3D Lidar Variable-Speed Scanning for Uniform Point Cloud Distribution
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Solution Overview
Problem
Existing 3D lidars with constant-speed rotating structures result in uneven point clouds, with dense scanning in the center and sparse scanning around the periphery, leading to non-ideal acquisition effects.
Innovation Solution
A 3D lidar with a vertical scanning unit and horizontal rotating device that allows for constant or non-constant speed rotation, controlling the scanning viewpoint to achieve high-density scanning in any area within the view angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If constant-speed rotation is used in vertical scanning unit and horizontal rotating device, then the structure is simple and easy to control, but the point cloud distribution becomes uneven with dense scanning in center area and sparse scanning in surrounding areas
Solution Approach 1:
The patent applies dynamics by transforming the static constant-speed rotation into dynamic variable-speed rotation. The control module adjusts the rotation speeds of both the vertical scanning unit and horizontal rotating device in real-time based on scanning position, enabling the system to adapt its scanning characteristics dynamically. This resolves the contradiction by allowing simple control structure while achieving uniform point cloud distribution through speed variation.
Solution Approach 2:
The patent changes the operational parameters (rotation speeds) of the scanning components. By modifying the rotation speed parameters from fixed constant values to variable values that change based on scanning area, the system achieves uniform point cloud distribution. The control module implements this by adjusting speed parameters dynamically during operation.
2Measurement precision
If the scanning viewpoint center is fixed in the top area, then the top area receives frequent scanning with dense point cloud, but the surrounding areas receive sparse scanning
Solution Approach 1:
The patent applies asymmetry by deliberately shifting the scanning viewpoint center away from the fixed top area position. The control module adjusts the viewpoint center to different locations based on scanning requirements, creating asymmetric scanning patterns that ensure all areas receive appropriate scanning attention. This prevents the concentration of scanning points in the center while maintaining adequate coverage of surrounding areas.
Solution Approach 2:
The scanning viewpoint center is made dynamic rather than fixed. The control module continuously adjusts the viewpoint center position based on the scanning area and required point cloud density, enabling the system to adaptively distribute scanning points uniformly across all areas including both top and surrounding regions.
3Manufacturing precision
If variable-speed rotation is implemented to achieve uniform point cloud distribution, then the scanning accuracy is improved, but the control complexity and device complexity increase
Solution Approach 1:
The patent implements feedback control where the control module receives information about the current scanning state and adjusts the rotation speeds accordingly. This feedback mechanism enables automatic adjustment of scanning parameters to achieve uniform point cloud distribution without requiring complex manual control systems. The control module processes scanning data and dynamically adjusts speeds based on real-time conditions.
Solution Approach 2:
The control module performs self-adjustment of rotation speeds based on scanning requirements. The system automatically determines the appropriate speed variations needed to achieve uniform point cloud distribution without external intervention, reducing the need for complex external control systems while maintaining high scanning accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution ensures an even distribution of point clouds by adjusting the scanning speed and rotation speed, resulting in dense scanning where needed and sparse scanning where frequent, improving scanning accuracy.
Implementation Method 1
a laser transmission port 4 for transmitting a laser pulse signal... achieve three-dimensional environment scanning
Implementation Method 2
a 3D lidar including a vertical scanning unit and a horizontal rotating device... achieve concentrated high-density scanning of any area
Implementation Method 3
the reflector is capable of scanning an external environment by rotating at a constant or non-constant speed, to control a spatial distribution of a point cloud obtained by scanning
Implementation Method 4
a laser receiver, a convex lens, the laser transmission port and the flat reflector sequentially provided on the mounting base, the laser receiver is provided at a focus position of the convex lens
Data Source
AI summary
A 3D lidar, a legged robot and a cleaning robot using same relate to the technical field of lidar equipment. The 3D lidar includes a vertical scanning unit and a horizontal rotating device. The vertical scanning unit includes a laser transmission port for transmitting a laser pulse signal and a reflector capable of rotating at a non-constant speed. The laser transmission port is provided on a rotation axis of the reflector, and the reflector scans an external environment by rotating at a constant or non-constant speed, to control a spatial distribution of a point cloud obtained by scanning. Through the rotation of the reflector at a constant or non-constant speed, the laser transmitter performs scanning in a vertical plane at a constant or non-constant speed, and the horizontal rotating device drives the rotation of the vertical scanning unit at a constant or non-constant speed.