CN113325434A - Explosion point display method and system for actual measurement actual quantity and laser radar - Google Patents
Explosion point display method and system for actual measurement actual quantity and laser radar Download PDFInfo
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- CN113325434A CN113325434A CN202110410812.3A CN202110410812A CN113325434A CN 113325434 A CN113325434 A CN 113325434A CN 202110410812 A CN202110410812 A CN 202110410812A CN 113325434 A CN113325434 A CN 113325434A
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- 238000004880 explosion Methods 0.000 title claims abstract description 58
- 238000005259 measurement Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000005474 detonation Methods 0.000 claims abstract description 33
- 238000004088 simulation Methods 0.000 claims description 12
- 238000012552 review Methods 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/02—Means for marking measuring points
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a detonation point display method, a measurement system and a laser radar for actual measurement, wherein the measurement system comprises the laser radar and a projection device, and the detonation point display method comprises the following steps: the laser radar acquires three-dimensional point cloud data of a target area; searching explosion point data in the three-dimensional point cloud data; and the projection device projects visible light to the actual position corresponding to the target coordinate point in the target area according to the explosion point data. The detonation point display method, the measurement system and the laser radar for actual measurement of the actual measurement quantity can directly display the detonation point position on a measurement site, so that a user can review or correct the detonation point, and the working efficiency and the use efficiency are improved.
Description
Technical Field
The invention relates to a detonation point display method and a measurement system for actual measurement 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.
The existing actual measurement tool is low in use efficiency and single in function, inconvenient to check and influences working efficiency.
Disclosure of Invention
The invention aims to overcome the defects that the existing actual measurement actual quantity tool in the prior art is low in use efficiency and single in function, is inconvenient to check and affects working efficiency, and provides a detonation point display method, a measurement system and a laser radar for actual measurement actual quantity, which can directly display the position of a detonation point on a measurement site, enable a user to review or modify the detonation point and improve working and use efficiency.
The invention solves the technical problems through the following technical scheme:
a display method of explosion point for actual measurement is used for a measurement system, and is characterized in that the measurement system comprises a laser radar and a projection device, and the display method of explosion point comprises the following steps:
the laser radar acquires three-dimensional point cloud data of a target area;
searching explosion point data in the three-dimensional point cloud data;
and the projection device projects visible light to the actual position corresponding to the target coordinate point in the target area according to the explosion point data.
Preferably, the lidar includes an inertia measurement unit, and the detonation point display method includes:
acquiring attitude data of the laser radar through the inertial measurement unit, and acquiring a position relation between the laser radar and a projection device;
establishing a coordinate system according to the attitude data and acquiring the position coordinates of the explosion point data in the coordinate system;
acquiring the position of the projection device in the coordinate system according to the position relation;
and calling the projection device to project visible light to the explosion point according to the position of the projection device in the coordinate system and the position coordinate of the explosion point data in the coordinate system.
Preferably, the laser radar further includes a rotating base and a laser transmitter, the laser transmitter is fixed to a housing of the laser radar through a rotating device, the rotating base drives the housing to rotate horizontally, an axis of the rotating base is perpendicular to an axis of the rotating device, and the laser radar establishes the coordinate system according to the attitude data, start-stop positions of the rotating base and scanning data of the laser transmitter.
Preferably, the projection device is fixed to the housing through a pan-tilt device, and the rotating base drives the projection device to rotate horizontally.
Preferably, the projection device is a projector, the roll angle and the course angle of the projector are both fixed to the housing, and the explosion point display method includes:
the laser radar acquires the projection direction and the projection range of the projector;
and judging whether the explosion point data is in the projection range or not according to the projection direction and the projection range of the projector, if so, projecting visible light to the explosion point, and otherwise, adjusting the projection direction of the projector through the rotating base according to the horizontal plane included angle between the explosion point and the projection direction.
Preferably, the detonation point display method includes:
and judging whether the explosion point data is in the projection range according to the projection direction and the projection range of the projector, and if not, adjusting the projection direction of the projector through the holder device according to the vertical plane included angle between the explosion point and the projection direction.
Preferably, the laser radar further comprises a speaker, and the speaker is used for playing the position information of the explosion point.
Preferably, the laser radar includes a camera, a shooting direction of the camera is the same as a projection direction of the projection device, the measurement system further includes a detonation point simulation protrusion, an identification pattern is provided on the detonation point simulation protrusion, and the detonation point display method includes:
the laser radar acquires three-dimensional point cloud data of the target area, and the camera shoots the identification graph;
searching for the projection coordinates of the explosion point simulation projections in the three-dimensional point cloud data, identifying the identification pattern and acquiring the relative relation between the identification pattern and the camera;
and calibrating the position relation between the projection device and the laser radar according to the relative relation and the convex coordinates.
The invention also provides a measuring system which is characterized by comprising a laser radar and a projection device, wherein the measuring system is used for realizing the detonation point display method.
The invention also provides a lidar characterised in that the lidar is for use in a measurement system as described above.
And the projection device projects visible light to the actual position corresponding to the target coordinate point in the target area according to the explosion point data.
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 detonation point display method, the measurement system and the laser radar for actual measurement of the actual measurement quantity can directly display the detonation point position on a measurement site, so that a user can review or correct the detonation point, and the working efficiency and the use efficiency are improved.
Drawings
Fig. 1 is a schematic structural diagram of a measurement system according to embodiment 1 of the present invention.
Fig. 2 is a flowchart of an explosion point display method according to embodiment 1 of the present invention.
Fig. 3 is another flowchart of the detonation point display method of embodiment 1 of the 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
The present embodiment provides a measuring system for measuring actual quantity, which includes a laser radar 11 and a projecting device 12.
The projection device may be a laser pen or a projector.
The laser radar is used for acquiring three-dimensional point cloud data of a target area, wherein the target area can be a room, a wall surface or a column.
The measuring system searches for the explosion point data in the three-dimensional point cloud data, the searching work of the measuring system can be realized by a computer and a tablet personal computer, and a computing chip can also be integrated into the laser radar.
The projection device is used for projecting visible light to the actual position corresponding to the target coordinate point in the target area according to the explosion point data.
Specifically, the laser radar comprises an inertia measurement unit.
The laser radar is used for acquiring attitude data of the laser radar through the inertia measurement unit and acquiring the position relation between the laser radar and the projection device;
the measuring system is used for establishing a coordinate system according to the attitude data and acquiring the position coordinates of the detonation point data in the coordinate system;
the measuring system is used for acquiring the position of the projection device in the coordinate system according to the position relation;
the measuring system is used for calling the projection device to project visible light to the explosion point 14 according to the position of the projection device in the coordinate system and the position coordinate of the explosion point data in the coordinate system.
When the coordinate system, the shot data, and the positional relationship between the lidar and the projection device are known, the positional relationship of the shot data with respect to the projection device can be calculated, that is, the projection device can acquire the position of the shot, and the shot can be marked by projecting visible light such as laser light or projection.
The lidar further comprises a rotating base 13 and a laser transmitter.
The laser transmitter is fixed on the shell of the laser radar through a rotating device.
The rotating base drives the shell to rotate horizontally.
The axis of the rotating base is perpendicular to the axis of the rotating device.
And the laser radar establishes the coordinate system according to the attitude data, the start-stop position of the rotating base and the scanning data of the laser transmitter.
The projection device is fixed on the shell through a holder device, and the rotating base drives the projection device to horizontally rotate.
The projection device is a projector, the roll angle and the course angle of the projector are fixed with the shell, and the calculated amount can be reduced and the position of the explosion point can be quickly obtained by fixing the roll angle and the course angle.
The laser radar is used for acquiring the projection direction and the projection range of the projector;
the measuring system is used for judging whether the explosion point data are in the projection range according to the projection direction and the projection range of the projector, if so, projecting visible light to the explosion point, otherwise, adjusting the projection direction of the projector through the rotating base according to the horizontal plane included angle between the explosion point and the projection direction, and adjusting the pitch angle of the projector through the holder.
The calculation processing function of the measurement system can be realized by a computer or a tablet computer, and a calculation chip can also be integrated into the laser radar.
The measuring system is used for judging whether the explosion point data is in the projection range according to the projection direction and the projection range of the projector, and if not, the projection direction of the projector is adjusted through the holder device according to the vertical plane included angle between the explosion point and the projection direction, namely, the pitch angle of the projector is adjusted through the holder.
The laser radar also comprises a loudspeaker, and the loudspeaker is used for playing the position information of the explosion point. Such as the general direction and number of detonation points.
The laser radar comprises a camera, the shooting direction of the camera is the same as the projection direction of the projection device, the measuring system further comprises an explosion point simulation bulge, and an identification pattern is arranged on the explosion point simulation bulge.
The laser radar is used for acquiring three-dimensional point cloud data of the target area, and the camera shoots the identification graph;
the measuring system is used for searching the projection coordinates of the explosion point simulation projections in the three-dimensional point cloud data, identifying the identification pattern and acquiring the relative relation between the identification pattern and the camera;
and the measuring system is used for calibrating the position relation between the projection device and the laser radar according to the relative relation and the convex coordinates.
The measuring system is also used for acquiring the distance from the target three-dimensional point cloud to a reference surface;
and searching a target point with the distance from the reference surface greater than a preset value as the explosion point.
Referring to fig. 2, by using the above measurement system and lidar, the embodiment further provides a method for displaying a detonation point, including:
and 102, projecting visible light to an actual position corresponding to the target coordinate point in the target area by the projection device according to the detonation point data.
Specifically, referring to fig. 3, the lidar includes an inertial measurement unit, and the detonation point display method includes:
200, the laser radar acquires three-dimensional point cloud data of a target area;
202, establishing a coordinate system according to the attitude data and acquiring the position coordinates of the detonation point data in the coordinate system;
and 204, calling the projection device to project visible light to the explosion point according to the position of the projection device in the coordinate system and the position coordinate of the explosion point data in the coordinate system.
The laser radar further comprises a rotating base and a laser transmitter, the laser transmitter is fixed on the shell of the laser radar through a rotating device, the rotating base drives the shell to rotate horizontally, the axis of the rotating base is perpendicular to the axis of the rotating device, and the laser radar establishes the coordinate system according to the attitude data, the starting and stopping positions of the rotating base and the scanning data of the laser transmitter.
The projection device is fixed on the shell through a holder device, and the rotating base drives the projection device to horizontally rotate.
the laser radar acquires the projection direction and the projection range of the projector;
and judging whether the explosion point data is in the projection range or not according to the projection direction and the projection range of the projector, if so, projecting visible light to the explosion point, and otherwise, adjusting the projection direction of the projector through the rotating base according to the horizontal plane included angle between the explosion point and the projection direction.
Further, the air conditioner is provided with a fan,
and judging whether the explosion point data is in the projection range according to the projection direction and the projection range of the projector, and if not, adjusting the projection direction of the projector through the holder device according to the vertical plane included angle between the explosion point and the projection direction.
The laser radar also comprises a loudspeaker, and the loudspeaker is used for playing the position information of the explosion point.
The laser radar comprises a camera, the shooting direction of the camera is the same as the projection direction of the projection device, the measurement system further comprises a detonation point simulation bulge, an identification pattern is arranged on the detonation point simulation bulge, and the step 100 or the step 200 comprises the following steps:
the laser radar acquires three-dimensional point cloud data of the target area, and the camera shoots the identification graph;
searching for the projection coordinates of the explosion point simulation projections in the three-dimensional point cloud data, identifying the identification pattern and acquiring the relative relation between the identification pattern and the camera;
and calibrating the position relation between the projection device and the laser radar according to the relative relation and the convex coordinates.
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 method for displaying explosion points of actual measurement quantities is used for a measuring system, and is characterized in that the measuring system comprises a laser radar and a projection device, and the method for displaying the explosion points comprises the following steps:
the laser radar acquires three-dimensional point cloud data of a target area;
searching explosion point data in the three-dimensional point cloud data;
and the projection device projects visible light to the actual position corresponding to the detonation point data in the target area according to the detonation point data.
2. The method of claim 1, wherein the lidar includes an inertial measurement unit, the method comprising:
acquiring attitude data of the laser radar through the inertial measurement unit, and acquiring a position relation between the laser radar and a projection device;
establishing a coordinate system according to the attitude data and acquiring the position coordinates of the explosion point data in the coordinate system;
acquiring the position of the projection device in the coordinate system according to the position relation;
and calling the projection device to project visible light to the explosion point according to the position of the projection device in the coordinate system and the position coordinate of the explosion point data in the coordinate system.
3. The method for displaying a detonation point of claim 1, wherein the lidar further comprises a rotating base and a laser transmitter, the laser transmitter is fixed to a housing of the lidar through a rotating device, the rotating base drives the housing to rotate horizontally, an axis of the rotating base is perpendicular to an axis of the rotating device, and the lidar establishes the coordinate system according to the attitude data, start-stop positions of the rotating base and scanning data of the laser transmitter.
4. A method for displaying a detonation point according to claim 3, characterised in that the projection device is fixed to the casing by a pan-tilt device, the rotating base driving the projection device to rotate horizontally.
5. The method of claim 4, wherein the projection device is a projector, and both a roll angle and a heading angle of the projector are fixed to the housing, the method comprising:
the laser radar acquires the projection direction and the projection range of the projector;
and judging whether the explosion point data is in the projection range or not according to the projection direction and the projection range of the projector, if so, projecting visible light to the explosion point, and otherwise, adjusting the projection direction of the projector through the rotating base according to the horizontal plane included angle between the explosion point and the projection direction.
6. A detonation point display method according to claim 5, characterised in that it comprises:
and judging whether the explosion point data is in the projection range according to the projection direction and the projection range of the projector, and if not, adjusting the projection direction of the projector through the holder device according to the vertical plane included angle between the explosion point and the projection direction.
7. The method of claim 1, wherein the lidar further comprises a speaker for playing positional information of the pop.
8. The method of claim 4, wherein the lidar includes a camera, a shooting direction of the camera is the same as a projection direction of the projection device, the measurement system further includes a shot simulation protrusion, and an identification pattern is disposed on the shot simulation protrusion, and the shot display method includes:
the laser radar acquires three-dimensional point cloud data of the target area, and the camera shoots the identification graph;
searching for the projection coordinates of the explosion point simulation projections in the three-dimensional point cloud data, identifying the identification pattern and acquiring the relative relation between the identification pattern and the camera;
and calibrating the position relation between the projection device and the laser radar according to the relative relation and the convex coordinates.
9. A measuring system comprising a lidar and a projection device, the measuring system being configured to implement the detonation point display method of any one of claims 1 to 8.
10. Lidar characterized in that it is used in a measuring system according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110410812.3A CN113325434A (en) | 2021-04-16 | 2021-04-16 | Explosion point display method and system for actual measurement actual quantity and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110410812.3A CN113325434A (en) | 2021-04-16 | 2021-04-16 | Explosion point display method and system for actual measurement actual quantity and laser radar |
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| CN113325434A true CN113325434A (en) | 2021-08-31 |
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| US20120057174A1 (en) * | 2010-01-20 | 2012-03-08 | Faro Technologies, Inc. | Laser scanner or laser tracker having a projector |
| EP3226029A1 (en) * | 2016-03-30 | 2017-10-04 | Hexagon Technology Center GmbH | Laser scanner with referenced projector |
| CN107977997A (en) * | 2017-11-29 | 2018-05-01 | 北京航空航天大学 | A kind of Camera Self-Calibration method of combination laser radar three dimensional point cloud |
| CN108592895A (en) * | 2018-05-08 | 2018-09-28 | 安捷睿（厦门）机器人有限公司 | Construction detecting system based on 3 D laser scanning, method and apparatus |
| CN110672622A (en) * | 2019-10-12 | 2020-01-10 | 成都天佑智隧科技有限公司 | Tunnel defect rapid positioning method based on point cloud data and total station |
| CN111413707A (en) * | 2020-03-24 | 2020-07-14 | 福建汇川物联网技术科技股份有限公司 | Measuring device, method and measuring circuit |
| CN111965624A (en) * | 2020-08-06 | 2020-11-20 | 北京百度网讯科技有限公司 | Calibration method, device and equipment for laser radar and camera and readable storage medium |
| CN112258474A (en) * | 2020-10-22 | 2021-01-22 | 深圳集智数字科技有限公司 | Wall surface anomaly detection method and device |
-
2021
- 2021-04-16 CN CN202110410812.3A patent/CN113325434A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120057174A1 (en) * | 2010-01-20 | 2012-03-08 | Faro Technologies, Inc. | Laser scanner or laser tracker having a projector |
| EP3226029A1 (en) * | 2016-03-30 | 2017-10-04 | Hexagon Technology Center GmbH | Laser scanner with referenced projector |
| CN107977997A (en) * | 2017-11-29 | 2018-05-01 | 北京航空航天大学 | A kind of Camera Self-Calibration method of combination laser radar three dimensional point cloud |
| CN108592895A (en) * | 2018-05-08 | 2018-09-28 | 安捷睿（厦门）机器人有限公司 | Construction detecting system based on 3 D laser scanning, method and apparatus |
| CN110672622A (en) * | 2019-10-12 | 2020-01-10 | 成都天佑智隧科技有限公司 | Tunnel defect rapid positioning method based on point cloud data and total station |
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| CN111965624A (en) * | 2020-08-06 | 2020-11-20 | 北京百度网讯科技有限公司 | Calibration method, device and equipment for laser radar and camera and readable storage medium |
| CN112258474A (en) * | 2020-10-22 | 2021-01-22 | 深圳集智数字科技有限公司 | Wall surface anomaly detection method and device |
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Application publication date: 20210831 |