CN-121994171-A - Vehicle-mounted flatness detection device based on laser radar and application method

CN121994171ACN 121994171 ACN121994171 ACN 121994171ACN-121994171-A

Abstract

The invention discloses a vehicle-mounted flatness detection device based on a laser radar and a use method thereof, relates to the technical field of flatness detection, solves the problem that flatness detection in the prior art has high precision and high efficiency, realizes circumference detection by driving a rotary platform by a servo motor, the laser radar inclination angle is adjusted by matching with a steering engine, and the concentric circle type uniform coverage measurement can be carried out on the region to be detected by combining with a fixed stepping distance calculation mechanism, so that a detection blind area is avoided, and the omnibearing and high-precision positioning detection of the region to be detected is realized; the laser radar height data is obtained through the distance sensor, a difference calculation model of the theoretical distance and the actual distance is established by combining the inclination angle parameters, the actual measured point coordinates are accurately deduced, the accuracy of road surface point location data acquisition is further improved, and accurate data support is provided for flatness judgment.

Inventors

CHENG AN
Rao sixian
Luo Zhonglong
WANG JIA
LI DAIWEI
JIN RENCAI
HUANG JINKUN
GUAN YONGYING
NAN BO
SUN WENJING
ZHOU HU
Yu Sennan
ZHU MINGYANG

Assignees

中国十七冶集团有限公司

Dates

Publication Date: 20260508
Application Date: 20260122

Claims (9)

1. Vehicle-mounted flatness detection equipment based on laser radar, characterized by comprising: an equipment main body; a control member is installed in the equipment main body; the flatness detection assembly comprises a servo motor, a rotary platform, a middle rod, a laser radar platform, a laser radar and a steering engine, wherein the servo motor is fixedly arranged at the top of the equipment main body, the rotary platform is arranged at the upper end of the servo motor, the middle rod is arranged at the upper end of the rotary platform, the steering engine is arranged at the upper end of the middle rod, the laser radar platform is arranged in the steering engine, and the laser radar is arranged at the middle position of the laser radar platform; The flatness detection assembly returns to the initial posture through the servo motor and the steering engine, and controls the laser radar to carry out circumference detection on the area to be detected along with the rotation of the servo motor, calculates the change amount of the tilt angle of the steering engine control laser radar according to the fixed stepping distance after the first circle detection is completed, and outputs the associated change amount.
2. The laser radar-based vehicle-mounted flatness detection device of claim 1, wherein the flatness detection assembly controls the laser radar to follow the servo motor to rotate for circumferential detection of the area to be detected in the following specific manner: step one, acquiring the height h of the laser radar from the ground, synchronously acquiring an inclination angle theta associated with the laser radar, and confirming the horizontal distance between an actual measured point and the laser radar according to the theoretical distance and the actual measured distance associated with the laser radar; Step two, according to the confirmed horizontal distance between the actual measured point and the laser radar And determining coordinate data about the actual measured point by a difference between the theoretical measured distance and the actual measured distance; And thirdly, according to the coordinate data of the actual measured point, controlling the measuring direction of the laser radar to change along with the actual measured point in real time, using a concentric circle measuring method to enable r0 to be a fixed stepping distance of each circle of measured area, and outputting the associated variable quantity based on the fixed stepping distance.
3. The laser radar-based vehicle-mounted flatness detection apparatus according to claim 2, wherein in the first step, the specific way of determining the horizontal distance between the actual measured point and the laser radar is as follows: The method adopts the following steps: confirming a theoretical measured distance d associated with the laser radar, and directly acquiring an actual measured distance associated with the laser radar The method adopts the following steps: confirm d and And then adopts the following steps: Confirming the horizontal distance between the actual measured point and the laser radar 。
4. The laser radar-based vehicle-mounted flatness detection device of claim 3, wherein the coordinate data of the second step is calculated by: 。
5. the laser radar-based vehicle flatness detection apparatus of claim 4, wherein in the third step, the specific way to determine the fixed step distance r0 is: Determining a horizontal distance r between a theoretical measured point and the laser radar by adopting d×sin θ=r based on the determined theoretical measured distance d of the laser radar and the inclination angle θ of the associated laser radar; Adopts r- =R0, confirming the fixed step distance r0 associated with the measured region.
6. The laser radar-based vehicle-mounted flatness detection apparatus of claim 5, wherein in the third step, the specific calculation method of the variation amount based on the fixed step distance output is as follows: 。
7. the laser radar-based vehicle-mounted flatness detection device according to claim 2, wherein the flatness detection module controls the measuring direction of the laser radar to be changed along with the actual measured point after the output of the variation is completed, acquires a single set of image data, and performs noise removal on the single set of image data.
8. The laser radar-based vehicle-mounted flatness detection apparatus of claim 7, wherein the flatness detection assembly performs noise removal on the single image data by: Determining the size and standard deviation of a Gaussian kernel of the single-group image data, drawing out coordinates (x, y) of central points of the single-group image data as (0, 0), constructing a 3X 3 matrix, and marking coordinates of other eight points in the matrix as (-1, 1), (0, 1), (1, 1), (-1, 0), (-1, -1), (0, -1) and (1, -1) in sequence; according to a two-dimensional Gaussian function formula, calculating a weight value of each position (x, y) in the kernel; Normalizing all the weight values to obtain sum values ZH of the weight values of the nine points, sequentially confirming the occupation ratio of each weight value to the sum value ZH, and sequentially arranging the confirmed occupation ratios to generate an associated weight matrix; Calculating the Gaussian blur value associated with the single group of data, extracting the value Z i associated with the corresponding position in the original matrix, wherein i represents different positions, performing product processing on the value and the weight value at the same position, performing summation processing on the products associated with the nine groups of positions, and confirming to obtain the associated Gaussian blur value; Adding and summing the nine values to obtain a corresponding Gaussian blur value; And replacing the pixel value associated with the corresponding pixel point at the original position according to the Gaussian blur value calculated by the different pixel points, and generating a noise reduction image related to the current single-group image.
9. A method of using the laser radar-based vehicle-mounted flatness detection apparatus as claimed in any one of claims 1 to 8, comprising the steps of: step1, finishing engineering operation on the tested pavement, and moving the equipment to the area to be tested; step2, the upper computer controls the servo motor and the steering engine to return to the initial posture; step3, the laser radar rotates along with the servo motor to perform circumference detection on the area to be detected; Step4, calculating the change amount of the tilting angle of the steering engine control laser radar according to the fixed stepping distance after the first circle detection is completed; Step5, completing data collection and performing data processing of the actual measured point; step6, removing noise from the data; Step7, finishing flatness detection according to a preset flatness judgment standard.

Description

Vehicle-mounted flatness detection device based on laser radar and application method Technical Field The invention relates to the technical field of flatness detection, in particular to vehicle-mounted flatness detection equipment based on a laser radar and a using method thereof. Background At present, the problems of contradiction between precision and efficiency exist in the fields of road engineering, building construction and the like, high-precision equipment (such as a laser tracker and a three-coordinate measuring machine) is low in measurement speed, the requirements of large-area and on-line detection cannot be met, the absolute precision of high-efficiency equipment (such as an on-vehicle inertia profiler) is relatively low, and tiny local defects are difficult to find. Secondly, the contradiction between cost and popularity can realize that high-precision and high-efficiency tip equipment (such as a high-precision three-dimensional scanner) is extremely expensive, is difficult for medium and small enterprises to bear, and limits the popularization of technology. Therefore, the invention provides a vehicle-mounted flatness detection device for a laser radar and a using method thereof to solve the problems. Disclosure of Invention Aiming at the defects of the prior art, the invention provides vehicle-mounted flatness detection equipment based on a laser radar and a use method thereof, which solve the problem that flatness detection in the prior art has high precision and high efficiency. In order to achieve the purpose, the invention is realized by the following technical scheme that the vehicle-mounted flatness detection device based on the laser radar comprises: an equipment main body; a control member is installed in the equipment main body; the flatness detection assembly comprises a servo motor, a rotary platform, a middle rod, a laser radar platform, a laser radar and a steering engine, wherein the servo motor is fixedly arranged at the top of the equipment main body, the rotary platform is arranged at the upper end of the servo motor, the middle rod is arranged at the upper end of the rotary platform, the steering engine is arranged at the upper end of the middle rod, the laser radar platform is arranged in the steering engine, and the laser radar is arranged at the middle position of the laser radar platform; The flatness detection assembly returns to the initial posture through the servo motor and the steering engine, controls the laser radar to carry out circumference detection on the area to be detected along with the rotation of the servo motor, calculates the change amount of the tilt angle of the steering engine control laser radar according to the fixed stepping distance after the first circle detection is completed, and outputs the associated change amount; The flatness detection assembly controls the laser radar to follow the servo motor to rotate so as to carry out circumference detection on the area to be detected, and the specific mode is as follows: Step one, acquiring the height h of the laser radar from the ground, synchronously acquiring the inclination angle theta related to the laser radar, and adopting: confirming a theoretical measured distance d associated with the laser radar, and directly acquiring an actual measured distance associated with the laser radar The method adopts the following steps: confirm d and And then adopts the following steps: Confirming the horizontal distance between the actual measured point and the laser radar ; Step two, according to the confirmed horizontal distance between the actual measured point and the laser radarAnd determining coordinate data about the actual measured point by the difference between the theoretical measured distance and the actual measured distance, wherein the calculation mode is as follows: ; Step three, according to the coordinate data of the actual measured point, the measuring direction of the laser radar is controlled to change along with the actual measured point in real time, r0 is a fixed stepping distance of each circle of measured area by using a concentric circle measuring method, and the associated variable quantity is output based on the fixed stepping distance, and the specific mode is as follows: Determining a horizontal distance r between a theoretical measured point and the laser radar by adopting d×sin θ=r based on the determined theoretical measured distance d of the laser radar and the inclination angle θ of the associated laser radar; Adopts r- =R0, confirming the fixed step distance r0 associated with the measured region; 。 Preferably, after the flatness detection assembly completes the output of the variable quantity, the measurement direction of the laser radar is controlled to change along with the actual measured point, a single group of image data is obtained, and noise removal is performed on the single group of image data, and the specific mode is as follows: Determining the size and sta