旋转二维激光雷达测量系统及其标定方法  

A rotating two-dimensional laser radar measurement system and the calibration method

作　　者：黄风山[1] 马帅[1] 薛泽 HUANG Feng-shan;MA Shuai;XUE Ze(College of Mechanical Engineering,Hebei University of Science ＆ Technology,Shijiazhuang 050018,Hebei China)

机构地区：[1]河北科技大学机械工程学院,河北石家庄050018

出　　处：《光电子．激光》2018年第9期987-995,共9页Journal of Optoelectronics·Laser

基　　金：国家自然科学基金(51075119);河北省自然科学基金(E2017208111);河北省重点基础研究(189618250)资助项目

摘　　要：为了实现利用单个二维激光雷达获得被扫描物体的三维信息,提出了一种旋转二维激光雷达三维扫描测量系统及其标定方法。确定了系统的组成和扫描测量原理,建立了系统的数学模型。针对现有激光雷达扫描测量系统参数标定方法不能线性求解的不足,提出了一种基于特定结构标定件的系统参数线性标定方法,分析了该标定方法的原理及步骤,并通过上述原理建立线性方程组实现了系统外参数的求解。组建了实验系统,制作了标定件和被测量件,利用标定后的激光雷达测量系统对被测量件进行扫描。实验结果表明,旋转二维激光雷达测量系统测量值和三坐标测量机对应测量值之间的最大差值为6.84mm,在二维激光雷达测量误差±30mm之内,完全满足实际测量精度要求。In order to capture three-dimensional （3D） geometric information of scanned object using a single two-dimensional （2D） laser radar, a 3D scanning measurement system based on the rotating 2D laser radar and its calibration method are proposed. The composition and the scanning measurement principle of the system are determined, and the mathematical model of the system is established. Aiming at the fact that the current laser radar scanning measurement systems＇ parameter calibration method is nonlinear, a linear system parameter calibration method based on calibration part with specific structure is proposed. An experimental system was set up, and the calibration part and the measured part were made. Experimental results show that the maximum difference between the part parameter value measured by the rotating 2D laser radar measurement system and the corresponding value measured by the three co- ordinate measuring machine is 6.84 mm, which is within the 2D laser radar measurement error of ± 30 mm,and can meet the requirements of actual measurement accuracy fully.

关 键 词：旋转二维激光雷达 三维扫描测量 系统标定 数学模型 标定件 

分 类 号：TP274.2[自动化与计算机技术—检测技术与自动化装置]