CN113064145A - Laser radar-based horizontal calibration method and system and laser radar - Google Patents
Laser radar-based horizontal calibration method and system and laser radar Download PDFInfo
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Abstract
The invention discloses a horizontal calibration method and system based on a laser radar and the laser radar, wherein the horizontal calibration system comprises a supporting device, the laser radar and a plurality of optical calibration platforms, the laser radar is arranged at the top of the supporting device, the optical calibration platforms are placed in the scanning range of the laser radar and keep the table top of the optical calibration platform in a horizontal position, and the horizontal calibration method comprises the following steps: the laser radar scans the plurality of optical calibration platforms; establishing a three-dimensional model of an optical calibration platform; judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, generating compensation data according to the non-horizontal three-dimensional models; and the laser radar carries out calibration by utilizing the compensation data, and the calibrated laser radar acquires the three-dimensional model of the target platform as a horizontal three-dimensional model again. The invention can improve the precision of the laser radar, is easy to realize and has high efficiency, and can improve the production efficiency of products.
Description
Technical Field
The invention relates to a laser radar-based horizontal calibration method and system and a laser radar.
Background
The actual measurement refers to a method for truly reflecting product quality data through field test and measurement by using a measuring tool. And according to the related quality acceptance standard, the error of the metering control engineering quality data is within the range allowed by the national housing construction standard.
The development stages of projects related to actual measurement mainly comprise a main structure stage, a masonry stage, a plastering stage, an equipment installation stage and a finishing stage. The measurement range comprises concrete structure, masonry engineering, plastering engineering, waterproof engineering, door and window engineering, paint engineering, finish decoration engineering and the like.
With the development of 5G technology, 3D technology is developed in the fields of automatic driving, building information modeling, etc. The mechanical laser radar is used as core hardware, precision devices such as a rotary motor and an IMU (inertial measurement unit) need to be used under the condition that the requirement of omnibearing precision modeling is met, a coordinate system among different parts needs to be confirmed in a calibration mode on the premise that the relative position of each part is absolutely fixed, coordinate normalization is achieved through an algorithm, and equipment needs to acquire different posture data to achieve the goal.
The existing horizontal calibration method has low efficiency and fussy operation, and the laser radar has low production efficiency.
Disclosure of Invention
The invention aims to overcome the defects of low efficiency, complex operation and low laser radar production efficiency of a horizontal calibration method in the prior art, and provides a horizontal calibration method and system based on a laser radar, which can improve the precision of the laser radar, are easy to realize and have high efficiency, and can improve the production efficiency of products, and the laser radar.
The invention solves the technical problems through the following technical scheme:
a horizontal calibration method based on a laser radar is used for a horizontal calibration system and is characterized in that the horizontal calibration system comprises a supporting device, the laser radar and a plurality of optical calibration platforms, the laser radar is arranged at the top of the supporting device, the optical calibration platforms are placed in the scanning range of the laser radar and keep the table top of the optical calibration platforms at a horizontal position, and the horizontal calibration method comprises the following steps:
the laser radar scans the plurality of optical calibration platforms;
establishing a three-dimensional model of an optical calibration platform;
judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, generating compensation data according to the non-horizontal three-dimensional models, wherein the optical calibration platform corresponding to the non-horizontal three-dimensional models is a target platform;
and the laser radar carries out calibration by utilizing the compensation data, and the calibrated laser radar acquires the three-dimensional model of the target platform as a horizontal three-dimensional model again.
Preferably, the lidar includes an inertial measurement unit, and the establishing of the three-dimensional model of the optical calibration platform includes:
scanning data of an optical calibration platform are obtained, and attitude data of the laser radar is obtained through the inertial measurement unit;
and establishing a three-dimensional model of the optical calibration platform according to the scanning data and the attitude data.
Preferably, the supporting device is configured to adjust a horizontal angle of the laser radar, and the determining whether all three-dimensional models are horizontal three-dimensional models includes:
judging whether the three-dimensional models are horizontal three-dimensional models or not, and if so, adjusting the horizontal angle of the laser radar through the supporting device;
and executing the horizontal calibration method again from the step of scanning the plurality of optical calibration platforms by the laser radar.
Preferably, the supporting device is configured to adjust a horizontal angle of the laser radar, and the determining whether all three-dimensional models are horizontal three-dimensional models includes:
judging whether the three-dimensional models are horizontal three-dimensional models or not, if not, adjusting the horizontal angle of the laser radar through the supporting device and recording an optical calibration platform corresponding to the non-horizontal three-dimensional model as a target platform;
the laser radar scans the optical calibration platforms and establishes a three-dimensional model of the optical calibration platforms by using the latest scanning data;
and judging whether the three-dimensional models obtained by the last scanning are all horizontal three-dimensional models, if not, judging whether the non-horizontal three-dimensional models are target platforms, and if not, generating compensation data according to the latest non-horizontal three-dimensional models.
Preferably, the supporting device is further configured to adjust a level of the laser radar, and the level calibration method includes:
judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, acquiring the position of a non-horizontal area;
judging whether a non-horizontal area coincides with the edge of the three-dimensional model, if so, adjusting the posture of the laser radar according to a preset rule, wherein the preset rule is that when the non-horizontal area coincides with the edge of the three-dimensional model close to the laser radar, the horizontal height of the laser radar is reduced through the supporting device, when the non-horizontal area coincides with the edge of the three-dimensional model far away from the laser radar, the horizontal height of the laser radar is raised through the supporting device, when the non-horizontal area coincides with the edge of the left side of the three-dimensional model, the laser radar is rotated to the left through the supporting device, and when the non-horizontal area coincides with the edge of the right side of the three-dimensional model, the laser radar is rotated to the right through;
acquiring a complete boundary of a non-horizontal area;
generating the compensation data according to the complete boundary.
The invention also provides a horizontal calibration system based on the laser radar, which is characterized by comprising a supporting device, the laser radar, a processing module and a plurality of optical calibration platforms, wherein the laser radar is arranged at the top of the supporting device, the optical calibration platforms are placed in the scanning range of the laser radar and keep the table top of the optical calibration platform at the horizontal position,
the laser radar is used for scanning the optical calibration platforms;
the processing module is used for establishing a three-dimensional model of the optical calibration platform;
the processing module is used for judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, generating compensation data according to the non-horizontal three-dimensional models, wherein the optical calibration platform corresponding to the non-horizontal three-dimensional models is a target platform;
and the laser radar is used for calibrating by using the compensation data, and the calibrated laser radar acquires the three-dimensional model of the target platform as a horizontal three-dimensional model again.
Preferably, the lidar includes an inertial measurement unit,
the inertial measurement unit is used for acquiring attitude data of the laser radar;
the processing module is used for acquiring scanning data of the optical calibration platform;
and the processing module is used for establishing a three-dimensional model of the optical calibration platform according to the scanning data and the attitude data.
Preferably, the supporting device is used for adjusting the horizontal angle of the laser radar,
the processing module is used for judging whether the three-dimensional models are horizontal three-dimensional models or not, and if yes, the supporting device is used for adjusting the horizontal angle of the laser radar and then the laser radar is called to scan the optical calibration platforms again.
Preferably, the supporting device is used for adjusting the horizontal angle of the laser radar and the horizontal height of the laser radar,
the processing module is used for judging whether the three-dimensional models are horizontal three-dimensional models or not, if not, the horizontal angle of the laser radar is adjusted through the supporting device, and an optical calibration platform corresponding to the non-horizontal three-dimensional model is recorded as a target platform;
the laser radar is used for scanning the optical calibration platforms and establishing a three-dimensional model of the optical calibration platforms by using the latest scanning data;
the processing module is used for judging whether the three-dimensional models obtained by the last scanning are all horizontal three-dimensional models, judging whether the non-horizontal three-dimensional models are target platforms if the three-dimensional models are not horizontal three-dimensional models, and generating compensation data according to the latest non-horizontal three-dimensional models if the non-horizontal three-dimensional models are not target platforms.
The processing module is also used for judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, acquiring the position of a non-horizontal area;
the processing module is used for judging whether a non-horizontal area coincides with the edge of the three-dimensional model or not, if so, the posture of the laser radar is adjusted according to a preset rule, the preset rule is that when the non-horizontal area coincides with the edge of the three-dimensional model close to one side of the laser radar, the horizontal height of the laser radar is reduced through the supporting device, when the non-horizontal area coincides with the edge of the three-dimensional model far away from one side of the laser radar, the horizontal height of the laser radar is raised through the supporting device, when the non-horizontal area coincides with the edge of the left side of the three-dimensional model, the laser radar is rotated to the left through the supporting device, and when the non-horizontal area coincides with the edge of the right side of the three-dimensional model;
the processing module is used for acquiring a complete boundary of a non-horizontal area;
the processing module is configured to generate the compensation data based on the integrity boundary.
The invention also provides a laser radar which is characterized in that the laser radar is used for the horizontal calibration system, and the laser radar comprises the processing module or the processing module is an intelligent terminal connected with the laser radar.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the laser radar-based horizontal calibration method and system and the laser radar can improve the precision of the laser radar, are easy to realize and high in efficiency, and can improve the production efficiency of products.
Drawings
Fig. 1 is a schematic structural diagram of a horizontal calibration system according to embodiment 1 of the present invention.
Fig. 2 is another schematic structural diagram of the horizontal calibration system according to embodiment 1 of the present invention.
Fig. 3 is a flowchart of a horizontal calibration method according to embodiment 1 of the present invention.
Fig. 4 is another flowchart of the horizontal calibration method according to embodiment 1 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1 and fig. 2, the present embodiment provides a level calibration system based on a laser radar, where the level calibration system includes a supporting device 11, a laser radar 12, a processing module, and a plurality of optical calibration platforms 13.
The processing module can be contained in the laser radar, and can also be realized by an intelligent terminal such as a PC (personal computer), a tablet and the like.
The laser radar is arranged at the top of the supporting device, the optical calibration platform is placed in the scanning range of the laser radar, and the table top of the optical calibration platform is kept in a horizontal position.
The laser radar is used for scanning the optical calibration platforms;
the processing module is used for establishing a three-dimensional model of the optical calibration platform;
the processing module is used for judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, generating compensation data according to the non-horizontal three-dimensional models, wherein the optical calibration platform corresponding to the non-horizontal three-dimensional models is a target platform;
and the laser radar is used for calibrating by using the compensation data, and the calibrated laser radar acquires the three-dimensional model of the target platform as a horizontal three-dimensional model again.
In the embodiment, the optical calibration platform is a marble platform;
debugging different optical calibration platforms to the direction meeting the required precision by means of a high-precision level gauge and the like;
the acquisition program comprises an angular position control part and a data collection part, and coordinate systems of different platform sections with different postures are calculated by different laser radar postures and different platforms through denoising and segmentation algorithms; the calculation algorithm is to normalize and compensate the data after the data is processed by statistics.
Preferably, the lidar includes an inertial measurement unit,
the inertial measurement unit is used for acquiring attitude data of the laser radar;
the processing module is used for acquiring scanning data of the optical calibration platform;
and the processing module is used for establishing a three-dimensional model of the optical calibration platform according to the scanning data and the attitude data.
Preferably, the supporting device is used for adjusting the horizontal angle of the laser radar,
the processing module is used for judging whether the three-dimensional models are horizontal three-dimensional models or not, and if yes, the supporting device is used for adjusting the horizontal angle of the laser radar and then the laser radar is called to scan the optical calibration platforms again.
The horizontal angle is an included angle between the bottom surface of the laser radar and the horizontal plane.
Preferably, the supporting device is used for adjusting the horizontal angle of the laser radar and the horizontal height of the laser radar,
the processing module is used for judging whether the three-dimensional models are horizontal three-dimensional models or not, if not, the horizontal angle of the laser radar is adjusted through the supporting device, and an optical calibration platform corresponding to the non-horizontal three-dimensional model is recorded as a target platform;
the laser radar is used for scanning the optical calibration platforms and establishing a three-dimensional model of the optical calibration platforms by using the latest scanning data;
the processing module is used for judging whether the three-dimensional models obtained by the last scanning are all horizontal three-dimensional models, judging whether the non-horizontal three-dimensional models are target platforms if the three-dimensional models are not horizontal three-dimensional models, and generating compensation data according to the latest non-horizontal three-dimensional models if the non-horizontal three-dimensional models are not target platforms.
The processing module is also used for judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, acquiring the position of a non-horizontal area;
the processing module is used for judging whether a non-horizontal area coincides with the edge of the three-dimensional model or not, if so, the posture of the laser radar is adjusted according to a preset rule, the preset rule is that when the non-horizontal area coincides with the edge of the three-dimensional model close to one side of the laser radar, the horizontal height of the laser radar is reduced through the supporting device, when the non-horizontal area coincides with the edge of the three-dimensional model far away from one side of the laser radar, the horizontal height of the laser radar is raised through the supporting device, when the non-horizontal area coincides with the edge of the left side of the three-dimensional model, the laser radar is rotated to the left through the supporting device, and when the non-horizontal area coincides with the edge of the right side of the three-dimensional model;
the processing module is used for acquiring a complete boundary of a non-horizontal area;
the processing module is configured to generate the compensation data based on the integrity boundary.
And the observation points of the left side and the left rotation, the right side and the right rotation are triggered by the laser radar, and the slave laser radar is used as an observation point to observe the optical calibration platform.
The above approach is used to determine the complete boundary of the non-level area in order to adjust the non-level area to the optical calibration platform.
Referring to fig. 3 and 4, with the horizontal calibration system, the present embodiment further provides a horizontal calibration method, including:
101, establishing a three-dimensional model of an optical calibration platform;
and 102, judging whether the three-dimensional models are horizontal three-dimensional models or not, if not, executing a step 103, and if so, ending the process.
103, generating compensation data according to a non-horizontal three-dimensional model, wherein an optical calibration platform corresponding to the non-horizontal three-dimensional model is a target platform;
and step 104, calibrating the laser radar by using the compensation data, and acquiring the three-dimensional model of the target platform as a horizontal three-dimensional model by the calibrated laser radar again.
Specifically, step 100 includes:
scanning data of an optical calibration platform are obtained, and attitude data of the laser radar is obtained through the inertial measurement unit;
and establishing a three-dimensional model of the optical calibration platform according to the scanning data and the attitude data.
Further, step 102 specifically includes:
and step 1022, adjusting the horizontal angle of the laser radar through the supporting device, and then executing step 100.
Further, in order to eliminate errors caused by the optical calibration platform.
Step 102 comprises:
judging whether the three-dimensional models are horizontal three-dimensional models or not, if not, adjusting the horizontal angle of the laser radar through the supporting device and recording an optical calibration platform corresponding to the non-horizontal three-dimensional model as a target platform;
the laser radar scans the optical calibration platforms and establishes a three-dimensional model of the optical calibration platforms by using the latest scanning data;
and judging whether the three-dimensional models obtained by the last scanning are all horizontal three-dimensional models, if not, judging whether the non-horizontal three-dimensional models are target platforms, and if not, generating compensation data according to the latest non-horizontal three-dimensional models.
Further, step 102 further comprises:
judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, acquiring the position of a non-horizontal area;
judging whether a non-horizontal area coincides with the edge of the three-dimensional model, if so, adjusting the posture of the laser radar according to a preset rule, wherein the preset rule is that when the non-horizontal area coincides with the edge of the three-dimensional model close to the laser radar, the horizontal height of the laser radar is reduced through the supporting device, when the non-horizontal area coincides with the edge of the three-dimensional model far away from the laser radar, the horizontal height of the laser radar is raised through the supporting device, when the non-horizontal area coincides with the edge of the left side of the three-dimensional model, the laser radar is rotated to the left through the supporting device, and when the non-horizontal area coincides with the edge of the right side of the three-dimensional model, the laser radar is rotated to the right through;
acquiring a complete boundary of a non-horizontal area;
generating the compensation data according to the complete boundary.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A horizontal calibration method based on a laser radar is used for a horizontal calibration system and is characterized in that the horizontal calibration system comprises a supporting device, the laser radar and a plurality of optical calibration platforms, the laser radar is arranged at the top of the supporting device, the optical calibration platforms are placed in the scanning range of the laser radar and keep the table top of the optical calibration platforms at a horizontal position, and the horizontal calibration method comprises the following steps:
the laser radar scans the plurality of optical calibration platforms;
establishing a three-dimensional model of an optical calibration platform;
judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, generating compensation data according to the non-horizontal three-dimensional models, wherein the optical calibration platform corresponding to the non-horizontal three-dimensional models is a target platform;
and the laser radar carries out calibration by utilizing the compensation data, and the calibrated laser radar acquires the three-dimensional model of the target platform as a horizontal three-dimensional model again.
2. The horizontal calibration method of claim 1, wherein the lidar includes an inertial measurement unit, and the establishing of the three-dimensional model of the optical calibration platform comprises:
scanning data of an optical calibration platform are obtained, and attitude data of the laser radar is obtained through the inertial measurement unit;
and establishing a three-dimensional model of the optical calibration platform according to the scanning data and the attitude data.
3. The horizontal calibration method of claim 1, wherein the supporting device is used for adjusting the horizontal angle of the lidar, and the determining whether the three-dimensional models are all horizontal three-dimensional models comprises:
judging whether the three-dimensional models are horizontal three-dimensional models or not, and if so, adjusting the horizontal angle of the laser radar through the supporting device;
and executing the horizontal calibration method again from the step of scanning the plurality of optical calibration platforms by the laser radar.
4. The horizontal calibration method of claim 1, wherein the supporting device is used for adjusting the horizontal angle of the lidar, and the determining whether the three-dimensional models are all horizontal three-dimensional models comprises:
judging whether the three-dimensional models are horizontal three-dimensional models or not, if not, adjusting the horizontal angle of the laser radar through the supporting device and recording an optical calibration platform corresponding to the non-horizontal three-dimensional model as a target platform;
the laser radar scans the optical calibration platforms and establishes a three-dimensional model of the optical calibration platforms by using the latest scanning data;
and judging whether the three-dimensional models obtained by the last scanning are all horizontal three-dimensional models, if not, judging whether the non-horizontal three-dimensional models are target platforms, and if not, generating compensation data according to the latest non-horizontal three-dimensional models.
5. The horizontal calibration method as claimed in claim 4, wherein the supporting device is further used for adjusting the horizontal height of the laser radar, and the horizontal calibration method comprises:
judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, acquiring the position of a non-horizontal area;
judging whether a non-horizontal area coincides with the edge of the three-dimensional model, if so, adjusting the posture of the laser radar according to a preset rule, wherein the preset rule is that when the non-horizontal area coincides with the edge of the three-dimensional model close to the laser radar, the horizontal height of the laser radar is reduced through the supporting device, when the non-horizontal area coincides with the edge of the three-dimensional model far away from the laser radar, the horizontal height of the laser radar is raised through the supporting device, when the non-horizontal area coincides with the edge of the left side of the three-dimensional model, the laser radar is rotated to the left through the supporting device, and when the non-horizontal area coincides with the edge of the right side of the three-dimensional model, the laser radar is rotated to the right through;
acquiring a complete boundary of a non-horizontal area;
generating the compensation data according to the complete boundary.
6. A horizontal calibration system based on a laser radar is characterized by comprising a supporting device, the laser radar, a processing module and a plurality of optical calibration platforms, wherein the laser radar is arranged at the top of the supporting device, the optical calibration platforms are placed in the scanning range of the laser radar and keep the table top of the optical calibration platform at a horizontal position,
the laser radar is used for scanning the optical calibration platforms;
the processing module is used for establishing a three-dimensional model of the optical calibration platform;
the processing module is used for judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, generating compensation data according to the non-horizontal three-dimensional models, wherein the optical calibration platform corresponding to the non-horizontal three-dimensional models is a target platform;
and the laser radar is used for calibrating by using the compensation data, and the calibrated laser radar acquires the three-dimensional model of the target platform as a horizontal three-dimensional model again.
7. The horizontal calibration system of claim 6, wherein the lidar includes an inertial measurement unit,
the inertial measurement unit is used for acquiring attitude data of the laser radar;
the processing module is used for acquiring scanning data of the optical calibration platform;
and the processing module is used for establishing a three-dimensional model of the optical calibration platform according to the scanning data and the attitude data.
8. The horizontal calibration system of claim 6, wherein the support device is used for adjusting the horizontal angle of the laser radar,
the processing module is used for judging whether the three-dimensional models are horizontal three-dimensional models or not, and if yes, the supporting device is used for adjusting the horizontal angle of the laser radar and then the laser radar is called to scan the optical calibration platforms again.
9. The horizontal calibration system of claim 6, wherein the supporting device is used for adjusting the horizontal angle of the laser radar and the horizontal height of the laser radar,
the processing module is used for judging whether the three-dimensional models are horizontal three-dimensional models or not, if not, the horizontal angle of the laser radar is adjusted through the supporting device, and an optical calibration platform corresponding to the non-horizontal three-dimensional model is recorded as a target platform;
the laser radar is used for scanning the optical calibration platforms and establishing a three-dimensional model of the optical calibration platforms by using the latest scanning data;
the processing module is used for judging whether the three-dimensional models obtained by the last scanning are all horizontal three-dimensional models, judging whether the non-horizontal three-dimensional models are target platforms if the three-dimensional models are not horizontal three-dimensional models, and generating compensation data according to the latest non-horizontal three-dimensional models if the non-horizontal three-dimensional models are not target platforms.
The processing module is also used for judging whether the three-dimensional models are horizontal three-dimensional models or not, and if not, acquiring the position of a non-horizontal area;
the processing module is used for judging whether a non-horizontal area coincides with the edge of the three-dimensional model or not, if so, the posture of the laser radar is adjusted according to a preset rule, the preset rule is that when the non-horizontal area coincides with the edge of the three-dimensional model close to one side of the laser radar, the horizontal height of the laser radar is reduced through the supporting device, when the non-horizontal area coincides with the edge of the three-dimensional model far away from one side of the laser radar, the horizontal height of the laser radar is raised through the supporting device, when the non-horizontal area coincides with the edge of the left side of the three-dimensional model, the laser radar is rotated to the left through the supporting device, and when the non-horizontal area coincides with the edge of the right side of the three-dimensional model;
the processing module is used for acquiring a complete boundary of a non-horizontal area;
the processing module is configured to generate the compensation data based on the integrity boundary.
10. Lidar for use in a level calibration system according to any of claims 6 to 9, wherein the lidar comprises or is an intelligent terminal connected to the lidar.
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