CN106248054A - The parts transmitted for three-dimensional laser point cloud and coordinate and using method thereof - Google Patents
The parts transmitted for three-dimensional laser point cloud and coordinate and using method thereof Download PDFInfo
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- CN106248054A CN106248054A CN201610790602.0A CN201610790602A CN106248054A CN 106248054 A CN106248054 A CN 106248054A CN 201610790602 A CN201610790602 A CN 201610790602A CN 106248054 A CN106248054 A CN 106248054A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000008676 import Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 238000012360 testing method Methods 0.000 description 29
- 239000007787 solid Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- General Physics & Mathematics (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a kind of parts transmitted for three-dimensional laser point cloud and coordinate, including bracing frame and target, bracing frame includes fixed panel and support panel, and target includes target pattern；Contact surface in fixed panel and the stationary plane in support panel are plane；Angle between contact surface and stationary plane is 30 ° 60 °.Application technical scheme, effect is: no matter how laser scanner is put, all can ensure that the angle of incidence of laser is more than 30 °, compared with prior art, technical scheme increases angle of incidence, so that the fitting precision of the density of invocation point cloud and target is all improved, and then can improve the central point fit quality of scanning distance and target, improve the splicing precision between scanning website, reduce system stitching error and improve work efficiency.The invention also discloses the using method of a kind of above-mentioned parts, technique is simplified, easy to operate.
Description
Technical field
The present invention relates to tunnel monitoring and technical field of quality detection, be specifically related to a kind of for three-dimensional laser point cloud
Parts and using method thereof with coordinate transmission.
Background technology
In prior art, in tunnel, the collection of data uses laser scanner to be scanned, specifically: be posted in by target
On tunnel inner wall, vehicle-mounted spatial digitizer moves along tunnel centrage mode, by by laser projections to target.Gather tunnel
Collecting the cloud data of target during cloud data, the central point of target is used as characteristic point and carries out website splicing and seat simultaneously
Mark imports.
Existing target major part is to use papery target, and this kind of target has the disadvantage that (1) papery mark in tunnel
Target cannot be attached on tunnel inner wall, and in tunnel, execution conditions are complicated, on-plane surface inside tunnel, and papery target uses and cannot ensure to put down
Whole degree；(2) when papery target is affixed on inwall, parallel with tunnel direction of advance, when scanner website exceedes twice from target distance
During tunnel diameter, owing to angle of incidence is the least, target returns the laser point cloud density being emitted back towards little, target cannot matching central point, lead
Cause coordinate cannot be passed, and between station, tunnel two, stitching error is higher.
Also having spherical target and ball to add the target of prism conjunction type in prior art, this kind of target is fixing on tunnel inner wall
Inconvenience, and because the structure (centre of sphere, in inside, easily scatters) of itself, error is relatively big, is not suitable for the transmission of coordinate.
Therefore, design a kind of structure to simplify, mount and dismount convenient and do not limited energy by the putting position of scanner
Guarantee that angle of incidence target more than 30 ° is significant.
Summary of the invention
Present invention aim at providing a kind of structure to simplify, mount and dismount conveniently and not by the putting position of scanner
Restriction can ensure that the angle of incidence parts transmitted for three-dimensional laser point cloud and coordinate more than 30 °, concrete technical side
Case is as follows:
A kind of parts transmitted for three-dimensional laser point cloud and coordinate, including bracing frame and be arranged on described support
Target on frame；
Support frame as described above includes the fixed panel for being fixed with tunnel inner wall and for fixing described target
Support panel；
Described target includes target pattern；
With described target pattern in the contact surface contacted with tunnel inner wall in described fixed panel and described support panel
It is 30 °-60 ° that the stationary plane of contact is the angle between plane, and described contact surface and described stationary plane.
In above technical scheme preferably, support frame as described above is hollow triangular prism structure, is being perpendicular to its short transverse
Plane on, its cross section is equilateral triangle or isosceles triangle.
In above technical scheme preferably, described fixed panel is provided with the through hole for fixing bolt or screw.
In above technical scheme preferably, described through hole is manhole or ellipse hole.
In above technical scheme preferably, the quantity of described through hole is 4, and four described through holes are positioned at four of tetragon
Two described through holes on the position at angle, and a diagonal are manhole, two described through holes on another diagonal
For ellipse hole.
In above technical scheme preferably, the angle between described contact surface and described stationary plane is 30 °, 45 ° or 60 °.
In above technical scheme preferably, described target pattern is for be arranged on described support by laser silk-screen processing mode
Metal parts on panel；The material of support frame as described above is aluminium alloy or brush finished stainless steel.
In above technical scheme preferably, described target pattern be square, the foursquare length of side is 15cm, 20cm,
25cm or 30cm.
In above technical scheme preferably, the stationary plane in described support panel is additionally provided with sign position, described sign
Position is positioned at top, side or the lower section of described target pattern.
Application technical scheme, has the advantages that
(1) present invention is for three-dimensional laser point cloud and the parts of coordinate transmission, including bracing frame and be arranged on institute
Stating the target on bracing frame, support frame as described above includes the fixed panel for being fixed with tunnel inner wall and for fixing
Stating the support panel of target, described target includes target pattern, and overall structure is simplified；Described fixed panel connects with tunnel inner wall
In the contact surface touched and described support panel, the stationary plane with described target pattern contacts is plane, it is simple to support is solid
It is scheduled on tunnel inner wall and target is fixed on bracing frame；Angle between described contact surface and described stationary plane is 30 °-
60 ° so that after target of the present invention is installed, target place plane forms an angle with tunnel inner wall shape, no matter laser scanner why
Put, all can ensure that the angle of incidence of the laser of directive target is maintained at more than 30 °, compared with the prior art, the skill of the present invention
Art scheme increases angle of incidence, so that the fitting precision of the density of invocation point cloud and target is all improved, and then can improve
The central point fit quality of scanning distance and target, improves the splicing precision between scanning website, reduces system splicing by mistake
Differ from and improve work efficiency.
(2) heretofore described bracing frame is hollow triangular prism structure, in the plane being perpendicular to its short transverse, its
Cross section is equilateral triangle or isosceles triangle, and the length of side of equilateral triangle or isosceles triangle is 21-30cm；Described
A height of 15-22cm of support.Use hollow triangular prism structure, simple in construction, be both easily installed and (bracing frame be arranged on tunnel
It is arranged on bracing frame on inwall and by target), meanwhile, can ensure that again the angle of incidence of laser of directive target pattern is at 30 °
Above.
(3) heretofore described fixed panel is provided with the through hole for fixing bolt or screw, and described through hole is circular
Through hole or ellipse hole, it is simple to bracing frame is fixed on tunnel inner wall；The quantity of through hole is four, is arranged in tetragon
On four angles, and two of which is manhole, and two other is ellipse hole, during actual installation, tunnel inner wall
Easily deflecting when beating installing hole, the design of the present invention can ensure that bracing frame is fixed on tunnel inner wall well (even if deflecting
Installing hole, also ensure that support member is installed by the regulation of ellipse hole).
(4) heretofore described target pattern is to be arranged on the gold on described support panel by laser silk-screen processing mode
Belong to material；The material of support frame as described above is aluminium alloy or brush finished stainless steel.The processing mode of target pattern and the selection of material, clearly
Clear degree height, in conjunction with the selection of the material of bracing frame, can repeatedly use, and service life is long.
(5) being additionally provided with sign position on the stationary plane in heretofore described support panel, described sign position is positioned at institute
State the top of target pattern, side or lower section.Indicating position can be with spray printing numeral, and the purpose of do so is to sweep in tunnel
When retouching graphics process and splicing, the mark order of target will not be mistaken, improve work efficiency.
Invention additionally discloses the using method of a kind of parts transmitted for three-dimensional laser point cloud and coordinate, including with
Lower step:
The first step, it is divided into multiple website in tunnel axis direction；By bear serial numbers be used for three-dimensional laser point cloud and
The parts of coordinate transmission pass sequentially through swell fixture and are fixed on tunnel inner wall；Laser scanner is erected on vehicle；
Second step, vehicle gather point in tunnel with the speed of 30-60km/h along length of tunnel direction running, laser scanner
The data collected also are stored by cloud data；
3rd step, the data stored by second step import computer, and computer is taken out dilute by denoising and filters at miscellaneous point
Reason, carries out number consecutively the target in cloud data in tunnel, and the target that adjacent two websites share uses and is identically numbered；
Multiple websites are carried out Point-clouds Registration.
For three-dimensional laser point cloud and the using method of the parts of coordinate transmission in the present invention, technique is simplified, operation
Convenient.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing of the part constituting the application is used for providing a further understanding of the present invention, and the present invention's is schematic real
Execute example and illustrate for explaining the present invention, being not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of the parts transmitted for three-dimensional laser point cloud and coordinate of embodiment 1；
Fig. 2 is the structural representation of the bracing frame in Fig. 1；
Fig. 3 is the application principle schematic diagram of the parts transmitted for three-dimensional laser point cloud and coordinate of Fig. 1；
Wherein, 1, bracing frame, 1.1, fixed panel, 1.11, contact surface, 1.12, through hole, 1.2, support panel, 1.21, solid
Determine face, 1.22, indicate position, 2, target, 2.1, target pattern, 3, laser scanner, 4, tunnel inner wall.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the present invention can limit according to claim
Multitude of different ways that is fixed and that cover is implemented.
Embodiment 1:
See Fig. 1 and Fig. 2, a kind of parts transmitted for three-dimensional laser point cloud and coordinate, including bracing frame 1 and
The target 2 being arranged on support frame as described above 1.
Described target 2 includes target pattern 2.1, and described target pattern 2.1 is for be arranged on by laser silk-screen processing mode
Metal parts on described support panel 1.2, is processed by laser silk-screen, difficult drop-off, and clear patterns is visible.
Support frame as described above 1 includes the fixed panel 1.1 for being fixed with tunnel inner wall and for fixing described mark
The support panel 1.2 of target 2；Support frame as described above 1 is hollow triangular prism structure, in the plane being perpendicular to its short transverse, its
Cross section is equilateral triangle or isosceles triangle, and the equilateral triangle length of side is 21cm；Support frame as described above 1 a height of
15cm；Described fixed panel 1.1 is provided with the through hole 1.12 for fixing bolt or screw, and the quantity of described through hole 1.12 is 4
Individual, four described through holes 1.12 are positioned at the position at four angles of tetragon, and two described through holes 1.12 on a diagonal
For manhole, two described through holes 1.12 on another diagonal are ellipse hole.
With institute in the contact surface 1.11 contacted with tunnel inner wall in described fixed panel 1.1 and described support panel 1.2
The stationary plane 1.21 stating target pattern 2.1 contact is between plane, and described contact surface 1.11 and described stationary plane 1.21
Angle Q is 30 °-60 °.Sign position 1.22, described sign position it is additionally provided with on stationary plane 1.21 in described support panel 1.2
1.22 lower sections being positioned at described target pattern 2.1 (can also be disposed over or on side according to practical situation, meet different
Demand).
The above-mentioned using method for three-dimensional laser point cloud and the parts of coordinate transmission comprises the following steps:
The first step, it is divided into multiple website in tunnel axis direction；By bear serial numbers be used for three-dimensional laser point cloud and
The parts of coordinate transmission pass sequentially through swell fixture and are fixed on tunnel inner wall；Laser scanner is erected on vehicle；
Second step, vehicle gather point in tunnel with the speed of 30-60km/h along length of tunnel direction running, laser scanner
The data collected also are stored by cloud data；
3rd step, the data stored by second step import computer, and computer is taken out dilute by denoising and filters at miscellaneous point
Reason, carries out number consecutively the target in cloud data in tunnel, and the target that adjacent two websites share uses and is identically numbered；
Multiple websites are carried out Point-clouds Registration.Detailed process in 3rd step is referred to prior art.
In tunnel, the transmission of the coordinate of target is wanted additionally to import by total powerstation auxiliary, and the measurement of coordinates of each target is calculated
Out get final product (this part is prior art).
Application present invention schematic diagram when the parts that three-dimensional laser point cloud and coordinate transmit carry out data acquisition
Such as Fig. 3, specifically:
As can be seen from Figure 3: BDP=180 ° of-∠ ADB=∠ BAD+ ∠ ABD of angle of incidence ∠ of laser and target, its
In: tan ∠ BAD=d/S, d be scanner to tunnel inner wall distance (d more than 0 and less than or equal to the diameter in tunnel, tunnel
The diameter i.e. maximum lateral width in tunnel), S is the ultimate range along length of tunnel scanning direction instrument to target；∠ ABD is described
Angle Q between contact surface 1.11 and described stationary plane 1.21.
When ∠ ABD value is 30 °-60 °, angle of incidence ∠ BDP is positioned atArriveBetween, therefore, want really
Protect angle of incidence ∠ BDP and be positioned at more than 30 °, only needTake on the occasion of, and in technical solution of the present invention, no matter scanner
Being positioned at any position, all there is certain angle, i.e. in laser and tunnel inner wall faceIt is on the occasion of (π equal generation herein
180 ° of table).
Therefore, applying technical scheme, the placement location of scanner is unrestricted, can ensure that laser and target
Angle of incidence is more than 30 °, and therefore, application technical scheme can improve angle of incidence, raising scanning distance, increase target
Point cloud density, improve target central point fit quality, improve coordinate transmission distance and improve scanning website between splicing
Precision.
As a example by a certain tunnel, using the inventive method and prior art means to test, Details as Follows:
One, test group
Test group 1:
Use the inventive method, wherein: distance d of scanner to tunnel inner wall with along length of tunnel scanning direction instrument to mark
The ratio of ultimate range S of target is 1/4；The cross section of bracing frame is equilateral triangle, and therefore, described contact surface 1.11 is with described
Angle Q between stationary plane 1.21 is 60 °, i.e. ∠ ABD=60 °；The specification of target pattern is 15cm × 15cm, refers to table 1.
Test group 2-3:
The difference is that only that scanner is to distance d of tunnel inner wall and along length of tunnel scanning direction instrument with test group 1
To the ratio difference of ultimate range S of target, details are: in test group 2, scanner is long with along tunnel to distance d of tunnel inner wall
Degree scanning direction instrument is 1/2 to the ratio of ultimate range S of target；In test group 3, scanner is to distance d of tunnel inner wall and edge
Length of tunnel scanning direction instrument is 1/3 to the ratio of ultimate range S of target.
Test group 4-5:
The difference is that only that from test group 2 angle between described contact surface 1.11 and described stationary plane 1.21 is different,
Details are: ∠ ABD=30 ° in test group 4；∠ ABD=45 ° in test group 5.
Test group 6-8:
Different from the specification that test group 2 the difference is that only target pattern, details are: target pattern in test group 6
Specification is 20cm × 20cm；In test group 7, the specification of target pattern is 25cm × 25cm；The specification of target pattern in test group 8
For 30cm × 30cm.
Two, matched group
Matched group 1: use papery target to be directly affixed on medial wall, tunnel.
Matched group 2: the difference is that only with test group 1: the cross section of bracing frame is isosceles triangle, therefore, described
Angle Q between contact surface 1.11 and described stationary plane 1.21 is 25 °, i.e. ∠ ABD=25 °.
Matched group 3: and matched group 2 the difference is that only: between described contact surface 1.11 and described stationary plane 1.21
Angle Q is 75 °, i.e. ∠ ABD=75 °.
Table 1 test group and the parameter of matched group and Performance comparision table
As known from Table 1:
Binding tests group 1-3 understands: distance d of scanner to tunnel inner wall and along length of tunnel scanning direction instrument to target
The ratio of ultimate range S take different value, the angle of incidence that all can meet laser and target remains at more than 30 °, scanner
Do not limited by putting position, practical.
Binding tests group 2, test group 4, test group 5, matched group 3 and matched group 4 understand: contact surface 1.11 is solid with described
Determine choosing of the angle between face 1.21 extremely important, when angle excessive (such as matched group 4) or angle are too small (such as matched group
3) angle of incidence demand more than 30 °, it is not satisfied by.
Binding tests group 2 understands with test group 6-8: in the case of other parameters are identical, the specification of target pattern is the biggest,
Effect the best (i.e. test group 2, test group 6, test group 7, test group 8 sequentially effect is gradually incremented by), but from cost-effective, be easy to
Carrying, the angle that is easy for installation and removal and combine existing conventional tunnel specification select, be usually no more than 30cm × 30cm.
Technical solution of the present invention (test group 1-8) (matched group 1-2) compared with the prior art compares, and uses the skill of the present invention
Art scheme, the putting position of scanner is not limited, and the angle of incidence of laser and target remains at more than 30 ° so that mark
The fitting precision of the central point of target is greatly enhanced, and the splicing precision between scanning website also obtains certain raising.Phase
For other kinds of target, such as spherical target, the plane target after this improvement can be used not only for splicing and ensures splicing precision,
And have with total powerstation with the use of reaching the function that target coordinate imports, this is that spherical target cannot be accomplished.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. the parts transmitted for three-dimensional laser point cloud and coordinate, it is characterised in that include bracing frame (1) and set
Put the target (2) on support frame as described above (1)；
Support frame as described above (1) includes the fixed panel (1.1) for being fixed with tunnel inner wall and is used for fixing described mark
The support panel (1.2) of target (2)；
Described target (2) includes target pattern (2.1)；
In the contact surface (1.11) contacted with tunnel inner wall in described fixed panel (1.1) and described support panel (1.2) with
The stationary plane (1.21) that described target pattern (2.1) contacts is plane, and described contact surface (1.11) and described stationary plane
(1.21) angle (Q) between is 30 °-60 °.
The parts transmitted for three-dimensional laser point cloud and coordinate the most according to claim 1, it is characterised in that described
Bracing frame (1) is hollow triangular prism structure, in the plane being perpendicular to its short transverse, its cross section be equilateral triangle or
Isosceles triangle.
3., according to the parts transmitted for three-dimensional laser point cloud and coordinate described in claim 1-2 any one, it is special
Levying and be, described fixed panel (1.1) is provided with the through hole (1.12) for fixing bolt or screw.
The parts transmitted for three-dimensional laser point cloud and coordinate the most according to claim 3, it is characterised in that described
Through hole (1.12) is manhole or ellipse hole.
The parts transmitted for three-dimensional laser point cloud and coordinate the most according to claim 4, it is characterised in that described
The quantity of through hole (1.12) is 4, and four described through holes (1.12) are positioned at the position at four angles of tetragon, and a diagonal
On two described through holes (1.12) be manhole, two described through holes (1.12) on another diagonal are oval logical
Hole.
The parts transmitted for three-dimensional laser point cloud and coordinate the most according to claim 3, it is characterised in that described
Angle (Q) between contact surface (1.11) and described stationary plane (1.21) is 30 °, 45 ° or 60 °.
The parts transmitted for three-dimensional laser point cloud and coordinate the most according to claim 3, it is characterised in that described
Target pattern (2.1) is for be arranged on the metal parts on described support panel (1.2) by laser silk-screen processing mode；Described
The material of support (1) is aluminium alloy or brush finished stainless steel.
The parts transmitted for three-dimensional laser point cloud and coordinate the most according to claim 7, it is characterised in that described
Target pattern (2.1) is square, and the foursquare length of side is 15cm, 20cm, 25cm or 30cm.
The parts transmitted for three-dimensional laser point cloud and coordinate the most according to claim 8, it is characterised in that described
Being additionally provided with sign position (1.22) on stationary plane (1.21) in support panel (1.2), described sign position (1.22) is positioned at institute
State the top of target pattern (2.1), side or lower section.
10., as claimed in claim 9 for three-dimensional laser point cloud and a using method for the parts of coordinate transmission, it is special
Levy and be, comprise the following steps:
The first step, it is divided into multiple website in tunnel axis direction；It is used for three-dimensional laser point cloud and coordinate by bear serial numbers
The parts of transmission pass sequentially through swell fixture and are fixed on tunnel inner wall；Laser scanner is erected on vehicle；
Second step, vehicle put cloud number along length of tunnel direction running, laser scanner collection in tunnel with the speed of 30-60km/h
According to and the data collected are stored；
3rd step, the data stored by second step import computer, and computer is taken out dilute by denoising and filters the process of miscellaneous point,
In tunnel, the target in cloud data carries out number consecutively, and the target that adjacent two websites share uses and is identically numbered；To many
Individual website carries out Point-clouds Registration.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109724573A (en) * | 2018-12-28 | 2019-05-07 | 广东建准检测技术有限公司 | The scan method of house index parameter is obtained based on three-dimensional laser detection system |
| CN113532395A (en) * | 2021-06-04 | 2021-10-22 | 山东大学 | Non-destructive target device and method for three-dimensional laser scanning of operation tunnel |
| CN113763570A (en) * | 2020-06-01 | 2021-12-07 | 武汉海云空间信息技术有限公司 | Tunnel point cloud high-precision rapid automatic splicing method |
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