CN111060919A - Intelligent robot-based measuring method and intelligent robot - Google Patents
Intelligent robot-based measuring method and intelligent robot Download PDFInfo
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- CN111060919A CN111060919A CN201911392817.7A CN201911392817A CN111060919A CN 111060919 A CN111060919 A CN 111060919A CN 201911392817 A CN201911392817 A CN 201911392817A CN 111060919 A CN111060919 A CN 111060919A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Abstract
The invention provides a measuring method based on an intelligent robot and the intelligent robot, wherein a two-dimensional laser radar is configured in the intelligent robot, and the method comprises the steps of collecting and measuring ranging data of all measuring points on a wall surface by adopting the two-dimensional laser radar; determining target positions of the measuring points corresponding to the two-dimensional plane according to the ranging data and a preset algorithm to obtain a plurality of target positions; the result of the measurement is determined from the plurality of target positions. According to the invention, the non-contact building measurement operation can be automatically executed by the intelligent robot, so that the consumption of artificial resources is effectively reduced, the safety risk of building measurement is reduced, the measurement efficiency is improved, and the measurement accuracy is improved.
Description
Technical Field
The invention relates to the technical field of building measurement, in particular to a measurement method based on an intelligent robot and the intelligent robot.
Background
In the construction industry, operators usually perform actual measurement and actual measurement operations on buildings in a contact measurement mode, so as to assist in building engineering planning and building environment improvement.
In this way, the workload of the operator for actual measurement is large, the sampling point is low, the efficiency is low, the measurement result is greatly influenced by the operation normative of the operator, the measurement precision is difficult to guarantee, and certain safety risk may exist.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a measuring method based on an intelligent robot and the intelligent robot, which can automatically execute non-contact building measuring operation by the intelligent robot, effectively reduce the consumption of artificial resources, reduce the safety risk of building measurement, improve the measuring efficiency and improve the measuring accuracy.
In order to achieve the above object, an embodiment of the present invention provides a measurement method based on an intelligent robot, where a two-dimensional lidar is configured in the intelligent robot, and the measurement method includes: collecting ranging data of all measuring points on the measuring wall surface by using the two-dimensional laser radar; determining the target position of each measuring point corresponding to the two-dimensional plane by combining a preset algorithm according to the ranging data to obtain a plurality of target positions; and determining the measurement result according to the target positions.
According to the measurement method based on the intelligent robot provided by the embodiment of the first aspect of the invention, the distance measurement data of all measurement points on the measurement wall surface are acquired by adopting the two-dimensional laser radar, the target positions of the measurement points corresponding to the two-dimensional plane are determined according to the distance measurement data and the preset algorithm, a plurality of target positions are obtained, and the measurement result is determined according to the plurality of target positions, so that the intelligent robot can automatically execute non-contact building measurement operation, the consumption of artificial resources is effectively reduced, the safety risk of building measurement is reduced, the measurement efficiency is improved, and the measurement accuracy is improved.
In order to achieve the above object, an embodiment of the second aspect of the present invention provides an intelligent robot, where a two-dimensional laser radar and a central processing unit are configured in the intelligent robot, where the two-dimensional laser radar is configured to collect ranging data of all measurement points on a measurement wall surface; and the central processing unit is used for determining the target positions of the measuring points corresponding to the two-dimensional plane according to the ranging data and a preset algorithm to obtain a plurality of target positions, and determining the measuring result according to the target positions.
According to the intelligent robot provided by the embodiment of the second aspect of the invention, the distance measurement data of all measurement points on the measurement wall surface are acquired by adopting the two-dimensional laser radar, the target positions of the measurement points corresponding to the two-dimensional plane are determined according to the distance measurement data and a preset algorithm, a plurality of target positions are obtained, and the measurement result is determined according to the plurality of target positions, so that the intelligent robot can automatically execute non-contact building measurement operation, the consumption of artificial resources is effectively reduced, the safety risk of building measurement is reduced, the measurement efficiency is improved, and the measurement accuracy is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a measurement method based on an intelligent robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a two-dimensional lidar according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a radar body according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a measurement method based on an intelligent robot according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of an embodiment of the present invention;
FIG. 6 is a schematic diagram of another embodiment of the present invention;
fig. 7 is a schematic structural diagram of an intelligent robot according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an intelligent robot according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
In order to solve the technical problems that in the related technology, the workload of actual measurement performed by an operator is large, the sampling point is low, the efficiency is low, the measurement result is greatly influenced by the operation normative of the operator, the measurement precision is difficult to guarantee, and certain safety risks exist, the embodiment of the invention provides a measurement method based on an intelligent robot, wherein a two-dimensional laser radar is configured in the intelligent robot, the ranging data of all measurement points on a measurement wall surface are collected and measured by adopting the two-dimensional laser radar, the target positions of the measurement points corresponding to a two-dimensional plane are determined according to the ranging data and a preset algorithm, a plurality of target positions are obtained, the measurement result is determined according to the plurality of target positions, the non-contact building measurement operation can be automatically performed by the intelligent robot, the consumption of artificial resources is effectively reduced, and the safety risks of building measurement are reduced, the measurement efficiency and the measurement accuracy are improved.
Fig. 1 is a schematic flowchart of a measurement method based on an intelligent robot according to an embodiment of the present invention.
The measurement method based on the intelligent robot is applied to the intelligent robot, wherein the intelligent robot can be any equipment, instrument or machine with calculation processing capacity.
In the embodiment of the invention, a corresponding two-dimensional laser radar can be configured for the intelligent robot, and the two-dimensional laser radar collects and measures the ranging data of all measuring points on the wall surface, so that the non-contact measurement of the building is assisted.
Referring to fig. 1, the method includes:
s101: and collecting and measuring ranging data of all measuring points on the wall surface by adopting a two-dimensional laser radar.
In some embodiments, referring to fig. 2, fig. 2 is a schematic structural diagram of a two-dimensional lidar according to an embodiment of the present invention, where the two-dimensional lidar 20 may include: the radar device comprises a radar body 201, a rotary table 202 and a polygonal reflector 203 arranged on the rotary table 202, wherein the rotary table 202 can drive the polygonal reflector 203 to rotate around a fixed rotating shaft, or drive the polygonal reflector 203 to generate displacement.
The polygonal mirror 203 on the turntable 202 may be directly processed by super mirror surface processing, and the mirror surface of the polygonal mirror 203 may be six surfaces, eight surfaces, twelve surfaces, and the like, which is not limited.
The radar body 201 is used for emitting laser signals and receiving reflected signals and scattered signals of the laser signals when the laser signals meet the measuring wall surface, and the laser signals emitted by the radar body 201 can be reflected by the polyhedral reflecting mirror 203 and then projected onto the measuring wall surface.
In a specific implementation process, referring to fig. 3, fig. 3 is a schematic structural diagram of a radar body according to an embodiment of the present invention, where the radar body 201 includes: the wall surface measuring device comprises a laser 2011, a transmitter 2012 and a receiver 2013, wherein the transmitter 2012 transmits a laser signal to the measuring wall surface through the laser 2011, the receiver 2013 is used for receiving a reflected signal and a scattered signal of the laser signal encountering the measuring wall surface, the axis of the transmitter 2012 and the axis of the receiver 2013 are coplanar with the axis of the turntable, and the axis of the transmitter 2012 is perpendicular to the axis of the turntable.
The axes of the laser and the transmitter are coplanar and intersected with the axes of the receiver and the detector to form a basic structure of a laser triangulation method, namely a radar body; the axis of the transmitter, the axis of the receiver and the axis of the turntable are coplanar, and the axis of the transmitter is perpendicular to the axis of the turntable; the lens in the emitter is formed by arranging a plurality of pieces in a coaxial manner, and the emitter emits uniform thin laser signals; the lens inside the receiver is composed of a plurality of pieces which are arranged in a coaxial mode or a non-coaxial mode, and the non-coaxial mode is preferred.
The laser is a triangular displacement sensor.
In other embodiments, the structure of the two-dimensional lidar may be configured as any other structure capable of supporting the triangulation algorithm, which is not limited to this.
By supporting the triangulation distance measurement algorithm, the accuracy of the two-dimensional laser radar is achieved to be in a sub-millimeter level, the characteristics of wide range and high accuracy are achieved, and the method is suitable for building measurement.
In the embodiment of the invention, in the process of carrying out non-contact measurement by adopting the intelligent robot, a direct-current power supply can be adopted to supply power to the intelligent robot, so that a non-contact wireless power supply mode is avoided, the heat of the intelligent robot can be effectively reduced, and the problems of reduced measurement distance precision and angular resolution and the like caused by overheating of a machine body of a two-dimensional laser radar in the intelligent robot are effectively avoided.
The two-dimensional laser radar can also use a high-precision motor with the absolute coding precision of 26 bits, so that the angle adjusting precision is high during building measurement, the stability is good, and the angular resolution can be accurate to an angular second level.
Above-mentioned adopt two-dimensional laser radar to gather the range finding data of measuring whole measuring points on the wall, can also dispose two-dimensional laser radar into in advance and adopt the range finding data of whole measuring points on the two-dimensional laser radar collection measurement wall in real time to can survey the actual measurement real size information in operation region in real time, make intelligent robot work more intelligently.
In the embodiment of the invention, when the two-dimensional laser radar is adopted to collect the ranging data of all the measuring points on the measuring wall surface, the turntable 202 arranged in the two-dimensional laser radar can drive the polygonal reflector 203 to rotate around the fixed rotating shaft, or drive the polygonal reflector 203 to generate displacement, thereby realizing the collection of the ranging data of all the measuring points on the measuring wall surface.
S102: and determining the target positions of the measuring points corresponding to the two-dimensional plane according to the ranging data and a preset algorithm to obtain a plurality of target positions.
The two-dimensional plane can be a pre-calibrated reference plane, after distance measurement data of all measurement points on the measurement wall surface are collected, the target position of each measurement point corresponding to the pre-calibrated reference plane is determined according to the distance measurement data and a preset algorithm, so that the subsequent acquisition of a corresponding three-dimensional measurement result is assisted, the three-dimensional data can be obtained by utilizing a simple geometric relationship, and the simplicity, convenience and high precision are realized.
S103: the result of the measurement is determined from the plurality of target positions.
In a specific implementation, the measurement result is determined according to a plurality of target positions, which may be point clouds formed according to the plurality of target positions; and determining a measurement result of the measurement wall surface based on the three-dimensional plane according to the formed point cloud.
Wherein, the data in the point data set described by the point cloud can be used as the measurement result of the three-dimensional plane.
The point cloud is a point data set of the product appearance surface obtained by a measuring instrument in the reverse engineering, the number of points obtained by using a three-dimensional coordinate measuring machine is small, the distance between the points is large, and the point cloud is called as sparse point cloud; the point clouds obtained by using the three-dimensional laser scanner or the photographic scanner have larger and denser point quantities, and are called dense point clouds.
In this embodiment, through adopting the range finding data of whole measuring points on the two-dimensional laser radar collection measurement wall, and combine preset algorithm according to the range finding data, confirm each measuring point and correspond to the planar target location of two-dimensional, obtain a plurality of target location, and according to a plurality of target location, confirm measuring result, can realize carrying out non-contact building survey operation by intelligent robot automation, effectively reduce artifical resource consumption, reduce building survey's safety risk, promote measurement of efficiency, promote and measure the precision.
Fig. 4 is a schematic flowchart of a measurement method based on an intelligent robot according to another embodiment of the present invention.
Referring to fig. 4, the method includes:
s401: and collecting and measuring ranging data of all measuring points on the wall surface by adopting a two-dimensional laser radar.
In the in-process of concrete execution, be provided with the guide rail on the intelligent robot, guide rail vertical migration can be followed to two-dimensional laser radar, through controlling two-dimensional laser radar along guide rail vertical migration, thereby the range finding data of whole measuring points on the collection measurement wall, and when adopting the range finding data of whole measuring points on the two-dimensional laser radar collection measurement wall, can drive polyhedral mirror 203 by built-in revolving stage 202 of two-dimensional laser radar and rotate around fixed rotating shaft, or, drive polyhedral mirror 203 and produce the displacement, realize from this that the range finding data of whole measuring points on the measurement wall is gathered to the multi-angle ground.
S402: and determining the distance value between the intelligent robot and each measuring point according to the ranging data to obtain a plurality of distance values.
S403: and determining the azimuth angle corresponding to each measuring point.
S404: and determining the target position of each measuring point corresponding to the two-dimensional plane according to the distance value and the azimuth angle of each measuring point.
S402-S404 may be described as follows, with reference to fig. 5 and fig. 6, where fig. 5 is an application diagram of an embodiment of the present invention, and fig. 6 is another application diagram of an embodiment of the present invention, where fig. 5 shows a state 4-1 of the two-dimensional lidar when the polygonal mirror rotates to a minimum angle, and fig. 6 shows a state 4-2 of the two-dimensional lidar when the polygonal mirror rotates to a maximum angle, including: the device comprises a measuring wall surface 1, a triangular displacement sensor 2, a reflecting mirror 3, a glass window 5 and a rotating shaft 6.
(1) The principle of determining the distance value between the intelligent robot and each measuring point is as follows: as shown in fig. 5, a triangular displacement sensor is used as a core unit for measurement, a laser beam emitted from the triangular displacement sensor 2 irradiates on the reflector 3 and then is reflected on the polygonal reflector 4, the laser beam can be reflected by the polygonal reflector 4, then penetrates through the glass window 5 on the surface and irradiates on a measurement point, the measurement point can be reflected and scattered, finally, a reflection or scattering signal returns to the triangular displacement sensor along a similar path, and a relative distance value of the measurement point is measured and displayed by the triangular displacement sensor and is used as a measured distance value.
(2) The principle of determining the azimuth angle corresponding to each measuring point is as follows: the polygonal mirror 4 rotates at a constant speed along the rotating shaft 6, and when the polygonal mirror rotates to the position shown in fig. 5, the azimuth angle 1 of the light beam irradiated on the measuring point relative to the two-dimensional laser radar is recorded; when rotated to the position shown in fig. 6, the azimuth angle 2 of the beam impinging on the measurement point with respect to the two-dimensional lidar is recorded, i.e. the azimuth angle of the measurement point can be measured by the rotation axis.
In summary, by measuring the relative distance and the azimuth angle of the measurement point on the measurement wall surface 1, the relative position of the measurement point on the two-dimensional plane can be determined, that is, the most basic measurement function of the two-dimensional laser radar is completed.
S405: a point cloud is formed from the plurality of target locations.
S406: and determining a measurement result of the measurement wall surface based on the three-dimensional plane according to the formed point cloud.
Wherein, the data in the point data set described by the point cloud can be used as the measurement result of the three-dimensional plane.
The point cloud is a point data set of the product appearance surface obtained by a measuring instrument in the reverse engineering, the number of points obtained by using a three-dimensional coordinate measuring machine is small, the distance between the points is large, and the point cloud is called as sparse point cloud; the point clouds obtained by using the three-dimensional laser scanner or the photographic scanner have larger and denser point quantities, and are called dense point clouds.
As a more specific example, the step of measuring may include:
(1) the distance measurement data of a plurality of measuring points are collected by the aid of the two-dimensional laser radar on the intelligent robot, the distance measurement data are subjected to gray value processing, the polynomial interpolation algorithm is adopted to calculate the distance measurement data, so that accuracy of a light sensing element in the triangular displacement sensor is improved, and accurate numerical values of the light sensing element are improved to a sub-pixel level from a pixel level.
(2) And carrying out data smoothing treatment on the gray value of the acquired distance measurement data to eliminate noise interference.
(3) And adopting a binarization algorithm to intercept the covering surface of the light spot on the photosensitive element, and processing the distance measurement data of the covering surface again to obtain a center of mass point.
The purpose of the data smoothing processing is to eliminate noise interference, and due to the interference of external noise, the acquired data may have unexpected distortion, so that the data can be smoothed by adopting a data smoothing algorithm to eliminate the distortion, and the subsequent centroid point can be acquired more conveniently and accurately.
(4) And calculating the distance value between the intelligent robot and the measuring point according to the centroid point and the triangular distance measurement algorithm.
(5) And recording the azimuth angle of the measuring point according to the code disc, the motor and the like.
(6) And (4) correspondingly combining the distance value obtained in the step (4) and the azimuth angle obtained in the step (5), namely determining the target position of the measuring point in a two-dimensional plane.
(7) And (6) repeating the steps (1) to (6), and recording the target positions of all the measuring points on the two-dimensional plane.
(8) And (3) enabling the two-dimensional laser radar to move horizontally along the guide rail on the intelligent robot, repeating the steps (1) to (7), and recording the target positions of all the measuring points on the two-dimensional plane.
(9) And (3) combining the target positions of the measuring points obtained in the step (8) into point clouds to obtain three-dimensional distance measuring data, flatness and other distance measuring data of the measured wall surface.
The optical lens in the triangular displacement sensor in the embodiment can support accurate capturing of images of displacement of a front object under a certain inclination angle, can also support changes of glass lens shapes of the intelligent robot caused by shaking, vibration, high and low temperature and the like, supports high-quality imaging, and is integrated with optical lens support and photosensitive element integrated processing.
In this embodiment, through adopting the range finding data of whole measuring points on the two-dimensional laser radar collection measurement wall, and combine preset algorithm according to the range finding data, confirm each measuring point and correspond to the planar target location of two-dimensional, obtain a plurality of target location, and according to a plurality of target location, confirm measuring result, can realize carrying out non-contact building survey operation by intelligent robot automation, effectively reduce artifical resource consumption, reduce building survey's safety risk, promote measurement of efficiency, promote and measure the precision. By improving the structure of the two-dimensional laser radar, the two-dimensional laser radar is adopted to acquire the ranging data of all measuring points on the measuring wall surface to obtain a corresponding three-dimensional measuring result, so that a triangular ranging algorithm is effectively supported, the two-dimensional laser radar can be calibrated before leaving a factory, the direct interference of a laser coaxial system transmitting light path of a flight time ranging algorithm on a receiving light path is avoided, and the distance deviation caused by the non-coaxial of the transmitting light path and the receiving light path is also eliminated, therefore, the embodiment of the invention can still obtain better measuring and calculating effects under the condition of not increasing the requirement of manufacturing precision too much, and the measuring blind area of the two-dimensional laser radar can be eliminated by adjusting the distance between a radar body of the two-dimensional laser radar and a polyhedral reflector, and the optical and structural systems of the two-dimensional laser radar are improved according to the characteristics of the triangular ranging algorithm, the measuring and calculating method for distance calculation is optimized, high-precision optical imaging detection is guaranteed, and the method is effectively suitable for indoor scenes of complex buildings.
Fig. 7 is a schematic structural diagram of an intelligent robot according to an embodiment of the present invention.
Referring to fig. 7, the smart robot 70 includes:
the two-dimensional laser radar 701 and the central processor 702 are disposed in the intelligent robot 70, wherein,
the two-dimensional laser radar 701 is used for collecting ranging data of all measuring points on the measuring wall surface;
and the central processing unit 702 is configured to determine, according to the ranging data and in combination with a preset algorithm, target positions of the measurement points corresponding to the two-dimensional plane, obtain a plurality of target positions, and determine a measurement result according to the plurality of target positions.
Optionally, in some embodiments, the central processing unit 702 is specifically configured to:
forming a point cloud according to a plurality of target positions;
and determining a measurement result of the measurement wall surface based on the three-dimensional plane according to the formed point cloud.
Optionally, in some embodiments, the central processing unit 702 is specifically configured to:
determining distance values between the intelligent robot 70 and each measuring point according to the ranging data to obtain a plurality of distance values;
determining an azimuth angle corresponding to each measuring point;
and determining the target position of each measuring point corresponding to the two-dimensional plane according to the distance value and the azimuth angle of each measuring point.
Alternatively, in some embodiments, referring to fig. 8, the intelligent robot 70 is provided with a guide rail 703, and the two-dimensional lidar 701 is capable of moving vertically along the guide rail 703, wherein,
the two-dimensional laser radar 701 moves vertically along the guide rail 703, thereby collecting ranging data of all measurement points on the measurement wall surface.
Alternatively, in some embodiments, referring to fig. 8, two-dimensional lidar 701 comprises: the radar main body 7011, the rotary table 7012, and the polygonal mirror 7013 disposed on the rotary table 7012, the rotary table 7012 may drive the polygonal mirror 7013 to rotate around a fixed rotation axis, or drive the polygonal mirror 7013 to generate displacement.
Optionally, in some embodiments, referring to fig. 8, the radar body 7011 includes: the laser 70111, the transmitter 70112, and the receiver 70113, the transmitter 70112 transmits a laser signal to the measurement wall surface via the laser 70111, and the receiver 70113 is configured to receive a reflected signal and a scattered signal of the laser signal that encounters the measurement wall surface, wherein an axis of the transmitter 70112 and an axis of the receiver 70113 are coplanar with an axis of the turntable 7012, and an axis of the transmitter 70112 is perpendicular to the axis of the turntable 7012.
Optionally, in some embodiments, the intelligent robot 70 further comprises a power supply, which is a dc power supply, wherein,
the intelligent robot 70 is powered by a dc power supply.
Optionally, in some embodiments, the laser 70111 is a triangular displacement sensor.
It should be noted that the explanation of the embodiment of the measurement method based on the intelligent robot in the foregoing fig. 1-6 is also applicable to the intelligent robot 70 in this embodiment, and the implementation principle is similar, and is not described herein again.
In this embodiment, through adopting the range finding data of whole measuring points on the two-dimensional laser radar collection measurement wall, and combine preset algorithm according to the range finding data, confirm each measuring point and correspond to the planar target location of two-dimensional, obtain a plurality of target location, and according to a plurality of target location, confirm measuring result, can realize carrying out non-contact building survey operation by intelligent robot automation, effectively reduce artifical resource consumption, reduce building survey's safety risk, promote measurement of efficiency, promote and measure the precision.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (16)
1. A measurement method based on an intelligent robot is characterized in that a two-dimensional laser radar is configured in the intelligent robot, and the method comprises the following steps:
collecting ranging data of all measuring points on the measuring wall surface by using the two-dimensional laser radar;
determining the target position of each measuring point corresponding to the two-dimensional plane by combining a preset algorithm according to the ranging data to obtain a plurality of target positions;
and determining the measurement result according to the target positions.
2. The intelligent robot-based measurement method of claim 1, wherein said determining a result of the measurement from the plurality of target locations comprises:
forming a point cloud from the plurality of target locations;
and determining a measurement result of the measurement wall surface based on the three-dimensional plane according to the formed point cloud.
3. The intelligent robot-based measurement method according to claim 1, wherein the determining the target position of each measurement point corresponding to the two-dimensional plane according to the ranging data and a preset algorithm to obtain a plurality of target positions comprises:
determining distance values between the intelligent robot and each measuring point according to the ranging data to obtain a plurality of distance values;
determining an azimuth angle corresponding to each measuring point;
and determining the target position of each measuring point corresponding to the two-dimensional plane according to the distance value and the azimuth angle of each measuring point.
4. The intelligent robot-based measuring method according to claim 1, wherein a guide rail is arranged on the intelligent robot, the two-dimensional lidar is capable of vertically moving along the guide rail, and the collecting and measuring of the ranging data of all measuring points on the wall surface by using the two-dimensional lidar comprises:
and the two-dimensional laser radar is controlled to vertically move along the guide rail, so that the distance measurement data of all measurement points on the measurement wall surface are collected.
5. The intelligent robot-based measurement method of claim 1, wherein the two-dimensional lidar comprises: the radar comprises a radar body, a rotary table and a polyhedral reflector arranged on the rotary table, wherein the rotary table can drive the polyhedral reflector to rotate around a fixed rotating shaft, or drive the polyhedral reflector to generate displacement.
6. The intelligent robot-based measurement method of claim 5, wherein the radar body comprises: the laser device comprises a laser device, a transmitter and a receiver, wherein the transmitter transmits a laser signal to the measurement wall surface through the laser device, the receiver is used for receiving a reflected signal and a scattered signal when the laser signal meets the measurement wall surface, the axis of the transmitter and the axis of the receiver are coplanar with the axis of the rotary table, and the axis of the transmitter is perpendicular to the axis of the rotary table.
7. The intelligent robot-based measurement method of any one of claims 1-6, wherein a DC power source is used to power the intelligent robot.
8. The intelligent robot-based measurement method of claim 6, wherein the laser is a triangular displacement sensor.
9. An intelligent robot is characterized in that a two-dimensional laser radar and a central processing unit are arranged in the intelligent robot,
the two-dimensional laser radar is used for collecting ranging data of all measuring points on the measuring wall surface;
and the central processing unit is used for determining the target positions of the measuring points corresponding to the two-dimensional plane according to the ranging data and a preset algorithm to obtain a plurality of target positions, and determining the measuring result according to the target positions.
10. The intelligent robot of claim 9, wherein the central processor is specifically configured to:
forming a point cloud from the plurality of target locations;
and determining a measurement result of the measurement wall surface based on the three-dimensional plane according to the formed point cloud.
11. The intelligent robot of claim 9, wherein the central processor is specifically configured to:
determining distance values between the intelligent robot and each measuring point according to the ranging data to obtain a plurality of distance values;
determining an azimuth angle corresponding to each measuring point;
and determining the target position of each measuring point corresponding to the two-dimensional plane according to the distance value and the azimuth angle of each measuring point.
12. The intelligent robot according to claim 9, wherein a guide rail is provided on the intelligent robot, the two-dimensional lidar being vertically movable along the guide rail, wherein,
and the two-dimensional laser radar vertically moves along the guide rail, so that ranging data of all measuring points on the measuring wall surface are collected.
13. The intelligent robot of claim 9, wherein the two-dimensional lidar comprises: the radar comprises a radar body, a rotary table and a polyhedral reflector arranged on the rotary table, wherein the rotary table can drive the polyhedral reflector to rotate around a fixed rotating shaft, or drive the polyhedral reflector to generate displacement.
14. The intelligent robot of claim 13, wherein the radar body comprises: the laser device comprises a laser device, a transmitter and a receiver, wherein the transmitter transmits a laser signal to the measurement wall surface through the laser device, the receiver is used for receiving a reflected signal and a scattered signal when the laser signal meets the measurement wall surface, the axis of the transmitter and the axis of the receiver are coplanar with the axis of the rotary table, and the axis of the transmitter is perpendicular to the axis of the rotary table.
15. The intelligent robot according to any one of claims 9-14, further comprising a power supply, the power supply being a dc power supply, wherein,
and a direct current power supply is adopted to supply power for the intelligent robot.
16. The intelligent robot of claim 14, wherein the laser is a triangular displacement sensor.
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