CN106885531B - 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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- CN106885531B CN106885531B CN201710259159.9A CN201710259159A CN106885531B CN 106885531 B CN106885531 B CN 106885531B CN 201710259159 A CN201710259159 A CN 201710259159A CN 106885531 B CN106885531 B CN 106885531B
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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
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- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of wagon box based on two-dimensional laser radar describes device 3 D scanning system scaling method, and described method includes following steps: establishing the 3 D scanning system that device outer dimension is described to wagon box.The data of scanning are handled, two-dimensional laser radar scanning plane is fitted with least square method and calibration element hands over the linear equation of each line segment.Respective straight equation carries out combination of two solution, and the rotation angle β around y-coordinate axis is calculated according to the trigonometric function relationship of obtained distance and calibration element height.Two-dimensional laser radar is rotated into 180 degree, to second of calibration element scanning, acquires turning circle radius R.The linear equation that two-dimensional laser radar scanning plane Yu bottom surface intersection are fitted using least square method calculates the rotation angle γ around x-axis according to the slope of linear equation.By two-dimensional laser radar counter-rotating 180 degree, initial position is returned to.Nominal data is brought into the translation and spin matrix of coordinate system conversion, thus completes the calibration of the system.
Description
Technical field
The present invention relates to a kind of wagon boxes to describe device 3 D scanning system and its scaling method, more particularly to a kind of based on two dimension
The wagon box of laser radar describes device 3 D scanning system scaling method.
Background technique
The metrical information that laser radar has many advantages, such as that ranging speed is fast, precision is high, obtains is intuitive, in military, aviation and
Civilian equal fields are more and more widely used.Currently, 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, in the form of polar into
Row saves, and the image that obtained data are reduced by post-processing is also scanned object in laser radar scanning
Two-dimensional silhouette figure in plane.And three-dimensional laser radar can also be able to rotate surface sweeping plane while two-dimensional scanning, so just
It can directly scan to obtain the three-dimensional data information of spatial point, and can more intuitively reflect the resemblance of scanned object, because
This has bigger application value in important fields such as some navigation, engineering surveys, but expensive.
In actual industrial production, wagon box describes that device is very common, especially entrucking link during material transportation.Mesh
Before, people also rely primarily on artificial direct measurement to the acquisition of the outer dimension of wagon box in entrucking link, not only survey in this way
It is larger to measure error, and in the case where some bad environments, it is also very big to the health harm of staff.To solve this
A little problems liberate labour, we directly can select three-dimensional laser radar to be scanned wagon box, then straight to scan data
Connect the dimension information for extracting the appearance profile of wagon box.But three-dimensional laser radar is expensive, in common civil corporation
It is used in entrucking link and unrealistic.Therefore, inventing cheap, the simple wagon box of one kind describes device 3 D scanning system for civilian
Industrial application has very strong realistic meaning.And to wagon box describe device outer dimension measure firstly the need of to calibration element into
Rower is fixed.
Summary 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.
Described method includes following steps:
1, the 3 D scanning system that device outer dimension is described to wagon box is initially set up, the system is mounted on scanned wagon box
The scanning for describing device to wagon box is completed, is realized three-dimensional by rotating the surface sweeping plane of two-dimensional laser radar in the surface for describing device
It scans, hardware used by the system includes: two-dimensional laser radar 1, rotary table 2, motor 3, bracket 4, equipped with a point cloud
Data store and process the computer 5 and calibration element 6 of program, and 1 plane of scanning motion of two-dimensional laser radar is located at the front end of laser radar,
Perpendicular to laser radar side.Two-dimensional laser radar 1 is installed on the table top of rotary table 2, and motor 3 is mounted on rotary work
The side of platform 2 drives the table top of rotary table 2 to complete spinning movement in the horizontal plane, and then drives and be mounted on rotary work
Two-dimensional laser radar 1 on 2 table top of platform rotates, and the upper end of rotary table 2 is mounted on bracket 4, and bracket 4 is installed to distance
There is a certain fixed position of certain altitude on ground, and guarantees that the table top of rotary table 2 is parallel to the ground, deposits equipped with point cloud data
The computer 5 of storage and processing routine is placed on outside the scanning range of two-dimensional laser radar 1, and two-dimensional laser radar 1 and motor 3 are distinguished
It is connected together by data line with the computer 5 for storing and processing program equipped with point cloud data, calibration element 6 is that inside is
The cuboid of hollow triangular prism, calibration element 6 are placed on the ground immediately below two-dimensional laser radar 1.
2, bracket 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 keeping parallelism as far as possible.And calibration element 6 is placed on the ground level selected immediately below revolving worktable.Control two-dimensional laser thunder
Up to 1, to 6 run-down of calibration element under the position, scan data is saved.
3, the data of upper step scanning are handled, the plane of scanning motion of two-dimensional laser radar 1 is fitted with least square method
The linear equation of each line segment is handed over calibration element 6.
4, combination of two solution is carried out using the respective straight equation that upper step acquires, finds out intersecting point coordinate, as two dimension swashs
The intersecting point coordinate of the plane of scanning motion of optical radar 1 and 6 seamed edge of calibration element, this makes it possible to obtain the distance between any two intersection point, and root
The rotation angle β around y-coordinate axis is calculated according to the trigonometric function relationship of obtained distance and 6 height of calibration element.
5, 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 processing, it can calculate and ask according to the distance between the obtained surface sweeping plane of twice sweep and seamed edge intersection point and its geometrical relationship
Obtain turning circle radius R.
6, since calibration element 6 is hollow, twice sweep has necessarily swept to ground level, the characteristics of according to 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 rotation angle γ around x-axis.
7, by 1 counter-rotating 180 degree of two-dimensional laser radar, initial position is returned to.
8, the nominal data that will be calculated is brought into the translation and spin matrix of coordinate system conversion, and thus completing should
The calibration of system.
Detailed description of the invention
Fig. 1 is 3 D scanning system general structure schematic diagram according to the method for the present invention；
Fig. 2 is measurement coordinate system relational graph according to the method for the present invention；
Fig. 3 is first time scanning schematic diagram according to the method for the present invention；
Fig. 4 is second of scanning schematic diagram according to the method for the present invention；
Fig. 5 is bottom surface perspective view according to the method for the present invention；
Fig. 6 is overall structure rightmost projection schematic diagram according to the method for the present invention.
Specific embodiment
The present invention is specifically described in conjunction with attached drawing 1-6.
Establish 3 D scanning system as shown in Figure 1.
The system is mounted on the surface that scanned wagon box describes device, flat by the surface sweeping for rotating two-dimensional laser radar 1
The scanning that device is described to wagon box is completed in face, realizes 3-D scanning, hardware used by the system includes: two-dimensional laser radar
1, rotary table 2, motor 3, bracket 4, computer 5 and calibration element 6 equipped with point cloud data storage and processing program are two-dimentional to swash
1 plane of scanning motion of optical radar 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 mounted on the side of rotary table 2, drives the table top of rotary table 2 in the horizontal plane
Spinning movement is completed, and then the two-dimensional laser radar 1 being mounted on 2 table top of rotary table is driven to rotate, rotary table 2
Upper end is mounted on bracket 4, and bracket 4 is installed to a certain fixed position for having certain altitude apart from ground, and guarantees to rotate work
The table top for making platform 2 is parallel to the ground, and the computer 5 equipped with point cloud data storage and processing program is placed on two-dimensional laser radar 1
Scanning range outside, two-dimensional laser radar 1 and motor 3 store and process journey with equipped with point cloud data by data line respectively
The computer 5 of sequence connects together, and calibration element 6 is the internal cuboid for hollow triangular prism, and calibration element 6 is placed on two-dimensional laser thunder
On ground immediately below up to 1.
Establish two coordinate systems as shown in Figure 2: (1) rotary table coordinate system o-xyz；(2) laser radar coordinate system
o1-x1y1z1.Wherein, the origin of rotary table coordinate system is in the rotation center of rotary table 2, and z-axis positive direction is perpendicular to ground
Downwards, when standing in face of the top of 1 initial position of two-dimensional laser radar, positive direction of the y-axis is parallel to ground level to the left, x-axis
Direction is judged by the right-hand rule.Since during the work time, rotary table coordinate system is fixed, therefore it can will rotate work
Make platform coordinate system and is 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
The two-dimensional coordinate system for having itself in plane is retouched, we define the y of laser radar coordinate system1Axis, z1The positive direction of axis and itself two dimension
The positive direction of coordinate system reference axis is identical, x1The direction of axis judges according to the right-hand rule.
By the origin o of rotary table coordinate system to the o of laser radar coordinate system1x1y1Plane projection is in point o’, obtain two
Coordinate origin is in o1x1y1Distance in plane is o1o’, and o’The distance h of o is measured during the installation process to be obtained.Then laser thunder
The plane of scanning motion reached should be perpendicular to o1x1y1Plane is with o1o’It is radius around o’It moves in a circle, we define o1o’For rotational circle half
Diameter R.Because of the presence of installation error, plane o1x1y1The rotation angle around three axes must be generated relative to plane oxy, but by
Characteristic in system and the two reference axis relationships established, plane o1x1y1Relative to plane oxy around z-axis rotation angle be 0.Cause
This is exactly mainly to the rotation angle β around y-coordinate axis, the rotation angle γ around x-axis and turning circle radius R tri- to the calibration of the system
The calibration of amount.
The measuring system that device outer dimension is described to wagon box is initially set up, the system is mounted on scanned wagon box and describes device
Surface complete to describe wagon box the scanning of device, realize 3-D scanning by rotating the surface sweeping plane of two-dimensional laser radar 1,
Hardware used by the system includes: two-dimensional laser radar 1, rotary table 2, motor 3, and bracket 4 is deposited equipped with point cloud data
The computer 5 and calibration element 6 of storage and 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 mounted on rotary table 2
Side, drive the table top of rotary table 2 to complete spinning movement in the horizontal plane, and then drive and be mounted on rotary table 2
Two-dimensional laser radar 1 on table top rotates, and the upper end of rotary table 2 is mounted on bracket 4, and bracket 4 is installed to distance ground
There is a certain fixed position of certain altitude in face, and guarantees that the table top of rotary table 2 is parallel to the ground, stores equipped with point cloud data
It is placed on outside the scanning range of two-dimensional laser radar 1 with the computer 5 of processing routine, two-dimensional laser radar 1 and motor 3 lead to respectively
It crosses data line to connect together with the computer 5 equipped with point cloud data storage and processing program, calibration element 6 is during inside is
The cuboid of empty triangular prism, calibration element 6 are placed on the ground immediately below two-dimensional laser radar 1.
Bracket 4 is installed to a certain fixed position for having certain altitude apart from ground, makes the table top and ground of rotary table 2
Plane keeping parallelism as far as possible.And calibration element 6 is placed on the ground level selected immediately below revolving worktable.Control two-dimensional laser radar
1, to 6 run-down of calibration element under the position, save scan data.
The data of upper step scanning are handled, with least square method fit the plane of scanning motion of two-dimensional laser radar 1 with
Calibration element 6 hands over the linear equation of each line segment.
Combination of two solution is carried out using the respective straight equation that upper step acquires, finds out intersecting point coordinate, as two-dimensional laser
The plane of scanning motion of radar 1 and the intersecting point coordinate of 6 seamed edge of calibration element, this makes it possible to obtain the distance between any two intersection points, and according to
The trigonometric function relationship of obtained distance and 6 height of calibration element calculates the rotation angle β around y-coordinate axis.
Two-dimensional laser radar 1 is rotated into 180 degree, to second of the scanning of calibration element 6, data ibid are carried out to scan data
Processing, can calculate and acquire according to the distance between the obtained surface sweeping plane of twice sweep and seamed edge intersection point and its geometrical relationship
Turning circle radius R.
Since calibration element 6 is hollow, twice sweep has necessarily swept to ground level, the characteristics of according to scan data, utilizes 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 rotation angle γ around x-axis.
By 1 counter-rotating 180 degree of two-dimensional laser radar, initial 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 calibration of system.
Specific implementation step is as follows:
1, initial position is completed to scan for the first time to calibration element
According to the design and installation requirement of the system hardware, each structure is grouped together, and bracket 4 is installed to distance
There is a certain fixed position of certain altitude on ground, makes the table top and ground level keeping parallelism as far as possible of rotary table 2.And it will calibration
Part 6 is placed on the ground level selected immediately below revolving worktable and two-dimensional laser radar 1, is made a side of internal triangular prism and is swashed
Optical radar preliminary sweep plane is parallel as far as possible.Scan instruction is sent by the computer 5 equipped with point cloud data storage and processing program
Two-dimensional laser radar 1 is passed to through data line, two-dimensional laser radar 1 is completed to scan for the first time to calibration element 6, and scanning obtains
Data through data line return to computer, preserve.
2, fitting two-dimensional laser radar scanning plane and calibration element hand over the linear equation of each line segment
Since the scanning surface of two-dimensional laser radar 1 is a plane, two-dimensional laser radar 1 is to 6 first time of calibration element
Scan the data of each point on the line segment that obtained data are exactly calibration element 6 and the plane of scanning motion is crossed to form.Calibration element 6 is placed on
On ground level, so the top and bottom of calibration element 6 are parallel to ground level, each side is perpendicular to ground level.Therefore, two-dimensional laser
The data presentation abscissa for the top and bottom that radar 1 scans is incremented by, ordinate changes in a certain a small range (since radar is surveyed
Amount error there are the characteristics that), and the data presentation ordinate for scanning side is incremented by, abscissa changes in a certain a small range
Feature.It is possible thereby to which data are divided region, the data in each region represent the every line that the plane of scanning motion intersects with calibration element 6
Data in section.The data in each region are fitted straight line using least square method, find out the straight line side where intersection
Journey.
3, it seeks the intersecting point coordinate of two-dimensional laser radar scanning plane and calibration element seamed edge and seeks one of rotation angle β
The plane of scanning motion of two-dimensional laser radar 1 is made of a branch of Shu Jiguang, and there is angular resolutions for he, therefore two dimension swashs
The intersecting point coordinate of the plane of scanning motion of optical radar 1 and 6 seamed edge of calibration element does not ensure that directly scanning obtains.We are using in upper step
The linear equation sought intersects the linear equation that adjacent intersection is fitted two-by-two, and the intersection point acquired is exactly two-dimensional laser radar 1
The plane of scanning motion and 6 seamed edge of calibration element intersecting point coordinate, A in as Fig. 31、B1、C1、D14 points.Cross A1、D1Make calibration element 6 respectively
The vertical line of bottom surface meets at triangular prism bottom surface A’ 1、D’ 1.Connect A’ 1D’ 1, then A’ 1D’ 1= A1D1, and A’ 1D’ 1 ||B1C1.Cross triangular prism bottom
One vertex K of face makees A’ 1D’ 1、B1C1Vertical line meet at M respectively’ 1、N1Two o'clock, after M’ 1Make A1D1Vertical line meets at point M1.Connect M1、
N1Two o'clock, M1N1Size be A1Point arrives straight line B1C1Distance (being acquired by putting to the range formula of straight line), M1M’ 1Size is
For the height of calibration element 6.Then ∠ N1M1M′ 1I.e. required rotation angle β, size are as follows:
4, turning circle radius R is sought
Computer sends rotation instruction, and driving motor 3 drives rotary table 2 to rotate clockwise 180 degree, then sends and sweeps
Instruction is retouched, calibration element 6 scan for the second time, the same previous step of data processing, schematic diagram is as shown in Figure 4.Due to B1C1、A’ 1D’ 1、D’ 2A’ 2、C2B2Size is found out via least square method, by four linear projections to same bottom surface as shown in figure 5, according to
Similar triangle theory can be in the hope of N1N2Size.Twice sweep is merged together, and from overall structure rightmost projection (right view
Figure), obtain view 6.I is scanning center of the radar when scanning for second, crosses the parallel lines that I does 6 upper surface of calibration element, hands over thunder
Up to the plane of scanning motion when scanning first time in point J.It can thus be appreciated that N1N2=IJ.Rotation angle β is acquired according to front, can calculate and ask
Obtain turning circle radius R, it may be assumed that
5, rotation angle γ is sought
Since 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
It is the surface sweeping plane of two-dimensional laser radar 1 and the intersection of ground level, if line segment B1C1The slope for the linear equation being fitted is V, then
Laser radar aroundThe angle γ generated on the direction of axis are as follows:
6, driving motor drives laser radar to return to initial position
It is all for laser radar initial position, laser radar is to object due to seeking the value of calibrating parameters above
It is had to since the initial position of calibration when scanning.If the initial position of laser radar scanning object changes, new
Initial position also the 3 D scanning system is re-scaled.Workbench has rotated clockwise 180 degree when due to calibration, so
Computer sends instructions to motor 3, and motor 3 drives 2 counter-rotating 180 degree of rotary table, and laser radar is driven to return to initially
Position.
7, obtained calibrating parameters are brought into Conversion Matrix of Coordinate
The transition matrix for being translated and being rotated according to Two coordinate system will calculate three calibrating parameters acquired and be brought into this matrix
In equation, the matrix of coordinate coordinate conversion into rotary table coordinate system in laser radar coordinate system under the system is obtained, it is complete
The calibration of the pairs of system.The transition matrix of the system are as follows:
Wherein, (x1,y1,z1) it is the coordinate under laser radar coordinate system, (x, y, z) is in rotary table coordinate system
Coordinate.
Claims (1)
1. a kind of wagon box based on two-dimensional laser radar describes device 3 D scanning system scaling method, the method includes walking as follows
It is rapid:
The 3 D scanning system that device outer dimension is described to wagon box is initially set up, the system is mounted on scanned wagon box and describes device
Surface complete to describe wagon box the scanning of device, realize 3-D scanning by rotating the plane of scanning motion of two-dimensional laser radar,
Hardware used by the system includes: two-dimensional laser radar (1), rotary table (2), motor (3), bracket (4), equipped with point
Cloud data store and process the computer (5) and calibration element (6) of program, and the plane of scanning motion of two-dimensional laser radar (1) is located at laser
The front end of radar, perpendicular to laser radar side, two-dimensional laser radar (1) is installed on the table top of rotary table (2), motor
(3) it is mounted on the side of rotary table (2), the table top of rotary table (2) is driven to complete spinning movement in the horizontal plane, into
And two-dimensional laser radar (1) rotation being mounted on rotary table (2) table top is driven, the upper end installation of rotary table (2)
On bracket (4), and bracket (4) is installed to a certain fixed position for having certain altitude apart from ground, and guarantees rotary table
(2) table top is parallel to the ground, and the computer (5) equipped with point cloud data storage and processing program is placed on two-dimensional laser radar
(1) outside scanning range, two-dimensional laser radar (1) and motor (3) are stored by data line with equipped with point cloud data respectively
It is connected together with the computer (5) of processing routine, calibration element (6) is the internal cuboid for hollow triangular prism, calibration element (6)
It is placed on the ground immediately below two-dimensional laser radar (1)；
Bracket (4) is installed to a certain fixed position for having certain altitude apart from ground, makes the table top and ground of rotary table (2)
Plane keeping parallelism, and calibration element (6) is placed on the ground level selected immediately below revolving worktable, control two-dimensional laser radar
(1), to calibration element (6) run-down under the position, scan data is saved；
Establish 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 rotary table (2) rotation center, z-axis positive direction perpendicular to ground downwards, when facing
When the top of two-dimensional laser radar (1) initial position is stood, positive direction of the y-axis is parallel to ground level to the left, and x-axis direction is determined by the right hand
Then judge；Define the y of laser radar coordinate system1Axis, z1The positive direction phase of the positive direction of axis and itself two-dimensional coordinate system reference axis
Together, x1The direction of axis judges according to the right-hand rule；
The data of upper step scanning are handled, the plane of scanning motion and mark of two-dimensional laser radar (1) are fitted with least square method
Determine the linear equation that part (6) hands over each line segment；
Combination of two solution is carried out using the respective straight equation that upper step acquires, finds out intersecting point coordinate, as two-dimensional laser radar
(1) intersecting point coordinate of the plane of scanning motion and calibration element (6) seamed edge, thus obtains the distance between any two intersection point, and according to required
The trigonometric function relationship of the distance and calibration element (6) height that obtain calculates the rotation angle β around y-coordinate axis；
By the origin o of rotary table coordinate system to the o of laser radar coordinate system1x1y1Plane projection is in point o’, define o1o’For
Two-dimensional laser radar (1) is rotated 180 degree by turning circle radius R, to second of calibration element (6) scanning, is carried out to scan data same
On data processing, calculated according to the distance between the obtained plane of scanning motion of twice sweep and seamed edge intersection point and its geometrical relationship
Acquire turning circle radius R；
The plane of scanning motion of two-dimensional laser radar (1) and the linear equation of bottom surface intersection are fitted using least square method, according to straight
The slope of line equation calculates the rotation angle γ around x-axis；
By two-dimensional laser radar (1) counter-rotating 180 degree, initial position is returned to；
The nominal data that will be calculated is brought into the translation and spin matrix of coordinate system conversion, thus completes the system
Calibration.
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