CN113534097B - Optimization method suitable for rotation axis laser radar - Google Patents
Optimization method suitable for rotation axis laser radar Download PDFInfo
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- CN113534097B CN113534097B CN202110995505.6A CN202110995505A CN113534097B CN 113534097 B CN113534097 B CN 113534097B CN 202110995505 A CN202110995505 A CN 202110995505A CN 113534097 B CN113534097 B CN 113534097B
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- 238000005457 optimization Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000005484 gravity Effects 0.000 claims abstract description 15
- 238000012937 correction Methods 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 8
- 230000008602 contraction Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims 1
- 238000003384 imaging method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
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- 238000009434 installation Methods 0.000 description 1
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Classifications
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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
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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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides an optimization method suitable for a rotation axis laser radar. And scaling the angle data of the stepping motor corresponding to the laser radar point cloud frame according to the trend parameter to correct the angle data of the stepping motor, calculating the point cloud frame correction pose, and optimizing the point cloud frame correction pose to obtain the point cloud frame optimization pose. The method can effectively solve the problem of distortion of the scanning point cloud caused by moment disturbance caused by the gravity from the laser radar when the external rotating shaft works, and improves the quality and the precision of the drawing.
Description
Technical Field
The invention relates to the field of laser scanning, in particular to an optimization method suitable for a rotation axis laser radar.
Background
With the development of automation and three-dimensional laser scanning technology, the demands of the society for three-dimensional laser automation technology with large visual field, long distance and high resolution are becoming wider and wider. In order to overcome the resolution limitation caused by the limited laser scanning wire bundles of the traditional laser radar technology, a high-efficiency and reliable technical route in the laser radar three-dimensional scanning imaging field is formed for the externally added rotating shaft of the laser radar.
The technical means for increasing the external rotation axis is to rotate the laser radar in a mode of externally increasing the stepping motor controller, so that one degree of freedom of the laser radar is increased, the angle of view and resolution of the laser radar can be effectively increased, the efficiency and resolution of the laser radar in three-dimensional scanning are improved, and the application scene of the laser radar is enlarged.
The rotation axis laser radar brings the influence of moment of inertia to the motor shaft of the stepping motor connected with the rotation axis laser radar due to the influence of self gravity, increases moment disturbance and increases the source of point cloud distortion. The point cloud distortion with increased moment disturbance refers to the phenomenon of distortion or fracture of point cloud imaging caused by the deviation of the position and the posture of a point cloud frame caused by the influence of gravity on the rotation angle and the speed of reaching a target angle when the laser radar rotates. The point cloud frame is a basic data frame output by the laser radar, and the point cloud imaging is formed by imaging according to the laser radar point cloud frame and the corresponding pose information.
The pose of the point cloud frame is obtained by the rotation axis laser radar device pose in the world coordinate system and the angle of the rotation of the laser radar driven by the stepping motor.
The result of the rotation axis laser radar scanning imaging is obtained by adopting the multi-point cloud frames in the scanning period for registration, accumulated errors are introduced in the frame-by-frame registration process of the point cloud frames, and compared with the accumulated errors of the traditional laser radar point cloud frames, the accumulated errors have more influence caused by moment disturbance.
Loop detection is an effective algorithm for eliminating accumulated errors, and is considered as a loop and optimizes pose when the same environment is repeatedly scanned, so that the scanning quality is improved by eliminating accumulated errors to a certain extent.
The research and application of the current optimization algorithm mainly utilizes point cloud data to perform optimization, and accumulated errors caused by torque disturbance of the rotating shaft laser radar have the characteristic of periodicity compared with accumulated errors of traditional radar scanning, so that the method is difficult to directly apply.
Disclosure of Invention
The invention is used for solving the imaging distortion problem caused by moment disturbance of the rotation axis laser radar due to gravity. Aiming at the source of distortion, the invention creatively provides an optimization method suitable for the rotation axis laser radar, and the self-adaptive scaling and optimization are carried out on the pose corresponding to the point cloud frame according to the trend parameters. One short plate of the rotation axis laser radar is effectively filled, the applicability and the scanning precision of the rotation axis radar are improved, and the distortion in the three-dimensional imaging of the point cloud and the construction of the point cloud map is reduced.
The technical scheme of the invention is that the optimizing method suitable for the rotation axis laser radar comprises the following steps:
s1, the rotation axis laser radar drives the laser radar to rotate and scan by using a stepping motor to obtain environment scanning data, wherein the environment scanning data comprise a laser radar point cloud frame, a stepping motor angle and a stepping motor pose.
S2, calculating the pose of the laser radar point cloud frame according to the pose of the stepping motor, the angle of the stepping motor and the fixed position of the laser radar, and calculating the moment disturbance suffered by a motor shaft of the stepping motor by combining the gravity and the gravity center position suffered by the laser radar.
S3, setting trend parameters according to the moment disturbance and the angle of the stepping motor, wherein the numerical value of the set trend parameters is in linear correlation with the numerical value of the moment disturbance, and the sign of the set trend parameters corresponds to the change direction of the numerical value of the moment disturbance.
And S4, correcting the angle of the stepping motor according to the trend parameter, and calculating the laser radar point cloud frame correction pose according to the pose of the stepping motor, the corrected angle of the stepping motor and the fixed position of the laser radar. And finally, optimizing the point cloud frame correction pose according to a loop detection algorithm to obtain the point cloud frame optimization pose.
The rotary shaft laser radar device is connected with the laser radar through a motor shaft of a stepping motor, and the axial direction of the motor shaft is perpendicular to the internal rotation axis of the laser radar.
The stepping motor is fixedly connected with the inertial navigation element.
And the position and the posture of the stepper motor are calculated by inertial navigation element data, and the laser radar point cloud frame, the angle of the stepper motor and the position and the posture of the stepper motor are aligned in time.
The step S3 comprises the following steps:
and aligning the point cloud frame, the stepping motor angle and the calculated moment disturbance time at the moment through a computing unit, and setting the numerical value of the trend parameter according to the numerical value of the moment disturbance. And setting the sign of the trend parameter according to the increment pair of the moment disturbance at the next moment and the moment, wherein the increment is positive sign of the regular trend parameter, and the increment is negative sign of the trend parameter.
The step S4 comprises the following steps:
specifically, the contraction optimization is performed on the stepping motor angle corresponding to the point cloud frame with the positive trend parameter sign, and the stretching optimization is performed on the stepping motor angle corresponding to the point cloud frame with the negative trend parameter sign. The coefficient of extension and contraction is linearly related to the product of the torque disturbance value and the rotation speed of the stepping motor.
Compared with the prior art, the invention has the beneficial effects that:
according to the method, moment disturbance and rotating speed are obtained through the stepping motor, dynamic trend parameters are set, the stepping motor angle corresponding to the laser radar point cloud frame is adaptively scaled according to the trend parameters to correct the position and the posture of the point cloud frame, and finally, the corrected position and posture corresponding to the laser radar point cloud frame are optimized through a loop detection algorithm, so that the distortion of a three-dimensional scanning map of the rotating shaft laser radar can be effectively optimized, and the quality of three-dimensional scanning and image building of the rotating shaft laser radar is improved.
Drawings
Fig. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic diagram of the operation of the spin laser radar.
FIG. 3 is a schematic diagram of calibration and loop-back detection optimization.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the accompanying drawings.
In order to optimize the scanning point cloud distortion caused by torque disturbance of the rotation axis laser radar when the external rotation axis rotates, the invention provides an optimization method suitable for the rotation axis laser radar, which is implemented as follows:
in this embodiment, a hand-held spin laser radar is used, and as shown in fig. 2, 5 scanning tests are performed, and the scanning object is three spheres suspended in a long through corridor, and the diameters of the spheres are 18cm,15cm and 23cm respectively.
The scanning mode adopts three reciprocating motions of the rotation axis laser radar around the sphere up and down, front and back and left and right so as to scan the shape of the whole sphere.
The laser radar in the rotating shaft laser radar is connected with the laser radar through a motor shaft of a stepping motor, the axial direction of the motor shaft is perpendicular to the inner axis of the laser radar, and the stepping motor is fixedly connected with the inertial navigation element. In this embodiment, the laser radar mounted on the spin axis laser radar is pre-calibrated before being mounted, and the center of the laser radar coincides with the center of gravity of the laser radar. The center of gravity of the stepper motor is on the straight line where the motor shaft of the stepper motor is.
The flow of the optimization method of the invention is shown in figure 1.
The first step, the laser radar is driven by a stepping motor to rotationally scan the geometric information of a standard sphere, so as to obtain a laser radar point cloud frame, the angle omega of the stepping motor at the current moment and the pose T of the stepping motor r . Wherein the position and the posture of the stepping motor are calculated by inertial navigation element data and are obtained by converting the spatial positions of the inertial navigation element and the gravity center of the stepping motor by using a transfer matrix T r And (3) representing.
Second, firstly, according to the position and posture T of the stepping motor r The rotation component in (a) calculates the attitude angle of the stepping motorSecondly, according to the angle omega of the stepping motor and the attitude angle of the stepping motor at the current moment +.>Calculating attitude angle in laser radar point cloud frame pose>Wherein pitch angle θ '=θ, roll angle φ' =φ+ω - π/2, yaw angle +.>Pose T of stepping motor r Intermediate translation component t r The representation transformed into world coordinate system is (x r ,y r ,z r ) And calculates a representation (x) of the translational component of the point cloud frame pose in the world coordinate system p ,y p ,z p ) Wherein x is p ＝x r +x 0 ，y p ＝y r +hcos(ω-π/2)，z p ＝z r +hsin (omega-pi/2), where x 0 And h is the distance between the center of gravity of the laser radar and the axis of the motor shaft of the stepping motor.
Finally, calculating the pose of the point cloud frame and using a transfer matrix T p Representation, wherein T p By calculating the rotational component of (2)The translational component is obtained by calculating (x p ,y p ,z p ) Obtained.
In this embodiment, according to the installation mode, both the rotation axis laser radar device and the laser radar device mounted on the front end in the initial state are level with the ground, and as shown in fig. 2, the stepping motor angle in this state is ω=pi/2, and the point cloud frame attitude angle is (0, 0).
Then according to the gravity G born by the laser radar, the attitude angle of the laser radar point cloud frameAnd calculating the moment disturbance F of the motor shaft of the stepper motor by the distance h between the center of gravity of the laser radar and the axis of the motor shaft of the stepper motor g ＝Gcos(φ')h。
Third, according to the value |F of torque disturbance g Numerical value δ=σ|f of|setting trend parameter g |。
The sign of the trend parameter is set according to the increment of the moment disturbance at the next moment and the current moment, the increment is regular, the positive sign delta x (+1) is given to the trend parameter, the negative sign delta x (-1) is given to the trend parameter when the increment is negative, and sigma is an empirical coefficient, and the numerical value is 0.01 in the embodiment.
And fourthly, correcting the pose of the point cloud frame according to the trend parameters, and then optimizing the corrected pose according to a loop detection algorithm.
In the spin laser radar, each pose error is mainly caused by moment disturbance and is far greater than a normal registration error. Correcting the pose of the point cloud frame mainly corrects the component of the point cloud frame, namely the stepping motor angle omega corresponding to the point cloud frame. The specific method comprises the following steps: and (3) performing shrinkage optimization on the angle omega of the stepping motor corresponding to the point cloud frame with the trend parameter sign being positive, namely delta being more than 0, namely:and (3) stretching and optimizing the angle omega of the stepping motor corresponding to the point cloud frame with the trend parameter sign of minus, namely delta < 0, namely: />The coefficient of stretching and shrinking λ and the value of the trend parameter δ=σ|f g The product of i and the rotational speed v of the stepper motor is linearly related, i.e. λ=v·δ. Finally, the attitude angle of the corrected point cloud frame is obtained>And obtain the point cloud frame correction pose T' p Wherein->T' p For transfer matrices, in which the rotation component is calculated +.>The translational component is obtained by calculating (x p ,y' p ,z' p ) Obtained by->
When the method is optimized, a loop detection algorithm is adopted firstly, and the loop detection algorithm is an algorithm which can enable the position and the orientation of the point cloud frames in the loop to be corrected so as to eliminate accumulated errors when the three-dimensional scanning judges that the scene scanned before is scanned, and the deviation representing the position and orientation of the point cloud frames in the same scene is obtained and the loop is established. As shown in FIG. 3, if the numbers are the same, representing the same scene, a loop is formed, and then the pose of each point cloud frame in the loop is optimized to obtain the optimized pose T' of the point cloud frame " p 。
And optimizing the pose according to the point Yun Zhen to obtain high-quality three-dimensional point cloud information of the scanning environment through a point cloud registration algorithm.
The diameter error of the three-dimensional sphere model reconstructed before and after the optimization method provided by the invention is reduced by 78.3 percent on average. The point cloud distortion caused by moment disturbance caused by the laser radar gravity during operation of the external rotating shaft is effectively optimized.
The above is only one embodiment of the application scenario of the present invention, and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (5)
1. The optimizing method suitable for the rotation axis laser radar is applied to rotation axis laser radar equipment, and the rotation axis laser radar equipment is connected with the laser radar through a motor shaft of a stepping motor, and is characterized by comprising the following steps:
s1, driving the laser radar to rotate and scan by using a stepping motor to obtain environment scanning data, wherein the environment scanning data comprises a laser radar point cloud frame, a stepping motor angle and a stepping motor pose;
s2, calculating the pose of a laser radar point cloud frame according to the pose of the stepper motor, the angle of the stepper motor and the fixed position of the laser radar, and calculating moment disturbance suffered by a motor shaft of the stepper motor by combining the gravity and the gravity center position suffered by the laser radar;
s3, setting trend parameters according to the moment disturbance and the angle of the stepping motor, wherein the numerical value of the set trend parameters is in linear correlation with the numerical value of the moment disturbance, and the sign of the set trend parameters corresponds to the change direction of the numerical value of the moment disturbance; the calculation formula of the trend parameter value is delta=sigma|F g I, wherein i F g The I is the numerical value of moment disturbance, and the sigma is an empirical coefficient;
and S4, correcting the angle of the stepping motor according to the trend parameter, and calculating to obtain the laser radar point cloud frame correction pose according to the pose of the stepping motor, the corrected angle of the stepping motor and the fixed position of the laser radar, and finally optimizing the point cloud frame correction pose according to the loop detection algorithm to obtain the point cloud frame optimization pose.
2. The optimization method for spin laser radar according to claim 1, wherein,
the axial direction of the motor shaft of the stepping motor is perpendicular to the rotating axis in the laser radar, and the stepping motor is fixedly connected with the inertial navigation element.
3. The optimization method for spin lidar according to claim 1, wherein the stepper motor pose in step S1 is calculated from inertial navigation component data, and the lidar point cloud frame, stepper motor angle, and stepper motor pose are aligned in time.
4. The optimization method for spin lidar according to claim 1, wherein S3 comprises:
aligning the point cloud frame, the stepping motor angle and the moment disturbance time at the moment through a computing unit, and setting the numerical value of a trend parameter according to the numerical value of the moment disturbance; and setting the sign of the trend parameter according to the increment of the moment disturbance at the next moment and the current moment, wherein the increment is regular and is provided with a positive sign, and the increment is negative and is provided with a negative sign.
5. The optimization method for spin lidar according to claim 1, wherein S4 comprises:
performing shrinkage optimization on the stepping motor angle corresponding to the point cloud frame with the positive trend parameter sign, and performing stretching optimization on the stepping motor angle corresponding to the point cloud frame with the negative trend parameter sign; the coefficient of extension and contraction is linearly related to the product of the torque disturbance value and the rotation speed of the stepping motor.
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