Airborne laser three-dimensional scanner control method and system and scanner

Abstract

The invention relates to an airborne laser three-dimensional scanner control method and system and a scanner, and relates to the technical field of scanners, and the method comprises the steps: collecting the environment detection information of a detection range; scanning movement parameters are obtained according to the detection range and the environment detection information; the environment wind speed is called from the environment detection information; obtaining scanning suspension power in combination with the environment wind speed, the scanning movement parameters and the scanning specification; comparing exceeding conditions of the scanning suspension power and the reference suspension power to calculate deviation suspension power; obtaining a escort number and an air curtain parameter based on the deviation suspension power, the scanning movement parameter and the scanning specification; and combining the scanning specification and the scanning movement parameter to obtain a scanning range, acquiring scanning information of the scanning range according to a scanner of the scanning unmanned aerial vehicle to refresh the air curtain parameter, and controlling the escort unmanned aerial vehicle with the escort number to cooperatively fly with the scanning unmanned aerial vehicle according to the air curtain parameter. The method has the effect of improving the scanning accuracy of the airborne laser three-dimensional scanner.

Description

Technical Field

[0001] This invention relates to the technical field of scanners, and in particular to a control method, system and scanner for an airborne laser 3D scanner. Background Technology

[0002] A scanner is a data acquisition device that uses technologies such as optics, lasers, or electromagnetic induction to convert information such as the spatial shape, texture, and coordinates of physical objects (such as objects, environments, and documents) into digital data.

[0003] An airborne laser 3D scanner is a scanner mounted on a drone, which drives the scanner to scan the surrounding environment along a pre-defined path. During the scanning process, the drone's motors vibrate as it flies, and wind also causes vibrations in the scanner. Vibration reduction is achieved through a suspension and vibration damping device mounted on the drone.

[0004] During the scanning process of the airborne laser 3D scanner, the suspension and vibration reduction device on the drone has a rated power, so the drone can only carry out scanning and exploration under limited wind speed. However, environmental uncertainties may include gusts of wind, which can lead to inaccurate data collected by the airborne laser 3D scanner. Summary of the Invention

[0005] To improve the scanning accuracy of airborne laser 3D scanners, this invention provides an airborne laser 3D scanner control method, system, and scanner.

[0006] In a first aspect, the present invention provides a control method for an airborne laser 3D scanner, which adopts the following technical solution: A method for controlling an airborne laser 3D scanner, comprising: S10: Collect environmental detection information within the preset detection range; S11: Obtain scanning movement parameters based on the detection range and environmental detection information; S12: Retrieve ambient wind speed from environmental monitoring information; S13: Combine ambient wind speed, scanning movement parameters, and preset scanning specifications to obtain scanning vibration parameters; S14: Obtain the scanning suspension power based on the scanning vibration parameters; S15: Compare the scanned suspension power with the preset reference suspension power to calculate the deviation suspension power; S16: Based on deviation suspension power, scan movement parameters, and scan specifications, the escort number and wind curtain parameters are obtained; S17: Combine scanning specifications and scanning movement parameters to obtain the scanning range, and collect scanning information of the scanning range based on the scanner of the scanning drone; S18: Update the wind curtain parameters by scanning information, and control the escort drone with the preset escort number to fly in coordination with the preset scanning drone according to the wind curtain parameters.

[0007] By adopting the above technical solution, and controlling the escort drone to fly in coordination with the scanning drone using wind curtain parameters, the influence of ambient wind on the scanning drone can be attenuated by the wind curtain, thereby expanding the boundaries of the environmental scenarios in which the scanning drone can operate. This improves the accuracy of the airborne laser 3D scanner while ensuring the stability of the scanning drone.

[0008] Optionally, methods for obtaining the escort number include: S20: Retrieve the tilt angle from the scan movement parameters; S21: Retrieve the maximum width from the scan specifications; S22: Obtain the tilt height based on the tilt angle and maximum width; S23: Combine the tilt height with the preset safety distance to obtain the safety interval distance; S24: Obtain the air curtain power based on the deviation suspension power; S25: The diffusion distance is obtained based on the air curtain power and the safety interval distance; S26: Calculate the sum of the diffusion distance and the maximum width as the escort width, and obtain the escort number based on the escort width.

[0009] Optionally, methods for obtaining air curtain parameters include: S30: Retrieve wind direction from environmental monitoring information; S31: Retrieve the path direction from the scan movement parameters; S32: Combine the ambient wind direction and path direction to obtain the wind curtain blocking direction; S33: Obtain the detection number based on the direction of the air curtain obstruction and the preset air curtain number, and combine the air curtain power with the detection number to form the air curtain parameters.

[0010] Optionally, methods for updating air curtain parameters by scanning information include: S40: Obtain detection scanning information by scanning information and preset wind influence characteristics; S41: Update the detection scan information to obtain the detection change parameters; S42: Obtain baseline variation parameters based on ambient wind speed and detection scanning information; S43: Compare the detected variation parameter with the baseline variation parameter to calculate the deviation variation parameter; S44: Obtain gust wind speed based on deviation change parameters, and update wind curtain parameters based on gust wind speed.

[0011] Optional methods for updating air curtain parameters include: S50: Retrieve permissible vibration parameters from the scanning specifications; S51: Combine the allowable vibration parameters, the reference suspension power, and the preset reference wind curtain power to obtain the maximum wind speed that can be withstood; S52: Compare the gust wind speed with the maximum withstand wind speed to select whether to update the wind curtain parameters or obtain the withstand wind speed based on the reference suspension power. S53: Calculate the difference between the suspended wind speed and the gust wind speed as the wind speed deviation value; S54: The wind speed attenuation coefficient is obtained by using the escort width and the reference wind curtain power; S55: Obtain the attenuation power based on the wind speed deviation value and the wind speed attenuation coefficient; S56: Based on the scanning information, detection scanning information, and scanning movement parameters, the changed position is obtained, and the escort drone and scanning drone are controlled to fly parallel to each other based on the changed position and attenuation power. The changed position and attenuation power are also added to the wind curtain parameters.

[0012] By adopting the above technical solution, the escort drone and the scanning drone can be controlled to fly parallel by changing the position and attenuating the power. This allows for multiple attenuations of the ambient wind when the escort drone and the scanning drone are flying parallel, reducing the vibration of the scanning drone when it is affected by gusts, improving the stability of the scanning drone when it is affected by ambient gusts, and further improving the accuracy of the airborne laser 3D scanner.

[0013] Optionally, methods for controlling the escort drone and the scanning drone to fly in coordination include: S60: Update scan information; S61: When there are preset occlusion features in the scan information, the surrounding scan information is obtained by combining the scan information with the occlusion features; S62: Obtain surrounding objects based on surrounding scan information; S63: Compare the consistency of surrounding objects with preset moving object features to obtain surrounding moving objects; S64: Combine surrounding moving objects and occlusion features to obtain the moving contact position and moving direction; S65: Obtain the changed support position based on the surrounding scan information and the direction of movement, and use the surrounding scan information of the changed support position as the support scan information; S66: Update the air curtain parameters by supporting the scan information and the moving contact position, and combine the air curtain parameters and the moving contact position to obtain the control parameters; S67: Control the operation of escort drones and scanning drones based on control parameters to update scanning information of occlusion features.

[0014] By adopting the above technical solution, the escort drone and scanning drone can be controlled by control parameters to move objects and supplement missing scanning information, thereby improving the integrity of the airborne laser 3D scanner scan.

[0015] Optionally, methods for obtaining control parameters include: S70: Obtain reference movement force and reference scan information by observing surrounding moving objects and the position of movement contact; S71: Obtain abnormal scan information based on support scan information and baseline scan information; S72: Obtain the driving change frequency and change power based on the abnormal scan information; S73: Based on the surrounding scan information and the moving contact position, obtain the detected wind curtain number, control the escort drone to move to the contact position, detect the wind curtain number, and drive the drone to change the frequency and power. S74: The detection air curtain number, driving change frequency, and change power are added to the air curtain parameters, and the moving contact position and the new air curtain parameters are used as control parameters.

[0016] Optionally, the verification methods for control parameters include: S80: Maximum pushing force is obtained by detecting the air curtain number and the reference air curtain power; S81: Compare the baseline movement force with the maximum pushing force to select whether to update the control parameters or calculate the force deviation value; S82: Auxiliary magnetic attraction power is obtained based on the force deviation value; S83: Based on the change power, obtain the magnetic attraction change power, control the scanning drone to assist the magnetic attraction power, the magnetic attraction change power and drive the change frequency operation, and add the auxiliary magnetic attraction power and the magnetic attraction change power to the control parameters.

[0017] Secondly, this application provides an airborne laser 3D scanner control system, which adopts the following technical solution: An airborne laser 3D scanner control system includes: The acquisition module is used to acquire environmental monitoring information and scanning information; A memory for storing a program for controlling an airborne laser 3D scanner; The processor is used to load and execute programs stored in memory.

[0018] Thirdly, this application provides a scanner, which adopts the following technical solution: A scanner includes a memory and a processor, the memory storing a computer program that can be loaded by the processor and executed as a method for controlling an airborne laser 3D scanner.

[0019] In summary, this application includes at least one of the following beneficial technical effects: 1. By controlling the escort drone to fly in coordination with the scanning drone using wind curtain parameters, the influence of ambient wind on the scanning drone can be attenuated by the wind curtain, thereby expanding the boundaries of the environmental scenarios in which the scanning drone can operate, and improving the accuracy of the airborne laser 3D scanner while ensuring the stability of the scanning drone. 2. By changing the position and attenuating the power, the escort drone and the scanning drone can fly in parallel. This allows for multiple attenuations of the ambient wind during parallel flight, reducing vibrations in the scanning drone when subjected to gusts, improving the stability of the scanning drone when affected by ambient gusts, and further enhancing the accuracy of the airborne laser 3D scanner. 3. By controlling the operation of escort drones and scanning drones through control parameters, the escort drones and scanning drones can be used to move objects to supplement missing scanning information, thereby improving the integrity of airborne laser 3D scanner scans. Attached Figure Description

[0020] Figure 1 This is a flowchart of a method for controlling an airborne laser 3D scanner according to an embodiment of the present invention; Figure 2 This is a simplified schematic diagram illustrating the coordinated flight of a control escort drone and a scanning drone according to an embodiment of the present invention; Figure 3 This is a simplified schematic diagram illustrating the parallel flight of the escort drone and the scanning drone according to an embodiment of the present invention.

[0021] The parts referred to by the numbers in the above attached diagrams are as follows: 1. Escort drone; 2. Scanning drone; 3. Scanner; 4. Air curtain assembly; 5. Suction cup. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0023] Reference Figure 1 and Figure 2 This application discloses a control method for an airborne laser 3D scanner, comprising the following steps: S10: Collect environmental detection information within the preset detection range.

[0024] The detection range is the area that the airborne laser 3D scanner 3, as set by the technicians, needs to scan. Environmental monitoring information refers to the environmental parameters of the location within the detection range, including wind speed and direction. This environmental monitoring information can be obtained by the operator by querying the meteorological information of the location within the detection range in advance.

[0025] S11: Obtain scanning movement parameters based on the detection range and environmental detection information.

[0026] Scanning movement parameters refer to the movement parameters of the scanning drone 2, which is equipped with an airborne laser 3D scanner 3, when scanning the detection area. These parameters include the movement path, angle changes, and movement speed. The system analyzes the detection area and environmental detection information using a path planning algorithm to obtain the movement path, angle changes, and movement speed as scanning movement parameters.

[0027] The path planning algorithm dynamically adjusts the movement speed to adapt to the wind speed detected in the environment, ensuring scanning stability, and plans the movement path and angle changes in a way that avoids obstacles within the detection range and ensures the integrity of the scan coverage. The configuration of the path planning algorithm is common knowledge to those skilled in the art and will not be described in detail here.

[0028] S12: Retrieve ambient wind speed from environmental monitoring information.

[0029] Ambient wind speed refers to the wind speed in the environment at the location of the detection range, which is obtained by retrieving ambient wind speed from environmental monitoring information.

[0030] S13: Combine ambient wind speed, scanning movement parameters, and preset scanning specifications to obtain scanning vibration parameters.

[0031] The scanning specifications are the manufacturing specifications of the scanning drone 2 set by the technicians, including the upper limit of the payload of the scanning drone 2, the installation and fixing structure parameters of the scanner 3, and the rated operating parameters of the suspension and vibration reduction system. Scanning vibration parameters refer to the vibration characteristic parameters generated by the scanning drone 2 during the scanning process under the combined influence of ambient wind speed and scanning movement, including vibration frequency and amplitude. By inputting the ambient wind speed, scanning movement parameters (curvature of the movement path, rate of change of movement speed), and scanning specifications into the mechanical vibration coupling analysis model for analysis, parameters such as vibration frequency and amplitude are obtained as scanning vibration parameters. The mechanical vibration coupling analysis model is common knowledge to those skilled in the art and will not be elaborated upon here.

[0032] In this embodiment, the suspension damping device on the scanning drone 2, which includes a suspension damping system, is a small electromagnetic suspension damping system.

[0033] S14: Obtain the scanning suspension power based on the scanning vibration parameters.

[0034] Scanning levitation power refers to the power parameter required by the levitation damping system on the scanning UAV2 to counteract the scanning vibration parameters. The scanning levitation power is derived by substituting the scanning vibration parameters into the electromagnetic levitation power calculation model (which correlates the vibration amplitude with the compensation power requirement of the levitation system). The electromagnetic levitation power calculation model is common knowledge among technical personnel and will not be elaborated upon here.

[0035] S15: Compare the scanned suspension power with the preset reference suspension power to calculate the deviation suspension power.

[0036] The reference levitation power is the rated power of the levitation damping system on the scanning drone 2, as set by the technicians.

[0037] Deviation suspension power refers to the deviation value between the scanning suspension power and the reference suspension power. By analyzing the situation where the scanning suspension power exceeds the reference suspension power, it is found that when the scanning suspension power does not exceed the reference suspension power, it means that the suspension vibration reduction system on the scanning UAV 2 can offset the scanning vibration parameters. Therefore, it is not necessary to add a UAV for assistance, and the scanning UAV 2 can be controlled to fly and scan with scanning movement parameters.

[0038] When the scanning suspension power exceeds the reference suspension power, it indicates that the suspension vibration reduction system on the scanning UAV 2 is not easy to counteract the scanning vibration parameters. Therefore, the difference between the scanning suspension power and the reference suspension power is calculated as the deviation suspension power.

[0039] S16: Based on the deviation suspension power, scan movement parameters, and scan specifications, the escort number and wind curtain parameters are obtained.

[0040] The escort drone 1 refers to the drone used to assist the scanning drone 2 in performing flight scanning. The escort drone 1 is equipped with a flexible suction cup 5 (which is later used to attach objects for pushing them), a vacuum pump to assist the suction cup 5 in attaching objects, and an air curtain component 4 that generates an air curtain around the drone.

[0041] The escort number refers to the serial number of the escort drone 1. Different specifications of escort drone 1 have different escort numbers. The wind curtain parameters refer to the parameters that control the operation of the wind curtain on the escort drone 1, such as the serial number and power of each wind curtain component 4. The escort number and wind curtain parameters are obtained by analyzing the deviation suspension power, scanning movement parameters, and scanning specifications.

[0042] S17: Combine scanning specifications and scanning movement parameters to obtain the scanning range, and collect scanning information of the scanning range based on the scanner 3 of the scanning drone 2.

[0043] The scanning range refers to the area that the airborne laser 3D scanner 3 can effectively cover under the scanning movement parameters of the scanning drone 2. The effective scanning radius, scanning angle, and other parameters of the scanner 3 are retrieved from the scanning specifications, and then the effective scanning radius, scanning angle, and other parameters are superimposed with the path coverage area of ​​the scanning movement parameters to obtain the range as the scanning range. The calculation method for the scanning range is common knowledge to those skilled in the art and will not be elaborated here.

[0044] S18: Update the wind curtain parameters by scanning information, and control the escort drone 1 with the preset escort number to fly in coordination with the preset scanning drone 2 according to the wind curtain parameters.

[0045] By analyzing the scanned information to obtain new wind curtain parameters, the escort drone 1 with the escort number is controlled to fly in coordination with the scanning drone 2 according to the wind curtain parameters. This allows the wind curtain of the escort drone 1 to surround the scanning drone 2, reducing the vibration of the scanner 3 on the scanning drone 2 caused by the ambient wind, improving the stability of the airborne laser 3D scanner 3 during scanning, and further improving the accuracy of scanning.

[0046] Methods for obtaining the escort number include: S20: Retrieve the tilt angle from the scan movement parameters.

[0047] The tilt angle refers to the angle by which the scanning drone 2 changes its body tilt posture to cover the detection range, and is obtained by retrieving the tilt angle from the scanning movement parameters. In this embodiment, the scanning drone 2 tilts around its own center point.

[0048] S21: Retrieve the maximum width from the scan specifications.

[0049] The maximum width refers to the maximum lateral width of the scanning drone 2, which is obtained by retrieving the maximum width from the scanning specifications.

[0050] S22: Obtain the tilt height based on the tilt angle and maximum width.

[0051] Tilt height refers to the vertical height increase of the highest point of the scanning drone 2 when it tilts at a tilt angle. It is calculated using trigonometric functions by taking the tilt angle and the maximum width. The calculation method for tilt height is common knowledge to those skilled in the art and will not be elaborated here.

[0052] S23: Combine the tilt height with the preset safety distance to obtain the safety interval distance.

[0053] The safe distance is the minimum vertical separation between escort drone 1 and scanning drone 2, as set by the technicians. The safe distance refers to the vertical distance between the centers of escort drone 1 and scanning drone 2, calculated as the sum of the safe distance and the tilt height.

[0054] S24: Obtain the air curtain power based on the deviation suspension power.

[0055] The wind curtain power refers to the power required to be output by the wind curtain component 4 on the escort drone 1. The wind curtain power is matched from the preset wind curtain reference table by the deviation suspension power.

[0056] The air curtain reference table stores the air curtain power corresponding to different deviation suspension power. The greater the deviation suspension power, the greater the air curtain power. The parameters in the air curtain reference table are set in advance by those skilled in the art based on actual conditions and will not be elaborated here.

[0057] S25: The diffusion distance is obtained based on the wind curtain power and the safety interval distance.

[0058] The diffusion distance refers to the distance that the air curtain spreads laterally around the scanning drone 2 when the air curtain component 4 is running at air curtain power. The diffusion distance is determined by matching the air curtain power with the safe interval distance from the air curtain lookup table.

[0059] The air curtain reference table stores the diffusion distance corresponding to different air curtain powers and safety intervals. The smaller the air curtain power, the larger the safety interval and the larger the diffusion distance, which will not be elaborated here.

[0060] S26: Calculate the sum of the diffusion distance and the maximum width as the escort width, and obtain the escort number based on the escort width.

[0061] In this embodiment, each air curtain component 4 forms a circular air curtain. The escort width refers to the minimum diameter allowed by the air curtain component 4 of the escort drone 1. The escort width is calculated by the sum of the diffusion distance and the maximum width. Based on the escort width, an escort number is selected from each number. Different escort numbers correspond to different specifications of escort drones 1. The diameter of the circular air curtain formed by each air curtain component 4 of different specifications of escort drones 1 is different.

[0062] Methods for obtaining air curtain parameters include: S30: Retrieve wind direction from environmental monitoring information.

[0063] Environmental wind direction refers to the direction of airflow at the location of the detection range, which is obtained by retrieving environmental wind direction from environmental monitoring information.

[0064] S31: Retrieve the path direction from the scan movement parameters.

[0065] The path direction refers to the heading direction of the scanning UAV 2 when it flies according to the scanning movement parameters. The path direction is retrieved from the scanning movement parameters.

[0066] S32: Combine the ambient wind direction and path direction to obtain the wind curtain blocking direction.

[0067] The wind curtain blocking direction refers to the direction that the escort drone 1 wind curtain needs to cover. The direction corresponding to the environmental wind direction is taken as the wind curtain blocking direction based on the real-time path direction.

[0068] S33: Obtain the detection number based on the direction of the air curtain obstruction and the preset air curtain number, and combine the air curtain power with the detection number to form the air curtain parameters.

[0069] The wind curtain number is the number assigned to each wind curtain component 4 on the escort drone 1 by the technicians. The detection number refers to the wind curtain number included in the wind curtain blocking direction. By analyzing the inclusion of the wind curtain blocking direction, the wind curtain numbers within the range of the wind curtain blocking direction are used as the detection numbers, and the wind curtain power is combined with the detection number to form the wind curtain parameters.

[0070] Methods for updating air curtain parameters by scanning information include: S40: Obtain detection scanning information by scanning information and preset wind influence characteristics.

[0071] Wind-affected features are characteristics of objects affected by wind changes, defined by technicians. Examples include the shape of tree branches and trunks, leaf distribution, texture density of water ripples, and the outline features of flexible structures (such as tents and cables). Detection scan information refers to the scan information of objects with wind-affected features; this information is retrieved from the existing scan information to serve as the detection scan information.

[0072] S41: Update the detection scan information to obtain the detection change parameters.

[0073] The detected change parameters refer to the quantitative data of the dynamic changes of objects affected by wind within a unit of time, including the swaying amplitude and frequency of tree branches, the propagation speed of water ripples, and the degree of deformation of flexible structures. The detection scan information is updated using a "continuous frame comparison" method. By analyzing the point cloud coordinate differences and contour deformation of adjacent frames, the dynamic change data of each wind-affected object is calculated as the detected change parameters. The inter-frame comparison and deformation analysis methods are common knowledge to those skilled in the art and will not be elaborated upon here.

[0074] S42: Based on the ambient wind speed and detection scanning information, the baseline variation parameters are obtained.

[0075] The baseline variation parameter refers to the dynamic variation data that an object should theoretically produce under the influence of wind force at ambient wind speed. By detecting and scanning information and running a three-dimensional model with ambient wind speed, the dynamic variation data of the operation under ambient wind speed is used as the baseline variation parameter.

[0076] S43: Compare the detected variation parameters with the baseline variation parameters to calculate the deviation variation parameters.

[0077] The deviation change parameter refers to the deviation parameter of the dynamic change data between the detected change parameter and the reference change parameter. By analyzing the exceedance of the detected change parameter and the reference change parameter, when the detected change parameter does not exceed the reference change parameter, it indicates that the ambient wind will decrease, so no adjustment is made.

[0078] When the detected change parameter exceeds the baseline change parameter, it indicates that there will be strong gusts of wind in the environment. The difference between the detected change parameter and the corresponding data of the baseline change parameter is then calculated as the deviation change parameter.

[0079] S44: Obtain gust wind speed based on deviation change parameters, and update wind curtain parameters based on gust wind speed.

[0080] Gust wind speed refers to a sudden wind speed that exceeds the ambient wind speed at the location of the detection range. The gust wind speed is matched from the preset wind force influence comparison table by the deviation change parameter, and the gust wind speed is analyzed to obtain new wind curtain parameters.

[0081] The wind force impact comparison table stores the gust speeds corresponding to the deviation changes in parameters for different wind force impact characteristics. When the wind force impact characteristics remain constant, the larger the deviation change parameter, the greater the gust speed; this will not be elaborated upon here.

[0082] Reference Figure 3 Methods for updating air curtain parameters include: S50: Retrieve permissible vibration parameters from the scanning specifications.

[0083] The permissible vibration parameter refers to the maximum vibration tolerance threshold that the airborne laser 3D scanner 3 on the scanning drone 2 can maintain scanning accuracy. The permissible vibration parameter is obtained by retrieving it from the scanning specifications.

[0084] S51: Combines allowable vibration parameters, reference suspension power, and preset reference wind curtain power to obtain the maximum withstand wind speed.

[0085] The reference wind curtain power is the rated power of the wind curtain assembly 4 as set by the technicians. The maximum withstand wind speed refers to the maximum ambient wind speed at which the vibration of the scanner 3 on the scanning drone 2 does not exceed the allowable vibration parameters when the escort drone 1 is assisted by the reference wind curtain power. The maximum withstand wind speed is determined by matching the allowable vibration parameters, the reference suspension power, and the reference wind curtain power from the wind force influence comparison table.

[0086] The wind force impact comparison table stores the maximum wind speeds corresponding to different permissible vibration parameters, reference suspension power, and reference wind curtain power. The higher the permissible vibration parameter, reference suspension power, and reference wind curtain power, the higher the maximum wind speed that can be withstood; this will not be elaborated upon here.

[0087] S52: Compare the gust wind speed with the maximum allowable wind speed to select whether to update the wind curtain parameters or obtain the allowable wind speed based on the reference suspension power.

[0088] By analyzing the situation where the gust speed exceeds the maximum allowable wind speed, it is found that when the gust speed does not exceed the maximum allowable wind speed, it means that with the assistance of the escort drone 1, the vibration of the scanner 3 on the scanning drone 2 does not exceed the allowable vibration parameters. Therefore, the wind curtain power of the escort drone 1 is updated first, and then the scanning suspension power is adjusted so that the scanning drone 2 can perform scanning under gust wind speed with the assistance of the escort drone 1.

[0089] The suspension withstand wind speed refers to the maximum ambient wind speed at which the scanner 3 on the scanning drone 2 does not vibrate beyond the allowable vibration parameters when relying on the suspension damping system. When the gust wind speed exceeds the maximum withstand wind speed, it means that the scanner 3 on the scanning drone 2 vibrates beyond the allowable vibration parameters with the assistance of the escort drone 1. The maximum withstand wind speed matched from the wind force influence comparison table by the reference suspension power is then used as the suspension withstand wind speed.

[0090] S53: Calculate the difference between the suspended wind speed and the gust wind speed as the wind speed deviation value.

[0091] The wind speed deviation value refers to the deviation between the suspended wind speed and the gust wind speed. It is calculated by taking the difference between the suspended wind speed and the gust wind speed as the wind speed deviation value.

[0092] S54: The wind speed attenuation coefficient is obtained by using the escort width and the reference wind curtain power.

[0093] The wind speed attenuation coefficient refers to the coefficient value of the wind speed attenuation of the wind curtain component 4 of the escort drone 1 when it is parallel to resist gust wind speed. The wind speed attenuation coefficient is obtained by matching the escort width and the reference wind curtain power from the wind curtain reference table. In this embodiment, when the escort drone 1 and the scanning drone 2 fly parallel to each other, the gust wind needs to be attenuated twice by the wind curtain component 4 in the straight direction before it acts on the scanning drone 2.

[0094] The wind curtain comparison table stores the wind speed attenuation coefficients corresponding to different escort widths and baseline wind curtain powers. The larger the escort width, the higher the baseline wind curtain power, and the greater the wind speed attenuation coefficient, which will not be elaborated here.

[0095] S55: The attenuation power is obtained based on the wind speed deviation value and the wind speed attenuation coefficient.

[0096] Attenuation power refers to the power required for the wind curtain component 4 of the escort drone 1 to operate when it is parallel to resist gust wind speed. The power value obtained by combining the wind speed deviation value and the wind speed attenuation coefficient is used as the attenuation power.

[0097] S56: Based on the scanning information, detection scanning information, and scanning movement parameters, the changed position is obtained, and the escort UAV 1 and scanning UAV 2 are controlled to fly parallel to each other based on the changed position and attenuation power, and the changed position and attenuation power are added to the wind curtain parameters.

[0098] The change position refers to the position of the escort drone 1 relative to the scanning drone 2 when it is parallel to the gust wind speed. The direction of the change in the scanning information and the detection scanning information is used as the gust wind direction. The scanning movement parameters are used as the coordinate basis of the scanning drone 2. The coordinate basis is used as the position points of the gust wind direction and the preset parallel interval as the change position. The escort drone 1 and the scanning drone 2 are controlled to fly parallel to each other based on the change position and the attenuation power. The change position and the attenuation power are also added to the wind curtain parameters.

[0099] The parallel spacing is the minimum distance set by the technicians for the escort drone 1 and the scanning drone 2 to fly parallel to each other.

[0100] The methods for controlling the escort drone 1 and the scanning drone 2 to fly in coordination include: S60: Update scan information.

[0101] Re-collect scan information.

[0102] S61: When there are preset occlusion features in the scan information, the surrounding scan information is obtained by combining the scan information with the occlusion features.

[0103] The occlusion feature is a feature set by the technician that obstructs the scanning of the scanner 3. When the occlusion feature exists in the scan information, it means that an object is obstructing the scanning of the scanner 3, causing the range information to be missing in the scan information.

[0104] Surrounding scan information refers to the scan information surrounding the occluded feature. It is defined as the scan information that surrounds the occluded feature.

[0105] S62: Obtain surrounding objects based on surrounding scan information.

[0106] Surrounding objects refer to the objects corresponding to the surrounding scan information. By performing point cloud clustering and contour extraction on the surrounding scan information, point cloud clusters with continuous spatial morphology are input into a preset object database, and the matched objects are taken as surrounding objects.

[0107] Clustering algorithms (such as K-Means and DBSCAN) are common knowledge to those skilled in the art and will not be elaborated upon here.

[0108] The object database stores objects corresponding to different point cloud clusters. The parameters in the object database are set in advance by those skilled in the art based on actual conditions and will not be elaborated here.

[0109] S63: Compare the consistency of surrounding objects with preset moving object features to obtain surrounding moving objects.

[0110] Moving object features are characteristics defined by technicians for objects capable of changing position. Surrounding moving objects refer to objects in the surrounding area that can be moved. By analyzing the consistency between the features of surrounding objects and moving objects, surrounding objects containing the features of moving objects are identified as surrounding moving objects.

[0111] S64: Combine surrounding moving objects and occlusion features to obtain the moving contact position and moving direction.

[0112] The moving contact position refers to the boundary position where the surrounding moving object can be moved and contacted. In this embodiment, since the suction cup 5 is attached in the same direction as the airflow direction of the air curtain assembly 4, and the diameter of the suction cup 5 is smaller than the diameter of the circular outline formed by the air curtain assembly 4, when the suction cup 5 is attached to the boundary of the surrounding moving object, part of the airflow blown by the air curtain assembly 4 will not be blocked by the surrounding moving object, allowing the escort drone 1 to move the surrounding moving object. Therefore, the moving contact position is the position on the surrounding moving object where the suction cup 5 can be attached to the boundary and exposes the air curtain assembly 4 the most. For example, if the surrounding moving object is a door, the two apex positions of the door farthest from the rotation axis are used as the moving contact positions, with the apex position farthest from the ground being preferred.

[0113] The direction of movement refers to the direction that can cause surrounding moving objects to move, such as a door. When analyzing surrounding moving objects, we obtain the characteristics of the objects, obtain the axis of rotation of the objects from the characteristics, and take the direction of movement change corresponding to the axis of rotation as the direction of movement.

[0114] S65: Obtain the changed support position based on the surrounding scan information and the direction of movement, and use the surrounding scan information of the changed support position as the support scan information.

[0115] The variable support position refers to the position point that supports the movement of surrounding moving objects. The object's axis of movement is obtained by analyzing the surrounding scanning information and the direction of movement, and the position of this axis of movement is used as the variable support position.

[0116] Support scan information refers to the surrounding scan information when the support position changes. The surrounding scan information when the support position changes is used as support scan information.

[0117] S66: Update the air curtain parameters by supporting the scan information and the moving contact position, and combine the air curtain parameters and the moving contact position to obtain the control parameters.

[0118] Control parameters refer to the parameters that control the operation of escort UAV 1 and scanning UAV 2. New wind curtain parameters are obtained by analyzing the support scanning information and the moving contact position, and control parameters are obtained by combining the new wind curtain parameters and the moving contact position.

[0119] S67: Control the escort drone 1 and scanning drone 2 to update the scanning information of occlusion features according to the control parameters.

[0120] The escort drone 1 and the scanning drone 2 are controlled according to the control parameters, and the positions of the obscured features are re-scanned to obtain new scanning information.

[0121] Methods for obtaining control parameters include: S70: Obtain reference movement force and reference scan information by observing surrounding moving objects and their contact points.

[0122] The reference movement force refers to the minimum force required to move surrounding moving objects at the moving contact point. This force is calculated by analyzing the estimated weight of surrounding moving objects and the torque at the moving contact point from surrounding scan information, and is used as the reference movement force. Torque calculation and 3D estimation of object weight are common knowledge to those skilled in the art and will not be elaborated upon here.

[0123] The reference scan information refers to the standard scan information of surrounding moving objects. The reference scan information is obtained by matching the surrounding moving objects from the object database. The object database stores the reference scan information corresponding to different surrounding moving objects in advance, which will not be elaborated here.

[0124] S71: Obtain abnormal scan information based on support scan information and reference scan information.

[0125] Abnormal scanning information refers to point cloud data where the support scanning information is inconsistent with the reference scanning information, reflecting structural anomalies in the position of the support. For example, rust on the pivot of a door can cause surface protrusions. By performing point cloud registration and difference calculation on the support scanning information and the reference scanning information, the point cloud data corresponding to the difference is taken as abnormal scanning information. The registration and difference calculation methods are common knowledge to those skilled in the art and will not be elaborated here.

[0126] S72: Obtain the driving frequency and power of the change based on the abnormal scan information.

[0127] The driving frequency refers to the intermittent output frequency of the wind curtain component 4 of the escort drone 1, and the changing power refers to the intermittently changing power of the wind curtain component 4 of the escort drone 1. The driving frequency and changing power are matched from the wind curtain lookup table through abnormal scanning information.

[0128] The wind curtain reference table stores the driving frequency and power corresponding to different abnormal scan information. The larger the abnormal scan information and the different abnormal information ranges it falls into, the greater the corresponding driving frequency and power. This will not be elaborated on here.

[0129] S73: Based on the surrounding scan information and the moving contact position to obtain the detected wind curtain number, control the escort drone 1 to move to the contact position, detect the wind curtain number, and drive the operation with varying frequency and power.

[0130] The detection wind curtain number refers to the wind curtain number that can generate driving force when the escort drone 1 is attached to the moving contact position. The range of the moving contact position is retrieved from the surrounding scanning information. Referring to S64, the wind curtain number of the wind curtain component 4 that is not included in the range when the escort drone 1 is attached to the moving contact position is used as the detection wind curtain number.

[0131] S74: The detection air curtain number, driving change frequency, and change power are added to the air curtain parameters, and the moving contact position and the new air curtain parameters are used as control parameters.

[0132] New air curtain parameters are obtained by adding the detected air curtain number, the frequency of the push change, and the power of the change to the air curtain parameters. The moving contact position and the new air curtain parameters are then used as control parameters.

[0133] Methods for verifying control parameters include: S80: Maximum pushing force is obtained by detecting the air curtain number and the reference air curtain power.

[0134] The maximum pushing force refers to the maximum force that the air curtain component 4 with the detected air curtain number can push. The reference pushing force is matched from the air curtain reference table by the reference air curtain power, and the product of the number of air curtain components 4 corresponding to the detected air curtain number and the reference pushing force is calculated to obtain the maximum pushing force.

[0135] The air curtain reference table stores the reference driving force corresponding to different reference air curtain powers. The higher the reference air curtain power, the greater the reference driving force, which will not be elaborated here.

[0136] S81: Compare the baseline movement force with the maximum pushing force to select to update the control parameters or calculate the force deviation value.

[0137] The force deviation value refers to the deviation between the reference movement force and the maximum pushing force. By analyzing the excess of the reference movement force and the maximum pushing force, when the reference movement force does not exceed the maximum pushing force, it means that the air curtain component 4 with the detected air curtain number can drive the surrounding moving objects to move. Then, referring to S80, the power value deduced from the reference movement force and the number of air curtain components 4 with the detected air curtain number is used to obtain new air curtain parameters, and the control parameters are updated according to the new air curtain parameters.

[0138] When the reference moving force exceeds the maximum pushing force, it indicates that the air curtain component 4, which detects the air curtain number, is not easy to drive the surrounding moving objects to move. The difference between the reference moving force and the maximum pushing force is then calculated as the force deviation value.

[0139] S82: The auxiliary magnetic attraction power is obtained based on the force deviation value.

[0140] The auxiliary magnetic attraction power refers to the power of the electromagnet set on the scanning drone 2 to assist in operation. The auxiliary magnetic attraction power is matched from the preset magnetic attraction reference table by the force deviation value.

[0141] The magnetic attraction reference table stores the auxiliary magnetic attraction power corresponding to different force deviation values. The larger the force deviation value, the greater the auxiliary magnetic attraction power. The parameters in the magnetic attraction reference table are set in advance by those skilled in the art based on actual conditions, and will not be elaborated here.

[0142] S83: Based on the change power, obtain the magnetic attraction change power, and control the scanning drone 2 to assist the magnetic attraction power, the magnetic attraction change power and drive the change frequency operation, and add the auxiliary magnetic attraction power and the magnetic attraction change power to the control parameters.

[0143] The magnetic attraction change power refers to the power of the magnetic attraction change that is the same as the output force corresponding to the change power. The change force is obtained by referring to the change power in S80. Then, based on S82, the power value matched by the change force is used as the magnetic attraction change power. The scanning drone 2 is controlled to assist the magnetic attraction power, the magnetic attraction change power and drive the change frequency operation. The auxiliary magnetic attraction power and the magnetic attraction change power are added to the control parameters.

[0144] Based on the same inventive concept, embodiments of the present invention provide an airborne laser 3D scanner control system, comprising: The acquisition module is used to acquire environmental monitoring information and scanning information; A memory for storing a program for controlling an airborne laser 3D scanner; The processor is used to load and execute programs stored in memory.

[0145] Based on the same inventive concept, embodiments of the present invention provide a scanner, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as a control method for an airborne laser 3D scanner.

[0146] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0147] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A control method for an airborne laser 3D scanner, characterized in that, include: S10: Collect environmental detection information within the preset detection range; S11: Obtain scanning movement parameters based on the detection range and environmental detection information; S12: Retrieve ambient wind speed from environmental monitoring information; S13: Combine ambient wind speed, scanning movement parameters, and preset scanning specifications to obtain scanning vibration parameters; S14: Obtain the scanning suspension power based on the scanning vibration parameters; S15: Compare the scanned suspension power with the preset reference suspension power to calculate the deviation suspension power; S16: Based on deviation suspension power, scan movement parameters, and scan specifications, the escort number and wind curtain parameters are obtained; S17: Combine scanning specifications and scanning movement parameters to obtain the scanning range, and collect scanning information of the scanning range based on the scanner (3) of the scanning drone (2); S18: Update the wind curtain parameters by scanning information and control the escort drone (1) with the preset escort number to fly in coordination with the preset scanning drone (2) with the wind curtain parameters.

2. The airborne laser 3D scanner control method according to claim 1, characterized in that, Methods for obtaining escort numbers include: S20: Retrieve the tilt angle from the scan movement parameters; S21: Retrieve the maximum width from the scan specifications; S22: Obtain the tilt height based on the tilt angle and maximum width; S23: Combine the tilt height with the preset safety distance to obtain the safety interval distance; S24: Obtain the air curtain power based on the deviation suspension power; S25: The diffusion distance is obtained based on the air curtain power and the safety interval distance; S26: Calculate the sum of the diffusion distance and the maximum width as the escort width, and obtain the escort number based on the escort width.

3. The airborne laser 3D scanner control method according to claim 2, characterized in that, Methods for obtaining air curtain parameters include: S30: Retrieve wind direction from environmental monitoring information; S31: Retrieve the path direction from the scan movement parameters; S32: Combine the ambient wind direction and path direction to obtain the wind curtain blocking direction; S33: Obtain the detection number based on the direction of the air curtain obstruction and the preset air curtain number, and combine the air curtain power with the detection number to form the air curtain parameters.

4. The airborne laser 3D scanner control method according to claim 3, characterized in that, Methods for updating air curtain parameters by scanning information include: S40: Obtain detection scanning information by scanning information and preset wind influence characteristics; S41: Update the detection scan information to obtain the detection change parameters; S42: Obtain baseline variation parameters based on ambient wind speed and detection scanning information; S43: Compare the detected variation parameter with the baseline variation parameter to calculate the deviation variation parameter; S44: Obtain gust wind speed based on deviation change parameters, and update wind curtain parameters based on gust wind speed.

5. The airborne laser 3D scanner control method according to claim 4, characterized in that, Methods for updating air curtain parameters include: S50: Retrieve permissible vibration parameters from the scanning specifications; S51: Combine the allowable vibration parameters, the reference suspension power, and the preset reference wind curtain power to obtain the maximum wind speed that can be withstood; S52: Compare the gust wind speed with the maximum withstand wind speed to select whether to update the wind curtain parameters or obtain the withstand wind speed based on the reference suspension power. S53: Calculate the difference between the suspended wind speed and the gust wind speed as the wind speed deviation value; S54: The wind speed attenuation coefficient is obtained by using the escort width and the reference wind curtain power; S55: Obtain the attenuation power based on the wind speed deviation value and the wind speed attenuation coefficient; S56: Based on the scanning information, detection scanning information and scanning movement parameters, the change position is obtained, and the escort UAV (1) and the scanning UAV (2) are controlled to fly in parallel according to the change position and attenuation power, and the change position and attenuation power are added to the wind curtain parameters.

6. The airborne laser 3D scanner control method according to claim 5, characterized in that, The methods for controlling the escort drone (1) and the scanning drone (2) to fly in coordination include: S60: Update scan information; S61: When there are preset occlusion features in the scan information, the surrounding scan information is obtained by combining the scan information with the occlusion features; S62: Obtain surrounding objects based on surrounding scan information; S63: Compare the consistency of surrounding objects with preset moving object features to obtain surrounding moving objects; S64: Combine surrounding moving objects and occlusion features to obtain the moving contact position and moving direction; S65: Obtain the changed support position based on the surrounding scan information and the direction of movement, and use the surrounding scan information of the changed support position as the support scan information; S66: Update the air curtain parameters by supporting the scan information and the moving contact position, and combine the air curtain parameters and the moving contact position to obtain the control parameters; S67: Control the escort drone (1) and the scanning drone (2) according to the control parameters to update the scanning information of the occlusion features.

7. The airborne laser 3D scanner control method according to claim 6, characterized in that, Methods for obtaining control parameters include: S70: Obtain reference movement force and reference scan information by observing surrounding moving objects and the position of movement contact; S71: Obtain abnormal scan information based on support scan information and baseline scan information; S72: Obtain the driving change frequency and change power based on the abnormal scan information; S73: Based on the surrounding scan information and the moving contact position to obtain the detected wind curtain number, control the escort drone (1) to move to the contact position, detect the wind curtain number, and drive the variable frequency and variable power to operate; S74: The detection air curtain number, driving change frequency, and change power are added to the air curtain parameters, and the moving contact position and the new air curtain parameters are used as control parameters.

8. The airborne laser 3D scanner control method according to claim 7, characterized in that, Methods for verifying control parameters include: S80: Maximum pushing force is obtained by detecting the air curtain number and the reference air curtain power; S81: Compare the baseline movement force with the maximum pushing force to select whether to update the control parameters or calculate the force deviation value; S82: Auxiliary magnetic attraction power is obtained based on the force deviation value; S83: Based on the change power, obtain the magnetic attraction change power, and control the scanning drone (2) to assist the magnetic attraction power, the magnetic attraction change power and drive the change frequency operation, and add the auxiliary magnetic attraction power and the magnetic attraction change power to the control parameters.

9. A control system for an airborne laser 3D scanner, characterized in that, include: The acquisition module is used to acquire environmental monitoring information and scanning information; A memory for storing a program that implements the airborne laser 3D scanner control method as described in any one of claims 1 to 8; The processor is used to load and execute programs stored in memory.

10. A scanner, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 8.

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