CN112906128A - Vehicle modeling method, equipment and system based on linear guide rail and scanner - Google Patents

Vehicle modeling method, equipment and system based on linear guide rail and scanner Download PDF

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CN112906128A
CN112906128A CN202110063717.0A CN202110063717A CN112906128A CN 112906128 A CN112906128 A CN 112906128A CN 202110063717 A CN202110063717 A CN 202110063717A CN 112906128 A CN112906128 A CN 112906128A
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point cloud
cloud data
vehicle
linear guide
scanner
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CN112906128B (en
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涂俊超
卢俊国
张伦恺
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Shanghai Jiaotong University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
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    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
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    • G06—COMPUTING; CALCULATING OR COUNTING
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    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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    • G06T2207/30248—Vehicle exterior or interior

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Abstract

The invention provides a vehicle modeling method, equipment and system based on a linear guide rail and a scanner, wherein a line laser scanner is arranged on the linear guide rail, so that the line laser scanner does uniform linear motion to obtain wagon point cloud data with uniform density, the position and posture relation between a coordinate system of the point cloud scanning system based on the guide rail and a wagon coordinate system is obtained through processing the point cloud data, then the wagon point cloud data is converted into the wagon coordinate system, then the wagon point cloud data is segmented according to the coordinate difference of the point cloud data in each coordinate axis direction in the self coordinate system, and finally the point cloud data of each main part of the segmented wagon is processed to obtain each main size of the wagon. The vehicle modeling method, the equipment and the system based on the linear guide rail and the scanner can quickly and automatically realize wagon positioning and size geometric model establishment, have high wagon positioning precision and can adapt to various complex environments.

Description

Vehicle modeling method, equipment and system based on linear guide rail and scanner
Technical Field
The invention relates to the technical field of vehicle modeling, in particular to a vehicle modeling method, equipment and system based on a linear guide rail and a scanner.
Background
At present, most of goods are loaded and unloaded from trucks still depend on manual handling, the manual loading and unloading are not only inefficient and easy to cause safety accidents, but also some loading and unloading environments are extremely severe (such as cement loading sites) and can cause permanent damage to the health of field loading and unloading personnel (such as pneumoconiosis), so the realization of unmanned automatic loading and unloading of goods has great significance for improving the product transfer efficiency of enterprises and reducing the production safety accident rate, in order to realize unmanned automatic loading and unloading of goods, the trucks in a loading and unloading area need to be positioned and a geometric model of the trucks needs to be established, the track of the robot for loading and unloading goods can be planned according to the positions of the trucks and the geometric model of the trucks, at the current site of automatic loading and unloading of goods, personnel also need to be guided to stop at specified positions, and size information of the trucks is obtained in advance in a manual measurement mode, the mode of manual guiding and measurement reduces the overall efficiency of automatic cargo handling, and because the precision error of manual measurement is large, the provided cargo truck size information is not accurate enough, and the robot and the cargo truck are easy to collide in the loading process, so that the handling operation is interrupted.
There are two main types of non-contact automatic measurement methods: 1) based on digital photogrammetry; 2) based on laser ranging. Compare in digital photogrammetry, the measuring range of the measuring method based on laser rangefinder is bigger to the requirement to measuring site environment such as illumination, color is lower, therefore more be suitable for under changeable environment to the freight train carry out space point cloud data acquisition, the main mode of obtaining large scale space point cloud based on laser rangefinder at present is to install line laser scanner on a rotatable linear guide, makes the scanner rotate in certain extent, thereby obtains the point cloud data in the scanning range. However, since the angular frequency of the linear guide rail rotation is fixed, the sampling density of the point cloud becomes sparse with the increase of the distance from the scanner, so that the obtained point cloud data of the truck is very uneven, which is not favorable for obtaining accurate size information of the truck in the later period.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a vehicle modeling method, device and system based on a linear guide and a scanner, which are used to solve the problems of position location and model establishment of a truck in the prior art.
To achieve the above and other related objects, the present invention provides a vehicle modeling method based on a linear guide and a scanner, the scanner being a line laser scanner, the method comprising: controlling the line laser scanner to move on the linear guide rail, establishing a scanning system coordinate system, and acquiring first point cloud data of a scanning area space before a vehicle enters a scanning area; performing plane fitting on the point cloud data of the scanning area ground in the first point cloud data, and then performing first coordinate transformation, so that a normal vector of a fitting plane is parallel to a longitudinal axis of a scanning system coordinate system; after a vehicle enters a scanning area, obtaining second point cloud data of the vehicle and a scanning area space after the vehicle enters the scanning area, carrying out first coordinate transformation on the second point cloud data, and segmenting the point cloud data of the vehicle according to the distribution rule of the point cloud data of the vehicle on a longitudinal axis; dividing point cloud data of the carriage surface according to the distribution rule of the point cloud data of the vehicle on a longitudinal axis, performing plane fitting on the point cloud data of the carriage surface, and taking the plane of the carriage surface as a horizontal plane of a vehicle coordinate system; extracting the contour of the point cloud data on the surface of the carriage to obtain contour point cloud data on the surface of the carriage, extracting straight lines of the contour point cloud data on the surface of the carriage, taking the intersection point of the two straight lines as the origin of the vehicle coordinate system, taking the straight line which passes through the origin and has the direction of the normal vector of the plane where the surface of the carriage is as the longitudinal axis of the vehicle coordinate system to obtain the vehicle coordinate system, and obtaining the relative pose of the vehicle coordinate system relative to the scanning system coordinate system through second coordinate transformation; and calculating the sizes of all parts of the vehicle according to the point cloud data of all parts of the vehicle and the vehicle coordinate system.
In an embodiment of the invention, the scanning center of the line laser scanner at the starting position is taken as a coordinate origin, the linear guide direction is a vertical axis direction, and the scanning plane is a coordinate axis horizontal and vertical plane, so as to generate the scanning system coordinate system.
In an embodiment of the present invention, the calculating the dimensions of each part of the vehicle according to the point cloud data of each part of the vehicle and the vehicle coordinate system specifically includes: calculating the length and the width of the carriage according to four intersection point coordinates of the four straight lines; dividing the vehicle point cloud data according to the positions of the four straight lines and the difference of the point cloud data on the coordinate axis of the vehicle coordinate system corresponding to the point cloud data, and performing plane fitting to obtain the point cloud data of each vehicle side, wherein the point cloud data comprises the point cloud data of the surface of the vehicle head; obtaining the contour of each carriage blocking surface according to the point cloud data of each carriage side, and further taking the average value of the distance from the upper contour to the carriage surface as the height of the carriage blocking surface; taking the average value of the distances from the points belonging to the plane of the carriage surface to the ground as the height of the carriage from the ground; taking the average value of the distances from the points belonging to the plane of the surface of the vehicle head to the ground as the height of the vehicle head; and traversing a vertical plane of a plane where the front side blocking surface of the carriage is located to obtain a starting plane and an ending plane which are intersected with the cloud data of the surface point of the vehicle head, and calculating the distance between the starting plane and the ending plane as the width of the vehicle head.
In an embodiment of the present invention, the performing the first coordinate transformation on the second point cloud data, and segmenting the point cloud data of the vehicle according to a distribution rule of the point cloud data of the vehicle on a longitudinal axis includes: obtaining the minimum value of the longitudinal axis direction
Figure BDA0002903629990000021
And setting a first threshold s to filter outNumerical value is in
Figure BDA0002903629990000022
And points in the interval to obtain point cloud data of the vehicle.
In an embodiment of the present invention, segmenting the point cloud data on the surface of the car according to a distribution rule of the point cloud data of the vehicle on the longitudinal axis includes: sorting the point cloud data of the vehicle according to the longitudinal axis direction to obtain the minimum value
Figure BDA0002903629990000023
And establishing a second threshold u to obtain a range
Figure BDA0002903629990000024
The value of (d) is used as point cloud data of the surface of the compartment.
In an embodiment of the invention, the point cloud data of the vehicle head surface are sorted according to the longitudinal axis direction to obtain a maximum value
Figure BDA0002903629990000031
And establishing a third threshold v to obtain a range
Figure BDA0002903629990000032
And taking n as a positive integer as point cloud data of the vehicle head surface.
To achieve the above and other related objects, the present invention provides an electronic device as described above, including: the memory is used for storing a computer program, and the processor is used for loading and executing the computer program so as to enable the electronic equipment to execute the linear guide rail and scanner based vehicle modeling method.
To achieve the above and other related objects, the present invention provides a vehicle modeling system based on a linear guide and a scanner, the scanner being a line laser scanner, the system comprising:
the laser scanning measuring device is used for generating point cloud data of a scanning space;
according to the electronic equipment, the electronic equipment is in communication connection with the laser scanning and measuring device and is used for sending out the control command.
In an embodiment of the present invention, the laser scanning measuring device includes the linear guide, the line laser scanner, a servo motor, a PLC controller, an incremental encoder, and a roller, wherein the shaft of the incremental encoder is arranged on the central line of the roller, the line laser scanner is fixedly connected with the shaft of the incremental encoder, the roller is arranged on the linear guide rail and is driven by the servo motor to roll along the direction of the linear guide rail, the line laser scanner scans during the movement of the roller along the linear guide, the electronics send trigger signals to the line laser scanner and the incremental encoder and the PLC controller, the servo motor controls the rotating speed through the PLC controller, so that the servo motor rotates at a preset speed.
In an embodiment of the present invention, the line laser scanner moves on the linear guide by a roller with the incremental encoder, so that a scanning plane of the line laser scanner is perpendicular to a linear direction of the linear guide; and carrying out orthogonal decoding on the HTL level signal sent by the incremental encoder to obtain encoder count, and obtaining the displacement of the roller along the linear direction of the guide rail according to the diameter of the roller.
As described above, the vehicle modeling method, equipment and system based on the linear guide rail and the scanner provided by the invention provide a wagon space positioning and modeling method based on line laser scanning and the linear guide rail, the wagon outer surface space point cloud data with consistent sampling density is obtained by means of a laser scanning measuring device formed by the line laser scanner and the linear guide rail, the point cloud processing algorithm provided by the invention is used for rapidly realizing the segmentation of the wagon point cloud data in the self coordinate system of the wagon while establishing the relative position and posture relation of the self coordinate system of the wagon and a measuring coordinate system, and further accurately and stably realizing the positioning and size geometric model establishment of the wagon in various complex environments.
Drawings
FIG. 1 is a diagram illustrating the steps of a linear guideway and scanner based vehicle modeling method in one embodiment of the present invention;
FIG. 2 is a schematic diagram of a linear guideway and scanner based vehicle modeling system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of a linear guideway and scanner based vehicle modeling system of the present invention implemented in situ;
FIG. 4 is a schematic diagram of a spatial point cloud obtained by the vehicle modeling method based on linear guide and scanner according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a wagon point cloud after removing the ground point cloud according to an embodiment of the vehicle modeling method based on the linear guide and the scanner of the present invention;
FIG. 6 is a schematic diagram of a wagon point cloud partition created by the linear guideway and scanner based vehicle modeling method of the present invention in one embodiment;
FIG. 7 is a schematic diagram of an embodiment of a method for modeling a vehicle based on a linear guideway and a scanner according to the present invention;
fig. 8 is a schematic diagram of an embodiment of a vehicle modeling method based on a linear guide and a scanner according to the present invention.
Description of the element reference numerals
S11-S16
Vehicle modeling system based on linear guide rail and scanner
21 laser scanning measuring device
211 linear guide rail
212 line laser scanner
213 Servo Motor
214 PLC controller
215 incremental encoder
216 roller
22 electronic device
41 vehicle head
42 compartment
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1, in an embodiment of the present invention, a vehicle modeling method based on a linear guide and a scanner includes the following steps:
step S11, controlling the line laser scanner to move on the linear guide rail, establishing a scanning system coordinate system, and acquiring first point cloud data of a scanning area space before a vehicle enters a scanning area;
specifically, through electronic equipment give line laser scanner with incremental encoder sends trigger signal, makes line laser scanner with incremental encoder begins work, the rethread electronic equipment gives control servo motor the PLC controller sends trigger signal, thereby line laser scanner with incremental encoder begins work the back, with the help of servo motor's traction lets line laser scanner with the gyro wheel simultaneously along linear guide is linear motion, scanning system coordinate system uses starting point position department line laser scanner's scanning center is the origin of coordinates, the linear guide direction is vertical axis direction, and the scanning plane is the horizontal and vertical plane of coordinate axis to this generates scanning system coordinate system.
Preferably, servo motor passes through the PLC controller carries out speed control, makes servo motor rotates according to preset speed, and then makes line laser scanner is at the uniform velocity linear motion according to the speed of setting for, incremental encoder's axle is installed on the central line of gyro wheel, line laser scanner with incremental encoder's axle fixed connection, the gyro wheel is installed on linear guide, and by servo motor drives and follows the linear guide direction rolls, guarantees simultaneously that the scanning plane of scanner is perpendicular with the linear direction of guide rail, with the gyro wheel along the in-process of linear guide motion line laser scanner scans.
Further, the line laser scanner moves on the linear guide rail through a roller with the incremental encoder, so that a scanning plane of the line laser scanner is perpendicular to a linear direction of the linear guide rail; orthogonal decoding is carried out on the HTL level signals sent by the incremental encoder, so that encoder counting is obtained in real time, displacement t of the roller along the linear direction of the linear guide rail is converted according to the diameter of the roller, the line laser scanner checks the current displacement t after one scanning period is finished, if t is changed compared with the previous scanning period, scanning data and corresponding displacement data in the scanning period are stored to form a data packet, and all point cloud coordinate information in the obtained data packet is analyzed to obtain first point cloud data in a scanning area.
Step S12, performing plane fitting on the point cloud data of the scanning area ground in the first point cloud data, and then performing first coordinate transformation, so that a normal vector of a fitting plane is parallel to a longitudinal axis of a scanning system coordinate system;
specifically, after point cloud data of the ground in a scanning area is obtained, plane fitting is carried out on the obtained point cloud data, and a coordinate transformation T is solvedzSo that the normal vector of the fitting plane is parallel to the Z axis of the scanning system coordinate system O-XYZ。
Step S13, after a vehicle enters a scanning area, obtaining second point cloud data of the vehicle and a scanning area space after the vehicle enters the scanning area, carrying out first coordinate transformation on the second point cloud data, and segmenting the point cloud data of the vehicle according to the distribution rule of the point cloud data of the vehicle on a longitudinal axis;
in particular, after the vehicle enters the scanning area, T is usedzThe first coordinate transformation is carried out on the obtained second point cloud data, and the minimum value in the direction of the longitudinal axis is obtained according to the distribution rule of the point cloud data of the vehicle on the longitudinal axis
Figure BDA0002903629990000061
And setting a first threshold s to filter out values
Figure BDA0002903629990000062
Points in the interval to obtain point cloud data cluud of the vehicletruck。
Preferably, the first threshold s may be "0.3 m", so as to determine the longitudinal axis direction value in the point cloud data
Figure BDA0002903629990000063
Filtering out points in the interval to obtain point cloud data cluud of the vehicletruck。
Step S14, dividing point cloud data of the surface of the compartment according to the distribution rule of the point cloud data of the vehicle on a longitudinal axis, performing plane fitting on the point cloud data of the surface of the compartment, and taking the plane of the surface of the compartment as a horizontal plane of a vehicle coordinate system;
specifically, the point cloud data of the vehicle are sorted according to the longitudinal axis direction to obtain the minimum value
Figure BDA0002903629990000064
And establishing a second threshold u to obtain a range
Figure BDA0002903629990000065
The value of (d) is used as point cloud data of the surface of the compartment.
Preferably, the value of the second threshold u can be selected to be "0.2 m", and then the longitudinal axis direction value in the point cloud data of the vehicle is determined in
Figure BDA0002903629990000066
The point cloud in the interval is divided, thereby obtaining the point cloud data including the surface of the carriage
Figure BDA0002903629990000067
And taking the average value of the distances from all the space points in the part of point cloud data to the ground as the height of the carriage from the ground.
Step S15, extracting the contour of the point cloud data of the carriage surface to obtain carriage surface contour point cloud data, extracting straight lines of the carriage surface contour point cloud data, taking the intersection point of the two straight lines as the origin of the vehicle coordinate system, taking the straight line which passes through the origin and has the direction of the normal vector of the plane of the carriage surface as the longitudinal axis of the vehicle coordinate system to obtain the vehicle coordinate system, and obtaining the relative pose of the vehicle coordinate system relative to the scanning system coordinate system through second coordinate transformation;
specifically, for
Figure BDA0002903629990000071
The point cloud data in the process of contour extraction is carried out to obtain the contour point cloud data contourr of the compartment indicationfloorThen, straight line extraction is carried out on the contour point cloud data to obtain four space straight lines, and the four space straight lines are projected to the surface of the carriage
Figure BDA0002903629990000072
Further obtain
Figure BDA0002903629990000073
Four straight lines on
Figure BDA0002903629990000074
Figure BDA0002903629990000075
Four intersection points are obtained by using four straight lines on the surface of the carriage
Figure BDA0002903629990000076
Figure BDA0002903629990000077
And
Figure BDA0002903629990000078
selecting
Figure BDA0002903629990000079
And
Figure BDA00029036299900000710
the sum of the distances between
Figure BDA00029036299900000711
And
Figure BDA00029036299900000712
the average value of the distances of (2) is selected as the car length
Figure BDA00029036299900000713
And
Figure BDA00029036299900000714
the sum of the distances between
Figure BDA00029036299900000715
And
Figure BDA00029036299900000716
the average value of the distances of (a) is taken as the width of the car; will be provided with
Figure BDA00029036299900000717
And
Figure BDA00029036299900000718
two of themThe intersection point of the straight lines is taken as the vehicle coordinate system Oc-XcYcZcOrigin O ofcWill pass through OcAnd has an orientation of
Figure BDA00029036299900000719
Straight line of normal vector as longitudinal axis ZcWill be
Figure BDA00029036299900000720
In the straight line as YcTransforming T by said second coordinatecPoint cloud data cloud of vehicle to be measuredtruckConverting from the scanning system coordinate system O-XYZ to the vehicle coordinate system Oc-XcYcZcThereby obtaining the vehicle coordinate system Oc-XcYcZcRelative to the pose of the scanning system coordinate system O-XYZ,
and step S16, calculating the sizes of all parts of the vehicle according to the point cloud data of all parts of the vehicle and the vehicle coordinate system.
Specifically, the vehicle point cloud data are segmented according to the positions of the four straight lines and the difference of the point cloud data on the coordinate axis corresponding to the vehicle coordinate system, plane fitting is carried out to obtain the point cloud data of each vehicle side, wherein the point cloud data comprise the point cloud data of the vehicle head surface, and the point cloud data of each vehicle side are obtained according to the straight lines
Figure BDA00029036299900000721
In the vehicle coordinate system O with the point cloud datac-XcYcZcThe difference in vertical axis of the vehicle point cloud data is used for segmenting the point cloud data of the front and the rear vehicle sides from the vehicle point cloud data
Figure BDA00029036299900000722
Figure BDA00029036299900000723
And point cloud data of the vehicle head
Figure BDA00029036299900000724
According to a straight line
Figure BDA00029036299900000725
In the vehicle coordinate system O with the point cloud datac-XcYcZcThe difference on the horizontal axis divides the point cloud data of the left and right sides from the point cloud data
Figure BDA00029036299900000726
Further, the contour of each carriage blocking surface is obtained according to the point cloud data of each side, and then the average value of the distance from the contour to the surface of the carriage is used as the height of the carriage blocking surface
Figure BDA00029036299900000727
Figure BDA00029036299900000728
The method comprises the steps of respectively obtaining the outlines of the left blocking surface, the right blocking surface, the front blocking surface and the rear blocking surface of a vehicle, finding the upper outlines of the four blocking surfaces according to the longitudinal axis direction coordinates in outline point clouds, and taking the average value of the distances from all space points in the respective upper outline point clouds to the surface of a carriage as the heights of the left blocking surface, the right blocking surface, the front blocking surface and the rear blocking surface.
Further, taking the average value of the distances from the points belonging to the plane of the vehicle head surface to the ground as the height of the vehicle head, sequencing the point cloud data of the vehicle head surface according to the direction of the longitudinal axis, and obtaining the maximum value
Figure BDA00029036299900000729
And establishing a third threshold v to obtain a range
Figure BDA0002903629990000081
And taking n as a positive integer as point cloud data of the vehicle head surface. Preferably, the value of the third threshold v can be selected to be "0.3", and the value of the longitudinal axis direction in the point cloud data of the vehicle head surface is determined according to the value
Figure BDA0002903629990000082
The point cloud in the interval is divided, and the part of point cloud data is divided
Figure BDA0002903629990000083
The average value of all the spatial points in (1) to the ground is taken as the height of the vehicle head.
Further, a vertical plane of a plane where a front side baffle surface of the carriage is located is transversely moved to obtain a starting plane and an ending plane which are intersected with the cloud data of the surface point of the vehicle head, the distance between the starting plane and the ending plane is calculated to be used as the width of the vehicle head, and the distance is measured in the vehicle coordinate system Oc-XcYcZcWill be parallel to the coordinate plane XcZcPlane X ofc0 along XcAxial translation until
Figure BDA0002903629990000084
In which a space point hits a plane stop translating, recording the X at that timec＝x1Then continue along XcAxial translation until
Figure BDA0002903629990000085
Until there is no space point on the plane, record X at this timec＝x2X is to be1x2As the width of the head, the sizes of all parts of the vehicle are obtained so far, and the method can be used for vehicle modeling.
Referring to fig. 2, in an embodiment, to achieve positioning and modeling of vehicle pose, a vehicle modeling system 20 based on a linear guideway and a scanner is provided in the embodiment, where the scanner is a line laser scanner, and the system includes:
a laser scanning measuring device 21 for generating point cloud data of a scanning space;
in the electronic device 22, the electronic device 22 is in communication connection with the laser scanning and measuring device 21, and is configured to send a control instruction.
In an embodiment of the invention, the laser scanning measuring apparatus 21 includes the linear guide 211, the line laser scanner 212, a servo motor 213, a PLC controller 214, an incremental encoder 215, and a roller 216, wherein a shaft of the incremental encoder 215 is installed on a central line of the roller 216, the line laser scanner 212 is fixedly connected to the shaft of the incremental encoder 215, the roller 216 is installed on the linear guide 211 and is driven by the servo motor 213 to roll along the linear guide 211, the line laser scanner 212 scans during a movement of the roller 216 along the linear guide 211, the electronic device 22 sends a trigger signal to the line laser scanner 212, the incremental encoder 215, and the PLC controller 214, and the servo motor 213 controls a rotation speed through the PLC controller 214, so that the servo motor 213 rotates at a preset speed.
In an embodiment of the present invention, the line laser scanner 212 moves on the linear guide 211 by a roller 216 with the incremental encoder 215, so that a scanning plane of the line laser scanner 212 is perpendicular to a linear direction of the linear guide 211; the HTL level signal sent by the incremental encoder 215 is orthogonally decoded to obtain an encoder count, and the displacement of the roller 216 along the guide rail line 211 is obtained according to the diameter of the roller 216.
In an embodiment of the invention, the electronic device 22 includes: a processor and a memory, wherein the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory so as to enable the equipment to execute any one of the linear guide and scanner based vehicle modeling methods.
In an embodiment of the present invention, as shown in fig. 3, a laser scanning measuring device composed of a line laser scanner 212 (mock lms511) and a linear guide 211 is installed right above a field lane, a truck is scanned after being stopped at a specified position, the obtained three-dimensional point cloud data is shown in fig. 4 and includes a truck head 41 and a truck bed 42, the obtained truck point cloud data is shown in fig. 5, and the point cloud segmentation result of the main part of the truck is shown in fig. 6.
In an embodiment of the present invention, in order to verify the accuracy of the truck size information obtained by the method provided by the present invention, the calculated truck modeling size is compared with the manually actually measured size, and the result is shown in table 1, and is shown in fig. 7 as manually actually measured.
TABLE 1 modeled dimension comparison
Calculated value (mm) Measured value by hand (mm) Error (mm)
High at the head 2273 2262 11
Wide head 1830 1844 14
Carriage length 2202 2196 6
Wide carriage 1798 1784 14
The front baffle is high 1137 1124 13
High back board 577 573 4
Side baffle height 510 516 6
The surface of the carriage is high 1062 1058 4
Specifically, the modeling dimension comparison result in table 1 shows that the vehicle modeling method based on the linear guide rail and the scanner provided by the invention achieves good effect in the embodiment.
In summary, as shown in fig. 8, the line laser scanner and the laser scanning measurement device formed by the linear guide rail are used to obtain the space point cloud data of the external surface of the truck with consistent sampling density, and the point cloud processing algorithm provided by the invention is used to rapidly segment the point cloud data of the truck in the coordinate system of the truck while establishing the relative pose relationship between the coordinate system of the truck and the measurement coordinate system, so that the positioning and the size geometric model establishment of the truck can be accurately and stably realized in various complex environments.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (10)

1. A vehicle modeling method based on a linear guide rail and a scanner, wherein the scanner is a line laser scanner, and the method comprises the following steps:
controlling the line laser scanner to move on the linear guide rail, establishing a scanning system coordinate system, and acquiring first point cloud data of a scanning area space before a vehicle enters a scanning area;
performing plane fitting on the point cloud data of the scanning area ground in the first point cloud data, and then performing first coordinate transformation, so that a normal vector of a fitting plane is parallel to a longitudinal axis of a scanning system coordinate system;
after a vehicle enters a scanning area, obtaining second point cloud data of the vehicle and a scanning area space after the vehicle enters the scanning area, carrying out first coordinate transformation on the second point cloud data, and segmenting the point cloud data of the vehicle according to the distribution rule of the point cloud data of the vehicle on a longitudinal axis;
dividing point cloud data of the carriage surface according to the distribution rule of the point cloud data of the vehicle on a longitudinal axis, performing plane fitting on the point cloud data of the carriage surface, and taking the plane of the carriage surface as a horizontal plane of a vehicle coordinate system;
extracting the contour of the point cloud data on the surface of the carriage to obtain contour point cloud data on the surface of the carriage, extracting straight lines of the contour point cloud data on the surface of the carriage, taking the intersection point of the two straight lines as the origin of the vehicle coordinate system, taking the straight line which passes through the origin and has the direction of the normal vector of the plane where the surface of the carriage is as the longitudinal axis of the vehicle coordinate system to obtain the vehicle coordinate system, and obtaining the relative pose of the vehicle coordinate system relative to the scanning system coordinate system through second coordinate transformation;
and calculating the sizes of all parts of the vehicle according to the point cloud data of all parts of the vehicle and the vehicle coordinate system.
2. The linear guide and scanner based vehicle modeling method of claim 1, wherein a scanning center of the line laser scanner at a starting position is taken as a coordinate origin, the linear guide direction is a vertical axis direction, and a scanning plane is a coordinate axis horizontal and vertical plane to generate the scanning system coordinate system.
3. The method as claimed in claim 1, wherein the calculating the dimensions of each part of the vehicle according to the point cloud data of each part of the vehicle and the vehicle coordinate system comprises:
calculating the length and the width of the carriage according to four intersection point coordinates of the four straight lines;
dividing the vehicle point cloud data according to the positions of the four straight lines and the difference of the point cloud data on the coordinate axis of the vehicle coordinate system corresponding to the point cloud data, and performing plane fitting to obtain the point cloud data of each vehicle side, wherein the point cloud data comprises the point cloud data of the surface of the vehicle head;
obtaining the contour of each carriage blocking surface according to the point cloud data of each carriage side, and further taking the average value of the distance from the upper contour to the carriage surface as the height of the carriage blocking surface;
taking the average value of the distances from the points belonging to the plane of the carriage surface to the ground as the height of the carriage from the ground;
taking the average value of the distances from the points belonging to the plane of the surface of the vehicle head to the ground as the height of the vehicle head;
and traversing a vertical plane of a plane where the front side blocking surface of the carriage is located to obtain a starting plane and an ending plane which are intersected with the cloud data of the surface point of the vehicle head, and calculating the distance between the starting plane and the ending plane as the width of the vehicle head.
4. The vehicle modeling method based on linear guide and scanner according to claim 1, wherein the first coordinate transformation is performed on the second point cloud data, and the point cloud data of the vehicle is segmented according to a distribution rule of the point cloud data of the vehicle on a longitudinal axis, and specifically includes:
obtaining the minimum value of the longitudinal axis direction
Figure FDA0002903629980000021
And setting a first threshold s to filter out values
Figure FDA0002903629980000022
And (5) obtaining points in the x interval to obtain point cloud data of the vehicle.
5. The vehicle modeling method based on the linear guide and the scanner according to claim 1, wherein the segmenting of the point cloud data of the surface of the vehicle compartment according to the distribution rule of the point cloud data of the vehicle on the longitudinal axis specifically comprises:
sorting the point cloud data of the vehicle according to the longitudinal axis direction to obtain the minimum value
Figure FDA0002903629980000023
And establishing a second threshold u to obtain a range
Figure FDA0002903629980000024
The value of (d) is used as point cloud data of the surface of the compartment.
6. The vehicle modeling method based on linear guide and scanner of claim 3, wherein the point cloud data of the vehicle head surface is sorted according to the longitudinal axis direction to obtain a maximum value
Figure FDA0002903629980000025
And establishing a third threshold v to obtain a range
Figure FDA0002903629980000026
And taking n as a positive integer as point cloud data of the vehicle head surface.
7. An electronic device, comprising: a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is configured to load and execute the computer program to cause the electronic device to perform the method of any one of claims 1 to 6.
8. A vehicle modeling system based on a linear guide and a scanner, wherein the scanner is a line laser scanner, the system comprising:
the laser scanning measuring device is used for generating point cloud data of a scanning space;
the electronic device of claim 7, wherein the electronic device is communicatively connected with the laser scanning and measuring device and is used for sending out a control command.
9. The system of claim 8, wherein the laser scanning measurement device comprises the linear guide, the line laser scanner, a servo motor, a PLC controller, an incremental encoder, and a roller, wherein a shaft of the incremental encoder is mounted on a center line of the roller, the line laser scanner is fixedly connected to a shaft of the incremental encoder, the roller is mounted on the linear guide and is driven by the servo motor to roll along the linear guide, the line laser scanner scans during the movement of the roller along the linear guide, the electronic device sends trigger signals to the line laser scanner, the incremental encoder, and the PLC controller, and the servo motor controls the rotation speed through the PLC controller, so that the servo motor rotates at a preset speed.
10. The linear guide and scanner based vehicle modeling system of claim 9, wherein the line laser scanner is moved on the linear guide by a wheel with the incremental encoder such that a scanning plane of the line laser scanner is perpendicular to a linear direction of the linear guide; and carrying out orthogonal decoding on the HTL level signal sent by the incremental encoder to obtain encoder count, and obtaining the displacement of the roller along the linear direction of the guide rail according to the diameter of the roller.
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