CN106932784A - Wagon box based on two-dimensional laser radar describes device 3 D scanning system measuring method - Google Patents
Wagon box based on two-dimensional laser radar describes device 3 D scanning system measuring method Download PDFInfo
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- CN106932784A CN106932784A CN201710259157.XA CN201710259157A CN106932784A CN 106932784 A CN106932784 A CN 106932784A CN 201710259157 A CN201710259157 A CN 201710259157A CN 106932784 A CN106932784 A CN 106932784A
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- dimensional laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
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- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of wagon box based on two-dimensional laser radar describes device 3 D scanning system measuring method, and measuring system is demarcated first.Calibration element is removed, wagon box is described that device is placed on the underface of two-dimensional laser radar.Equipped with cloud data storage and processing routine computer send rotation instruction to motor, and simultaneously send scan instruction give two-dimensional laser radar, make motor drive rotary table and installed in workbench top two-dimensional laser radar to testee run-down.The data that obtain will be scanned and be saved in the computer equipped with cloud data storage and processing routine, by computer to data compaction treatment, the data conversion after simplifying into the form of three-dimensional point cloud, and be plotted on computer screen.Triangle gridding structure is carried out to three-dimensional point cloud, the three-dimensional grid model that wagon box describes device is restored.And by describing the extraction of device data boundary to wagon box, calculate wagon box and describe the appearance and sizes such as the length and width of device, depth.
Description
Technical field
Device 3 D scanning system and its measuring method are described the present invention relates to a kind of wagon box, more particularly to it is a kind of based on two dimension
The wagon box of laser radar describes device 3 D scanning system measuring method.
Background technology
Laser radar have the advantages that to find range speed fast, high precision, the metrical information that obtains is directly perceived, in military, aviation and
The field such as civilian has obtained increasingly being widely applied.At present, laser radar is broadly divided into two-dimensional laser radar and three-dimensional laser
Two kinds of radar.Two-dimensional laser radar can only obtain distance and angle information in single scanning plane, enter in polar form
Row is preserved, and by the image that is reduced into of later stage treatment is also scanned object in Laser Radar Scanning the data for obtaining
Two-dimensional silhouette figure in plane.And three-dimensional laser radar can also rotate surface sweeping plane while two-dimensional scan, so just
The three-dimensional data information for obtaining spatial point can be directly scanned, and the resemblance of scanned object can be more intuitively reflected, because
This has bigger application value in the important field such as some navigation, engineering surveys, but expensive.
In actual industrial production, wagon box describes that device is very common, the entrucking link especially during material transportation.Mesh
Before, acquisition of the people to the appearance and size of wagon box in entrucking link also relies primarily on artificial direct measurement, so not only surveys
Amount error is larger, and in the case of some bad environments, the healthy harm to staff is also very big.To solve this
A little problems, liberate labour, and we directly can be scanned from three-dimensional laser radar to wagon box, then straight to scan data
Connect the dimension information of the appearance profile for extracting wagon box.But three-dimensional laser radar is expensive, in common civil corporation
Used and unrealistic in entrucking link.Therefore, inventing a kind of cheap, simple wagon box describes device 3 D scanning system for civilian
Commercial Application has very strong realistic meaning.
The content of the invention
Based on object above, the present invention proposes that a kind of wagon box based on two-dimensional laser radar describes that device 3 D scanning system is surveyed
Amount method.
Methods described comprises the following steps：
Measuring system is demarcated first, hollow triangular prism will be made inside calibration element, triangular prism bottom surface is equilateral triangle
Shape, specified location is arranged on by two-dimensional laser radar, and calibration element is positioned on the ground level immediately below two-dimensional laser radar,
Make a side of internal triangular prism parallel with the plane of scanning motion, it is ensured that initial position and two-dimensional laser radar are by rotary table band
The plane of scanning motion after dynamic rotation 180 degree all has intersection point with the base of triangular prism inside calibration element, with scaling method to the system
Demarcated, obtained calibrated spin matrix.
Calibration element is removed, wagon box is described that device is placed on the underface of two-dimensional laser radar.Equipped with cloud data storage and
The computer of processing routine sends rotation instruction to motor, and transmission scan instruction gives two-dimensional laser radar simultaneously, makes motor belt motor
Dynamic rotary table and the two-dimensional laser radar installed in workbench top are scanned to testee.
The data for obtaining will be scanned and be saved in the computer equipped with cloud data storage and processing routine, converted data to
The form of three-dimensional point cloud, and be plotted on computer screen.
Triangle gridding structure is carried out to three-dimensional point cloud, the three-dimensional grid model that wagon box describes device is restored.And by car
The extraction of bucket shape Vessel Boundary data, calculates the appearance and size that wagon box describes device.
The scaling method includes but is not limited to following methods：
The measuring system that device appearance and size is described to wagon box is initially set up, the system is arranged on scanned wagon box and describes device just
Top, by rotating the surface sweeping plane of two-dimensional laser radar, completion is described the scanning of device to wagon box, realizes 3-D scanning, described
The hardware that system is used includes：Two-dimensional laser radar 1, rotary table 2, motor 3, support 4, equipped with cloud data storage and
The computer 5 and calibration element 6 of processing routine, the plane of scanning motion of two-dimensional laser radar 1 are located at the front end of laser radar, perpendicular to laser
Radar side.Two-dimensional laser radar 1 is installed on the table top of rotary table 2, and motor 3 is arranged on the side of rotary table 2,
The table top that workbench 2 is rotated completes spinning movement in the horizontal plane, and then drives on the table top of rotary table 2
Two-dimensional laser radar 1 is rotated, and the upper end of rotary table 2 is arranged on support 4, and support 4 is installed to and has necessarily apart from ground
The a certain fixed position of height, and ensure that the table top of rotary table 2 is parallel to the ground, stored equipped with cloud data and treatment journey
The computer 5 of sequence is placed on outside the sweep limits of two-dimensional laser radar 1, and two-dimensional laser radar 1 and motor 3 are passed by data respectively
Defeated line is connected together with the computer 5 equipped with cloud data storage and processing routine, and calibration element 6 is internal for hollow triangular prism
Cuboid, calibration element 6 is placed on the ground immediately below two-dimensional laser radar 1.
Support 4 is installed to a certain fixed position for having certain altitude apart from ground, makes the table top of rotary table 2 and ground
Plane is tried one's best keeping parallelism.And calibration element 6 is positioned on the ground level selected immediately below revolving worktable.Control two-dimensional laser radar
1, to the run-down of calibration element 6 under the position, preserve scan data.
Data to the scanning of upper step are processed, and the plane of scanning motion of two-dimensional laser radar 1 is gone out with mark with least square fitting
Determine the linear equation that part 6 hands over each line segment.
The respective straight equation tried to achieve using upper step carries out combination of two solution, obtains intersecting point coordinate, as two-dimensional laser
The plane of scanning motion of radar 1 and the intersecting point coordinate of the seamed edge of calibration element 6, it can thus be concluded that the distance between any two intersection point is arrived, and according to
The distance tried to achieve calculates the anglec of rotation β around y-coordinate axle with the trigonometric function relation of the height of calibration element 6.
Two-dimensional laser radar 1 is rotated into 180 degree, to second of the scanning of calibration element 6, data ibid is carried out to scan data
The distance between treatment, the surface sweeping plane tried to achieve according to twice sweep and seamed edge intersection point and its geometrical relationship can be calculated and tried to achieve
Turning circle radius R.
Because calibration element 6 is hollow, twice sweep has necessarily swept to ground level, according to the characteristics of scan data, using minimum
Square law fits the linear equation of the plane of scanning motion of two-dimensional laser radar 1 and bottom surface intersection, according to the slope of linear equation, calculates
Go out the anglec of rotation γ around x-axis.
By the counter-rotating 180 degree of two-dimensional laser radar 1, original position is returned to.
The nominal data that will be calculated, is brought into the translation and spin matrix of coordinate system conversion, and thus completing this is
The demarcation of system.
Brief description of the drawings
Fig. 1 is the 3 D scanning system general structure schematic diagram according to the inventive method；
Fig. 2 is the measurement coordinate system graph of a relation according to the inventive method；
Fig. 3 is to scan schematic diagram according to the first time of the inventive method；
Fig. 4 is according to second of the inventive method scanning schematic diagram；
Fig. 5 is the bottom surface perspective view according to the inventive method；
Fig. 6 is the overall structure rightmost projection schematic diagram according to the inventive method.
Specific embodiment
The present invention is specifically described with reference to accompanying drawing 1-6.
Set up 3 D scanning system as shown in Figure 1.
The system is arranged on the surface that scanned wagon box describes device, is put down by the surface sweeping for rotating two-dimensional laser radar 1
The scanning of device is described in face, completion to wagon box, realizes 3-D scanning, and the hardware that the system is used includes：Two-dimensional laser radar
1, rotary table 2, motor 3, support 4, computer 5 and calibration element 6 equipped with cloud data storage and processing routine, two dimension swashs
The plane of scanning motion of optical radar 1 is located at the front end of laser radar, perpendicular to laser radar side.Two-dimensional laser radar 1 is installed to rotation
On the table top of workbench 2, motor 3 is arranged on the side of rotary table 2, and the table top of workbench 2 is rotated in the horizontal plane
Spinning movement is completed, and then drives the two-dimensional laser radar 1 on the table top of rotary table 2 to rotate, rotary table 2
Upper end is arranged on support 4, and support 4 is installed to a certain fixed position for having certain altitude apart from ground, and ensures to rotate work
The table top for making platform 2 is parallel to the ground, and the computer 5 equipped with cloud data storage and processing routine is placed on two-dimensional laser radar 1
Sweep limits outside, two-dimensional laser radar 1 and motor 3 respectively by data line with stored equipped with cloud data and treatment journey
The computer 5 of sequence is connected together, and calibration element 6 is that inside is the cuboid of hollow triangular prism, and calibration element 6 is placed on two-dimensional laser thunder
On ground immediately below up to 1.
Set up two coordinate systems as shown in Figure 2：（1）Rotary table coordinate system o-xyz；（2）Laser radar coordinate system
o1-x1y1z1.Wherein, in the pivot of rotary table 2, z-axis positive direction is perpendicular to ground for the origin of rotary table coordinate system
Downwards, when being stood in face of the top of the initial position of two-dimensional laser radar 1, y-axis positive direction parallel to ground level to the left, x-axis
Direction is judged by the right-hand rule.Because in the course of the work, rotary table coordinate system is maintained static, therefore can will rotate work
Make platform coordinate system and be defined as world coordinate system；The origin of the laser radar coordinate system heart in a scan, because two-dimensional laser radar 1 is swept
Retouching has the two-dimensional coordinate system of itself in plane, we define the y of laser radar coordinate system1Axle, z1The positive direction of axle and itself two dimension
The positive direction of coordinate system reference axis is identical, x1The direction of axle judges according to the right-hand rule.
By o from the origin o of rotary table coordinate system to laser radar coordinate system1x1y1Plane projection is in point o’, obtain two
Coordinate origin is in o1x1y1Distance in plane is o1o’, and o’Being measured in installation process apart from h for o is obtained.Then laser thunder
The plane of scanning motion for reaching should be perpendicular to o1x1y1Plane is with o1o’It is radius around o’Move in a circle, we define o1o’It is rotational circle half
Footpath R.Because the presence of alignment error, plane o1x1y1The anglec of rotation around three axes must be produced relative to plane oxy, but by
In the characteristic and the two reference axis relations set up of system, plane o1x1y1Relative to plane oxy around z-axis the anglec of rotation be 0.Cause
It is exactly the anglec of rotation β of opposing connection y-coordinate axle, the anglec of rotation γ and turning circle radius R tri- around x-axis that this demarcation to the system is main
The demarcation of amount.
The measuring system that device appearance and size is described to wagon box is initially set up, the system includes being arranged on scanned wagon box shape
The surface of container, by rotating the surface sweeping plane of two-dimensional laser radar 1, the scanning of device is described in completion to wagon box, is realized three-dimensional
Scanning, the hardware that the system is used includes：Two-dimensional laser radar 1, rotary table 2, motor 3, support 4, equipped with a cloud
The computer 5 and calibration element 6 of data storage and processing routine, before the plane of scanning motion of two-dimensional laser radar 1 is located at laser radar
End, perpendicular to laser radar side.Two-dimensional laser radar 1 is installed on the table top of rotary table 2, and motor 3 is arranged on rotation
The side of workbench 2, the table top that workbench 2 is rotated completes spinning movement in the horizontal plane, and then drives installed in rotation
Two-dimensional laser radar 1 on the table top of workbench 2 is rotated, and the upper end of rotary table 2 is arranged on support 4, and support 4 is installed to
There is a certain fixed position of certain altitude apart from ground, and ensure that the table top of rotary table 2 is parallel to the ground, equipped with a cloud number
It is placed on outside the sweep limits of two-dimensional laser radar 1 according to storage and the computer 5 of processing routine, two-dimensional laser radar 1 and motor 3
Stored with equipped with cloud data by data line respectively and the computer 5 of processing routine is connected together, calibration element 6 is interior
Portion is the cuboid of hollow triangular prism, and calibration element 6 is placed on the ground immediately below two-dimensional laser radar 1.
Support 4 is installed to a certain fixed position for having certain altitude apart from ground, makes the table top of rotary table 2 and ground
Plane is tried one's best keeping parallelism.And calibration element 6 is positioned on the ground level selected immediately below revolving worktable.Control two-dimensional laser radar
1, to the run-down of calibration element 6 under the position, preserve scan data.
Data to the scanning of upper step are processed, with least square fitting go out the plane of scanning motion of two-dimensional laser radar 1 with
Calibration element 6 hands over the linear equation of each line segment.
The respective straight equation tried to achieve using upper step carries out combination of two solution, obtains intersecting point coordinate, as two-dimensional laser
The plane of scanning motion of radar 1 and the intersecting point coordinate of the seamed edge of calibration element 6, it can thus be concluded that the distance between any two intersection point is arrived, and according to
The distance tried to achieve calculates the anglec of rotation β around y-coordinate axle with the trigonometric function relation of the height of calibration element 6.
Two-dimensional laser radar 1 is rotated into 180 degree, to second of the scanning of calibration element 6, data ibid is carried out to scan data
The distance between treatment, the surface sweeping plane tried to achieve according to twice sweep and seamed edge intersection point and its geometrical relationship can be calculated and tried to achieve
Turning circle radius R.
Because calibration element 6 is hollow, twice sweep has necessarily swept to ground level, according to the characteristics of scan data, using minimum
Square law fits the plane of scanning motion of two-dimensional laser radar 1 and the linear equation of bottom surface intersection, according to the slope of linear equation, meter
Calculate the anglec of rotation γ around x-axis.
By the counter-rotating 180 degree of two-dimensional laser radar 1, original position is returned to.
The nominal data that will be calculated, is brought into the translation and spin matrix of coordinate system conversion, and thus completing this is
The demarcation of system.
Measuring system is demarcated according to the above method, calibration element 6 is the cuboid of 500 × 500 × 300mm, and will
Hollow triangular prism is made inside it, triangular prism bottom surface is the equilateral triangle of length of side 400mm, and depth is 300mm.Two dimension is swashed
Optical radar 1 is arranged on specified location, and calibration element 6 is positioned on the ground level immediately below two-dimensional laser radar 1, makes internal three
One side of prism is as far as possible parallel with the plane of scanning motion, it is ensured that initial position and two-dimensional laser radar 1 are driven by rotary table 2
The plane of scanning motion after rotation 180 degree all has intersection point with the base of triangular prism inside calibration element 6.According to above-mentioned scaling method and
Step is demarcated to the system, obtains calibrated spin matrix.
Calibration element 6 is removed, wagon box is described that device is placed on the underface of two-dimensional laser radar 1.Equipped with cloud data storage
Rotation instruction is sent to motor 3 with the computer 5 of processing routine, and sends scan instruction simultaneously to two-dimensional laser radar 1, make electricity
Machine 3 is rotated workbench 2 and the two-dimensional laser radar 1 installed in workbench top often rotates 5 degree to testee scanning one
Secondary, untill wagon box being described device is all scanned after completion, i.e., motor 3 is rotated workbench 2 and is rotated by 360 °.
The data for obtaining will be scanned and be saved in the computer 5 equipped with cloud data storage and processing routine, adopted by computer
With string high differentiation to data compaction treatment, the data conversion after simplifying into three-dimensional point cloud form, be later data calculate beat
Lower basis, and be plotted on computer screen.
Triangle gridding structure is carried out to three-dimensional point cloud, the three-dimensional grid model that wagon box describes device is restored.And by car
The extraction of bucket shape Vessel Boundary data, calculates wagon box and describes the appearance and sizes such as the length and width of device, depth.
Specific implementation step is as follows：
1st, initial position completes to scan for the first time to calibration element
According to the design and installation requirement of the system hardware, by each textural association to together, and support 4 is installed to apart from ground
There is a certain fixed position of certain altitude, make the table top of rotary table 2 and ground level keeping parallelism as far as possible.And by calibration element 6
It is positioned on the ground level for selecting revolving worktable and the underface of two-dimensional laser radar 1, makes a side of internal triangular prism and laser
Radar preliminary sweep plane is as far as possible parallel.Scan instruction is sent by the computer 5 equipped with cloud data storage and processing routine to pass through
Data line passes to two-dimensional laser radar 1, and radar completes to scan for the first time to calibration element 6, and the data that scanning is obtained are through number
Computer is returned to according to transmission line, is preserved.
2nd, fitting two-dimensional laser radar scanning plane and calibration element hand over the linear equation of each line segment
Because the scanning plane of two-dimensional laser radar 1 is a plane, therefore two-dimensional laser radar 1 scans institute for the first time to calibration element 6
The data of each point on the line segment that the data for obtaining are exactly calibration element 6 to be crossed to form with the plane of scanning motion.Calibration element 6 is placed on ground level
On, so the top surface of calibration element 6 and bottom surface are parallel to ground level, each side is perpendicular to ground level.Therefore, two-dimensional laser radar 1
The data of the top surface of scanning and bottom surface are presented that abscissa is incremented by, ordinate changes in a certain a small range（Because radar surveying is missed
Poor presence）The characteristics of, and the data for scanning side are presented the spy that ordinate is incremented by, abscissa changes in a certain a small range
Point.It is possible thereby to by data zoning, the data in each region represent every line segment that the plane of scanning motion intersects with calibration element 6
On data.Data separate least square method to each region is fitted to straight line, the linear equation where obtaining intersection.
3rd, ask for the intersecting point coordinate of two-dimensional laser radar scanning plane and calibration element seamed edge and ask for one of anglec of rotation β
The plane of scanning motion of two-dimensional laser radar 1 is made up of a branch of Shu Jiguang, and he has angular resolution, therefore two-dimensional laser thunder
The plane of scanning motion up to 1 does not ensure that directly scanning is obtained with the intersecting point coordinate of the seamed edge of calibration element 6.We in upper step using asking for
Linear equation, the linear equation that adjacent intersection is fitted is intersected two-by-two, the intersection point tried to achieve is exactly sweeping for two-dimensional laser radar 1
Retouch the intersecting point coordinate of plane and the seamed edge of calibration element 6, A in as Fig. 31、B1、C1、D14 points.Cross A1、D1Make the bottom surface of calibration element 6 respectively
Vertical line, meet at triangular prism bottom surface A’ 1、D’ 1.Connection A’ 1D’ 1, then A’ 1D’ 1= A1D1, and A’ 1D’ 1 ||B1C1.Cross triangular prism bottom surface one
Summit K makees A’ 1D’ 1、B1C1Vertical line meet at M respectively’ 1、N12 points, after M’ 1Make A1D1Vertical line, meets at point M1.Connection M1、N1Two
Point, M1N1Size be A1Point arrives straight line B1C1Distance（Tried to achieve by the range formula of point to straight line）, M1M’ 1Size is mark
Determine the height of part 6.Then ∠ N1M1M’ 1I.e. required anglec of rotation β, its size is：
4th, turning circle radius R is sought
Computer sends rotation instruction, and motor 3 is rotated the dextrorotation turnback of workbench 2, then sends scanning and refers to
Order, second scanning is carried out to calibration element 6, and the same previous step of data processing, its schematic diagram is as shown in Figure 4.Due to B1C1、A’ 1D’ 1、
D’ 2A’ 2、C2B2Size is obtained via least square method, by four linear projections to same bottom surface as shown in figure 5, according to similar
Triangle Principle can be in the hope of N1N2Size.Twice sweep is merged together, and from overall structure rightmost projection（Right view）,
Obtain view 6.I is scanning center of the radar when scanning for second, crosses the parallel lines that I does the upper surface of calibration element 6, hands over radar to exist
Plane of scanning motion when scanning for the first time is in point J.It can thus be appreciated that N1N2=IJ.According to anglec of rotation β is above tried to achieve, can calculate and try to achieve rotation
Turn radius of circle R, i.e.,：
5th, anglec of rotation γ is asked for
Because calibration element 6 is hollow, laser radar scans the line segment B being crossed to form to calibration element 6 for the first time1C1, actually
The surface sweeping plane of two-dimensional laser radar 1 and the intersection of ground level, if line segment B1C1The slope of the linear equation being fitted is V, then swash
Optical radar aroundThe angle γ of generation is on the direction of axle：
6th, motor drives laser radar to return to initial position
The value of calibrating parameters is asked for due to more than, is all that for laser radar initial position, laser radar is scanned to object
When must since demarcate initial position.If the initial position of Laser Radar Scanning object changes, then at the beginning of new
Beginning, position will also re-scale to the 3 D scanning system.Because workbench has turned clockwise 180 degree when demarcating, so calculating
Machine sends instructions to motor 3, and motor 3 is rotated the counter-rotating 180 degree of workbench 2, drives laser radar to return to initial position.
7th, the calibrating parameters that will be obtained are brought into Conversion Matrix of Coordinate
The transition matrix for being translated according to Two coordinate system and being rotated, will calculate three calibrating parameters tried to achieve and be brought into this matrix equation
In, the matrix of coordinate in laser radar coordinate system to Coordinate Conversion in rotary table coordinate system is obtained under the system, it is right to complete
The demarcation of the system.The transition matrix of the system is：
Wherein,（x1,y1,z1）It is the coordinate under laser radar coordinate system,（x,y,z）It is the seat in rotary table coordinate system
Mark.
Measuring system is demarcated according to the above method, calibration element 6 is the cuboid of 500 × 500 × 300mm, and will
Hollow triangular prism is made inside it, triangular prism bottom surface is the equilateral triangle of length of side 400mm, and depth is 300mm.Two dimension is swashed
Optical radar 1 is arranged on specified location, and calibration element 6 is positioned on the ground level immediately below two-dimensional laser radar 1, makes internal three
One side of prism is as far as possible parallel with the plane of scanning motion, it is ensured that initial position and two-dimensional laser radar 1 are driven by rotary table 2
The plane of scanning motion after rotation 180 degree all has intersection point with the base of triangular prism inside calibration element 6.According to above-mentioned scaling method and
Step is demarcated to the system, obtains calibrated spin matrix.
Calibration element 6 is removed, wagon box is described that device is placed on the underface of two-dimensional laser radar 1.Equipped with cloud data storage
Rotation instruction is sent to motor 3 with the computer 5 of processing routine, and sends scan instruction simultaneously to two-dimensional laser radar 1, make electricity
Machine 3 is rotated workbench 2 and the two-dimensional laser radar 1 installed in workbench top often rotates 5 degree to testee scanning one
Secondary, untill wagon box being described device is all scanned after completion, i.e., motor 3 is rotated workbench 2 and is rotated by 360 °.
The data for obtaining will be scanned and be saved in the computer 5 equipped with cloud data storage and processing routine, adopted by computer
With string high differentiation to data compaction treatment, the data conversion after simplifying into three-dimensional point cloud form, be later data calculate beat
Lower basis, and be plotted on computer screen.
Triangle gridding structure is carried out to three-dimensional point cloud, the three-dimensional grid model that wagon box describes device is restored.And by car
The extraction of bucket shape Vessel Boundary data, calculates wagon box and describes the appearance and sizes such as the length and width of device, depth.
Claims (3)
1. a kind of wagon box based on two-dimensional laser radar describes device 3 D scanning system measuring method, it is characterised in that methods described
Comprise the following steps：
Measuring system is demarcated first, hollow triangular prism will be made inside calibration element, triangular prism bottom surface is equilateral triangle
Shape, specified location is arranged on by two-dimensional laser radar, and calibration element is positioned on the ground level immediately below two-dimensional laser radar,
Make a side of internal triangular prism parallel with the plane of scanning motion, it is ensured that initial position and two-dimensional laser radar are by rotary table band
The plane of scanning motion after dynamic rotation 180 degree all has intersection point with the base of triangular prism inside calibration element, with scaling method to the system
Demarcated, obtained calibrated spin matrix；
Calibration element is removed, wagon box is described that device is placed on the underface of two-dimensional laser radar, stored equipped with cloud data and processed
The computer of program sends rotation instruction to motor, and transmission scan instruction gives two-dimensional laser radar simultaneously, motor is driven rotation
Revolving worktable and the two-dimensional laser radar installed in workbench top are scanned to testee；
The data for obtaining will be scanned and be saved in the computer equipped with cloud data storage and processing routine, convert data to three-dimensional
The form of point cloud, and be plotted on computer screen；
Triangle gridding structure is carried out to three-dimensional point cloud, the three-dimensional grid model that wagon box describes device is restored, described by wagon box
The extraction of device data boundary, calculates the appearance and size that wagon box describes device.
2. measuring method according to claim 2, it is characterised in that the following method of calibration and usage：
The measuring system that device appearance and size is described to wagon box is initially set up, the system is arranged on scanned wagon box and describes device just
Top, by rotating the surface sweeping plane of two-dimensional laser radar, completion is described the scanning of device to wagon box, realizes 3-D scanning, described
The hardware that system is used includes：Two-dimensional laser radar（1）, rotary table（2）, motor（3）, support（4）, equipped with a cloud number
According to storage and the computer of processing routine（5）And calibration element（6）, two-dimensional laser radar（1）The plane of scanning motion be located at laser radar
Front end, perpendicular to laser radar side, two-dimensional laser radar（1）It is installed to rotary table（2）Table top on, motor（3）
Installed in rotary table（2）Side, workbench is rotated（2）Table top complete spinning movement in the horizontal plane, and then
Drive and be arranged on rotary table（2）Two-dimensional laser radar on table top（1）Rotate, rotary table（2）Upper end be arranged on
Support（4）On, and support（4）The a certain fixed position for having certain altitude apart from ground is installed to, and ensures rotary table（2）
Table top it is parallel to the ground, equipped with cloud data storage and processing routine computer（5）It is placed on two-dimensional laser radar（1）'s
Outside sweep limits, two-dimensional laser radar（1）And motor（3）Stored and treatment with cloud data is equipped with by data line respectively
The computer of program（5）Connect together, calibration element（6）It is that inside is the cuboid of hollow triangular prism, calibration element（6）It is placed on two
Dimension laser radar（1）On the ground of underface；
By support（4）The a certain fixed position for having certain altitude apart from ground is installed to, makes rotary table（2）Table top with ground
Plane is tried one's best keeping parallelism, and by calibration element（6）It is positioned on the ground level for selecting immediately below revolving worktable, controls two-dimensional laser thunder
Reach（1）, to the calibration element under the position（6）Run-down, preserves scan data；
Data to the scanning of upper step are processed, and two-dimensional laser radar is gone out with least square fitting（1）The plane of scanning motion with mark
Determine part（6）Hand over the linear equation of each line segment；
The respective straight equation tried to achieve using upper step carries out combination of two solution, obtains intersecting point coordinate, as two-dimensional laser radar
（1）The plane of scanning motion and calibration element（6）The intersecting point coordinate of seamed edge, it can thus be concluded that the distance between any two intersection point is arrived, and according to
The distance and calibration element tried to achieve（6）The trigonometric function relation of height calculates the anglec of rotation β around y-coordinate axle；
By two-dimensional laser radar（1）Rotation 180 degree, to calibration element（6）Second of scanning, data ibid are carried out to scan data
Treatment, the distance between the surface sweeping plane tried to achieve according to twice sweep and seamed edge intersection point and its geometrical relationship are calculated tries to achieve rotation
Radius of circle R；
Go out two-dimensional laser radar using least square fitting（1）The plane of scanning motion and bottom surface intersection linear equation, according to straight
The slope of line equation, calculates the anglec of rotation γ around x-axis；
By two-dimensional laser radar（1）Counter-rotating 180 degree, returns to original position；
The nominal data that will be calculated, is brought into the translation and spin matrix of coordinate system conversion, thus completes the system
Demarcate.
3. measuring method according to claim 2, it is characterised in that the coordinate system is set up as follows：
Set up two coordinate systems：（1）Rotary table coordinate system o-xyz；（2）Laser radar coordinate system o1-x1y1z1, wherein, rotation
The origin of revolving worktable coordinate system is in rotary table（2）Pivot, z-axis positive direction perpendicular to ground downwards, when facing
Two-dimensional laser radar（1）When the top of initial position is stood, y-axis positive direction parallel to ground level to the left, by the right hand determined by x-axis direction
Then judge；Define the y of laser radar coordinate system1Axle, z1The positive direction phase of the positive direction of axle and itself two-dimensional coordinate system reference axis
Together, x1The direction of axle judges according to the right-hand rule.
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