CN106932784B - Wagon box based on two-dimensional laser radar describes device 3 D scanning system measurement method - Google Patents
Wagon box based on two-dimensional laser radar describes device 3 D scanning system measurement method Download PDFInfo
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- CN106932784B CN106932784B CN201710259157.XA CN201710259157A CN106932784B CN 106932784 B CN106932784 B CN 106932784B CN 201710259157 A CN201710259157 A CN 201710259157A CN 106932784 B CN106932784 B CN 106932784B
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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 measurement method, demarcates first to measuring system.Calibration element is removed, wagon box is described that device is placed on the underface of two-dimensional laser radar.Computer equipped with point cloud data storage and processing program sends rotation instruction to motor, and sends scan instruction simultaneously and give two-dimensional laser radar, and motor is made to drive rotary table and be installed on the workbench the two-dimensional laser radar on side to testee run-down.The data that scanning obtains are saved in the computer equipped with point cloud data storage and processing program, by computer to data compaction processing, the data conversion after simplifying at the form of three-dimensional point cloud, and are plotted on computer screen.Triangle gridding building is carried out to three-dimensional point cloud, restores the three-dimensional grid model that wagon box describes device.And the extraction by describing device data boundary to wagon box, it calculates wagon box and describes the outer dimensions such as the length and width of device, depth.
Description
Technical field
The present invention relates to a kind of wagon boxes to describe device 3 D scanning system and its measurement method, more particularly to a kind of based on two dimension
The wagon box of laser radar describes device 3 D scanning system measurement method.
Background technique
The metrical information that laser radar has many advantages, such as that ranging speed is fast, precision is high, obtains is intuitive, in military, aviation and
Civilian equal fields are more and more widely used.Currently, 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, in the form of polar into
Row saves, and the image that obtained data are reduced by post-processing is also scanned object in laser radar scanning
Two-dimensional silhouette figure in plane.And three-dimensional laser radar can also be able to rotate surface sweeping plane while two-dimensional scanning, so just
It can directly scan to obtain the three-dimensional data information of spatial point, and can more intuitively reflect the resemblance of scanned object, because
This has bigger application value in important fields such as some navigation, engineering surveys, but expensive.
In actual industrial production, wagon box describes that device is very common, especially entrucking link during material transportation.Mesh
Before, people also rely primarily on artificial direct measurement to the acquisition of the outer dimension of wagon box in entrucking link, not only survey in this way
It is larger to measure error, and in the case where some bad environments, it is also very big to the health harm of staff.To solve this
A little problems liberate labour, we directly can select three-dimensional laser radar to be scanned wagon box, then straight to scan data
Connect the dimension information for extracting the appearance profile of wagon box.But three-dimensional laser radar is expensive, in common civil corporation
It is used in entrucking link and unrealistic.Therefore, inventing cheap, the simple wagon box of one kind describes device 3 D scanning system for civilian
Industrial application has very strong realistic meaning.
Summary 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.
Described method includes following steps:
Measuring system is demarcated first, hollow triangular prism will be made into inside calibration element, triangular prism bottom surface is equilateral
Two-dimensional laser radar is mounted on designated position, and calibration element is placed in the Horizon immediately below two-dimensional laser radar by triangle
On face, keep a side of internal triangular prism parallel with the plane of scanning motion, guarantees initial position and two-dimensional laser radar by rotation work
Making platform drives bottom edge of the plane of scanning motion all with the triangular prism inside calibration element after rotating 180 degree to have intersection point, with scaling method pair
The system is demarcated, and calibrated spin matrix is obtained.
Calibration element is removed, wagon box is described that device is placed on the underface of two-dimensional laser radar.Equipped with point cloud data storage and
The computer of processing routine sends rotation instruction to motor, and sends scan instruction simultaneously and give two-dimensional laser radar, makes motor band
Dynamic rotary table and the two-dimensional laser radar for being installed on the workbench side scan testee.
The data that scanning obtains are saved in the computer equipped with point cloud data storage and processing program, are converted data to
The form of three-dimensional point cloud, and be plotted on computer screen.
Triangle gridding building is carried out to three-dimensional point cloud, restores the three-dimensional grid model that wagon box describes device.And by vehicle
The extraction of bucket shape Vessel Boundary data calculates the outer dimension that wagon box describes device.
The scaling method includes but is not limited to following methods:
The measuring system that device outer dimension is described to wagon box is initially set up, the system is mounted on scanned wagon box and describes device
Surface complete to describe wagon box the scanning of device, realize 3-D scanning by rotating the surface sweeping plane of two-dimensional laser radar,
Hardware used by the system includes: two-dimensional laser radar 1, rotary table 2, motor 3, and bracket 4 is deposited equipped with point cloud data
The computer 5 and calibration element 6 of storage and processing routine, 1 plane of scanning motion of two-dimensional laser radar 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 mounted on rotary table 2
Side drives the table top of rotary table 2 to complete spinning movement in the horizontal plane, and then drives and be mounted on rotary table 2
Two-dimensional laser radar 1 on face rotates, and the upper end of rotary table 2 is mounted on bracket 4, and bracket 4 is installed to apart from ground
Have a certain fixed position of certain altitude, and guarantee that the table top of rotary table 2 is parallel to the ground, equipped with point cloud data storage and
The computer 5 of processing routine is placed on outside the scanning range of two-dimensional laser radar 1, and two-dimensional laser radar 1 and motor 3 pass through respectively
Data line is connected together with the computer 5 equipped with point cloud data storage and processing program, and it is hollow that calibration element 6, which is internal,
The cuboid of triangular prism, calibration element 6 are placed on the ground immediately below two-dimensional laser radar 1.
Bracket 4 is installed to a certain fixed position for having certain altitude apart from ground, makes the table top and ground of rotary table 2
Plane keeping parallelism as far as possible.And calibration element 6 is placed on the ground level selected immediately below revolving worktable.Control two-dimensional laser radar
1, to 6 run-down of calibration element under the position, save scan data.
The data of upper step scanning are handled, fit 1 plane of scanning motion of two-dimensional laser radar and mark with least square method
Determine the linear equation that part 6 hands over each line segment.
Combination of two solution is carried out using the respective straight equation that upper step acquires, finds out intersecting point coordinate, as two-dimensional laser
The plane of scanning motion of radar 1 and the intersecting point coordinate of 6 seamed edge of calibration element, this makes it possible to obtain the distance between any two intersection points, and according to
The trigonometric function relationship of obtained distance and 6 height of calibration element calculates the rotation angle β around y-coordinate axis.
Two-dimensional laser radar 1 is rotated into 180 degree, to second of the scanning of calibration element 6, data ibid are carried out to scan data
Processing, can calculate and acquire according to the distance between the obtained surface sweeping plane of twice sweep and seamed edge intersection point and its geometrical relationship
Turning circle radius R.
Since calibration element 6 is hollow, twice sweep has necessarily swept to ground level, the characteristics of according to scan data, utilizes minimum
Square law fits the linear equation of two-dimensional laser radar 1 plane of scanning motion and bottom surface intersection, according to the slope of linear equation, calculates
Out around the rotation angle γ of x-axis.
By 1 counter-rotating 180 degree of two-dimensional laser radar, initial 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 calibration of system.
Detailed description of the invention
Fig. 1 is 3 D scanning system general structure schematic diagram according to the method for the present invention；
Fig. 2 is measurement coordinate system relational graph according to the method for the present invention；
Fig. 3 is first time scanning schematic diagram according to the method for the present invention；
Fig. 4 is second of scanning schematic diagram according to the method for the present invention；
Fig. 5 is bottom surface perspective view according to the method for the present invention；
Fig. 6 is overall structure rightmost projection schematic diagram according to the method for the present invention.
Specific embodiment
The present invention is specifically described in conjunction with attached drawing 1-6.
Establish 3 D scanning system as shown in Figure 1.
The system is mounted on the surface that scanned wagon box describes device, flat by the surface sweeping for rotating two-dimensional laser radar 1
The scanning that device is described to wagon box is completed in face, realizes 3-D scanning, hardware used by the system includes: two-dimensional laser radar
1, rotary table 2, motor 3, bracket 4, computer 5 and calibration element 6 equipped with point cloud data storage and processing program are two-dimentional to swash
1 plane of scanning motion of optical radar 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 mounted on the side of rotary table 2, drives the table top of rotary table 2 in the horizontal plane
Spinning movement is completed, and then the two-dimensional laser radar 1 being mounted on 2 table top of rotary table is driven to rotate, rotary table 2
Upper end is mounted on bracket 4, and bracket 4 is installed to a certain fixed position for having certain altitude apart from ground, and guarantees to rotate work
The table top for making platform 2 is parallel to the ground, and the computer 5 equipped with point cloud data storage and processing program is placed on two-dimensional laser radar 1
Scanning range outside, two-dimensional laser radar 1 and motor 3 store and process journey with equipped with point cloud data by data line respectively
The computer 5 of sequence connects together, and calibration element 6 is the internal cuboid for hollow triangular prism, and calibration element 6 is placed on two-dimensional laser thunder
On ground immediately below up to 1.
Establish two coordinate systems as shown in Figure 2: (1) rotary table coordinate system o-xyz；(2) laser radar coordinate system
o1-x1y1z1.Wherein, the origin of rotary table coordinate system is in the rotation center of rotary table 2, and z-axis positive direction is perpendicular to ground
Downwards, when standing in face of the top of 1 initial position of two-dimensional laser radar, positive direction of the y-axis is parallel to ground level to the left, x-axis
Direction is judged by the right-hand rule.Since during the work time, rotary table coordinate system is fixed, therefore it can will rotate work
Make platform coordinate system and is 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
The two-dimensional coordinate system for having itself in plane is retouched, we define the y of laser radar coordinate system1Axis, z1The positive direction of axis and itself two dimension
The positive direction of coordinate system reference axis is identical, x1The direction of axis judges according to the right-hand rule.
By the origin o of rotary table coordinate system to the o of laser radar coordinate system1x1y1Plane projection is in point o’, obtain two
Coordinate origin is in o1x1y1Distance in plane is o1o’, and o’The distance h of o is measured during the installation process to be obtained.Then laser thunder
The plane of scanning motion reached should be perpendicular to o1x1y1Plane is with o1o’It is radius around o’It moves in a circle, we define o1o’For rotational circle half
Diameter R.Because of the presence of installation error, plane o1x1y1The rotation angle around three axes must be generated relative to plane oxy, but by
Characteristic in system and the two reference axis relationships established, plane o1x1y1Relative to plane oxy around z-axis rotation angle be 0.Cause
This is exactly mainly to the rotation angle β around y-coordinate axis, the rotation angle γ around x-axis and turning circle radius R tri- to the calibration of the system
The calibration of amount.
The measuring system that device outer dimension is described to wagon box is initially set up, the system comprises be mounted on scanned wagon box shape
The scanning for describing device to wagon box is completed, is realized three-dimensional by rotating the surface sweeping plane of two-dimensional laser radar 1 in the surface of container
It scans, hardware used by the system includes: two-dimensional laser radar 1, rotary table 2, motor 3, bracket 4, equipped with a point cloud
Data store and process the computer 5 and calibration element 6 of program, 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 mounted on rotation
The side of workbench 2 drives the table top of rotary table 2 to complete spinning movement in the horizontal plane, and then drives and be mounted on rotation
Two-dimensional laser radar 1 on 2 table top of workbench rotates, and the upper end of rotary table 2 is mounted on bracket 4, and bracket 4 is installed to
There is a certain fixed position of certain altitude apart from ground, and guarantee that the table top of rotary table 2 is parallel to the ground, equipped with a cloud number
It is placed on outside the scanning range of two-dimensional laser radar 1 according to the computer 5 of storage and processing program, two-dimensional laser radar 1 and motor 3
It is connected together respectively by data line with the computer 5 for storing and processing program equipped with point cloud data, 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.
Bracket 4 is installed to a certain fixed position for having certain altitude apart from ground, makes the table top and ground of rotary table 2
Plane keeping parallelism as far as possible.And calibration element 6 is placed on the ground level selected immediately below revolving worktable.Control two-dimensional laser radar
1, to 6 run-down of calibration element under the position, save scan data.
The data of upper step scanning are handled, with least square method fit the plane of scanning motion of two-dimensional laser radar 1 with
Calibration element 6 hands over the linear equation of each line segment.
Combination of two solution is carried out using the respective straight equation that upper step acquires, finds out intersecting point coordinate, as two-dimensional laser
The plane of scanning motion of radar 1 and the intersecting point coordinate of 6 seamed edge of calibration element, this makes it possible to obtain the distance between any two intersection points, and according to
The trigonometric function relationship of obtained distance and 6 height of calibration element calculates the rotation angle β around y-coordinate axis.
Two-dimensional laser radar 1 is rotated into 180 degree, to second of the scanning of calibration element 6, data ibid are carried out to scan data
Processing, can calculate and acquire according to the distance between the obtained surface sweeping plane of twice sweep and seamed edge intersection point and its geometrical relationship
Turning circle radius R.
Since calibration element 6 is hollow, twice sweep has necessarily swept to ground level, the characteristics of according to scan data, utilizes 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 rotation angle γ around x-axis.
By 1 counter-rotating 180 degree of two-dimensional laser radar, initial 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 calibration 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 into inside it, triangular prism bottom surface is the equilateral triangle of side length 400mm, depth 300mm.Two dimension is swashed
Optical radar 1 is mounted on designated position, and calibration element 6 is placed on the ground level immediately below two-dimensional laser radar 1, makes inside three
One side of prism is parallel as far as possible with the plane of scanning motion, guarantees that initial position and two-dimensional laser radar 1 are driven by rotary table 2
There is intersection point on bottom edge of the plane of scanning motion all with the triangular prism inside calibration element 6 after rotation 180 degree.According to above-mentioned scaling method and
Step demarcates 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.It is stored equipped with point cloud data
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, makes electricity
Machine 3 drives rotary table 2 and is installed on the workbench 5 degree of the every rotation of two-dimensional laser radar 1 on side to testee scanning one
Secondary, until after wagon box being described device all scans completion, i.e., motor 3 drives rotary table 2 to be rotated by 360 °.
The data that scanning obtains are saved in the computer 5 equipped with point cloud data storage and processing program, are adopted by computer
Data compaction processing is beaten the data conversion after simplifying at the form of three-dimensional point cloud for later data calculating with string high differentiation
Lower basis, and be plotted on computer screen.
Triangle gridding building is carried out to three-dimensional point cloud, restores the three-dimensional grid model that wagon box describes device.And by vehicle
The extraction of bucket shape Vessel Boundary data calculates wagon box and describes the outer dimensions such as the length and width of device, depth.
Specific implementation step is as follows:
1, initial position is completed to scan for the first time to calibration element
According to the design and installation requirement of the system hardware, each structure is grouped together, and bracket 4 is installed to distance
There is a certain fixed position of certain altitude on ground, makes the table top and ground level keeping parallelism as far as possible of rotary table 2.And it will calibration
Part 6 is placed on the ground level selected immediately below revolving worktable and two-dimensional laser radar 1, is made a side of internal triangular prism and is swashed
Optical radar preliminary sweep plane is parallel as far as possible.Scan instruction is sent by the computer 5 equipped with point cloud data storage and processing program
Two-dimensional laser radar 1 is passed to through data line, radar is completed to scan for the first time to calibration element 6, the data warp scanned
Data line returns to computer, preserves.
2, fitting two-dimensional laser radar scanning plane and calibration element hand over the linear equation of each line segment
Since 1 scanning surface of two-dimensional laser radar is a plane, two-dimensional laser radar 1 sweeps 6 first time of calibration element
Retouch the data of each point on the line segment that obtained data are exactly calibration element 6 and the plane of scanning motion is crossed to form.Calibration element 6 is placed on ground
In plane, so the top and bottom of calibration element 6 are parallel to ground level, each side is perpendicular to ground level.Therefore, two-dimensional laser thunder
Data presentation abscissa up to the top and bottom of 1 scanning is incremented by, ordinate changes in a certain a small range (due to radar surveying
Error there are the characteristics that), and the spy that ordinate is incremented by, abscissa changes in a certain a small range is presented in the data for scanning side
Point.It is possible thereby to which data are divided region, the data in each region represent every line segment that the plane of scanning motion intersects with calibration element 6
On data.The data in each region are fitted straight line using least square method, find out the linear equation where intersection.
3, it seeks the intersecting point coordinate of two-dimensional laser radar scanning plane and calibration element seamed edge and seeks one of rotation angle β
The plane of scanning motion of two-dimensional laser radar 1 is made of a branch of Shu Jiguang, and there is angular resolutions for he, therefore two dimension swashs
The intersecting point coordinate of the plane of scanning motion of optical radar 1 and 6 seamed edge of calibration element does not ensure that directly scanning obtains.We are using in upper step
The linear equation sought intersects the linear equation that adjacent intersection is fitted two-by-two, and the intersection point acquired is exactly two-dimensional laser radar 1
The plane of scanning motion and 6 seamed edge of calibration element intersecting point coordinate, A in as Fig. 31、B1、C1、D14 points.Cross A1、D1Make calibration element 6 respectively
The vertical line of bottom surface meets at triangular prism bottom surface A’ 1、D’ 1.Connect A’ 1D’ 1, then A’ 1D’ 1= A1D1, and A’ 1D’ 1 ||B1C1.Cross triangular prism bottom
One vertex K of face makees A’ 1D’ 1、B1C1Vertical line meet at M respectively’ 1、N1Two o'clock, after M’ 1Make A1D1Vertical line meets at point M1.Connect M1、
N1Two o'clock, M1N1Size be A1Point arrives straight line B1C1Distance (being acquired by putting to the range formula of straight line), M1M’ 1Size is
For the height of calibration element 6.Then ∠ N1M1M’ 1I.e. required rotation angle β, size are as follows:
4, turning circle radius R is sought
Computer sends rotation instruction, and driving motor 3 drives rotary table 2 to rotate clockwise 180 degree, then sends and sweeps
Instruction is retouched, calibration element 6 scan for the second time, the same previous step of data processing, schematic diagram is as shown in Figure 4.Due to B1C1、A’ 1D’ 1、D’ 2A’ 2、C2B2Size is found out via least square method, by four linear projections to same bottom surface as shown in figure 5, according to
Similar triangle theory can be in the hope of N1N2Size.Twice sweep is merged together, and from overall structure rightmost projection (right view
Figure), obtain view 6.I is scanning center of the radar when scanning for second, crosses the parallel lines that I does 6 upper surface of calibration element, hands over thunder
Up to the plane of scanning motion when scanning first time in point J.It can thus be appreciated that N1N2=IJ.Rotation angle β is acquired according to front, can calculate and ask
Obtain turning circle radius R, it may be assumed that
5, rotation angle γ is sought
Since 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
It is the surface sweeping plane of two-dimensional laser radar 1 and the intersection of ground level, if line segment B1C1The slope for the linear equation being fitted is V, then
Laser radar aroundThe angle γ generated on the direction of axis are as follows:
6, driving motor drives laser radar to return to initial position
It is all for laser radar initial position, laser radar is to object due to seeking the value of calibrating parameters above
It is had to since the initial position of calibration when scanning.If the initial position of laser radar scanning object changes, new
Initial position also the 3 D scanning system is re-scaled.Workbench has rotated clockwise 180 degree when due to calibration, so
Computer sends instructions to motor 3, and motor 3 drives 2 counter-rotating 180 degree of rotary table, and laser radar is driven to return to initially
Position.
7, obtained calibrating parameters are brought into Conversion Matrix of Coordinate
The transition matrix for being translated and being rotated according to Two coordinate system will calculate three calibrating parameters acquired and be brought into this matrix
In equation, the matrix of coordinate coordinate conversion into rotary table coordinate system in laser radar coordinate system under the system is obtained, it is complete
The calibration of the pairs of system.The transition matrix of the system are as follows:
Wherein, (x1,y1,z1) it is the coordinate under laser radar coordinate system, (x, y, z) is in rotary table coordinate system
Coordinate.
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 into inside it, triangular prism bottom surface is the equilateral triangle of side length 400mm, depth 300mm.Two dimension is swashed
Optical radar 1 is mounted on designated position, and calibration element 6 is placed on the ground level immediately below two-dimensional laser radar 1, makes inside three
One side of prism is parallel as far as possible with the plane of scanning motion, guarantees that initial position and two-dimensional laser radar 1 are driven by rotary table 2
There is intersection point on bottom edge of the plane of scanning motion all with the triangular prism inside calibration element 6 after rotation 180 degree.According to above-mentioned scaling method and
Step demarcates 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.It is stored equipped with point cloud data
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, makes electricity
Machine 3 drives rotary table 2 and is installed on the workbench 5 degree of the every rotation of two-dimensional laser radar 1 on side to testee scanning one
Secondary, until after wagon box being described device all scans completion, i.e., motor 3 drives rotary table 2 to be rotated by 360 °.
The data that scanning obtains are saved in the computer 5 equipped with point cloud data storage and processing program, are adopted by computer
Data compaction processing is beaten the data conversion after simplifying at the form of three-dimensional point cloud for later data calculating with string high differentiation
Lower basis, and be plotted on computer screen.
Triangle gridding building is carried out to three-dimensional point cloud, restores the three-dimensional grid model that wagon box describes device.And by vehicle
The extraction of bucket shape Vessel Boundary data calculates wagon box and describes the outer dimensions 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 measurement method, it is characterised in that the method
Include the following steps:
Measuring system is demarcated first, hollow triangular prism will be made into inside calibration element, triangular prism bottom surface is equilateral triangle
Two-dimensional laser radar is mounted on designated position, and calibration element is placed on the ground level immediately below two-dimensional laser radar by shape,
Keep a side of internal triangular prism parallel with the plane of scanning motion, guarantees initial position and two-dimensional laser radar by rotary table band
There is intersection point on bottom edge of the plane of scanning motion all with the triangular prism inside calibration element after dynamic rotation 180 degree, with scaling method to the system
It is demarcated, obtains calibrated spin matrix；
Calibration element is removed, wagon box is described that device is placed on the underface of two-dimensional laser radar, is stored and processed equipped with point cloud data
The computer of program sends rotation instruction to motor, and sends scan instruction simultaneously and give two-dimensional laser radar, and motor is made to drive rotation
Revolving worktable and the two-dimensional laser radar for being installed on the workbench side scan testee；
The data that scanning obtains are saved in the computer equipped with point cloud data storage and processing program, convert data to three-dimensional
The form of point cloud, and be plotted on computer screen；
Triangle gridding building is carried out to three-dimensional point cloud, the three-dimensional grid model that wagon box describes device is restored, by describing to wagon box
The extraction of device data boundary calculates the outer dimension that wagon box describes device.
2. measurement method according to claim 1, which is characterized in that the coordinate system is established as follows:
Establish 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 rotary table (2) rotation center, z-axis positive direction perpendicular to ground downwards, when facing
When the top of two-dimensional laser radar (1) initial position is stood, positive direction of the y-axis is parallel to ground level to the left, and x-axis direction is determined by the right hand
Then judge；Define the y of laser radar coordinate system1Axis, z1The positive direction phase of the positive direction of axis and itself two-dimensional coordinate system reference axis
Together, x1The direction of axis judges according to the right-hand rule.
3. measurement method according to claim 1, it is characterised in that the following method of calibration and usage:
The measuring system that device outer dimension is described to wagon box is initially set up, the system is mounted on scanned wagon box and describes device just
The scanning that device is described to wagon box is completed, realization 3-D scanning is described by rotating the plane of scanning motion of two-dimensional laser radar in top
Hardware used by system includes: two-dimensional laser radar (1), rotary table (2), motor (3), bracket (4), equipped with a cloud number
According to the computer (5) and calibration element (6) of storage and processing program, the plane of scanning motion of two-dimensional laser radar (1) is located at laser radar
Front end, perpendicular to laser radar side, two-dimensional laser radar (1) is installed on the table top of rotary table (2), motor (3)
It is mounted on the side of rotary table (2), drives the table top of rotary table (2) to complete spinning movement in the horizontal plane, in turn
Drive is mounted on the rotation of the two-dimensional laser radar (1) on rotary table (2) table top, and the upper end of rotary table (2) is mounted on
On bracket (4), and bracket (4) is installed to a certain fixed position for having certain altitude apart from ground, and guarantees rotary table (2)
Table top it is parallel to the ground, equipped with point cloud data storage and processing program computer (5) be placed on two-dimensional laser radar (1)
Outside scanning range, two-dimensional laser radar (1) and motor (3) are stored and processed by data line with equipped with point cloud data respectively
The computer (5) of program connects together, and calibration element (6) is the internal cuboid for hollow triangular prism, and calibration element (6) is placed on two
It ties up on the ground immediately below laser radar (1)；
Bracket (4) is installed to a certain fixed position for having certain altitude apart from ground, makes the table top and ground of rotary table (2)
Plane keeping parallelism as far as possible, and calibration element (6) is placed on the ground level selected immediately below revolving worktable, control two-dimensional laser thunder
Scan data is saved to calibration element (6) run-down under the position up to (1)；
The data of upper step scanning are handled, the plane of scanning motion and mark of two-dimensional laser radar (1) are fitted with least square method
Determine the linear equation that part (6) hands over each line segment；
Combination of two solution is carried out using the respective straight equation that upper step acquires, finds out intersecting point coordinate, as two-dimensional laser radar
(1) intersecting point coordinate of the plane of scanning motion and calibration element (6) seamed edge, this makes it possible to obtain the distance between any two intersection points, and according to
The trigonometric function relationship of obtained distance and calibration element (6) height calculates the rotation angle β around y-coordinate axis；
Two-dimensional laser radar (1) is rotated into 180 degree, to second of calibration element (6) scanning, data ibid are carried out to scan data
Processing, by the origin o of rotary table coordinate system to the o of laser radar coordinate system1x1y1Plane projection is in point o’, obtain two seats
Mark system origin is in o1x1y1Distance in plane is o1o’, and o’The distance h of o is measured during the installation process to be obtained, then laser radar
The plane of scanning motion should be perpendicular to o1x1y1Plane is with o1o’It is radius around o’It moves in a circle, defines o1o’For turning circle radius R, root
Turning circle radius is acquired according to the distance between the obtained plane of scanning motion of twice sweep and seamed edge intersection point and its geometrical relationship calculating
R；
The plane of scanning motion of two-dimensional laser radar (1) and the linear equation of bottom surface intersection are fitted using least square method, according to straight
The slope of line equation calculates the rotation angle γ around x-axis；
By two-dimensional laser radar (1) counter-rotating 180 degree, initial position is returned to；
The nominal data that will be calculated is brought into the translation and spin matrix of coordinate system conversion, thus completes the system
Calibration.
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| CN109856642B (en) * | 2018-12-20 | 2023-05-16 | 上海海事大学 | Plane calibration method based on rotary three-dimensional laser measurement system |
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| CN111192328B (en) * | 2019-12-31 | 2023-06-02 | 芜湖哈特机器人产业技术研究院有限公司 | Carriage container three-dimensional scanning system point cloud processing method based on two-dimensional laser radar |
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| CN112285735B (en) * | 2020-09-18 | 2023-04-18 | 北京捷象灵越科技有限公司 | System for automatically calibrating angular resolution of single-line laser radar |
| CN112305521B (en) * | 2020-11-03 | 2021-11-30 | 福勤智能科技（昆山）有限公司 | Double-laser-radar relative position calibration method, device, equipment and storage medium |
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