CN113655467B - Precision measuring device and method for laser radar and laser radar - Google Patents
Precision measuring device and method for laser radar and laser radar Download PDFInfo
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- CN113655467B CN113655467B CN202111207852.4A CN202111207852A CN113655467B CN 113655467 B CN113655467 B CN 113655467B CN 202111207852 A CN202111207852 A CN 202111207852A CN 113655467 B CN113655467 B CN 113655467B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The invention discloses a precision measuring device and method for a laser radar and the laser radar, and relates to the field of laser detection, wherein the precision measuring device comprises a horizontal linear track, a displacement platform moving on the horizontal linear track, a plurality of laser range finders, a laser target and a laser pen, the laser radar is fixed above the displacement platform, the laser target is arranged at one end of the horizontal linear track, and the laser radar is aligned to the laser target; the laser pen is fixed on the laser radar and is aligned with the laser target; the laser distance measuring instrument is used for measuring the distance between the displacement platform and one end of the horizontal linear track; the laser radar is used for acquiring the length of the laser target; and the precision measuring device is used for obtaining the precision of the laser radar according to the length and the distance. The invention can quantitatively detect the ranging precision of the laser radar scanner, has convenient operation, low cost and accurate measured result, and is convenient for the calibration, correction and factory inspection of the laser radar.
Description
Technical Field
The invention relates to the field of laser detection, in particular to a precision measuring device and method for a laser radar and the 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.
Most of the 3D laser scanners suitable for indoor environment scanning use ToF (Time-of-flight) ranging technology, and the most common technology is lidar (light detection and ranging). It is an optical remote sensing technique that calculates the distance of an object by measuring the time difference between transmitted and received pulse signals. Its advantages are high precision and long distance.
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.
In the prior art, the precision of the laser radar is difficult to measure, and the measurement result is inaccurate.
Disclosure of Invention
The invention aims to overcome the defects that the precision of a laser radar is difficult to measure and the measuring result is inaccurate in the prior art, and provides a precision measuring device and method for the laser radar and the laser radar, which are used for quantitatively detecting the distance measuring precision of a laser radar scanner, are convenient to operate, have low cost and accurate measuring result, and are convenient for calibration, correction and factory inspection of the laser radar.
The invention solves the technical problems through the following technical scheme:
a precision measuring device for a laser radar is characterized by comprising a horizontal linear track, a displacement platform moving on the horizontal linear track, a plurality of laser range finders, a laser target and a laser pen, wherein the laser radar is fixed above the displacement platform,
the laser target is arranged at one end of the horizontal linear track, and the laser radar is aligned to the laser target;
the laser pen is fixed on the laser radar and is aligned with the laser target, and when the displacement platform moves on the horizontal linear track, the dotting position of the laser pen on the laser target is unchanged;
the laser range finder is used for measuring the distance between the displacement platform and one end of the horizontal linear track;
the laser radar is used for acquiring the length of the laser target;
and the precision measuring device is used for obtaining the precision of the laser radar according to the length and the distance.
Preferably, the precision measuring device is configured to obtain a target difference as the precision of the laser radar, where the target difference is a value obtained by subtracting the difference between the two obtained lengths from the difference between the two obtained distances.
Preferably, the precision measuring device comprises a level gauge, and the level gauge is used for adjusting the pitch angle of the laser radar to be horizontal.
Preferably, the number of the laser range finders is three, the laser range finders are all arranged at one end of the horizontal linear track, three marks are arranged on the side face of the displacement platform, the three laser range finders are respectively aligned to the three marks, and the measuring directions of the three laser range finders are parallel to the extending direction of the horizontal linear track.
Preferably, the distance is equal to the average of the three laser rangefinder values.
Preferably, a plumb bob is hung below the laser target, the precision measuring device further comprises a first tripod, the laser target is fixed on the first tripod,
the plumb bob is used for adjusting the laser target to be vertical to a horizontal plane;
the laser radar is used for scanning the laser target and acquiring a normal vector of the laser target according to scanning data of the laser target;
the laser radar is further used for adjusting the horizontal angle of the laser target by utilizing the normal vector and an angle calculation program of the laser radar so that the normal vector is parallel to the X axis of a laser radar coordinate system.
Preferably, the laser radar is configured to scan the laser target to obtain three-dimensional point cloud data, perform voxelization on the three-dimensional point cloud data to obtain voxels of the laser target, and calculate a plane where the laser target is located according to a center line point coordinate of each voxel to obtain the normal vector.
The present invention further provides a method for measuring accuracy of a laser radar, wherein the method is implemented by using the apparatus for measuring accuracy as described above, and the method for measuring accuracy includes:
the laser range finder measures the distance between the displacement platform and one end of the horizontal linear track;
the laser radar acquires the length of the laser target;
the precision measuring device obtains a target difference value as the precision of the laser radar, wherein the target difference value is a numerical value obtained by subtracting the difference value of the length obtained twice from the difference value of the distance obtained twice.
Preferably, a plumb is suspended below the laser target, the precision measuring device further comprises a first tripod, the laser target is fixed on the first tripod, and the precision measuring method comprises:
adjusting the laser target to be vertical to a horizontal plane by using the plumb bob;
the laser radar scans the laser target and acquires a normal vector of the laser target according to the scanning data of the laser target;
and the laser radar adjusts the horizontal angle of the laser target by utilizing the normal vector and a self angle calculation program so as to enable the normal vector to be parallel to the X axis of a laser radar coordinate system.
Preferably, the precision measurement method includes:
the laser radar scans the laser target to obtain three-dimensional point cloud data, the three-dimensional point cloud data are subjected to voxelization to obtain voxels of the laser target, and the plane where the laser target is located is calculated according to the center line point coordinates of each voxel to obtain the normal vector.
The invention also provides a laser radar which is characterized in that the laser radar measures the precision by using the precision measuring method.
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 invention can quantitatively detect the ranging precision of the laser radar scanner, has convenient operation, low cost and accurate measured result, and is convenient for the calibration, correction and factory inspection of the laser radar.
Drawings
Fig. 1 is a schematic structural view of a precision measuring apparatus according to embodiment 1 of the present invention.
Fig. 2 is a flowchart of the accuracy measurement 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, the present embodiment provides an accuracy measuring apparatus for a laser radar.
The precision measuring device comprises a horizontal linear track 11, a displacement platform 12 moving on the horizontal linear track, a plurality of laser range finders 13, a laser target 14 and a laser pen 15.
A lidar 16 is fixed above the displacement platform.
The laser target is arranged at one end of the horizontal linear track, and the laser radar is aligned to the laser target.
The laser pen is fixed on the laser radar and is aligned with the laser target, and when the displacement platform moves on the horizontal linear track, the dotting position of the laser pen on the laser target is unchanged;
the laser range finder is used for measuring the distance between the displacement platform and one end of the horizontal linear track;
the laser radar is used for acquiring the length of the laser target;
and the precision measuring device is used for obtaining the precision of the laser radar according to the length and the distance.
The precision measuring device is used for obtaining a target difference value as the precision of the laser radar, and the target difference value is a numerical value obtained by subtracting the difference value of the length obtained twice from the difference value of the distance obtained twice.
The quantity of laser range finder is three, and laser range finder all locates horizontal linear orbit's one end, displacement platform's side is equipped with three mark.
The three laser range finders are respectively aligned with the three marks, and the measuring directions of the three laser range finders are parallel to the extending direction of the horizontal linear track.
The precision measuring device comprises a level meter, wherein the level meter is used for adjusting the pitch angle of the laser radar to the level, and the distance is equal to the average value of the numerical values of the three laser distance measuring instruments.
A plumb bob is hung below the laser target, the precision measuring device also comprises a first tripod, the laser target is fixed on the first tripod,
the plumb bob is used for adjusting the laser target to be vertical to a horizontal plane;
the laser radar is used for scanning the laser target and acquiring a normal vector of the laser target according to scanning data of the laser target;
the laser radar is further used for adjusting the horizontal angle of the laser target by utilizing the normal vector and an angle calculation program of the laser radar so that the normal vector is parallel to the X axis of a laser radar coordinate system.
The laser radar is used for scanning the laser target to obtain three-dimensional point cloud data, voxelizing the three-dimensional point cloud data to obtain voxels of the laser target, and calculating the plane of the laser target according to the center line point coordinates of each voxel to obtain the normal vector.
The specific installation and debugging are as follows:
and placing the fixed laser radar scanner on the displacement platform, and enabling the fixed angle of the laser radar to be parallel to the movement direction of the displacement platform along the horizontal linear track and to be opposite to the laser target.
And (4) placing the level meter on the top of the laser radar, and adjusting the pitch angle of the laser radar until the level meter displays the level.
The laser pen is fixed on the laser radar, the laser pen is opened, the displacement platform is moved back and forth, and the horizontal angle of the laser radar is adjusted until the laser pen is not moved at the position where the laser pen hits the laser target in the moving process.
And after the laser radar is fixed, operating an angle calculation program of the laser radar until the normal of the plane of the target displayed by the program is parallel to a laser line of the laser radar parallel to the X axis of the laser radar coordinate system. At this point, the adjustment is deemed complete.
Referring to fig. 2, the present invention also provides an accuracy measuring method using the above laser measuring device, comprising:
and 102, acquiring a target difference value as the precision of the laser radar by the precision measuring device, wherein the target difference value is a numerical value obtained by subtracting the difference value of the lengths acquired twice from the difference value of the distances acquired twice.
Specifically, the precision measurement method further includes:
adjusting the laser target to be vertical to a horizontal plane by using the plumb bob;
the laser radar scans the laser target and acquires a normal vector of the laser target according to the scanning data of the laser target;
and the laser radar adjusts the horizontal angle of the laser target by utilizing the normal vector and a self angle calculation program so as to enable the normal vector to be parallel to the X axis of a laser radar coordinate system.
Wherein the content of the first and second substances,
the laser radar scans the laser target to obtain three-dimensional point cloud data, the three-dimensional point cloud data are subjected to voxelization to obtain voxels of the laser target, and the plane where the laser target is located is calculated according to the center line point coordinates of each voxel to obtain the normal vector.
Fixing the laser radar and the displacement platform at a distance (such as 15 m), starting ranging, and recording ranging data of the laser radar and data displayed by the laser range finder at the moment.
Move several distances and repeat the previous actions.
Subtracting the laser radar ranging data of any two times from the laser range finder display data of any two times, and taking the difference value of the subtraction results as the ranging precision of the laser radar.
In this embodiment, the precision measurement method further includes:
the displacement platform utilizes a constant-speed motor to move on the horizontal linear track at a constant speed.
And the laser radar acquires the length of the laser target in uniform motion.
Judging whether the length and the time have a linear relation, if so, judging that the dynamic precision of the laser radar reaches the standard, and if not, searching the length of the nonlinear relation according to the relation between the length and the time;
searching the actual position of the horizontal linear track according to the length;
measuring the distance from one end of the horizontal linear track at an actual position by using the laser range finder;
and calculating the target length of the nonlinear relation according to the distance of the nonlinear relation, and compensating the laser radar by using the target length.
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 (8)
1. A precision measuring device for a laser radar is characterized by comprising a horizontal linear track, a displacement platform moving on the horizontal linear track, a plurality of laser range finders, a laser target and a laser pen, wherein the laser radar is fixed above the displacement platform,
the laser target is arranged at one end of the horizontal linear track, and the laser radar is aligned to the laser target;
the laser pen is fixed on the laser radar and is aligned with the laser target, and when the displacement platform moves on the horizontal linear track, the dotting position of the laser pen on the laser target is unchanged;
the laser range finder is used for measuring the distance between the displacement platform and one end of the horizontal linear track;
the laser radar is used for acquiring the length of the laser target;
the precision measuring device is used for obtaining the precision of the laser radar according to the length and the distance;
a plumb bob is hung below the laser target, the precision measuring device also comprises a first tripod, the laser target is fixed on the first tripod,
the plumb bob is used for adjusting the laser target to be vertical to a horizontal plane;
the laser radar is used for scanning the laser target and acquiring a normal vector of the laser target according to scanning data of the laser target;
the laser radar is further used for adjusting the horizontal angle of the laser target by utilizing the normal vector and a self angle calculation program so as to enable the normal vector to be parallel to the X axis of a laser radar coordinate system;
the laser radar is used for scanning the laser target to obtain three-dimensional point cloud data, voxelizing the three-dimensional point cloud data to obtain voxels of the laser target, and calculating the plane of the laser target according to the center line point coordinates of each voxel to obtain the normal vector.
2. The accuracy measuring device according to claim 1, wherein the accuracy measuring device is configured to obtain a target difference value as the accuracy of the laser radar, the target difference value being a value obtained by subtracting the length difference value obtained in two times from the distance difference value obtained in two times.
3. The precision measuring device of claim 1, wherein the number of the laser distance measuring instruments is three, the laser distance measuring instruments are all arranged at one end of the horizontal linear track, three marks are arranged on the side surface of the displacement platform, the three laser distance measuring instruments are respectively aligned with the three marks, and the measuring directions of the three laser distance measuring instruments are parallel to the extending direction of the horizontal linear track.
4. The accuracy measuring device of claim 3, wherein the accuracy measuring device comprises a level for adjusting a pitch angle of the lidar to a level, the distance being equal to an average of three lidar values.
5. An accuracy measurement method for a laser radar, characterized in that the accuracy measurement method is implemented using an accuracy measurement apparatus according to any one of claims 1 to 4, the accuracy measurement method comprising:
the laser range finder measures the distance between the displacement platform and one end of the horizontal linear track;
the laser radar acquires the length of the laser target;
and the precision measuring device acquires a target difference value as the precision of the laser radar, wherein the target difference value is a numerical value obtained by subtracting the length difference value acquired twice from the distance difference value acquired twice.
6. The method of claim 5, wherein a plumb is suspended below the laser target, the precision measurement device further comprising a first tripod on which the laser target is secured, the method comprising:
adjusting the laser target to be vertical to a horizontal plane by using the plumb bob;
the laser radar scans the laser target and acquires a normal vector of the laser target according to the scanning data of the laser target;
and the laser radar adjusts the horizontal angle of the laser target by utilizing the normal vector and a self angle calculation program so as to enable the normal vector to be parallel to the X axis of a laser radar coordinate system.
7. The accuracy measurement method according to claim 6, wherein the accuracy measurement method comprises:
the laser radar scans the laser target to obtain three-dimensional point cloud data, the three-dimensional point cloud data are subjected to voxelization to obtain voxels of the laser target, and the plane where the laser target is located is calculated according to the center line point coordinates of each voxel to obtain the normal vector.
8. A lidar characterized in that the lidar measures accuracy by the accuracy measuring method according to any one of claims 5 to 7.
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