Self-rotation three-dimensional data acquisition system

Abstract

The invention belongs to the technical field of survey, and provides a self-rotating three-dimensional data acquisition system, which comprises a box body, a signal box, a data acquisition module, a data acquisition module and a data acquisition module, and is characterized in that a bracket is arranged in the box body, and a signal box is arranged in the box body and positioned on one side of the bracket; the laser radar is arranged on the box body; the transmission slip ring is arranged on the support, a first signal line is arranged between the box body and the transmission slip ring, and a second signal line is arranged between the transmission slip ring and the signal box; and the first driving part is arranged on the bracket. The beneficial effects of the invention are that through the arrangement of the transmission slip ring, the signal transmission interference problem caused by cable winding is avoided, the whole equipment does not need to rotate in the scanning process, and the first driving motor can drive the laser radar to carry out large-angle scanning on various objects and topographic features in the environment; and the scanning efficiency and the scanning accuracy are improved.

Description

Technical Field

[0001] The present application belongs to the field of surveying technology, and specifically relates to a self-rotating three-dimensional data acquisition system. Background Art

[0002] In the application of modern technology, the application of simultaneous localization and mapping (SLAM) three-dimensional data has become increasingly widespread, including some harsh environments. For example, underground tunnels in mining, navigation of driverless cars on complex urban roads, precise positioning in construction, and environmental monitoring for post-disaster search and rescue. These environments are usually characterized by insufficient light, narrow space, and many obstacles, and have extremely high requirements for scanning angles and accuracy. In order to achieve accurate navigation and efficient operation in these complex environments, the SLAM system needs to be able to scan and build three-dimensional maps in all directions to avoid scanning blind spots. However, when the LiDAR systems on the market currently need to achieve large-angle horizontal scanning, such as 0°-360° scanning, the cables are prone to entanglement during the rotation scanning of the LiDAR, resulting in interference in signal transmission, affecting the inaccuracy of the scanning data or the appearance of blind spots. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] In order to solve the above problems, the present application provides a self-rotating three-dimensional data acquisition system, comprising: A box body, wherein a bracket is arranged in the box body, and a signal box is arranged in the box body and on one side of the bracket; A laser radar, wherein the laser radar is arranged on the box; A transmission slip ring, wherein the transmission slip ring is arranged on the bracket, a first signal line is arranged between the box body and the transmission slip ring, and a second signal line is arranged between the transmission slip ring and the signal box; A first driving member, wherein the first driving member is disposed on the bracket, and an output end of the first driving member is connected to the laser radar; When the first driving member drives the laser radar to rotate horizontally, the first signal line on the transmission slip ring can rotate synchronously with the laser radar, and the second signal line is fixed between the transmission slip ring and the signal box.

[0005] Optionally, the transmission slip ring includes: an inner ring body, wherein the first signal line is arranged on the inner ring body; A plurality of limiting rings are arranged on the outer circumference of the inner ring body and are spaced apart along the axial direction of the inner ring body, and the limiting rings are shielded from each other; An outer ring body, the outer ring body is connected to the bracket, the outer ring body is sleeved on the outside of the inner ring body, a plurality of slots are opened inside the outer ring body, the plurality of slots correspond one-to-one to the plurality of limit rings, and the second signal line is arranged on the outer ring body.

[0006] Optionally, a driving hole is axially opened in the inner ring body, the first driving member is located below the inner ring body, and an output end of the first driving member passes through the driving hole to be connected to the laser radar.

[0007] Optionally, a base is provided between the box and the laser radar, and the base includes: A lower support seat, the lower support seat is connected to the driving end of the first driving member; An upper support seat, wherein the upper support seat is rotatably disposed on the lower support seat, and the laser radar is disposed on the upper support seat; The second driving member is arranged on the lower supporting seat, and the second driving member is used for driving the upper supporting seat to rotate on the lower supporting seat along the vertical direction.

[0008] Optionally, the bracket includes: a support rod, a plurality of the support rods are arranged in the box, a first support plate, a second support plate, a third support plate and a fourth support plate are arranged between the plurality of support rods from bottom to top, the first driving member is arranged between the first support plate and the second support plate, and the transmission slip ring is arranged between the third support plate and the fourth support plate.

[0009] Optionally, a mounting hole is opened on the top of the box body, and the fourth support plate is located in the mounting hole.

[0010] Optionally, a battery is provided in the box, and the battery is electrically connected to the signal box.

[0011] Optionally, a camera is provided on the box and located on one side of the laser radar.

[0012] Optionally, an electronic device is disposed in the box, and the electronic device is electrically connected to the signal box, the camera, the first driving component and the second driving component.

[0013] Optionally, the electronic device includes a storage unit, a processing unit and a control unit.

[0014] Beneficial Effects A self-rotating three-dimensional data acquisition system provided in an embodiment of the present invention avoids the signal transmission interference problem caused by cable entanglement by setting a transmission slip ring, and realizes that the entire device does not need to rotate during the scanning process. The first drive motor can drive the laser radar to perform large-angle scanning of various objects and terrain features in the environment, thereby improving the scanning efficiency and scanning accuracy. It can achieve large-angle precise scanning and three-dimensional map construction in harsh environments such as mining, unmanned driving, construction, and post-disaster search and rescue, greatly improving the accuracy, reliability and practicality of three-dimensional data acquisition in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of the self-rotating three-dimensional data acquisition system of the present application; Figure 2 This is a schematic diagram of the exploded structure of the self-rotating three-dimensional data acquisition system of the present application; Figure 3 A schematic diagram of the explosion structure of the transmission slip ring of the self-rotating three-dimensional data acquisition system of the present application; Figure 4 This is a schematic diagram of the transmission slip ring structure of the self-rotating three-dimensional data acquisition system of the present application; Figure 5 This is a schematic diagram of the transmission slip ring installation structure of the self-rotating three-dimensional data acquisition system of the present application; Figure 6 This is a schematic diagram of the base structure of the self-rotating three-dimensional data acquisition system of the present application; Figure 7 This is a schematic diagram of the support structure of the self-rotating three-dimensional data acquisition system of the present application.

[0016] The reference numerals are: 1. Box body; 2. Bracket; 3. Signal box; 4. LiDAR; 5. Transmission slip ring; 6. First signal line; 7. Second signal line; 8. First driving member; 9. Inner ring body; 10. Limiting ring; 11. Outer ring body; 12. Base; 13. Lower support seat; 14. Upper support seat; 15. Second driving member; 16. Support rod; 17. First support plate; 18. Second support plate; 19. Third support plate; 20. Fourth support plate; 21. Battery; 22. Camera; 23. Electronic equipment. DETAILED DESCRIPTION

[0017] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred system or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0018] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0019] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0021] See also Figure 1-7 As shown, according to an embodiment of the present application, a self-rotating three-dimensional data acquisition system is provided, comprising: A box body 1, a bracket 2 is arranged in the box body 1, and a signal box 3 is arranged in the box body 1 and located on one side of the bracket 2; Laser radar 4, laser radar 4 is arranged on the box 1; A transmission slip ring 5, which is arranged on the bracket 2, a first signal line 6 is arranged between the box 1 and the transmission slip ring 5, and a second signal line 7 is arranged between the transmission slip ring 5 and the signal box 3; A first driving member 8, the first driving member 8 is disposed on the bracket 2, and an output end of the first driving member 8 is connected to the laser radar 4; When the first driving member 8 drives the laser radar 4 to rotate horizontally, the first signal line 6 on the transmission slip ring 5 can rotate synchronously with the laser radar 4, and the second signal line 7 is fixed between the transmission slip ring 5 and the signal box 3.

[0022] The self-rotating three-dimensional data acquisition system provided in this embodiment includes a box 1, a laser radar 4, a transmission slip ring 5 and a first driving member 8. The bracket 2 arranged inside the box 1 provides a stable installation position for each component. The bracket 2 is made of a high-strength metal material with good seismic resistance, such as aluminum alloy or alloy steel, and is fixed in the box 1 through precise processing and installation processes to ensure that no deformation or displacement occurs under various complex working conditions, thereby ensuring the stability and reliability of the system.

[0023] The laser radar 4 is installed on the box 1. It uses high-precision, high-resolution laser scanning equipment, which can emit high-energy, high-frequency laser beams and accurately receive reflected light signals, thereby realizing rapid scanning and three-dimensional data collection of the surrounding environment. It can capture various objects and terrain features in the environment in detail, and provide a rich data source for building high-precision three-dimensional maps.

[0024] The transmission slip ring 5 is arranged on the bracket 2. When the first driving member 8 drives the laser radar 4 to rotate horizontally, the first signal line 6 rotates synchronously with the laser radar 4 to achieve stable signal transmission. At the same time, the second signal line 7 is fixed between the transmission slip ring 5 and the signal box 3, avoiding the signal transmission interference problem caused by cable winding, and realizing that the whole device does not need to rotate during the scanning process. The first driving motor can drive the laser radar 4 to perform large-angle scanning of various objects and terrain features in the environment, thereby improving the scanning efficiency and accuracy. Furthermore, the first signal line 6 and the second signal line 7 are both made of cable materials with high transmission rate, low loss and strong anti-interference ability, such as optical fiber or shielded twisted pair, to ensure the high speed and accuracy of data transmission.

[0025] When in use, the first driving member 8 accurately drives the laser radar 4 to rotate horizontally according to the preset scanning program and instructions, and its rotation speed and angle can be flexibly adjusted according to actual needs. During the scanning process, the first signal line 6 rotates synchronously with the laser radar 4 to achieve stable signal transmission. At the same time, the second signal line 7 is fixed between the transmission slip ring 5 and the signal box 3, avoiding the signal transmission interference problem caused by cable entanglement, improving the scanning efficiency and scanning accuracy. The scanned data is transmitted to the signal box 3, which integrates advanced signal processing circuits and data storage modules, and can quickly process, convert and store the original data collected by the laser radar 4 to ensure the accuracy and integrity of the data. It can achieve large-angle precise scanning and three-dimensional map construction in harsh environments such as mining, unmanned driving, construction, and post-disaster search and rescue, greatly improving the accuracy, reliability and practicality of three-dimensional data acquisition in complex environments.

[0026] Furthermore, the first driving member 8 uses a high-precision servo motor or a stepper motor, which has the ability of precise speed control and position positioning.

[0027] The transmission slip ring 5 comprises: An inner ring body 9, on which the first signal line 6 is arranged; A plurality of limiting rings 10 are arranged on the outer circumference of the inner ring body 9 and are spaced apart along the axial direction of the inner ring body 9, and the limiting rings 10 are shielded from each other; The outer ring body 11 is connected to the bracket 2 and is sleeved on the outside of the inner ring body 9 . A plurality of slots are provided inside the outer ring body 11 . The plurality of slots correspond to the plurality of limit rings 10 one by one. The second signal line 7 is provided on the outer ring body 11 .

[0028] In this technical solution, the transmission slip ring 5 includes an inner ring body 9, a limit ring 10 and an outer ring body 11. The material of the inner ring body 9 is a metal material with good conductivity and wear resistance, such as copper alloy or aluminum alloy. The first signal line 6 is fixedly connected to the inner ring body 9, for example, by welding, embedding or special connecting clamps to ensure that the electrical connection between the first signal line 6 and the inner ring body 9 is stable and the signal transmission is lossless.

[0029] A plurality of limit rings 10 are distributed on the outer circumference of the inner ring body 9 and are arranged at intervals along the axial direction thereof, which can not only provide good support and positioning for the inner ring body 9 but also prevent the inner ring body 9 from axial displacement during rotation.

[0030] The outer side of the outer ring body 11 is fixedly mounted with a shell, and the outer ring body 11 is fixedly connected to the bracket 2 through the shell. The outer ring body 11 is sleeved on the outer side of the inner ring body 9, and the plurality of slots opened inside the outer ring body 11 correspond to the limit ring 10 one by one. The shape and size of the slots precisely match the limit ring 10, so that when the inner ring body 9 rotates, the limit ring 10 can slide stably in the slots, effectively limiting the radial shaking of the inner ring body 9, and ensuring the stability and accuracy of the rotation. The second signal line 7 is arranged on the outer ring body 11, and its connection method also adopts reliable electrical connection technology, such as welding or crimping, to ensure the reliability of signal transmission. The number of inner ring bodies 9 is the same as the number of wires in the first signal line 6, the number of wires in the slots is the same as the number of wires in the second signal line 7, each layer of limiting rings 10 are shielded from each other, each slot is also shielded from each other, and each signal line in the first signal line 6 is connected to each layer of limiting rings 10 respectively, and each signal line in the second signal line 7 is connected to each layer of slots respectively, so that the transmitted signals between the first signal line 6 and the second signal line 7 do not interfere with each other.

[0031] During use, when the first driving member 8 drives the laser radar 4 to rotate horizontally, the inner ring body 9 rotates synchronously therewith. Due to the cooperation between the limit ring 10 and the slot of the outer ring body 11, the inner ring body 9 can rotate stably. At this time, the first signal line 6 rotates with the inner ring body 9 to realize dynamic signal connection with the laser radar 4, while the second signal line 7 is fixed between the outer ring body 11 and the signal box 3 and remains stationary, thereby successfully avoiding the signal transmission interference problem caused by cable entanglement during the rotation scanning of the laser radar 4, ensuring the continuity and stability of the signal transmission of the entire self-rotating three-dimensional data acquisition system, laying a solid foundation for the accurate collection of three-dimensional data in complex and harsh environments, and greatly improving the reliability of the system.

[0032] The inner ring body 9 is axially provided with a driving hole, the first driving member 8 is located below the inner ring body 9 , and the output end of the first driving member 8 passes through the driving hole and is connected to the laser radar 4 .

[0033] In this technical solution, the inner ring body 9 has an axially opened driving hole, and the aperture size and shape of the driving hole match the output end of the first driving member 8. The inner wall of the driving hole has been finely processed and treated, and has good smoothness and coaxiality, which reduces the friction resistance of the output end of the first driving member 8 during the passage process, and at the same time ensures that no additional eccentricity or shaking will be generated due to the existence of the driving hole during the rotation of the laser radar 4, thereby ensuring the stability and accuracy of the rotation of the laser radar 4. The first driving member 8 is located below the inner ring body 9 to improve the space utilization efficiency in the box 1. The output end of the first driving member 8 is connected to the laser radar 4 through the driving hole, which realizes the power transmission to the laser radar 4 while effectively avoiding interference with other signal transmission lines and components.

[0034] When in use, after the first drive member 8 receives the control command, its output end stably transmits power to the laser radar 4 through the drive hole, so that the laser radar 4 rotates horizontally at a preset speed and angle, and then scans the surrounding environment to collect three-dimensional data. At the same time, the inner ring body 9 of the transmission slip ring 5 can still maintain its own rotation characteristics and stable connection with the first signal line 6 when passing through the output end of the first drive member 8, so that signal transmission and power transmission can work together in the same space without interfering with each other, further improving the integration and reliability of the system.

[0035] A base 12 is provided between the box 1 and the laser radar 4, and the base 12 includes: A lower support seat 13, the lower support seat 13 is connected to the driving end of the first driving member 8; An upper support seat 14, the upper support seat 14 is rotatably disposed on the lower support seat 13, and the laser radar 4 is disposed on the upper support seat 14; The second driving member 15 is disposed on the lower supporting seat 13 , and is used to drive the upper supporting seat 14 to rotate on the lower supporting seat 13 along a vertical direction.

[0036] In this technical solution, the base 12 is installed between the box 1 and the laser radar 4, and is used to carry the laser radar 4. The base 12 includes a lower support seat 13, an upper support seat 14 and a second drive member 15. The lower support seat 13 is closely connected to the driving end of the first drive member 8, and is made of high-strength and high-rigidity metal materials, such as alloy steel or high-quality cast iron, to ensure that it can stably bear the weight from the upper components and various forces generated during the rotation of the laser radar 4. The upper support seat 14 is rotatably arranged on the lower support seat 13, and the rotation connection between the two is realized by a bearing structure or a shaft assembly. The rotation connection has the characteristics of low friction and high stability, so that the upper support seat 14 can rotate flexibly and smoothly in the vertical direction. The laser radar 4 is installed on the upper support seat 14. The upper support seat 14 is made of a metal material with certain strength and lightweight characteristics, such as aluminum alloy, to reduce the overall rotational inertia and improve the rotation response speed. The second drive member 15 is installed on the lower support seat 13, and a rotating motor can be selected, and the output end of the rotating motor is directly connected to the shaft. The second driving member 15 is used to drive the upper support seat 14 to rotate on the lower support seat 13 along the vertical direction, thereby achieving the pitch angle adjustment of the laser radar 4.

[0037] During use, according to different scanning scenarios and target requirements, the second drive member 15 can accurately adjust the rotation angle of the upper support seat 14 according to the preset control instructions. For example, when scanning a mine tunnel, the pitch angle of the laser radar 4 can be adjusted to a suitable position to scan the details of the top and bottom of the tunnel; in the navigation of an unmanned vehicle, the pitch angle of the laser radar 4 can be dynamically adjusted according to the road slope and the obstacles ahead to improve the comprehensiveness and accuracy of environmental perception. Through the coordinated work of the first drive member 8 and the second drive member 15, the laser radar 4 can achieve all-round rotation in the horizontal and vertical directions, greatly expanding its scanning range and flexibility, realizing accurate three-dimensional map construction in various complex environments, and improving the system's adaptability to different application scenarios and the integrity and accuracy of data collection.

[0038] The bracket 2 includes: a support rod 16, a plurality of support rods 16 are arranged in the box body 1, a first support plate 17, a second support plate 18, a third support plate 19 and a fourth support plate 20 are arranged in sequence from bottom to top between the plurality of support rods 16, a first driving member 8 is arranged between the first support plate 17 and the second support plate 18, and a transmission slip ring 5 is arranged between the third support plate 19 and the fourth support plate 20.

[0039] In this technical solution, a plurality of support rods 16 are evenly distributed in the box 1, and the first support plate 17, the second support plate 18, the third support plate 19 and the fourth support plate 20 are arranged between the support rods 16 from bottom to top in sequence. These support plates are made of solid and flat metal plates, such as steel plates or aluminum plates, and their surfaces are finely processed to ensure that the flatness and roughness meet the installation requirements, providing a stable and reliable installation plane for various components. The first drive member 8 is installed between the first support plate 17 and the second support plate 18, so that the first drive member 8 can be well supported and positioned. The first support plate 17 and the second support plate 18 can effectively disperse the vibration and impact force generated by the first drive member 8 during operation, reducing the impact on other components.

[0040] The transmission slip ring 5 is arranged between the third support plate 19 and the fourth support plate 20, and the third support plate 19 and the fourth support plate 20 provide a stable supporting environment for the transmission slip ring 5, wherein the third support plate 19 is used to bear the weight of the transmission slip ring 5, and the fourth support plate 20 is used to assist in fixing the transmission slip ring 5 to prevent it from being displaced in the horizontal or vertical direction, so that it can work in a stable environment, ensuring that during the rotation scanning process of the laser radar 4, the signal transmission of the first signal line 6 and the second signal line 7 is stable and reliable, and there will be no signal interruption or interference due to the shaking or displacement of the transmission slip ring 5.

[0041] A mounting hole is formed on the top of the box body 1, and the fourth supporting plate 20 is located in the mounting hole.

[0042] In this technical solution, the fourth support plate 20 and the mounting hole at the top of the box body 1 can be installed tightly and adaptably. The fourth support plate 20 is arranged in the mounting hole, and a variety of reliable connection methods can be used between it and the mounting hole, such as bolt connection, corresponding screw holes are arranged around the mounting hole, and high-strength bolts are used to firmly fix the fourth support plate 20 in the mounting hole to ensure that it will not loosen or move during the operation of the system. Alternatively, a card slot and a card block are matched, a card slot is arranged on the inner wall of the mounting hole, and a matching card block is arranged on the fourth support plate 20, and precise positioning and stable connection are achieved by embedding the card block into the card slot.

[0043] By arranging the fourth support plate 20 in the mounting hole at the top of the box body 1, on the one hand, the space at the top of the box body 1 can be fully utilized to achieve a more reasonable and compact space layout. On the other hand, a more stable installation foundation is provided for the transmission slip ring 5, ensuring that the transmission slip ring 5 can operate stably during operation, thereby ensuring the stability and reliability of the signal transmission of the first signal line 6 and the second signal line 7 when the laser radar 4 rotates and scans.

[0044] A battery 21 is disposed in the housing 1 , and the battery 21 is electrically connected to the signal box 3 .

[0045] In this technical solution, the battery 21 provided in the box 1 provides an independent and reliable power guarantee for the operation of the entire system. The battery 21 adopts a high-performance rechargeable lithium battery 21 group, which has high energy density, long cycle life and stable discharge characteristics. The capacity of the battery 21 is reasonably selected according to the overall power consumption of the system and the expected working time, ensuring that sufficient power can be continuously provided to the signal box 3 and other related electrical components without external power supply access.

[0046] The battery 21 and the signal box 3 are connected through a connecting line to achieve stable power transmission and signal interaction. The connecting line uses a conductor material with good conductivity and anti-interference ability, such as a shielded twisted pair, and is equipped with a reliable connector to ensure that during the operation of the system, the battery 21 can efficiently power the signal box 3, and the signal box 3 can also monitor the battery 21's power, voltage, current and other status information in real time. For example, the signal box 3 can accurately judge the status of the battery 21 through a built-in microcontroller and power monitoring circuit. When the battery 21 power is lower than the set threshold, it can send a warning signal in time to prompt the operator to charge or replace the battery 21 to ensure the continuous and stable operation of the system.

[0047] A camera 22 is disposed on the box 1 and located on one side of the laser radar 4 .

[0048] In this technical solution, a camera 22 is installed on the box 1 on one side of the laser radar 4. The camera 22 adopts a high-resolution, high-frame-rate industrial camera 22, whose lens has adjustable focal length and aperture functions, and can flexibly adjust imaging parameters according to different shooting requirements.

[0049] During the data collection process, the camera 22 is mainly used to obtain optical image information of the target environment. It can capture rich visual details, such as the color, texture, shape of the object and the lighting conditions of the environment, which complement the three-dimensional point cloud data collected by the laser radar 4. For example, in a mining scene, the camera 22 can capture information such as the type characteristics of the ore and the geological texture of the tunnel wall, while the laser radar 4 provides accurate spatial position and distance data. The combination of the two can more comprehensively construct a three-dimensional model of the mining environment, which helps to accurately plan the mining path and evaluate the stability of the geological structure.

[0050] A stable signal transmission connection is established between the camera 22 and the signal box 3, and the collected image data is transmitted to the signal box 3 in real time for processing and storage. The signal box 3 can perform operations such as compression and encoding on the image data to optimize the data storage and transmission efficiency. At the same time, the working parameters of the camera 22, such as exposure time and gain, can be intelligently controlled by the signal box 3 according to the ambient light conditions and the overall data collection requirements. In a dark environment, the signal box 3 can automatically increase the exposure time of the camera 22 or increase the gain to obtain a clear image; when the light is too strong, the parameters are adjusted accordingly to prevent the image from being overexposed.

[0051] An electronic device 23 is disposed in the housing 1 , and the electronic device 23 is electrically connected to the signal box 3 , the camera 22 , the first driving member 8 and the second driving member 15 .

[0052] The electronic device 23 internally includes a storage unit, a processing unit and a control unit.

[0053] In this technical solution, the electronic device 23 arranged in the box 1 is electrically connected to the signal box 3, the camera 22, the first driving member 8 and the second driving member 15, and the electronic device 23 integrates a storage unit, a processing unit and a control unit. The storage unit adopts advanced storage technology, such as large-capacity high-speed flash memory or solid-state hard disk, to store rich and diverse data resources, including massive three-dimensional point cloud data collected by the laser radar 4, image data captured by the camera 22, and various parameter information generated during the operation of the system. Its data storage architecture can not only ensure the fast writing and reading of data, but also ensure the stability and integrity of data during long-term storage.

[0054] The processing unit is equipped with a high-performance microprocessor or a dedicated digital signal processor (DSP) chip, which has powerful computing and data processing capabilities. It can perform multi-dimensional processing on the point cloud data of the LiDAR 4, such as noise filtering, point cloud registration, feature extraction and other complex operations to improve the quality and availability of the point cloud data. For the image data transmitted by the camera 22, the processing unit can perform tasks such as image enhancement, target recognition, image segmentation, etc., and mine key information in the image. At the same time, the processing unit is also responsible for the deep fusion of the LiDAR 4 data with the camera 22 image data, using advanced fusion algorithms, such as feature-based fusion or pixel-based fusion methods, to complement the advantages of the two and generate high-precision, high-information 3D modeling results, thereby providing a solid data foundation for subsequent analysis and application.

[0055] The control unit acts as the command center of the system, regulating the operating status of the first drive member 8 and the second drive member 15. It sends instructions to the first drive member 8 to control the rotation speed of the laser radar 4 and sends instructions to the second drive member 15 to adjust the pitch angle of the laser radar 4 according to the preset working mode, task requirements and real-time analysis of scene information. For example, at the initial stage of system startup, the control unit can drive the rotating motor to pre-scan at a low speed, and at the same time receive the pre-scan information and transmit it to the processing unit for analysis. The processing unit determines the optimal rotation speed and pitch angle based on this, and the control unit adjusts the operating parameters of the first drive member 8 accordingly. During the data collection process, the control unit continuously monitors the point cloud coordinates collected by the laser radar 4 and the pre-calculated regional boundary coordinates. When the two match, the rotating motor is promptly controlled to reduce the rotation speed to achieve refined scanning. In addition, the control unit is also responsible for working in coordination with other units of the electronic device 23, such as realizing the application of machine learning capabilities based on the data in the storage unit and the analysis results of the processing unit, optimizing and adjusting the threshold, and improving the calculation accuracy of the computer program.

[0056] The self-rotating three-dimensional data acquisition system of the present application demonstrates high adaptability, efficiency and accuracy in complex and changing environments, meeting the stringent requirements for three-dimensional data acquisition and processing in many fields such as mining, construction, unmanned driving, and post-disaster search and rescue, greatly expanding the application scope and value of the system.

[0057] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A self-rotating three-dimensional data acquisition system, characterized in that: include: A box (1), wherein a bracket (2) is arranged inside the box (1), and a signal box (3) is arranged inside the box (1) and located on one side of the bracket (2); A laser radar (4), wherein the laser radar (4) is arranged on the box (1); A transmission slip ring (5), wherein the transmission slip ring (5) is arranged on the bracket (2), a first signal line (6) is arranged between the box (1) and the transmission slip ring (5), and a second signal line (7) is arranged between the transmission slip ring (5) and the signal box (3); A first driving member (8), wherein the first driving member (8) is arranged on the bracket (2), and an output end of the first driving member (8) is connected to the laser radar (4); When the first driving member (8) drives the laser radar (4) to rotate horizontally, the first signal line (6) on the transmission slip ring (5) can rotate synchronously with the laser radar (4), while the second signal line (7) is fixed between the transmission slip ring (5) and the signal box (3).

2. The self-rotating three-dimensional data acquisition system according to claim 1, characterized in that: The transmission slip ring (5) comprises: An inner ring body (9), wherein the first signal line (6) is arranged on the inner ring body (9); A plurality of limiting rings (10) are arranged on the outer circumference of the inner ring body (9) and are spaced apart along the axial direction of the inner ring body (9), and each of the limiting rings (10) is shielded from each other; An outer ring body (11), the outer ring body (11) is connected to the bracket (2), the outer ring body (11) is sleeved on the outside of the inner ring body (9), a plurality of slots are opened inside the outer ring body (11), the plurality of slots correspond one-to-one to the plurality of limit rings (10), and the second signal line (7) is arranged on the outer ring body (11).

3. The self-rotating three-dimensional data acquisition system according to claim 2, characterized in that: The inner ring body (9) is axially provided with a driving hole, the first driving member (8) is located below the inner ring body (9), and the output end of the first driving member (8) passes through the driving hole and is connected to the laser radar (4).

4. The self-rotating three-dimensional data acquisition system according to claim 1, characterized in that: A base (12) is provided between the box (1) and the laser radar (4), and the base (12) comprises: A lower support seat (13), wherein the lower support seat (13) is connected to a driving end of the first driving member (8); An upper support seat (14), the upper support seat (14) being rotatably disposed on the lower support seat (13), and the laser radar (4) being disposed on the upper support seat (14); A second driving member (15), the second driving member (15) is arranged on the lower support seat (13), and the second driving member (15) is used to drive the upper support seat (14) to rotate on the lower support seat (13) along a vertical direction.

5. The self-rotating three-dimensional data acquisition system according to claim 4, characterized in that: The bracket (2) comprises: a support rod (16), a plurality of the support rods (16) are arranged in the box body (1), a first support plate (17), a second support plate (18), a third support plate (19) and a fourth support plate (20) are arranged in sequence from bottom to top between the plurality of the support rods (16), the first driving member (8) is arranged between the first support plate (17) and the second support plate (18), and the transmission slip ring (5) is arranged between the third support plate (19) and the fourth support plate (20).

6. The self-rotating three-dimensional data acquisition system according to claim 5, characterized in that: The top of the box body (1) is provided with a mounting hole, and the fourth support plate (20) is located in the mounting hole.

7. The self-rotating three-dimensional data acquisition system according to claim 6, characterized in that: A battery (21) is arranged in the box (1), and the battery (21) is electrically connected to the signal box (3).

8. The self-rotating three-dimensional data acquisition system according to claim 7, characterized in that: A camera (22) is arranged on the box (1) and located on one side of the laser radar (4).

9. The self-rotating three-dimensional data acquisition system according to claim 8, characterized in that: An electronic device (23) is arranged in the box (1), and the electronic device (23) is electrically connected to the signal box (3), the camera (22), the first driving member (8) and the second driving member (15).

10. The self-rotating three-dimensional data acquisition system according to claim 9, characterized in that: The electronic device (23) comprises a storage unit, a processing unit and a control unit.

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