CN106885531A - Wagon box based on two-dimensional laser radar describes device 3 D scanning system scaling method - Google Patents
Wagon box based on two-dimensional laser radar describes device 3 D scanning system scaling method Download PDFInfo
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- CN106885531A CN106885531A CN201710259159.9A CN201710259159A CN106885531A CN 106885531 A CN106885531 A CN 106885531A CN 201710259159 A CN201710259159 A CN 201710259159A CN 106885531 A CN106885531 A CN 106885531A
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- dimensional laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
A kind of wagon box based on two-dimensional laser radar describes device 3 D scanning system scaling method, and methods described comprises the following steps：The 3 D scanning system of device appearance and size is described in foundation to wagon box.Data to scanning are processed, and go out two-dimensional laser radar scanning plane with least square fitting hands over the linear equation of each line segment with calibration element.Respective straight equation carries out combination of two solution, and the anglec of rotation β around y-coordinate axle is calculated with the trigonometric function relation of calibration element height according to the distance tried to achieve.Two-dimensional laser radar is rotated into 180 degree, to second of calibration element scanning, turning circle radius R is tried to achieve.Go out the linear equation of two-dimensional laser radar scanning plane and bottom surface intersection using least square fitting, according to the slope of linear equation, calculate the anglec of rotation γ around x-axis.By two-dimensional laser radar counter-rotating 180 degree, original position is returned to.Nominal data is brought into the translation and spin matrix of coordinate system conversion, the demarcation of the system is thus completed.
Description
Technical field
Device 3 D scanning system and its scaling method are described the present invention relates to a kind of wagon box, more particularly to it is a kind of based on two dimension
The wagon box of laser radar describes device 3 D scanning system scaling method.
Background technology
Laser radar have the advantages that to find range speed fast, high precision, the metrical information that obtains is directly perceived, in military, aviation and
The field such as civilian has obtained increasingly being widely applied.At present, laser radar is broadly divided into two-dimensional laser radar and three-dimensional laser
Two kinds of radar.Two-dimensional laser radar can only obtain distance and angle information in single scanning plane, enter in polar form
Row is preserved, and by the image that is reduced into of later stage treatment is also scanned object in Laser Radar Scanning the data for obtaining
Two-dimensional silhouette figure in plane.And three-dimensional laser radar can also rotate surface sweeping plane while two-dimensional scan, so just
The three-dimensional data information for obtaining spatial point can be directly scanned, and the resemblance of scanned object can be more intuitively reflected, because
This has bigger application value in the important field such as some navigation, engineering surveys, but expensive.
In actual industrial production, wagon box describes that device is very common, the entrucking link especially during material transportation.Mesh
Before, acquisition of the people to the appearance and size of wagon box in entrucking link also relies primarily on artificial direct measurement, so not only surveys
Amount error is larger, and in the case of some bad environments, the healthy harm to staff is also very big.To solve this
A little problems, liberate labour, and we directly can be scanned from three-dimensional laser radar to wagon box, then straight to scan data
Connect the dimension information of the appearance profile for extracting wagon box.But three-dimensional laser radar is expensive, in common civil corporation
Used and unrealistic in entrucking link.Therefore, inventing a kind of cheap, simple wagon box describes device 3 D scanning system for civilian
Commercial Application has very strong realistic meaning.And device appearance and size is described to wagon box and measures to enter firstly the need of to calibration element
Rower is determined.
The content of the invention
Based on object above, the present invention proposes that a kind of wagon box based on two-dimensional laser radar describes device 3 D scanning system mark
Determine method.
Methods described comprises the following steps：
1st, the 3 D scanning system that device appearance and size is described to wagon box is initially set up, the system is arranged on scanned wagon box and describes
The surface of device, by rotating the surface sweeping plane of two-dimensional laser radar, completion is described the scanning of device to wagon box, realizes that three-dimensional is swept
Retouch, the hardware that the system is used includes：Two-dimensional laser radar 1, rotary table 2, motor 3, support 4, equipped with a cloud number
According to storage and the computer 5 and calibration element 6 of processing routine, the plane of scanning motion of two-dimensional laser radar 1 is located at the front end of laser radar, hangs down
Directly in laser radar side.Two-dimensional laser radar 1 is installed on the table top of rotary table 2, and motor 3 is arranged on rotary table
2 side, the table top that workbench 2 is rotated completes spinning movement in the horizontal plane, and then drives installed in rotary table 2
Two-dimensional laser radar 1 on table top is rotated, and the upper end of rotary table 2 is arranged on support 4, and support 4 is installed to distance ground
There is a certain fixed position of certain altitude in face, and ensures that the table top of rotary table 2 is parallel to the ground, equipped with cloud data storage
Computer 5 with processing routine is placed on outside the sweep limits of two-dimensional laser radar 1, and two-dimensional laser radar 1 and motor 3 lead to respectively
Cross data line to be connected together with the computer 5 equipped with cloud data storage and processing routine, calibration element 6 is during inside is
The cuboid of empty triangular prism, calibration element 6 is placed on the ground immediately below two-dimensional laser radar 1.
The 2nd, support 4 is installed to a certain fixed position for having certain altitude apart from ground, make the table top of rotary table 2 with
Ground level is tried one's best keeping parallelism.And calibration element 6 is positioned on the ground level selected immediately below revolving worktable.Control two-dimensional laser thunder
Up to 1, to the run-down of calibration element 6 under the position, scan data is preserved.
3rd, the data to the scanning of upper step are processed, and the plane of scanning motion of two-dimensional laser radar 1 is gone out with least square fitting
With the linear equation that calibration element 6 hands over each line segment.
4th, the respective straight equation tried to achieve using upper step carries out combination of two solution, obtains intersecting point coordinate, and as two dimension swashs
The plane of scanning motion of optical radar 1 and the intersecting point coordinate of the seamed edge of calibration element 6, it can thus be concluded that the distance between any two intersection point is arrived, and root
The anglec of rotation β around y-coordinate axle is calculated with the trigonometric function relation of the height of calibration element 6 according to the distance tried to achieve.
5th, two-dimensional laser radar 1 is rotated into 180 degree, to second of the scanning of calibration element 6, number ibid is carried out to scan data
According to treatment, the distance between the surface sweeping plane tried to achieve according to twice sweep and seamed edge intersection point and its geometrical relationship can be calculated and asked
Obtain turning circle radius R.
6th, because calibration element 6 is hollow, twice sweep has necessarily swept to ground level, according to the characteristics of scan data, using most
Small square law fits the plane of scanning motion of two-dimensional laser radar 1 and the linear equation of bottom surface intersection, according to the slope of linear equation,
Calculate the anglec of rotation γ around x-axis.
7th, by the counter-rotating 180 degree of two-dimensional laser radar 1, original position is returned to.
8th, the nominal data that will be calculated, is brought into the translation and spin matrix of coordinate system conversion, and thus completing should
The demarcation of system.
Brief description of the drawings
Fig. 1 is the 3 D scanning system general structure schematic diagram according to the inventive method；
Fig. 2 is the measurement coordinate system graph of a relation according to the inventive method；
Fig. 3 is to scan schematic diagram according to the first time of the inventive method；
Fig. 4 is according to second of the inventive method scanning schematic diagram；
Fig. 5 is the bottom surface perspective view according to the inventive method；
Fig. 6 is the overall structure rightmost projection schematic diagram according to the inventive method.
Specific embodiment
The present invention is specifically described with reference to accompanying drawing 1-6.
Set up 3 D scanning system as shown in Figure 1.
The system is arranged on the surface that scanned wagon box describes device, is put down by the surface sweeping for rotating two-dimensional laser radar 1
The scanning of device is described in face, completion to wagon box, realizes 3-D scanning, and the hardware that the system is used includes：Two-dimensional laser radar
1, rotary table 2, motor 3, support 4, computer 5 and calibration element 6 equipped with cloud data storage and processing routine, two dimension swashs
The plane of scanning motion of optical radar 1 is located at the front end of laser radar, perpendicular to laser radar side.Two-dimensional laser radar 1 is installed to rotation
On the table top of workbench 2, motor 3 is arranged on the side of rotary table 2, and the table top of workbench 2 is rotated in the horizontal plane
Spinning movement is completed, and then drives the two-dimensional laser radar 1 on the table top of rotary table 2 to rotate, rotary table 2
Upper end is arranged on support 4, and support 4 is installed to a certain fixed position for having certain altitude apart from ground, and ensures to rotate work
The table top for making platform 2 is parallel to the ground, and the computer 5 equipped with cloud data storage and processing routine is placed on two-dimensional laser radar 1
Sweep limits outside, two-dimensional laser radar 1 and motor 3 respectively by data line with stored equipped with cloud data and treatment journey
The computer 5 of sequence is connected together, and calibration element 6 is that inside is the cuboid of hollow triangular prism, and calibration element 6 is placed on two-dimensional laser thunder
On ground immediately below up to 1.
Set up two coordinate systems as shown in Figure 2：（1）Rotary table coordinate system o-xyz；（2）Laser radar coordinate system
o1-x1y1z1.Wherein, in the pivot of rotary table 2, z-axis positive direction is perpendicular to ground for the origin of rotary table coordinate system
Downwards, when being stood in face of the top of the initial position of two-dimensional laser radar 1, y-axis positive direction parallel to ground level to the left, x-axis
Direction is judged by the right-hand rule.Because in the course of the work, rotary table coordinate system is maintained static, therefore can will rotate work
Make platform coordinate system and be defined as world coordinate system；The origin of the laser radar coordinate system heart in a scan, because two-dimensional laser radar 1 is swept
Retouching has the two-dimensional coordinate system of itself in plane, we define the y of laser radar coordinate system1Axle, z1The positive direction of axle and itself two dimension
The positive direction of coordinate system reference axis is identical, x1The direction of axle judges according to the right-hand rule.
By o from the origin o of rotary table coordinate system to laser radar coordinate system1x1y1Plane projection is in point o’, obtain two
Coordinate origin is in o1x1y1Distance in plane is o1o’, and o’Being measured in installation process apart from h for o is obtained.Then laser thunder
The plane of scanning motion for reaching should be perpendicular to o1x1y1Plane is with o1o’It is radius around o’Move in a circle, we define o1o’It is rotational circle half
Footpath R.Because the presence of alignment error, plane o1x1y1The anglec of rotation around three axes must be produced relative to plane oxy, but by
In the characteristic and the two reference axis relations set up of system, plane o1x1y1Relative to plane oxy around z-axis the anglec of rotation be 0.Cause
It is exactly the anglec of rotation β of opposing connection y-coordinate axle, the anglec of rotation γ and turning circle radius R tri- around x-axis that this demarcation to the system is main
The demarcation of amount.
The measuring system that device appearance and size is described to wagon box is initially set up, the system is arranged on scanned wagon box and describes device
Surface, by rotating the surface sweeping plane of two-dimensional laser radar 1, the scanning of device is described in completion to wagon box, realizes 3-D scanning,
The hardware that the system is used includes：Two-dimensional laser radar 1, rotary table 2, motor 3, support 4 is deposited equipped with cloud data
Storage and the computer 5 and calibration element 6 of processing routine, the plane of scanning motion of two-dimensional laser radar 1 are located at the front end of laser radar, vertically
In laser radar side.Two-dimensional laser radar 1 is installed on the table top of rotary table 2, and motor 3 is arranged on rotary table 2
Side, the table top that workbench 2 is rotated completes spinning movement in the horizontal plane, and then drives and be arranged on rotary table 2
Two-dimensional laser radar 1 on table top is rotated, and the upper end of rotary table 2 is arranged on support 4, and support 4 is installed to distance ground
There is a certain fixed position of certain altitude in face, and ensures that the table top of rotary table 2 is parallel to the ground, equipped with cloud data storage
Computer 5 with processing routine is placed on outside the sweep limits of two-dimensional laser radar 1, and two-dimensional laser radar 1 and motor 3 lead to respectively
Cross data line to be connected together with the computer 5 equipped with cloud data storage and processing routine, calibration element 6 is during inside is
The cuboid of empty triangular prism, calibration element 6 is placed on the ground immediately below two-dimensional laser radar 1.
Support 4 is installed to a certain fixed position for having certain altitude apart from ground, makes the table top of rotary table 2 and ground
Plane is tried one's best keeping parallelism.And calibration element 6 is positioned on the ground level selected immediately below revolving worktable.Control two-dimensional laser radar
1, to the run-down of calibration element 6 under the position, preserve scan data.
Data to the scanning of upper step are processed, with least square fitting go out the plane of scanning motion of two-dimensional laser radar 1 with
Calibration element 6 hands over the linear equation of each line segment.
The respective straight equation tried to achieve using upper step carries out combination of two solution, obtains intersecting point coordinate, as two-dimensional laser
The plane of scanning motion of radar 1 and the intersecting point coordinate of the seamed edge of calibration element 6, it can thus be concluded that the distance between any two intersection point is arrived, and according to
The distance tried to achieve calculates the anglec of rotation β around y-coordinate axle with the trigonometric function relation of the height of calibration element 6.
Two-dimensional laser radar 1 is rotated into 180 degree, to second of the scanning of calibration element 6, data ibid is carried out to scan data
The distance between treatment, the surface sweeping plane tried to achieve according to twice sweep and seamed edge intersection point and its geometrical relationship can be calculated and tried to achieve
Turning circle radius R.
Because calibration element 6 is hollow, twice sweep has necessarily swept to ground level, according to the characteristics of scan data, using minimum
Square law fits the plane of scanning motion of two-dimensional laser radar 1 and the linear equation of bottom surface intersection, according to the slope of linear equation, meter
Calculate the anglec of rotation γ around x-axis.
By the counter-rotating 180 degree of two-dimensional laser radar 1, original position is returned to.
The nominal data that will be calculated, is brought into the translation and spin matrix of coordinate system conversion, and thus completing this is
The demarcation of system.
Specific implementation step is as follows：
1st, initial position completes to scan for the first time to calibration element
According to the design and installation requirement of the system hardware, by each textural association to together, and support 4 is installed to apart from ground
There is a certain fixed position of certain altitude, make the table top of rotary table 2 and ground level keeping parallelism as far as possible.And by calibration element 6
It is positioned on the ground level for selecting revolving worktable and the underface of two-dimensional laser radar 1, makes a side of internal triangular prism and laser
Radar preliminary sweep plane is as far as possible parallel.Scan instruction is sent by the computer 5 equipped with cloud data storage and processing routine to pass through
Data line passes to two-dimensional laser radar 1, and two-dimensional laser radar 1 completes to scan for the first time to calibration element 6, what scanning was obtained
Data return to computer through data line, preserve.
2nd, fitting two-dimensional laser radar scanning plane and calibration element hand over the linear equation of each line segment
Because the scanning plane of two-dimensional laser radar 1 is a plane, therefore two-dimensional laser radar 1 is to the scanning for the first time of calibration element 6
The data of each point on the line segment that resulting data are exactly calibration element 6 to be crossed to form with the plane of scanning motion.Calibration element 6 is placed on Horizon
On face, so the top surface of calibration element 6 and bottom surface are parallel to ground level, each side is perpendicular to ground level.Therefore, two-dimensional laser radar
The data presentation abscissa of 1 top surface for scanning and bottom surface is incremented by, ordinate changes in a certain a small range（Because radar surveying is missed
Poor presence）The characteristics of, and the data for scanning side are presented the spy that ordinate is incremented by, abscissa changes in a certain a small range
Point.It is possible thereby to by data zoning, the data in each region represent every line segment that the plane of scanning motion intersects with calibration element 6
On data.Data separate least square method to each region is fitted to straight line, the linear equation where obtaining intersection.
3rd, ask for the intersecting point coordinate of two-dimensional laser radar scanning plane and calibration element seamed edge and ask for one of anglec of rotation β
The plane of scanning motion of two-dimensional laser radar 1 is made up of a branch of Shu Jiguang, and he has angular resolution, therefore two-dimensional laser thunder
The plane of scanning motion up to 1 does not ensure that directly scanning is obtained with the intersecting point coordinate of the seamed edge of calibration element 6.We in upper step using asking for
Linear equation, the linear equation that adjacent intersection is fitted is intersected two-by-two, the intersection point tried to achieve is exactly sweeping for two-dimensional laser radar 1
Retouch the intersecting point coordinate of plane and the seamed edge of calibration element 6, A in as Fig. 31、B1、C1、D14 points.Cross A1、D1Make the bottom surface of calibration element 6 respectively
Vertical line, meet at triangular prism bottom surface A’ 1、D’ 1.Connection A’ 1D’ 1, then A’ 1D’ 1= A1D1, and A’ 1D’ 1 ||B1C1.Cross triangular prism bottom surface one
Summit K makees A’ 1D’ 1、B1C1Vertical line meet at M respectively’ 1、N12 points, after M’ 1Make A1D1Vertical line, meets at point M1.Connection M1、N1Two
Point, M1N1Size be A1Point arrives straight line B1C1Distance（Tried to achieve by the range formula of point to straight line）, M1M’ 1Size is mark
Determine the height of part 6.Then ∠ N1M1M′ 1I.e. required anglec of rotation β, its size is：
4th, turning circle radius R is sought
Computer sends rotation instruction, and motor 3 is rotated the dextrorotation turnback of workbench 2, then sends scanning and refers to
Order, second scanning is carried out to calibration element 6, and the same previous step of data processing, its schematic diagram is as shown in Figure 4.Due to B1C1、A’ 1D’ 1、
D’ 2A’ 2、C2B2Size is obtained via least square method, by four linear projections to same bottom surface as shown in figure 5, according to similar
Triangle Principle can be in the hope of N1N2Size.Twice sweep is merged together, and from overall structure rightmost projection（Right view）,
Obtain view 6.I is scanning center of the radar when scanning for second, crosses the parallel lines that I does the upper surface of calibration element 6, hands over radar to exist
Plane of scanning motion when scanning for the first time is in point J.It can thus be appreciated that N1N2=IJ.According to anglec of rotation β is above tried to achieve, can calculate and try to achieve rotation
Turn radius of circle R, i.e.,：
5th, anglec of rotation γ is asked for
Because calibration element 6 is hollow, laser radar scans the line segment B being crossed to form to calibration element 6 for the first time1C1, actually
The surface sweeping plane of two-dimensional laser radar 1 and the intersection of ground level, if line segment B1C1The slope of the linear equation being fitted is V, then swash
Optical radar aroundThe angle γ of generation is on the direction of axle：
6th, motor drives laser radar to return to initial position
The value of calibrating parameters is asked for due to more than, is all that for laser radar initial position, laser radar is scanned to object
When must since demarcate initial position.If the initial position of Laser Radar Scanning object changes, then at the beginning of new
Beginning, position will also re-scale to the 3 D scanning system.Because workbench has turned clockwise 180 degree when demarcating, so calculating
Machine sends instructions to motor 3, and motor 3 is rotated the counter-rotating 180 degree of workbench 2, drives laser radar to return to initial position.
7th, the calibrating parameters that will be obtained are brought into Conversion Matrix of Coordinate
The transition matrix for being translated according to Two coordinate system and being rotated, will calculate three calibrating parameters tried to achieve and be brought into this matrix equation
In, the matrix of coordinate in laser radar coordinate system to Coordinate Conversion in rotary table coordinate system is obtained under the system, it is right to complete
The demarcation of the system.The transition matrix of the system is：
Wherein,（x1,y1,z1）It is the coordinate under laser radar coordinate system,（x,y,z）It is the seat in rotary table coordinate system
Mark.
Claims (1)
1. a kind of wagon box based on two-dimensional laser radar describes device 3 D scanning system scaling method, and methods described includes following step
Suddenly：
The 3 D scanning system that device appearance and size is described to wagon box is initially set up, the system is arranged on scanned wagon box and describes device
Surface, by rotating the surface sweeping plane of two-dimensional laser radar, the scanning of device is described in completion to wagon box, realizes 3-D scanning,
The hardware that the system is used includes：Two-dimensional laser radar（1）, rotary table（2）, motor（3）, support（4）, equipped with point
The computer of cloud data storage and processing routine（5）And calibration element（6）, two-dimensional laser radar（1）The plane of scanning motion be located at laser
The front end of radar, perpendicular to laser radar side, two-dimensional laser radar（1）It is installed to rotary table（2）Table top on, motor
（3）Installed in rotary table（2）Side, workbench is rotated（2）Table top complete spinning movement in the horizontal plane, enter
And drive and be arranged on rotary table（2）Two-dimensional laser radar on table top（1）Rotate, rotary table（2）Upper end install
In support（4）On, and support（4）The a certain fixed position for having certain altitude apart from ground is installed to, and ensures rotary table
（2）Table top it is parallel to the ground, equipped with cloud data storage and processing routine computer（5）It is placed on two-dimensional laser radar
（1）Sweep limits outside, two-dimensional laser radar（1）And motor（3）Stored with equipped with cloud data by data line respectively
With the computer of processing routine（5）Connect together, calibration element（6）It is that inside is the cuboid of hollow triangular prism, calibration element（6）
It is placed on two-dimensional laser radar（1）On the ground of underface；
By support（4）The a certain fixed position for having certain altitude apart from ground is installed to, makes rotary table（2）Table top with ground
Plane keeping parallelism, and by calibration element（6）It is positioned on the ground level for selecting immediately below revolving worktable, controls two-dimensional laser radar
（1）, to the calibration element under the position（6）Run-down, preserves scan data；
Set up two coordinate systems：（1）Rotary table coordinate system o-xyz；（2）Laser radar coordinate system o1-x1y1z1, wherein, rotation
The origin of revolving worktable coordinate system is in rotary table（2）Pivot, z-axis positive direction perpendicular to ground downwards, when facing
Two-dimensional laser radar（1）When the top of initial position is stood, y-axis positive direction parallel to ground level to the left, by the right hand determined by x-axis direction
Then judge；Define the y of laser radar coordinate system1Axle, z1The positive direction phase of the positive direction of axle and itself two-dimensional coordinate system reference axis
Together, x1The direction of axle judges according to the right-hand rule；
Data to the scanning of upper step are processed, and two-dimensional laser radar is gone out with least square fitting（1）The plane of scanning motion with mark
Determine part（6）Hand over the linear equation of each line segment；
The respective straight equation tried to achieve using upper step carries out combination of two solution, obtains intersecting point coordinate, as two-dimensional laser radar
（1）The plane of scanning motion and calibration element（6）The intersecting point coordinate of seamed edge, thus obtains the distance between any two intersection point, and according to required
The distance and calibration element for obtaining（6）The trigonometric function relation of height calculates the anglec of rotation β around y-coordinate axle；
By two-dimensional laser radar（1）Rotation 180 degree, to calibration element（6）Second of scanning, data ibid are carried out to scan data
Treatment, the distance between the surface sweeping plane tried to achieve according to twice sweep and seamed edge intersection point and its geometrical relationship are calculated tries to achieve rotation
Radius of circle R；
Go out two-dimensional laser radar using least square fitting（1）The plane of scanning motion and bottom surface intersection linear equation, according to straight
The slope of line equation, calculates the anglec of rotation γ around x-axis；
By two-dimensional laser radar（1）Counter-rotating 180 degree, returns to original position；
The nominal data that will be calculated, is brought into the translation and spin matrix of coordinate system conversion, thus completes the system
Demarcate.
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| CN107179534A (en) * | 2017-06-29 | 2017-09-19 | 北京北科天绘科技有限公司 | A kind of method, device and the laser radar of laser radar parameter automatic Calibration |
| CN109085561A (en) * | 2018-07-08 | 2018-12-25 | 河北数冶科技有限公司 | Three-dimensional laser radar measuring system and scaling method |
| CN109557525A (en) * | 2019-01-31 | 2019-04-02 | 浙江工业大学 | A kind of automatic calibration method of laser radar formula vehicle overall dimension measuring instrument |
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| CN109668543A (en) * | 2019-01-22 | 2019-04-23 | 南京理工大学 | Inclination measurement method based on laser radar |
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| CN111121628A (en) * | 2019-12-31 | 2020-05-08 | 芜湖哈特机器人产业技术研究院有限公司 | Calibration method of three-dimensional scanning system of carriage container based on two-dimensional laser radar |
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| CN112630751A (en) * | 2019-10-09 | 2021-04-09 | 中车时代电动汽车股份有限公司 | Calibration method of laser radar |
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