CN110146015A - Scanning means, engineering truck and scan method - Google Patents
Scanning means, engineering truck and scan method Download PDFInfo
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- CN110146015A CN110146015A CN201910447936.1A CN201910447936A CN110146015A CN 110146015 A CN110146015 A CN 110146015A CN 201910447936 A CN201910447936 A CN 201910447936A CN 110146015 A CN110146015 A CN 110146015A
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- scanning means
- camera
- engineering truck
- laser
- scaling board
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention proposes a kind of scanning means, engineering truck and scan methods, wherein, scanning means includes: sensor element, it is set on engineering truck, sensor element includes laser and camera, laser can emit laser towards scaling board, and camera can obtain image information of the laser projection on scaling board；Total station, for detecting the position orientation relation of scaling board and scanning means；Inclinator is set on scanning means, for detecting the position orientation relation of scanning means and engineering truck；Controller, it is connected with sensor element, total station and inclinator, controller can determine the position orientation relation of camera and scanning means according to laser projection in the image information of scaling board and the testing result of total station, and then according to the position orientation relation and scanning means of camera and scanning means and the position orientation relation of engineering truck, the position orientation relation of camera and engineering truck is determined.Scanning means scanning accuracy proposed by the present invention is higher, and manufacturing cost is low.
Description
Technical field
The present invention relates to technical field of engineering machinery, in particular to a kind of scanning means, engineering truck and scanning side
Method.
Background technique
Three-dimensional measurement technology is mainly used for reconstructing measured object surface three dimension feature, according to measurement form and means, can be divided into
Contact and non-contact measurement.The classic applications representative of contact type measurement system is three coordinate measuring machine, which needs
It pops one's head in and contacts with measured object surface and moved on object, to obtain the point cloud information relative to coordinate system.Its advantage exists
In precision is high, and measurement range is wide, not by extraneous illumination effect, but due to needing to contact body surface, may cause to being measured
Micro-strain and scuffing, measuring speed is slower, and point cloud density is low, and measurement process requires manual intervention.Non-contact 3-D measurement
It is to utilize optical triangulation principle, participates in, have no effect to measured object, but can not answer at present without artificial in measurement process
For in the Scan orientation of engineering truck.
Domestic a large amount of high-speed rail tunnel and velocity tunnel need to excavate and repair, and traditional tunnel 3 D scanning system master
If laser scanning methods are suitble to the entire scan of big cross section, gamut using laser scanning methods, there is certain limitation
Property, and precision is lower.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.
For this purpose, first aspect present invention proposes a kind of scanning means.
Second aspect of the present invention proposes a kind of engineering truck.
Third aspect present invention proposes a kind of scan method.
First aspect present invention proposes a kind of scanning means, is used for engineering truck, comprising: sensor element is set to work
On journey vehicle, sensor element includes laser and camera, and laser can emit laser towards scaling board, and camera can obtain laser throwing
Penetrate the image information on scaling board；Total station, for detecting the position orientation relation of scaling board and scanning means；Inclinator, setting
In on scanner device, for detecting the position orientation relation of scanning means and engineering truck；Controller, with sensor element, total station
And inclinator is connected, controller can determine phase in the image information of scaling board and the testing result of total station according to laser projection
The position orientation relation of machine and scanning means, and then according to the position of the position orientation relation and scanning means of camera and scanning means and engineering truck
Appearance relationship determines the position orientation relation of camera and engineering truck.Specifically, to be wirelessly connected between total station and controller, for real
The interaction of existing information.
The present invention proposes a kind of scanning means applied to engineering truck, wherein sensor element includes laser and camera,
Scaling board is located at camera within sweep of the eye, and laser emits laser towards scaling board, and camera obtains laser projection in scaling board
Image information, controller determines the position orientation relation between camera and scaling board using Zhang Zhengyou standardization；It is examined by total station
The position orientation relation of mark fixed board and scanning means；Position orientation relation and scaling board and scanning between known camera and scaling board fill
In the case where the position orientation relation set, controller can calculate the position orientation relation of camera and scanning means.
Inclinator built in scanner device detects the position orientation relation of scanning means and engineering truck by inclinator；Known
In the case where the position orientation relation and scanning means of camera and scanning means and the position orientation relation of engineering truck, controller can be calculated
The position orientation relation of camera and engineering truck, and then realize the conversion between camera coordinates system and engineering truck coordinate system.When camera obtains
To after the coordinate information of a position, which is on the basis of camera coordinates system, and controller can convert it to
On engineering truck coordinate system, it is more convenient for observing scan data.Scanning means proposed by the present invention uses active conversion regime, scanning
Precision is higher, can precisely rebuild 3D model, and high degree of automation is not necessarily to manual intervention during the scanning process, and is compared to
Laser scanning methods are enjoyed, manufacturing cost is lower.
Specifically, scanning means proposed by the present invention passes through laser and camera using scaling board coordinate system as intermediary
Cooperation, determine the transformational relation between camera coordinates system and scaling board coordinate system using Zhang Zhengyou standardization；Utilize total station
Obtain the transformational relation of scaling board coordinate system and scanning means coordinate system；Scanning means coordinate system and engineering are obtained using inclinator
The coordinate system relationship of vehicle coordinate system, and then realize the conversion of camera coordinates system and engineering truck coordinate system.Specifically, camera coordinates system
Refer to that the coordinate system established with camera for the first visual angle, scanning means coordinate system are referred to the view of monitoring device generally first
The coordinate system that angle is established, engineering truck coordinate system are worth being the coordinate system established with engineering truck for the first visual angle.
Above-mentioned scanning means according to the present invention can also have following additional technical feature:
In the above-mentioned technical solutions, it is preferable that sensor element further include: Two axle drive component, laser and phase seat in the plane
In on Two axle drive component, laser and camera can be rotated synchronously under the driving of Two axle drive component in engineering truck.
In the technical scheme, sensor element further includes Two axle drive component, wherein laser and camera pass through twin shaft
Driving part is installed on engineering truck.During laser and camera are used cooperatively, phase of the camera with laser is determined
Contraposition postpones, and laser and camera are installed on Two axle drive component.Calibration is projected in when getting a position laser
After the image information of image information and scaling board itself on plate, drive laser and camera in engineering by Two axle drive component
It is rotated synchronously on vehicle, and then obtains the image information of the image information and scaling board itself on next location position plate, constantly
Above-mentioned rotation and shooting step are repeated until laser and camera rotate 180 °.After laser and camera rotate 180 °
The characteristic point of the calibration of optic plane equations needed for obtaining.
In any of the above-described technical solution, it is preferable that Two axle drive component includes: pitch axis, is set on engineering truck, is passed
Inductor components can rotate along the vertical direction under the driving of pitch axis；Yaw axis is set on engineering truck, and sensor element can be
It is rotated in the horizontal direction under the driving of sideway.
In the technical scheme, Two axle drive component includes the pitch axis and yaw axis being used in conjunction with each other, wherein pitching
Axis for driving sensor element to rotate along the vertical direction, bow for driving sensor element to rotate in the horizontal direction by yaw axis
It faces upward axis and yaw axis is used cooperatively, instrument guarantees Scanning Detction comprehensive in space.Specifically, pitch axis is at 180 ° of vertical direction
Rotation, yaw axis 360 ° of rotations in the horizontal direction.
In any of the above-described technical solution, it is preferable that further include: at least two installing components are rotatablely arranged at double
On axis driving part, laser and camera are respectively arranged at least two installing components, and laser and camera can be respectively extremely
Few two installing components are rotated by.
In the technical scheme, be provided at least two installing components on Two axle drive component, the quantity of installing component with
The quantity of laser and camera is equal, for installing camera and laser respectively.When installing camera and laser, respectively by phase
Machine is installed on different installing components from laser, and each installing component is rotatable, therefore adjustable mutual cooperation
Camera and laser relative position, to promote the adaptability of scanning means.
In any of the above-described technical solution, it is preferable that sensor element further include: shell is set on engineering truck, laser
Device and camera are located in shell；Camera lens is set in shell, is connected to camera.
In the technical scheme, sensor element further includes shell and the camera lens being connected to camera, wherein laser,
Camera, camera lens and inclinator are integrally disposed in shell, using modularized design to promote the integrated level of sensor element.Specifically
Ground, camera are CCD (charge coupled device charge-coupled device) industrial camera, and camera lens is tight shot, and shell is
3D (3Dimensions is three-dimensional) sensor outer housing, CCD industrial camera, tight shot, shell are that 3D sensor outer housing collectively constitutes
Shell is 3D sensor (i.e. sensor element).
In any of the above-described technical solution, it is preferable that sensor element further include: photic zone is set on shell, laser
Device and camera are arranged towards photic zone.
In the technical scheme, it is provided with photic zone on shell, and laser and camera are arranged towards photic zone, guarantees to swash
Light can be accurately projeced on scaling board, at the same guarantee image information of the available laser projection of camera on scaling board and
The image information of scaling board.Specifically, photic zone is glass plate.
Second aspect of the present invention proposes a kind of engineering truck, the scanning means including any one of second aspect of the present invention.
The engineering truck that second aspect of the present invention proposes, because including the scanning means of any one of second aspect of the present invention, therefore
Whole beneficial effects with above-mentioned scanning means, are no longer stated one by one herein.
Third aspect present invention proposes a kind of scan method, comprising: according to laser projection scaling board image information
Determine the position orientation relation of camera and scaling board；The position orientation relation of scaling board and scanning means is obtained by total station；According to camera
With the position orientation relation and scaling board of scaling board and the position orientation relation of scanning means, the position orientation relation of camera and scanning means is determined；
The position orientation relation of scanning means and engineering truck is determined by inclinator；It is filled according to the position orientation relation and scanning of camera and scanning means
Set the position orientation relation that camera and engineering truck are determined with the position orientation relation of engineering truck.
Scan method proposed by the present invention obtains laser projection in the image information of scaling board first, just has calibration using
Method determines the position orientation relation of scaling board and camera, to obtain the transformational relation of scaling board coordinate system and camera coordinates system；Then lead to
The position orientation relation that total station obtains scaling board and scanning means is crossed, to obtain turn of scaling board coordinate system and scanning means coordinate system
Relationship is changed, and then determines the transformational relation of camera coordinates system and scanning means coordinate system.By inclinator determine scanning means with
The position orientation relation of engineering truck, to obtain the transformational relation of scanning means coordinate system Yu engineering truck coordinate system.Having determined camera
The feelings of the transformational relation of the transformational relation and scanning means coordinate system and engineering truck coordinate system of coordinate system and scanning means coordinate system
Under condition, the transformational relation of camera coordinates system Yu engineering truck coordinate system can be determined.When coordinate of the cameras capture to certain point,
It is converted it in engineering truck coordinate system according to above-mentioned transformational relation, is more convenient for observing scan data.
Scan method proposed by the present invention uses active conversion regime, and scanning accuracy is higher, can precisely rebuild 3D mould
Type, high degree of automation are not necessarily to manual intervention during the scanning process, and are compared to and enjoy laser scanning methods, manufacturing cost
It is lower.
Above-mentioned scan method according to the present invention can also have following additional technical feature:
In the above-mentioned technical solutions, it is preferable that camera and scaling board are determined in scaling board image information according to laser projection
Position orientation relation, specifically include: first object position acquisition laser scaling board image information；By scanning means by default
Angle carries out i rotation towards first direction respectively, until 180 ° of scanning means corotating, obtain i target position；At i
Target position obtains laser in the image information of scaling board respectively；View-based access control model algorithm, the image according to laser in scaling board are believed
Cease the position orientation relation for determining camera and scaling board.
In the technical scheme, during determining the position orientation relation of camera and scaling board, scanning means is set first
It is placed in horizontal plane, and adjusts Two axle drive component, so that camera instrument laser is in suitable position (i.e. first object position),
Then scaling board is placed in the front of scanning means, notices that the linear distance of scaling board and camera is the survey in actual condition
Span is from the i.e. scanning distance of scanning means.After camera and laser find scaling board, opens laser and laser is existed
Projection image information on scaling board is then shut off laser at this time using the image information for having laser on camera shooting scaling board
Shooting only has the image of scaling board, so obtains the two pieces of image information of first object position.It is again turned on laser and passes through
Two axle drive component driving scanning means turns an angle, and is that laser stripe and the second target position laser provision are first as far as possible
Tail is connected, and mobile scaling board is similarly in scaling board immediately ahead of camera, pays attention to linear distance of the scaling board with respect to camera
It should change by a small margin with the last time, and repeat above-mentioned shooting process.So rotation i times has rotated 180 ° until having altogether, is at this time
The characteristic point of the calibration of optic plane equations needed for can get.Then view-based access control model algorithm can calculate the pose of camera and scaling board
Relationship.
In any of the above-described technical solution, the position orientation relation of scanning means and engineering truck is determined by inclinator, it is specific to wrap
It includes: obtaining the angular relationship of scanning means and engineering truck；Obtain the displacement relation of scanning means and engineering truck；According to scanning means
The position orientation relation of scanning means and engineering truck is determined with the angular relationship and displacement relation of engineering truck.
In the technical scheme, during the Practical Project of engineering truck operation, ground is not necessarily horizontal plane, engineering truck
Datum level is also not necessarily horizontal plane, then the position orientation relation for needing to demarcate between engineering truck and scanning means at this time.In engineering
After vehicle comes to a complete stop, leveling engineering truck position makes engineering truck datum level parallel with the earth horizontal plane, is sat with total station setting engineering truck
Mark system, using inclinator obtain scanning means and engineering truck angular relationship, can be obtained after conversion scanning means coordinate system with
The angle information of engineering truck coordinate system；Using the linear distance of total station survey scanning means and engineering truck, set is scanned
The transition matrix of device coordinate system and engineering truck coordinate system.In this way, the position orientation relation of scanning means and engineering truck can be obtained,
The coordinate of certain point can be transformed into from scanning means coordinate system engineering truck coordinate system, easily facilitate observation scanning number
According to.Similarly, the coordinate of the point can be transformed into any coordinate system, realizes the reconstruction standardization of coordinate.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the main view of the scanning means of one embodiment of the invention；
Fig. 2 is the rearview of the scanning means of embodiment illustrated in fig. 1；
Fig. 3 is the left view of the scanning means of embodiment illustrated in fig. 2；
Fig. 4 is the right view of the scanning means of embodiment illustrated in fig. 1；
Fig. 5 is the top view of the scanning means of embodiment illustrated in fig. 4；
Fig. 6 is the bottom view of the scanning means of embodiment illustrated in fig. 1；
Fig. 7 is the flow chart of the scan method of one embodiment of the invention；
Fig. 8 is the flow chart of the scan method of another embodiment of the present invention.
Wherein, corresponding relationship of the Fig. 1 into Fig. 6 between appended drawing reference and component names are as follows:
100 scanning means, 102 lasers, 104 cameras, 106 Two axle drive components, 108 mounting holes.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
Implement in a manner of using other than the one described here, therefore, protection scope of the present invention is not by following public tool
The limitation of body embodiment.
Described referring to Fig. 1 to Fig. 8 the scanning means 100 provided according to some embodiments of the invention, engineering truck and
Scan method.
First aspect present invention proposes a kind of scanning means 100, is used for engineering truck, as shown in Figures 1 to 6, comprising: passes
Inductor components are set on engineering truck, and sensor element includes laser 102 and camera 104, and laser 102 can be towards calibration
Plate emits laser, and camera 104 can obtain image information of the laser projection on scaling board；Total station (not shown), is used for
Detect the position orientation relation of scaling board and scanning means 100；Inclinator (not shown) is set on scanning means 100, is used for
Detect the position orientation relation of scanning means 100 and engineering truck；Controller (not shown), and sensor element, total station and inclines
Angle instrument is connected, and controller can determine camera in the image information of scaling board and the testing result of total station according to laser projection
104 with the position orientation relation of scanning means 100, and then according to the position orientation relation and scanning means of camera 104 and scanning means 100
100 with the position orientation relation of engineering truck, determine the position orientation relation of camera 104 Yu engineering truck.Specifically, between total station and controller
To be wirelessly connected, for realizing the interaction of information.
The present invention proposes a kind of scanning means 100 applied to engineering truck, wherein sensor element includes laser 102
With camera 104, scaling board is located at camera 104 within sweep of the eye, and laser 102 emits laser towards scaling board, and camera 104 obtains
Take laser projection in the image information of scaling board, controller is determined between camera 104 and scaling board using Zhang Zhengyou standardization
Position orientation relation；The position orientation relation of scaling board and scanning means 100 is detected by total station；Known camera 104 and scaling board it
Between position orientation relation and scaling board and scanning means 100 position orientation relation in the case where, controller can calculate camera 104 with
The position orientation relation of scanning means 100.
Inclinator built in scanning means 100 detects the position orientation relation of scanning means 100 and engineering truck by inclinator；?
In the case where the position orientation relation of the position orientation relation and scanning means 100 and engineering truck of known camera 104 and scanning means 100, control
Device processed can calculate the position orientation relation of camera 104 Yu engineering truck, and then realize between camera coordinates system and engineering truck coordinate system
Conversion.After camera 104 gets the coordinate information of a position, the coordinate information be on the basis of camera coordinates system,
Controller can convert it on engineering truck coordinate system, be more convenient for observing scan data.Scanning means 100 proposed by the present invention
Using active conversion regime, scanning accuracy is higher, can precisely rebuild 3D model, high degree of automation, during the scanning process
It without manual intervention, and is compared to and enjoys laser scanning methods, manufacturing cost is lower.
Specifically, scanning means 100 proposed by the present invention passes through laser 102 using scaling board coordinate system as intermediary
With the cooperation of camera 104, the transformational relation between camera coordinates system and scaling board coordinate system is determined using Zhang Zhengyou standardization；Benefit
The transformational relation of scaling board coordinate system and scanning means coordinate system is obtained with total station；Scanning means coordinate is obtained using inclinator
The coordinate system relationship of system and engineering truck coordinate system, and then realize the conversion of camera coordinates system and engineering truck coordinate system.Specifically, phase
Machine coordinate system refers to that the coordinate system established with camera 104 for the first visual angle, scanning means coordinate system are referred to monitoring device
The coordinate system that generally the first visual angle is established, engineering truck coordinate system are worth being the coordinate system established with engineering truck for the first visual angle.
In one embodiment of the invention, it is preferable that as shown in Figures 1 to 6, sensor element further include: twin shaft drives
Dynamic component 106, laser 102 and camera 104 are located on Two axle drive component 106, and laser 102 and camera 104 can be in twin shafts
It is rotated synchronously under the driving of driving part 106 in engineering truck.
In this embodiment, sensor element further includes Two axle drive component 106, wherein laser 102 and camera 104
It is installed on engineering truck by Two axle drive component 106.During laser 102 and camera 104 are used cooperatively, determine
Behind the relative position of camera 104 and laser 102, laser 102 and camera 104 are installed on Two axle drive component 106.When
It gets after a position laser 102 is projected in the image information on scaling board and the image information of scaling board itself, passes through
Two axle drive component 106 drives laser 102 to rotate synchronously on engineering truck with camera 104, and then obtains next position mark
The image information of image information and scaling board itself on fixed board constantly repeats above-mentioned rotation and shooting step until laser
102 rotate 180 ° with camera 104.After laser 102 and camera 104 rotate 180 °, required optic plane equations mark can be obtained
Fixed characteristic point.
In one embodiment of the invention, it is preferable that Two axle drive component 106 includes: pitch axis (not shown),
It is set on engineering truck, sensor element can rotate along the vertical direction under the driving of pitch axis；Yaw axis (not shown),
It is set on engineering truck, sensor element can rotate in the horizontal direction under the driving of yaw axis.
In this embodiment, Two axle drive component 106 includes the pitch axis and yaw axis being used in conjunction with each other, wherein is bowed
Axis is faced upward for driving sensor element to rotate along the vertical direction, yaw axis is used to that sensor element to be driven to rotate in the horizontal direction,
Pitch axis and yaw axis are used cooperatively, and instrument guarantees Scanning Detction comprehensive in space.Specifically, pitch axis is in vertical direction
180 ° of rotations, yaw axis 360 ° of rotations in the horizontal direction.
In one embodiment of the invention, it is preferable that further include: two installing component (not shown)s can be rotated
Ground is set on Two axle drive component 106, and laser 102 and camera 104 are respectively arranged on two installing components, laser
102 and camera 104 being rotated by two installing components respectively.
In this embodiment, there are two installing component, the quantity and laser of installing component for setting on Two axle drive component 106
The quantity of device 102 and camera 104 is equal, for installing camera 104 and laser 102 respectively.In installation camera 104 and laser
When 102, camera 104 is installed on different installing components from laser 102 respectively, and each installing component can turn
It is dynamic, therefore can adjust the relative position of mutually matched camera 104 and laser 102, to promote the adaptation of scanning means 100
Property.
In one embodiment of the invention, it is preferable that sensor element further include: shell (not shown), setting
In on engineering truck, laser 102 and camera 104 are located in shell；Camera lens (not shown), is set in shell, with camera
104 are connected.
In this embodiment, sensor element further includes shell and the camera lens that is connected with camera 104, wherein laser
102, camera 104, camera lens and inclinator are integrally disposed in shell, using modularized design to promote the integrated of sensor element
Degree.
In one embodiment of the invention, it is preferable that sensor element further include: photic zone is set on shell, is swashed
Light device 102 and camera 104 are arranged towards photic zone.
In this embodiment, photic zone is provided on shell, and laser 102 and camera 104 are arranged towards photic zone, protect
Card laser can be accurately projeced on scaling board, while guarantee figure of the available laser projection of camera 104 on scaling board
As information and the image information of scaling board.Specifically, photic zone is glass plate.
The present invention using principle of triangulation makes a set of two-link robotic manipulator structure using machine vision method, using bowing
Face upward axis and yaw axis composition Two axle drive component 106, CCD industrial camera, laser 102, tight shot, 3D sensor outer housing group
At 3D sensor, using scaling board coordinate system as middle coordinate system, determine that camera coordinates system and scanning means coordinate system are converted
Relationship；Using the angular relationship of inclinator measurement scanning means coordinate system and engineering truck coordinate system.Last scanning means 100 uses
The mode of installing component integrates 3D sensor, Two axle drive component 106 and inclinator and is installed on engineering truck.Utilize above-mentioned side
Method, the tunnel contour 3D point cloud information reconstruction that camera 104 is got is in engineering truck coordinate system, to be more suitable for engineering truck control
System processed judges handling situations, similarly can sit the tunnel contour 3D point cloud information reconstruction that industrial camera is got in any other
Under mark system, more conducively realization point cloud information rebuilds standardization.
In specific embodiment, the vehicular three-dimensional scanner proposed by the present invention based on line-structured light, such as Fig. 1 to Fig. 6
Shown, which includes "-" type laser, industrial camera, double-shaft tilt angle sensor and Two axle drive component 106.
Two axle drive component 106 can be with 360 ° of sideway, 180 ° of pitching rotations, and rotation is turned to another direction every time, and actual condition does not need sideway
With 360 ° of operations of pitching, to adapt to actual condition and protection scanning means 100, positive and negative 90 ° of sideway limit, pitching limit is positive and negative
90°.Two installing components that can be can be manually rotated are installed on Two axle drive component 106, are separately installed with camera inside installing component
104 and laser 102, shell is transparent glass on one side, and industrial camera and laser penetrate glass in the housing and carries out Image Acquisition
Operation after the angle for adjusting 102 installing component of camera installing component and laser, fixes two installing components in Two axle drive portion
On part 106, camera and laser 102 are installed on inside Two axle drive component 106, can protect phase under engineering truck operating environment
Machine and laser 102.Scanning means 100 is finally fixedly mounted on the reserved mounting surface of job engineering vehicle.
To use this scanning means 100, it is thus necessary to determine that camera coordinates system and scanning means coordinate system, engineering truck coordinate system
Position orientation relation.Using scaling board coordinate system as the middle coordinate for seeking camera coordinates system and scanning means coordinate system transformational relation
System, scaling board are placed in camera 104 within sweep of the eye, then scaling board front alignment cameras 104, utilize Zhang Zhengyou standardization
It determines the position orientation relation of scaling board coordinate system and camera coordinates system, then determines that scaling board coordinate system is sat to scanning means with total station
The relationship for marking system, can thus convert the point cloud data that camera 104 obtains to scanning means coordinate system.
During the Practical Project of engineering truck operation, ground is not necessarily horizontal plane, and engineering truck datum level is also not necessarily
Horizontal plane, then the relationship for needing to demarcate between engineering truck coordinate system and scanning means coordinate system at this time.Determine engineering truck coordinate
System is arranged inclinator, and then determines the angular relationship between scanning means 100 and engineering truck coordinate system.Inside scanning means 100
Inclinator is installed, for the angular relationship between scanning means 100 and engineering truck datum level.The origin of engineering truck coordinate system is set
It sets on engineering truck datum level, detects engineering truck coordinate system using total station and closed to the displacement between scanning means coordinate system
System calculates scanning means coordinate system then in conjunction with the angular relationship that inclinator is read and turns to the direct pose of engineering truck coordinate system
Relationship is changed, the point cloud data in scanning means coordinate system can be converted to engineering truck coordinate system using this relationship.
Specifically, engineering truck coordinate system and the conversion relational expression of scanning means coordinate system are as follows:
Wherein, [X Y Z]TIt is that certain puts the coordinate under engineering truck coordinate system；
[x y z]TIt is coordinate of this in scanning means coordinate system；
[Δx Δy Δz]TIndicate the vector correlation between engineering truck coordinate system and scanning means coordinate origin；
RX、RY、RZBe scanning means coordinate system transformation to engineering truck coordinate system respectively along the rotation transformation square of X, Y, Z axis
Battle array；
α, β, γ indicate scanning means coordinate system around the rotation angle of engineering truck coordinate system.
α, β angle can be determined that γ and Δ x, Δ y, Δ z are acquired by calculating, to finally obtain engineering truck by inclinator
The transformational relation of coordinate system and scanning means coordinate system.
100 specifically used method of scanning means proposed by the present invention: tunnel construction environment light condition is poor, should not apply
Optic plane equations, scanning means coordinate system and the camera coordinates system relationship of work operating environment subscript locating/scanning device 100.It marks first
Scanning means 100 is placed in horizontal table top by the optic plane equations for determining yaw direction, adjusts the Two axle drive component 106 of camera,
Make the camera Two axle drive component 106 towards front, place scaling board immediately ahead of scanning means 100, pay attention to scaling board with
The linear distance of camera is the measurement distance in actual condition, i.e. 100 standard operating distance of scanning means.It is automatically found calibration
After plate, laser 102 is opened, shooting on a scaling board has the image of laser striation, then turns off laser 102, shooting one
The image of only scaling board is opened, two images of a position are so obtained.Machine laser 102 is opened again, and scanning means 100 revolves
Turn certain angle, laser stripe is made to join end to end with upper position laser stripe as far as possible, mobile scaling board equally makes scaling board exist
Immediately ahead of camera fields of view, notices that scaling board should change by a small margin with respect to the linear distance of camera with the last time, repeat above-mentioned shooting
Movement, saves two images.So 180 ° of rotation can be obtained the characteristic point of required optic plane equations calibration.It can similarly demarcate
The optic plane equations of pitch orientation.
Scaling board is placed in it is fixed within the scope of camera fields of view, and can blur-free imaging, scaling board coordinate system is at this time to mark
Fixed board plane is the face XOY, and meets right-handed coordinate system, and origin is parallel to the horizontal plane in scaling board characteristic point, Z axis.Pass through vision
Algorithm can solve the transformational relation of camera coordinates system Yu scaling board coordinate system.In the position of 100 two sides mounting hole 108 of scanning means
Prism is installed, by 100 right angle setting of scanning means, and is rotated to zero-bit, at this time yaw axis and horizontal plane, pitch axis and water
Plane is parallel, sets scanning means coordinate system using total station, further finds out scanning means coordinate system and scaling board coordinate system
Between transformational relation.In this way, point cloud data can be converted from camera coordinates system to scanning means coordinate system.
The Two axle drive component 106 of apparatus of the present invention is installed on the fixed position of engineering truck, engineering truck comes to a complete stop in working position
Afterwards, engineering truck is leveled, keeps engineering truck datum level parallel with the earth horizontal plane, sets engineering truck coordinate system, engineering truck with total station
The angle information of coordinate system XOY plane and datum level can be read by obliquity sensor.Scanning means 100 is obtained by inclinator
With the angle information of engineering truck coordinate system, the angle information of scanning means 100 Yu engineering truck coordinate system can be obtained after conversion, then
Using total station survey scanning means coordinate system and engineering truck coordinate origin linear distance, scanning means coordinate system can be obtained
With the transition matrix of engineering truck coordinate system.In this way, point cloud data can be transformed into engineering truck coordinate system from scanning means coordinate system,
It is more convenient for observing scan data.Similarly, point cloud data can be converted to any coordinate system, realizes that point cloud rebuilds standardization.
It is closer it may be noted that the operating distance of scanning means 100 should be close with standard operating distance as far as possible when scanning operation
Standard operating distance, scanning accuracy are higher.When needing sideway to scan and pitching scanning all operations, point cloud data needs to carry out pre-
Processing, removal repeats point cloud in scanning system.
Scanning dress proposed by the present invention uses "-" type line-structured light scanning theory incorporation engineering vehicle localization method, and realization is swept
100 sideway of imaging apparatus and pitching scanning, and by scanning element cloud data reconstruction under engineering truck coordinate system, obtain other any benchmark
Coordinate system.With scanning accuracy height, energy Exact Reconstruction 3D model, high degree of automation, scanning process is excellent without manual intervention
Point, at the same it is lower compared to laser scanning methods manufacturing cost, be conducive to construction usage.
Second aspect of the present invention proposes a kind of engineering truck, the scanning means 100 including any one of second aspect of the present invention.
The engineering truck that second aspect of the present invention proposes, because including the scanning means 100 of any one of second aspect of the present invention, because
This whole beneficial effect with above-mentioned scanning means 100, is no longer stated one by one herein.Specifically, which is trolley.
Fig. 7 shows the flow chart of the scan method of one embodiment of the invention, as shown in fig. 7, comprises:
S202 determines the position orientation relation of camera and scaling board according to laser projection in the image information of scaling board；
S204 obtains the position orientation relation of scaling board and scanning means by total station；
S206 determines camera according to the position orientation relation of the position orientation relation and scaling board of camera and scaling board and scanning means
With the position orientation relation of scanning means；
S208 determines the position orientation relation of scanning means and engineering truck by inclinator；
S210 determines camera according to the position orientation relation of the position orientation relation and scanning means of camera and scanning means and engineering truck
With the position orientation relation of engineering truck.
Scan method proposed by the present invention obtains laser projection in the image information of scaling board first, just has calibration using
Method determines the position orientation relation of scaling board and camera, to obtain the transformational relation of scaling board coordinate system and camera coordinates system；Then lead to
The position orientation relation that total station obtains scaling board and scanning means is crossed, to obtain turn of scaling board coordinate system and scanning means coordinate system
Relationship is changed, and then determines the transformational relation of camera coordinates system and scanning means coordinate system.By inclinator determine scanning means with
The position orientation relation of engineering truck, to obtain the transformational relation of scanning means coordinate system Yu engineering truck coordinate system.Having determined camera
The feelings of the transformational relation of the transformational relation and scanning means coordinate system and engineering truck coordinate system of coordinate system and scanning means coordinate system
Under condition, the transformational relation of camera coordinates system Yu engineering truck coordinate system can be determined.When coordinate of the cameras capture to certain point,
It is converted it in engineering truck coordinate system according to above-mentioned transformational relation, is more convenient for observing scan data.
Scan method proposed by the present invention uses active conversion regime, and scanning accuracy is higher, can precisely rebuild 3D mould
Type, high degree of automation are not necessarily to manual intervention during the scanning process, and are compared to and enjoy laser scanning methods, manufacturing cost
It is lower.
In one embodiment of the invention, it is preferable that according to laser projection scaling board image information determine camera with
The position orientation relation of scaling board, specifically includes: first object position acquisition laser scaling board image information；By scanning means
Carry out i rotation respectively towards first direction by predetermined angle, until 180 ° of scanning means corotating, obtain i target position；
Laser is obtained respectively in the image information of scaling board i target position；View-based access control model algorithm, according to laser scaling board figure
As information determines the position orientation relation of camera and scaling board.
In this embodiment, during determining the position orientation relation of camera and scaling board, scanning means is arranged first
In horizontal plane, and Two axle drive component is adjusted, so that camera instrument laser is in suitable position (i.e. first object position), so
Scaling board is placed in the front of scanning means afterwards, notices that the linear distance of scaling board and camera is the measurement in actual condition
Distance, the i.e. scanning distance of scanning means.After camera and laser find scaling board, opens laser and laser is being marked
Projection image information on fixed board is then shut off laser beat at this time using the image information for having laser on camera shooting scaling board
The image of only scaling board is taken the photograph, the two pieces of image information of first object position is so obtained.It is again turned on laser and by double
Axis driving part driving scanning means turns an angle, and is laser stripe and the second target position laser provision head and the tail as far as possible
It is connected, and mobile scaling board is similarly in scaling board immediately ahead of camera, notices that scaling board is answered with respect to the linear distance of camera
Change by a small margin with the last time, and repeats above-mentioned shooting process.So rotation i times, until having rotated 180 ° altogether, at this time
The characteristic point of the calibration of optic plane equations needed for obtaining.Then view-based access control model algorithm can calculate camera and the pose of scaling board closes
System.
In one embodiment of the invention, it is preferable that determine that the pose of scanning means and engineering truck closes by inclinator
System, specifically includes: obtaining the angular relationship of scanning means and engineering truck；Obtain the displacement relation of scanning means and engineering truck；Root
The position orientation relation of scanning means and engineering truck is determined according to the angular relationship and displacement relation of scanning means and engineering truck.
In this embodiment, during the Practical Project of engineering truck operation, ground is not necessarily horizontal plane, engineering truck base
Quasi- face is also not necessarily horizontal plane, then the position orientation relation for needing to demarcate between engineering truck and scanning means at this time.In engineering truck
After coming to a complete stop, leveling engineering truck position makes engineering truck datum level parallel with the earth horizontal plane, sets engineering truck coordinate with total station
System is obtained the angular relationship of scanning means and engineering truck using inclinator, scanning means coordinate system and work can be obtained after conversion
The angle information of journey vehicle coordinate system；Using the linear distance of total station survey scanning means and engineering truck, set obtains scanning dress
Set the transition matrix of coordinate system Yu engineering truck coordinate system.In this way, the position orientation relation of scanning means and engineering truck can be obtained, also
The coordinate of certain point can be transformed into from scanning means coordinate system engineering truck coordinate system, easily facilitate observation scan data.
Similarly, the coordinate of the point can be transformed into any coordinate system, realizes the reconstruction standardization of coordinate.
Fig. 8 shows the flow chart of the scan method of another embodiment of the present invention, as shown in Figure 8, comprising:
S302, first object position acquisition laser scaling board image information；
Scanning means is carried out i rotation, until scanning means corotation by S304 respectively by predetermined angle towards first direction
Turn 180 °, obtains i target position；
S306 obtains laser in the image information of scaling board i target position respectively；View-based access control model algorithm, according to sharp
Light determines the position orientation relation of camera and scaling board in the image information of scaling board；
S308 obtains the position orientation relation of scaling board and scanning means by total station；
S310 determines camera according to the position orientation relation of the position orientation relation and scaling board of camera and scaling board and scanning means
With the position orientation relation of scanning means；
S312 obtains the angular relationship of scanning means and engineering truck；
S314 obtains the displacement relation of scanning means and engineering truck；
S316 determines the position of scanning means and engineering truck according to the angular relationship and displacement relation of scanning means and engineering truck
Appearance relationship.
In this embodiment, scanning means is set to horizontal plane first, and adjusts Two axle drive component, so that camera instrument
Laser is in suitable position (i.e. first object position), then places scaling board in the front of scanning means, pays attention to mark
The linear distance of fixed board and camera is the measurement distance in actual condition, the i.e. scanning distance of scanning means.In camera and swash
After light device finds scaling board, opens laser and make laser projection image information on scaling board, shot at this time using camera
There is the image information of laser on scaling board, is then shut off the image that laser shooting only has scaling board, so acquisition first object
The two pieces of image information of position.It is again turned on laser and drives scanning means to turn an angle by Two axle drive component,
It is that laser stripe joins end to end with the second target position laser provision, and mobile scaling board is similarly in scaling board as far as possible
Immediately ahead of camera, notice that scaling board should change by a small margin with respect to the linear distance of camera with the last time, and repeat above-mentioned shot
Journey.So rotation i times can be obtained the characteristic point of required optic plane equations calibration until having rotated 180 ° altogether at this time.Then
View-based access control model algorithm can calculate the position orientation relation of camera and scaling board.
Further, the position orientation relation of scaling board and scanning means is obtained, by total station then to obtain scaling board seat
The transformational relation of mark system and scanning means coordinate system, and then determine the transformational relation of camera coordinates system and scanning means coordinate system.
Further, during the Practical Project of engineering truck operation, ground is not necessarily horizontal plane, engineering truck benchmark
Face is also not necessarily horizontal plane, then the position orientation relation for needing to demarcate between engineering truck and scanning means at this time.Stop in engineering truck
After steady, leveling engineering truck position makes engineering truck datum level parallel with the earth horizontal plane, sets engineering truck coordinate system with total station,
The angular relationship that scanning means and engineering truck are obtained using inclinator, can be obtained scanning means coordinate system and engineering truck after conversion
The angle information of coordinate system；Using the linear distance of total station survey scanning means and engineering truck, set obtains scanning means seat
The transition matrix of mark system and engineering truck coordinate system.In this way, the position orientation relation of scanning means and engineering truck can be obtained.
In the transformational relation and scanning means coordinate system and engineering for having determined camera coordinates system and scanning means coordinate system
In the case where the transformational relation of vehicle coordinate system, the transformational relation of camera coordinates system Yu engineering truck coordinate system can be determined.Work as camera
It when capturing the coordinate of certain point, can be converted it to according to above-mentioned transformational relation in engineering truck coordinate system, observation of being more convenient for is swept
Retouch data.
In the description of the present invention, term " multiple " then refers to two or more, unless otherwise restricted clearly, term
The orientation or positional relationship of the instructions such as "upper", "lower" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention；Term " connection ", " installation ", " fixation " etc. should all
It is interpreted broadly, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be straight
Connect it is connected, can also be indirectly connected through an intermediary.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of scanning means is used for engineering truck characterized by comprising
Sensor element is set on the engineering truck, and the sensor element includes laser and camera, and the laser can
Emit laser towards scaling board, the camera can obtain image information of the laser projection on the scaling board；
Total station, for detecting the position orientation relation of the scaling board Yu the scanning means；
Inclinator is set on the scanner device, for detecting the position orientation relation of the scanning means Yu the engineering truck；
Controller is connected with the sensor element, the total station and the inclinator, and the controller can be according to described
Laser projection determines that the camera and the scanning fill in the image information of the scaling board and the testing result of the total station
The position orientation relation set, and then according to the position orientation relation and the scanning means of the camera and the scanning means and the engineering
The position orientation relation of vehicle determines the position orientation relation of the camera Yu the engineering truck.
2. scanning means according to claim 1, which is characterized in that the sensor element further include:
Two axle drive component, the laser and the camera are located on the Two axle drive component, the laser and described
Camera can rotate synchronously under the driving of the Two axle drive component in the engineering truck.
3. scanning means according to claim 2, which is characterized in that the Two axle drive component includes:
Pitch axis is set on the scanner device, the sensor element can the pitch axis driving lower edge it is vertical
Direction rotation；
Yaw axis is set on the scanner device, and the sensor element can be in the driving lower edge level of the yaw axis
Direction rotation.
4. scanning means according to claim 2, which is characterized in that further include:
At least two installing components are rotatablely arranged on the Two axle drive component, the laser and the camera point
It is not set at least two installing component, the laser and the camera can be respectively at least two mounting portions
Part is rotated by.
5. scanning means according to any one of claim 1 to 4, which is characterized in that sensor element further include:
Shell is set on the engineering truck, and the laser and the camera are located in the shell；
Camera lens is set in the shell, is connected with the camera.
6. scanning means according to claim 5, which is characterized in that sensor element further include:
Photic zone is set on the shell, and the laser and the camera are arranged towards the photic zone.
7. a kind of engineering truck characterized by comprising
Such as scanning means described in any one of claims 1 to 6.
8. a kind of scan method characterized by comprising
The position orientation relation of camera Yu the scaling board is determined in the image information of scaling board according to laser projection；
The position orientation relation of the scaling board and scanning means is obtained by total station；
According to the camera and the position orientation relation of the scaling board and the position orientation relation of the scaling board and the scanning means, really
The position orientation relation of the fixed camera and the scanning means；
The position orientation relation of the scanning means and engineering truck is determined by inclinator；
It is determined according to the position orientation relation of the position orientation relation and the scanning means of the camera and scanning means and the engineering truck
The position orientation relation of the camera and the engineering truck.
9. scan method according to claim 8, which is characterized in that it is described according to the laser projection in scaling board image
Information determines the position orientation relation of the camera Yu the scaling board, specifically includes:
Image information of the laser described in first object position acquisition in the scaling board；
The scanning means is carried out to i rotation respectively by predetermined angle towards first direction, until the scanning means corotation
Turn 180 °, obtains i target position；
The laser is obtained respectively in the image information of the scaling board in the i target position；
View-based access control model algorithm determines the camera and the scaling board in the image information of the scaling board according to the laser
Position orientation relation.
10. scan method according to claim 8, which is characterized in that described to determine the scanning means by inclinator
With the position orientation relation of engineering truck, specifically include:
Obtain the angular relationship of the scanning means Yu the engineering truck；
Obtain the displacement relation of the scanning means Yu the engineering truck；
The scanning means and engineering truck are determined according to the angular relationship and displacement relation of the scanning means and the engineering truck
Position orientation relation.
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