Single-line laser radar and range finder mobile swing-scan point cloud coordinate time correction method

Abstract

The application discloses a single-line laser radar and range finder mobile swing scanning point cloud coordinate time state correction method, comprising the following steps: acquiring the continuous frame offset of the single-line laser radar and the range finder respectively according to the measurement data of the single-line laser radar and the range finder based on three-dimensional point cloud data; acquiring the number of single-frame point cloud data according to the principle and characteristics of the measurement data of the single-line laser radar and the range finder, and compensating the continuous frame offset of the range finder to the three-dimensional point cloud data according to the number of single-frame point cloud data to obtain the time state correction data of the range finder; acquiring the time state correction data of the single-line laser radar based on the three-dimensional point cloud data and the measurement data of the single-line laser radar according to the front and back of the scanning direction of the single-line laser radar and the direction difference of the rotation angle; and matching and data coupling the time state correction data of the range finder and the time state correction data of the single-line laser radar.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of spatial information application, and particularly relates to a point cloud coordinate time state correction method for single-line laser radar and mobile swing scanning of a range finder. BACKGROUND

[0002] At present, mines in China are in a critical period of intelligent and informatization transformation, but there are still certain technical bottlenecks in the informatization construction of mines. For example, the metal balance of the dressing plant, the inventory of the concentrate of the mine is mainly relied on manual work, and the monthly inventory is measured by using a tape measure, which has high labor intensity, low efficiency, and large error caused by human factors, and the data sharing is not timely, which affects the production plan, production analysis and financial settlement. Under this background, Zijinshan Gold and Copper Mine and China University of Mining and Technology (Beijing) jointly developed the metal balance automatic inventory equipment, formed a warehouse concentrate scanning equipment system combined with single-line laser radar and range finder, and applied it to the copper and sulfur concentrate inventory in the copper two and copper three dressing plants, realized the rapid and accurate measurement and inventory of the warehouse inventory according to shifts, vehicles and people, and significantly improved the informatization level of the metal balance. The principle of the above-mentioned research and development equipment for carrying out the inventory of the concentrate of the dressing plant is that the single-line laser radar and the range finder are fixed on the slide rail, the vertical profile information of the object is obtained by scanning the single-line laser radar during the sliding process, the horizontal position information of the scanned object at any time is obtained by the range finder, the vertical profile information and the horizontal position information are integrated to obtain the three-dimensional information of the scanned object, and the three-dimensional point cloud model of the warehouse ore heap is constructed and the volume is estimated. However, the equipment is easily limited by the accessibility of the vehicle in the horizontal direction, which causes the lack of three-dimensional point cloud of the ore heap near the two ends of the warehouse, and the ore quantity in the region cannot be inventoried. The present application focuses on solving the time state correction method of the point cloud coordinates collected in the scanning mode, solving the problem that the number of frames of electromagnetic waves received by the single-line laser radar and the number of frames of electromagnetic waves received by the range finder do not match during the moving and swing scanning process, improving the integrity and accuracy of the three-dimensional data collection of the warehouse ore heap, and having high economic benefit and social value. SUMMARY

[0003] To solve the above technical problems, the present application provides a point cloud coordinate time state correction method for single-line laser radar and mobile swing scanning of a range finder, which can effectively solve the problem that the warehouse ore inventory equipment coupled with the single-line laser radar and the range finder driven by the rotating motor is moved with the vehicle, causing the data measured between the continuous frames to be slightly offset, improve the three-dimensional point cloud accuracy, and improve the production benefit.

[0004] To achieve the above purpose, the present application provides a point cloud coordinate time state correction method for single-line laser radar and mobile swing scanning of a range finder, comprising the following steps:

[0005] According to the three-dimensional scanning of the warehouse ore inventory checking equipment coupled with the single-line laser radar and the range finder driven by the rotating motor, three-dimensional point cloud data is obtained; according to the measurement data of the single-line laser radar and the range finder, the continuous frame offset of the single-line laser radar and the range finder is obtained respectively;

[0006] According to the principle and characteristics of the measurement data of the single-line laser radar and the range finder, the number of single-frame point cloud data is obtained, the continuous frame offset of the range finder is evenly distributed and compensated into the three-dimensional point cloud data according to the number of single-frame point cloud data, and the time correction data of the range finder is obtained;

[0007] Based on the three-dimensional point cloud data and the measurement data of the single-line laser radar, according to the front and back and the direction of the rotation angle of the scanning direction of the single-line laser radar, the time correction data of the single-line laser radar is obtained;

[0008] The time correction data of the range finder and the time correction data of the single-line laser radar are matched and data coupled, and the time correction of the single-line laser radar and the range finder moving point cloud coordinates is completed.

[0009] Optionally, the method for obtaining the three-dimensional point cloud data according to the three-dimensional scanning of the warehouse ore inventory checking equipment coupled with the single-line laser radar and the range finder driven by the rotating motor comprises:

[0010] A single-line laser radar coordinate system and a local object coordinate system are constructed, the relative coordinates of the three-dimensional point cloud in the moving process of the single-line laser radar are obtained according to the single-line laser radar coordinate system, the absolute coordinates of the three-dimensional point cloud in the moving process of the range finder are obtained according to the local object coordinate system, and the three-dimensional point cloud data is obtained based on the relative coordinates of the three-dimensional point cloud and the absolute coordinates of the three-dimensional point cloud.

[0011] Optionally, the calculation method for obtaining the three-dimensional point cloud data is:

[0012]

[0013] Wherein, y' represents the real-time coordinate of the range finder measured in the local object coordinate system in the Y-axis direction, d represents the real-time distance obtained by the laser range finder, y" represents the Y' axis direction coordinate of the target point A measured by the single-line laser radar in the single-line laser radar coordinate system, y represents the Y axis direction coordinate of the target point A in the local object coordinate system, and p represents the distance from the warehouse ore inventory checking equipment to the space point A, represents the angle of rotation from p to the Y' axis.

[0014] Optionally, the method for obtaining the continuous frame offset of the range finder is:

[0015] y' rec =y' (j+1)0 -y' j0 =d (j+1)0 -d j0

[0016] wherein, y' rec represents the continuous frame offset of the rangefinder, y' j0 represents the real-time coordinate of the jth frame of the rangefinder measurement in the Y-axis direction in the local object coordinate system, d j0 represents the distance obtained by the rangefinder of the jth frame of data.

[0017] Optionally, the method for obtaining the continuous frame offset of the single-line laser radar is:

[0018]

[0019] y" rec =|y" (j+1)0 -y" j0 |

[0020] wherein, y" j0 represents the Y' axis coordinate of the jth frame of data in the single-line laser radar coordinate system, p j0 represents the spatial distance from the storage amount inventory device to the target point A, represents p j0 the rotation angle to the Y' axis, y" rec represents the continuous frame offset of the single-line laser radar.

[0021] Optionally, the method for obtaining the temporal correction data of the rangefinder is:

[0022]

[0023] wherein, y' j0 is the distance obtained by the rangefinder of the jth frame of data, d j0 represents the distance obtained by the rangefinder of the jth frame of data, y' ji is the coordinate of the i th point in the jth frame of data after correction in the Y-axis of the local object coordinate system, and η is the angle resolution of the single-line laser radar, and δ represents the scanning field angle of the single-line laser radar.

[0024] Optionally, according to the front and back and the direction of the rotation angle of the scanning direction of the single-line laser radar, the temporal correction data of the single-line laser radar is obtained, when the scanning direction of the single-line laser radar is opposite and rotates, and the scanning point is in the rear of the single-line laser radar, the calculation method of the temporal correction data of the single-line laser radar is:

[0025]

[0026] wherein y' is the Y' axis coordinate of the start of the jth frame of data in the single-line laser radar coordinate system, y' is the Y' axis coordinate of the i th point in the jth frame of data, and y' is the Y' axis coordinate of the i th point in the jth frame of data after correction. j0 is the Y' axis coordinate of the start of the jth frame of data in the single-line laser radar coordinate system, y' ji is the Y' axis coordinate of the i th point in the jth frame of data after correction.

[0027] Optionally, according to the front and back and the direction of the rotation angle of the scanning direction of the single-line laser radar, the time correction data of the single-line laser radar is obtained. When the single-line laser radar rotates in the same direction and the scanning point is in the rear of the single-line laser radar, the time correction data calculation method of the single-line laser radar is as follows:

[0028]

[0029] wherein y' is the Y' axis coordinate of the start of the jth frame of data in the single-line laser radar coordinate system, y' is the Y' axis coordinate of the i th point in the jth frame of data, and y' is the Y' axis coordinate of the i th point in the jth frame of data after correction. j0 is the Y' axis coordinate of the start of the jth frame of data in the single-line laser radar coordinate system, y' j0 represents the spatial distance from the storage amount checking device to the target point A in the jth frame of data, represents the rotation angle of to the Y' axis, y' j0 is the Y' axis coordinate of the i th point in the jth frame of data after correction. ji is the Y' axis coordinate of the i th point in the jth frame of data after correction, and is the angle resolution of the single-line laser radar, and represents the scanning field angle of the single-line laser radar.

[0030] Optionally, according to the front and back and the direction of the rotation angle of the scanning direction of the single-line laser radar, the time correction data of the single-line laser radar is obtained. When the single-line laser radar rotates in the same direction and the scanning point is in the rear of the single-line laser radar, the time correction data calculation method of the single-line laser radar is as follows:

[0031]

[0032] wherein y' is the Y' axis coordinate of the start of the jth frame of data in the single-line laser radar coordinate system, y' is the Y' axis coordinate of the i th point in the jth frame of data, and y' is the Y' axis coordinate of the i th point in the jth frame of data after correction. j0 is the Y' axis coordinate of the start of the jth frame of data in the single-line laser radar coordinate system, y' j0 represents the spatial distance from the storage amount checking device to the target point A in the jth frame of data, represents the rotation angle of to the Y' axis, y' j0 is the Y' axis coordinate of the i th point in the jth frame of data after correction. ji is the Y' axis coordinate of the i th point in the jth frame of data after correction, and is the angle resolution of the single-line laser radar, and represents the scanning field angle of the single-line laser radar.

[0033] Optionally, according to the front and rear and the direction of the rotation angle of the scanning direction of the single-line laser radar, the time correction data of the single-line laser radar is obtained, when the scanning direction of the single-line laser radar rotates in the opposite direction and the scanning point is in front of the single-line laser radar, the time correction data calculation method of the single-line laser radar is:

[0034]

[0035] Wherein, y j0 is the Y' axis coordinate of the jth frame data in the single-line laser radar coordinate system, p j0 represents the spatial distance from the storage amount checking device to the target point A, represents p j0 the rotation angle to the Y' axis, y ji is the Y' axis coordinate of the i-th point in the jth frame data after correction in the single-line laser radar coordinate system, and η is the angle resolution of the single-line laser radar, and δ represents the scanning field angle of the single-line laser radar.

[0036] The technical effect of the present application is that the single-line laser radar and the ranging instrument mobile swing scanning point cloud coordinate time correction method can more accurately measure the three-dimensional point cloud data of the storage mine heap, improve the mine heap inventory accuracy; The process of time correction is directly carried out on the measurement data, without personnel post-processing, and the automation degree is high; At the same time of time correction, the point cloud quantity obtained by the two kinds of sensors in single frame is unified, which is beneficial to the data fusion of the single-line laser radar and the ranging instrument. BRIEF DESCRIPTION OF DRAWINGS

[0037] The drawings constituting a part of the present application are used to provide further understanding of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0038] Figure 1 It is a single-line laser radar and a ranging instrument mobile swing scanning schematic diagram based on the embodiment of the present application;

[0039] Figure 2 It is a single-line laser radar and a ranging instrument mobile swing scanning three-dimensional space coordinate side view based on the embodiment of the present application;

[0040] Figure 3 It is a single-line laser radar and a ranging instrument mobile swing scanning single frame data time correction schematic diagram based on the embodiment of the present application, wherein (a) is a single frame data time correction schematic diagram of case one, (b) is a single frame data time correction schematic diagram of case two, (c) is a single frame data time correction schematic diagram of case three, and (d) is a single frame data time correction schematic diagram of case four;

[0041] Figure 4A flowchart of a point cloud coordinate time correction method for a single-line laser radar and a rangefinder mobile swing scan embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0042] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0043] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0044] As shown in the figure, the point cloud coordinate time correction method for a single-line laser radar and a rangefinder mobile swing scan in the present embodiment includes: Figure 4

[0045] Continuous frame data offset calculation: according to the three-dimensional scanning of the warehouse ore inventory disc point equipment coupled by the single-line laser radar and the rangefinder driven by the rotating motor, three-dimensional point cloud data under the local coordinate system is obtained. The three-dimensional point cloud data is calculated according to the part measured by the rangefinder and the single-line laser radar, and the offset of the continuous frame data is calculated;

[0046] Single frame data time correction of rangefinder measurement data: according to the principle and characteristics of the rangefinder and single-line laser radar measurement data, the number of single frame point cloud data is obtained, the continuous frame offset calculated in the above step is distributed and compensated to the point cloud data according to the front and back of the single frame point cloud data number, and the single frame data time correction is completed;

[0047] Single frame data time correction of single-line laser radar measurement data: the single-line laser radar can scan three-dimensional information under the driving of the rotating motor, and the data measured by the single-line laser radar is discussed according to the front and back of the scanning direction and the direction of the rotating angle, and the time correction of the single frame data is completed according to the specific situation;

[0048] Data coupling: the data corrected by the above two steps is matched one by one, and the data coupling is performed, and the time correction of the single frame point cloud data is completed.

[0049] Continuous frame data offset calculation is shown in the figure. Figure 1 and Figure 2 Continuous frame data offset calculation is shown in the figure. Figure 1 is a single-line laser radar and rangefinder mobile swing scan based on a schematic diagram; Figure 2 is a three-dimensional space coordinate side view based on a single-line laser radar and a rangefinder mobile swing scan. As shown in the figure. Figure 1 ​As shown, the generation process of three-dimensional point cloud data contains two coordinate systems, respectively, the laser radar coordinate system and the local object coordinate system, respectively, denoted as O-X'Y'Z' and O-XYZ. The former is used to record the relative coordinates of the three-dimensional point cloud during the movement of the single-line laser radar; the latter is used to express the absolute coordinates of the three-dimensional point cloud in the local object coordinate system. Taking the pulse emission port of the single-line laser radar as the origin O, the positive direction of the X' axis is parallel to the forward direction of the mobile tower crane, the Y' axis is perpendicular to the forward direction of the mobile tower crane, and the positive direction of the Z' axis is vertically downward to the lower mine heap, thereby constructing the right-hand coordinate system O-X'Y'Z'. The X and Y axes of the left-hand coordinate system O-XYZ are the same as the coordinate system O-X'Y'Z', the positive direction of the Z axis is vertically upward, and the coordinate origin is located on the intersection line of the plane where the optical reflection plate is located and the plane where the mine heap model bottom surface is located. The X' axis is projected downward to the mine heap model bottom surface and extended to intersect the intersection line, thereby determining the coordinate origin. The target point A is scanned by the warehouse ore inventory equipment, and the time correction of the single-frame data in the Y axis direction is mainly aimed at. For any point A, Figure 1 As shown, the target point A is in front of the forward direction of the vehicle, and the rangefinder measures the laser beam in the reverse direction along the Y' axis. Figure 2 The side view of the three-dimensional space coordinates of the target point A, so the Y axis coordinates of the target point A in the coordinate system O-XYZ need to be added in two parts, and the corresponding three-dimensional coordinates are shown in formula (1).

[0050]

[0051] Wherein, y' represents the real-time coordinate of the rangefinder measurement in the Y axis direction in the coordinate system O-XYZ, y" represents the Y' coordinate of the target point A measured by the single-line laser radar in the coordinate system O-X'Y'Z', y represents the Y axis direction coordinate of the target point A in the coordinate system O-XYZ, and p respectively represents the distance from the warehouse ore inventory equipment to the space point A, Indicates the angle of rotation from p to the Y' axis.

[0052] Since the position of the rangefinder changes with the movement of the device when measuring data, the positions of the transmitted and received electromagnetic waves are different, which causes a certain amount of data offset. The continuous frame data offset caused by the rangefinder measurement can be represented by formula (2).

[0053] y' rec =y' (j+1)0 -y' j0 =d (j+1)0 -d j0 (2)

[0054] Wherein, y' rec represents the continuous frame offset of the rangefinder, and y' j0 is the distance obtained by the rangefinder of the jth frame data.

[0055] Since the single-line laser radar rotates with the swing-scan device when measuring data, the positions of the emitted and received electromagnetic waves are different, thus causing a certain data offset. The continuous frame data offset caused by single-line laser radar measurement can be expressed by formula (3).

[0056]

[0057] In the formula, y j0 is the Y'-axis coordinate of the jth frame data in the coordinate system O-X'Y'Z', p j0 is the spatial distance from the jth frame data storage volume inventory equipment to the target point A, is p j0 the rotation angle to the Y' axis.

[0058] Single-frame data temporal correction of rangefinder measurement data. In the actual working process of the single-line laser radar, a single laser ray is rotated according to the scanning angle of the laser radar to realize multi-point scanning in the cross section. There is a certain time difference for each point of each frame data, and the original data needs to be corrected when the sensor is in a continuous sliding state. The scanning frequencies of the single-line laser radar and the rangefinder are set to be the same, the number of single-frame point cloud data is obtained according to the angular resolution of the single-line laser radar, and the continuous frame offset obtained by formula (2) is compensated into the point cloud data according to the front and back average distribution of the number of single-frame point cloud data according to formula (4), to complete the single-frame data temporal correction.

[0059]

[0060] In the formula, y j0 is the distance obtained by the rangefinder of the jth frame data, y ji is the Y-axis coordinate of the i th point in the jth frame data after correction in the coordinate system O-XYZ, η is the angular resolution of the single-line laser radar, and δ represents the scanning field angle of the single-line laser radar.

[0061] Single-frame data temporal correction of single-line laser radar measurement data. The single-line laser radar can scan three-dimensional information under the driving of the rotating motor, and the data measured by the single-line laser radar needs to be discussed according to the front and back of the scanning direction and the direction of the rotation angle. The temporal correction of single-frame data is completed according to the specific situation, which is described as follows:

[0062] Case one, when the single-line laser radar rotates in the direction opposite to the driving direction of the vehicle (the angle becomes smaller and smaller), and the scanning point is behind the single-line laser radar, as shown in (a), the frame data of the single-line laser radar can be corrected according to formula (5). Figure 3 (a) shows the scanning point behind the single-line laser radar.

[0063] ​

[0064] wherein y j0 is the Y'-axis coordinate of the start of the jth frame data in the coordinate system O-X'Y'Z', y ji is the Y'-axis coordinate of the ith point in the jth frame data after correction in the coordinate system O-X'Y'Z', p j0 is the spatial distance from the warehouse inventory checking device to the target point A in the jth frame data, is p j0 , the rotation angle to the Y'-axis, and d represents the scanning field angle of the single-line laser radar.

[0065] Case two, when the single-line laser radar rotates in the same direction as the driving direction of the vehicle (the angle is getting larger), and the scanning point is behind the single-line laser radar, as shown in (b), the frame data of the single-line laser radar can be corrected according to formula (6), Figure 3

[0066]

[0067] wherein y j0 is the Y'-axis coordinate of the start of the jth frame data in the coordinate system O-X'Y'Z', y ji is the Y'-axis coordinate of the ith point in the jth frame data after correction in the coordinate system O-X'Y'Z', p j0 is the spatial distance from the warehouse inventory checking device to the target point A in the jth frame data, is p j0 , the rotation angle to the Y'-axis, and d represents the scanning field angle of the single-line laser radar.

[0068] Case three, when the single-line laser radar rotates in the same direction as the driving direction of the vehicle (the angle is getting smaller), and the scanning point is in front of the single-line laser radar, as shown in (c), the frame data of the single-line laser radar can be corrected according to formula (7), Figure 3

[0069]

[0070] wherein y j0 is the Y'-axis coordinate of the start of the jth frame data in the coordinate system O-X'Y'Z', y ji is the Y'-axis coordinate of the ith point in the jth frame data after correction in the coordinate system O-X'Y'Z', p j0 is the spatial distance from the warehouse inventory checking device to the target point A in the jth frame data, is p j0 ​​​​is the rotation angle to Y' axis, and η is the angle resolution of the laser, and δ represents the scanning field angle of the single-line laser radar.

[0071] Case four, when the single-line laser radar rotates in the opposite direction to the driving direction of the vehicle (the angle is getting larger), and the scanning point is in front of the single-line laser radar, as shown in Fig. (d), the single-line laser radar frame data can be corrected according to formula (8), Figure 3 (d) shown, the single-line laser radar frame data can be corrected according to formula (8),

[0072]

[0073] wherein y j0 is the Y' axis coordinate of the jth frame data in the coordinate system O-X'Y'Z', y ji is the Y' axis coordinate of the i th point in the jth frame data after correction in the coordinate system O-X'Y'Z', ρ j0 is the spatial distance from the storage amount checking device to the target point A in the jth frame data, is ρ j0 is the rotation angle to Y' axis, and η is the angle resolution of the laser, and δ represents the scanning field angle of the single-line laser radar.

[0074] Data coupling, when the above two steps of temporal correction data are completed, one-to-one matching is performed, data coupling is performed according to formula (9), and the temporal correction of the single-frame point cloud data is completed,

[0075] y ji = y ji + y ji (9)

[0076] wherein y ji is the Y axis coordinate of the i th point in the jth frame data after correction, y ji is the Y axis coordinate of the i th point in the jth frame data after correction in the coordinate system O-XYZ, and y ji is the Y' axis coordinate value of the i th point in the jth frame data after correction in the coordinate system O-X'Y'Z'.

[0077] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any change or replacement easily thought of by those skilled in the art within the technical range disclosed by the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.​

Claims

1. A method for temporal correction of point cloud coordinates using a single-line lidar and rangefinder during moving scans, characterized in that, Includes the following steps: Three-dimensional scanning is performed using a storage and ore inventory equipment coupled with a single-line lidar driven by a rotary motor and a rangefinder to acquire three-dimensional point cloud data. The three-dimensional point cloud data is used to obtain the continuous frame offset of the single-line lidar and the rangefinder, respectively, based on the measurement data of the single-line lidar and the rangefinder. Based on the principle and characteristics of the measurement data of the single-line lidar and the rangefinder, the number of single-frame point cloud data is obtained, and the continuous frame offset of the rangefinder is evenly distributed and compensated to the three-dimensional point cloud data according to the number of single-frame point cloud data to obtain the temporal correction data of the rangefinder. Based on the three-dimensional point cloud data and the measurement data of the single-line lidar, the temporal correction data of the single-line lidar is obtained according to the different directions of the front and back of the scanning direction and the rotation angle of the single-line lidar. The temporal correction data of the rangefinder is matched and coupled with the temporal correction data of the single-line lidar to complete the temporal correction of the moving point cloud coordinates of the single-line lidar and the rangefinder.

2. The point cloud coordinate temporal correction method for moving and scanning with a single-line lidar and rangefinder as described in claim 1, characterized in that, The method for acquiring the three-dimensional point cloud data by performing a three-dimensional scan using a storage and ore inventory equipment coupled with a rotary motor-driven single-line lidar and a rangefinder includes: A single-line lidar coordinate system and a local object coordinate system are constructed. The relative coordinates of the three-dimensional point cloud during the movement of the single-line lidar are obtained according to the single-line lidar coordinate system. The absolute coordinates of the three-dimensional point cloud during the movement of the rangefinder are obtained according to the local object coordinate system. The three-dimensional point cloud data is obtained based on the relative coordinates and the absolute coordinates of the three-dimensional point cloud.

3. The point cloud coordinate temporal correction method for moving and scanning with a single-line lidar and rangefinder as described in claim 2, characterized in that, The calculation method for obtaining the three-dimensional point cloud data is as follows: Where y′ represents the real-time coordinates of the target point A in the local object-space coordinate system measured by the rangefinder along the Y-axis, d represents the real-time distance acquired by the laser rangefinder, y” represents the coordinates of the target point A in the single-line laser radar coordinate system along the Y'-axis, y represents the coordinates of the target point A in the local object-space coordinate system along the Y-axis, and ρ represents the distances from the storage and inventory equipment to point A in space. This represents the angle of rotation from ρ to the Y' axis.

4. The point cloud coordinate temporal correction method for moving and scanning with a single-line lidar and rangefinder as described in claim 1, characterized in that, The method for obtaining the continuous frame offset of the rangefinder is as follows: y′ rec =y′ (j+1)0 -y′ j0 =d (j+1)0 -d j0 Where, y′ rec y′ represents the continuous frame offset of the rangefinder. j0 d represents the real-time Y-axis coordinate measured by the rangefinder in the local object coordinate system in the j-th frame. j0 This represents the distance obtained by the rangefinder in the j-th frame of data.

5. The point cloud coordinate temporal correction method for moving and scanning with a single-line lidar and rangefinder as described in claim 1, characterized in that, The method for obtaining the continuous frame offset of the single-line lidar is as follows: Among them, y″ j0 This indicates that the starting coordinate of the j-th frame of data is the Y′ axis coordinate in the single-line lidar coordinate system, ρ. j0 This represents the spatial distance from the data warehouse storage inventory device in frame j to the target point A. Represents ρ j0 The rotation angle to the Y′ axis, y″ rec This represents the consecutive frame offset of a single-line lidar.

6. The point cloud coordinate temporal correction method for moving and scanning with a single-line lidar and rangefinder as described in claim 1, characterized in that, The method for obtaining the temporal correction data of the rangefinder is as follows: Where, y′ j0 d is the distance obtained by the rangefinder in the j-th frame of data. j0 y′ represents the distance obtained by the rangefinder in the j-th frame of data. ji η is the Y-axis coordinate of the storage ore inventory equipment in the local object coordinate system when measuring the i-th point in the j-th frame of data after correction, η is the angular resolution of the single-line lidar, and δ represents the scanning field of view of the single-line lidar.

7. The point cloud coordinate temporal correction method for moving and scanning with a single-line lidar and rangefinder as described in claim 1, characterized in that, Based on the different directions of the scanning direction and rotation angle of the single-line lidar, the temporal correction data of the single-line lidar is obtained. When the scanning direction of the single-line lidar rotates in the opposite direction and the scanning point is behind the single-line lidar, the calculation method of the temporal correction data of the single-line lidar is as follows: Among them, y″ j0 The starting coordinates of the j-th frame of data are the Y′ axis coordinates in the single-line lidar coordinate system, y″. ji It is the Y′ coordinate of the i-th point in the j-th frame of data after correction, in the single-line lidar coordinate system, ρ j0 This represents the spatial distance from the data warehouse storage inventory device in frame j to the target point A. Represents ρ j0 The rotation angle to the Y′ axis, η is the angular resolution of the single-line lidar, and δ represents the scanning field of view of the single-line lidar.

8. The point cloud coordinate temporal correction method for moving and scanning with a single-line lidar and rangefinder as described in claim 7, characterized in that, Based on the different directions of the scanning direction and rotation angle of the single-line lidar, the temporal correction data of the single-line lidar is obtained. When the single-line lidar rotates in the same direction while scanning, and the scanning point is behind the single-line lidar, the calculation method for the temporal correction data of the single-line lidar is as follows: Among them, y″ j0 The starting coordinate of the j-th frame of data is the Y′ axis coordinate in the single-line lidar coordinate system, ρ. j0 This represents the spatial distance from the data warehouse storage inventory device in frame j to the target point A. Represents ρ j0 The rotation angle to the Y′ axis, y″ ji η is the Y'-axis coordinate of the i-th point in the j-th frame of data after correction, η is the angular resolution of the single-line lidar, and δ represents the scanning field of view of the single-line lidar.

9. The point cloud coordinate temporal correction method for moving and scanning with a single-line lidar and rangefinder as described in claim 8, characterized in that, Based on the different directions of the scanning direction and rotation angle of the single-line lidar, the temporal correction data of the single-line lidar is obtained. When the single-line lidar rotates in the same direction while scanning, and the scanning point is in front of the single-line lidar, the calculation method of the temporal correction data of the single-line lidar is as follows: Among them, y″ j0 The starting coordinate of the j-th frame of data is the Y′ axis coordinate in the single-line lidar coordinate system, ρ. j0 This represents the spatial distance from the data warehouse storage inventory device in frame j to the target point A. Represents ρ j0 The rotation angle to the Y′ axis, y″ ji η is the Y'-axis coordinate of the i-th point in the j-th frame of data after correction, η is the angular resolution of the single-line lidar, and δ represents the scanning field of view of the single-line lidar.

10. The point cloud coordinate temporal correction method for moving and scanning with a single-line lidar and rangefinder as described in claim 9, characterized in that, Based on the different directions of the scanning direction and rotation angle of the single-line lidar, the temporal correction data of the single-line lidar is obtained. When the scanning direction of the single-line lidar rotates in the opposite direction and the scanning point is in front of the single-line lidar, the calculation method of the temporal correction data of the single-line lidar is as follows: Among them, y″ j0 The starting coordinate of the j-th frame of data is the Y′ axis coordinate in the single-line lidar coordinate system, ρ. j0 This represents the spatial distance from the data warehouse storage inventory device in frame j to the target point A. Represents ρ j0 The rotation angle to the Y' axis, y″ ji η is the Y′ coordinate of the i-th point in the j-th frame of data after correction, η is the angular resolution of the single-line lidar, and δ represents the scanning field of view of the single-line lidar.

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