CN103411531B - Volume dynamic measurement device based on scanning laser radar and measuring method - Google Patents
Volume dynamic measurement device based on scanning laser radar and measuring method Download PDFInfo
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Abstract
The invention belongs to volume dynamic measuring tech field, disclose volume dynamic measurement device based on scanning laser radar and measuring method.This volume dynamic measurement device based on scanning laser radar, including conveyer belt, corresponding the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar of being provided with in the top of described conveyer belt, left side and right side, described first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar are positioned at same perpendicular；Described first scanning laser radar vertically conveyer belt plane, described second scanning laser radar and the 3rd scanning laser radar the most horizontally toward conveyer belt plane；It is installed with incremental rotary encoder in the rotating shaft driving motor of described conveyer belt；Described first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar all electrically connect industrial computer by switch, and described incremental rotary encoder electrically connects described industrial computer by data collecting card.
Description
Technical field
The invention belongs to volume dynamic measuring tech field, particularly to volume kinetic measurement based on scanning laser radar
Device and measuring method.
Background technology
In a lot of scientific researches and commercial production, it is often necessary to know the volume parameter of object correlation.But when tested
When object has the characteristics such as time variation, toxicity, explosion hazard, for the sake of security, it has not been convenient to manually directly measure.Such as,
In the sorting and categorizing process of coal cinder, need the dynamic volume size measuring coal cinder such that it is able to automatically according to its body
Long-pending it is classified or bond quality calculates its density.The method sorted coal cinder according to volume at present is mainly shaken
Dynamic screening method, different motion direction when i.e. vibrating according to coal cinder, filter out the coal cinder that volume is close.But this screening technique
Can only be rough coal cinder is classified, it is impossible to the accurate volume size obtaining coal cinder, thus for calculating the density of coal cinder.
It addition, this screening technique also can make coal cinder damage, the coal cinder of large volume the most easily splits into the coal of small size
Block.
Summary of the invention
It is an object of the invention to propose volume dynamic measurement device based on scanning laser radar and measuring method.This body
Long-pending dynamic measurement device investment cost is few, and measuring speed is fast, it is simple to realize automatically controlling, it is not necessary to manual operation, it is possible to easily
The volume of measured object is carried out kinetic measurement.
For realizing above-mentioned technical purpose, the present invention adopts the following technical scheme that and is achieved.
Technical scheme one:
Volume dynamic measurement device based on scanning laser radar, including conveyer belt, the top of described conveyer belt, left side and
Right side correspondence is provided with the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar, and described first swashs
Photoscanning radar, the second scanning laser radar and the 3rd scanning laser radar are positioned at same perpendicular；Described first laser
Scanning radar vertically conveyer belt plane, described second scanning laser radar and the 3rd scanning laser radar the most horizontally toward pass
Send band plane；It is installed with incremental rotary encoder in the rotating shaft driving motor of described conveyer belt；
Described first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar are all by exchange electromechanics
Connecting industrial computer, described incremental rotary encoder electrically connects described industrial computer by data collecting card.
The feature of the technical program and further improvement is that:
The model of described first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar is UXM-
30LX-EW；Described incremental rotary encoder uses E6A2-CW3C incremental rotary encoder.
Described first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar have identical sampling
Frequency.
Technical scheme two:
Volume dynamic measurement method based on scanning laser radar, dynamic based on above-mentioned volume based on scanning laser radar
Measurement apparatus, comprises the following steps:
Scanning laser radar demarcate: make an octahedra shape demarcation thing, described octahedron have two bottom surfaces and
Six sides, said two bottom surface is respectively two regular hexagons, and said two regular hexagon has an identical length of side, and described six
Individual side is rectangle；By described demarcation thing place on a moving belt, six sides of described demarcation thing all with described conveyer belt
The direction of motion parallel；Conveyer belt is used to transmit described demarcation thing, the first scanning laser radar, the second scanning laser radar and the
Three groups of cloud datas in thing cross section are demarcated in three scanning laser radar correspondence collections, by the Coordinate Conversion of wherein two groups of cloud datas extremely
The coordinate system at another group cloud data place, determines the parameter of the Coordinate Conversion that described two groups of cloud datas are corresponding；
Gather conveyer belt running speed and the cloud data of measured object cross section profile: use conveyer belt to transmit measured object, profit
The real-time motion speed of conveyer belt is measured with incremental rotary encoder and industrial computer；First scanning laser radar is in chronological order
Gathering the 1st measured object cross section successively to the cloud data of the upper contour line in M measured object cross section, M is the natural number more than 1；I-th
Measured object cross section is: the first scanning laser radar carries out the measured object cross section corresponding to i & lt sampling to measured object, and i takes 1 to M,
I-th measured object cross section is vertical section, and vertical with conveyer belt direction；Second scanning laser radar is the most successively
Gathering the 1st measured object cross section to the cloud data of the revolver profile in M measured object cross section, the 3rd scanning laser radar is the most suitable
Sequence gathers the 1st measured object cross section successively to the cloud data of the right wheel profile in M measured object cross section；The cloud data that will collect
Inputted to industrial computer by switch；
Coordinate Conversion: the first laser, according to the parameter of Coordinate Conversion corresponding to described two groups of cloud datas, is swept by industrial computer
The cloud data retouching radar, the second scanning laser radar and the collection of the 3rd scanning laser radar same time carries out the coordinate of correspondence
Conversion, industrial computer constructs the measured object cross-sectional image of correspondence according to the result of Coordinate Conversion；
Measured object area of section calculates: calculate the measured object area of section of correspondence according to described measured object cross-sectional image；
Measured object sampled distance calculates: according to the sample frequency of the first scanning laser radar, calculate the first laser scanning
In the sampling time of radar, the sampling time of described first scanning laser radar is that the first scanning laser radar gathers adjacent two quilts
Survey the time interval between the cloud data in thing cross section；By gather measured object cross section profile cloud data time conveyer belt real-time
Running speed was multiplied with the sampling time of the first scanning laser radar, obtain sampling between each two adjacent measured object cross section away from
From；
Measured object cuts body volume and calculates: described measured object cuts body volume and refers between two adjacent measured object cross sections
The volume of measured object；According to the sampling between each measured object area of section and two adjacent measured object cross sections of correspondence away from
From, the measured object of correspondence cuts body volume to use terrace with edge computational methods to draw；
Measured object volume calculates: all measured objects cut that body volume is cumulative is measured object volume.
The feature of the technical program and further improvement is that:
When gathering the cloud data of conveyer belt running speed and measured object cross section profile, incremental rotary encoder will be single
In bit time, the pulse data of record is sent to industrial computer by data collecting card, and industrial computer calculates according to described pulse data
The real-time motion speed of conveyer belt.
Carrying out scanning laser radar timing signal, the some cloud number demarcating thing cross section collected by the second scanning laser radar
According to Coordinate Conversion to the coordinate system of the first scanning laser radar, draw the parameter of the Coordinate Conversion of correspondence；3rd laser is swept
Retouching the Coordinate Conversion coordinate system to the first scanning laser radar of the cloud data demarcating thing cross section that radar collects, it is right to draw
The parameter of the Coordinate Conversion answered；The coordinate system of the first scanning laser radar is that the demarcation thing that the first scanning laser radar collects cuts
The coordinate system at the cloud data place in face.
The invention have the benefit that this volume dynamic measurement device investment cost is few, measuring speed is fast, it is simple to realize certainly
Dynamic control, it is not necessary to manual operation, it is possible to easily measured object volume is carried out kinetic measurement.
Accompanying drawing explanation
Fig. 1 is the frame for movement schematic diagram of the coal cinder volume dynamic measurement device based on scanning laser radar of the present invention；
Fig. 2 is the circuit connection diagram of the coal cinder volume dynamic measurement device based on scanning laser radar of the present invention；
Fig. 3 is the flow chart of the coal cinder volume dynamic measurement method based on scanning laser radar of the present invention；
Fig. 4 is the areal calculation schematic diagram in coal cinder cross section.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings: (octahedra)
As a example by coal cinder, coal cinder volume dynamic measurement device based on scanning laser radar and measuring method are described.Reference
Fig. 1, for the frame for movement schematic diagram of the coal cinder volume dynamic measurement device based on scanning laser radar of the present invention.Should be based on swashing
The coal cinder volume dynamic measurement device of photoscanning radar, including the conveyer belt 1 for transmitting coal cinder, above conveyer belt 1, a left side
Side be provided with first scanning laser radar 2, second scanning laser radar 3 and threeth scanning laser radar 4 corresponding with right side, first
Vertically downward, the laser head of the second scanning laser radar 3 and the 3rd scanning laser radar 4 is equal for the laser head of scanning laser radar 2
Horizontally toward conveyer belt plane.Three scanning laser radar (first scanning laser radar the 2, second scanning laser radars 3 and the 3rd
Scanning laser radar 4) it is positioned at same perpendicular, it is separately fixed on three supports；Three scanning laser radars are used respectively
In gathering the upper contour line in coal cinder cross section, revolver profile and the cloud data of right wheel profile.
It is installed with incremental rotary encoder 5, incremental rotary encoder in the rotating shaft driving motor of conveyer belt 1
5 for measuring the real-time motion speed of conveyer belt 1.
With reference to Fig. 2, the circuit connection for the coal cinder volume dynamic measurement device based on scanning laser radar of the present invention is shown
It is intended to；First scanning laser radar the 2, second scanning laser radar 3 and the 3rd scanning laser radar 4 are all electrically connected by switch
Industrial computer, incremental rotary encoder 5 electrically connects industrial computer by data collecting card.Specifically, industrial computer passes through self
Network interface connects switch, and connects data collecting card by the serial ports of self.The side that industrial computer is arranged on conveyer belt is (left
Side or right side).
In the embodiment of the present invention, the first scanning laser radar the 2, second scanning laser radar 3 and the 3rd scanning laser radar 4
Model all use the UXM-30LX-EW laser range finder of HOKUYO company.This laser range finder has the measurement model of 190 °
Enclose, the sample frequency of 20Hz, 0.1～the measurement distance of 30m.High performance industrial computer receives incremental rotary encoder 5 and sends
Pulse data after, be calculated, according to this pulse data, the real-time motion speed that conveyer belt is current.Industrial computer receives first and swashs
After photoscanning radar the 2, second scanning laser radar 3 and the 3rd scanning laser radar 4 send the cloud data come, according to this cloud
The data acquisition image in image split-joint method reconstruct coal cinder cross section, and based on this, calculate corresponding coal cinder area of section.
In the embodiment of the present invention, incremental rotary encoder 5 uses the E6A2-CW3C increment type of OMRON company to rotate and compiles
Code device.E6A2-CW3C incremental rotary encoder uses two-phase to test the speed mode, and its resolution is 500P/R, and it passes through data acquisition
Truck is connected the serial ports of industrial computer with Serial Port Line.
With reference to Fig. 3, for the flow chart of the coal cinder volume dynamic measurement method based on scanning laser radar of the present invention.This base
Coal cinder volume dynamic measurement method in scanning laser radar comprises the following steps:
Scanning laser radar is demarcated: the coordinate system that the cloud data that gathered due to scanning laser radar is corresponding is all based on
Set up from as initial point, it is therefore desirable to three scanning laser radars are demarcated, cloud data conversion is sat to unified
After mark system, the coal cinder area of section of correspondence could be calculated based on the cloud data that scanning laser radar is gathered.
The detailed process that scanning laser radar is demarcated is: making the demarcation thing of an octahedra shape, this octahedron has
Two bottom surfaces and six sides, the two bottom surface is respectively two regular hexagons, and two orthohexagonal length of sides are 20cm, and eight
Six sides of face body are rectangle (long 40cm, wide 20cm)；Then will demarcate thing to place on a moving belt, demarcate thing six
Side is all parallel with the direction of motion of described conveyer belt；Conveyer belt is used to transmit this demarcation thing, due to the first scanning laser radar
2, the sample frequency of the second scanning laser radar 3 and the 3rd scanning laser radar 4 is 20Hz, and the first scanning laser radar
2, the second scanning laser radar 3 and the 3rd scanning laser radar 4 are positioned at same perpendicular, so at synchronization, first swashs
Photoscanning radar the 2, second scanning laser radar 3 and the 3rd scanning laser radar 4 corresponding can collect of this demarcation thing
The cloud data of upper contour line in cross section, the cloud data of revolver profile and the cloud data of right wheel profile.It is then based on these
These three contour curves of cloud data are depicted on industrial computer.
Then with the coordinate system of the first scanning laser radar 2 (the first scanning laser radar collect demarcate thing cross section
The coordinate system at cloud data place) on the basis of, fix the upper contour curve in this demarcation thing cross section.Take turns according on demarcation thing cross section
The total point of profile, revolver profile and right wheel profile, translates the revolver profile in this demarcation thing cross section and rotates, and to this
The right wheel profile demarcating thing cross section translates and rotates；Three contour tilings are made to become orthohexagonal five limits.This
Time, record the translational movement of revolver profile and rotation amount and the translational movement of right wheel profile and rotation amount.The translation of revolver profile
Amount is the parameter of Coordinate Conversion corresponding to the cloud data of revolver profile, the translational movement of right wheel profile and rotation amount with rotation amount
It is the parameter of Coordinate Conversion corresponding to the cloud data of right wheel profile.The cross section of above-mentioned demarcation thing is regular hexagon, can be relatively
For accurately simulating the cross sectional shape of coal cinder, it is possible to increase the degree of accuracy that scanning laser radar is demarcated such that it is able to improve coal cinder
The degree of accuracy that area of section calculates.In the embodiment of the present invention, it is also possible to select to demarcate the shape of thing as required, such as select and cut
Face is the decahedron of octagon.
In the embodiment of the present invention, it is also possible to when the position demarcating thing moves forward 5mm, then carry out as above laser scanning thunder
Up to standard fixed, obtain translational movement and the rotation data of correspondence.Repeatedly carry out as above scanning laser radar calibration process to all
The translational movement demarcated and after rotation amount averages, determines the some cloud of the revolver profile that the second scanning laser radar 3 gathered
Translational movement that data are corresponding and rotation amount, and the cloud data of right wheel profile that the 3rd scanning laser radar 4 is gathered is corresponding
Translational movement and rotation amount.Finally make the coordinate and of the cloud data of the revolver profile that the second scanning laser radar 3 gathered
The coordinate transform of the cloud data of the right wheel profile that three scanning laser radars 4 are gathered is to the first scanning laser radar 2 place
Coordinate system, forms a unified coordinate system.
In the embodiment of the present invention, it is also possible to before transmitting coal cinder, preset the running speed of conveyer belt.For ensureing coal cinder
Real-time that volume calculates and high accuracy, set the sampled distance D of coal cinder as 5mm.Sample frequency f due to scanning laser radar
For 20Hz, therefore set running speed v of conveyer belt as:
v=D*f=5′10-3*20=0.1ms
Then conveyer belt running speed and the cloud data of coal cinder cross section profile are gathered: when conveyer belt just starts, conveyer belt
Operate with setting speed 0.1m/s.Coal cinder along with conveyer belt travel forward time, the weight of coal cinder can make the running speed of conveyer belt
Certain change occurs, and now, incremental rotary encoder 5 starts the Real-time Collection to conveyer belt running speed, three simultaneously
Scanning laser radar starts the Real-time Collection of the cloud data of the cross section contour to coal cinder.Industrial computer utilizes serial ports Real-time Collection
From the pulse data of incremental rotary encoder, accurately calculate the real-time motion speed of conveyer belt according to pulse data.Work
Control machine utilizes network interface Real-time Collection from the cloud data of the coal cinder cross section contour of three scanning laser radars, concrete mistake
Journey is as follows: the first scanning laser radar gathers the upper contour line in the 1st coal cinder cross section to M coal cinder cross section the most successively
Cloud data, M is the natural number more than 1；I-th coal cinder cross section is: the first scanning laser radar coal cinder is carried out i & lt sampling institute
Corresponding coal cinder cross section, i takes 1 to M, and the i-th coal cinder cross section is vertical section, and vertical with conveyer belt direction；Second laser
Scanning radar gathers the 1st coal cinder cross section the most successively to the cloud data of the revolver profile in M coal cinder cross section, and the 3rd swashs
Photoscanning radar gathers the 1st coal cinder cross section the most successively to the cloud data of the right wheel profile in M coal cinder cross section；To adopt
The cloud data that collection arrives is inputted to industrial computer by switch.
Then carrying out Coordinate Conversion, industrial computer is according to the parameter of Coordinate Conversion, to the first scanning laser radar, the second laser
The cloud data that scanning radar and the 3rd scanning laser radar same time gather carries out the Coordinate Conversion of correspondence and (i.e. carries out correspondence
Translation and rotation), industrial computer according to the result of Coordinate Conversion construct correspondence coal cinder cross-sectional image；The parameter of Coordinate Conversion
Refer to: translational movement that the cloud data of the left profile curve that the second scanning laser radar 3 is gathered is corresponding and rotation amount, and the 3rd
Translational movement that the cloud data of the right contour curve that scanning laser radar 4 is gathered is corresponding and rotation amount.
Then coal cinder area of section calculating is carried out: use split-run to calculate the area in each coal cinder cross section, with reference to Fig. 4, for
The areal calculation schematic diagram in coal cinder cross section.From zero, choose one every Dx along the x-axis direction and be perpendicular to the straight of x-axis
Line, thus each cross section of coal cinder is divided into N number of little trapezoidal.By asking for every straight line being perpendicular to x-axis and coal cinder cross section
Two intersection point y between line segmentjAnd y'j, it is calculated each little trapezoidal length of side value ljFor:
lj=|y'j-yj|
The then area S in the i-th coal cinder cross sectioniFor:
Calculate the sampled distance that each coal cinder cross section is corresponding: gather the i-th coal cinder cross section profile at three scanning laser radars
During cloud data corresponding to line, the real-time motion speed measuring the conveyer belt obtained is v'i, due to three scanning laser radars
Sample frequency is f, then the sampling time of three scanning laser radars is 1/f, then the sampled distance that the i-th coal cinder cross section is corresponding
DiFor:
Coal cinder cuts body volume and calculates, and coal cinder cuts the body that body volume is the coal cinder between two adjacent coal cinder cross sections
Long-pending.Area S according to the i-th coal cinder cross sectioniThe sampled distance D corresponding with the i-th coal cinder cross sectioni, use terrace with edge computational methods to draw position
Coal cinder between two adjacent coal cinder cross sections cuts the volume V of bodyi,
Calculate coal cinder volume: all coal cinders cut the summation of body volume and are the actual volume size of coal cinder.Owing to coal cinder cuts
The number in face is M, then coal cinder cuts the number of body is M-1, so coal cinder volume V is:
The present invention uses a kind of contactless, body of nondestructive apparatus and method are to transporting on conveyer belt coal cinder
Amass and carry out kinetic measurement.The volume dynamic measurement device of the present invention, uses scanning laser radar, incremental rotary encoder and work
Control machine, investment cost is few, and design is simple, and reliability is high；The volume dynamic measurement method of the present invention, dynamic based on above-mentioned volume
Measurement apparatus, the calculating to coal cinder volume is automatically performed by industrial computer, and it is intelligent high, and certainty of measurement is high, and to coal cinder
Intuitive measurement results, reliable.The present invention cannot be only used for measuring coal cinder volume, it is also possible to is widely used in medicine, chemical industry, food
The cubing of the object correlation of the industry such as product, building materials.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (3)
1. volume dynamic measurement method based on scanning laser radar, uses volume kinetic measurement based on scanning laser radar to fill
Putting, described volume dynamic measurement device based on scanning laser radar includes: conveyer belt (1), the top of described conveyer belt (1),
Left side is corresponding with right side is provided with the first scanning laser radar (2), the second scanning laser radar (3) and the 3rd scanning laser radar
(4), described first scanning laser radar (2), the second scanning laser radar (3) and the 3rd scanning laser radar (4) are positioned at same
In perpendicular；Described first scanning laser radar (2) vertically conveyer belt plane, described second scanning laser radar (3)
With the 3rd scanning laser radar (4) the most horizontally toward conveyer belt plane；Fix in the rotating shaft driving motor of described conveyer belt (1)
Incremental rotary encoder (5) is installed；Described first scanning laser radar (2), the second scanning laser radar (3) and the 3rd swash
Photoscanning radar (4) all electrically connects industrial computer by switch, and described incremental rotary encoder (5) is by data collecting card electricity
Connect described industrial computer；It is characterized in that, described volume dynamic measurement method based on scanning laser radar comprises the following steps:
Scanning laser radar is demarcated: make the demarcation thing of an octahedra shape, and described octahedron has two bottom surfaces and six
Side, said two bottom surface is respectively two regular hexagons, and said two regular hexagon has the identical length of side, described six sides
Face is rectangle；Described demarcation thing is placed on a moving belt, six sides of described demarcation thing all with the fortune of described conveyer belt
Dynamic direction is parallel；Using conveyer belt to transmit described demarcation thing, the first scanning laser radar, the second scanning laser radar and the 3rd swash
Three groups of cloud datas in thing cross section are demarcated in photoscanning radar correspondence collection, by the Coordinate Conversion of wherein two groups of cloud datas to another
The coordinate system at group cloud data place, determines the parameter of the Coordinate Conversion that described two groups of cloud datas are corresponding；
Gather conveyer belt running speed and the cloud data of measured object cross section profile: use conveyer belt to transmit measured object, utilize and increase
Amount formula rotary encoder and industrial computer measure the real-time motion speed of conveyer belt；First scanning laser radar is the most successively
Gathering the 1st measured object cross section to the cloud data of the upper contour line in M measured object cross section, M is the natural number more than 1；I-th is tested
Thing cross section is: the first scanning laser radar carries out the measured object cross section corresponding to i & lt sampling to measured object, and i takes 1 to M, i-th
Measured object cross section is vertical section, and vertical with conveyer belt direction；Second scanning laser radar is adopted the most successively
Collecting the 1st measured object cross section to the cloud data of the revolver profile in M measured object cross section, the 3rd scanning laser radar is in chronological order
Gather the 1st measured object cross section successively to the cloud data of the right wheel profile in M measured object cross section；The cloud data collected is led to
Cross switch to input to industrial computer；
Coordinate Conversion: industrial computer is according to the parameter of Coordinate Conversion corresponding to described two groups of cloud datas, to the first laser scanning thunder
Reach, cloud data that the second scanning laser radar and the 3rd scanning laser radar same time gather carries out the coordinate of correspondence and turns
Changing, industrial computer constructs the measured object cross-sectional image of correspondence according to the result of Coordinate Conversion；
Measured object area of section calculates: calculate the measured object area of section of correspondence according to described measured object cross-sectional image；
Measured object sampled distance calculates: according to the sample frequency of the first scanning laser radar, calculate the first scanning laser radar
Sampling time, the sampling time of described first scanning laser radar be first scanning laser radar gather adjacent two measured objects
Time interval between the cloud data in cross section；By gather measured object cross section profile cloud data time conveyer belt real-time motion
Speed was multiplied with the sampling time of the first scanning laser radar, obtained the sampled distance between each two adjacent measured object cross section；
Measured object cuts body volume and calculates: it is tested that described measured object cuts that body volume refers between two adjacent measured object cross sections
The volume of thing；According to the sampled distance between each measured object area of section and two adjacent measured object cross sections of correspondence, adopt
Show that by terrace with edge computational methods the measured object of correspondence cuts body volume；
Measured object volume calculates: all measured objects cut that body volume is cumulative is measured object volume.
2. volume dynamic measurement method based on scanning laser radar as claimed in claim 1, it is characterised in that pass gathering
When sending the cloud data of tape travel speed and measured object cross section profile, the arteries and veins that incremental rotary encoder will record in the unit interval
Strokes per minute sends to industrial computer according to by data collecting card, and industrial computer calculates the real-time motion of conveyer belt according to described pulse data
Speed.
3. volume dynamic measurement method based on scanning laser radar as claimed in claim 1, it is characterised in that swashing
During photoscanning Radar Calibration, the Coordinate Conversion of the cloud data demarcating thing cross section collected by the second scanning laser radar is to the
The coordinate system of one scanning laser radar, draws the parameter of the Coordinate Conversion of correspondence；The mark that 3rd scanning laser radar is collected
The Coordinate Conversion of the cloud data in earnest cross section, to the coordinate system of the first scanning laser radar, draws the ginseng of the Coordinate Conversion of correspondence
Number；The coordinate system of the first scanning laser radar is the cloud data place demarcating thing cross section that the first scanning laser radar collects
Coordinate system.
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