CN104237868A - Multifunctional practical laser radar scanning target - Google Patents

Multifunctional practical laser radar scanning target Download PDF

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Publication number
CN104237868A
CN104237868A CN201410422162.4A CN201410422162A CN104237868A CN 104237868 A CN104237868 A CN 104237868A CN 201410422162 A CN201410422162 A CN 201410422162A CN 104237868 A CN104237868 A CN 104237868A
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China
Prior art keywords
target
total powerstation
dimensional laser
center
laser radar
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CN201410422162.4A
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CN104237868B (en
Inventor
郭明
王晏民
王国利
王志良
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Beijing University of Civil Engineering and Architecture
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Beijing University of Civil Engineering and Architecture
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention discloses a multifunctional practical laser radar scanning target. The multifunctional practical laser radar scanning target comprises a total station reflection plate and a three-dimensional laser reflection panel. The three-dimensional laser reflection panel is coated with mineral dye. The total station reflection plate is connected with one end of a connecting column. Two sides of a total station reflection prism are movably connected with the total station reflection plate. The center of the three-dimensional laser reflection panel and the center of the total station reflection prism are located in the same straight line. One side of the total station reflection prism is fixedly connected with the three-dimensional laser reflection panel. The other end of the connecting column is connected with one end of a target rotating portion. One side of the connecting column is connected with a level pipe level gauge. The other end of the target rotating portion is connected with a base through a bearing. One side of the target rotating portion is connected with a telescopic sight. A circular level gauge is located on the base. The three-dimensional laser reflection panel is provided with a reflection area suitable for various types of laser scanners, and mineral dye high in reflection strength serves as pattern material. Meanwhile, the total station reflection prism and a three-dimensional laser scanner target are combined, and therefore accuracy and conversion efficiency of data are increased.

Description

A kind of multi-function type Laser Radar Scanning target
Technical field
The present invention relates to a kind of multi-function type Laser Radar Scanning target.
Background technology
The Main Function of target in Three Dimensional Ground laser scanning is the tie point in a cloud and the reference mark in coordinate conversion, and it is relevant with scanning angle and scanning distance that target obtains precision.Three-dimensional laser scanning technique is also called " outdoor scene reproduction technology "; by high-rate laser scanning survey; the three-dimensional coordinate data on quick obtaining measurand surface; have fast, in real time, noncontact, the feature such as active, protect in conservation of historic buildings, cultural heritage, be widely applied in the construction quality evaluation, building deformation monitoring etc. of important building.After completing the scanning on the spot of single building or single engineering, some cloud, in order to build the engineering products such as outdoor scene roaming, often need a cloud coordinate and real coordinate system to set up contact.In order to simple and convenient, complete a cloud coordinate conversion accurately and efficiently, a kind of multi-function type Laser Radar Scanning target of invention design, the conversion of convenient some cloud.
Summary of the invention
The present invention has designed and developed a kind of multi-function type Laser Radar Scanning target.In the present invention, three-dimensional laser Reflector Panel arranges the reflector space of the laser scanner of applicable Multiple Type, and the material of pattern adopts the mineral dye of better reflection strength, and data acquisition effect is better.Simultaneously, total powerstation reflecting prism and three-dimensional laser scanner target combine by the present invention, increase accuracy and the conversion efficiency of data, and the horizontal tube leveling bubble that target horizontal level is provided with by target pedestal rotating part adjusts with circle leveling bubble, meet the requirement of precise alignment, ensure the accuracy of data acquisition.
Technical scheme provided by the invention is:
A kind of multi-function type Laser Radar Scanning target, comprising:
Total powerstation reflecting plate and three-dimensional laser Reflector Panel, wherein, three-dimensional laser Reflector Panel surface scribbles mineral dye, total powerstation reflecting plate is connected with joint pin one end, total powerstation reflecting prism center and total powerstation reflecting plate center superposition, total powerstation reflecting prism wherein both sides and total powerstation reflecting plate is flexibly connected, three-dimensional laser Reflector Panel center and total powerstation reflecting prism center are on same center line, and total powerstation reflecting prism wherein side and three-dimensional laser Reflector Panel is fixed connection by helical structure;
The joint pin other end connects target rotating part one end, and be fixed connection by fixing spiral and groove, side is connected with level tube level;
The target rotating part other end connects base by bearing, and side is connected with gun sight, and with the plane of base contacts in rotate freely, adjustment superstructure position;
Circular bubble is positioned at base upper plane, for flattening target level-off position;
Wherein, the axis of total powerstation reflecting plate, joint pin, target rotating part, target base on the same line.
Preferably, in described multi-function type Laser Radar Scanning target, described total powerstation reflecting plate and three-dimensional laser Reflector Panel are aluminum alloy materials, three-dimensional laser Reflector Panel scribbles black color mica, three-dimensional laser scanner utilizes the center of Target Center point position extraction algorithm determination target after obtaining the laser radar point cloud of corresponding reflector space.
Preferably, in described multi-function type Laser Radar Scanning target, described total powerstation reflecting plate and three-dimensional laser Reflector Panel are designed to square, wherein total powerstation reflecting plate, centered by total powerstation reflecting prism center, design is smeared as chequered with black and white rice word pattern; Three-dimensional laser Reflector Panel uses black color mica dyestuff to carry out smearing design according to three circular figures.
Preferably, in described multi-function type Laser Radar Scanning target, on described three-dimensional laser Reflector Panel, three circular figures carry out smearing and are designed to centre bit circle, and centre is black color mica annulus, and the 3rd annulus uses black color mica to smear relative to the half at circle center.
Preferably, in described multi-function type Laser Radar Scanning target, described three-dimensional laser Reflector Panel is suitable for dissimilar laser scanner.
Preferably, in described multi-function type Laser Radar Scanning target, described total powerstation reflecting prism, when subsidiary three-dimensional laser scanner, the maximum rotation angle of in the vertical direction is 30 degree.
Preferably, in described multi-function type Laser Radar Scanning target, described target base bottom is provided with link spiral and is connected with conventional tripod, realizes the fixing of target base.
Preferably, in described multi-function type Laser Radar Scanning target, described total powerstation reflecting plate, joint pin, target rotating part, target base are regulated by gun sight, on vertical direction, make its axis on same straight line.
In the present invention, the distribution of three-dimensional laser Reflector Panel is applicable to the reflector space of the laser scanner of Multiple Type, and the material of pattern adopts the mineral dye of better reflection strength to smear, and data acquisition effect is better.Simultaneously, total powerstation reflecting prism and novel three-dimensional laser scanner target combine by the present invention, increase accuracy and the conversion efficiency of data, and the horizontal tube leveling bubble that target horizontal level is provided with by target pedestal rotating part adjusts with circle leveling bubble, meet the requirement of precise alignment, ensure the accuracy of data acquisition.
Accompanying drawing explanation
Fig. 1 is the structural representation of multi-function type Laser Radar Scanning target of the present invention.
Fig. 2 is a kind of total powerstation reflecting plate schematic diagram of multi-function type Laser Radar Scanning target.
Fig. 3 is a kind of three-dimensional laser reflecting plate schematic diagram of multi-function type Laser Radar Scanning target.
Fig. 4 is a kind of vertical view of multi-function type Laser Radar Scanning target.
Fig. 5 is a kind of side view of multi-function type Laser Radar Scanning target.
Fig. 6 is the schematic diagram determining target central coordinate of circle.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail, can implement according to this with reference to instructions word to make those skilled in the art.
Be illustrated in figure 1 a kind of one-piece construction figure of multi-function type Laser Radar Scanning target, target comprises the parts such as base, rotating part, gun sight, level tube level, circular bubble, joint pin, panel, total powerstation reflecting prism, three-dimensional laser Reflector Panel.As shown in Figure 3 at the reflector space of the laser scanner of the Reflector Panel position distribution Multiple Type of three-dimensional laser scanner, conventional scanner reflector space, Riegl (Rui Ge) scanner reflector space, Leica (Lycra) scanner reflector space, and the material of reflector space pattern adopts the better mineral dye of reflection strength to smear black color mica is respectively 400-700nm/905nm/1550nm Leica (Lycra) series scanner at laser wavelength, in the test of domestic equipment Stonex series and middle section sky dimension TW series scanner, naked eyes recognition effect, obvious good results is obtained for during lasing intensity and algorithm extract, so select this dyestuff to smear material as the pattern of target.It is measuring point coordinate that three-dimensional laser measures Reflector Panel center, the coordinate under can directly utilizing total station survey to go out target-based coordinate system.
The horizontal tube leveling bubble that target horizontal level is provided with by target pedestal rotating part as shown in Figure 4 adjusts with circle leveling bubble, meet the requirement of precise alignment, total powerstation reflecting plate, joint pin, target rotating part, target base are regulated by gun sight, on vertical direction, make its axis on same straight line.
Utilize total powerstation directly to aim at the prism one side of instrument reflection target, directly measure the center position coordinates obtaining target.Utilize the target reflecting surface that Three Dimensional Ground laser scanner scans target is corresponding, tailor-made algorithm is utilized to extract edge line and the Target Center point of instrument reflection target, the normal of target is asked for according to analyzing spot cloud, increase the corrected parameter of Target Center point, thus obtain the some cloud position of Target Center, increase some cloud location point, thus realize coupling and the conversion of some cloud coordinate and total station instrument coordinate.
The instrument reflection target center position that Three Dimensional Ground laser scanner is corresponding is extracted:
The first:
First, the three-dimensional laser point cloud of target scanning obtained is converted into depth image according to the principle of central projection, thus sets up the index means of three-dimensional point cloud neighborhood relationships, utilizes the correlated characteristic of the Processing Algorithm extracting directly target of conventional digital picture.
False coordinate initial point is O, point P (x, y, z) three-dimensional coordinate of one of them arbitrary analyzing spot is represented, the distance of some p to true origin O is d, the angle of OP and XOY plane is β (pi/2 >=β >=-pi/2), and the angle of the projection line OQ of OP in XOY plane and X-axis is α (2 π >=β >=0), the corresponding α of each analyzing spot cloud and β value.
Solve total line number M of depth image and total columns N according to following two formulas, wherein a is angular sampling interval,
M=rounds ((maximum β-minimum β)/a)+1
N=rounds ((maximum α-minimum of alpha)/a)+1
Each analyzing spot is solved respectively at ranks number corresponding to depth image according to two formulas below,
The total line number M-of row=rounds ((β-minimum β)/a)
The total columns N-of column=rounds ((α-minimum of alpha)/a)
Each target point all has corresponding ranks number at depth image, if include multiple analyzing spot in a graticule mesh, then the two is averaged, and the distance value of each point is set to corresponding pixel value and asks for depth image.
Secondly, the candidate point of punctuate central point is asked for.
In the process of generating depth map picture, the center of target can present brighter round spot, and periphery is relatively black region, and design template utilizes convolutional calculation to detect the center of circle of target, and concrete steps are as follows:
One, selected gauged distance d 0, the size in conjunction with target calculates determines template size, and the pixel value at speck place is set to 1, and other dykes are set to 0,
Two, successively template center is aimed at each pixel value of depth image, make pixel be d to the distance of scanner, then the template size at each pixel place is b times of standard form, b=d 0/ d;
Three, related coefficient is calculated according to the following formula after obtaining the template at each pixel place,
γ ( x , y ) = Σ s Σ t [ f ( s , t ) - f ‾ ( s , t ) ] [ w ( x + s , y + t ) - w ‾ ] { Σ s Σ t [ f ( s , t ) - f ‾ ( s , t ) ] 2 Σ s Σ t [ w ( x + s , y + t ) - w ‾ ] 2 } 1 2
Wherein, x=1,2,3........n, y=1,2,3,4,5.....m, m, n are respectively the size of depth image f, the pixel average of w, the mean value in the region that the current position of f and w coincides.
Four, set a threshold value t, namely the pixel being greater than threshold value is the candidate point of Target Center point;
Three, region growing obtains the effective figure spot of candidate's target.The candidate point of the Target Center obtained before is carried out Area generation as Seed Points, generates effective figure spot of target.
4th, propose the identification target point of mistake, obtain cloud data corresponding to correct target figure spot according to depth image and three-dimensional point cloud corresponding relation, with these matching target central coordinate of circle.
The second:
Same first kind of way, first generates the depth image of target;
Utilize depth image, determine the boundary line scanning target;
Draw target boundary line, namely intersection point is Target Center.
This target can be widely used in the data acquisition of Three Dimensional Ground laser scanner and the connection survey of total powerstation digital mapping, reduces the propagation of error, improves the collecting efficiency of data.
In the present invention, three-dimensional laser Reflector Panel is applicable to the reflector space of the laser scanner of Multiple Type, and the material of pattern adopts the mineral dye of better reflection strength to smear, and data acquisition effect is better.Simultaneously, total powerstation reflecting prism and novel three-dimensional laser scanner target combine by the present invention, increase accuracy and the conversion efficiency of data, and the horizontal tube leveling bubble that target horizontal level is provided with by target pedestal rotating part adjusts with circle leveling bubble, meet the requirement of precise alignment, ensure the accuracy of data acquisition.
Although embodiment of the present invention are open as above, but it is not restricted to listed in instructions and embodiment utilization, it can be applied to various applicable the field of the invention completely, for those skilled in the art, can easily realize other amendment, therefore do not deviating under the universal that claim and equivalency range limit, the present invention is not limited to specific details and illustrates here and the legend described.

Claims (8)

1. a multi-function type Laser Radar Scanning target, is characterized in that, comprising:
Total powerstation reflecting plate and three-dimensional laser Reflector Panel, wherein, three-dimensional laser Reflector Panel surface scribbles mineral dye, total powerstation reflecting plate is connected with joint pin one end, total powerstation reflecting prism center and total powerstation reflecting plate center superposition, total powerstation reflecting prism wherein both sides and total powerstation reflecting plate is flexibly connected, three-dimensional laser Reflector Panel center and total powerstation reflecting prism center are on same center line, and total powerstation reflecting prism wherein side and three-dimensional laser Reflector Panel is fixed connection by helical structure;
The joint pin other end connects target rotating part one end, and be fixed connection by fixing spiral and groove, side is connected with level tube level;
The target rotating part other end connects base by bearing, and side is connected with gun sight, and with the plane of base contacts in carry out rotating freely adjustment;
Circular bubble is positioned at base upper plane, for flattening target base;
Wherein, the axis of total powerstation reflecting plate, joint pin, target rotating part, target base on the same line.
2. multi-function type Laser Radar Scanning target as claimed in claim 1, it is characterized in that, described total powerstation reflecting plate and three-dimensional laser Reflector Panel are aluminum alloy materials, three-dimensional laser Reflector Panel is made into annular shape, its reflecting surface scribbles black color mica, three-dimensional laser scanner utilizes the center of Target Center point position extraction algorithm determination target after obtaining the laser radar point cloud of corresponding reflector space.
3. multi-function type Laser Radar Scanning target as claimed in claim 1, it is characterized in that, described total powerstation reflecting plate and three-dimensional laser Reflector Panel are designed to square, wherein total powerstation reflecting plate, centered by total powerstation reflecting prism center, design is smeared as chequered with black and white rice word pattern; Three-dimensional laser Reflector Panel uses black color mica dyestuff to carry out smearing design according to three circular figures.
4. the multi-function type Laser Radar Scanning target as described in claim 1 or 3, it is characterized in that, on described three-dimensional laser Reflector Panel, three circular figures carry out smearing and are designed to centre bit circle, centre is black color mica annulus, and the 3rd annulus uses black color mica to smear relative to the half at circle center.
5. multi-function type Laser Radar Scanning target as claimed in claim 1, it is characterized in that, described three-dimensional laser Reflector Panel is suitable for dissimilar laser scanner.
6. multi-function type Laser Radar Scanning target as claimed in claim 1, it is characterized in that, described total powerstation reflecting prism, when subsidiary 3 D laser scanning mark, the maximum rotation angle of in the vertical direction is 30 degree.
7. multi-function type Laser Radar Scanning target as claimed in claim 1, is characterized in that, described target base bottom is provided with link spiral and is connected with conventional tripod, realizes the fixing of target base.
8. multi-function type Laser Radar Scanning target as claimed in claim 1, it is characterized in that, described total powerstation reflecting plate, joint pin, target rotating part, target base are regulated by gun sight, on vertical direction, make its axis on same straight line.
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CN105987666A (en) * 2015-03-05 2016-10-05 力弘科技股份有限公司 Virtual positioning plate and building detection method with application of virtual positioning plate
CN106017319A (en) * 2016-05-24 2016-10-12 北京建筑大学 Coordinate transformation tool and method of 3D laser scanning data based on high-precision point measurement
CN106197283A (en) * 2016-09-23 2016-12-07 广州汽车集团股份有限公司 A kind of coordinate evaluator and using method, measurement system
CN106447715A (en) * 2016-01-29 2017-02-22 北京建筑大学 Plane reflection target central point position extraction method for laser radar
CN107167075A (en) * 2017-06-01 2017-09-15 中水珠江规划勘测设计有限公司 Three-dimensional laser reflective membrane target
CN109084740A (en) * 2018-06-28 2018-12-25 成都天佑智隧科技有限公司 A kind of multifunction three-dimensional laser scanning target connecting mini prism and its application method
CN110954890A (en) * 2019-12-16 2020-04-03 西南交通大学 Device for acquiring coordinate of registration point of foundation laser radar
CN112525072A (en) * 2020-10-27 2021-03-19 成都飞机工业（集团）有限责任公司 Detection device for aircraft fork ear hole position involution and center point calibration method thereof
CN113432536A (en) * 2021-08-25 2021-09-24 深圳市勘察研究院有限公司 Target and target device
CN114910058A (en) * 2022-05-19 2022-08-16 江南造船(集团)有限责任公司 Reflection device, reflection combination device and equipment base installation method for measuring blind area

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105987666A (en) * 2015-03-05 2016-10-05 力弘科技股份有限公司 Virtual positioning plate and building detection method with application of virtual positioning plate
CN104807404A (en) * 2015-04-23 2015-07-29 北京建筑大学 Multi-purpose spherical measuring device and automatic extract algorithm
CN106447715B (en) * 2016-01-29 2019-03-22 北京建筑大学 Plane reflection Target Center point position extracting method for laser radar
CN106447715A (en) * 2016-01-29 2017-02-22 北京建筑大学 Plane reflection target central point position extraction method for laser radar
CN106017319A (en) * 2016-05-24 2016-10-12 北京建筑大学 Coordinate transformation tool and method of 3D laser scanning data based on high-precision point measurement
CN106017319B (en) * 2016-05-24 2019-02-15 北京建筑大学 A kind of laser scanning data coordinate crossover tool and method based on high-precision Point Measurement
CN106197283A (en) * 2016-09-23 2016-12-07 广州汽车集团股份有限公司 A kind of coordinate evaluator and using method, measurement system
CN107167075A (en) * 2017-06-01 2017-09-15 中水珠江规划勘测设计有限公司 Three-dimensional laser reflective membrane target
CN109084740A (en) * 2018-06-28 2018-12-25 成都天佑智隧科技有限公司 A kind of multifunction three-dimensional laser scanning target connecting mini prism and its application method
CN110954890A (en) * 2019-12-16 2020-04-03 西南交通大学 Device for acquiring coordinate of registration point of foundation laser radar
CN112525072A (en) * 2020-10-27 2021-03-19 成都飞机工业（集团）有限责任公司 Detection device for aircraft fork ear hole position involution and center point calibration method thereof
CN112525072B (en) * 2020-10-27 2022-04-08 成都飞机工业（集团）有限责任公司 Detection device for aircraft fork ear hole position involution and center point calibration method thereof
CN113432536A (en) * 2021-08-25 2021-09-24 深圳市勘察研究院有限公司 Target and target device
CN114910058A (en) * 2022-05-19 2022-08-16 江南造船(集团)有限责任公司 Reflection device, reflection combination device and equipment base installation method for measuring blind area

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