CN101762244A - Cylindrical target for three-dimensional laser scanning system - Google Patents

Cylindrical target for three-dimensional laser scanning system Download PDF

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Publication number
CN101762244A
CN101762244A CN201010034278A CN201010034278A CN101762244A CN 101762244 A CN101762244 A CN 101762244A CN 201010034278 A CN201010034278 A CN 201010034278A CN 201010034278 A CN201010034278 A CN 201010034278A CN 101762244 A CN101762244 A CN 101762244A
Authority
CN
China
Prior art keywords
target
cylindrical
reflective
laser scanning
cylindrical target
Prior art date
Application number
CN201010034278A
Other languages
Chinese (zh)
Inventor
张爱武
胡少兴
宫辉力
Original Assignee
首都师范大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 首都师范大学 filed Critical 首都师范大学
Priority to CN201010034278A priority Critical patent/CN101762244A/en
Publication of CN101762244A publication Critical patent/CN101762244A/en

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Abstract

The invention relates to a cylindrical target for a three-dimensional laser scanning system, comprising a target main body, a base and a connecting column which are in an integral structure. The target main body is in a cylinder shape, and the cylindrical outer surface is coated with reflectorized paint or reflective paper to form a cylindrical reflective surface. The seat is a cylinder which has the same axis with the target main body, one end is connected with the target main body through the connecting column, and the center of the other end is provided with a thread hole and then can be connected with a tripod. Thus, a laser scanner can scan the cylindrical target from different station points, and is equivalent to scan against the cylindrical reflective surface. By scanning the cylindrical target through the laser scanner from different station points, the simulated positions of the center axis of the cylindrical target is the same. When the invention is sued for carrying out the registration operation of three-dimensional laser scanning, the target distribution is convenient, the field operation time is shortened, and the registration precision is high.

Description

The cylindrical target that is used for three-dimensional laser scanning system
Technical field
The present invention relates to the three-dimensional laser scanning technique field, the architecture advances of needed target when relating to a kind of 3 D laser scanning particularly.
Background technology
Utilization arranges that in scene the method for target carries out registration to the cloud data that three-dimensional laser scanner obtains, and has precision height, fireballing characteristics.
And existing planar structure target when laser sends a little to the angle of getting to line that target puts and plane target drone hour from scanner, the situation that the mistake knowledge maybe can't be found target often occurs.In addition, existing planar structure target generally need make to be fixed in the method for paste in the scene, if sweep object is the object that does not allow paste operation, as historical relic, the artwork etc., the fixing of target just becomes a troubling problem.Also have under the certain situation, the light reflection strength of sweep object is higher, will make target be difficult to make a distinction easily from sweep object, and target also should not stick on the sweep object, and at this time, the fixed form of target still has problems.
Though being placed on the semisphere plane target drone of the Lycra company on the tripod can address the above problem by the target rotation, but, when giving different website three-dimensional data registration, need rotate this semisphere plane target drone repeatedly, the plane (being reflective surface) that makes this target is successively over against the laser scanner at different websites place.In the rotary course of target, will cause the centre coordinate of target reflective surface to change, thereby bring error for different website three-dimensional data registrations or cause can't registration; And when the rotation target is run into corner bracket, need to restart registration especially, also work has brought very big inconvenience to registration to rotate target time and again.
No matter the target of above-mentioned planar structure or hemispheric plane target drone, its reflective surface all is flat shape, and cylindric target provided by the invention is made as cylindrical shape with reflective surface, can address the above problem well.
Summary of the invention
At the deficiencies in the prior art, the objective of the invention is to: a kind of cylindrical target that is used for three-dimensional laser scanning system is provided, reflective surface is made as cylindrical shape, solve the problem that plane target drone Stimulated Light incident angle is limit, also solve the semisphere plane target drone problem that centre coordinate changes in rotary course.
For achieving the above object, the technical solution used in the present invention is:
A kind of cylindrical target that is used for three-dimensional laser scanning system is characterized in that: the reflective surface of this target is cylindric.
In preferable technical scheme: this cylindrical target comprises target main body, pedestal and the joint pin of integrative-structure, wherein:
This target main body is cylindric, scribbles reflectorised paint or is pasted with reflective sheeting on its columned outside surface, and become described columned reflective surface;
This pedestal is a right cylinder coaxial with this target main body, and the one end is connected with this target main body by this joint pin.
In preferable technical scheme: the other end center of this pedestal is processed with a threaded hole.
In preferable technical scheme: have decorative pattern through annular knurl processing on the outer circumference surface of this pedestal.
In preferable technical scheme: this cylindrical target is to form with the turning of duralumin material.
In preferable technical scheme: this cylindrical target comprises the target main body and the Connection Block of integrative-structure, wherein:
This target main body is cylindric, scribbles reflectorised paint or is pasted with reflective sheeting on its columned outside surface, and become a columned reflective surface;
This Connection Block is a cylinder coaxial with this target main body, and the one end is open, and an end of this opening and this target main body are joined.
In preferable technical scheme: the sealing of this Connection Block other end, and be processed with a through hole or threaded hole in the center of the other end of this sealing.
In preferable technical scheme: the outer cylinder surface of this Connection Block has decorative pattern through annular knurl processing.
In preferable technical scheme: this cylindrical target is to be processed to form with injection moulding or impact style.
In preferable technical scheme: this cylindrical target comprises the target main body and the base of processing respectively, wherein:
This target main body is a pipe body, scribbles reflectorised paint or is pasted with reflective sheeting on its columned outside surface, and become a columned reflective surface; Lower end at the inner cylinder face of this target main body also is processed with one section internal thread;
This base has a bottom and a stationary shaft, and this bottom has external thread and is spirally connected with the internal thread of this target main body, fixedlys connected with this bottom in this stationary shaft upper end.
Compared with prior art, the beneficial effect that has of the present invention is:
1, no matter the laser scanner scans of different websites, all is equivalent to be right against cylindrical reflective surface scans from what angle to this cylindrical target, and therefore, scanning accuracy is higher.
2, any this cylindrical target of laser scanner scans, the three-dimensional information of this cylindrical target towards the semi-cylindrical of a side of this scanning will be obtained, can simulate the central axis position (fitting algorithm is not a key content of the present invention, does not repeat them here) of this cylindrical target then easily with above-mentioned three-dimensional information.Because the symmetry that has of this cylindrical target, the position of the central axis that the laser scanner institute match of different websites is come out is identical, therefore needn't rotate target, can finish determining of target center position coordinates in the scene.
3, cylindrical target provided by the invention, if owing to long-term the use has local reflective surface to fall lacquer, as long as with the cylinder axis is this cylindrical target of axle rotation, make in the reflective surface reflecting effect preferably one side can make each laser scanner all obtain higher scanning accuracy one by one towards the laser scanner of different websites.Because the symmetry that this cylindrical target has, and because base and the coaxial setting of target main body so in the process of rotating base, can't change the axial location of this cylindrical target, can guarantee carrying out smoothly of registration work.
4, cylindrical target provided by the invention, need not paste fixing, thereby can avoid destroying the object that does not allow paste operation in the scene, also can avoid in the scene the higher article of light reflection strength and influence scanning accuracy to prevent to occur interfering, therefore, use cylindrical target provided by the invention, will improve the dirigibility that target is laid.
Description of drawings
Fig. 1 is the structural representation of a preferred embodiment of cylindrical target provided by the invention;
Fig. 2 is the structural representation of another preferred embodiment of cylindrical target provided by the invention;
Fig. 3 is the structural representation of the 3rd preferred embodiment of cylindrical target provided by the invention.
Description of reference numerals:
First embodiment: target main body 10; Reflective surface 11; Pedestal 20; Threaded hole 21; Joint pin 30;
Second embodiment: target main body 10; Reflective surface 11; Reflective sheeting 12; Connection Block 40; Through hole 41;
The 3rd embodiment: target main body 10; Reflective surface 11; Reflective sheeting 12; Internal thread 14; Base 50; Bottom 51; External thread 511; Stationary shaft 52.
Embodiment
As shown in Figure 1, be an a kind of preferred embodiment that is used for the cylindrical target of three-dimensional laser scanning system, it forms with the turning of duralumin material, comprises target main body 10, pedestal 20 and the joint pin 30 of integrative-structure, wherein:
This target main body 10 is cylindric, scribbles the reflectorised paint very responsive to laser (as: traffic mark paint) on its columned outside surface, and becomes a columned reflective surface 11.Because the precision of target center position coordinates in these reflective surface 11 direct relation scenes is so preferably adopt accurately machined mode to come the columned outside surface of this target main body 10 of moulding.
This pedestal 20 is right cylinders coaxial with this target main body 10, and the one end is connected with this target main body 10 by this joint pin 30, and other end center is processed with a threaded hole 21, is used for being connected with tripod (perhaps other fixed object).Interfere for the periphery that prevents pedestal 20 produces laser scanner, preferably the periphery to this pedestal 20 adopts annular knurl processing and makes it have decorative pattern.
This joint pin 30 also is cylindric, plays the connection effect, also is convenient to the processing of target main body 10 and pedestal 20.
Use the time of the present invention,, with screw this cylindrical target is fixed on this tripod (perhaps other fixed object) then, adjust slightly, can carry out registration work tripod (perhaps other fixed object) ornaments suitable position in scene.
Using the present invention to carry out registration work has the following advantages:
1, no matter the laser scanner scans of different websites, all is equivalent to be right against cylindrical reflective surface 11 scans from what angle to this cylindrical target, and therefore, scanning accuracy is higher.
2, any this cylindrical target of laser scanner scans, the three-dimensional information of this cylindrical target towards the semi-cylindrical of a side of this scanning will be obtained, can simulate the central axis position (fitting algorithm is not a key content of the present invention, does not repeat them here) of this cylindrical target then easily with above-mentioned three-dimensional information.Because the symmetry that has of this cylindrical target, the central axis position that the laser scanner institute match of different websites is come out is identical, therefore needn't rotate target, can finish determining of target center position coordinates in the scene.
3, cylindrical target provided by the invention, if owing to long-term the use has local reflective surface 11 to fall lacquer, as long as with the cylinder axis is this cylindrical target of axle rotation, make in the reflective surface 11 reflecting effect preferably one side can make each laser scanner all obtain higher scanning accuracy one by one towards the laser scanner of different websites.Because the symmetry that this cylindrical target has, and because base and the 10 coaxial settings of target main body so in the process of rotating base, can't change the axial location of this cylindrical target, can guarantee carrying out smoothly of registration work.
4, cylindrical target provided by the invention, need not paste fixing, thereby can avoid destroying the object that does not allow paste operation in the scene, also can avoid in the scene the higher article of light reflection strength and influence scanning accuracy to prevent to occur interfering, therefore, use cylindrical target provided by the invention, will improve the dirigibility that target is laid.
As shown in Figure 2, be another preferred embodiment of the present invention, it is to form with injection moulding or impact style, comprises the target main body 10 and the Connection Block 40 of integrative-structure, wherein:
This target main body 10 is cylindric, is pasted with reflective sheeting 12 on its columned outside surface, and becomes a columned reflective surface 11.Because the precision of target center position coordinates in these reflective surface 11 direct relation scenes, the outside surface of the target main body 10 that reply injection mo(u)lding or impact briquetting go out are carried out shaping processing, and then paste reflective sheeting 12.
This Connection Block 40 is cylinders coaxial with this target main body 10, the one end is open, one end of this opening and this target main body 10 are joined, other end sealing, and be processed with a through hole 41 (also can be threaded hole) in the center of the other end of this sealing, be connected with ceiling (perhaps other fixed object) after passing this through hole for a trip bolt (not giving diagram).Interfere for the outer cylinder surface that prevents Connection Block 40 produces laser scanner, preferably the outer cylinder surface to this Connection Block 40 adopts annular knurl processing and makes it have decorative pattern.
The above-mentioned cylindrical target that adopts injection moulding or impact style to form can be saved material and reduces cost, and can also reduce the whole total amount of target and is beneficial to loading and unloading.In the present embodiment, target main body 10 is to be fixed on the ceiling, and in fact, it also can be inverted, and is fixed on the tripod to use.
As shown in Figure 3, be the 3rd preferred embodiment of the present invention, it comprises the target main body 10 and the base 50 of processing respectively, wherein:
This target main body 10 is the pipe bodies that process with duralumin pipe turning, is pasted with reflective sheeting 12 (or being coated with traffic mark paint) on its columned outside surface, and becomes a columned reflective surface 11; Lower end at the inner cylinder face of this target main body 10 also is processed with one section internal thread 14.
This base 50 has a bottom 51 and a stationary shaft 52, this bottom 51 has external thread 511 and is spirally connected with the internal thread 14 of this target main body 10, fixedly connected with this bottom 51 in these stationary shaft 52 upper ends, stationary shaft 52 lower ends then can be fixedlyed connected (rivet, be spirally connected, glued joint or weld all right, will not give unnecessary details) with tripod (perhaps other fixed object).
Because the two-part structure separate machined of above-mentioned cylindrical target can improve working (machining) efficiency, guarantee the crudy of reflective surface 11; And, when needing rotation reflective surface 11, only need this target main body 10 of rotation relatively and the connecting thread of bottom 51 to get final product, and the internal thread 14 of this target main body 10 is molded over respectively on the inside and outside surface of pipe body with reflective surface 11, can guarantee concentricity at an easy rate, so can reduce manufacture difficulty.
More than each embodiment just illustrative for the purpose of the present invention, and it is nonrestrictive, those of ordinary skills understand, under the situation of the spirit and scope that do not break away from claim and limited, can make many modifications, variation or equivalence, for example: paste the reflective sheeting and the just trans-substitution mutually of step of spraying paint; And the structure of pedestal 20, Connection Block 40 and base 50 can also be carried out various structural adjustments according to different actual needs, but these replacements or adjustment mode all will fall within protection scope of the present invention.

Claims (10)

1. cylindrical target that is used for three-dimensional laser scanning system, it is characterized in that: the reflective surface of this target is cylindric.
2. the cylindrical target that is used for three-dimensional laser scanning system according to claim 1 is characterized in that: this cylindrical target comprises target main body, pedestal and the joint pin of integrative-structure, wherein:
This target main body is cylindric, scribbles reflectorised paint or is pasted with reflective sheeting on its columned outside surface, and become described columned reflective surface;
This pedestal is a right cylinder coaxial with this target main body, and the one end is connected with this target main body by this joint pin.
3. the cylindrical target that is used for three-dimensional laser scanning system according to claim 2 is characterized in that: the other end center of this pedestal is processed with a threaded hole.
4. the cylindrical target that is used for three-dimensional laser scanning system according to claim 2 is characterized in that: have decorative pattern through annular knurl processing on the outer circumference surface of this pedestal.
5. the cylindrical target that is used for three-dimensional laser scanning system according to claim 2 is characterized in that: this cylindrical target is to form with the turning of duralumin material.
6. the cylindrical target that is used for three-dimensional laser scanning system according to claim 1 is characterized in that: this cylindrical target comprises the target main body and the Connection Block of integrative-structure, wherein:
This target main body is cylindric, scribbles reflectorised paint or is pasted with reflective sheeting on its columned outside surface, and become a columned reflective surface;
This Connection Block is a cylinder coaxial with this target main body, and the one end is open, and an end of this opening and this target main body are joined.
7. the cylindrical target that is used for three-dimensional laser scanning system according to claim 6 is characterized in that: the sealing of this Connection Block other end, and be processed with a through hole or threaded hole in the center of the other end of this sealing.
8. the cylindrical target that is used for three-dimensional laser scanning system according to claim 7 is characterized in that: the outer cylinder surface of this Connection Block has decorative pattern through annular knurl processing.
9. the cylindrical target that is used for three-dimensional laser scanning system according to claim 6 is characterized in that: this cylindrical target is to be processed to form with injection moulding or impact style.
10. the cylindrical target that is used for three-dimensional laser scanning system according to claim 1 is characterized in that: this cylindrical target comprises the target main body and the base of processing respectively, wherein:
This target main body is a pipe body, scribbles reflectorised paint or is pasted with reflective sheeting on its columned outside surface, and become a columned reflective surface; Lower end at the inner cylinder face of this target main body also is processed with one section internal thread;
This base has a bottom and a stationary shaft, and this bottom has external thread and is spirally connected with the internal thread of this target main body, fixedlys connected with this bottom in this stationary shaft upper end.
CN201010034278A 2010-01-20 2010-01-20 Cylindrical target for three-dimensional laser scanning system CN101762244A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102288111A (en) * 2011-05-10 2011-12-21 上海市城市建设设计研究院 Multi-connector matching foundation support for laser scanning measuring
CN102339463A (en) * 2010-07-22 2012-02-01 首都师范大学 System and method for calibrating linear array camera based on laser scanner
CN102393524A (en) * 2011-11-11 2012-03-28 铁道第三勘察设计院集团有限公司 Point cloud plane precision detecting device of airborne laser radar
WO2013044677A1 (en) * 2011-09-29 2013-04-04 天津大学 Large-scale, three-dimensional coordinate measuring method and apparatus with laser tracking
CN103063135A (en) * 2012-12-26 2013-04-24 北京矿冶研究总院 High-accuracy calibration method and device of three-dimensional laser scanner posture
CN103176180A (en) * 2013-02-27 2013-06-26 四川省科学城久利科技实业有限责任公司 Device and method for detecting positioning precision of high-precision airborne laser radar system
CN104596411A (en) * 2014-11-05 2015-05-06 北京建筑大学 Cylindrical measuring device and automatic recognition algorithm
CN105571519A (en) * 2016-02-19 2016-05-11 广西玉柴机器股份有限公司 Auxiliary device of point cloud registration of three-dimensional scanner and registration method of three-dimensional scanner
CN105717935A (en) * 2014-11-30 2016-06-29 中国科学院沈阳自动化研究所 Three-dimensional target for visual guidance system
CN106197282A (en) * 2016-09-07 2016-12-07 吉林大学 Automobile pattern based on spherical coordinate is without kinematic constraint detector
CN106289102A (en) * 2016-09-07 2017-01-04 吉林大学 Automobile pattern based on cylindrical coordinates is without kinematic constraint detector
CN108132018A (en) * 2013-06-20 2018-06-08 安溪县中磊设备制造有限公司 A kind of calibration method
CN108663029A (en) * 2018-02-01 2018-10-16 深圳市建设综合勘察设计院有限公司 A kind of method, storage medium and terminal obtaining underwater cylindrical stub information

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102339463A (en) * 2010-07-22 2012-02-01 首都师范大学 System and method for calibrating linear array camera based on laser scanner
CN102339463B (en) * 2010-07-22 2015-10-21 首都师范大学 Based on the system and method for laser scanner calibration line array camera
CN102288111A (en) * 2011-05-10 2011-12-21 上海市城市建设设计研究院 Multi-connector matching foundation support for laser scanning measuring
CN102288111B (en) * 2011-05-10 2013-05-08 上海市城市建设设计研究院 Multi-connector matching foundation support for laser scanning measuring
WO2013044677A1 (en) * 2011-09-29 2013-04-04 天津大学 Large-scale, three-dimensional coordinate measuring method and apparatus with laser tracking
CN102393524A (en) * 2011-11-11 2012-03-28 铁道第三勘察设计院集团有限公司 Point cloud plane precision detecting device of airborne laser radar
CN102393524B (en) * 2011-11-11 2013-01-23 铁道第三勘察设计院集团有限公司 Point cloud plane precision detecting device of airborne laser radar
CN103063135A (en) * 2012-12-26 2013-04-24 北京矿冶研究总院 High-accuracy calibration method and device of three-dimensional laser scanner posture
CN103063135B (en) * 2012-12-26 2015-08-26 北京矿冶研究总院 A kind of three-dimensional laser scanner attitude high-precision calibrating method and device
CN103176180B (en) * 2013-02-27 2017-05-03 四川省科学城久利科技实业有限责任公司 Device and method for detecting positioning precision of high-precision airborne laser radar system
CN103176180A (en) * 2013-02-27 2013-06-26 四川省科学城久利科技实业有限责任公司 Device and method for detecting positioning precision of high-precision airborne laser radar system
CN108132018A (en) * 2013-06-20 2018-06-08 安溪县中磊设备制造有限公司 A kind of calibration method
CN104596411A (en) * 2014-11-05 2015-05-06 北京建筑大学 Cylindrical measuring device and automatic recognition algorithm
CN105717935A (en) * 2014-11-30 2016-06-29 中国科学院沈阳自动化研究所 Three-dimensional target for visual guidance system
CN105571519A (en) * 2016-02-19 2016-05-11 广西玉柴机器股份有限公司 Auxiliary device of point cloud registration of three-dimensional scanner and registration method of three-dimensional scanner
CN106197282A (en) * 2016-09-07 2016-12-07 吉林大学 Automobile pattern based on spherical coordinate is without kinematic constraint detector
CN106289102A (en) * 2016-09-07 2017-01-04 吉林大学 Automobile pattern based on cylindrical coordinates is without kinematic constraint detector
CN108663029A (en) * 2018-02-01 2018-10-16 深圳市建设综合勘察设计院有限公司 A kind of method, storage medium and terminal obtaining underwater cylindrical stub information

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Application publication date: 20100630