A high-speed scanning system and method based on wavelength scanning laser source

Abstract

The invention relates to the technical field of laser scanning systems, and discloses a high-speed scanning system and method based on a wavelength scanning laser source, wherein the system comprises a laser scanning environment scene analysis module, a laser scanning preset output wavelength adjustment module, and a laser scanning optimal output wavelength adjustment module; laser imaging preset laser output wavelength parameter selection is performed based on laser imaging current scene type recognition parameters combined with an intelligent search algorithm and laser imaging preset laser output wavelength parameters of different scene types, so that the laser scanning system can scientifically match the required preset laser output wavelength parameters based on different imaging usage scene types; laser pre-imaging operations are accurately performed based on the laser imaging current scene preset laser output wavelength parameters; and a mobile three-dimensional laser scanning device is used to efficiently construct point cloud image parameters of laser imaging objects in specific laser imaging usage scenarios, thereby improving the laser imaging quality of the laser scanning system laser imaging usage scenarios.

Description

Technical Field

[0001] The present invention relates to the technical field of laser scanning systems, and in particular to a high-speed scanning system and method based on a wavelength scanning laser source. Background Art

[0002] A wavelength scanning laser is a laser that can continuously adjust the laser output wavelength within a certain range. The principle is to change the output wavelength by changing the physical properties of a certain material or structure in the laser. Common wavelength scanning lasers are of two types: external cavity and internal cavity. The external cavity wavelength scanning laser changes the output wavelength by changing the position of the external cavity mirror, while the internal cavity wavelength scanning laser achieves wavelength scanning by changing the refractive index of the material in the cavity. Among them, mobile three-dimensional laser scanning equipment equipped with wavelength scanning lasers includes vehicle-mounted laser radar, also known as vehicle-mounted three-dimensional laser scanners; existing mobile three-dimensional laser scanning equipment cannot scientifically preset laser output wavelength parameters according to the type of laser imaging usage scenario, nor can it accurately match the optimal laser output wavelength according to the type of laser imaging object, which reduces the imaging accuracy and efficiency of mobile three-dimensional laser scanning equipment.

[0003] The Chinese invention patent with announcement number CN106524906B discloses a laser scanner homing method and a laser scanner, which obtains a spliced ​​reset image at the initial position and translates it in the row direction, and obtains the peak signal-to-noise ratio of a spliced ​​reset image and a spliced ​​calibration image each time it translates; when the translation amount of the spliced ​​reset image is the number of columns of the spliced ​​calibration image, obtains the maximum peak signal-to-noise ratio among the multiple peak signal-to-noise ratios; obtains the reset translation amount corresponding to the maximum peak signal-to-noise ratio; obtains the reset angle according to the reset translation amount; and rotates the laser scanner to the calibration position according to the reset angle. The working efficiency of laser scanning is improved, but the above technical solution cannot accurately adjust the laser output wavelength based on the use scenario of the laser scanner and the point cloud image characteristics of the imaging object, which reduces the imaging accuracy of the laser scanner. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In order to solve the problem that the above-mentioned existing mobile 3D laser scanning equipment cannot scientifically preset the laser output wavelength parameters according to the laser imaging usage scenario type, and cannot accurately match the optimal laser output wavelength according to the laser imaging object type, thereby reducing the imaging accuracy and efficiency of the mobile 3D laser scanning equipment, the above purposes are achieved: accurately collect the real-time position coordinates of laser imaging, accurately search the image parameters of the real-time usage scenario of laser imaging, accurately identify the type of laser imaging usage scenario, scientifically match the preset laser output wavelength parameters of the current usage scenario of laser imaging, efficiently construct the point cloud image parameters of the laser imaging object, intelligently analyze the type of laser imaging object, accurately match the optimal laser output wavelength parameters of the laser imaging object, and improve the imaging accuracy and efficiency of the mobile 3D laser scanning equipment.

[0006] (II) Technical solution

[0007] The present invention is implemented by the following technical solution: a high-speed scanning method based on a wavelength scanning laser source, the method comprising the following steps:

[0008] S1, collect real-time position coordinate data of laser imaging;

[0009] S2, performing image acquisition and processing of the scene of use of laser imaging based on the real-time position coordinate data of laser imaging in combination with map software to generate real-time scene image data of laser imaging;

[0010] S3, performing real-time scene type recognition processing of laser imaging based on the laser imaging real-time scene image data and the laser imaging scene type image data to generate laser imaging current scene type recognition data;

[0011] S4, performing preset laser wavelength parameter recognition processing for laser imaging according to the laser imaging current scene type recognition data and the preset laser output wavelength data for laser imaging of different scene types, and generating the preset laser output wavelength data for the laser imaging current scene;

[0012] S5, performing laser pre-imaging operation and collecting point cloud image data of the laser pre-imaging object;

[0013] S6, performing type analysis processing on the laser imaging object according to the laser pre-imaging object point cloud image data and the laser imaging object type point cloud image data, to generate laser imaging current object type analysis data;

[0014] S7, performing optimal laser wavelength parameter recognition processing for laser imaging based on the laser imaging current object type analysis data and the optimal laser output wavelength data for laser imaging of different object types, generating the optimal laser output wavelength data for the laser imaging current object and executing the laser imaging operation.

[0015] Preferably, the operation steps of collecting real-time position coordinate data of laser imaging are as follows:

[0016] S11, collecting the real-time spatial position coordinates of the mobile three-dimensional laser scanning device performing laser imaging of the object online through the position sensor and generating the real-time position coordinate data of the laser imaging ,in ,in Indicates the longitude corresponding to the real-time position coordinate data of the laser imaging. Indicates the latitude corresponding to the real-time position coordinate data of the laser imaging. Indicates the altitude corresponding to the real-time position coordinate data of laser imaging.

[0017] The present invention dynamically and accurately obtains the real-time position coordinate parameters of laser imaging through a position sensor, thereby achieving the effect of providing data support for accurately collecting the laser imaging use scene image of the laser scanning system.

[0018] Preferably, the operation steps of collecting and processing the scene image of laser imaging based on the real-time position coordinate data of laser imaging combined with map software to generate the real-time scene image data of laser imaging are as follows:

[0019] S21, the laser imaging real-time position coordinate data Enter the destination into the search dialog box of the map software and search for the current usage scene environment of the mobile 3D laser scanning device, wherein the map software includes any one of Google Maps, Baidu Maps, and Height Maps;

[0020] S22, using screenshot software to collect images of the scene environment currently used by the searched mobile three-dimensional laser scanning device and generate a laser imaging real-time scene image data set , ;in Indicates the collected A laser imaging real-time scene image data, Indicates the maximum amount of real-time scene image data of laser imaging, and the screenshot software includes any one of FSCapture, Snipaste, and iShot.

[0021] The present invention achieves the effect of autonomously and efficiently collecting images of real-time scene use of laser imaging by autonomously and efficiently searching for image parameters of real-time scene use of laser imaging based on real-time position coordinate parameters of laser imaging in combination with map software and screenshot software.

[0022] Preferably, the steps of performing real-time scene type recognition processing of laser imaging based on the laser imaging real-time scene image data and the laser imaging scene type image data to generate laser imaging current scene type recognition data are as follows:

[0023] S31. Establishing laser imaging scene type image data set , ;in Indicates the collected Types of laser imaging scene type image data, Indicates the maximum number of laser imaging scene types, where the laser imaging scene types include forest, grassland, desert, wetland, mountain, commercial area, residential area, factory, park, road, bridge and airport;

[0024] S32, collecting the laser imaging real-time scene image data Laser imaging real-time scene image data Image data set with the laser imaging scene type Laser imaging scene type image data described in Perform image feature matching to search for the real-time scene image data of the laser imaging The corresponding laser imaging scene type and generates the laser imaging current scene type identification data ; Execute and generate laser imaging current scene type recognition data The specific steps are as follows:

[0025] S321, initialization, defining the relevant structural parameters as vectors, in the laser imaging scene type image data set Image data of the laser imaging scene type described in the search space constitute In the dimensional optimization problem, the scene type search sand cat represents the 1× Array, each variable value is a floating point number, each variable value to Represents a collection of image data of the laser imaging scene type between lower and upper bounds in the search space;

[0026] S322, Searching for prey, the final and main parameters controlling the transition between exploration and exploitation phases are ,when >1, the scene type searches for sand cats in the laser imaging scene type image data set Searching for the real-time scene image data related to the laser imaging in the search space Matching the laser imaging scene type image data The scene type search sand cat search process relies on the release of low-frequency noise to search out the real-time scene image data with the laser imaging Matching the laser imaging scene type image data , assuming the scene type searches for the sensitivity range of sand cats From 0 to 2kHz, Inspired by the scene type search for the auditory features of the sand cat, assuming its value is 2, is the current iteration number, is the maximum number of iterations, rand(0,1) represents a random number ranging from 0 to 1; , ,in represents the sensitivity vector; each scene type searches for the sand cat according to the best candidate position and current location Its sensitivity range Update your own position, that is, in the laser imaging scene type image data set The search space is updated with the real-time scene image data of the laser imaging Matching the laser imaging scene type image data The position is calculated as follows: ,in Represents the t+1th iteration scene type search for sand cat individuals in the laser imaging scene type image data set The current position in the search space, Represents the t-iteration scene type search for sand cats in the laser imaging scene type image data set Searching for the real-time scene image data related to the laser imaging in the search space The image data that best matches the laser imaging scene type The best candidate position for

[0027] S323, attack prey, when ≤1, the scene type searches for sand cats in the laser imaging scene type image data set Search the search space and use the best candidate position With current location Generate a random position, that is, in the laser imaging scene type image data set Randomly search for the image data of the real-time scene of the laser imaging in the search space Matching the laser imaging scene type image data Assuming that the sensitivity range of the scene type search sand cat is a circle, the roulette method is used to randomly select an angle for each scene type search sand cat. , according to the random position calculation formula: , conduct real-time scene image data with the laser imaging Matching the laser imaging scene type image data A random position search of represents the sensitivity vector, Indicates angle The cosine value of Represents scene type search sand cat in laser imaging scene type image data set Random positions in the search space, random positions make the scene type search sand cat approach and attack prey, that is, in the laser imaging scene type image data set Searching for the real-time scene image data related to the laser imaging in the search space Matching the laser imaging scene type image data ;

[0028] S324: When the search algorithm reaches the maximum number of iterations T, output the real-time scene image data corresponding to the laser imaging. The image data that best matches the laser imaging scene type ;

[0029] S325, the laser imaging scene type image data outputted in step S324 The corresponding laser imaging scene type is identified by data to generate laser imaging current scene type identification data .

[0030] The present invention achieves the effect of dynamically and accurately identifying the scene type of laser imaging by combining standard stored laser imaging scene type image parameters with the sand cat optimization algorithm and laser imaging real-time scene image data to perform imaging real-time scene image feature matching.

[0031] Preferably, the preset laser wavelength parameter recognition processing of laser imaging is performed according to the laser imaging current scene type recognition data and the preset laser output wavelength data of laser imaging of different scene types, and the operation steps of generating the preset laser output wavelength data of the laser imaging current scene are as follows:

[0032] S41. Establishing a preset laser output wavelength data set for laser imaging of different scene types ,in Indicates The preset laser output wavelength data of laser imaging of different scene types corresponding to the laser imaging scene types, wherein the preset laser output wavelength data of laser imaging of different scene types represents the standard laser output wavelength data preset for the mobile three-dimensional laser scanning device under different types of laser imaging scene states, The unit is nanometer;

[0033] S42, using XGBoost algorithm to identify the laser imaging current scene type data Preset laser output wavelength data set for laser imaging of different scene types Preset laser output wavelength data for laser imaging of different scene types as described in According to the laser imaging scene type character matching, search for the identification data of the current laser imaging scene type The corresponding laser output wavelength data of laser imaging of different scene types And generate the preset laser output wavelength data of the current scene of laser imaging through data identification , The unit is nanometer.

[0034] The present invention selects preset laser output wavelength parameters for laser imaging according to the current scene type recognition parameters of laser imaging in combination with the XGBoost algorithm and preset laser output wavelength parameters for laser imaging of different scene types, thereby achieving the effect of matching the required preset laser output wavelength parameters of the laser scanning system based on different imaging usage scene types.

[0035] Preferably, the steps of performing the laser pre-imaging operation and collecting the point cloud image data of the laser pre-imaging object are as follows:

[0036] S51, preset laser output wavelength data according to the current laser imaging scene The corresponding laser output wavelength parameter controls the mobile three-dimensional laser scanning device to perform laser pre-imaging operations on the current use scene environment;

[0037] S52, during the laser pre-imaging operation of the current use scene environment, the point cloud image parameters of the laser imaging object in the current use scene environment are collected online by the mobile three-dimensional laser scanning device and a point cloud image data set of the laser pre-imaging object is generated. , ;in Indicates the collected Point cloud image data of laser pre-imaging object, Represents the maximum value of the number of laser pre-imaging object point cloud image data, wherein the laser pre-imaging object point cloud image data represents the object point cloud image data composed of reflection points on the surface of the laser imaging object emitted by the mobile three-dimensional laser scanning device in the current usage scene environment.

[0038] The present invention accurately performs laser pre-imaging operations by presetting laser output wavelength parameters according to the current laser imaging scene; at the same time, a mobile three-dimensional laser scanning device is used to efficiently construct point cloud image parameters of the laser imaging object in a specific laser imaging usage scenario, thereby achieving the effect of improving the laser imaging quality of the laser scanning system in the laser imaging usage scenario.

[0039] Preferably, the steps of performing type analysis processing of the laser imaging object based on the laser pre-imaging object point cloud image data and the laser imaging object type point cloud image data to generate laser imaging current object type analysis data are as follows:

[0040] S61. Establishing a point cloud image data set of laser imaging object type , ;in Indicates the collected Types of laser imaging object point cloud image data, Indicates the maximum number of laser imaging object types, where the laser imaging object types include animals, plants, people, transportation vehicles, buildings, trash cans, security equipment, and lighting equipment;

[0041] S62, when the laser pre-imaging object point cloud image data set When the acquisition is completed, the laser pre-imaging object point cloud image data set is collected using an iterative deepening search algorithm. Point cloud image data of the laser pre-imaging object Point cloud image data set with the laser imaging object type Laser imaging object type point cloud image data Perform point cloud image feature matching to search for point cloud image data that matches the laser pre-imaging object Point cloud image data matching the laser imaging object type The corresponding laser imaging object type is generated through data identification to generate laser imaging current object type analysis data .

[0042] The present invention achieves the effect of intelligently analyzing the current object type of laser imaging by scientifically presetting the point cloud image parameters of the laser imaging object type and combining the iterative deepening search algorithm with the point cloud image parameters of the laser pre-imaging object to accurately analyze the point cloud image features.

[0043] Preferably, the optimal laser wavelength parameter identification processing for laser imaging is performed based on the laser imaging current object type analysis data and the optimal laser output wavelength data for laser imaging of different object types, the optimal laser output wavelength data for laser imaging of the current object is generated, and the operation steps for performing the laser imaging operation are as follows:

[0044] S71. Establishing a data set of optimal laser output wavelengths for laser imaging of different object types ,in Indicates The optimal laser output wavelength data for laser imaging of different object types corresponding to the laser imaging object types are the optimal laser output wavelength data for laser imaging of different object types for setting the mobile three-dimensional laser scanning device for different types of laser imaging objects. The unit is nanometer;

[0045] S72, using XGBoost to analyze the laser imaging current object type data Data collection of optimal laser output wavelengths for laser imaging of different object types Data on optimal laser output wavelength for laser imaging of different object types as described in According to the laser imaging object type character matching, search for the analysis data of the current object type of the laser imaging The corresponding optimal laser output wavelength data for laser imaging of different object types And after data identification, the optimal laser output wavelength data of the current object of laser imaging is generated , The unit is nanometer;

[0046] S73, based on the laser imaging current object optimal laser output wavelength data The corresponding laser output wavelength parameters control the mobile three-dimensional laser scanning device to perform laser imaging operations on the laser imaging object in the current use scene environment.

[0047] The present invention scientifically screens the optimal laser wavelength parameters for specific laser imaging objects based on the current object type analysis parameters of laser imaging combined with an intelligent search algorithm and the optimal laser output wavelength parameters for laser imaging of different object types, and synchronously and accurately performs laser imaging operations, thereby achieving the effect of improving the laser imaging accuracy and efficiency of the laser scanning system laser imaging objects.

[0048] A high-speed scanning system based on a wavelength scanning laser source, used to implement the high-speed scanning method based on a wavelength scanning laser source, the system includes a laser scanning environment scene analysis module, a laser scanning preset output wavelength adjustment module, and a laser scanning optimal output wavelength adjustment module;

[0049] The laser scanning environment scene analysis module includes a laser imaging real-time position coordinate acquisition unit, a laser imaging real-time scene image generation unit, a laser imaging scene type image storage unit, and a laser imaging current scene type recognition unit;

[0050] The laser imaging real-time position coordinate acquisition unit acquires the real-time position coordinate data of the laser imaging through the position sensor; the laser imaging real-time scene image generation unit performs the use scene image acquisition processing of the laser imaging according to the real-time position coordinate data of the laser imaging in combination with the map software and the screenshot software, and generates the real-time scene image data of the laser imaging; the laser imaging scene type image storage unit is used to store the laser imaging scene type image data; the laser imaging current scene type recognition unit performs the real-time use scene type recognition processing of the laser imaging based on the laser imaging real-time scene image data and the laser imaging scene type image data, and generates the laser imaging current scene type recognition data;

[0051] The laser scanning preset output wavelength adjustment module includes a preset laser output wavelength storage unit for laser imaging of different scenes, a preset laser output wavelength recognition unit for the current scene of laser imaging, a laser pre-imaging operation execution unit, and a laser pre-imaging object point cloud image acquisition unit;

[0052] The preset laser output wavelength storage unit for laser imaging of different scenes is used to store the preset laser output wavelength data for laser imaging of different scene types; the preset laser output wavelength identification unit for the current scene of laser imaging performs preset laser wavelength parameter identification processing for laser imaging according to the current scene type identification data for laser imaging and the preset laser output wavelength data for laser imaging of different scene types, and generates the preset laser output wavelength data for the current scene of laser imaging; the laser pre-imaging operation execution unit executes the laser pre-imaging operation according to the preset laser output wavelength data for the current scene of laser imaging; the laser pre-imaging object point cloud image acquisition unit acquires the point cloud image data of the laser pre-imaging object through a mobile three-dimensional laser scanning device;

[0053] The laser scanning optimal output wavelength adjustment module includes a laser imaging object type point cloud image storage unit, a laser imaging current object type analysis unit, a different object type laser imaging optimal laser output wavelength storage unit, a laser imaging optimal laser output wavelength identification unit, and a laser imaging operation execution unit;

[0054] The laser imaging object type point cloud image storage unit is used to store laser imaging object type point cloud image data; the laser imaging current object type analysis unit performs type analysis processing of the laser imaging object based on the laser pre-imaging object point cloud image data and the laser imaging object type point cloud image data, and generates laser imaging current object type analysis data; the different object type laser imaging optimal laser output wavelength storage unit stores the different object type laser imaging optimal laser output wavelength data; the laser imaging optimal laser output wavelength identification unit performs optimal laser wavelength parameter identification processing for laser imaging based on the laser imaging current object type analysis data and the different object type laser imaging optimal laser output wavelength data, and generates laser imaging current object optimal laser output wavelength data; the laser imaging operation execution unit executes the laser imaging operation based on the laser imaging current object optimal laser output wavelength data.

[0055] (III) Beneficial effects

[0056] The present invention provides a high-speed scanning system and method based on a wavelength scanning laser source. It has the following beneficial effects:

[0057] 1. Through the laser imaging real-time position coordinate acquisition unit, the position sensor is used to dynamically and accurately obtain the real-time position coordinate parameters of the laser imaging, providing data support for the accurate acquisition of the laser imaging usage scene image of the laser scanning system; the laser imaging real-time scene image generation unit independently and efficiently searches for the laser imaging real-time usage scene image parameters based on the laser imaging real-time position coordinate parameters combined with map software and screenshot software; the laser imaging scene type image storage unit and the laser imaging current scene type recognition unit cooperate with each other, standardly store the laser imaging scene type image parameters and combine the intelligent recognition algorithm with the laser imaging real-time scene image data to perform imaging real-time scene image feature matching, so as to realize dynamic and accurate recognition of the laser imaging usage scene type, and realize the laser scanning system to intelligently recognize different imaging usage scene types.

[0058] 2. Through the cooperation of the preset laser output wavelength storage unit for laser imaging in different scenes and the preset laser output wavelength identification unit for laser imaging in the current scene, the preset laser output wavelength parameters for laser imaging are selected according to the recognition parameters of the current scene type of laser imaging combined with the intelligent search algorithm and the preset laser output wavelength parameters for laser imaging in different scene types, so that the laser scanning system can scientifically match the required preset laser output wavelength parameters based on different imaging usage scene types; the laser pre-imaging operation execution unit and the laser pre-imaging object point cloud image acquisition unit cooperate with each other to accurately execute the laser pre-imaging operation according to the preset laser output wavelength parameters of the laser imaging current scene; at the same time, the mobile three-dimensional laser scanning equipment is used to efficiently construct the point cloud image parameters of the laser imaging object in the specific laser imaging usage scene, thereby improving the laser imaging quality of the laser scanning system laser imaging usage scene.

[0059] 3. Through the cooperation of the laser imaging object type point cloud image storage unit and the laser imaging current object type analysis unit, the laser imaging object type point cloud image parameters are scientifically preset and combined with the intelligent search algorithm and the laser pre-imaging object point cloud image parameters to accurately analyze the point cloud image features, so as to realize intelligent analysis of the laser imaging current object type parameters; the laser imaging optimal laser output wavelength recognition unit and the laser imaging operation execution unit cooperate with each other, and based on the laser imaging current object type analysis parameters combined with the intelligent search algorithm and the optimal laser output wavelength parameters of laser imaging of different object types, the optimal laser wavelength parameters of the specific laser imaging object are scientifically screened, so as to realize precise matching of the optimal laser output wavelength parameters required for the laser imaging object, synchronously and accurately execute the laser imaging operation, and improve the laser imaging accuracy and efficiency of the laser scanning system laser imaging object. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of a module of a high-speed scanning system based on a wavelength scanning laser source provided by the present invention;

[0061] Figure 2 The present invention provides a flow chart of a high-speed scanning method based on a wavelength scanning laser source. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] The embodiments of the high-speed scanning system and method based on a wavelength scanning laser source are as follows:

[0064] Embodiment 1:

[0065] See also Figure 1 - Figure 2 , a high-speed scanning method based on a wavelength scanning laser source, the method comprising the following steps:

[0066] S1, collect real-time position coordinate data of laser imaging;

[0067] S2, collecting and processing the scene image of laser imaging based on the real-time position coordinate data of laser imaging combined with map software to generate real-time scene image data of laser imaging;

[0068] S3, performing real-time scene type recognition processing of laser imaging based on the laser imaging real-time scene image data and the laser imaging scene type image data to generate laser imaging current scene type recognition data;

[0069] S4, performing preset laser wavelength parameter recognition processing for laser imaging according to the laser imaging current scene type recognition data and the preset laser output wavelength data for laser imaging of different scene types, and generating the preset laser output wavelength data for the laser imaging current scene;

[0070] S5, performing laser pre-imaging operation and collecting point cloud image data of the laser pre-imaging object;

[0071] S6, performing type analysis processing on the laser imaging object according to the laser pre-imaging object point cloud image data and the laser imaging object type point cloud image data, and generating laser imaging current object type analysis data;

[0072] S7, performing optimal laser wavelength parameter recognition processing for laser imaging based on the laser imaging current object type analysis data and the optimal laser output wavelength data for laser imaging of different object types, generating the optimal laser output wavelength data for the laser imaging current object and executing the laser imaging operation.

[0073] For further information, see Figure 1 - Figure 2 ,The steps for collecting real-time position coordinate data of laser imaging are as follows:

[0074] S11, collecting the real-time spatial position coordinates of the mobile three-dimensional laser scanning device performing laser imaging of the object online through the position sensor and generating the real-time position coordinate data of the laser imaging ,in ,in Indicates the longitude corresponding to the real-time position coordinate data of the laser imaging. Indicates the latitude corresponding to the real-time position coordinate data of the laser imaging. Indicates the altitude corresponding to the real-time position coordinate data of laser imaging.

[0075] The operation steps for collecting and processing the scene image of laser imaging based on the real-time position coordinate data of laser imaging combined with map software to generate real-time scene image data of laser imaging are as follows:

[0076] S21, real-time position coordinate data of laser imaging Enter the destination in the search dialog box of the map software and search for the current usage scene environment of the mobile 3D laser scanning device. The map software includes any one of Google Maps, Baidu Maps, and Height Maps;

[0077] S22, using screenshot software to collect images of the scene environment currently used by the searched mobile three-dimensional laser scanning device and generate a laser imaging real-time scene image data set , ;in Indicates the collected A laser imaging real-time scene image data, Indicates the maximum amount of real-time scene image data for laser imaging. The screenshot software includes any one of FSCapture, Snipaste, and iShot.

[0078] The steps for performing real-time scene type recognition processing for laser imaging based on the real-time scene image data of laser imaging and the scene type image data of laser imaging to generate the current scene type recognition data of laser imaging are as follows:

[0079] S31. Establishing laser imaging scene type image data set , ;in Indicates the collected Types of laser imaging scene type image data, Indicates the maximum number of laser imaging scene types, including forests, grasslands, deserts, wetlands, mountains, commercial areas, residential areas, factories, parks, roads, bridges, and airports;

[0080] S32, collecting laser imaging real-time scene image data Real-time scene image data of laser imaging Image data set of laser imaging scene type Medium laser imaging scene type image data Perform image feature matching to search for real-time scene image data of laser imaging The corresponding laser imaging scene type and generates the laser imaging current scene type identification data ; Execute and generate laser imaging current scene type recognition data The specific steps are as follows:

[0081] S321, initialization, defining the relevant structural parameters as vectors, in the laser imaging scene type image data set Image data of laser imaging scene types in search space constitute In the dimensional optimization problem, the scene type search sand cat represents the 1× Array, each variable value is a floating point number, each variable value to Represents a collection of image data of the laser imaging scene type between lower and upper bounds in the search space;

[0082] S322, Searching for prey, the final and main parameters controlling the transition between exploration and exploitation phases are ,when >1, the scene type searches for sand cats in the laser imaging scene type image data set Search the search space to find the real-time scene image data related to laser imaging Matching laser imaging scene type image data The scene type search sand cat search process relies on the release of low-frequency noise to search out the real-time scene image data with laser imaging Matching laser imaging scene type image data , assuming the scene type searches for the sensitivity range of sand cats From 0 to 2kHz, Inspired by the scene type search for the auditory features of the sand cat, assuming its value is 2, is the current iteration number, is the maximum number of iterations, rand(0,1) represents a random number ranging from 0 to 1; , ,in represents the sensitivity vector; each scene type searches for the sand cat according to the best candidate position and current location Its sensitivity range Update your own position, that is, in the laser imaging scene type image data set Update the real-time scene image data in the search space with laser imaging Matching laser imaging scene type image data The position is calculated as follows: ,in Represents the t+1th iteration scene type search for sand cat individuals in the laser imaging scene type image data set The current position in the search space, Represents the t-iteration scene type search for sand cats in the laser imaging scene type image data set Search the search space to find the real-time scene image data related to laser imaging The most matching laser imaging scene type image data The best candidate position for

[0083] S323, attack prey, when ≤1, the scene type searches for sand cats in the laser imaging scene type image data set Search the search space and use the best candidate position With current location Generate a random position, that is, in the laser imaging scene type image data set Randomly search for real-time scene image data related to laser imaging in the search space Matching laser imaging scene type image data Assuming that the sensitivity range of the scene type search sand cat is a circle, the roulette method is used to randomly select an angle for each scene type search sand cat. , according to the random position calculation formula: , conduct real-time scene image data with laser imaging Matching laser imaging scene type image data A random position search of represents the sensitivity vector, Indicates angle The cosine value of Represents scene type search sand cat in laser imaging scene type image data set Random positions in the search space, random positions make the scene type search sand cat approach and attack prey, that is, in the laser imaging scene type image data set Search the search space to find the real-time scene image data related to laser imaging Matching laser imaging scene type image data ;

[0084] S324: When the search algorithm reaches the maximum number of iterations T, output the real-time scene image data of the laser imaging The most matching laser imaging scene type image data ;

[0085] S325: The laser imaging scene type image data outputted from step S324 is The corresponding laser imaging scene type is identified by data to generate laser imaging current scene type identification data .

[0086] Through the laser imaging real-time position coordinate acquisition unit, the position sensor is used to dynamically and accurately obtain the real-time position coordinate parameters of the laser imaging, providing data support for the accurate acquisition of the laser imaging usage scene image of the laser scanning system; the laser imaging real-time scene image generation unit independently and efficiently searches for the laser imaging real-time usage scene image parameters based on the laser imaging real-time position coordinate parameters combined with map software and screenshot software; the laser imaging scene type image storage unit and the laser imaging current scene type recognition unit cooperate with each other, standardly store the laser imaging scene type image parameters and combine the intelligent recognition algorithm with the laser imaging real-time scene image data to perform imaging real-time scene image feature matching, so as to realize dynamic and accurate recognition of the laser imaging usage scene type, and realize the laser scanning system to intelligently recognize different imaging usage scene types.

[0087] For further information, see Figure 1 - Figure 2 According to the laser imaging current scene type recognition data and the laser imaging preset laser output wavelength data of different scene types, the preset laser wavelength parameter recognition processing of laser imaging is performed to generate the laser imaging current scene preset laser output wavelength data. The operation steps are as follows:

[0088] S41. Establishing a preset laser output wavelength data set for laser imaging of different scene types ,in Indicates The preset laser output wavelength data of laser imaging of different scene types corresponding to the laser imaging scene types, the preset laser output wavelength data of laser imaging of different scene types represents the standard laser output wavelength data preset for the mobile three-dimensional laser scanning device under different types of laser imaging scene states, The unit is nanometer;

[0089] S42, using XGBoost algorithm to identify the current scene type data of laser imaging Preset laser output wavelength data set for laser imaging of different scene types Preset laser output wavelength data for laser imaging of different scene types According to the laser imaging scene type character matching, search for the identification data of the current laser imaging scene type Corresponding laser output wavelength data for laser imaging of different scene types And generate the preset laser output wavelength data of the current scene of laser imaging through data identification , The unit is nanometer.

[0090] The steps to perform laser pre-imaging and collect point cloud image data of the laser pre-imaging object are as follows:

[0091] S51, preset laser output wavelength data according to the current scene of laser imaging The corresponding laser output wavelength parameter controls the mobile three-dimensional laser scanning device to perform laser pre-imaging operations on the current use scene environment;

[0092] S52, during the laser pre-imaging operation of the current use scene environment, the point cloud image parameters of the laser imaging object in the current use scene environment are collected online by the mobile three-dimensional laser scanning device and a point cloud image data set of the laser pre-imaging object is generated. , ;in Indicates the collected Point cloud image data of laser pre-imaging object, It represents the maximum value of the number of laser pre-imaging object point cloud image data. The laser pre-imaging object point cloud image data represents the object point cloud image data composed of the reflection points on the surface of the laser imaging object in the current usage scene environment when the mobile 3D laser scanning device emits laser.

[0093] Through the cooperation of the preset laser output wavelength storage unit for laser imaging in different scenes and the preset laser output wavelength identification unit for laser imaging in the current scene, the preset laser output wavelength parameters for laser imaging are selected according to the recognition parameters of the current scene type of laser imaging combined with the intelligent search algorithm and the preset laser output wavelength parameters for laser imaging in different scene types, so that the laser scanning system can scientifically match the required preset laser output wavelength parameters based on different imaging usage scene types; the laser pre-imaging operation execution unit and the laser pre-imaging object point cloud image acquisition unit cooperate with each other to accurately execute the laser pre-imaging operation according to the preset laser output wavelength parameters of the laser imaging current scene; at the same time, the mobile three-dimensional laser scanning equipment is used to efficiently construct the point cloud image parameters of the laser imaging object in the specific laser imaging usage scene, thereby improving the laser imaging quality of the laser scanning system laser imaging usage scene.

[0094] For further information, see Figure 1 - Figure 2 , the type analysis processing of the laser imaging object is performed according to the laser pre-imaging object point cloud image data and the laser imaging object type point cloud image data, and the operation steps of generating the laser imaging current object type analysis data are as follows:

[0095] S61. Establishing a point cloud image data set of laser imaging object type , ;in Indicates the collected Types of laser imaging object point cloud image data, Indicates the maximum number of laser imaging object types, including animals, plants, people, transportation vehicles, buildings, trash cans, security equipment, and lighting equipment;

[0096] S62, when the laser pre-imaging object point cloud image data set When the acquisition is completed, the iterative deepening search algorithm is used to collect the point cloud image data of the laser pre-imaged object Point cloud image data of laser pre-imaging object Point cloud image data collection with laser imaging object type Medium laser imaging object type point cloud image data Perform point cloud image feature matching to search for point cloud image data that matches the laser pre-imaging object Matching laser imaging object type point cloud image data The corresponding laser imaging object type is generated through data identification to generate laser imaging current object type analysis data .

[0097] The steps of performing optimal laser wavelength parameter recognition processing for laser imaging based on the current object type analysis data of laser imaging and the optimal laser output wavelength data of laser imaging of different object types, generating the optimal laser output wavelength data of the current object of laser imaging and performing the laser imaging operation are as follows:

[0098] S71. Establishing a data set of optimal laser output wavelengths for laser imaging of different object types ,in Indicates The optimal laser output wavelength data for laser imaging of different object types corresponding to the laser imaging object types, the optimal laser output wavelength data for laser imaging of different object types represents the optimal laser output wavelength data for laser imaging set for the mobile three-dimensional laser scanning device for different types of laser imaging objects, The unit is nanometer;

[0099] S72. Use XGBoost to analyze the laser imaging current object type data Data collection of optimal laser output wavelengths for laser imaging of different object types Optimal laser output wavelength data for laser imaging of different object types According to the laser imaging object type character matching, search for the analysis data of the current object type of laser imaging Corresponding data on the optimal laser output wavelength for laser imaging of different object types And after data identification, the optimal laser output wavelength data of the current object of laser imaging is generated , The unit is nanometer;

[0100] S73, based on the optimal laser output wavelength data of the current object of laser imaging The corresponding laser output wavelength parameters control the mobile three-dimensional laser scanning device to perform laser imaging operations on the laser imaging object in the current use scene environment.

[0101] Through the cooperation of the laser imaging object type point cloud image storage unit and the laser imaging current object type analysis unit, the laser imaging object type point cloud image parameters are scientifically preset and combined with the intelligent search algorithm and the laser pre-imaging object point cloud image parameters to accurately analyze the point cloud image features, so as to realize intelligent analysis of the laser imaging current object type parameters; the laser imaging optimal laser output wavelength recognition unit and the laser imaging operation execution unit cooperate with each other, and based on the laser imaging current object type analysis parameters combined with the intelligent search algorithm and the optimal laser output wavelength parameters of laser imaging of different object types, the optimal laser wavelength parameters of the specific laser imaging object are scientifically screened, so as to realize precise matching of the optimal laser output wavelength parameters required for the laser imaging object, and synchronously and accurately execute the laser imaging operation, thereby improving the laser imaging accuracy and efficiency of the laser imaging object of the laser scanning system.

[0102] Embodiment 2:

[0103] See also Figure 1 - Figure 2 , a high-speed scanning system based on a wavelength scanning laser source, used to implement a high-speed scanning method based on a wavelength scanning laser source, the system includes a laser scanning environment scene analysis module, a laser scanning preset output wavelength adjustment module, and a laser scanning optimal output wavelength adjustment module;

[0104] The laser scanning environment scene analysis module includes a laser imaging real-time position coordinate acquisition unit, a laser imaging real-time scene image generation unit, a laser imaging scene type image storage unit, and a laser imaging current scene type recognition unit;

[0105] A laser imaging real-time position coordinate acquisition unit, which acquires the real-time position coordinate data of the laser imaging through a position sensor; a laser imaging real-time scene image generation unit, which performs laser imaging use scene image acquisition processing based on the laser imaging real-time position coordinate data in combination with map software and screenshot software, and generates laser imaging real-time scene image data; a laser imaging scene type image storage unit, which is used to store laser imaging scene type image data; a laser imaging current scene type recognition unit, which performs laser imaging real-time use scene type recognition processing based on the laser imaging real-time scene image data and the laser imaging scene type image data, and generates laser imaging current scene type recognition data;

[0106] The laser scanning preset output wavelength adjustment module includes a preset laser output wavelength storage unit for laser imaging of different scenes, a preset laser output wavelength recognition unit for the current scene of laser imaging, a laser pre-imaging operation execution unit, and a laser pre-imaging object point cloud image acquisition unit;

[0107] A storage unit for preset laser output wavelengths for laser imaging of different scenes, used to store data on preset laser output wavelengths for laser imaging of different scene types; a laser imaging current scene preset laser output wavelength recognition unit, which performs preset laser wavelength parameter recognition processing for laser imaging based on the laser imaging current scene type recognition data and the preset laser output wavelength data for laser imaging of different scene types, and generates the laser output wavelength data for the current scene preset for laser imaging; a laser pre-imaging operation execution unit, which executes the laser pre-imaging operation based on the laser output wavelength data for the current scene preset for laser imaging; a laser pre-imaging object point cloud image acquisition unit, which acquires point cloud image data of the laser pre-imaging object through a mobile three-dimensional laser scanning device;

[0108] The laser scanning optimal output wavelength adjustment module includes a laser imaging object type point cloud image storage unit, a laser imaging current object type analysis unit, a different object type laser imaging optimal laser output wavelength storage unit, a laser imaging optimal laser output wavelength recognition unit, and a laser imaging operation execution unit;

[0109] A laser imaging object type point cloud image storage unit is used to store laser imaging object type point cloud image data; a laser imaging current object type analysis unit performs type analysis processing of the laser imaging object based on the laser pre-imaging object point cloud image data and the laser imaging object type point cloud image data to generate laser imaging current object type analysis data; a different object type laser imaging optimal laser output wavelength storage unit stores the different object type laser imaging optimal laser output wavelength data; a laser imaging optimal laser output wavelength identification unit performs optimal laser wavelength parameter identification processing for laser imaging based on the laser imaging current object type analysis data and the different object type laser imaging optimal laser output wavelength data to generate laser imaging current object optimal laser output wavelength data; a laser imaging job execution unit executes the laser imaging job based on the laser imaging current object optimal laser output wavelength data.

[0110] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-speed scanning method based on a wavelength scanning laser source, characterized in that: The method comprises the following steps: S1, collect real-time position coordinate data of laser imaging; S2, performing image acquisition and processing of the scene of use of laser imaging based on the real-time position coordinate data of laser imaging combined with map software to generate real-time scene image data of laser imaging; S3, performing real-time scene type recognition processing of laser imaging based on the laser imaging real-time scene image data and the laser imaging scene type image data to generate laser imaging current scene type recognition data; S4, performing preset laser wavelength parameter recognition processing for laser imaging according to the laser imaging current scene type recognition data and the preset laser output wavelength data for laser imaging of different scene types, and generating the preset laser output wavelength data for the laser imaging current scene; S5, performing laser pre-imaging operation and collecting point cloud image data of the laser pre-imaging object; S6, performing type analysis processing on the laser imaging object according to the laser pre-imaging object point cloud image data and the laser imaging object type point cloud image data, to generate laser imaging current object type analysis data; S7, performing optimal laser wavelength parameter recognition processing for laser imaging based on the laser imaging current object type analysis data and the optimal laser output wavelength data for laser imaging of different object types, generating the optimal laser output wavelength data for the laser imaging current object and executing the laser imaging operation.

2. The high-speed scanning method based on a wavelength scanning laser source according to claim 1, characterized in that: The S1 comprises the following steps: S11, collecting the real-time spatial position coordinates of the mobile three-dimensional laser scanning device performing laser imaging of the object online through the position sensor and generating the real-time position coordinate data of the laser imaging .

3. The high-speed scanning method based on a wavelength scanning laser source according to claim 2, characterized in that: The S2 comprises the following steps: S21, the laser imaging real-time position coordinate data Enter the destination in the map software's search dialog box and search for the current usage scenario of the mobile 3D laser scanning device; S22, using screenshot software to collect images of the scene environment currently used by the searched mobile three-dimensional laser scanning device and generate a laser imaging real-time scene image data set , ;in Indicates the collected A laser imaging real-time scene image data, Indicates the maximum amount of real-time scene image data for laser imaging.

4. The high-speed scanning method based on a wavelength scanning laser source according to claim 3, characterized in that: The S3 comprises the following steps: S31. Establishing laser imaging scene type image data set , ;in Indicates the collected Types of laser imaging scene type image data, Indicates the maximum number of laser imaging scene types; S32, collecting the laser imaging real-time scene image data Laser imaging real-time scene image data Image data set with the laser imaging scene type Laser imaging scene type image data described in Perform image feature matching to search for the real-time scene image data of the laser imaging The corresponding laser imaging scene type and generates the laser imaging current scene type identification data ; Execute and generate laser imaging current scene type recognition data The specific steps are as follows: S321, initialization, defining the relevant structural parameters as vectors, in the laser imaging scene type image data set Image data of the laser imaging scene type described in the search space constitute In the dimensional optimization problem, the scene type search sand cat represents the 1× Array, each variable value is a floating point number, each variable value to Represents a collection of image data of the laser imaging scene type between lower and upper bounds in the search space; S322, Searching for prey, the final and main parameters controlling the transition between exploration and exploitation phases are ,when >1, the scene type searches for sand cats in the laser imaging scene type image data set Searching for the real-time scene image data related to the laser imaging in the search space Matching the laser imaging scene type image data The scene type search sand cat search process relies on the release of low-frequency noise to search out the real-time scene image data with the laser imaging Matching the laser imaging scene type image data , assuming the scene type searches for the sensitivity range of sand cats From 0 to 2kHz, Inspired by the scene type search for the auditory features of the sand cat, assuming its value is 2, is the current iteration number, is the maximum number of iterations, rand(0,1) represents a random number between 0 and 1; each scene type searches for sand cats based on the best candidate position and current location And its sensitivity range Update your own position, that is, in the laser imaging scene type image data set The search space is updated with the real-time scene image data of the laser imaging Matching the laser imaging scene type image data location; S323, attack prey, when ≤1, the scene type searches for sand cats in the laser imaging scene type image data set Search the search space and use the best candidate position With current location Generate a random position, that is, in the laser imaging scene type image data set Randomly search for the image data of the real-time scene of the laser imaging in the search space Matching the laser imaging scene type image data Random positions of S324: When the search algorithm reaches the maximum number of iterations T, output the real-time scene image data corresponding to the laser imaging. The image data that best matches the laser imaging scene type ; S325, the laser imaging scene type image data outputted in step S324 The corresponding laser imaging scene type is identified by data to generate laser imaging current scene type identification data .

5. The high-speed scanning method based on a wavelength scanning laser source according to claim 4, characterized in that: The S4 comprises the following steps: S41. Establishing a preset laser output wavelength data set for laser imaging of different scene types ,in Indicates The laser imaging preset laser output wavelength data for different scene types corresponding to the laser imaging scene types, The unit is nanometer; S42, using XGBoost algorithm to identify the laser imaging current scene type data Preset laser output wavelength data set for laser imaging of different scene types Preset laser output wavelength data for laser imaging of different scene types as described in According to the laser imaging scene type character matching, search for the identification data of the current laser imaging scene type The corresponding laser output wavelength data of laser imaging of different scene types And generate the preset laser output wavelength data of the current scene of laser imaging through data identification , The unit is nanometer.

6. The high-speed scanning method based on a wavelength scanning laser source according to claim 5, characterized in that: The S5 comprises the following steps: S51, preset laser output wavelength data according to the current laser imaging scene The corresponding laser output wavelength parameter controls the mobile three-dimensional laser scanning device to perform laser pre-imaging operations on the current use scene environment; S52, during the laser pre-imaging operation of the current use scene environment, the point cloud image parameters of the laser imaging object in the current use scene environment are collected online by the mobile three-dimensional laser scanning device and a point cloud image data set of the laser pre-imaging object is generated. , ;in Indicates the collected Point cloud image data of laser pre-imaging object, Indicates the maximum amount of point cloud image data for laser pre-imaging objects.

7. The high-speed scanning method based on a wavelength scanning laser source according to claim 6, characterized in that: The S6 comprises the following steps: S61. Establishing a point cloud image data set of laser imaging object type , ;in Indicates the collected Types of laser imaging object point cloud image data, Indicates the maximum number of laser imaging object types; S62, when the laser pre-imaging object point cloud image data set When the acquisition is completed, the laser pre-imaging object point cloud image data set is collected using an iterative deepening search algorithm. Point cloud image data of the laser pre-imaging object Point cloud image data set with the laser imaging object type Laser imaging object type point cloud image data Perform point cloud image feature matching to search for point cloud image data that matches the laser pre-imaging object Point cloud image data matching the laser imaging object type The corresponding laser imaging object type is generated through data identification to generate laser imaging current object type analysis data .

8. The high-speed scanning method based on a wavelength scanning laser source according to claim 7, characterized in that: The S7 comprises the following steps: S71. Establishing a data set of optimal laser output wavelengths for laser imaging of different object types ,in Indicates The optimal laser output wavelength data for laser imaging of different object types corresponding to the laser imaging object types, The unit is nanometer; S72, using XGBoost to With the As stated in According to the laser imaging object type character matching, search for the The corresponding And after data identification, the optimal laser output wavelength data of the current object of laser imaging is generated , The unit is nanometer; S73, according to The corresponding laser output wavelength parameters control the mobile three-dimensional laser scanning device to perform laser imaging operations on the laser imaging object in the current use scene environment.

9. A high-speed scanning system based on a wavelength scanning laser source, used to implement a high-speed scanning method based on a wavelength scanning laser source according to any one of claims 1 to 8, characterized in that: The system comprises a laser scanning environment scene analysis module, a laser scanning preset output wavelength adjustment module, and a laser scanning optimal output wavelength adjustment module.

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