Underground space live-action three-dimensional data acquisition device

Abstract

The invention relates to an underground space live-action three-dimensional data acquisition device (100) which is provided with a data acquisition unit (1) and a carrier platform unit (2), and the data acquisition unit (1) comprises a laser radar point cloud device (11), a live-action three-dimensional camera group (12) and a light supplementing device (13). And the carrier platform unit (2) is a device capable of freely moving the data acquisition unit (1) carried on the carrier platform unit (2).

Description

Technical Field

[0001] The present invention relates to a surveying and mapping device, in particular to a three-dimensional photography device with a laser measuring instrument, and more particularly to an all-round integrated device for real-scene three-dimensional photography of underground spaces. Background Art

[0002] Against the backdrop of increasingly in-depth and complex development and utilization of urban underground space, the importance of real-life three-dimensional reproduction and mapping of underground space has become increasingly prominent. Due to its particularity, underground space presents a series of technical difficulties that are different from the above-ground environment. First, the internal structure of underground space is complex and the environment is changeable. It contains a large number of non-direct light areas, curved walls, and various facilities and equipment, which makes it impossible for traditional two-dimensional plane mapping methods to accurately reflect its three-dimensional spatial characteristics. In addition, underground space often has the problem of missing or extremely weak positioning signals, because the global satellite navigation system (GNSS) cannot work properly in the underground environment, making it particularly difficult to obtain accurate spatial location information.

[0003] Existing underground space 3D photography devices face numerous challenges in practical application. On the one hand, existing devices are often limited by poor lighting conditions and cannot effectively capture clear and detailed image data, which is a critical constraint for building high-precision real-world 3D models. On the other hand, underground space scanning equipment currently on the market often requires manual operation or external positioning assistance systems, making it difficult to ensure accurate positioning and positioning when moving in complex underground environments. This is especially true in situations with uneven road surfaces, accumulated water, or even simple rock structures lacking distinct features. The equipment's autonomous movement and stable data collection capabilities are limited.

[0004] At the same time, existing devices also have problems with data synchronization. For example, the temporal synchronization accuracy between LiDAR point cloud data and image data is low, resulting in misalignment during the subsequent data fusion process, affecting the authenticity and integrity of the real-world 3D model. Therefore, there is an urgent need for a comprehensive, integrated intelligent real-world 3D underground space device that can achieve intelligent and efficient data collection, spatiotemporal synchronization control, and adaptability to complex terrain in conditions without GPS signals, low light, or even no light. This device can address the limitations and shortcomings of these existing technologies.

[0005] Technical problems to be solved by the present invention

[0006] Therefore, the current underground space real scene three-dimensional data acquisition device has the following problems.

[0007] Problem 1. The underground space environment has characteristics such as poor lighting, difficult positioning, complex road surface conditions (such as potholes and waterlogging), and lack of GNSS positioning signals. These characteristics increase the difficulty of three-dimensional real-scene replication of the underground space.

[0008] Problem 2. Existing technical means are easily affected by insufficient lighting when collecting high-quality point cloud data and image data in the underground environment, resulting in insufficient clarity, accuracy, and integrity of the collected data, and unable to meet the requirements of refined real-scene three-dimensional reconstruction.

[0009] Problem 3. Due to the lack of effective positioning reference objects in the underground space, traditional positioning methods fail, making it very difficult for three-dimensional scanning equipment to pose and position in complex environments, thus affecting the quality and consistency of data collection.

[0010] Problem 4. The key is to synchronously obtain data between the lidar and the real-scene three-dimensional camera. Existing devices often have difficulty achieving real-time and accurate time synchronization, which has a serious impact on subsequent data fusion and three-dimensional model construction.

[0011] Problem 5. Existing underground space detection tools may have limitations in autonomous movement ability and all-terrain adaptability. For example, in the face of a rugged and obstacle-rich underground environment, the mobile platform may not be able to efficiently and stably complete the data collection task.

[0012] Therefore, the present invention provides a novel underground space real-scene three-dimensional photography device, which can achieve efficient, accurate, and intelligent three-dimensional real-scene data collection of the underground space, ensuring that the obtained data can meet the high standards of fields such as surveying and mapping, geological analysis, etc., for specific application scenarios such as real-scene three-dimensional display of underground space structures, disease identification, and geological classification. Summary of the Invention

[0013] To solve the above technical problems, the present invention provides the following technical solutions.

[0014] Solution 1. An underground space real-scene three-dimensional data acquisition device 100, which has a data acquisition unit 1 and a carrier platform unit 2.

[0015] The data acquisition unit 1 includes a lidar point cloud device 11, a real-scene three-dimensional camera group 12, and a supplementary lighting device 13.

[0016] The real-scene three-dimensional camera group 12 includes a housing 121 and cameras installed inside the housing 121. Among them, the housing 121 has the following shape: the remaining area after cutting off the area enclosed by three consecutive faces and the longest diagonal line among these three faces from a regular octagonal prism. This shape includes five identical and continuous side faces, namely side faces 151 to 155, which are successively continuous in the order of side face 151, side face 152, side face 153, side face 154, and side face 155. Lens holes 160 are provided at the central parts of the side faces (151) to (155). This shape also includes two upper and lower bottom faces, namely upper bottom face (171) and lower bottom face (172);

[0017] The real-scene three-dimensional camera group 12 includes five such cameras, and each of the five cameras includes a camera body and a lens 161. The lens 161 protrudes from the lens hole 160, and the axis of the lens 161 is collinear with the central normal line of the side face where it is located.

[0018] Among the side faces 151, 152, 153, 154, and 155, the included angle between two adjacent side faces is 135°.

[0019] The lens 161 uses a lens with a field of view angle of 90°;

[0020] The lidar point cloud device 11 is in the shape of a drumstick, and it includes a relatively thick and cylindrical upper part 111 and a relatively narrow and round rod-shaped lower part 112. A frame-shaped three-dimensional laser scanner 113 is installed at the top of the upper part 111, and two fisheye RGB cameras 114 are installed on the side face of the upper part 111. The axes of the lenses of these two fisheye RGB cameras 114 are in the same plane, and the included angle between the lens axes is 120 degrees. An inertial measurement unit is installed inside the lower part 112.

[0021] The carrier platform unit 2 is a device that can freely move the data acquisition unit 1 placed thereon.

[0022] Solution 2. For the underground space real-scene three-dimensional data acquisition device 100 described in Solution 1 above, among them, the carrier platform unit 2 is a four-wheel unmanned vehicle or a tracked unmanned vehicle.

[0023] Solution 3. For the underground space real-scene three-dimensional data acquisition device 100 described in Solution 1 above, among them, the carrier platform unit 2 is a tracked unmanned vehicle.

[0024] Solution 4. For the underground space real-scene three-dimensional data acquisition device 100 described in Solution 1 above, among them, the supplementary lighting device 13 is an LED light strip 131.

[0025] Solution 5. The underground space real scene three-dimensional data acquisition device 100 described in Solution 4 above, wherein the LED light strip 131 is arranged perpendicular to the bottom surface of the housing 121 of the real scene three-dimensional camera group 12.

[0026] Solution 6. The underground space real scene three-dimensional data acquisition device 100 described in Solution 4 above, wherein the LED light strip 131 has a white lampshade.

[0027] Solution 7. The underground space real scene three-dimensional data acquisition device 100 described in Solution 1 above, wherein there is a platform 21 above the carrier platform unit 2, and the data acquisition unit 1 is arranged on the platform 21.

[0028] Solution 8. The underground space real scene three-dimensional data acquisition device 100 described in Solution 7 above, wherein the lidar point cloud device 11 and the real scene three-dimensional camera group 12 in the data acquisition unit 1 are arranged front and back along the length direction of the platform 21.

[0029] Solution 9: The underground space real scene three-dimensional data acquisition device 100 described in Solution 1 above further includes a control unit, which controls the data acquisition unit 1 and the carrier platform unit 2.

[0030] Solution 10: The underground space real scene three-dimensional data acquisition device 100 described in Solution 9 above, wherein the control unit includes an electronic synchronous shutter, which controls the lidar point cloud device 11, the real scene three-dimensional camera group 12, and the supplementary lighting device 13, so that the lidar point cloud device 11, the real scene three-dimensional camera group 12, and the supplementary lighting device 13 operate synchronously.

[0031] Effects of the Invention

[0032] The underground space real scene three-dimensional data acquisition device 100 of the present invention has a data acquisition unit 1 and a carrier platform unit 2. The data acquisition unit 1 includes a lidar point cloud device 11, a real scene three-dimensional camera group 12, and a supplementary lighting device 13. Therefore, on the basis of being able to shoot the three-dimensional real scene of the underground space through the cameras in the real scene three-dimensional camera group 12, the position information can also be obtained by the lidar point cloud device 11 without GNSS positioning service, and the data information in which the three-dimensional real scene is matched with the position data can be obtained.

[0033] In addition, the underground space real scene three-dimensional data acquisition device 100 of the present invention has a carrier platform unit 2, which can make the data acquisition unit 1 carried thereon move freely, thereby realizing the automation of shooting and expanding the shooting area. Description of the Drawings

[0034] Figure 1 is a perspective view of the underground space real scene three-dimensional data acquisition device 100 of the present invention;

[0035] Figure 2 is a stereoscopic image (from the front view direction) of the real-scene 3D camera group 12;

[0036] Figure 3 is a stereoscopic image (rearward viewing direction) of the real-scene 3D camera group 12;

[0037] Figure 4 Used to illustrate the angle between the axes of two adjacent lenses 161 in the real-view 3D camera group 12;

[0038] Figure 5 This is an example of a high-definition panoramic image captured by the underground space real scene three-dimensional data acquisition device 100 of the present invention;

[0039] Figure 6 It is underground space laser point cloud data acquired by the underground space real scene three-dimensional data acquisition device 100 of the present invention;

[0040] Figure 7 It is the underground space real scene three-dimensional data acquired by the underground space real scene three-dimensional data acquisition device 100 of the present invention.

[0041] Explanation of symbols

[0042] 100: Underground space real scene 3D data acquisition device

[0043] 1: Data acquisition unit

[0044] 11: LiDAR point cloud equipment

[0045] 12: Realistic 3D camera group

[0046] 13: Fill light equipment

[0047] 111: Upper part of the LiDAR point cloud device

[0048] 112: The lower part of the lidar point cloud device

[0049] 113: 3D laser scanner for shape retention machine

[0050] 114: Fisheye RGB Camera

[0051] 121: Shell

[0052] 131: LED light strip

[0053] 151, 152, 153, 154, 155: Sides of the shell

[0054] 160: Lens hole

[0055] 161: Lens

[0056] 171, 172: Bottom surface

[0057] 21: Platform Detailed implementation mode

[0058] The present invention relates to an underground space real scene three-dimensional data acquisition device 100, which is used to acquire the real scene images and position information of the underground space, and match the two to provide real scene images with accurate position information.

[0059] As Figure 1 As shown, the present invention specifically relates to an underground space real scene three-dimensional data acquisition device 100, which has a data acquisition unit 1 and a carrier platform unit 2.

[0060] The data acquisition unit 1 includes a lidar point cloud device 11, a real scene three-dimensional camera group 12 and a supplementary lighting device 13.

[0061] As Figure 2 As shown, the real scene three-dimensional camera group 12 includes a housing 121 and cameras installed in the housing 121. Among them, the housing 121 is in the shape of the remaining area after cutting off the area surrounded by three consecutive faces and the longest diagonal line among these three faces from a regular octagonal prism. This shape includes five completely identical and continuous side faces, namely side face 151 to side face 155, which are successively continuous in the order of side face 151, side face 152, side face 153, side face 154, and side face 155. Lens holes 160 are provided at the central parts of side face 151 to side face 155. In addition, as Figure 3 As shown, this shape also includes two upper and lower bottom surfaces, namely upper bottom surface 171 and lower bottom surface 172;

[0062] The real scene three-dimensional camera group 12 includes five cameras, and each of the five cameras includes a camera body and a lens 161. The lens 161 exposes from the lens hole 160, and the axis of the lens 161 forms a collinear line with the central normal line of the side face where it is located.

[0063] Among the side face 151, side face 152, side face 153, side face 154, and side face 155, the included angle between two adjacent side faces is 135°.

[0064] The lens 161 uses a lens with a field of view angle of 90°;

[0065] The lidar point cloud device 11 is in the shape of a drumstick, which includes a relatively thick and cylindrical upper part 111 and a relatively narrow and round rod-shaped lower part 112. A Liuxing machine three-dimensional laser scanner 113 is installed on the top of the upper part 111. Two fisheye RGB cameras 114 are installed on the side surface of the upper part 111. The axes of the lenses of the two fisheye RGB cameras 114 are located in the same plane, and the included angle between the lens axes is 120 degrees. An inertial measurement unit is installed inside the lower part 112.

[0066] As Figure 1 shown, the carrier platform unit 2 is a device that can freely move the data acquisition unit 1 placed thereon.

[0067] In the underground space real scene three-dimensional data acquisition device 100 of the present invention, it has a data acquisition unit 1, and the data acquisition unit 1 includes a lidar point cloud device 11, a real scene three-dimensional camera group 12, and a supplementary lighting device 13.

[0068] As Figure 1 shown, the real scene three-dimensional camera group 1 includes a housing 121 and a camera installed inside the housing 121. Among them, the housing 121 is in the shape of the remaining area after cutting off the area surrounded by three consecutive faces and the longest diagonal line among these three faces from a regular octagonal prism. This shape includes five completely identical and continuous side faces, namely side face 151 to side face 155, which are sequentially continuous in the order of side face 151, side face 152, side face 153, side face 154, and side face 155. Lens holes 160 are provided at the central parts of side face 151 to side face 155. In addition, as Figure 3 shown, this shape also includes two upper and lower bottom faces, namely upper bottom face 171 and lower bottom face 172;

[0069] The real scene three-dimensional camera group 12 includes five such cameras. The five cameras respectively include a camera body (not shown) and a lens 161. The lens 161 protrudes from the lens hole 160, and the axis of the lens 161 is collinear with the central normal line of the side face where it is located.

[0070] Among the side faces 151, 152, 153, 154, and 155, the included angle between two adjacent side faces is 135°.

[0071] The lens 161 uses a lens with a field of view angle of 90°.

[0072] Preferably, the axis of the lens 161 and the central normal line of the side face where it is located become the same straight line, that is, the two are collinear. In this way, the distribution of each lens 161 on the side face of the housing 121 is uniform, equiangular, and equidistant. In the present invention, as Figure 3As shown, the included angle between the axes of two adjacent lenses 161 is 45°. Specifically, Figure 6 the included angle between the straight line α and the straight line β in Figure 6 is 45°. When the lens 161 is a lens with a field of view angle of 90°, the shooting overlap rate between three adjacent lenses 161 can be 50%, so that there will be no omission in the shooting of the three-dimensional real scene image.

[0073] In the present invention, by arranging only 5 cameras on the housing 121 with a specific shape, a shooting overlap rate of 50% is achieved, thereby achieving the technical effect of achieving a high overlap rate with a very small number of cameras, thus solving the problem of greatly reducing the load weight of the data acquisition unit 1. In fact, in the underground space real scene three-dimensional data acquisition device 100 of the present invention, the data acquisition unit 1 is placed on the carrier platform unit 2, and the carrier platform unit 2 is a unit that moves relying on batteries. Therefore, reducing the load weight of the data acquisition unit 1 can greatly extend the battery life of the carrier platform unit 2 and enable longer and farther data acquisition work. In addition, the underground space real scene three-dimensional data acquisition device 100 of the present invention as a whole needs to rely on batteries to provide power support. The reduction in the number of cameras also reduces the power consumption of the cameras and extends the overall battery life.

[0074] In addition, the camera lens layout method in the present invention is compact and coordinated, the camera optical path is not affected, and the volume of the outer shell is effectively reduced, thus also reducing the overall weight of the device.

[0075] There are no special restrictions on the cameras of the real scene three-dimensional camera group 12. Preferably, 5 cameras with 15 million pixels are adopted. The camera focal length is 8.8 mm, and the camera lens adopts a Zeiss Tessar T*Lens with 6 groups and 6 lenses. By adopting the above cameras and lenses, a sufficient repetition rate can be provided, making the captured three-dimensional real scene photos clearer and brighter. The high-definition resolution panoramic image can obtain the geological structure, rock classification, cracks in the underground space, and various diseases in the underground space, and can be fully applied to the intelligent operation and maintenance base map of the underground space.

[0076] The lidar point cloud device 11 is in the shape of a drumstick, with an overall shape that is larger at the top and smaller at the bottom. It includes a relatively thick and cylindrical upper part 111 and a relatively narrow and round rod-shaped lower part 112. A time-of-flight three-dimensional laser scanner 113 is installed at the top of the upper part 111, and two fisheye RGB cameras 114 are installed on the side surface of the upper part 111. The axes of the lenses of these two fisheye RGB cameras 114 are in the same plane, and the included angle between the lens axes is 120 degrees. An inertial measurement unit (not shown) is installed inside the lower part 112.

[0077] In the LiDAR point cloud device 11, the 3D laser scanner 113 is positioned at the very top to ensure that the high-precision optical data acquisition by the 3D laser scanner 113 is not affected or interfered with by any means. Furthermore, the height of the 3D laser scanner 113 is higher than the top of the housing 121, thereby preventing any influence or interference on the laser ranging of the 3D laser scanner 113. The 3D laser scanner 113 can perform scanning operations in various scenarios, including indoors, outdoors, and underground spaces, without relying on GNSS positioning. The LiDAR parameters of the 3D laser scanner 113 are as follows:

[0078] Laser wavelength: 905nm

[0079] Eye safety level: Class 1

[0080] Measuring range: 0.1~70m@80%

[0081] Ranging error: ≤2cm(1o)

[0082] Angular measurement error: <0.15°(1o)

[0083] Dot rate: 200kpts / s.

[0084] Two fisheye RGB cameras 114 are installed on the side of the upper part 111 of the laser radar point cloud device 113. The axes of the lenses of the two fisheye RGB cameras 114 are located on the same plane, that is, the horizontal heights of the axes of the two are the same, so as to ensure the accuracy of the positions where the two obtain image information. In addition, the angle between the axes of the two is set to 120°, which can ensure the largest possible shooting range, thereby obtaining more image data information in the underground space. In addition, the upper part 111 of the laser radar point cloud device 11 can rotate around the rod-shaped lower part 112. Such a design allows for shooting by rotating the upper part 111 in places where the fisheye RGB camera 114 cannot really capture.

[0085] Real-life 3D images with high-definition resolution can capture the geological structure, rock classification, cracks and various diseases in the underground space, achieve seamless integration of point cloud and image, and have high modeling efficiency, which can be fully applicable to the needs of digital twin underground space base.

[0086] The underground space real - scene three - dimensional data acquisition device 100 of the present invention preferably has a control unit (not shown), which controls the lidar point cloud device 11, the real - scene three - dimensional camera group 12, and the supplementary lighting device 13, so that the lidar point cloud device 11, the real - scene three - dimensional camera group 12, and the supplementary lighting device 13 operate synchronously. Preferably, the control unit includes an electronic synchronous shutter. In this way, the acquisition of position data by the lidar point cloud device 11, the shooting of the real - scene three - dimensional camera group 12, and the lighting of the supplementary lighting device 13 can be synchronously controlled, so as to match the images captured by the real - scene three - dimensional camera group 12 with the position data obtained by the lidar point cloud device 11. In addition, by controlling the supplementary lighting device 13 through the electronic synchronous shutter, the supplementary lighting device 13 emits light only during shooting and does not emit light at other times, thereby saving the electric energy consumed by the supplementary lighting device to the greatest extent.

[0087] The underground space real - scene three - dimensional data acquisition device 100 of the present invention has a carrier platform unit 2, and the carrier platform unit 2 is a device that can freely move the data acquisition unit 1 placed thereon. Preferably, the carrier platform unit 2 is a four - wheeled unmanned vehicle or a tracked unmanned vehicle. More preferably, as Figure 1 shown, the carrier platform unit 2 is a tracked unmanned vehicle. Since the ground conditions in underground spaces are often complex, the environment is changeable, the road surface is uneven, there is water accumulation, and the rock structure is complex and diverse (such as a composite structure of hard rock and silt, sediment, etc.), compared with other unmanned vehicles, the tracked unmanned vehicle can more stably adapt to the above - mentioned complex environment. In addition, the tracked unmanned vehicle preferably uses all - terrain tracks. As an embodiment, the vehicle length of the tracked unmanned vehicle is 1.25 m, the width is 0.85 m, the load capacity is 200 kg, the wading depth is 10 cm, and the obstacle - crossing ability is 17 cm.

[0088] Preferably, the carrier platform unit 2 in the underground space real - scene three - dimensional data acquisition device 100 of the present invention preferably has a platform 21 above it, and the data acquisition unit 1 is arranged on the platform 21. In this way, the data acquisition unit 1 can be stably fixed, thus ensuring the accuracy of shooting and data acquisition. In addition, the platform 21 can also be used as an installation platform for other devices, and these other devices can be lamps for lighting, other sensors, etc.

[0089] The lidar point cloud device 11 and the real - scene three - dimensional camera group 12 in the data acquisition unit 1 are arranged front - to - back along the length direction of the platform 21. Such an arrangement can make the movement of the underground space real - scene three - dimensional data acquisition device 100 more stable and prevent the problem of device tipping that occurs when the lidar point cloud 11 and the real - scene three - dimensional camera 12 are arranged along the width direction of the platform 21.

[0090] In addition, the control unit in the underground space real-scene three-dimensional data acquisition device 100 of the present invention preferably further controls the carrier platform 21. In this way, the movement of the underground space real-scene three-dimensional data acquisition device 100 of the present invention can be operated through the control unit.

[0091] In addition, the underground space generally has the problem of poor light, which cannot meet the shooting requirements. Therefore, a supplementary lighting device 13 is also provided in the data acquisition unit 1 of the underground space real-scene three-dimensional data acquisition device 100 of the present invention to supplement light to the underground space for shooting in a suitable light environment.

[0092] The supplementary lighting device 13 preferably adopts a light strip 131 composed of LED lamp beads. In this way, not only can a light source with very high brightness be provided, but also electric energy can be saved to a great extent. In addition, the LED light strip 131 also has the following problems. The LED is a point light source, and the light emitted by it is not uniform. In addition, since the point light source emits light in all directions, a part of the light will directly irradiate on the lens of the above camera group, resulting in glare when the lens is shooting, seriously affecting the shooting effect. Therefore, in the present invention, the LED light strip 131 is arranged perpendicular to the bottom surface of the housing 121 of the real-scene three-dimensional camera group 12, that is, the extending direction of the LED light strip 131 is perpendicular to the plane of the bottom surface of the housing 131 of the real-scene three-dimensional camera group 12. In this way, the camera lens avoids the direct irradiation of the light from the LED light strip 131, thereby reducing the direct irradiation of the lamp beads in the LED light strip 131 on the camera group lens and greatly reducing the glare phenomenon. In addition, in order to make the light emitted by the LED light strip 131 more uniform and soft, it is preferred that the LED light strip 131 has a white lamp shade. By using the white lamp shade, the LED light strip 131 is changed from a point light source to a surface light source, and a more uniform surface light source illumination is realized.

[0093] In addition, multiple LED light strips 131 can be provided, such as Figure 1 As shown, in an embodiment of the present invention, an LED light strip 131 is provided in front of and behind the data acquisition unit 1 respectively. In this way, the same light source environment can be provided in the front and rear two directions of the underground space real-scene three-dimensional data acquisition device 100. In addition, combined with the arrangement that the extending direction of the LED light strip 131 is perpendicular to the plane of the bottom surface of the housing 121 of the real-scene three-dimensional camera group 12, a uniform light source environment can be obtained in the front, rear, left and right four directions of the underground space real-scene three-dimensional data acquisition device 100.

[0094] In addition, the control unit in the underground space real-scene three-dimensional data acquisition device 100 of the present invention preferably also controls the above-mentioned supplementary lighting device 13. Through the control of the control unit, the real-scene three-dimensional camera group 12 and the supplementary lighting device 13 can operate simultaneously. When the camera group 12 takes pictures, the supplementary lighting device 13 is started. In this way, electric energy can be further saved and the overall battery life of the underground space real-scene three-dimensional data acquisition device 100 can be extended.

[0095] Furthermore, preferably, the control unit has an electronic synchronous shutter, so that the lidar point cloud device 11, the real-scene three-dimensional camera group 12, and the supplementary lighting device 13 can be controlled to operate synchronously.

[0096] In addition, the control unit preferably has a remote control device, so that the relevant devices in the underground space real-scene three-dimensional data acquisition device of the present invention can be remotely controlled.

[0097] Next, a simple description of the operation mode of the data acquisition unit 1 in the underground space real-scene three-dimensional data acquisition device 100 of the present invention will be given.

[0098] The data acquisition unit 1 of the present invention includes a lidar point cloud device 11 and a real-scene three-dimensional camera group 12 composed of 5 cameras. The lidar point cloud device 11 is rigidly coupled by a Liuxingji three-dimensional laser scanner 113, a pair of fisheye RGB cameras 114, and an inertial measurement unit (IMU). The lidar point cloud device 11 captures the original laser ranging measurements and inertial data, and is registered in real time to a homogeneous 3D point cloud through the edge computing chip data processing unit. By using a novel 3D simultaneous localization and mapping (SLAM) algorithm, the lidar point cloud device 11 combines the Liuxingji three-dimensional laser scan data with the camera and IMU data in real time to generate an accurate 3D point cloud. The generated point cloud data can be downloaded from the data processing unit and imported into the Liuxingji desktop application or mobile terminal for further processing or exported in a variety of standard point cloud file formats; the camera combines high image quality, high speed, and three-proof performance perfectly, and is a photographing device that is fully applicable to the harsh environment in the underground space.

[0099] In order to solve the problem of integrating the lidar point cloud device 11 and 5 cameras to make a real-scene three-dimensional data acquisition device for use in the underground space, and to achieve high-precision 3D point cloud data acquisition and high-definition real-scene three-dimensional image acquisition, through camera shooting control, and recording the shooting position through the inertial measurement unit (IMU) when the camera takes pictures, the real-scene three-dimensional camera group acquisition device uses 5 cameras with 0-delay exposure, and can realize 5 cameras to simultaneously acquire real-scene three-dimensional image data in the underground space. Through post-processing of the data, high-precision and high-definition three-dimensional model data in the underground space can be obtained.

[0100] Industrial applicability

[0101] The device for obtaining three-dimensional real-scene data of underground space according to the present invention can synchronously obtain three-dimensional real-scene images and position data information of underground space, and has wide applications in underground space surveying and mapping.

Claims

1. An underground space real - scene three - dimensional data acquisition device (100), which has a data acquisition unit (1) and a carrier platform unit (2). The data acquisition unit (1) includes a lidar point cloud device (11), a real - scene three - dimensional camera group (12), and a supplementary lighting device (13). The real scene three-dimensional camera group (12) includes a housing (121) and a camera installed in the housing (121), wherein, The housing (121) is in the shape of the remaining area after cutting off the area surrounded by three consecutive faces and the longest diagonal line among these three faces from a regular octagonal prism. This shape includes five completely identical and consecutive side faces, namely side face (151) to side face (155), which are consecutively arranged in the order of side face (151), side face (152), side face (153), side face (154), side face (155). A lens hole (160) is provided at the center of side face (151) to side face (155). This shape also includes two upper and lower bottom faces, namely the upper bottom face (171) and the lower bottom face (172). The real - scene three - dimensional camera group (12) includes five cameras. Each of the five cameras includes a camera body and a lens (161). The lens (161) protrudes from the lens hole (160), and the axis of the lens (161) is collinear with the central normal line of the side face where it is located. Among side face (151), side face (152), side face (153), side face (154), and side face (155), the included angle between two adjacent side faces is 135°. The lens (161) uses a lens with a field of view angle of 90°. The lidar point cloud device (11) is in the shape of a drumstick, which includes a relatively thick and cylindrical upper part (111) and a relatively narrow and round - rod - shaped lower part (112). A Leica three - dimensional laser scanner (113) is installed on the top of the upper part (111). Two fisheye RGB cameras (114) are installed on the side of the upper part (111). The axes of the lenses of the two fisheye RGB cameras (114) are in the same plane, and the included angle between the lens axes is 120 degrees. An inertial measurement unit is installed inside the lower part (112). The carrier platform unit (2) is a device that can freely move the data acquisition unit (1) placed on it.

2. The underground space real scene three-dimensional data acquisition device (100) according to claim 1, wherein, The carrier platform unit (2) is a four - wheeled unmanned vehicle or a tracked unmanned vehicle.

3. The underground space real-scene three-dimensional data acquisition device (100) according to claim 1, wherein, The carrier platform unit (2) is a tracked unmanned vehicle.

4. The underground space real scene three-dimensional data acquisition device (100) according to claim 1, wherein, The supplementary lighting device (13) is an LED light strip (131).

5. The underground space real scene three-dimensional data acquisition device (100) according to claim 4, wherein, The LED light strip (131) is arranged perpendicular to the bottom face of the housing (121) of the real - scene three - dimensional camera group (12).

6. The underground space real scene three-dimensional data acquisition device (100) according to claim 4, wherein, The LED light strip (131) has a white lampshade.

7. The underground space real scene three-dimensional data acquisition device (100) according to claim 1, wherein, There is a platform (21) above the carrier platform unit (2), and the data acquisition unit (1) is arranged on this platform (21).

8. The underground space real scene three-dimensional data acquisition device (100) according to claim 7, wherein, The lidar point cloud device (11) and the real - scene three - dimensional camera group (12) in the data acquisition unit (1) are arranged front - to - back along the long direction of the platform (21).

9. The underground space real - scene three - dimensional data acquisition device (100) according to claim 1, which further includes a control unit that controls the data acquisition unit (1) and the carrier platform unit (2).

10. The underground space real scene three-dimensional data acquisition device (100) according to claim 9, wherein, The control unit includes an electronic synchronous shutter, which controls the lidar point cloud device (11), the real scene three-dimensional camera group (12), and the supplementary lighting device (13) so that the lidar point cloud device (11), the real scene three-dimensional camera group (12), and the supplementary lighting device (13) operate synchronously.

Images