A size measuring device based on laser distance sensor

Abstract

The application discloses a size measuring device based on a laser distance sensor, comprising a laser range finder and a rotary table, the laser range finder is installed on the rotary table, the rotary table is provided with a vertical rotating shaft and a horizontal rotating shaft, and the vertical rotating shaft and the horizontal rotating shaft are perpendicular to each other, the rotary table is fixed on a triangular support, and the laser range finder and the rotary table are electrically connected with a controller, and a measuring method is also disclosed.The beneficial effects of the application are that the controller controls the rotary table and the laser range finder to measure according to steps, the measuring results of the controller are read after the parameter measurement is completed, and the 4G is used to upload the measuring results to a cloud server, so that manual tape measurement is replaced, the precision is ensured, and the efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of size measurement, in particular to a size measurement device based on a laser distance sensor. BACKGROUND

[0002] After the completion of house building construction, the builders need to measure the height and the distance of the open space of the house as the house acceptance data before delivery. At present, the measurement is mainly carried out by manual tape measurement, which is low in efficiency and poor in accuracy. Although some enterprises use laser range finders, manual operation cannot ensure the vertical measurement surface, and the error is large. SUMMARY

[0003] The purpose of the present application is to overcome the shortcomings of the prior art and provide a size measurement device based on a laser distance sensor.

[0004] The purpose of the present application is achieved by the following technical scheme: a size measurement device based on a laser distance sensor, comprising a laser range finder and a turntable, the laser range finder is installed on the turntable, the turntable is provided with a vertical rotation shaft and a horizontal rotation shaft, and the vertical rotation shaft and the horizontal rotation shaft are perpendicular to each other, the turntable is fixed on a triangular support, the laser range finder and the turntable are electrically connected with a controller, and the laser range finder is connected with the controller through a serial port.

[0005] The size measurement method based on the laser distance sensor comprises the size measurement device based on the laser distance sensor, and further comprises the following steps:

[0006] S1: the controller controls the turntable to carry the laser range finder to rotate horizontally for one revolution, and records all the laser distance values and the corresponding turntable angles , all , four minimum values in sequence and the corresponding are obtained, wherein is the horizontal rotation shaft angle, is the vertical rotation shaft angle;

[0007] S2: a space coordinate system is established with the laser range finder as the origin, the horizontal position of as the Y axis, the horizontal position perpendicular to as the X axis, and the vertical direction as the Z axis;

[0008] S3: the turntable carries the laser range finder to run horizontally to the position, then adjusts the vertical rotation shaft to run to the laser range finder vertically upward, and then rotates the vertical rotation shaft counterclockwise for one revolution around the Y axis, records all the laser distance values and the corresponding turntable angles ; four minimum values in sequence​ and the corresponding ;

[0009] S4: Calculate the intersections of the vertical lines at each of the four corners (distance D from the adjacent wall) with the roof and the ground, and calculate the intersection of the vertical line at the center of the house with the roof and the ground. ,in =1~10, where D is the horizontal distance from the measuring point at the corner of the roof to the wall, and D is greater than 1m;

[0010] S5: Calculate the coordinates of the center points of the four vertical walls respectively. ,in =11~14;

[0011] S6: Using the intersection points 1, 2, 3, 4, 9, 13, and 14 as centers, calculate the windows extending 1m outward on the corresponding planes, obtaining a total of 9 points for each group. ,in =1, 2, 3, 4, 9, 13, 14, =1~9;

[0012] S7: Move the horizontal rotating shaft (3) The position is defined as the zero point of horizontal rotation, and the angle of the counterclockwise rotation of the horizontal axis (3) around the Z-axis relative to the zero point of the horizontal axis (3) is defined as . , the vertical rotating shaft (2) The position is the zero point of vertical rotation, and the angle of the counterclockwise rotation of the vertical axis (2) around the Y-axis relative to the zero point of the vertical axis (2) is defined as . ,but

[0013] ;

[0014] S8: Pass Calculate the turntable rotation angle corresponding to each point. The control turntable completes all tasks sequentially. laser ranging of position And then according to and Calculate the coordinates of each set of points ;

[0015] S9: Utilize respectively The local plane equations of points 1, 2, 3, 4, 9, 13, and 14 were fitted using the least squares method of spatial points to obtain the... The plane equation of the wall where each point is located , The expression is Where i = 1, 2, 3, 4, 9, 13, 14, , , , These are the parameters of the spatial fitting plane;

[0016] S10: Pair the wall plane equation with the corresponding wall points, the pairing relationship is as follows: , , , , , , ;

[0017] S11: Calculate separately , , , , The perpendicular distance from a point to a plane is used to obtain D1, D2, D3, D4, and D5, where D1, D2, D3, and D4 are the floor heights at the four corners of the house, and D5 is the floor height at the center of the house.

[0018] S12: Calculate separately , The perpendicular distances from the point to the plane are D6 and D7, where D6 and D7 are the dimensions of the house span.

[0019] S13: After the parameters are measured, read the controller measurement results and upload them to the cloud server via 4G.

[0020] Preferably, step S1 further includes the following step:

[0021] S1.1:

[0022] ;

[0023] in, It is the difference between adjacent points in the sequence. The logical judgment value is positive or negative; a positive value is assigned 1, and a negative value is assigned -1. To find the array of indices that are equal to the given value, The index of the minimum value in array L;

[0024] S1.2: In the original In the sequence, query the laser distance value corresponding to the serial number {M}. and corresponding

[0025] of .

[0026] Preferably, step S3 further includes the following step:

[0027] S3.1:

[0028] ;

[0029] wherein, is the difference between adjacent points in the sequence, is the logical value of the positive or negative value, 1 for positive, -1 for negative, is the array of sequence numbers in the array that are equal to the value, is the sequence number of the minimum value in the array L;

[0030] S3.2: In the original , the laser distance value corresponding to the sequence number {M} is sequentially queried in order and the corresponding .

[0031] Preferably, in step S4,

[0032] ;

[0033] ;

[0034] ;

[0035] ;

[0036] ;

[0037] ;

[0038] ;

[0039] ;

[0040] ;

[0041] .

[0042] Preferably, in step S5,

[0043] ;

[0044] ;

[0045] ;

[0046] .

[0047] Preferably, in step S6, the following steps are further included:

[0048] S6.1: For the roof surface 1, 2, 3, 4, 9 points, respectively, calculate 9 extended points , i = 1, 2, 3, 4, 9,

[0049] ;

[0050] S6.2: For the vertical wall surface 13, 14 points, respectively, calculate 9 extended points , i = 13, 14,

[0051] .

[0052] Preferably, in step S8, the calculation formula of the rotation angle of the turntable is

[0053] ;

[0054] ;

[0055] The calculation formula of the coordinates of each group of points is

[0056] .

[0057] Preferably, in step S9, : , wherein = 1, 2, 3, 4, 9, , , , are the plane fitting parameters of the space, respectively.

[0058] Preferably, in step S11, the calculation formula of D1, D2, D3, D4, D5 is:

[0059] ;

[0060] ;

[0061] ;

[0062] ;

[0063] ;

[0064] Wherein, D1, D2, D3, D4 are the layer heights of the four corners of the house, and D5 is the layer height of the center of the house.

[0065] Preferably, in step S12, the calculation formula of D6 and D7 is:

[0066] ;

[0067] ;

[0068] Wherein D6 and D7 are the size of the house bay.

[0069] The application has the following advantages: the application controls the turntable and the laser range finder to measure step by step through the controller, reads the measurement results of the controller after the parameter measurement is completed, and uploads to the cloud server through 4G, thereby replacing manual tape measurement, ensuring the accuracy, and improving the efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0070] Figure 1 It is a structural schematic diagram of the measuring device;

[0071] Figure 2 It is a structural schematic diagram of the measuring device; It is a structural schematic diagram of the position relationship in the coordinate system;

[0072] Figure 3 It is a structural schematic diagram of the position relationship in the coordinate system; It is a structural schematic diagram of the position relationship in the coordinate system;

[0073] Figure 4 It is a structural schematic diagram of the position relationship in the coordinate system; , , It is a structural schematic diagram in the OXYZ space coordinate system;

[0074] Figure 5 It is a structural schematic diagram of the position relationship of each intersection point in step S5;

[0075] Figure 6 It is a structural schematic diagram of the position relationship of each intersection point in step S6;

[0076] Figure 7 It is a structural schematic diagram of the position relationship of D1, D2, D3, D4, and D5;

[0077] Figure 8 It is a structural schematic diagram of the position relationship of D6 and D7;

[0078] In the figure, 1 is a laser range finder, 2 is a vertical rotating shaft, and 3 is a horizontal rotating shaft. DETAILED DESCRIPTION

[0079] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Generally, the components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0080] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0081] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0082] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0083] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the present application is used, or the orientation or positional relationship commonly understood by those skilled in the art, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0084] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0085] In the present embodiment, as shown in Figure 1As shown, a size measuring device based on laser distance sensor includes a laser range finder 1 and a rotary table, the laser range finder 1 is installed on the rotary table, the rotary table is provided with a vertical rotation shaft 2 and a horizontal rotation shaft 3, and the vertical rotation shaft 2 and the horizontal rotation shaft 3 are perpendicular to each other, the rotary table is fixed on a triangular support, and the laser range finder 1 and the rotary table are electrically connected with a controller. Further, the laser range finder 1 is connected with the controller through a serial port. The controller controls the rotary table and the laser range finder 1 to measure step by step, after the parameter measurement is completed, the measurement results of the controller are read and uploaded to a cloud server through 4G, thereby replacing manual tape measurement, ensuring accuracy, and improving efficiency.

[0086] In the embodiment, as shown, Figures 2-8 a size measuring method based on laser distance sensor includes the above-mentioned size measuring device based on laser distance sensor, characterized in that it further includes the following steps:

[0087] S1: the controller controls the rotary table to carry the laser range finder 1 to rotate horizontally for one revolution, records all laser distance values and corresponding rotary table angles , traverses all , obtains four minimum extreme values and corresponding , wherein is a horizontal rotation shaft angle, is a vertical rotation shaft angle;

[0088] S2: a space coordinate system is established with the laser range finder 1 as the origin, the horizontal position where is located as the Y axis, the horizontal position perpendicular to as the X axis, and the vertical direction as the Z axis; specifically, the vertical four-wall plane equations are respectively:

[0089]

[0090]

[0091]

[0092]

[0093] S3: the rotary table carries the laser range finder 1 to run horizontally to position, i.e. XOZ plane, then adjusts the vertical rotation shaft 2 to run to the laser range finder 1 vertically upward, and then rotates the vertical rotation shaft 2 counterclockwise around the Y axis for one revolution, records all laser distance values and corresponding rotary table angles ; obtains four minimum extreme values and corresponding Specifically, the roof and ground plane equations are respectively:

[0094]

[0095]

[0096] S4: Calculate the intersection points of the vertical line at each of the four corners of the house with the roof and ground at each of the D points on the adjacent wall, and calculate the intersection points of the vertical line at the center of the house with the roof and ground , wherein =1~10, D is the horizontal distance of the measurement point at the corner of the house from the wall, and D is greater than 1m; preferably, D is 2m.

[0097] S5: Calculate the coordinates of the center points of the four vertical walls respectively , wherein =11~14;

[0098] S6: Calculate the outward extension of 1m windows on the corresponding planes respectively with 1, 2, 3, 4, 9, 13, and 14 as the center points, and obtain a total of 9 points for each group , wherein =1, 2, 3, 4, 9, 13, and 14, =1~9;

[0099] S7: Set the position of the horizontal rotation shaft 3 as the horizontal rotation zero point, and define the counterclockwise rotation of the horizontal rotation shaft 3 around the Z axis relative to the zero point angle of the horizontal rotation shaft 3 as , and set the position of the vertical rotation shaft 2 as the vertical rotation zero point, and define the counterclockwise rotation of the vertical rotation shaft 2 around the Y axis relative to the zero point angle of the vertical rotation shaft 2 as , then

[0100] ;

[0101] S8: Calculate the corresponding rotation angle of the turntable for each point respectively , control the turntable to complete laser ranging at all positions in turn , and then calculate the coordinates of each group of points according to and ; ;

[0102] S9: Use to fit the local plane equation of points 1, 2, 3, 4, 9, 13, and 14 using the method of least squares fitting of spatial points to obtain the plane equation of the wall on which the first point is located , ​The expression of the wall surface plane equation is , wherein i=1, 2, 3, 4, 9, 13, 14, , , , respectively.

[0103] S10: Pair the wall surface plane equation and the corresponding wall surface points, and the pairing relationship is , , , , , , ;

[0104] S11: Calculate the vertical distance from the points to the plane respectively , , , , , to obtain D1, D2, D3, D4, D5, wherein D1, D2, D3, D4 are the layer heights of the four corners of the house, and D5 is the center layer height of the house.

[0105] S12: Calculate the vertical distance from the points to the plane respectively , to obtain D6 and D7, wherein D6 and D7 are the open space sizes of the house.

[0106] S13: When the parameter measurement is completed, read the measurement results of the controller and upload them to the cloud server through 4G. In this embodiment, the space point least square method is the existing processing method, which will not be described here.

[0107] Further, in step S1, the following steps are further included:

[0108] S1.1:

[0109] ;

[0110] wherein, is the difference between adjacent points in the sequence, is a logical judgment value of positive and negative values, 1 is assigned when it is positive, and -1 is assigned when it is negative, is the sequence number array equal to the value in the array, is the minimum value sequence number in the array L; specifically, is the difference between adjacent points in the sequence, the latter point minus the former point, is the minimum value sequence number in the array L, and there are 4 of them, arranged from small to large.

[0111] S1.2: In the original In the original array, sequentially query the laser distance value corresponding to the serial number {M} and the corresponding .

[0112] Further, in step S3, the following steps are further included:

[0113] S3.1:

[0114] ;

[0115] wherein, is the difference between adjacent points in the sequence, is a logical value of positive or negative, 1 if positive, -1 if negative, is the serial number array in the array that is equal to the value, is the minimum serial number in the array L;

[0116] S3.2: In the original In the original array, sequentially query the laser distance value corresponding to the serial number {M} and the corresponding .

[0117] In this embodiment, in step S4,

[0118] ;

[0119] ;

[0120] ;

[0121] ;

[0122] ;

[0123] ;

[0124] ;

[0125] ;

[0126] ;

[0127] .

[0128] In this embodiment, in step S5,

[0129] ;

[0130] ;

[0131] ;

[0132] .

[0133] Further, in step S6, the following steps are included:

[0134] S6.1: For the roof surface, calculate 9 extension points for points 1, 2, 3, 4, 9 respectively , i = 1, 2, 3, 4, 9,

[0135] ;

[0136] S6.2: For the vertical wall surface, calculate 9 extension points for points 13, 14 respectively , i = 13, 14,

[0137] .

[0138] Further, in step S8, the calculation formula of the rotation angle of the turntable is

[0139] ;

[0140] ;

[0141] The calculation formula of the coordinates of each group of points is

[0142] .

[0143] In this embodiment, in step S9, : , where = 1, 2, 3, 4, 9, , , , are the plane fitting parameters respectively. Further, in step S11, the calculation formula of D1, D2, D3, D4, D5 is:

[0144] ;

[0145] ;

[0146] ;

[0147] ;

[0148] ;

[0149] Wherein, D1, D2, D3, D4 are the four corner layer height of the house, and D5 is the center layer height of the house.

[0150] Further, in step S12, the calculation formula of D6 and D7 is:

[0151] ;

[0152] ;

[0153] Wherein, D6 and D7 are the house bay size.

[0154] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can make modifications to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some of the technical features, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A size measuring device based on a laser distance sensor, characterized by: The application relates to a laser range finder (1) and a rotary table, the laser range finder (1) is installed on the rotary table, a vertical rotating shaft (2) and a horizontal rotating shaft (3) are arranged on the rotary table, the vertical rotating shaft (2) and the horizontal rotating shaft (3) are perpendicular to each other, the rotary table is fixed on a triangular support, the laser range finder (1) and the rotary table are electrically connected with a controller, and the laser range finder (1) is connected with the controller through a serial port. The size measurement method based on the laser distance sensor further comprises the following steps: S1: the controller controls the rotating table to carry the laser range finder (1) to rotate horizontally for one circle, and records all laser distance values and corresponding rotating table angle , traverses all , obtains four minimum extreme values in sequence and corresponding , wherein is horizontal rotating shaft angle, is vertical rotating shaft angle; S2: taking the laser range finder (1) as the origin, taking the horizontal position where the laser range finder (1) is located as the Y axis, and taking the vertical direction as the Z axis, a space coordinate system is established. S2: taking the laser range finder (1) as the origin, taking the horizontal position where the laser range finder (1) is located as the Y axis, and taking the vertical direction as the Z axis, a space coordinate system is established. S2: taking the laser range finder (1) as the origin, taking the horizontal position where the laser range finder (1) is located as S3: the rotating platform carries the laser range finder (1) to run horizontally to Position, adjust the vertical rotating shaft (2) to run vertically upwards, and then rotate the vertical rotating shaft (2) counterclockwise around the Y axis for one revolution to record all the laser distance values and the corresponding rotating platform angle ; find the four smallest extreme values in sequence and the corresponding ; S4: respectively calculate the intersection points of the vertical lines at each D of the four wall corners and the roof and ground, and calculate the intersection points of the vertical line at the center of the house and the roof and ground wherein =1~10, D is the horizontal distance of the measuring point at the corner of the house from the wall, D is greater than 1m; S5: Calculate the coordinates of the center points of the four vertical walls respectively wherein = 11-14; S6: Respectively, with 1, 2, 3, 4, 9, 13, 14 intersection points as the center, calculate the outward extension of 1m window in the corresponding plane, and get a total of 9 points in each group wherein = 1, 2, 3, 4, 9, 13, 14, = 1~9; S7: the position of the horizontal rotating shaft (3) is defined as the horizontal rotating zero point, and the horizontal rotating shaft (3) is defined as counterclockwise rotation around the Z axis, and the zero point angle of the horizontal rotating shaft (3) is S8: the position of the vertical rotating shaft (2) is defined as the vertical rotating zero point, and the vertical rotating shaft (2) is defined as counterclockwise rotation around the Y axis, and the zero point angle of the vertical rotating shaft (2) is then ； S8: Pass Calculate the turntable rotation angle corresponding to each point. The control turntable completes all tasks sequentially. laser ranging of position And then according to and Calculate the coordinates of each set of points ; S9: respectively using The local plane equation of points 1, 2, 3, 4, 9, 13, 14 is fitted by using the method of spatial point least squares to obtain the plane equation of the wall surface where the point is located , The expression of the plane equation is , wherein i = 1, 2, 3, 4, 9, 13, 14, , , , respectively the spatial fitting plane parameters;​ S10: pair the wall surface plane equation and the corresponding wall surface point, and the pairing relationship is 、 、 、 、 、 、 ; S11: calculate respectively , , , , The perpendicular distance from the point to the plane is obtained D1, D2, D3, D4, D5, wherein D1, D2, D3, D4 are the four corner layer heights of the house, and D5 is the center layer height of the house; S12: calculate respectively , The perpendicular distance from the point to the plane gets D6 and D7, wherein D6 and D7 are the house bay size; S13: reading the measurement results of the controller and uploading the measurement results to a cloud server through 4G when the parameter measurement is completed.

2. The laser distance sensor based size measurement device of claim 1, wherein: In the step S1, the following steps are further included: S1.1： ； wherein, is the difference between adjacent points in the sequence, is a logical value of positive or negative, 1 for positive, -1 for negative, is an array of sequence numbers in the array that are equal to the value, is the sequence number of the minimum value in the array L; S1.2: In the original Laser distance value corresponding to the serial number {M} is queried in sequence and the corresponding , In the step S3, the following steps are further included: S3.1： ； wherein, is the difference between adjacent points in the sequence, is a logical value of positive or negative, 1 for positive, -1 for negative, is an array of sequence numbers in which to find the value, is the sequence number of the minimum value in the array L; S3.2: In the original Laser distance value corresponding to serial number {M} is queried in sequence and the corresponding .

3. The laser distance sensor based size measurement device of claim 1, wherein: In the step S4, ； ； ； ； ； ； ； ； ； 。 4. The laser distance sensor based size measurement apparatus of claim 1, wherein: In the step S5, ； ； ； 。 5. The laser range sensor based size measurement device of claim 1, wherein: In the step S6, the following steps are further included: S6.1 : For the roof surface 1, 2, 3, 4, 9 points, respectively, calculate 9 extension points , i = 1, 2, 3, 4, 9, ； S6.2: For vertical wall 13, 14, calculate 9 extended points for points 9 , i = 13, 14, 。 6. The laser distance sensor based size measurement device of claim 1, wherein: In the step S8, the rotation angle of the turntable The calculation formula is ； ； Coordinates of the points of each group The formula for the calculation is 。 7. The laser range sensor based size measurement device of claim 1, wherein: In the step S11, the calculation formulas of D1, D2, D3, D4 and D5 are as follows: ； ； ； ； ； Wherein, D1, D2, D3 and D4 are the layer heights of four corners of the house, and D5 is the center layer height of the house.

8. The laser range sensor based size measurement device of claim 1, wherein: In the step S12, the calculation formulas of D6 and D7 are as follows: ； ； Wherein, D6 and D7 are the open space sizes of the house.

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