CN111595265A - Reflection target device for three-dimensional laser scanner and use method thereof - Google Patents
Reflection target device for three-dimensional laser scanner and use method thereof Download PDFInfo
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- CN111595265A CN111595265A CN202010484899.4A CN202010484899A CN111595265A CN 111595265 A CN111595265 A CN 111595265A CN 202010484899 A CN202010484899 A CN 202010484899A CN 111595265 A CN111595265 A CN 111595265A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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Abstract
The invention relates to the technical field of three-dimensional laser scanning, in particular to a reflection target device for a three-dimensional laser scanner and a using method thereof. The connector jack is used for being connected with the CPIII connecting rod or is used for being connected with the centering base of the tripod. In the operation process of the three-dimensional laser scanner, the device is used for replacing a laser reflection target in the traditional operation, when the device is arranged on a tripod base with a connector and is arranged above a measurement control point position with known coordinates, the absolute coordinates of the spherical center of a laser reflection sphere can be obtained by measuring the ruler amount; when the laser reflection sphere is connected with the CPIII connecting rod, the sphere center position on the reflection target device is directly superposed with the CPIII virtual point position, and the sphere center coordinate of the laser reflection sphere can be obtained.
Description
Technical Field
The invention relates to the technical field of three-dimensional laser scanning, in particular to a reflection target device for a three-dimensional laser scanner and a using method thereof.
Background
The three-dimensional laser scanning technology is a new breakthrough of another mapping technology after a GNSS space positioning system. The method rapidly acquires the three-dimensional coordinate data of the surface of the measured object in a large area and high resolution by a high-speed laser scanning measurement method, can rapidly acquire a large amount of space point location information, provides a brand new technical means for rapidly establishing a three-dimensional image model of an object, and is widely applied to the fields of railways, urban rail transit, light rails, buildings, BIM, surveying and mapping and the like.
Most three-dimensional laser scanners at present cannot realize positioning and orientation under a specific coordinate system. In the measuring operation process, the three-dimensional laser scanner needs to transmit the coordinates of the known control point to the three-dimensional laser point cloud, and finally obtains the absolute coordinate value of the target object to be scanned in the three-dimensional laser point cloud through calculation.
In a traditional operation method, a plurality of planar laser reflection targets are usually distributed in a range of an object to be scanned, then a total station and a reflection prism (such as a prism with the model of Leica GPH 1) are erected at a known control point, the total station is used for aiming at the reflection prism for measurement, the total station is positioned and oriented, and then the positioned and oriented total station is used for measuring the laser reflection targets to obtain absolute coordinates of the laser reflection targets; then, three-dimensional laser scanning operation is carried out to obtain original point clouds of the target object to be scanned including the laser reflection target; and finally, calculating through the relative coordinates (virtual coordinates) of the laser reflection target in the original point cloud and the absolute coordinates obtained through measurement of the total station to obtain the absolute coordinates of the three-dimensional laser point cloud of the scanning target object.
In the traditional three-dimensional laser scanning measurement method, to acquire the absolute coordinates of the three-dimensional laser point cloud of the target object to be scanned, a laser reflection target needs to be arranged, the coordinates of the laser reflection target are measured through a total station, and the coordinates are further acquired through coordinate conversion calculation, so that the working procedure is complicated, the method is easily influenced by the precision of the total station, the measurement error and other aspects, and the resolution precision of the absolute coordinates of the three-dimensional laser point cloud is easily not up to the standard. In addition, in the process of three-dimensional laser scanning operation, technicians for operating the total station and three-dimensional laser scanning operation are often the same person, and after the total station operation is completed, the possibility that the prism is omitted in the operation area exists in the three-dimensional laser scanning operation environment, so that the three-dimensional laser scanner is easily damaged due to the fact that the energy of laser reflected by the prism is too high.
Disclosure of Invention
The invention aims to: aiming at the problems that in the prior art, in order to obtain the absolute coordinates of a target object to be scanned in a three-dimensional laser point cloud, a plurality of laser reflection targets need to be arranged, auxiliary devices such as a total station and a reflection prism need to be erected, the total station is positioned in a direction, the absolute coordinates of the laser reflection targets are obtained through measurement, and then the absolute coordinates are obtained through coordinate operation and other intermediate processes, so that the working procedures are complicated and are easily influenced by the precision of the total station and intermediate measurement errors, a reflection target device for the three-dimensional laser scanner and a using method thereof are provided, and the absolute positioning is quickly realized without loss of precision and operation efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a reflection target device for three-dimensional laser scanner, includes reflection target body, and reflection target body includes laser reflection spheroid and connects the base, connects the base and is connected with laser reflection spheroid, connects the base and is equipped with the connector jack with measuring instrument connector adaptation. The connector jack is used for being connected with the CPIII connecting rod or is used for being connected with the centering base of the tripod.
In the three-dimensional laser scanner operation process, utilize the device to replace the laser reflection target in traditional operation, this spherical reflection target can: (1) when the laser reflection sphere is arranged on a tripod base with a connector and a tripod is placed above a measurement control point position with known coordinates, the height of the laser reflection sphere is measured by a measuring scale, and the absolute coordinates of the sphere center of the laser reflection sphere can be directly obtained; (2) when the laser reflection sphere is connected with the CPIII connecting rod and fixed on a known CPIII control point, the sphere center position on the reflection target device is directly superposed with the CPIII virtual point position, and the absolute coordinate of the sphere center of the laser reflection sphere can be directly obtained; (3) when the point cloud is positioned between two stations of the three-dimensional laser scanning operation, the point cloud can be used as a connecting point between adjacent station clouds.
In the three-dimensional laser scanning operation, scanning a target object to be scanned comprising the reflection target device of the invention to obtain an original point cloud of the scanned target object; extracting point cloud of the reflection target device, and obtaining the relative coordinates of the spherical center of the laser reflection sphere in the original point cloud through a spherical center fitting algorithm; and obtaining the absolute coordinates of the scanning target object in the original point cloud according to the obtained spherical center absolute coordinates. The device simplifies the operation process of the three-dimensional laser scanner, does not need to assist in positioning the control point through the total station and the reflecting prism so as to obtain the absolute coordinates of the laser reflecting targets, does not need to arrange a plurality of laser reflecting targets in the range of the object to be scanned, reduces the manpower use, improves the working efficiency and also improves the precision of the three-dimensional point cloud data. Meanwhile, the device can be used as a relative splicing target of different measuring stations of three-dimensional laser scanning operation.
As a preferred scheme of the invention, the surface of the laser reflection sphere is coated with a diffuse reflection coating sensitive to three-dimensional laser, and the surface of the connecting base is coated with a wave-absorbing coating insensitive to three-dimensional laser, so that the spherical target and other point cloud data can be conveniently segmented, the accuracy of a three-dimensional scanning image is improved, and the interference is reduced.
As the preferred scheme of the invention, the center of the laser reflection sphere is superposed with the extension line of the axis of the connecting base, so that the measurement and positioning are convenient.
As the preferred scheme of the invention, the laser reflection sphere is of a hollow sphere structure, so that the weight is reduced, and the laser reflection sphere is convenient to construct and carry.
As the preferred scheme of the invention, the invention also comprises a vertical measuring scale, wherein one end of the vertical measuring scale is provided with a vertical measuring scale bolt; the connection base is provided with a vertical measuring scale jack, and a vertical measuring scale bolt is matched with the vertical measuring scale jack. The vertical measuring scale is used for measuring vertical height, determining the absolute coordinate of the reflection target device, and measuring stably and accurately.
As a preferable scheme of the invention, the magnet is arranged at the bottom of the connecting base, so that the device can be quickly fixed on a ferrous material.
As a preferred scheme of the invention, the connecting base is provided with a connector buckle bolt for fixing and unlocking the measuring instrument connector, and the connector on the measuring instrument is installed, fixed and unlocked by pressing the connector buckle bolt.
The invention provides a use method based on the reflection target device, which comprises the following steps:
A. acquiring absolute coordinates of the sphere center of the laser reflection sphere;
B. scanning a target object by adopting a three-dimensional laser scanner to obtain an original point cloud, wherein a plurality of laser reflection spheres are arranged in a scanning range;
C. extracting point cloud of the laser reflection sphere, and solving the relative coordinate of the sphere center;
D. and (4) carrying out coordinate conversion on the relative coordinates of the sphere center in combination with the absolute coordinates, and solving the absolute coordinates of the scanning target object in the original point cloud.
As a preferred embodiment of the present invention, in the process of obtaining the absolute coordinates of the center of sphere in step a, the connector jack of the reflective target device is connected to the centering base of the tripod, the tripod is placed at a known coordinate control point on the ground, and the absolute coordinates of the center of sphere are obtained by measuring the distance between the center of sphere and the known coordinate control point.
As a preferred scheme of the present invention, in the process of obtaining the absolute coordinate of the center of sphere in step a, the connector jack of the reflection target device is connected to the CPIII connecting rod, the CPIII connecting rod is inserted into the CPIII pre-buried hole, the position of the center of sphere directly coincides with the virtual point position of the CPIII, and the virtual point position of the CPIII is used as the absolute coordinate of the center of sphere.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention simplifies the operation process of the three-dimensional laser scanner, does not need to assist in positioning the control point through a total station and a reflecting prism so as to obtain the absolute coordinates of the laser reflecting targets, does not need to arrange a plurality of laser reflecting targets in the range of the object to be scanned, reduces the manpower use, improves the working efficiency, improves the precision of the three-dimensional point cloud data, and avoids the risk of damaging the instrument due to overhigh energy of the reflected laser of the reflecting prism.
2. The invention provides a surveying and mapping mode different from the traditional three-dimensional laser operation, which can be detachably arranged on a tripod base through a connector jack, can also be matched and fixed on a detection control point with a CPIII connecting rod, and is simple and easy to realize in the three-dimensional laser scanning operation for obtaining the absolute coordinates of a reflection target; the advantage that the absolute coordinates are easy to obtain is utilized, the three-dimensional laser scanning target can be used as a relative splicing target of different measuring stations, the application scene is wide, the workload is greatly reduced, and the construction is rapid and convenient.
Drawings
Fig. 1 is an exploded view of a reflective target device for a three-dimensional laser scanner.
Fig. 2 is a bottom view of the reflective target body of fig. 1.
Figure 3 is a right side view of the reflective target body of figure 1.
Fig. 4 is a schematic structural view of the reflection target body when the reflection target body is connected to a tripod.
Fig. 5 is a schematic diagram of the reflection target body when it is connected to the CPIII connecting rod.
Icon: 1-a reflective target body; 2-laser reflection sphere; 3-connecting the base; 4-connector jack; 5-connector buckle bolt hole; 6-connector buckle bolt; 7-a magnet cabin; 8-a magnet hatch; 9-a vertical measuring ruler jack; 10-a vertical measuring scale; 11-a vertical measuring ruler bolt; 12-Steel tape storage box.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The utility model provides a reflection target device for three-dimensional laser scanner, as shown in fig. 1-5, including reflection target body 1, reflection target body 1 includes laser reflection spheroid 2 and connects base 3, connects 3 tops of base and the welding of laser reflection spheroid 2, connects 3 bottoms of base to be equipped with the connector jack 4 with measuring instrument connector adaptation, and the centre of sphere distance 58.5mm to laser reflection spheroid 2 is connected to the top of connector jack 4. The connector jack 4 is used for being connected with the CPIII connecting rod or connected with a centering base on a tripod; the CPIII connecting rod is generally used for being fixed at CPIII control piles, CPIII control points of the anti-collision wall and the like.
Specifically, the laser reflection sphere 2 is of a hollow metal sphere structure, the outer diameter of the laser reflection sphere 2 is 10mm, the wall thickness of the laser reflection sphere 2 is 2mm, and the surface of the laser reflection sphere 2 is coated with a diffuse reflection coating sensitive to three-dimensional laser. The connecting base 3 is made of cubic metal materials, the cross section of the connecting base is rectangular, and the surface of the connecting base is coated with a wave-absorbing coating insensitive to three-dimensional laser. The center of the laser reflection sphere 2 coincides with the axis extension line of the connection base 3, so that the measurement and positioning are convenient.
Be located to connect base 3 and openly be equipped with connector buckle bolt hole 5, the adaptation is fixed with connector buckle bolt 6 in connector buckle bolt hole 5, realizes the installation of connector on the measuring instrument fixed with the unblock through pressing connector buckle bolt 6. A magnet cabin 7 is arranged at the bottom of the connecting base 3, and a magnet with stronger magnetism is arranged in the magnet cabin to quickly fix the device on an iron material; the magnet cabin cover 8 is arranged at the end part of the magnet cabin 7 to protect the strong magnet from falling off easily. And a vertical measuring scale jack 9 connected with a vertical measuring scale 10 is arranged at the right side of the connecting base 3, and one end of the vertical measuring scale 10 is a vertical measuring scale bolt 11, and the other end of the vertical measuring scale is connected with a steel tape storage box 12. The plug 11 of the vertical measuring ruler can be inserted into the jack 9 of the vertical measuring ruler, and the steel tape storage box 12 can store various types of steel tapes; the vertical measuring ruler 10 is used for measuring the vertical height of the reflection target device.
In the three-dimensional laser scanner operation process, utilize the device to replace the laser reflection target in traditional operation, this spherical target can: (1) when the laser reflection sphere 2 is installed on a tripod base with a connector and is arranged above a measurement control point position with known coordinates, the height of the laser reflection sphere 2 can be measured through a vertical measuring ruler 10, and the absolute coordinates of the sphere center of the laser reflection sphere 2 can be directly obtained; (2) when the laser reflection sphere 2 is connected with the CPIII connecting rod and fixed on a known control point, the sphere center position on the reflection target device is directly superposed with the CPIII virtual point position, and the sphere center absolute coordinate of the laser reflection sphere 2 can be directly obtained.
In the three-dimensional laser scanning operation, scanning a target object to be scanned comprising the reflection target device of the invention to obtain an original point cloud of the scanned target object; extracting point cloud of the reflection target device, and obtaining the relative coordinates of the spherical center of the laser reflection sphere 2 in the original point cloud through a spherical center fitting algorithm; and obtaining the absolute coordinates of the scanning target object in the original point cloud according to the obtained spherical center absolute coordinates. The device simplifies the operation process of the three-dimensional laser scanner, does not need to assist in positioning the control point through the total station and the reflecting prism so as to obtain the absolute coordinates of the laser reflecting targets, does not need to arrange a plurality of laser reflecting targets in the range of the object to be scanned, reduces the manpower use, improves the working efficiency and also improves the precision of the three-dimensional point cloud data. Meanwhile, the device can be used as a relative splicing target of different measuring stations of three-dimensional laser scanning operation.
Example 2
Based on embodiment 1, in order to quickly obtain the absolute coordinates of the reflective target device, facilitate coordinate conversion, and finally obtain the absolute coordinates of the scanning target object in the three-dimensional laser point cloud, this embodiment provides a use method based on the reflective target device, which includes the following steps:
A. the connector jack 4 of the reflection target device is connected with the centering base of the tripod in an adaptive mode through a standard connector, the tripod is placed at a known coordinate control point (x, y, H) on the ground, the height H of the control point relative to the center of the sphere is measured through a vertical measuring scale 10, and the absolute coordinate (x, y, H + H) of the center of the sphere is obtained.
B. Scanning a target object by adopting a three-dimensional laser scanner to obtain an original point cloud, wherein a plurality of laser reflection spheres are arranged in a scanning range;
C. extracting point cloud of the laser reflection sphere 2, and solving a relative coordinate of a sphere center through a sphere center fitting algorithm;
D. and (4) carrying out coordinate conversion on the relative coordinates of the sphere center in combination with the absolute coordinates, and solving the absolute coordinates of the scanning target object in the original point cloud.
Example 3
Based on embodiment 1 and embodiment 2, this embodiment further provides a method for using the reflective target device, which replaces step a of embodiment 2 to obtain the absolute coordinates of the center of sphere: the connector jack 4 of the reflection target device is connected with the CPIII connecting rod in an adaptive mode through a standard connector, the CPIII connecting rod is inserted into the CPIII pre-buried hole, the position of the sphere center directly coincides with the virtual point position of the CPIII, and the virtual point position of the CPIII is used as the absolute coordinate of the sphere center.
Example 4
Because the range of the three-dimensional scanner is limited, multiple measurements are required to obtain scanned images of multiple stations or the whole station, and the measured data are spliced through the same target. Specifically, a common way to stitch the scanned images of adjacent stations in the conventional mode is to: attaching a reflection target on the surface of an object to be measured, scanning for 360 degrees during operation of the three-dimensional laser scanner, and scanning the reflection target so as to obtain relative coordinates of the reflection target; and then measuring the reflection target by using a total station to obtain the absolute coordinates of the reflection target. And sequentially scanning in the next measuring station in the same way, obtaining the relative coordinates and the absolute coordinates at the same time in the reflecting target, and further performing conversion splicing on the coordinates through a mathematical algorithm, so that the point cloud data of the relative coordinates of the whole measuring station can be resolved into the uniform absolute coordinates, and the point cloud data scanning image of the whole measuring station under the absolute coordinates is obtained.
In this embodiment, based on embodiments 1 to 3, the spherical reflective target device can also be used as a relative splicing target for three-dimensional laser scanning operation at different stations, and only when data in a plurality of stations are spliced, the absolute coordinates of the spherical reflective target device can be directly obtained, that is, the absolute coordinate data in the whole station can be directly obtained. A large amount of repeated work is reduced, and the working efficiency is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a reflection target device for three-dimensional laser scanner, its characterized in that, includes reflection target body (1), reflection target body (1) is including laser reflection spheroid (2) and connection base (3), connect base (3) with laser reflection spheroid (2) are connected, connection base (3) are equipped with connector jack (4) with measuring instrument connector adaptation.
2. The reflective target device according to claim 1, characterized in that the surface of the laser reflective sphere (2) is coated with a diffuse reflective coating and the surface of the connection base (3) is coated with a wave absorbing coating.
3. The reflective target device according to claim 1, characterized in that the center of the laser reflective sphere (2) coincides with the extension of the axis of the connection base (3).
4. The reflective target device according to claim 1, characterized in that the laser reflective sphere (2) is a hollow sphere structure.
5. The reflex target device according to claim 1, further comprising a vertical measuring ruler (10), wherein one end of the vertical measuring ruler (10) is provided with a vertical measuring ruler plug (11); be equipped with vertical measuring ruler jack (9) on connection base (3), vertical measuring ruler bolt (11) with vertical measuring ruler jack (9) adaptation.
6. The reflex target device according to any one of claims 1 to 5, wherein a magnet is provided at the bottom of the connection base (3).
7. The reflex target device according to any one of claims 1 to 5, wherein the connection base (3) is provided with a connector snap pin (6) for fixing and unlocking a measuring instrument connector.
8. A method of using a reflective target device according to any one of claims 1 to 7, comprising the steps of:
A. acquiring absolute coordinates of the sphere center of the laser reflection sphere (2);
B. scanning a target object by adopting a three-dimensional laser scanner to obtain an original point cloud, wherein a plurality of laser reflection spheres (2) are arranged in a scanning range;
C. extracting the point cloud of the laser reflection sphere (2) and solving the relative coordinate of the sphere center;
D. and performing coordinate conversion on the relative coordinates of the sphere center by combining absolute coordinates, and solving the absolute coordinates of the scanning target object in the original point cloud.
9. The use method according to claim 8, wherein in the process of obtaining the absolute coordinates of the sphere center in the step A, the connector jack (4) of the reflection target device is connected with a tripod centering base, a tripod is placed at a known coordinate control point on the ground, and the absolute coordinates of the sphere center are obtained by measuring the distance between the sphere center and the control point.
10. The use method according to claim 8, wherein in the step A, in the process of obtaining the absolute coordinates of the sphere center, the connector jack (4) of the reflection target device is connected with a CPIII connecting rod, the CPIII connecting rod is inserted into the CPIII pre-embedding hole, the sphere center position is directly coincided with the CPIII virtual point position, and the CPIII virtual point position is used as the absolute coordinates of the sphere center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010484899.4A CN111595265A (en) | 2020-06-01 | 2020-06-01 | Reflection target device for three-dimensional laser scanner and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010484899.4A CN111595265A (en) | 2020-06-01 | 2020-06-01 | Reflection target device for three-dimensional laser scanner and use method thereof |
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| CN112815932A (en) * | 2021-01-07 | 2021-05-18 | 中铁二院工程集团有限责任公司 | Base checking method and checking method for centering base and control point |
| CN114440765A (en) * | 2021-12-31 | 2022-05-06 | 上海市机械施工集团有限公司 | Special-shaped component measuring and positioning device and method |
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Application publication date: 20200828 |
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