Rapid scanning system with synchronous movement function

Abstract

The invention provides a rapid scanning system with a synchronous motion function, which comprises a pitching motion module and a horizontal motion module, and is characterized in that the pitching motion module moves in the pitching direction, and then at least drives a scanning device installed on the pitching motion module to execute synchronous follow-up pitching mechanical motion; the pitching motion module is arranged on the horizontal motion module, and the horizontal motion module at least drives the pitching motion module and the scanning device to execute synchronous follow-up horizontal mechanical motion while rotating in the horizontal direction; the pitching motion module and the horizontal motion module are arranged to be in a synchronous motion mode, and the pitching motion module synchronously moves in the pitching direction while the horizontal motion module does circular motion in the horizontal direction. The horizontal direction and the pitching direction of the scanning device are in a synchronous motion mode, so that the scanning period can be greatly shortened, and the scanning efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of scanning devices, and in particular to a fast scanning system with a synchronous motion function. Background Art

[0002] Rapid scanning systems (such as 3D scanning radar systems) have many advantages such as safety, efficiency and environmental protection, and have therefore been widely promoted and applied in the scanning and monitoring of materials in containers such as silos and storage tanks.

[0003] The existing scanning device can move in both the horizontal direction and the pitch direction, but the horizontal direction and the pitch direction are asynchronous movements. Among them, a certain angle range is set in the horizontal direction, and horizontal rotation within the preset angle range is achieved through the limit part and the photoelectric switch and other components, and the preset angle range is divided into multiple sub-angles. The horizontal direction moves to a certain sub-angle and stops moving, and then the scanning device performs a pitch movement in the pitch direction. After a movement cycle in the pitch direction, the horizontal direction rotates a sub-angle value, and then the scanning device performs a pitch movement in the pitch direction again, thereby completing a panoramic scan of the material surface through a cyclic reciprocating movement. Since the scanning device moves asynchronously in the horizontal direction and the pitch direction, the scanning cycle of this scanning method is relatively long. Summary of the invention

[0004] The invention discloses a fast scanning system with synchronous motion function, which is used to solve the technical problem that the horizontal direction and the pitch direction of the existing scanning device are not rotated synchronously, thus resulting in a long scanning period.

[0005] In order to achieve the above object, the present invention discloses a fast scanning system with synchronous motion function, comprising:

[0006] A pitch motion module, the pitch motion module moves in a pitch direction, thereby at least driving a scanning device installed on the pitch motion module to perform synchronous follow-up pitch mechanical motion;

[0007] A horizontal motion module, on which the pitch motion module is arranged, and when the horizontal motion module rotates in the horizontal direction, it at least drives the pitch motion module and the scanning device to perform synchronous follow-up horizontal mechanical motion;

[0008] The pitch motion module and the horizontal motion module are set in a synchronous motion mode, and the horizontal motion module performs a circular motion in the horizontal direction while the pitch motion module performs a synchronous motion in the pitch direction.

[0009] Furthermore, in the synchronous motion mode of the pitch motion module and the horizontal motion module, the scanning device performs a detection action under a spiral trajectory to obtain spiral point cloud data.

[0010] Furthermore, within one detection cycle, the scanning device performs unidirectional movement in the pitch direction.

[0011] Further, within one detection cycle, the horizontal motion module moves in a clockwise or counterclockwise circular motion in the horizontal direction.

[0012] Further, within each detection cycle, the horizontal motion module moves in a clockwise circular motion in the horizontal direction; or, within each detection cycle, the horizontal motion module moves in a counterclockwise circular motion in the horizontal direction; or, in the first N detection cycles and the last M detection cycles, the horizontal motion module performs circular motion in opposite directions in the horizontal direction, where N≥1, M≥1, and N and M are integers.

[0013] Furthermore, in one detection cycle, the scanning device moves from an initial position θ in the pitch direction to 1 Move to the target position θ 2 or, in one detection cycle, the scanning device moves from the initial position θ in the pitch direction 2 Move to the initial position θ 1 Place.

[0014] Furthermore, within one detection cycle, the scanning device performs reciprocating motion in the pitch direction.

[0015] Furthermore, the scanning device performs detection actions at the same or different detection positions in different detection cycles to obtain the same or different point cloud data in different detection cycles.

[0016] Furthermore, in different detection cycles, the scanning device moves from an initial position θ in the pitch direction to 1 Move to the target position θ 2 During the process, the detection action is performed at different detection positions to obtain a plurality of spiral point cloud data with a scanning interval;

[0017] Alternatively, in different detection cycles, the scanning device moves from the target position θ in the pitch direction. 2 Move to the initial position θ 1 During the detection process, detection actions are performed at different detection positions to obtain a plurality of spiral point cloud data with scanning intervals.

[0018] Furthermore, within one detection cycle, the scanning device moves from an initial position θ in the pitch direction to 1 Move to the target position θ 2 Then return to the initial position θ 1 The scanning device is moved in the pitch direction from the initial position θ 1 Move to the target position θ2 In the process of performing the detection action at multiple first detection positions, from the target position θ 2 Return to the initial position θ 1 During the process, the detection action is performed at multiple second detection positions, and the multiple first detection positions are different from the second detection positions, so that the point cloud data obtained by the scanning device at the multiple first detection positions and the multiple second detection positions respectively complement each other.

[0019] Furthermore, θ 1 is 0 degrees, θ 2 is 45 degrees.

[0020] Furthermore, the horizontal motion module moves in a uniform speed or non-uniform speed manner in the horizontal direction.

[0021] Furthermore, the pitch motion module moves in a uniform motion or a non-uniform motion in the pitch direction.

[0022] Furthermore, the movement modes of the horizontal motion module and the pitch motion module are the same or different.

[0023] Furthermore, the horizontal motion module is arranged when the scanning device is at an initial position θ 1 and the target position θ 2 During the movement process, it experiences accelerated motion, uniform motion, and decelerated motion.

[0024] Furthermore, the horizontal motion module is arranged when the scanning device is at an initial position θ 1 and the target position θ 2 During the movement process, it experiences accelerated motion, decelerated motion, and uniform motion.

[0025] Furthermore, the horizontal motion module is arranged when the scanning device is at an initial position θ 1 and the target position θ 2 During the movement process, it experiences acceleration and deceleration.

[0026] Furthermore, the horizontal motion module is arranged when the scanning device is at an initial position θ 1 and the target position θ 2 During the movement process, it experiences accelerated motion, uniform motion, decelerated motion, and uniform motion.

[0027] Furthermore, the pitch motion module is arranged when the scanning device is at an initial position θ 1 and the target position θ 2 During the movement process, it experiences acceleration and deceleration.

[0028] Furthermore, the pitch motion module is arranged when the scanning device is at an initial position θ1 and the target position θ 2 During the movement process, it experiences accelerated motion, uniform motion, and decelerated motion.

[0029] Furthermore, the scanning device includes at least one of a 3D microwave radar, a 3D laser radar, a 2D microwave radar, a 2D laser radar, a single-point microwave radar, and a single-point laser radar.

[0030] Further, the pitch motion module includes a pitch drive unit and a pitch motion structure, the pitch drive unit is connected to the pitch motion structure and drives the pitch motion structure to rotate in the pitch direction, and the scanning device is installed on the pitch motion structure, so that the pitch motion structure and the scanning device perform synchronous follow-up pitch mechanical motion;

[0031] The horizontal motion module includes a horizontal driving unit and a horizontal motion structure, the pitch motion module is arranged on the horizontal motion structure, the horizontal driving unit is connected to the horizontal motion structure and drives the horizontal motion structure to move in the horizontal direction, so that the horizontal motion structure rotates in the horizontal direction while at least driving the pitch motion module and the scanning device to perform synchronous follow-up horizontal mechanical motion.

[0032] The present invention also discloses a rapid scanning system with a synchronous motion function, comprising:

[0033] A horizontal motion module, wherein the horizontal motion module performs circular motion in the horizontal direction, thereby at least driving a scanning device installed on the horizontal motion module to perform synchronous follow-up horizontal mechanical motion;

[0034] A pitch motion module, on which the horizontal motion module is arranged, and the pitch motion module drives at least the horizontal motion module and the scanning device to perform synchronous follow-up pitch mechanical motion while rotating in the pitch direction;

[0035] The horizontal motion module and the pitch motion module are set in a synchronous motion mode, and the horizontal motion module performs a circular motion in the horizontal direction while the pitch motion module rotates synchronously in the pitch direction.

[0036] The present invention discloses a fast scanning system with synchronous motion function, including a pitch motion module and a horizontal motion module, wherein the pitch motion module moves in the pitch direction, thereby at least driving a scanning device installed on the pitch motion module to perform synchronous follow-up pitch mechanical motion; the pitch motion module is arranged on the horizontal motion module, so that the horizontal motion structure at least drives the pitch motion module and the scanning device to perform synchronous follow-up horizontal mechanical motion while rotating in the horizontal direction; the pitch motion module and the horizontal motion module are set to a synchronous motion mode, and the pitch motion module moves synchronously in the pitch direction while the horizontal motion module performs a circular motion in the horizontal direction. Alternatively, in the present invention, the scanning device can be arranged on the horizontal motion module, and then the pitch motion module drives the horizontal motion module and the scanning device arranged thereon to perform synchronous follow-up mechanical motion. In the present invention, the horizontal direction and the pitch direction of the scanning device movement are set to the synchronous motion mode, thereby greatly saving the scanning time and improving the scanning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0038] Figure 1 It is a structural schematic diagram of a fast scanning system with synchronous motion function provided by the present invention;

[0039] Figure 2 It is a schematic diagram of scanning data outputted when the scanning device moves from the initial position to the target position in a uniform motion in the pitch direction;

[0040] Figure 3 It is a schematic diagram of scanning data outputted by the scanning device when it moves from the target position back to the initial position in a uniform motion in the pitch direction;

[0041] Figure 4 It is a schematic diagram of scanning data output when the scanning device moves from the initial position to the target position in a pitch direction in an acceleration and then deceleration motion mode;

[0042] Figure 5 It is a schematic diagram of scanning data output when the scanning device moves from the initial position to the target position in the pitch direction in a manner of accelerating at a uniform speed and then decelerating;

[0043] Figure 6 It is a schematic diagram of scanning data outputted by the scanning device when it moves from the initial position to the target position in the horizontal direction by first accelerating and then moving at a constant speed;

[0044] Figure 7 Schematic diagram of scanning data output by the reciprocating motion of the scanning device Figure 1 ;

[0045] Figure 8 Schematic diagram of scanning data output by the reciprocating motion of the scanning device Figure 2 .

[0046] Summary of reference numerals:

[0047] 1. Pitch drive unit 2. Pitch motion structure

[0048] 3. Scanning device 4. Horizontal drive unit

[0049] 5. Horizontal motion structure 6. Support base

[0050] 7. Vertical rotation axis 8. Horizontal rotation axis DETAILED DESCRIPTION

[0051] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0052] Embodiment 1

[0053] In the prior art, a scanning device is used to transmit and receive signals from the surface of a material or the like to obtain point cloud data, and then obtain measurement data. However, the existing scanning device moves asynchronously in the horizontal direction and the pitch direction. Among them, a certain angle range is set in the horizontal direction, and horizontal rotation within the preset angle range is achieved through two limit parts and photoelectric switches and other components, and the preset angle range is divided into multiple sub-angles, and the horizontal direction moves to a certain sub-angle position and stops rotating, and then the scanning device performs a pitch motion in the pitch direction, and after a movement cycle in the pitch direction, the horizontal direction rotates another sub-angle, and then the scanning device performs a pitch motion in the pitch direction again, thereby completing a panoramic scan of the material surface through a cyclic reciprocating motion. Since the rotation of the scanning device in the pitch direction is a periodic motion only after the horizontal direction moves to a certain sub-angle position and stops, and then the horizontal direction continues to move to another sub-angle position and stops and then continues to perform a periodic reciprocating motion, thereby achieving a panoramic scan. For this reason, the existing scanning device not only rotates within a certain angle range in the horizontal direction and the pitch direction, but also moves intermittently and asynchronously, thereby obtaining a panoramic scanning data cycle will be very long, and the corresponding scanning system components are also relatively complex.

[0054] The present invention provides a rapid scanning system with synchronous motion function, comprising a pitch motion module and a horizontal motion module. The pitch motion module moves in the pitch direction, thereby at least driving the scanning device 3 installed on the pitch motion module to perform synchronous follow-up pitch mechanical motion; the horizontal motion module is provided with the pitch motion module, and the horizontal motion module at least drives the pitch motion module and the scanning device 3 to perform synchronous follow-up horizontal mechanical motion while rotating in the horizontal direction; the pitch motion module and the horizontal motion module are set in a synchronous motion mode, and the pitch motion module moves synchronously in the pitch direction while the horizontal motion module performs a circular motion in the horizontal direction.

[0055] Among them, Figure 1 As shown, the pitch motion module includes a pitch drive unit 1 and a pitch motion structure 2, wherein the pitch drive unit 1 is connected to the pitch motion structure 2 and drives the pitch motion structure 2 to rotate in the pitch direction, and the scanning device 3 is installed on the pitch motion structure 2, so that the pitch motion structure 2 and the scanning device 3 perform synchronous follow-up pitch mechanical motion. The horizontal motion module includes a horizontal drive unit 4 and a horizontal motion structure 5, wherein the horizontal drive unit 4 is connected to the horizontal motion structure 5 and drives the horizontal motion structure 5 to rotate in the horizontal direction, so that the horizontal motion structure 5 rotates in the horizontal direction while at least driving the pitch motion module and the scanning device 3 to perform synchronous follow-up horizontal mechanical motion. The pitch motion module and the horizontal motion module are set in a synchronous motion mode, and the pitch motion module moves synchronously around the horizontal rotation axis 8 in the pitch direction while the horizontal motion module moves in a circle around the vertical rotation axis 7 in the horizontal direction.

[0056] It should be noted that the scanning device 3 of the present invention outputs spiral point cloud data in the synchronous motion mode of the pitch motion module and the horizontal motion module. In the synchronous motion mode, the scanning device 3 performs corresponding detection actions under the spiral trajectory to obtain spiral point cloud data.

[0057] The above-mentioned rapid scanning system with synchronous motion function disclosed in the present invention drives the scanning device 3 to move synchronously in the horizontal direction and the pitch direction by setting a horizontal motion module and a pitch motion module, thereby outputting spiral point cloud data. In addition, the synchronous motion method can greatly shorten the scanning cycle and improve the scanning efficiency. The system components are relatively simple and the installation difficulty is relatively reduced.

[0058] It should be noted that, within one detection cycle, the scanning device 3 performs unidirectional motion in the pitch direction. Also, within one detection cycle, the horizontal motion module performs clockwise or counterclockwise circular motion in the horizontal direction.

[0059] Alternatively, in each detection cycle, the horizontal motion module moves in a clockwise circular motion in the horizontal direction; alternatively, in each detection cycle, the horizontal motion module moves in a counterclockwise circular motion in the horizontal direction; alternatively, in the first N detection cycles and the last M detection cycles, the horizontal motion module performs circular motion in opposite directions in the horizontal direction, where N≥1, M≥1, and N and M are integers.

[0060] That is to say, in the pitch direction, the scanning device 3 must perform unidirectional motion within one detection cycle; in the horizontal direction, the horizontal motion module can perform clockwise circular motion or counterclockwise circular motion within one detection cycle or each detection cycle, or perform circular motion in the opposite direction in the horizontal direction within part of the detection cycle.

[0061] It should be noted that in one detection cycle, the pitch movement and the horizontal movement must be in the same direction of movement. If reverse movement occurs, it must be stopped and then started to move in the reverse direction, which will extend the scanning cycle. For this reason, preferably, in one detection cycle, the scanning device 3 moves in a single direction in the pitch direction, and at the same time moves in a clockwise or counterclockwise circular direction in the horizontal direction, thereby ensuring that the movement cycle of the scanning device 3 to obtain point cloud data of the same effect is greatly shortened, and the scanning efficiency is also greatly improved.

[0062] In a possible implementation of this embodiment, the scanning device 3 moves from an initial position θ in the pitch direction to a position θ in a detection cycle. 1 Move to the target position θ 2 or, in one detection cycle, the scanning device 3 in the pitch direction from the target position θ 2 Move to the initial position θ 1 Place.

[0063] It should be understood that the above initial position θ 1 and the target position θ 2 is the angle range threshold set by the system in advance according to the data information to be scanned, that is, the scanning device 3 moves from the initial position θ in the pitch direction as the pitch motion module moves 1 Move to the target position θ 2 Panoramic scan point cloud data can be obtained at

[0064] In a further solution of this embodiment, the scanning device 3 performs detection actions at the same or different detection positions in different detection cycles to obtain the same or different point cloud data in different detection cycles. This arrangement is to ensure that the point cloud data obtained by the scanning device 3 in different detection cycles are point cloud data of the same detection position or different detection positions.

[0065] Furthermore, in different detection cycles, the scanning device 3 moves from the initial position θ in the pitch direction to the 1 Move to the target position θ 2 During the process, the scanning device 3 performs the detection action at different detection positions to obtain a plurality of spiral point cloud data with a scanning interval; or, in different detection cycles, the scanning device 3 moves from the target position θ in the pitch direction. 2 Move to the initial position θ 1 During the detection process, the detection action is performed at different detection positions to obtain multiple spiral point cloud data with scanning intervals. This setting is to make the spiral point cloud data obtained by the scanning device 3 in different detection cycles have a certain interval, and the spiral point cloud data with different scanning intervals are superimposed and output, so that the point cloud data obtained is denser, that is, more dense sampling point data is obtained.

[0066] In another possible implementation of this embodiment, the scanning device 3 performs reciprocating motion in the pitch direction in one detection cycle. Specifically, in one detection cycle, the scanning device 3 moves from the initial position θ 1 Move to the target position θ 2 Then return to the initial position θ 1 Wherein the scanning device 3 is from the initial position θ 1 Move to the target position θ 2 In the process of performing the detection action at multiple first detection positions, from the target position θ 2 Return to the initial position θ 1 During the process, the detection action is performed at multiple second detection positions, and the multiple first detection positions are different from the second detection positions, so that the point cloud data obtained by the scanning device 3 at the multiple first detection positions and the multiple second detection positions respectively complement each other.

[0067] like Figure 7 As shown, the scanning device 3 performs reciprocating motion in one detection cycle or multiple detection cycles, starting from the initial position θ 1 (center position or outermost position of the circle) moves to the target position θ 2 (the outermost circle position or the center position of the circle) in the process of performing detection actions at different detection positions ("-" position), and then from the target position θ 2 (the outermost circle position or the center position of the circle) moves to the initial position θ 1 In the process of scanning the first detection position (center position or outermost circle position of the circle), the scanning device 3 performs the detection action at other different detection positions ("·" position). Among them, the "-" position and the "·" position are complementary positions (different positions in the horizontal direction), so that the point cloud data obtained by the scanning device 3 at multiple first detection positions and multiple second detection positions respectively complement each other.

[0068] like Figure 8 As shown, the scanning device 3 performs reciprocating motion in one detection cycle or multiple detection cycles, starting from the initial position θ 1 (center position or outermost position of the circle) moves to the target position θ 2 (the outermost circle position or the center position of the circle) in the process of performing detection actions at different detection positions (solid circle), and then from the target position θ 2 (the outermost circle position or the center position of the circle) moves to the initial position θ 1 In the process of scanning the scanning device 3 at the first detection position and the second detection position, the scanning device 3 performs the detection action at other different detection positions (dotted circle). The solid circle and the dotted circle are complementary positions (different angles in the pitch direction), so that the point cloud data obtained by the scanning device 3 at the multiple first detection positions and the multiple second detection positions are complementary point cloud data.

[0069] It needs to be explained that Figure 7 and Figure 8 It can be considered as the point cloud data obtained by the scanning device 3 performing one reciprocating motion; it can also be considered as the point cloud data obtained by the scanning device performing multiple reciprocating motions, and multiple first detection positions are the same as multiple second detection positions during the multiple reciprocating motions. Of course, in actual applications, the scanning device 3 can perform detection actions at the same detection position or at different detection positions in one detection cycle or different detection cycles. It is preferred that the scanning device performs detection actions at different detection positions during the reciprocating motion to obtain complementary point cloud data, that is, the point cloud data obtained by performing detection actions at the same detection position during the reciprocating motion is denser, and the scanning data measured thereby is more accurate.

[0070] Specifically, for example, the initial position θ 1 The target position θ can be selected as 0° position. 2 The 45° position can be selected, that is, the scanning range in one detection cycle is 0°~45°. 1 and the target position θ 2 It may also be other angle values, which can be set according to specific circumstances or set in advance on a control mainboard connected to the scanning device 3 .

[0071] In addition, the initial position can be selected as the -30° position, and the target position is the 30° position, that is, taking the pitch direction movement period of -30° to 30° as an example, the existing scanning device 3 moves from -30° to 30° in the pitch direction, and rotates one position every 3° in the horizontal direction. At this time, the scanning device 3 continues from 30° to -30° in the pitch direction, and then rotates one direction every 3° in the horizontal direction. At this time, the scanning device 3 continues from -30° to 30° in the pitch direction, ..., thereby the scanning device 3 realizes a cyclic reciprocating motion to realize panoramic scanning and obtain panoramic scanning point cloud data for output.

[0072] However, in this scheme, the detection cycle range is preferably 0° to 30°. Since the horizontal motion module moves in a circular motion in the horizontal direction, the panoramic scanning point cloud data can be obtained only by scanning data within the range of 0° to 30°, which greatly saves scanning time and improves scanning efficiency.

[0073] Alternatively, in the present scheme, within the detection period of -30° to 30°, the scanning device 3 first performs a detection action at multiple first detection positions within the range of -30° to 30°, and then performs a detection action at multiple second detection positions during the movement process within the range of 30° to -30°. The multiple first detection positions are different from the second detection positions, so that the point cloud data obtained by the scanning device 3 at the multiple first detection positions and the multiple second detection positions respectively complement each other's point cloud data. For example, multiple first detection positions can be -30°, -25°, -20°, -15°, -10°, -5°, 0°, 5°, 10°, 15°, 20°, 25°, 30°; multiple second detection positions can be 28°, 23°, 18°, 13°, 8°, 3°, -2°, -7°, -12°, -17°, -22°, -27°, thereby realizing that the point cloud data collected during the reciprocating motion is the point cloud data at different detection positions, and the round-trip point cloud data can be fused to obtain the point cloud data of the entire area.

[0074] In a further embodiment of the present invention, the scanning device 3 is installed on the pitch motion module, and the pitch motion module is installed on the horizontal motion module, so that the pitch motion module is driven to rotate horizontally by the horizontal motion module, and the pitch motion module drives the scanning device 3 to rotate synchronously with the pitch motion, thereby realizing the synchronous movement of the scanning device 3 in the horizontal direction and the pitch direction. It should be noted that the movement mode of the horizontal motion module in the horizontal direction is uniform motion or non-uniform motion; the movement mode of the pitch motion module in the pitch direction is uniform motion or non-uniform motion. Further, the movement mode of the horizontal motion module is the same as or different from that of the pitch motion module.

[0075] The horizontal motion module and the pitch motion module are set to a synchronous motion mode, which specifically means that the scanning device 3 moves synchronously in the horizontal direction and the pitch direction, but the specific motion modes may be the same or different.

[0076] Specifically, the horizontal motion module moves at a uniform speed in the horizontal direction, and the pitch motion module can move at a uniform speed or non-uniform speed in the pitch direction; or, the horizontal motion module moves at a non-uniform speed in the horizontal direction, and the pitch motion module can move at a uniform speed or non-uniform speed in the pitch direction; or, the pitch motion module moves at a uniform speed in the pitch direction, and the horizontal motion module can move at a uniform speed or non-uniform speed in the horizontal direction; or, the pitch motion module moves at a non-uniform speed in the pitch direction, and the horizontal motion module can move at a uniform speed or non-uniform speed in the horizontal direction.

[0077] The movement mode of the horizontal motion module in the horizontal direction and the movement mode of the pitch motion module in the pitch direction are described in detail as follows.

[0078] (1) First, the motion mode of the horizontal motion module is described. Since the horizontal motion module performs circular motion in the horizontal direction, after a motion cycle, the horizontal motion module can stop rotating in the opposite direction or continue rotating clockwise or counterclockwise in the original manner. The following describes six motion modes, which are of course not limited to the following motion modes and will not be described in detail.

[0079] a. The horizontal motion module is in the initial position θ of the scanning device 3. 1 and the target position θ 2 During the movement process, it experiences accelerated motion, uniform motion, and decelerated motion.

[0080] b. The horizontal motion module is in the initial position θ of the scanning device 3. 1 and the target position θ 2 During the movement process, it experiences accelerated motion, decelerated motion, and uniform motion.

[0081] c. The horizontal motion module is in the initial position θ of the scanning device 3. 1 and the target position θ 2 During the movement process, it experiences acceleration and deceleration.

[0082] d. The horizontal motion module is in the initial position θ of the scanning device 3. 1 and the target position θ 2 During the movement process, it experiences accelerated motion, uniform motion, decelerated motion, and uniform motion.

[0083] e. The horizontal motion module is in the initial position θ of the scanning device 3. 1and the target position θ 2 During the movement between them, it experiences uniform motion.

[0084] f. The horizontal motion module is in the initial position θ of the scanning device 3. 1 and the target position θ 2 During the movement process, it experiences accelerated motion and uniform motion.

[0085] Of course, the above descriptions a to f are about the horizontal motion module moving from the initial position θ to the scanning device 3. 1 Move to the target position θ 2 On the contrary, the horizontal motion module in the scanning device 3 from the target position θ 2 Move to the initial position θ 1 The above 6 movement modes can also be used in the process, of course, they are not limited to the above 6 modes, which are only used as examples and will not be repeated here.

[0086] like Figure 6 The scanning device 3 is shown in the horizontal direction in a motion mode of first accelerating and then moving at a constant speed from the initial position θ 1 Move to the target position θ 2 Schematic diagram of spiral point cloud data output during the process.

[0087] (2) Next, the movement mode of the pitch motion module is described. Since the pitch motion module reciprocates in the pitch direction, it needs to move in the opposite direction to the initial position or the target position after a detection cycle. Therefore, the pitch motion module needs to stop after a detection cycle and then continue the unidirectional movement of the next detection cycle. The following describes three movement modes, which are of course not limited to the following movement modes and will not be repeated here.

[0088] g. Figure 2 As shown, the pitch motion module is in the scanning device 3 at the initial position θ 1 and the target position θ 2 During the movement between them, it experiences uniform motion.

[0089] h. Figure 4 As shown, the pitch motion module is in the initial position θ of the scanning device 3. 1 and the target position θ 2 During the movement process, it experiences acceleration and deceleration.

[0090] i. Such as Figure 5 As shown, the pitch motion module is in the scanning device 3 at the initial position θ 1 and the target position θ 2 During the movement process, it experiences accelerated motion, uniform motion, and decelerated motion.

[0091] Of course, the above g~i describe that the pitch motion module moves from the initial position θ 1 Move to the target position θ 2 The motion mode of the process, on the contrary, the pitch motion module in the scanning device 3 moves from the target position θ 2 Move to the initial position θ 1 The above three types of exercise can also be used in the process, such as Figure 3 The figure shows the scanning device 3 moving from the target position θ in a uniform motion mode. 2 Move to the initial position θ 1 The schematic diagram of the spiral point cloud data output in the process is of course not limited to the above three methods. It is only used as an example and will not be repeated here.

[0092] Specifically, the scanning period of the pitch motion module and the horizontal motion module of the present invention outputting spiral point cloud data in the synchronous motion mode is about 10s, but the scanning period of the existing pitch motion module and the horizontal motion module outputting point cloud data in the asynchronous motion mode is about 6-10min. Among them, the point cloud data output in the existing asynchronous motion mode is dense at the center of the circle, the data volume is large, there is a large amount of data resource waste, and the scanning period is obviously much longer than the scanning period in the present invention. The scanning device of the present invention adjusts the distribution of point cloud data by adjusting the motion mode in the horizontal direction or the pitch direction. For example, for the center position, the point cloud data collection can be reduced by accelerating the motion, and for the middle position or the outer position of the circle, uniform or decelerated motion is used to obtain more point cloud data, or uniform motion is used to obtain point cloud data in the entire period. Therefore, the period of collecting point cloud data by the scanning device will be greatly reduced, and the probability of data being valid data will be greatly improved, and the efficiency of scanning data will also be greatly improved.

[0093] It should be noted that in practical applications, it is preferred to use a uniform motion mode for both the horizontal motion module and the pitch motion module, thereby simplifying the execution logic, shortening the scanning cycle to the maximum extent, and improving the scanning efficiency.

[0094] In a further embodiment of the present invention, the scanning device 3 includes at least one of a 3D microwave radar, a 3D laser radar, a 2D microwave radar, a 2D laser radar, a single-point microwave radar, and a single-point laser radar.

[0095] The rapid scanning system with synchronous motion function of the present invention further comprises a supporting base 6 , and the horizontal motion module is fixedly connected to the supporting base 6 and rotates horizontally around a vertical rotation axis 7 fixedly arranged on the supporting base 6 .

[0096] Embodiment 2

[0097] A fast scanning system with synchronous motion function provided in the present invention can also be of the following structure. Specifically, the fast scanning system with synchronous motion function includes a pitch motion module and a horizontal motion module; the horizontal motion module performs circular motion in the horizontal direction, thereby at least driving the scanning device 3 installed on the horizontal motion module to perform synchronous follow-up horizontal mechanical motion; the pitch motion module is provided with the horizontal motion module, and the pitch motion module at least drives the horizontal motion module and the scanning device 3 to perform synchronous follow-up pitch mechanical motion while rotating in the pitch direction; the horizontal motion module and the pitch motion module are set in a synchronous motion mode, and the pitch motion module performs circular motion in the horizontal direction while the pitch motion module moves synchronously in the pitch direction.

[0098] The movement mode and principle of the scanning device 3 in this embodiment are the same as those in the first embodiment, and will not be described again.

[0099] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments; within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0100] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0101] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A fast scanning system with synchronous motion function, characterized in that: include: A pitch motion module, the pitch motion module moves in a pitch direction, thereby at least driving a scanning device installed on the pitch motion module to perform synchronous follow-up pitch mechanical motion; A horizontal motion module, on which the pitch motion module is arranged, and when the horizontal motion module rotates in the horizontal direction, it at least drives the pitch motion module and the scanning device to perform synchronous follow-up horizontal mechanical motion; The pitch motion module and the horizontal motion module are set in a synchronous motion mode, and the horizontal motion module performs a circular motion in the horizontal direction while the pitch motion module performs a synchronous motion in the pitch direction.

2. The rapid scanning system with synchronous motion function according to claim 1, characterized in that: In the synchronous motion mode of the pitch motion module and the horizontal motion module, the scanning device performs a detection action under a spiral trajectory to obtain spiral point cloud data.

3. The rapid scanning system with synchronous motion function according to claim 1, characterized in that: The scanning device performs unidirectional movement in the pitch direction in one detection cycle; Preferably, within one detection cycle, the scanning device moves in the pitch direction from the initial position θ1 to the target position θ2; or, within one detection cycle, the scanning device moves in the pitch direction from the target position θ2 to the initial position θ1; Preferably, within one detection cycle, the horizontal motion module moves in a clockwise or counterclockwise circular motion in the horizontal direction; Preferably, in each detection cycle, the horizontal motion module moves in a clockwise circular motion in the horizontal direction; or, in each detection cycle, the horizontal motion module moves in a counterclockwise circular motion in the horizontal direction; or, in the first N detection cycles and the last M detection cycles, the horizontal motion module performs circular motion in opposite directions in the horizontal direction, wherein N≥1, M≥1, and N and M are integers; Preferably, the scanning device performs reciprocating motion in the pitch direction during one detection cycle; Preferably, within one detection cycle, the scanning device moves in the pitch direction from the initial position θ1 to the target position θ2 and then returns to the initial position θ1, wherein the scanning device performs detection actions at multiple first detection positions in the process of moving from the initial position θ1 to the target position θ2 in the pitch direction, and performs detection actions at multiple second detection positions in the process of returning from the target position θ2 to the initial position θ1, and the multiple first detection positions are different from the second detection positions, so that the point cloud data obtained by the scanning device at the multiple first detection positions and the multiple second detection positions respectively complement each other.

4. The rapid scanning system with synchronous motion function according to claim 3, characterized in that: The scanning device performs detection actions at the same or different detection positions in different detection cycles to obtain the same or different point cloud data in different detection cycles; Preferably, in different detection cycles, the scanning device performs detection actions at different detection positions during the process of moving from the initial position θ1 to the target position θ2 in the pitch direction, so as to obtain a plurality of spiral point cloud data with a scanning interval; Alternatively, in different detection cycles, the scanning device performs detection actions at different detection positions during the process of moving from the target position θ2 to the initial position θ1 in the pitch direction to obtain a plurality of spiral point cloud data with a scanning interval; Preferably, θ1 is 0 degrees and θ2 is 45 degrees.

5. The rapid scanning system with synchronous motion function according to claim 1, characterized in that: The horizontal motion module moves in a uniform motion or non-uniform motion in the horizontal direction; Alternatively, the pitch motion module moves in a uniform motion or non-uniform motion in the pitch direction; Preferably, the movement mode of the horizontal motion module is the same as or different from that of the pitch motion module.

6. The rapid scanning system with synchronous motion function according to claim 5, characterized in that: The horizontal motion module undergoes acceleration motion, uniform motion, and deceleration motion during the motion of the scanning device between the initial position θ1 and the target position θ2; Alternatively, the horizontal motion module undergoes acceleration motion, deceleration motion, and uniform motion during the motion of the scanning device between the initial position θ1 and the target position θ2; Alternatively, the horizontal motion module undergoes acceleration motion and deceleration motion during the motion of the scanning device between the initial position θ1 and the target position θ2; Alternatively, the horizontal motion module undergoes accelerated motion, uniform motion, decelerated motion, and uniform motion during the motion of the scanning device between the initial position θ1 and the target position θ2.

7. The rapid scanning system with synchronous motion function according to claim 5, characterized in that: The pitch motion module undergoes acceleration motion and deceleration motion during the motion of the scanning device between the initial position θ1 and the target position θ2; Alternatively, the pitch motion module undergoes acceleration motion, uniform motion, and deceleration motion during the motion of the scanning device between the initial position θ1 and the target position θ2.

8. The rapid scanning system with synchronous motion function according to claim 1, characterized in that: The scanning device includes at least one of a 3D microwave radar, a 3D laser radar, a 2D microwave radar, a 2D laser radar, a single-point microwave radar, and a single-point laser radar.

9. The rapid scanning system with synchronous motion function according to claim 1, characterized in that: The pitch motion module comprises a pitch drive unit and a pitch motion structure, wherein the pitch drive unit is connected to the pitch motion structure and drives the pitch motion structure to rotate in the pitch direction, and the scanning device is mounted on the pitch motion structure, so that the pitch motion structure and the scanning device perform synchronous follow-up pitch mechanical motion; The horizontal motion module includes a horizontal driving unit and a horizontal motion structure, the pitch motion module is arranged on the horizontal motion structure, the horizontal driving unit is connected to the horizontal motion structure and drives the horizontal motion structure to move in the horizontal direction, so that the horizontal motion structure rotates in the horizontal direction while at least driving the pitch motion module and the scanning device to perform synchronous follow-up horizontal mechanical motion.

10. A fast scanning system with synchronous motion function, characterized in that: include: A horizontal motion module, wherein the horizontal motion module performs circular motion in the horizontal direction, thereby at least driving a scanning device installed on the horizontal motion module to perform synchronous follow-up horizontal mechanical motion; A pitch motion module, on which the horizontal motion module is arranged, and the pitch motion module drives at least the horizontal motion module and the scanning device to perform synchronous follow-up pitch mechanical motion while rotating in the pitch direction; The horizontal motion module and the pitch motion module are set in a synchronous motion mode, and the horizontal motion module performs a circular motion in the horizontal direction while the pitch motion module rotates synchronously in the pitch direction.

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