CN206019647U - For three-dimensional laser point cloud data splicing and the part of coordinate transmission - Google Patents

For three-dimensional laser point cloud data splicing and the part of coordinate transmission Download PDF

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Publication number
CN206019647U
CN206019647U CN201621023826.0U CN201621023826U CN206019647U CN 206019647 U CN206019647 U CN 206019647U CN 201621023826 U CN201621023826 U CN 201621023826U CN 206019647 U CN206019647 U CN 206019647U
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target
point cloud
cloud data
dimensional laser
laser point
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梁晓东
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Hunan Lianzhi Technology Co Ltd
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梁晓东
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Abstract

This utility model provides a kind of part transmitted for three-dimensional laser point cloud data splicing and coordinate, and including bracing frame and target, bracing frame includes that fixed panel and support panel, target include target pattern;The stationary plane in contact surface and support panel in fixed panel is plane;Angle between contact surface and stationary plane is 30 ° 60 °.Application the technical solution of the utility model, effect is:No matter how laser scanner is put, can ensure that the angle of incidence of laser more than 30 °, compared with prior art, the technical solution of the utility model increases angle of incidence, so that the fitting precision of the density of invocation point cloud and target is all improved, the central point fit quality of scanning distance and target can be further improved, the splicing precision between scanning website is improved, is reduced system stitching error and improve work efficiency.

Description

For three-dimensional laser point cloud data splicing and the part of coordinate transmission
Technical field
This utility model is related to tunnel monitoring and technical field of quality detection, and in particular to a kind of for three-dimensional laser point cloud Data splicing and the part of coordinate transmission.
Background technology
In prior art, the collection of data in tunnel is scanned using laser scanner, specifically:Target is posted in On tunnel inner wall, vehicle-mounted spatial digitizer is moved along tunnel centrage mode, by by laser projections to target.Collection tunnel The cloud data of target is collected during cloud data simultaneously, and the central point of target is used as characteristic point carries out website splicing and seat Mark is imported.
Existing target major part is that this kind of target has following defect using papery target:(1) papery mark in the tunnel Target cannot be attached on tunnel inner wall, and in tunnel, execution conditions are complicated, and on-plane surface on the inside of tunnel, the use of papery target cannot ensure to put down Whole degree;(2) when papery target is affixed on inwall, parallel with tunnel direction of advance, when scanner website exceedes twice with a distance from target During tunnel diameter, as angle of incidence is too little, on target, return that the laser point cloud density being emitted back towards is little, target cannot be fitted central point, lead Cause coordinate be passed, and stitching error is higher between two station of tunnel.
There are spherical target and ball to add the target of prism conjunction type in prior art, this kind of target is fixed on tunnel inner wall Inconvenience, and because the structure (centre of sphere internally, is easily scattered) of itself, error is larger, is not suitable for the transmission of coordinate.
Therefore, design a kind of structure to simplify, mount and dismount convenient and do not limited energy by the putting position of scanner Guarantee that target of the angle of incidence more than 30 ° is significant.
Utility model content
This utility model purpose is that providing a kind of structure simplifies, mounts and dismounts convenient and do not put by scanner The restriction of position can ensure that the part that for three-dimensional laser point cloud data splicing and coordinate transmit of the angle of incidence more than 30 °, tool Body technique scheme is as follows:
A kind of part transmitted for three-dimensional laser point cloud data splicing and coordinate, including bracing frame and is arranged on described Target on bracing frame;
Support frame as described above includes the fixed panel for being fixed with tunnel inner wall and for fixing the target Support panel;
The target includes target pattern;
With the target pattern in the contact surface contacted with tunnel inner wall in the fixed panel and the support panel The angle that the stationary plane of contact is between plane, and the contact surface and the stationary plane is 30 ° -60 °.
Preferred in above technical scheme, support frame as described above is hollow Rhizoma Sparganii rod structure, perpendicular to its short transverse Plane on, its cross section is equilateral triangle or isosceles triangle.
Preferred in above technical scheme, the fixed panel is provided with the through hole for fixing bolt or screw.
Preferred in above technical scheme, the through hole is manhole or ellipse hole.
Preferred in above technical scheme, the quantity of the through hole is 4, four through holes four positioned at tetragon Two through holes on the position at angle, and a diagonal be manhole, two through holes on another diagonal For ellipse hole.
Preferred in above technical scheme, the angle between the contact surface and the stationary plane is 30 °, 45 ° or 60 °.
Preferred in above technical scheme, the target pattern is to be arranged on the support by laser silk-screen processing mode Metal parts on panel;The material of support frame as described above is aluminium alloy or brush finished stainless steel.
Preferred in above technical scheme, the target pattern is square, the foursquare length of side be 15cm, 20cm, 25cm or 30cm.
Preferred in above technical scheme, sign position, the sign is additionally provided with the stationary plane in the support panel Position is located at top, side or the lower section of the target pattern.
Application the technical solution of the utility model, has the advantages that:
(1) this utility model is used for the part of three-dimensional laser point cloud data splicing and coordinate transmission, including bracing frame and The target being arranged on support frame as described above, support frame as described above include the fixed panel for being fixed and use with tunnel inner wall In the support panel of the fixation target, the target includes that target pattern, overall structure are simplified;With tunnel in the fixed panel Plane is with the stationary plane of the target pattern contacts in the contact surface and the support panel of the contact of road inwall, be easy to by Support is fixed on tunnel inner wall and target is fixed on bracing frame;Angle between the contact surface and the stationary plane For 30 ° -60 ° so that after this utility model target is installed, target place plane is formed an angle with tunnel inner wall shape, no matter is swashed How photoscanner is put, and can ensure that the angle of incidence of the laser of directive target is maintained at more than 30 °, compared with prior art, The technical solution of the utility model increases angle of incidence, so that the fitting precision of the density of invocation point cloud and target is all carried Height, and then the central point fit quality of scanning distance and target can be improved, the splicing precision between scanning website is improved, is subtracted Little system stitching error simultaneously improves work efficiency.
(2) bracing frame described in this utility model is hollow Rhizoma Sparganii rod structure, in the plane perpendicular to its short transverse On, its cross section is equilateral triangle or isosceles triangle, and the length of side of equilateral triangle or isosceles triangle is 21-30cm; A height of 15-22cm of support frame as described above.Using hollow Rhizoma Sparganii rod structure, simple structure was both easily installed and (installed bracing frame On tunnel inner wall and by target on bracing frame), meanwhile, can ensure that the angle of incidence of the laser of directive target pattern again More than 30 °.
(3) fixed panel described in this utility model is provided with the through hole for fixing bolt or screw, and the through hole is Manhole or ellipse hole, are easy to bracing frame is fixed on tunnel inner wall;The quantity of through hole is four, is arranged in four sides On four angles of shape, and two of which is manhole, and two other is ellipse hole, during actual installation, tunnel Inwall is easily deflected when beating installing hole, and design of the present utility model can ensure that bracing frame is fixed on tunnel inner wall (i.e. well Just there is the installing hole for deflecting, also ensure that support member is installed by the regulation of ellipse hole).
(4) target pattern described in this utility model is to be arranged on the support panel by laser silk-screen processing mode Metal material;The material of support frame as described above is aluminium alloy or brush finished stainless steel.The processing mode of target pattern and the choosing of material Select, high definition, in conjunction with the selection of the material of bracing frame, can repeatedly use, and long service life.
(5) sign position, sign position position are additionally provided with the stationary plane described in this utility model in support panel In the top of the target pattern, side or lower section.Sign position can be with spray printing numeral, and the purpose of do so is in order in tunnel When road scanning patter is processed and spliced, the mark of target order will not be mistaken, improve work efficiency.
In addition to objects, features and advantages described above, this utility model also has other purposes, feature and excellent Point.Below with reference to figure, this utility model is described in further detail.
Description of the drawings
The accompanying drawing for constituting the part of the application is used for providing further understanding to of the present utility model, of the present utility model Schematic description and description is used for explaining this utility model, does not constitute to improper restriction of the present utility model.In accompanying drawing In:
Fig. 1 is the structural representation of the part transmitted for three-dimensional laser point cloud data splicing and coordinate of embodiment 1;
Fig. 2 is the structural representation of the bracing frame in Fig. 1;
Fig. 3 is the application principle schematic diagram of the part transmitted for three-dimensional laser point cloud data splicing and coordinate of Fig. 1;
Wherein, 1, bracing frame, 1.1, fixed panel, 1.11, contact surface, 1.12, through hole, 1.2, support panel, 1.21, solid Determine face, 1.22, sign position, 2, target, 2.1, target pattern, 3, laser scanner, 4, tunnel inner wall.
Specific embodiment
Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, but this utility model can be according to power Profit requires that the multitude of different ways for limiting and covering is implemented.
Embodiment 1:
Referring to Fig. 1 and Fig. 2, a kind of part transmitted for three-dimensional laser point cloud data splicing and coordinate, including bracing frame 1 And the target 2 being arranged on support frame as described above 1.
The target 2 includes target pattern 2.1, and the target pattern 2.1 is to be arranged on by laser silk-screen processing mode Metal parts on the support panel 1.2, is processed by laser silk-screen, difficult for drop-off, and clear patterns are visible.
Support frame as described above 1 is included the fixed panel 1.1 for being fixed with tunnel inner wall and is used for fixing the mark The support panel 1.2 of target 2;Support frame as described above 1 is hollow Rhizoma Sparganii rod structure, in the plane of its short transverse, its Cross section is equilateral triangle or isosceles triangle, and the equilateral triangle length of side is 21cm;Support frame as described above 1 a height of 15cm;The fixed panel 1.1 is provided with the through hole 1.12 for fixing bolt or screw, and the quantity of the through hole 1.12 is 4 Individual, position of four through holes 1.12 positioned at four angles of tetragon, and two through holes 1.12 on a diagonal For manhole, two through holes 1.12 on another diagonal are ellipse hole.
With institute in the contact surface 1.11 contacted with tunnel inner wall in the fixed panel 1.1 and the support panel 1.2 The stationary plane 1.21 for stating the contact of target pattern 2.1 is between plane, and the contact surface 1.11 and the stationary plane 1.21 Angle Q is 30 ° -60 °.Sign position 1.22, the sign position is additionally provided with stationary plane 1.21 in the support panel 1.2 1.22 be located at the target pattern 2.1 lower section (can with according to practical situation be disposed over or side on, meet different Demand).
The above-mentioned using method for three-dimensional laser point cloud data splicing and the part of coordinate transmission is comprised the following steps:
The first step, it is divided into multiple websites in tunnel axis direction;To bear serial numbers Connect and pass sequentially through swell fixture and be fixed on tunnel inner wall with the part of coordinate transmission;Laser scanner is erected on vehicle;
Second step, the vehicle point along length of tunnel direction running, laser scanner collection tunnel with the speed of 30-60km/h The data for being collected simultaneously are stored by cloud data;
3rd step, the data for storing second step import computer, and computer is taken out dilute by denoising and filtered at miscellaneous point Reason, carries out number consecutively the target in cloud data in tunnel, and the target that two neighboring website is shared is using being identically numbered; Point-clouds Registration is carried out to multiple websites.Detailed process in 3rd step is referred to prior art.
In tunnel, in addition the transmission of the coordinate of target will be imported with total powerstation auxiliary, and the measurement of coordinates of each target is calculated By out (this part is prior art).
When application this utility model carries out data acquisition for the part of three-dimensional laser point cloud data splicing and coordinate transmission Schematic diagram such as Fig. 3, specifically:
As can be seen from Figure 3:Laser and the angle of incidence ∠ BDP=180 °-∠ ADB=∠ BAD+ ∠ ABD of target, its In:Tan ∠ BAD=d/S, d are scanner, and to the distance of tunnel inner wall, (d is more than 0 and diameter less than or equal to tunnel, tunnel Diameter is the maximum lateral width in tunnel), S is the ultimate range along length of tunnel scanning direction instrument to target;∠ ABD are described Angle Q between contact surface 1.11 and the stationary plane 1.21.
When ∠ ABD values are 30 ° -60 °, angle of incidence ∠ BDP are located atArriveBetween, therefore, want really Protect angle of incidence ∠ BDP and be located at more than 30 °, only needTake on the occasion of and in technical solutions of the utility model, no matter sweeping Instrument is retouched positioned at any position, laser has certain angle with tunnel inner wall face, i.e.,It is on the occasion of (π herein 180 ° are represented).
Therefore, the technical solution of the utility model is applied, and the placement location of scanner is unrestricted, can ensure that laser and mark The angle of incidence of target is more than 30 °, and therefore, application the technical solution of the utility model can improve angle of incidence, improve scanning distance, increasing The point cloud density of big target, the central point fit quality for improving target, improve coordinate transmission distance and improve scanning website it Between splicing precision.
By taking a certain tunnel as an example, tested using this utility model method and prior art means, Details as Follows:
First, test group
Test group 1:
Using this utility model method, wherein:Scanner is to tunnel inner wall apart from d and along length of tunnel scanning direction instrument Ratio to ultimate range S of target is 1/4;The cross section of bracing frame is equilateral triangle, therefore, the contact surface 1.11 with Angle Q between the stationary plane 1.21 is 60 °, i.e. ∠ ABD=60 °;The specification of target pattern is 15cm × 15cm, refers to table 1.
Test group 2-3:
The difference is that only scanner to tunnel inner wall apart from d and along length of tunnel scanning direction instrument with test group 1 Ratio to ultimate range S of target is different, and details are:In test group 2 scanner to tunnel inner wall apart from d with long along tunnel Degree scanning direction instrument to ultimate range S of target ratio be 1/2;In test group 3 scanner to tunnel inner wall apart from d and edge Length of tunnel scanning direction instrument to ultimate range S of target ratio be 1/3.
Test group 4-5:
The difference is that only that the angle between the contact surface 1.11 and the stationary plane 1.21 is different from test group 2, Details are:∠ ABD=30 ° in test group 4;∠ ABD=45 ° in test group 5.
Test group 6-8:
Different from the specification that test group 2 the difference is that only target pattern, details are:Target pattern in test group 6 Specification is 20cm × 20cm;In test group 7, the specification of target pattern is 25cm × 25cm;The specification of target pattern in test group 8 For 30cm × 30cm.
2nd, matched group
Matched group 1:Directly it is affixed on tunnel medial wall using papery target.
Matched group 2:The difference is that only with test group 1:The cross section of bracing frame is isosceles triangle, therefore, described Angle Q between contact surface 1.11 and the stationary plane 1.21 is 25 °, i.e. ∠ ABD=25 °.
Matched group 3:The difference is that only with matched group 2:Between the contact surface 1.11 and the stationary plane 1.21 Angle Q is 75 °, i.e. ∠ ABD=75 °.
The parameter and Performance comparision table of 1 test group of table and matched group
As known from Table 1:
Binding tests group 1-3 understands:Scanner is to tunnel inner wall apart from d and along length of tunnel scanning direction instrument to target The ratio of ultimate range S take different value, the angle of incidence that can meet laser and target remains at more than 30 °, scanner Do not limited by putting position, practical.
Binding tests group 2, test group 4, test group 5, matched group 3 and matched group 4 understand:Contact surface 1.11 is solid with described The selection for determining angle between face 1.21 is extremely important, when angle excessive (such as matched group 4) or angle too small (such as matched group 3), demand of the angle of incidence more than 30 ° is not satisfied by.
Binding tests group 2 and test group 6-8 understand:In the case of other specification identical, the specification of target pattern is bigger, Effect better (i.e. test group 2, test group 6, test group 7, test group 8 sequentially effect is gradually incremented by), but from cost-effective, be easy to Carry, the angle that is easy for installation and removal and the specification with reference to existing conventional tunnel are selected, and are usually no more than 30cm × 30cm.
(matched group 1-2) compares technical solutions of the utility model (test group 1-8) compared with prior art, using this practicality New technical scheme, the putting position of scanner are not limited, and the angle of incidence of laser and target remain at 30 ° with On so that the fitting precision of the central point of target is greatly enhanced, and the splicing precision scanned between website is also obtained necessarily Raising.Relative to other kinds of target, such as spherical target, the plane target after this improvement can be used not only for splicing and ensure Splicing precision, and with the use of the function of reaching the importing of target coordinate, this is that spherical target cannot be accomplished with total powerstation 's.
Preferred embodiment of the present utility model is the foregoing is only, this utility model is not limited to, for this For the technical staff in field, this utility model can have various modifications and variations.All of the present utility model spirit and principle Within, any modification, equivalent substitution and improvements that is made etc. are should be included within protection domain of the present utility model.

Claims (9)

1. a kind of for three-dimensional laser point cloud data splicing and coordinate transmission part, it is characterised in that including bracing frame (1) with And the target (2) being arranged on support frame as described above (1);
Support frame as described above (1) is included the fixed panel (1.1) for being fixed with tunnel inner wall and is used for fixing the mark The support panel (1.2) of target (2);
Described target (2) include target pattern (2.1);
In the contact surface (1.11) contacted with tunnel inner wall in fixed panel (1.1) and the support panel (1.2) with The stationary plane (1.21) that target pattern (2.1) contact is plane, and the contact surface (1.11) and the stationary plane (1.21) angle (Q) between is 30 ° -60 °.
2. according to claim 1 for three-dimensional laser point cloud data splicing and coordinate transmission part, it is characterised in that Support frame as described above (1) is hollow Rhizoma Sparganii rod structure, and in the plane of its short transverse, its cross section is equilateral triangle Shape or isosceles triangle.
3. according to claim 1-2 any one for three-dimensional laser point cloud data splicing and coordinate transmission part, Characterized in that, fixed panel (1.1) are provided with the through hole (1.12) for fixing bolt or screw.
4. according to claim 3 for three-dimensional laser point cloud data splicing and coordinate transmission part, it is characterised in that Described through hole (1.12) are manhole or ellipse hole.
5. according to claim 4 for three-dimensional laser point cloud data splicing and coordinate transmission part, it is characterised in that The quantity of through hole (1.12) is 4, the position of four described through hole (1.12) positioned at four angles of tetragon, and one right Two described through hole (1.12) on linea angulata are manhole, and two on another diagonal described through hole (1.12) are oval Shape through hole.
6. according to claim 3 for three-dimensional laser point cloud data splicing and coordinate transmission part, it is characterised in that Angle (Q) between contact surface (1.11) and the stationary plane (1.21) is 30 °, 45 ° or 60 °.
7. according to claim 3 for three-dimensional laser point cloud data splicing and coordinate transmission part, it is characterised in that Target pattern (2.1) are to be arranged on the metal parts on the support panel (1.2) by laser silk-screen processing mode;Institute The material for stating bracing frame (1) is aluminium alloy or brush finished stainless steel.
8. according to claim 7 for three-dimensional laser point cloud data splicing and coordinate transmission part, it is characterised in that Described target pattern (2.1) are square, and the foursquare length of side is 15cm, 20cm, 25cm or 30cm.
9. according to claim 8 for three-dimensional laser point cloud data splicing and coordinate transmission part, it is characterised in that Sign position (1.22), sign position (1.22) position is additionally provided with stationary plane (1.21) in support panel (1.2) Top, side or lower section in target pattern (2.1).
CN201621023826.0U 2016-08-31 2016-08-31 For three-dimensional laser point cloud data splicing and the part of coordinate transmission Active CN206019647U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106248054A (en) * 2016-08-31 2016-12-21 梁晓东 The parts transmitted for three-dimensional laser point cloud and coordinate and using method thereof
CN109341525A (en) * 2018-10-17 2019-02-15 天津大学 A kind of " V " type target and coordinate measuring method based on two dimensional laser scanning instrument

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106248054A (en) * 2016-08-31 2016-12-21 梁晓东 The parts transmitted for three-dimensional laser point cloud and coordinate and using method thereof
CN109341525A (en) * 2018-10-17 2019-02-15 天津大学 A kind of " V " type target and coordinate measuring method based on two dimensional laser scanning instrument
CN109341525B (en) * 2018-10-17 2020-09-01 天津大学 V-shaped target based on two-dimensional laser scanner and coordinate measuring method

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Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
TR01 Transfer of patent right

Effective date of registration: 20170814

Address after: 410200 Changsha, Wangcheng province through the open area along the River Road, Hunan

Patentee after: Hunan Lianzhi Bridge and Tunnel Technology Co.,Ltd.

Address before: 42 No. 17 Hunan century Xincheng Kaiyuan Road 410019 in Hunan province Changsha City Economic Development Zone

Patentee before: Liang Xiaodong

CB03 Change of inventor or designer information
CB03 Change of inventor or designer information

Inventor after: Liang Xiaodong

Inventor after: Zeng Xiongying

Inventor after: Wu Yongsheng

Inventor after: Li Rongxue

Inventor after: Yi Dan

Inventor before: Liang Xiaodong

TR01 Transfer of patent right
CP03 Change of name, title or address

Address after: No.168, Section 2, Yanhe Road, Wangcheng economic and Technological Development Zone, Changsha City, Hunan Province

Patentee after: Hunan Lianzhi Technology Co.,Ltd.

Address before: 410200 Yanhe Road, Wangcheng Economic Development Zone, Changsha City, Hunan Province

Patentee before: HUNAN LIANZHI BRIDGE AND TUNNEL TECHNOLOGY Co.,Ltd.

CP03 Change of name, title or address