic laser aiming device and method
CN111366908A (en) * 2020-04-22 2020-07-03 北京国电富通科技发展有限责任公司 Laser radar rotary table and measuring device and measuring method thereof
CN111366908B (en) * 2020-04-22 2022-05-24 北京国电富通科技发展有限责任公司 Laser radar rotary table and measuring device and measuring method thereof
CN111451468A (en) * 2020-05-11 2020-07-28 沈阳广泰真空科技有限公司 Crucible control method and device in pouring process
CN112114331B (en) * 2020-10-22 2023-01-24 中国电波传播研究所(中国电子科技集团公司第二十二研究所) Homogenization processing method for airborne cone type scanning laser radar data
CN112114331A (en) * 2020-10-22 2020-12-22 中国电波传播研究所(中国电子科技集团公司第二十二研究所) Homogenization processing method for airborne cone type scanning laser radar data
CN112630795A (en) * 2020-12-24 2021-04-09 浙江大学滨海产业技术研究院 Three-dimensional point cloud data synthesis system based on 2D laser radar
CN113475215A (en) * 2021-06-19 2021-10-08 北京正兴鸿业金属材料有限公司 Unmanned lawnmower using laser ranging and positioning control
CN113475215B (en) * 2021-06-19 2022-09-20 北京正兴鸿业金属材料有限公司 Unmanned lawnmower using laser ranging and positioning control
CN113777580A (en) * 2021-07-19 2021-12-10 长春理工大学 Three-dimensional laser scanner based on rotatable single line laser radar
CN113630105A (en) * 2021-07-26 2021-11-09 珠海格力电器股份有限公司 Filtering method and device for encoder output pulse signal and encoder

Also Published As

Publication number Publication date
CN106597470B (en) 2019-01-18

Similar Documents

Publication Publication Date Title
CN106597470A (en) Three-dimensional point cloud data acquisition device and three-dimensional point cloud data acquisition method by means of two-dimensional laser scanner
CN106885531B (en) Wagon box based on two-dimensional laser radar describes device 3 D scanning system scaling method
CN106199626B (en) Based on the indoor three-dimensional point cloud map generation system and method for swinging laser radar
CN106932784B (en) Wagon box based on two-dimensional laser radar describes device 3 D scanning system measurement method
CN103412565B (en) A kind of robot localization method with the quick estimated capacity of global position
CN101493526B (en) Lunar vehicle high speed three-dimensional laser imaging radar system and imaging method
US20030025902A1 (en) Low cost transmitter with calibration means for use in position measurement systems
CN101008571A (en) Three-dimensional environment perception method for mobile robot
Cho et al. Target-focused local workspace modeling for construction automation applications
Fang et al. A Real‐Time 3D Perception and Reconstruction System Based on a 2D Laser Scanner
CN105319536A (en) Radar three-dimensional scanning control method and system
WO2019209397A1 (en) Non-contact method and system for controlling an industrial automation machine
CN105572679B (en) The scan data modification method and system of a kind of two-dimensional scan type laser radar
CN104808192A (en) Three-dimensional laser scanning swing device and coordinate conversion method thereof
CN201293837Y (en) Moonmobile high speed three-dimensional laser imaging radar system
CN104777452B (en) Positioning system and positioning method of mobile equipment
Langer et al. Imaging ladar for 3-D surveying and CAD modeling of real-world environments
Kim et al. Autonomous mobile robot localization and mapping for unknown construction environments
Kang et al. 3D reconstruction & assessment framework based on affordable 2D Lidar
Karupusamy et al. Efficient Computation for Localization and Navigation System for a Differential Drive Mobile Robot in Indoor and Outdoor Environments.
CN100535685C (en) Device and method for detecting 3D location of object in port handling automated job
Fröhlich et al. Imaging laser radar for 3‐D modelling of real world environments
KR100787565B1 (en) Localization apparatus using a regular polygonal array of optical flow sensors and method therefor
Wilson et al. Floor surface mapping using mobile robot and 2D laser scanner
Pajor et al. Stereovision system for motion tracking and position error compensation of loading crane

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20220616

Address after: No.803, No.2, block B, Dongguan Tian'an Digital City, No.1, Huangjin Road, Nancheng District, Dongguan City, Guangdong Province

Patentee after: Guangdong Guangdu Mapping Information Technology Co.,Ltd.

Address before: 221008 Tongshan University Road, Xuzhou City, Jiangsu Province, Institute of Scientific Research, China University of Mining and Technology

Patentee before: CHINA University OF MINING AND TECHNOLOGY

TR01 Transfer of patent right