CN111856498A - System and method for three-dimensional measurement of contour in carriage - Google Patents
System and method for three-dimensional measurement of contour in carriage Download PDFInfo
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- CN111856498A CN111856498A CN202010752223.9A CN202010752223A CN111856498A CN 111856498 A CN111856498 A CN 111856498A CN 202010752223 A CN202010752223 A CN 202010752223A CN 111856498 A CN111856498 A CN 111856498A
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a three-dimensional measuring system and a three-dimensional measuring method for an inner contour of a carriage, which particularly comprise a single-line laser radar, a servo steering engine, a controller, a rotary joint, a processing unit and a chassis, wherein the single-line laser radar acquires radar wave data around the carriage to be measured; the single-line laser radar is arranged on a chassis of the equipment through a servo steering engine, and the servo steering engine can drive the single-line laser radar loaded on the servo steering engine to adjust the scanning angle; a plurality of rotary joints are mounted on the servo steering engine; the controller sends a control command signal to the single-line laser radar, the servo steering engine and the rotary joint through the processing unit, and the technical scheme can provide a three-dimensional measuring system and a method for measuring the length, the width and the height of the inner contour of the container carriage in a multidirectional and rapid mode to detect whether the carriage is modified illegally and the measuring efficiency is high.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a three-dimensional measurement system and method for an inner contour of a carriage.
Background
In recent years, with the flourishing development of social economy, the number of motor vehicles in China is increased day by day, the vehicles are privately modified in a container compartment for increasing the carrying capacity, the situation that the outer contour is not matched with the inner contour size exists, policemen law enforcement is difficult to discover due to secret modification in the compartment, and the potential safety hazard of travel and the difficulty of law enforcement are greatly increased.
If a set of full-automatic contour detection equipment in the carriage can be used for replacing manual operation, not only can the labor be saved, the working efficiency of size detection work is improved, but also the accuracy of measurement can be greatly improved, and the error in the detection work is avoided. In order to realize automatic monitoring of vehicle dimension measurement, there are some automatic measurement methods and devices in recent years, and at present, it is found out from the related information and related patent information of the existing vehicle detection methods and devices, and the current measurement devices for vehicle dimension detection mainly include conventional devices such as laser scanning, and only the measurement of the outer contour is mainly measured. The existing measuring equipment has the problems of small use scene range, high measuring cost and poor precision.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a three-dimensional measuring system and a three-dimensional measuring method for the inner contour of a container carriage, which can carry out multi-directional rapid measurement on the length, width and height of the inner contour of the container carriage so as to detect whether the carriage is illegally modified and have high measuring efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme.
A three-dimensional measuring system for the contour of a carriage comprises a single-line laser radar, a servo steering engine, a controller, a rotary joint, a processing unit and a chassis, wherein the single-line laser radar acquires radar wave data around the carriage to be measured; the single-line laser radar is arranged on a chassis of the equipment through a servo steering engine, and the servo steering engine can drive the single-line laser radar loaded on the servo steering engine to adjust the scanning angle; a plurality of rotary joints are mounted on the servo steering engine; and the controller sends control command signals to the single-line laser radar, the servo steering engine and the rotary joint through the processing unit.
A three-dimensional measuring method for an inner contour of a carriage specifically comprises the following steps:
step S1: firstly, placing a chassis of the device downwards and flatly, enabling the scanning direction of the laser radar to face the interior of a carriage, and adjusting the rotation amount of a servo steering engine on the upper part of the chassis to a central state after the placement is finished;
step S2: calibrating the position and the attitude of a measuring instrument, specifically, pre-scanning a measuring plane through a laser radar to obtain a scanning radar waveform, calculating a tangent line between the radar measuring plane and the right side of a carriage by least square fitting, calculating an included angle between the measuring instrument and the carriage plane, adjusting the included angle to an initial position for measuring equipment through rotation of a steering engine according to the obtained included angle data, specifically, enabling the front part of the laser radar scanning to be in a direction completely parallel to the carriage, and meanwhile, building a three-dimensional shape model of the carriage to be measured on the equipment;
step S3: acquiring measurement basic radar data, controlling a servo steering engine and a rotary joint to periodically move through a controller, specifically, sequentially scanning a carriage by a single-line laser radar on transverse and vertical sections at multiple direction angles, repeating the step for two times or more, and then storing and collecting radar basic data;
step S4: performing basic data filtering treatment, including performing amplitude limiting filtering and median filtering treatment on the data measured each time, and removing data noise points;
step S5: calculating and determining each angular point of the compartment with measurement by using collected and synthesized intersection characteristic points of the two-dimensional radar plane and the compartment, wherein the distance between the angular points is the dimension distance of the compartment measured at a single time, repeating the measurement operation for two times or more, and then taking the average value of the corresponding results;
step S6: and (5) transmitting the average value of the results of the measuring carriages in the step (S4) to a display screen of a computer device for numerical value display, outputting and displaying the results, and finishing the measurement.
As a further improvement of the present invention, the building steps of the three-dimensional model specifically include the following steps:
as a further improvement of the present invention, in the step S2, the calibration of the position and orientation of the instrument is specifically performed by first calculating an angle of the radar coordinate system deviating from the car coordinate system, and performing a calculation process on a single measurement result of the radar, that is, performing least square fitting on a straight line on a plane point at the position of the single tangent plane edge of the car.
As a further improvement of the present invention, the specific operation of the amplitude limiting filtering in step S3 includes comparing the difference between the two adjacent acquired radar data with a set filtering threshold value, and if the difference is greater than the threshold value, discarding the back value and replacing the back value with the front value; if the deviation value is smaller than the amplitude value, the rear value is determined to be an effective value.
As a further improvement of the present invention, the median filtering of step S3 specifically includes that the waveform obtained from the laser radar to the usage environment is an increasing or decreasing interval within the same step segment, and the median filtering is used to improve waveform curve smoothness.
As a further improvement of the present invention, in step S5, each corner point of the car with measurement is determined, specifically, the intersection point position of the vertical ridge line inside the car and the intersection point position in the radar scanning waveform are selected.
Due to the application of the technical scheme, the technical scheme of the invention has the following beneficial effects: the technical scheme can realize full-automatic three-dimensional measurement of the inner contour of the carriage, does not need a measurer to estimate the visual measurement level of the inclination angle, and can achieve centimeter-level measurement accuracy; according to the technical scheme, the periodic automatic scanning type single-line laser radar is used as a main measuring sensor during measurement, the two servo steering engines and the controllers thereof are used for building a three-dimensional scanning platform in an auxiliary mode, the scanning period is set, three-dimensional modeling processing is carried out on the horizontal tangent plane and the vertical tangent plane of a vehicle, the measurement result is obtained through fitting calculation, and the measurement result is displayed on the display screen of the core processor.
Drawings
FIG. 1 is a schematic diagram of the overall process framework of the present invention.
Fig. 2 is a diagram illustrating the result of extracting corner points from radar data points according to the present invention.
FIG. 3 is a schematic diagram showing the comparison between the measurement initialization and the initialization of the steering engine rotation adjusting device according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
As shown in fig. 1, a three-dimensional measuring system for the inner contour of a carriage specifically comprises a single-line laser radar, a servo steering engine, a controller, a rotary joint, a processing unit and a chassis, wherein the single-line laser radar acquires radar wave data around the carriage to be measured; the single-line laser radar is arranged on a chassis of the equipment through a servo steering engine, and the servo steering engine can drive the single-line laser radar loaded on the servo steering engine to adjust the scanning angle; a plurality of rotary joints are arranged on the servo steering engine; and the controller sends control command signals to the single-line laser radar, the servo steering engine and the rotary joint through the processing unit.
A three-dimensional measuring method for an inner contour of a carriage specifically comprises the following steps:
step S1: firstly, placing a chassis of the device downwards and flatly, enabling the scanning direction of the laser radar to face the interior of a carriage, and adjusting the rotation amount of a servo steering engine on the upper part of the chassis to a neutral state after the placement is finished, wherein the neutral state is a median value of a natural state of the servo steering engine; step S2: calibrating the position and the attitude of a measuring instrument, specifically, pre-scanning a measuring plane through a laser radar to obtain a scanning radar waveform, calculating a tangent line between the radar measuring plane and the right side of a carriage by least square fitting, calculating an included angle between the measuring instrument and the carriage plane, adjusting the included angle to an initial position for measuring equipment through rotation of a steering engine according to the obtained included angle data, specifically, enabling the front part of the laser radar scanning to be in a direction completely parallel to the carriage, and meanwhile, building a three-dimensional shape model of the carriage to be measured on the equipment; step S3: acquiring measurement basic radar data, controlling a servo steering engine and a rotary joint to periodically move through a controller, specifically, sequentially scanning a carriage by a single-line laser radar on transverse and vertical sections at multiple direction angles, repeating the step for two times or more, and then storing and collecting radar basic data; step S4: performing basic data filtering treatment, including performing amplitude limiting filtering and median filtering treatment on the data measured each time, and removing data noise points; step S5: calculating and determining each angular point of the compartment with measurement by using collected and synthesized intersection characteristic points of the two-dimensional radar plane and the compartment, wherein the distance between the angular points is the dimension distance of the compartment measured at a single time, repeating the measurement operation for two times or more, and then taking the average value of the corresponding results; step S6: and (5) transmitting the average value of the result of the measured carriage in the step (S4) to a display screen of a computer device for numerical value display, outputting and displaying the result, and finishing the measurement.
In the step S2, calibrating the position and the attitude of the instrument specifically comprises the steps of firstly calculating the angle of a radar coordinate system deviating from a carriage coordinate system, and carrying out calculation processing on a radar single measurement result, namely carrying out least square fitting on a straight line on a plane point at the position of a single tangent plane sideline of the carriage; the specific operation of the amplitude limiting filtering in step S3 includes comparing the difference between the two adjacent acquired radar data with a set filtering threshold value, and if the difference is greater than the threshold value, discarding the rear value and replacing the rear value with the front value; if the deviation value is smaller than the amplitude value, the rear value is determined to be an effective value; the median filtering of step S3 includes specifically that the waveform obtained by the laser radar for the use environment is an increasing or decreasing interval in the same step, the median is a correct theoretical value, the laser radar scans the plane, and also is a process of taking a tangent to the plane, the waveform in one scanning period is a connecting line from the laser radar to a point on the tangent, the distance from the current scanning point to the laser radar is satisfied, the median of the distances from the front and rear scanning points is the median, and the median filtering is used to improve the waveform curve smoothness; in step S5, each corner point of the car with measurement is determined, specifically, the intersection point position of the vertical ridge line in the car and the radar scanning waveform is selected.
The full-automatic three-dimensional measurement device for the vehicle interior contour is composed of a single-line laser radar, two servo steering engines and controllers thereof, a rotary joint platform and a core processing unit, achieves the function of three-dimensional measurement of the interior contour of a full-automatic vehicle, does not need measuring personnel to estimate the inclination angle visual measurement level, and can achieve centimeter-level measurement accuracy. The automatic periodic scanning type single-line laser radar is used as a main measuring sensor during measurement, two servo steering engines and controllers thereof are used for building a three-dimensional scanning platform in an auxiliary mode, the scanning period is set, three-dimensional modeling processing is carried out on a horizontal section and a vertical section of a vehicle, and a measurement result is obtained through fitting calculation.
The system pose is automatically calibrated, the angle of the radar coordinate system deviating from the carriage coordinate system is calculated, least square fitting of a straight line is carried out on a radar single measurement result, namely a plane point at the position of a carriage single tangent plane sideline, a point on a right tangent line of the least square fitting is a straight line, and the pose is calibrated; the least square fitting sum calculation is to perform least two-in-one fitting on a scanning waveform, namely a scanning point sequence, to form a straight line form, so that an included angle between a carriage plane and a measured plane can be obtained, a steering engine for controlling the radar in the left and right directions correspondingly rotates by an included angle theta, so that the scanning direction of the radar can be adjusted to be parallel to the carriage plane, and the adjustment angle relation is shown in a schematic diagram of an attached figure 3.
The processor controls instructions, the steering engine 1 rotates at a small angle on an initial plane (a carriage vertical tangent plane), a scanning result of a single-line radar carrier under multiple angles is obtained, and the scanning result is stored to be processed. And a processor controls an instruction, the steering engine 1 rotates by 90 degrees, the steering engine 2 rotates at a small angle on a second plane (a horizontal tangent plane of the carriage), a scanning result under a single-line radar load at multiple angles is obtained, and the scanning result is stored to be processed.
And performing amplitude limiting filtering and median filtering on the result data of each measurement to remove data noise points. And searching the key angular point for calculating the width by using the characteristic of the intersection line of the two-dimensional radar plane and the carriage to obtain the size of the tangent plane model.
Fig. 2 shows the result of extracting the angular point from the radar data point according to the present invention, in which the abscissa indicates the serial number of the angle value measured by the radar, and the ordinate indicates the result of the distance measured by the radar. Taking the algorithm for searching angular points to the left as an example, an algorithm description is given, that is, the range of the angular points is searched to the left (or to the right) by taking the 90-degree direction of the radar coordinate system as a center, and according to experience, the angular points must exist within 90 degrees to the left (or to the right) in the 90-degree direction of the radar coordinate system, or according to a use scene, the search range of the angular points can be further reduced. The distance between the angular points is the distance measured in a single time, and the average value is measured for multiple times to obtain the final result.
The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited in any way. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.
Claims (6)
1. A three-dimensional measuring system of contour in carriage, its characterized in that: the system specifically comprises a single-line laser radar, a servo steering engine, a controller, a rotary joint, a processing unit and a chassis, wherein the single-line laser radar acquires radar wave data around a compartment to be measured; the single-line laser radar is arranged on a chassis of the equipment through a servo steering engine, and the servo steering engine can drive the single-line laser radar loaded on the servo steering engine to adjust the scanning angle; a plurality of rotary joints are mounted on the servo steering engine; and the controller sends control command signals to the single-line laser radar, the servo steering engine and the rotary joint through the processing unit.
2. A three-dimensional measuring method for an inner contour of a carriage is characterized by comprising the following steps:
step S1: firstly, placing a chassis of the device downwards and flatly, enabling the scanning direction of the laser radar to face the interior of a carriage, and adjusting the rotation amount of a servo steering engine on the upper part of the chassis to a central state after the placement is finished;
step S2: calibrating the position and the attitude of a measuring instrument, specifically, pre-scanning a measuring plane through a laser radar to obtain a scanning radar waveform, calculating a tangent line between the radar measuring plane and the right side of a carriage by least square fitting, calculating an included angle between the measuring instrument and the carriage plane, adjusting the included angle to an initial position for measuring equipment through rotation of a steering engine according to the obtained included angle data, specifically, enabling the front part of the laser radar scanning to be in a direction completely parallel to the carriage, and meanwhile, building a three-dimensional shape model of the carriage to be measured on the equipment;
step S3: acquiring measurement basic radar data, controlling a servo steering engine and a rotary joint to periodically move through a controller, specifically, sequentially scanning a carriage by a single-line laser radar on transverse and vertical sections at multiple direction angles, repeating the step for two times or more, and then storing and collecting radar basic data;
step S4: performing basic data filtering treatment, including performing amplitude limiting filtering and median filtering treatment on the data measured each time, and removing data noise points;
step S5: calculating and determining each angular point of the compartment with measurement by using collected and synthesized intersection characteristic points of the two-dimensional radar plane and the compartment, wherein the distance between the angular points is the dimension distance of the compartment measured at a single time, repeating the measurement operation for two times or more, and then taking the average value of the corresponding results;
step S6: and (5) transmitting the average value of the results of the measuring carriages in the step (S4) to a display screen of a computer device for numerical value display, outputting and displaying the results, and finishing the measurement.
3. The system and the method for measuring the contour of the inside of the carriage as claimed in claim 1, wherein: the calibration of the position and the attitude of the instrument in the step S2 is specifically that the angle of the radar coordinate system deviating from the carriage coordinate system is calculated first, and the following calculation processing is performed on the radar single measurement result, that is, the least square fitting of a straight line is performed on the plane point of the position of the single tangent plane sideline of the carriage.
4. The system and the method for measuring the contour of the inside of the carriage as claimed in claim 1, wherein: the specific operation of the amplitude limiting filtering in step S3 includes comparing the difference between the two adjacent acquired radar data with a set filtering threshold value, and if the difference is greater than the threshold value, discarding the rear value and replacing the rear value with the front value; if the deviation value is smaller than the amplitude value, the rear value is determined to be an effective value.
5. The system and the method for measuring the contour of the inside of the carriage as claimed in claim 1, wherein: the median filtering in step S3 specifically includes that the waveform obtained by the laser radar for the use environment is an increasing or decreasing interval in the same step section, and the median is a correct theoretical value, and the median filtering is used to improve the smoothness of the waveform curve.
6. The system and the method for measuring the contour of the inside of the carriage as claimed in claim 1, wherein: in the step S5, each corner point of the car with measurement is determined, specifically, the intersection point position of the vertical ridge line in the radar scanning waveform and the car is selected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010752223.9A CN111856498A (en) | 2020-07-30 | 2020-07-30 | System and method for three-dimensional measurement of contour in carriage |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010752223.9A CN111856498A (en) | 2020-07-30 | 2020-07-30 | System and method for three-dimensional measurement of contour in carriage |
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| CN111856498A true CN111856498A (en) | 2020-10-30 |
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| CN202010752223.9A Withdrawn CN111856498A (en) | 2020-07-30 | 2020-07-30 | System and method for three-dimensional measurement of contour in carriage |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115079168A (en) * | 2022-07-19 | 2022-09-20 | 陕西欧卡电子智能科技有限公司 | Mapping method, device and equipment based on fusion of laser radar and millimeter wave radar |
-
2020
- 2020-07-30 CN CN202010752223.9A patent/CN111856498A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115079168A (en) * | 2022-07-19 | 2022-09-20 | 陕西欧卡电子智能科技有限公司 | Mapping method, device and equipment based on fusion of laser radar and millimeter wave radar |
| CN115079168B (en) * | 2022-07-19 | 2022-11-22 | 陕西欧卡电子智能科技有限公司 | Mapping method, device and equipment based on fusion of laser radar and millimeter wave radar |
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