CN108549068B - Three-dimensional scanning data processing method and data processing system - Google Patents
Three-dimensional scanning data processing method and data processing system Download PDFInfo
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Abstract
The invention relates to a three-dimensional scanning data processing method, which comprises the following steps: the method comprises the steps of measurement error data information acquisition, first correction data acquisition, measurement error data value acquisition, second correction data acquisition, correction and the like, when the elevation angle of the measurement equipment is within the early warning elevation angle range, any one group of correction data of a plurality of groups of second correction data is adopted to correct the measurement data, and when the elevation angle of the measurement equipment is not within the early warning elevation angle range, the first correction data is adopted to correct the measurement data. The data processing method can greatly reduce the system error and the random error and improve the accuracy of the data.
Description
Technical Field
The invention relates to a three-dimensional scanning data processing method. The invention also relates to a three-dimensional scanning data processing system.
Background
In the three-dimensional scanning system, the measurement accuracy of the distance is required to be high, and a method of measuring the round trip time of light and calculating the distance to a measurement object, so-called tof (timeofflight) method, is generally known as a conventional distance measurement method. The distance measuring method comprises the following steps: since the light velocity c is known to be 3.0 × 108m/s, the distance L to the object is calculated by the following equation (1) by measuring the round trip time t 1.
L＝(c·t1)/2；
A specific signal processing method in the TOF method is to continue accumulating (or discharging) charges in an integrator with a start pulse (synchronized with a light-emitting element) as a start signal until an end pulse (light-receiving signal) is detected, and increase (or decrease) the round trip time of light detection by the amount. In all of these methods, distance information is obtained by processing a detection signal from a light receiving element that detects light reflected by an object to be measured. In this case, an error occurs in the distance information due to a variation in the response speed of the light emitting element, a variation in the response speed of the light receiving element, a change in the characteristics of the two elements due to an influence of an environment (mainly, temperature), or the like.
Therefore, in order to reduce such an error, a first optical path in which light emitted from the light emitting element is reflected by the object to be measured and detected by a light receiving element and a second optical path different from the first optical path in which light emitted from the light emitting element is detected by the light receiving element are used, and if the length of the second optical path is known and constant, the distance information calculated based on the first optical path can be corrected with reference to the second optical path. However, the above documents have the following problems: in order to correct the distance information calculated based on the first optical path, it is important that the length of the second optical path is always constant.
However, in the three-dimensional scanning, there are a large number of factors that affect measurement errors (systematic errors and random errors), temperature, humidity, distance, material factors of the object to be measured, and the like. No solution is given in the prior art to these measurement errors.
Disclosure of Invention
In order to solve the above technical problem, the present invention provides a three-dimensional scanning data processing method, including the following steps:
measurement error data information acquisition: acquiring measurement error data information under the current environment, wherein the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
measurement error data value acquisition: acquiring a plurality of first factor measurement error data values according to the first factor measurement error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information;
second correction data acquisition: recombining a plurality of groups of second correction data according to the first factor measurement error data values and the second factor measurement error data values;
first correction data acquisition: acquiring first correction data according to the current environment, wherein the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
And (3) correction: and when the elevation angle of the measuring equipment is not in the early warning elevation angle range, correcting the measuring data by adopting the first correction data.
The environment is the temperature, the humidity, the distance and the material of the object to be measured in the three-dimensional scanning process.
The early warning elevation angle range is 30-70% of the maximum elevation angle of the measuring equipment, the elevation angle of the measuring equipment is the angle of the measuring light emitted by the measuring equipment relative to the fixed plane, and the measuring equipment is fixed on the fixed plane.
The data processing method also comprises the steps of obtaining an early warning elevation angle:
the measurement error data value acquisition step specifically includes the steps of:
dividing all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am;
dividing all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm;
The first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm are grouped into sets of second correction data.
A three-dimensional scanning data processing method, the data processing method further comprising:
acquiring measurement line data: the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the measurement data is not more than 1 degree;
and (3) calculating: and calculating an included angle between a straight line formed by the plurality of measurement data and the ground, wherein when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range.
The invention also relates to a three-dimensional scanning data processing system, comprising:
the device comprises a measurement error data information acquisition module, a data processing module and a data processing module, wherein the measurement error data information acquisition module is used for acquiring measurement error data information under the current environment, the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
The first correction data acquisition module is used for acquiring first correction data according to the current environment, and the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
the measuring error data value obtaining module is used for obtaining a plurality of first factor measuring error data values according to the first factor measuring error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information;
a second correction data obtaining module, configured to recombine the first factor measurement error data values and the second factor measurement error data values into a plurality of sets of second correction data;
and the correction module is used for correcting the measurement data by adopting any one group of correction data of the multiple groups of second correction data when the elevation angle of the measurement equipment is within the early warning elevation angle range, and correcting the measurement data by adopting the first correction data when the elevation angle of the measurement equipment is not within the early warning elevation angle range.
The environment is the temperature, the humidity, the distance and the material of the object to be measured in the three-dimensional scanning process.
The early warning elevation angle range is 30-70% of the maximum elevation angle of the measuring equipment, the elevation angle of the measuring equipment is the angle of the measuring light emitted by the measuring equipment relative to the fixed plane, and the measuring equipment is fixed on the fixed plane.
The data processing system further comprises a measurement error data value acquisition module, wherein the measurement error data value acquisition module comprises a first factor measurement error data value processing module, a second factor measurement error data value processing module and a second correction data acquisition module.
The first factor measurement error data value processing module is used for grouping all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am;
the second factor measurement error data value processing module is used for grouping all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm;
the second correction data acquisition module is used for forming a plurality of groups of second correction data by the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm.
A three dimensional scanning data processing system, the data processing system further comprising:
the measurement line data acquisition module is used for acquiring measurement line data, wherein the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the measurement data is not more than 1 degree;
and the calculation module is used for calculating an included angle between a straight line formed by the plurality of measurement data and the ground, and when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range.
Because a large number of uncertain factors exist in the data collection process, all the uncertain factors are required to be subjected to early processing, and the error acquisition is more and more difficult, and the data processing method can greatly reduce the system error and the random error. The accuracy of the data is improved.
The above-described and other features, aspects, and advantages of the present application will become more apparent with reference to the following detailed description.
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Fig. 1 is a schematic flow chart of a three-dimensional scanning data processing method.
Fig. 2 is a schematic view of a structural model of the measuring apparatus.
FIG. 3 is a schematic diagram of a three-dimensional scanning data processing system.
Fig. 4 is a schematic diagram of a measurement error data value acquisition module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and in the claims of the present application does not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms a, an, etc. do not denote a limitation of quantity, but rather denote the presence of at least one.
As shown in fig. 1, the three-dimensional scanning data processing method includes the following steps:
first correction data acquisition: acquiring first correction data according to the current environment, wherein the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
according to the measurement error data information, the measurement errors are classified, and then different types of errors are calculated through a large amount of data, so that error data are obtained. As shown in fig. 2, the position relationship between the coordinate system of the pan-tilt and the coordinate system of the laser radar is shown in fig. 2: the distance between the original point and the original point is P, the plane S (a rotating shaft and a horizontal plane of the fixed platform) and the plane R (a plane where a laser radar transmitting point is located can rotate), the elevation angle of the laser radar is beta, the distance between the measured point A and the point S is l, and the included angle between the left rotation and the right rotation of the laser radar is alpha.
In the actual measurement process, it can be known that the following three errors exist: elevation angle error delta of laser radar coordinate system relative to holder coordinate systemsβ(ii) a Point distance between origin s of laser radar coordinate system and origin r of holder coordinate systemError deltasp(ii) a Plane distance error delta of plane S and plane R not in same plane sy. From the correlation, it can be seen that the mathematical model with system error is given below:
respectively solving the partial derivatives of the formulas to obtain the system errors in three directions:
as can be seen from the above equation, δsβ、δsp、δsyAll the unknown data are unknown, and the errors in three directions of the coordinate point can be accurately obtained only by obtaining the unknown data by a certain method. The invention adopts the least square method to solve the linear parameters, and can adopt the method to solve under the condition that the number of equations is more than the number of unknown quantities, wherein the general expression is as follows:
scanning specific determinand material, monitoring scanning equipment peripheral temperature and humidity, put together the data of same temperature and humidity, obtain the data under same temperature, same humidity, the same material, measure in 3 different positions respectively, wherein p and beta are the estimated value at the measuring point. The number of measurements per position is 5000, and the mean value of the distances is takeniTo perform the calculation.
Wherein, the first and the second end of the pipe are connected with each other,
through the above, the method can scan the material of a specific object to be detected, monitor the temperature and humidity around the scanning equipment, arrange the data of the same temperature and humidity together to obtain the data of the same temperature, the same humidity and the same material, and calculate through the data to obtain a first correction parameter, wherein the first correction parameter comprises an elevation angle error, a point distance error and a plane distance error, so that the coordinate of A can be corrected.
The correction formula is as follows:
measurement error data information acquisition: acquiring measurement error data information under the current environment, wherein the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
the system errors can be effectively solved by the method, but because of the existence of random errors, errors with mutual compensation are formed due to a series of slight random fluctuation of relevant factors in the measurement process. The reasons for this are the influence of various random factors of instability during the analysis, such as instability of ambient conditions like room temperature, relative humidity and air pressure, minor differences in the operation of the analysts and instability of the instrument. The influence of temperature, humidity, distance and specific material environment of the object to be measured on random errors is difficult to obtain through early correction. Therefore, when the environment is determined, the influence of the temperature, humidity, distance and specific material environment of the object to be measured on the random error is difficult to obtain, and the influence of other factors, such as atmospheric pressure, longitude, latitude, altitude, etc., cannot be corrected.
The first factor measurement error information and the second factor measurement error information are rotation angle errors and distance errors. By collecting a plurality of measurement error data information (delta) under a specific environment 1，δ2). Measurement error data value acquisition: measuring error based on a first factorInformation, obtaining a plurality of first factor measurement error data values; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information; second correction data acquisition: recombining a plurality of groups of second correction data according to the first factor measurement error data values and the second factor measurement error data values;
specifically, for example, according to an environment during actual measurement, measurement error data information includes 1000 sets of rotation angle errors and distance errors, 5 errors may be selected from 1000 rotation angle errors, and 5 errors may be selected from 1000 distance errors, and since the errors are randomly selected, the errors that may be selected may be greatly different from the actual errors.
And (3) correction: and when the elevation angle of the measuring equipment is not in the early warning elevation angle range, correcting the measuring data by adopting the first correction data.
Through a large amount of test data, the influence on the whole error in the aspect of random error is large when the elevation angle of the measuring equipment is large, and the random error is small when the elevation angle is small, so that the judgment mechanism can be adopted to adopt a mode of randomly selecting data when the elevation angle is large, and the random error is greatly reduced.
The environment is the temperature, humidity, distance and the material of the object to be measured in the three-dimensional scanning process.
The early warning elevation angle is 30-70% of the maximum elevation angle of the measuring equipment, the elevation angle of the measuring equipment is the angle of the measuring light emitted by the measuring equipment relative to the fixed plane, and the measuring equipment is fixed on the fixed plane.
A three-dimensional scanning data processing method, the data processing method further comprising:
acquiring measurement line data: the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the measurement data is not more than 1 degree; and (3) calculating: and calculating an included angle between a straight line formed by the plurality of measurement data and the ground, wherein when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range. The elevation angle data when measuring the data can be obtained again through the data by presetting an object to be measured vertical to the ground or selecting a plurality of data points on a three-dimensional graph formed in the later period, wherein the data points are a plurality of data vertical to the ground, such as the wall corner edge of a house. And acquiring parameters of a straight line formed by the data by adopting a linear regression or other modes, and calculating an included angle between the straight line and the ground so as to judge whether the error is in an abnormal state. It can be seen that the method of the present invention does not require physical re-calibration, and error correction can be achieved by re-calculation from the acquired data.
The measurement error data value acquisition step specifically includes the steps of:
dividing all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am; dividing all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm; the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm are grouped into sets of second correction data. The grouping method is random grouping. Through the steps, the randomness of the data grouping can be improved.
As shown in fig. 3, a three-dimensional scanning data processing system includes:
the device comprises a measurement error data information acquisition module, a data processing module and a data processing module, wherein the measurement error data information acquisition module is used for acquiring measurement error data information under the current environment, the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
The first correction data acquisition module is used for acquiring first correction data according to the current environment, and the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
the measuring error data value acquisition module is used for acquiring a plurality of first factor measuring error data values according to the first factor measuring error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information;
the second correction data acquisition module is used for recombining a plurality of groups of second correction data according to the error data values measured by the first factors and the error data values measured by the second factors;
and the correction module is used for correcting the measurement data by adopting any one group of correction data of the multiple groups of second correction data when the elevation angle of the measurement equipment is within the early warning elevation angle range, and correcting the measurement data by adopting the first correction data when the elevation angle of the measurement equipment is not within the early warning elevation angle range.
The environment is the temperature, humidity, distance and the material of the object to be measured in the three-dimensional scanning process.
The early warning elevation angle is 30-70% of the maximum elevation angle of the measuring equipment, the elevation angle of the measuring equipment is the angle of the measuring light emitted by the measuring equipment relative to the fixed plane, and the measuring equipment is fixed on the fixed plane.
As shown in fig. 4, the data processing system further includes a measurement error data value acquisition module including a first factor measurement error data value processing module, a second factor measurement error data value processing module, and a second correction data acquisition module.
The first factor measurement error data value processing module is used for grouping all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am;
the second factor measurement error data value processing module is used for grouping all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm;
the second correction data acquisition module is used for forming a plurality of groups of second correction data by the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm. The grouping method is random grouping.
A three dimensional scanning data processing system, the data processing system further comprising:
the measurement line data acquisition module is used for acquiring measurement line data, wherein the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the measurement data is not more than 1 degree;
and the calculation module is used for calculating an included angle between a straight line formed by the plurality of measurement data and the ground, and when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. All equivalent changes and modifications made according to the disclosure of the present invention are included in the scope of the claims of the present invention.
Claims (10)
1. A three-dimensional scanning data processing method is characterized by comprising the following steps:
measurement error data information acquisition: acquiring measurement error data information under the current environment, wherein the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
Measurement error data value acquisition: acquiring a plurality of first factor measurement error data values according to the first factor measurement error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information;
second correction data acquisition: recombining a plurality of groups of second correction data according to the first factor measurement error data values and the second factor measurement error data values;
first correction data acquisition: acquiring first correction data according to the current environment, wherein the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
and (3) correction: when the elevation angle of the measuring equipment is in the early warning elevation angle range, correcting the measuring data by adopting any one group of correction data of the multiple groups of second correction data, and when the elevation angle of the measuring equipment is not in the early warning elevation angle range, correcting the measuring data by adopting the first correction data;
the first factor measurement error information and the second factor measurement error information are rotation angle errors and distance errors.
2. The method as claimed in claim 1, wherein the environment is a temperature, a humidity, a distance and a material of the object to be measured during the three-dimensional scanning process.
3. The method as claimed in claim 1, wherein the early warning elevation angle range is 30-70% of the maximum elevation angle of the measuring device, the elevation angle of the measuring device is the angle of the measuring light emitted from the measuring device with respect to the fixed plane, and the measuring device is fixed on the fixed plane.
4. The method as claimed in claim 1, wherein the step of obtaining the measurement error data specifically comprises the steps of:
dividing all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am;
dividing all data groups in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm;
the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm are grouped into sets of second correction data.
5. The three-dimensional scanning data processing method according to claim 4, wherein the data processing method further comprises:
Acquiring measurement line data: the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the measurement data is not more than 1 degree;
and (3) calculating: and calculating an included angle between a straight line formed by the plurality of measurement data and the ground, wherein when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range.
6. A three dimensional scanning data processing system, characterized in that the data processing system comprises:
the device comprises a measurement error data information acquisition module, a data processing module and a data processing module, wherein the measurement error data information acquisition module is used for acquiring measurement error data information under the current environment, the measurement error data information comprises a plurality of groups of measurement error information, and the measurement error information at least comprises first factor measurement error information and second factor measurement error information;
the measuring error data value obtaining module is used for obtaining a plurality of first factor measuring error data values according to the first factor measuring error information; acquiring a plurality of second factor measurement error data values according to the second factor measurement error information;
A second correction data obtaining module, configured to recombine the first factor measurement error data values and the second factor measurement error data values into a plurality of sets of second correction data;
the first correction data acquisition module is used for acquiring first correction data according to the current environment, and the first correction data is used for correcting the measurement data in the current environment and is obtained by calculating the measurement error data information in the current environment;
the correction module is used for correcting the measurement data by adopting any one group of correction data of the multiple groups of second correction data when the elevation angle of the measurement equipment is within the early warning elevation angle range, and correcting the measurement data by adopting the first correction data when the elevation angle of the measurement equipment is not within the early warning elevation angle range;
the first factor measurement error information and the second factor measurement error information are rotation angle errors and distance errors.
7. The system of claim 6, wherein the environment is a temperature, a humidity, a distance, and a material of an object to be measured during the three-dimensional scanning.
8. The system as claimed in claim 6, wherein the early warning elevation angle range is 30-70% of the maximum elevation angle of the measuring device, the elevation angle of the measuring device is the angle of the measuring light emitted from the measuring device with respect to the fixed plane to which the measuring device is fixed.
9. The system of claim 6, further comprising a measurement error data value acquisition module comprising a first factor measurement error data value processing module, a second factor measurement error data value processing module, and a second correction data acquisition module;
the first factor measurement error data value processing module is used for grouping all data in the first factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M first factor measurement error data values A1-Am;
the second factor measurement error data value processing module is used for grouping all data in the second factor measurement error information into M data groups with the same quantity of data, and selecting 1 data in each data group to obtain M second factor measurement error data values B1-Bm;
the second correction data acquisition module is used for forming a plurality of groups of second correction data by the first factor measurement error data values A1-Am and the second factor measurement error data values B1-Bm.
10. The system of claim 6, further comprising:
The measurement line data acquisition module is used for acquiring measurement line data, wherein the measurement line data comprises a plurality of measurement data, the measurement data comprises coordinate data and elevation angle data, the measurement data form a line vertical to the ground in a real scene from top to bottom, and the difference between the maximum elevation angle and the minimum elevation angle in the measurement data is not more than 1 degree;
and the calculation module is used for calculating an included angle between a straight line formed by the plurality of measurement data and the ground, and when the included angle is larger than a preset included angle, the maximum elevation angle and the minimum elevation angle in the plurality of measurement data are an early warning elevation angle range.
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| IL154701A0 (en) * | 2003-03-02 | 2004-05-12 | Yaniv Malchi | Passive target acquisition system and a true north locating system |
| CN102374845A (en) * | 2010-08-10 | 2012-03-14 | 冯黎 | Space coordinate gauge correcting system for linear laser scanning test head |
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Denomination of invention: A 3D scanning data processing method and data processing system Granted publication date: 20220715 Pledgee: China Construction Bank Corporation Shanghai Sixth Branch Pledgor: SHANGHAI JOYFU INFORMATION TECH Co.,Ltd. Registration number: Y2024310000077 |