Support robots, calibration systems and lidar for real-time measurement

Abstract

The present invention discloses a support robot, calibration system and laser radar for actual measurement, wherein the support robot comprises a power module, a processor, a communication module, at least one angle table and a rotating table, wherein the power module is electrically connected to the processor, the communication module, the at least one angle table and the rotating table respectively, the angle table or the rotating table is used to fix a laser radar, the at least one angle table and the rotating table are arranged in a superimposed manner, the processor is used to receive a command signal from a host computer through the communication module; the processor is also used to control the at least one angle table and the rotating table according to the command signal; the laser radar uses the support robot to perform horizontal calibration or splicing image calibration. The present invention can support the laser radar, facilitate the adjustment of the attitude of the laser radar, and thus facilitate the calibration, correction and factory inspection of the laser radar.

Description

Technical Field

[0001] The invention relates to a supporting robot, a calibration system and a laser radar for actual measurement. Background Art

[0002] The so-called actual measurement refers to a method of using measuring tools to conduct on-site testing and measurement and truly reflect product quality data. According to relevant quality acceptance standards, the error of measurement control engineering quality data is within the range allowed by national housing construction standards.

[0003] The project development stages involved in actual measurement mainly include the main structure stage, masonry stage, plastering stage, equipment installation stage and fine decoration stage. The measurement scope includes concrete structure, masonry engineering, plastering engineering, waterproofing engineering, door and window engineering, painting engineering, fine decoration engineering, etc.

[0004] With the development of 5G technology, 3D technology has made great progress in the fields of autonomous driving, building information modeling, etc. Mechanical LiDAR, as its core hardware, needs to rely on precision devices such as rotary motors and IMU to meet the needs of all-round accurate modeling. Under the premise that the relative positions of each part are absolutely fixed, it is necessary to calibrate the coordinate system between different parts and realize coordinate normalization through algorithms, which requires the equipment to collect different posture data to achieve this.

[0005] The laser radar calibration, correction and detection are inconvenient in the prior art. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the defects of the inconvenient laser radar calibration, correction and detection in the prior art, and to provide a supporting robot, calibration system and laser radar for actual measurement that can support the laser radar and facilitate the adjustment of the posture of the laser radar, thereby facilitating the calibration, correction and factory inspection of the laser radar.

[0007] The present invention solves the above technical problems through the following technical solutions:

[0008] A support robot for actual measurement, characterized in that the support robot comprises a power module, a processor, a communication module, at least one angular position table and a rotating table, the power module is electrically connected to the processor, the communication module, the at least one angular position table and the rotating table respectively, the angular position table or the rotating table is used to fix a laser radar, the at least one angular position table and the rotating table are arranged in a superimposed manner,

[0009] The processor is used to receive a command signal from a host computer through a communication module;

[0010] The processor is also used to control the at least one angle table and the rotating table according to the command signal;

[0011] The laser radar uses the supporting robot to perform horizontal calibration or splicing image calibration.

[0012] Preferably, the angle platform comprises a base, a motor and a pitch platform, the motor is used to adjust the angle between the base and the pitch platform, the top surface of the pitch platform is a plane, the bottom surface of the pitch platform is a part of the side surface of a cylinder, and the top surface of the base matches the bottom surface of the pitch platform in shape.

[0013] The processor is used to control the motor according to the command signal to adjust the angle between the base and the pitch platform;

[0014] The processor is also used to receive motor encoder information, and control the motor to stop running when the encoder information meets the instruction signal.

[0015] Preferably, the angle platform includes at least one trigger, and when the angle between the pitch platform and the bottom surface is 45 degrees and -45 degrees, the trigger sends a trigger signal to the processor, and the processor stops the motor after receiving the trigger signal.

[0016] Preferably, the rotating platform comprises a motor.

[0017] The motor is used to control the motor according to the command signal to adjust the rotation angle of the rotating table surface;

[0018] The processor is also used to receive motor encoder information, and control the motor to stop running when the encoder information meets the instruction signal.

[0019] Preferably, the rotating table includes a trigger, and when the rotating table surface rotates from zero position to 360 or 180, the trigger sends a trigger signal to the processor, and the processor stops the motor after receiving the trigger signal.

[0020] Preferably, the support robot is used in a calibration system, and the calibration system further includes a host computer.

[0021] The supporting robot is used to support the laser radar to scan a plurality of optical platforms to obtain scanning data;

[0022] The processor is used to obtain the attitude data of the laser radar according to the attitude position of at least one angular position table and the rotating table and upload it to the host computer, wherein the attitude data includes heading angle, pitch angle and roll angle;

[0023] The laser radar is used to establish a three-dimensional model of the optical calibration platform according to the scanning data and the posture data;

[0024] The host computer is used to determine whether all the three-dimensional models are horizontal three-dimensional models, and if not, to generate compensation data according to the non-horizontal three-dimensional model, wherein the optical calibration platform corresponding to the non-horizontal three-dimensional model is the target platform;

[0025] The laser radar is used to perform calibration using the compensation data, and the calibrated laser radar re-acquires the three-dimensional model of the target platform as a horizontal three-dimensional model.

[0026] Preferably, the support robot is used in a calibration system, and the calibration system further includes a host computer.

[0027] The supporting robot is used to support the laser radar to scan a rectangular room to obtain a plurality of frames of three-dimensional data, wherein the rectangular room includes six walls for calibration;

[0028] The processor is used to obtain the attitude data of the laser radar according to the attitude position of at least one angle table and the rotating table and upload it to the host computer, wherein the attitude data includes heading angle, pitch angle and roll angle;

[0029] The laser radar is used to establish a three-dimensional model of the rectangular room according to the three-dimensional data of the plurality of frames and the posture data;

[0030] The host computer is used to obtain a difference value between the three-dimensional model and the standard data corresponding to the rectangular room, and generate compensation data according to the difference value;

[0031] The laser radar is used to perform calibration using the compensation data, and the difference between the calibrated three-dimensional model of the rectangular room obtained again by the calibrated laser radar and the standard data is less than a preset value.

[0032] Preferably, the laser radar includes an inertial measurement unit, and the inertial measurement unit is used to obtain the attitude information of the laser radar.

[0033] The host computer is used to compare the posture information obtained by several laser radars installed on the support robot with the posture data obtained by the support robot to obtain the calibration amount of the support robot;

[0034] The support robot is used to calibrate the installation of the at least one angle table and the rotation table using the calibration amount;

[0035] The laser radar is used to scan the calibration object with the support of the calibrated support robot to obtain scanning data;

[0036] The host computer is used to obtain the posture data transmitted by the supporting robot and the posture information transmitted by the laser radar during the laser radar scanning process. The host computer determines whether the posture information is accurate according to the posture data, and if not, obtains the difference value between the posture information and the posture data;

[0037] The laser radar is used to calibrate the inertial measurement unit using the difference value between the posture information and the posture data.

[0038] The present invention also provides a calibration system for actual measurement, which is characterized in that the calibration system includes the supporting robot as described above and a host computer.

[0039] The present invention also provides a laser radar, which is characterized in that the laser radar is calibrated using the calibration system as described above.

[0040] Based on the common sense in the art, the above-mentioned preferred conditions can be combined arbitrarily to obtain the preferred embodiments of the present invention.

[0041] The positive and progressive effects of the present invention are:

[0042] The present invention can support the laser radar and is convenient for adjusting the posture of the laser radar, thereby facilitating the calibration, correction and factory inspection of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the structure of the support robot according to Example 1 of the present invention.

[0044] Figure 2 Another structural schematic diagram of the support robot according to Example 1 of the present invention. DETAILED DESCRIPTION

[0045] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples. Example

[0046] See also Figure 1 , Figure 2 This embodiment provides a calibration system for actual measurement, and the calibration system includes a supporting robot 12 and a host computer.

[0047] The host computer described in this embodiment is a desktop computer.

[0048] The calibration system is used to calibrate the laser radar 11.

[0049] The support robot includes a power module, a processor, a communication module, two angular platforms 121 and a rotating platform 122 .

[0050] The power module is electrically connected to the processor, the communication module, the angle table 121 and the rotating table 122 respectively.

[0051] The processor is used to receive a command signal from a host computer through a communication module;

[0052] The processor is also used to control the angle table and the rotating table according to the command signal;

[0053] In this embodiment, the angle stage is used to adjust the pitch angle.

[0054] The two angle tables and the rotating table are arranged in a superimposed manner.

[0055] The laser radar is fixed on the angle platform or the rotating platform. In this embodiment, the laser radar is fixed on the angle platform.

[0056] The laser radar uses the supporting robot to perform horizontal calibration or splicing image calibration.

[0057] The two corner platforms include a first corner platform and a second corner platform.

[0058] The pitch angle of the first angle platform is perpendicular to the pitch angle of the second angle platform.

[0059] That is to say, the plane where the first angle platform adjusts the pitch angle is perpendicular to the plane where the second angle platform adjusts the pitch angle.

[0060] The first corner platform is superimposed on the second corner platform.

[0061] The two angle tables are both arranged on top of the rotating table, and the rotating table drives the laser radar to rotate by driving the two angle tables to rotate.

[0062] Specifically, the angle platform includes a base 1211 , a first motor and a pitch platform 1212 .

[0063] The processor is used to control the motor according to the command signal to adjust the angle between the base and the pitch platform, and the top surface of the pitch platform 1212 is a plane 1213. The plane is used to set up a laser radar or an angle platform.

[0064] The processor is also used to receive motor encoder information, and control the motor to stop running when the encoder information meets the instruction signal.

[0065] The bottom surface 1214 of the pitch platform is a portion of a cylindrical side surface, and the top surface of the base matches the shape of the bottom surface of the pitch platform.

[0066] The part of the side surface of the cylinder means that the bottom surface is not a complete cylinder, but a track of an arc extending in the longitudinal direction.

[0067] The top surface of the pitch platform is fixed to the base of the laser radar.

[0068] The angle platform includes at least one trigger. When the angle between the pitch platform and the bottom surface is 45 degrees or -45 degrees, the trigger sends a trigger signal to the processor. After receiving the trigger signal, the processor stops the first motor.

[0069] In this embodiment, the pitch angle of the pitch platform ranges from greater than -45 degrees to less than 45 degrees.

[0070] If a command to rotate the rotary table to 90 degrees is received from the host computer, the processor controls the motor by returning the encoder position information. When the encoder returns the 90-degree position information, the processor stops the motor.

[0071] If the processor receives a command to rotate the angular stage to 20 degrees, the processor controls the motor by returning the encoder position information. When the encoder returns the 20-degree position information, the processor stops the motor.

[0072] The corner position table also has a limit function. If the rotation angle is too large, the corner position table limit signal will be activated. After the MCU detects the limit signal, it will immediately control the motor to stop to ensure safety.

[0073] The communication module includes a wired communication module and a wireless communication module.

[0074] The rotating platform 122 includes a trigger and a second motor, and the second motor is used to adjust the rotation angle of the rotating platform surface 1221 .

[0075] The processor is also used to receive motor encoder information, and control the second motor to stop running when the encoder information meets the instruction signal.

[0076] When the rotating table surface 1221 rotates from zero position to 360 or 180, the trigger sends a trigger signal to the processor, and the processor stops the second motor after receiving the trigger signal.

[0077] Furthermore, the support robot can be used to achieve horizontal plane calibration of the laser radar, specifically:

[0078] The supporting robot is used to support the laser radar to scan a plurality of optical platforms to obtain scanning data;

[0079] The processor is used to obtain the attitude data of the laser radar according to the attitude positions of the angle table and the rotating table and upload it to the host computer, wherein the attitude data includes the heading angle, the pitch angle and the roll angle;

[0080] The laser radar is used to establish a three-dimensional model of the optical calibration platform according to the scanning data and the posture data;

[0081] The posture data is used to obtain a positive three-dimensional model. For example, a model obtained by a laser radar tilted at 45 degrees is also displayed as a tilted three-dimensional model when no posture data compensation is performed. A normal image can be obtained by compensating the posture data.

[0082] The host computer is used to determine whether all the three-dimensional models are horizontal three-dimensional models, and if not, to generate compensation data according to the non-horizontal three-dimensional model, wherein the optical calibration platform corresponding to the non-horizontal three-dimensional model is the target platform;

[0083] The laser radar is used to perform calibration using the compensation data, and the calibrated laser radar re-acquires the three-dimensional model of the target platform as a horizontal three-dimensional model.

[0084] Furthermore, the support robot can be used to achieve splicing calibration of the laser radar.

[0085] The supporting robot is used to support the laser radar to scan a rectangular room to obtain a plurality of frames of three-dimensional data, wherein the rectangular room includes six walls for calibration;

[0086] The processor is used to obtain the attitude data of the laser radar according to the attitude positions of the angle table and the rotating table and upload it to the host computer, wherein the attitude data includes the heading angle, the pitch angle and the roll angle;

[0087] The laser radar is used to establish a three-dimensional model of the rectangular room according to the three-dimensional data of the plurality of frames and the posture data;

[0088] The host computer is used to obtain a difference value between the three-dimensional model and the standard data corresponding to the rectangular room, and generate compensation data according to the difference value;

[0089] The laser radar is used to perform calibration using the compensation data, and the difference between the calibrated three-dimensional model of the rectangular room obtained again by the calibrated laser radar and the standard data is less than a preset value.

[0090] Specifically, the support robot can be used to achieve mutual calibration with the inertial measurement module of the laser radar.

[0091] The laser radar includes an inertial measurement unit, which is used to obtain the attitude information of the laser radar.

[0092] The host computer is used to compare the posture information obtained by several laser radars installed on the support robot with the posture data obtained by the support robot to obtain the calibration amount of the support robot;

[0093] The inertial measurement units of multiple lidars can be used to calibrate the support robot. For example, the inertial measurement module can be used to obtain the posture of the zero-position lidar installed on the support robot. It can be used to install the angle table and the rotating table at zero position to avoid errors in the installation between the angle table and the rotating table.

[0094] Similarly, multiple calibrations at other positions can make the support robot more accurate.

[0095] Further factory inspection can be carried out using accurate support robots.

[0096] The support robot is used to calibrate the installation of the angle table and the rotating table using the calibration amount;

[0097] The laser radar is used to scan the calibration object with the support of the calibrated support robot to obtain scanning data;

[0098] The host computer is used to obtain the posture data transmitted by the supporting robot and the posture information transmitted by the laser radar during the laser radar scanning process. The host computer determines whether the posture information is accurate according to the posture data, and if not, obtains the difference value between the posture information and the posture data;

[0099] The laser radar is used to calibrate the inertial measurement unit using the difference value between the posture information and the posture data.

[0100] This embodiment can play a supporting role for the laser radar, making it easy to adjust the posture of the laser radar, thereby facilitating the calibration, correction, and factory inspection of the laser radar. Example

[0101] This embodiment is basically the same as Embodiment 1, except that:

[0102] The number of the corner stage is 1.

[0103] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that these are only examples, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A support robot for actual measurement, characterized in that: The support robot includes a power module, a processor, a communication module, at least one angular positioning platform and a rotating platform. The power module is electrically connected to the processor, the communication module, the at least one angular positioning platform and the rotating platform respectively. The angular positioning platform or the rotating platform is used to fix a laser radar. The at least one angular positioning platform and the rotating platform are arranged in a superimposed manner. The processor is used to receive a command signal from a host computer through a communication module; The processor is also used to control the at least one angle table and the rotating table according to the command signal; The laser radar uses the supporting robot to perform horizontal calibration or splicing image calibration; Wherein, the support robot is used in a calibration system, and the calibration system also includes a host computer. The supporting robot is used to support the laser radar to scan a rectangular room to obtain a plurality of frames of three-dimensional data, wherein the rectangular room includes six walls for calibration; The processor is used to obtain the attitude data of the laser radar according to the attitude position of at least one angular position table and the rotating table and upload it to the host computer, wherein the attitude data includes heading angle, pitch angle and roll angle; The laser radar is used to establish a three-dimensional model of the rectangular room according to the three-dimensional data of the plurality of frames and the posture data; The host computer is used to obtain a difference value between the three-dimensional model and the standard data corresponding to the rectangular room, and generate compensation data according to the difference value; The laser radar is used to perform calibration using the compensation data, and the difference between the calibrated three-dimensional model of the rectangular room obtained by the laser radar after calibration and the standard data is less than a preset value; The laser radar also includes an inertial measurement unit, which is used to obtain the attitude information of the laser radar. The host computer is used to compare the posture information obtained by several laser radars installed on the support robot with the posture data obtained by the support robot to obtain the calibration amount of the support robot; The support robot is used to calibrate the installation of the at least one angle table and the rotation table using the calibration amount; The laser radar is used to scan the calibration object with the support of the calibrated support robot to obtain scanning data; The host computer is used to obtain the posture data transmitted by the supporting robot and the posture information transmitted by the laser radar during the laser radar scanning process. The host computer determines whether the posture information is accurate according to the posture data, and if not, obtains the difference value between the posture information and the posture data; The laser radar is used to calibrate the inertial measurement unit using the difference value between the posture information and the posture data.

2. The support robot according to claim 1, characterized in that: The angle platform includes a base, a motor and a pitch platform, wherein the motor is used to adjust the angle between the base and the pitch platform, the top surface of the pitch platform is a plane, the bottom surface of the pitch platform is a part of the side surface of a cylinder, and the top surface of the base matches the bottom surface of the pitch platform in shape. The processor is used to control the motor according to the command signal to adjust the angle between the base and the pitch platform; The processor is also used to receive motor encoder information, and control the motor to stop running when the encoder information meets the instruction signal.

3. The support robot according to claim 2, characterized in that: The angle platform includes at least one trigger. When the angle between the pitch platform and the base is 45 degrees or -45 degrees, the trigger sends a trigger signal to the processor. After receiving the trigger signal, the processor stops the motor.

4. The support robot according to claim 1, characterized in that: The rotating platform includes a motor, The motor is used to control the motor according to the command signal to adjust the rotation angle of the rotating table surface; The processor is also used to receive motor encoder information, and control the motor to stop running when the encoder information meets the instruction signal.

5. The support robot according to claim 4, characterized in that: The rotating table includes a trigger. When the rotating table surface rotates from zero position to 360 or 180, the trigger sends a trigger signal to the processor. After receiving the trigger signal, the processor stops the motor.

6. A calibration system for actual measurement, characterized in that: The calibration system comprises the support robot as described in any one of claims 1 to 5 and a host computer.

7. A laser radar, characterized in that: The laser radar is calibrated using the calibration system as described in claim 6.

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