Three-dimensional laser scanning swing device and coordinate conversion method thereof

Abstract

The invention discloses a three-dimensional laser scanning swing device and a coordinate conversion method thereof. A two-dimensional laser scanner is fixed onto a radar swinging rack, and the radar swinging rack and a swing control device housing are connected through a rolling bearing which is fixedly connected to the swing control device housing; a coding disc supporting steering gear and an embedded control panel are arranged inside the swing control device housing and connected with each other; an inertial measurement unit for tracing the pose change of the entire system is fixed onto the swing control device housing. By precisely calculating the swing angle of the swing device, the three-dimensional date of an entire space can be obtained during laser swinging; two-dimensional scanning implemented through the three-dimensional laser scanning swing device is higher in cost performance than that through a three-dimensional laser scanner; meanwhile, the three-dimensional laser scanning swing device is relatively light in size and can obtain the three-dimensional data as well as obtain the position of the scanner through data registration, thereby solving the problem of synchronous obtaining and location of maps.

Description

technical field [0001] The invention belongs to the technical field of surveying and mapping, and relates to a swing device for three-dimensional laser scanning by using a two-dimensional laser scanner, and also relates to a coordinate conversion method of the swing device for three-dimensional laser scanning. Background technique [0002] The laser radar emits pulsed laser light in all directions in the plane by rotating the mirror and receives the reflected light by the laser receiver. The time difference between reflection and reception is calculated by a timer to measure the distance from the obstacle to the radar. [0003] HOKUYO's 30LX lidar can realize two-dimensional 270° plane scanning and detect obstacles up to 30m away. This type of radar is used in smart vehicles to detect obstacles or other vehicles in front of the vehicle, so that smart vehicles can avoid obstacles or other vehicles and maintain a safe driving distance. HOKUYO-30LX radar emits a laser beam at ...

AI Technical Summary

Problems solved by technology

Using this information, the distance (depth) and width information of the obstacle can be obtained, but the height information is not known; in addition, if the obstacle is not in the scanning plane, the obstacle cannot be detected, and only the distance of the obstacle on the scanning plane can be obtained (depth) and width information, but cannot get any information in the height direction, and cannot accurately identify obstacles and perceive the three-dimensional environment.

[0004] 3D laser scanners can obtain data information in the entire 3D space, but 3D laser scanners are generally expensive and relatively large in size

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