CN110966921B - Indoor three-dimensional scanning equipment and method - Google Patents
Indoor three-dimensional scanning equipment and method Download PDFInfo
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- CN110966921B CN110966921B CN201811149520.3A CN201811149520A CN110966921B CN 110966921 B CN110966921 B CN 110966921B CN 201811149520 A CN201811149520 A CN 201811149520A CN 110966921 B CN110966921 B CN 110966921B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention relates to indoor three-dimensional scanning equipment and method. The utility model provides an indoor three-dimensional scanning equipment, includes unmanned aerial vehicle, rotation disc, laser range unit and three-dimensional scanning device, processing apparatus, the laser range unit is used for measuring equipment and the distance between the barrier on every side, processing apparatus is used for the basis data that laser range unit surveyed draw indoor plane profile, is in according to the preset rule select a plurality of scanning point in the indoor plane profile, unmanned aerial vehicle is used for according to a plurality of the positional information of scanning point drives three-dimensional scanning device flies to each in proper order the scanning point, three-dimensional scanning device is used for carrying out 360 degrees space scanning around each scanning point and draws depth map and three-dimensional map. The indoor omnidirectional scanning device is simple in structure, convenient to use, capable of automatically realizing indoor omnidirectional scanning, flexible in structure and universal while guaranteeing high precision.
Description
Technical Field
The invention relates to the field of three-dimensional scanning, in particular to indoor three-dimensional scanning equipment and method.
Background
In the current indoor three-dimensional scanning, two cameras are mostly placed at indoor fixed points, and the three-dimensional coordinate information of a body is obtained by utilizing the triangular intersection of the two cameras. Compared with the traditional measuring method, the method has the advantages of no contact, high detection speed, large data volume and the like, but simultaneously, because too many points need to be arranged for indoor three-dimensional scanning, each detection point needs to be manually moved to detect the measuring equipment, the scanning time of a house of one hundred square meters needs one to two hours in general, and the scanning time is longer. Meanwhile, because points arranged by indoor three-dimensional scanning are limited, measurement errors often occur at edge positions such as wall corners, and the precision is poor.
Disclosure of Invention
In order to solve the technical problems, the invention provides an indoor three-dimensional scanning device and method, which are simple in structure and convenient to use, can automatically realize indoor all-dimensional scanning, ensure high precision, and have flexible structure and universality.
The technical scheme adopted by the invention is as follows: providing an indoor three-dimensional scanning device, an unmanned aerial vehicle, a rotating disc arranged below the unmanned aerial vehicle, a laser ranging device and a three-dimensional scanning device arranged on the rotating disc, and a processing device electrically connected with the unmanned aerial vehicle, the laser ranging device, the three-dimensional scanning device and the rotating disc respectively, wherein the rotating disc is used for driving the laser ranging device and the three-dimensional scanning device to rotate under the control of the processing device, the laser ranging device is used for rotating for 360 degrees under the driving of the rotating disc and simultaneously measuring the distance between the laser ranging device and surrounding obstacles, and sending the measured distance data to the processing device, the processing device is used for drawing an indoor plane contour map according to the data measured by the laser ranging device, and selecting a plurality of scanning points in the indoor plane contour map according to preset rules, with a plurality of the positional information of scanning point send to unmanned aerial vehicle, unmanned aerial vehicle is used for the basis positional information drives three-dimensional scanning device flies to each in proper order scanning point, three-dimensional scanning device is the three-dimensional scanning device based on structured light, is used for unmanned aerial vehicle reachs each during scanning point the drive of rotating the disc is rotatory down, carries out 360 degrees space scanning around each scanning point, draws out the degree of depth map and the three-dimensional map of each scanning point, and send to processing apparatus, processing apparatus still is used for splicing the three-dimensional map of each scanning point and forms complete indoor three-dimensional map.
In the indoor three-dimensional scanning device, the three-dimensional scanning device comprises a structured light scanning module, a camera, a projection device, a collection unit, a determination unit, a projection unit, an acquisition unit and a communication unit; the acquisition unit is used for acquiring a depth map of a measured object by using the structured light scanning module and converting the depth map into a three-dimensional data point set, wherein the three-dimensional data point set comprises a plurality of three-dimensional points; the determining unit is used for determining a target light plane equation corresponding to a target three-dimensional point in the plurality of three-dimensional points; the projection unit is used for projecting the target three-dimensional point onto a modulated multi-line stripe image and determining a target stripe corresponding to the target light plane equation in the modulated multi-line stripe image, wherein the modulated multi-line stripe image is an image acquired by the camera after the multi-line stripe image is projected onto a measured object by the projection equipment; the acquisition unit is used for acquiring three-dimensional point information of the target stripe in the camera coordinate system according to the target light plane equation and the central coordinate of the target stripe, and the communication unit is used for sending the three-dimensional point information to the processing device.
In the indoor three-dimensional scanning device of the invention, the three-dimensional scanning device comprises an infrared projector, an infrared camera, a depth calculation chip, a color camera and a three-dimensional processor, wherein the infrared projector is used for projecting an infrared laser speckle planar pattern to a target object, the infrared camera is used for shooting the target object with the infrared laser speckle planar pattern and generating an infrared image, the color camera is used for shooting the target object with two-dimensional data information, the depth calculation chip is electrically connected with the infrared camera, the infrared image generated by shooting the target object by the infrared camera is transmitted to the depth calculation chip, the depth data of the infrared image is obtained by the depth calculation chip through calculation processing and is output, and the three-dimensional processor is electrically connected with the infrared projector, the infrared camera, the depth calculation chip and the color camera, the infrared image depth data output by the depth calculation chip is transmitted to a three-dimensional processor, the three-dimensional processor simultaneously receives two-dimensional data information obtained by shooting a target object by the color camera, three-dimensional data information of the target object is obtained by combining the two-dimensional data information and the depth data information, and the three-dimensional data information is sent to the processing device.
In the indoor three-dimensional scanning equipment, the rotating disc is connected with the lower end of the unmanned aerial vehicle through a connecting column, the rotating disc comprises a rotating motor and a mounting disc, a shell of the rotating motor is fixedly mounted on the connecting column, the rotating shaft is fixedly connected with the mounting disc, and the laser ranging device and the three-dimensional scanning device are both fixedly mounted on the mounting disc.
In the indoor three-dimensional scanning equipment, the connecting column is of a hollow structure, and the indoor three-dimensional scanning equipment further comprises a power supply device which is arranged in the connecting column and used for supplying power to the rotating disc, the laser ranging device and the three-dimensional scanning device.
The invention also provides an indoor three-dimensional scanning method, which uses any one of the indoor three-dimensional scanning devices, and comprises the following steps:
s1, measuring the distance between the indoor three-dimensional scanning equipment and surrounding obstacles through 360-degree rotation of the laser ranging device, and sending the measured distance data to the processing device;
s2, the processing device draws an indoor plane contour map according to the data measured by the laser ranging device, selects a plurality of scanning points in the indoor plane contour map according to a preset rule, and sends the position information of the scanning points to the unmanned aerial vehicle;
s3, the unmanned aerial vehicle drives the three-dimensional scanning device to sequentially fly to each scanning point according to the position information;
s4, when the unmanned aerial vehicle reaches each scanning point, the three-dimensional scanning device scans the surrounding environment of each scanning point by 360 degrees, draws the depth map and the three-dimensional map of each scanning point, and sends the depth map and the three-dimensional map to the processing device, and the processing device splices the three-dimensional maps of each scanning point to form an indoor three-dimensional map.
In the indoor three-dimensional scanning method, the three-dimensional scanning device comprises a structured light scanning module, a camera, a projection device, an acquisition unit, a determination unit, a projection unit, an acquisition unit and a communication unit; the acquisition unit is used for acquiring a depth map of a measured object by using the structured light scanning module and converting the depth map into a three-dimensional data point set, wherein the three-dimensional data point set comprises a plurality of three-dimensional points; the determining unit is used for determining a target light plane equation corresponding to a target three-dimensional point in the plurality of three-dimensional points; the projection unit is used for projecting the target three-dimensional point onto a modulated multi-line stripe image and determining a target stripe corresponding to the target light plane equation in the modulated multi-line stripe image, wherein the modulated multi-line stripe image is an image acquired by the camera after the multi-line stripe image is projected onto a measured object by the projection equipment; the acquisition unit is used for acquiring three-dimensional point information of the target stripe in the camera coordinate system according to the target light plane equation and the central coordinate of the target stripe, and the communication unit is used for sending the three-dimensional point information to the processing device.
In the indoor three-dimensional scanning method of the invention, the three-dimensional scanning device comprises an infrared projector, an infrared camera, a depth calculation chip, a color camera and a three-dimensional processor, wherein the infrared projector is used for projecting an infrared laser speckle planar pattern to a target object, the infrared camera is used for shooting the target object with the infrared laser speckle planar pattern and generating an infrared image, the color camera is used for shooting the target object with two-dimensional data information, the depth calculation chip is electrically connected with the infrared camera, the infrared image generated by shooting the target object by the infrared camera is transmitted to the depth calculation chip, the depth data of the infrared image is obtained by the depth calculation chip through calculation processing and is output, and the three-dimensional processor is electrically connected with the infrared projector, the infrared camera, the depth calculation chip and the color camera, the infrared image depth data output by the depth calculation chip is transmitted to a three-dimensional processor, the three-dimensional processor simultaneously receives two-dimensional data information obtained by shooting a target object by the color camera, three-dimensional data information of the target object is obtained by combining the two-dimensional data information and the depth data information, and the three-dimensional data information is sent to the processing device.
In the indoor three-dimensional scanning method, the rotating disc is connected with the lower end of the unmanned aerial vehicle through a connecting column, the rotating disc comprises a rotating motor and a mounting disc, a shell of the rotating motor is fixedly mounted on the connecting column, the rotating shaft is fixedly connected with the mounting disc, and the laser ranging device and the three-dimensional scanning device are both fixedly mounted on the mounting disc.
In the indoor three-dimensional scanning method, the connecting column is of a hollow structure, and the indoor three-dimensional scanning equipment further comprises a power supply device which is arranged in the connecting column and used for supplying power to the rotating disc, the laser ranging device and the three-dimensional scanning device.
According to the indoor three-dimensional scanning equipment and the method, the unmanned aerial vehicle drives the laser ranging device and the three-dimensional scanning device to hover indoors, the laser ranging device measures the indoor plane profile, the number of scanning points is automatically calculated and sent to the unmanned aerial vehicle, and the unmanned aerial vehicle does not need to be manually operated to act; the three-dimensional scanning device based on the structured light is adopted to carry out indoor three-dimensional imaging, and has the advantages of high precision, flexible structure, strong universality and the like.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic structural diagram of an indoor three-dimensional scanning device provided in an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating steps of an indoor three-dimensional scanning method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 and fig. 2, the indoor three-dimensional scanning device provided by the embodiment of the invention includes an unmanned aerial vehicle 1, a rotating disc 2, a laser ranging device 3, a three-dimensional scanning device 4, a processing device 5, a connecting column 6 and a power supply device. Specifically, the rotating disc 2 is fixedly connected with the lower end of the unmanned aerial vehicle 1 through the connecting column 6, the rotating disc 2 comprises a rotating motor and a mounting disc 21, a shell of the rotating motor is fixedly mounted at the lower end of the connecting column 6, and a rotating shaft is fixedly connected with the mounting disc 21 and can drive the mounting disc 21 to rotate when the rotating disc rotates. The laser ranging device 3 and the three-dimensional scanning device 4 are both fixedly mounted on the mounting plate 21. In order to utilize the space to the maximum extent and optimize the appearance design of the equipment, the connecting column 6 is a hollow structure in the embodiment, and the power supply device is a large-capacity storage battery and is arranged in the connecting column 6, so that the power supply device can better provide power for the rotating disc 2, the laser ranging device 3 and the three-dimensional scanning device 4, the accommodating space of the equipment is reasonably utilized, and the volume of the equipment is reduced.
When the unmanned aerial vehicle is used, the unmanned aerial vehicle 1 flies to an indoor middle position to hover under manual control, at the moment, indoor three-dimensional scanning equipment can be started, wherein the laser ranging device 3 is used for rotating 360 degrees under the drive of the rotating disc 2 and measuring the linear distance between the laser ranging device and surrounding obstacles at the same time, the measured distance data is sent to the processing device 5, the processing device 5 is used for drawing an indoor plane profile according to the data measured by the laser ranging device 3, a plurality of scanning points are selected in the indoor plane profile according to a preset rule (such as every two meters), the number of the scanning points on the plane is determined according to the size of the indoor plane profile, the larger the indoor plane profile is, the more the scanning points are, the height of the scanning points is matched with the visual angle of human eyes, and is 1.5-1.8 m; the processing device 5 also sends the position information of the plurality of scanning points to the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 is used for setting the flight destination and the flight path thereof according to the position information of the plurality of scanning points, namely, the unmanned aerial vehicle flies to each scanning point in sequence and drives the three-dimensional scanning device 4 to fly to each scanning point in sequence in the flying process; in this embodiment, the three-dimensional scanning device 4 is a three-dimensional scanning device based on structured light, and the three-dimensional scanning device 4 is configured to rotate under the driving of the rotating disc when the unmanned aerial vehicle reaches each scanning point, perform 360-degree spatial scanning around each scanning point to draw a depth map and a three-dimensional map of each scanning point, and send the depth map and the three-dimensional map to the processing device 5, and finally, the processing device 5 splices the three-dimensional maps of each scanning point to form a complete indoor three-dimensional map.
Further, the three-dimensional scanning device 4 in this embodiment includes a structured light scanning module, a camera, a projection device, an acquisition unit, a determination unit, a projection unit, an acquisition unit, and a communication unit; the acquisition unit is used for acquiring a depth map of a measured object by using the structured light scanning module and converting the depth map into a three-dimensional data point set, wherein the three-dimensional data point set comprises a plurality of three-dimensional points; the determining unit is used for determining a target light plane equation corresponding to a target three-dimensional point in the plurality of three-dimensional points; the projection unit is used for projecting a target three-dimensional point onto the modulated multi-line stripe image and determining a target stripe corresponding to a target light plane equation in the modulated multi-line stripe image, wherein the modulated multi-line stripe image is an image acquired by a camera after the multi-line stripe image is projected onto a measured object by using projection equipment; the acquisition unit is used for acquiring three-dimensional point information of the target stripe in a camera coordinate system according to the target light plane equation and the central coordinate of the target stripe; the communication unit is used for sending the three-dimensional point information to the processing device 5 for splicing. Through the arrangement, the target light plane equation corresponding to the target three-dimensional point in the three-dimensional data point set converted by the depth map can be determined according to the depth map of the measured object acquired by the structured light scanning module, the target stripe corresponding to the target light plane equation in the modulated multi-line stripe image acquired by the single camera is determined, and the three-dimensional point reconstructed by the target stripe in the camera coordinate system is acquired according to the target light plane equation and the central coordinate of the target stripe, so that the three-dimensional point can be accurately reconstructed by using the monocular three-dimensional scanning system, and the three-dimensional scanning is completed.
In another embodiment, the three-dimensional scanning device 4 comprises an infrared projector for projecting an infrared laser speckle planar pattern to a target object, an infrared camera for photographing the target object with the infrared laser speckle planar pattern and generating an infrared image, a depth calculation chip electrically connected to the infrared camera, a color camera for photographing the target object with two-dimensional data information, the infrared image generated by the infrared camera photographing the target object and transmitting to the depth calculation chip, depth data of the infrared image obtained by the depth calculation chip through calculation processing and outputting the depth data of the infrared image, and a three-dimensional processor electrically connected to the infrared projector, the infrared camera, the depth calculation chip and the color camera, the infrared image depth data output by the depth calculation chip being transmitted to the three-dimensional processor, the three-dimensional processor receives two-dimensional data information obtained by shooting a target object by the color camera, obtains three-dimensional data information of the target object by combining the two-dimensional data information and the depth data information, and sends the three-dimensional data information to the processing device 5 for splicing.
The invention also provides an indoor three-dimensional scanning method, which uses the indoor three-dimensional scanning equipment and specifically comprises the following steps:
s1 hovers the unmanned aerial vehicle 1 at an indoor central position, starts an indoor three-dimensional scanning device, the processing device 5 controls the rotating disc 2 to rotate for 360 degrees, the laser ranging device 3 simultaneously starts to measure the distance between the indoor three-dimensional scanning device and surrounding obstacles, and the measured distance data is sent to the processing device 5.
The processing device 5 of S2 draws an indoor plane contour map according to the data measured by the laser ranging device 3, selects a plurality of scanning points in the indoor plane contour map according to a preset rule, and sends the position information of the plurality of scanning points to the unmanned aerial vehicle.
The preset rule can be set according to the indoor space size, the distance can be used as a set basis, for example, one scanning point is arranged every two meters according to the indoor length, and the area can also be used as a set basis, for example, one scanning point is arranged every three square meters. The barrier need be avoided in the selection of scanning point, prevents that barrier and three-dimensional scanning equipment from bumping, selects the distance between the scanning point according to the fineness of scanning simultaneously, and the more meticulous the scanning, the distance between the scanning point is shorter. When scanning multiple houses, a fixed scanning point needs to be added in the processing device 5 first, each house is provided with one fixed scanning point, for example, a fixed scanning point is arranged at a position (such as a door) where two rooms are connected, the processing device 5 can add any number of scanning points between any two fixed scanning points according to scanning requirements, and after all scanning points are scanned, the processing device 5 splices three-dimensional images obtained by scanning, so that a three-dimensional scanning image of the whole room can be formed.
S3 unmanned aerial vehicle 1 drives three-dimensional scanning device 4 to fly to each scanning point in proper order according to a plurality of scanning point information.
And S4, when the unmanned aerial vehicle 1 reaches each scanning point, the three-dimensional scanning device 4 scans the surrounding environment of each scanning point by 360 degrees, draws the depth map and the three-dimensional map of each scanning point and sends the depth map and the three-dimensional map to the processing device, and the processing device 5 splices the three-dimensional maps of each scanning point to form an indoor three-dimensional map.
Further, the three-dimensional scanning device 4 comprises a structured light scanning module, a camera and a projection device, and the three-dimensional scanning device calibrates the camera to obtain internal and external parameters of the camera; acquiring a rotation and translation matrix corresponding to the relative position relation between the structured light scanning module and the camera; and calibrating the light plane equation corresponding to each stripe in the multi-line stripe image to obtain a plurality of calibrated light plane equations. Acquiring a depth map of a measured object by using the structured light scanning module, and converting the depth map into a three-dimensional data point set, wherein the three-dimensional data point set comprises a plurality of three-dimensional points; determining a target light plane equation corresponding to a target three-dimensional point in the plurality of three-dimensional points, obtaining Euclidean distances from the target three-dimensional point to the plurality of calibrated light plane equations, and determining the light plane equation with the shortest Euclidean distance from the plurality of calibrated light plane equations; determining the optical plane equation with the shortest Euclidean distance as the target optical plane equation under the condition that the Euclidean distance between the target three-dimensional point and the optical plane equation with the shortest Euclidean distance is lower than a preset distance; projecting the target three-dimensional point onto a modulated multi-line stripe image, determining a target stripe corresponding to the target light plane equation in the modulated multi-line stripe image, wherein the modulated multi-line stripe image is an image acquired by a camera after the multi-line stripe image is projected onto a measured object by using the projection equipment, and judging whether a stripe line segment exists in a preset range of a projection point of the target three-dimensional point in the modulated multi-line stripe image, wherein the stripe line segment is a line segment formed by segmenting a central line connected domain after central line extraction is carried out on the modulated multi-line stripe image; and under the condition that a stripe line segment exists in the preset range of the projection point of the target three-dimensional point in the modulated multi-line stripe image, determining the stripe line segment as the target stripe corresponding to the target light plane equation. Acquiring three-dimensional point information of the target stripe in the camera coordinate system according to the target light plane equation and the central coordinate of the target stripe, and calculating the coordinate of the three-dimensional point according to the following equation: AX i + BY i + CZ i + D is 0; (u-cx)/fx X i/Z i; (v-cy)/fy Y i/Z i; wherein (Xi, Yi, Zi) are coordinates of the three-dimensional point, A, B, C, D are coefficients of the target light plane equation, (u, v) are center coordinates of the target stripe, (cx, cy) are principal point coordinates of the camera, and fx, fy are equivalent focal lengths of the camera. And finally, sending the three-dimensional point information of each scanning point to a processing device for splicing to form a complete indoor three-dimensional image.
In another embodiment, the three-dimensional scanning device 4 comprises an infrared projector for projecting an infrared laser speckle planar pattern to a target object, an infrared camera for photographing the target object with the infrared laser speckle planar pattern and generating an infrared image, a depth calculation chip electrically connected to the infrared camera, a color camera for photographing the target object with two-dimensional data information, the infrared image generated by the infrared camera photographing the target object and transmitting to the depth calculation chip, depth data of the infrared image obtained by the depth calculation chip through calculation processing and outputting the depth data of the infrared image, and a three-dimensional processor electrically connected to the infrared projector, the infrared camera, the depth calculation chip and the color camera, the infrared image depth data output by the depth calculation chip being transmitted to the three-dimensional processor, the three-dimensional processor receives two-dimensional data information obtained by shooting a target object by the color camera, obtains three-dimensional data information of the target object by combining the two-dimensional data information and the depth data information, and sends the three-dimensional data information to the processing device 5 for splicing.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An indoor three-dimensional scanning device is characterized by comprising an unmanned aerial vehicle, a rotating disc arranged below the unmanned aerial vehicle, a laser ranging device and a three-dimensional scanning device which are arranged on the rotating disc, and a processing device which is respectively electrically connected with the unmanned aerial vehicle, the laser ranging device, the three-dimensional scanning device and the rotating disc, wherein the rotating disc is used for driving the laser ranging device and the three-dimensional scanning device to rotate under the control of the processing device, the laser ranging device is used for rotating 360 degrees under the driving of the rotating disc and simultaneously measuring the distance between the laser ranging device and surrounding obstacles, and sending the measured distance data to the processing device, the processing device is used for drawing an indoor plane profile according to the data measured by the laser ranging device and selecting a plurality of scanning points in the indoor plane profile according to preset rules, with a plurality of the positional information of scanning point send to unmanned aerial vehicle, unmanned aerial vehicle is used for the basis positional information drives three-dimensional scanning device flies to each in proper order scanning point, three-dimensional scanning device is the three-dimensional scanning device based on structured light, is used for unmanned aerial vehicle reachs each during scanning point the drive of rotating the disc is rotatory down, carries out 360 degrees space scanning around each scanning point, draws out the degree of depth map and the three-dimensional map of each scanning point, and send to processing apparatus, processing apparatus still is used for splicing the three-dimensional map of each scanning point and forms complete indoor three-dimensional map.
2. The indoor three-dimensional scanning device according to claim 1, wherein the three-dimensional scanning device comprises a structured light scanning module, a camera, a projection device, an acquisition unit, a determination unit, a projection unit, an acquisition unit and a communication unit; the acquisition unit is used for acquiring a depth map of a measured object by using the structured light scanning module and converting the depth map into a three-dimensional data point set, wherein the three-dimensional data point set comprises a plurality of three-dimensional points; the determining unit is used for determining a target light plane equation corresponding to a target three-dimensional point in the plurality of three-dimensional points; the projection unit is used for projecting the target three-dimensional point onto a modulated multi-line stripe image and determining a target stripe corresponding to the target light plane equation in the modulated multi-line stripe image, wherein the modulated multi-line stripe image is an image acquired by the camera after the multi-line stripe image is projected onto a measured object by the projection equipment; the acquisition unit is used for acquiring three-dimensional point information of the target stripe in the camera coordinate system according to the target light plane equation and the central coordinate of the target stripe; the communication unit is used for sending the three-dimensional point information to the processing device.
3. The indoor three-dimensional scanning device according to claim 1, wherein the three-dimensional scanning device comprises an infrared projector for projecting an infrared laser speckle planar pattern to a target object, an infrared camera for photographing the target object with the infrared laser speckle planar pattern attached thereto and generating an infrared image, a depth calculating chip electrically connected to the infrared camera, a color camera for photographing the target object with two-dimensional data information, the infrared camera for photographing the infrared image generated by the target object being transmitted to the depth calculating chip, depth data of the infrared image being obtained by the depth calculating chip through calculation processing and outputting the depth data of the infrared image, and a three-dimensional processor electrically connected to the infrared projector, the infrared camera, the depth calculating chip and the color camera, the infrared image depth data output by the depth calculation chip is transmitted to a three-dimensional processor, the three-dimensional processor simultaneously receives two-dimensional data information obtained by shooting a target object by the color camera, three-dimensional data information of the target object is obtained by combining the two-dimensional data information and the depth data information, and the three-dimensional data information is sent to the processing device.
4. The indoor three-dimensional scanning device according to claim 1, wherein the rotating disc is connected with the lower end of the unmanned aerial vehicle through a connecting column, the rotating disc comprises a rotating motor and a mounting disc, a housing of the rotating motor is fixedly mounted on the connecting column, a rotating shaft of the rotating motor is fixedly connected with the mounting disc, and the laser ranging device and the three-dimensional scanning device are both fixedly mounted on the mounting disc.
5. The indoor three-dimensional scanning device according to claim 4, wherein the connecting column is a hollow structure, and the indoor three-dimensional scanning device further comprises a power supply device installed in the connecting column and used for supplying power to the rotating disk, the laser ranging device and the three-dimensional scanning device.
6. An indoor three-dimensional scanning method, characterized in that the indoor three-dimensional scanning device of any one of claims 1 to 5 is used, and the method comprises the following steps:
s1, measuring the distance between the indoor three-dimensional scanning equipment and surrounding obstacles through 360-degree rotation of the laser ranging device, and sending the measured distance data to the processing device;
s2, the processing device draws an indoor plane contour map according to the data measured by the laser ranging device, selects a plurality of scanning points in the indoor plane contour map according to a preset rule, and sends the position information of the scanning points to the unmanned aerial vehicle;
s3, the unmanned aerial vehicle drives the three-dimensional scanning device to sequentially fly to each scanning point according to the position information;
s4, when the unmanned aerial vehicle reaches each scanning point, the three-dimensional scanning device scans the surrounding environment of each scanning point by 360 degrees, draws the depth map and the three-dimensional map of each scanning point, and sends the depth map and the three-dimensional map to the processing device, and the processing device splices the three-dimensional maps of each scanning point to form an indoor three-dimensional map.
7. The indoor three-dimensional scanning method according to claim 6, wherein the three-dimensional scanning device comprises a structured light scanning module, a camera, a projection device, an acquisition unit, a determination unit, a projection unit, an acquisition unit and a communication unit; the acquisition unit is used for acquiring a depth map of a measured object by using the structured light scanning module and converting the depth map into a three-dimensional data point set, wherein the three-dimensional data point set comprises a plurality of three-dimensional points; the determining unit is used for determining a target light plane equation corresponding to a target three-dimensional point in the plurality of three-dimensional points; the projection unit is used for projecting the target three-dimensional point onto a modulated multi-line stripe image and determining a target stripe corresponding to the target light plane equation in the modulated multi-line stripe image, wherein the modulated multi-line stripe image is an image acquired by the camera after the multi-line stripe image is projected onto a measured object by the projection equipment; the acquisition unit is used for acquiring three-dimensional point information of the target stripe in the camera coordinate system according to the target light plane equation and the central coordinate of the target stripe, and the communication unit is used for sending the three-dimensional point information to the processing device.
8. The indoor three-dimensional scanning method according to claim 6, wherein the three-dimensional scanning device comprises an infrared projector for projecting an infrared laser speckle planar pattern to the target object, an infrared camera for photographing the target object with the infrared laser speckle planar pattern attached thereto and generating an infrared image, a depth calculating chip electrically connected to the infrared camera, a color camera for photographing the target object with two-dimensional data information, the infrared image generated by the infrared camera photographing the target object being transmitted to the depth calculating chip, depth data of the infrared image obtained by the depth calculating chip through calculation processing and outputting the depth data of the infrared image, and a three-dimensional processor electrically connected to the infrared projector, the infrared camera, the depth calculating chip and the color camera, the infrared image depth data output by the depth calculation chip is transmitted to a three-dimensional processor, the three-dimensional processor simultaneously receives two-dimensional data information obtained by shooting a target object by the color camera, three-dimensional data information of the target object is obtained by combining the two-dimensional data information and the depth data information, and the three-dimensional data information is sent to the processing device.
9. The indoor three-dimensional scanning method according to claim 6, wherein the rotating disc is connected with the lower end of the unmanned aerial vehicle through a connecting column, the rotating disc comprises a rotating motor and a mounting disc, a housing of the rotating motor is fixedly mounted on the connecting column, the rotating shaft is fixedly connected with the mounting disc, and the laser ranging device and the three-dimensional scanning device are both fixedly mounted on the mounting disc.
10. The indoor three-dimensional scanning method according to claim 6, wherein the connecting column is a hollow structure, and the indoor three-dimensional scanning device further comprises a power supply device installed in the connecting column and used for supplying power to the rotating disk, the laser ranging device and the three-dimensional scanning device.
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