基于单线激光雷达的嵌入式测量系统设计

Design of Embedded Measurement System Based on Single Line Lidar

摘要:

为提高建筑尺寸测量精度和平面图绘制及三维模型构建速度,提出一种基于单线激光雷达的扫描测量系统设计方案。通过嵌入式系统的开发,打造一款现场快速扫描测量系统；利用最小二乘法和四元数法将扫描点云数据进行矫正和补齐,实现建筑内部空间简易、高精度、高效率的尺寸测量和平面图绘制。最后对测量系统性能进行测试和分析,表明系统有着较高的精度和较快的平面绘制速度。在雷达测量半径范围内定点测量单向误差为22.2mm,手持测量系统测量时的单向误差不超过23.9mm,经倾角矫正后与实际尺寸误差不超过18.2mm；系统通过横、纵切环扫描即可快速获取门、窗、梁、柱的尺寸、位置等多重信息,在测量弧形、多边形等非矩形空间时有着良好的平面图绘制效果和较高的测量精度,能有效提升建筑空间尺寸的测量和平面图绘制效率。

Abstract:

In order to improve the accuracy of building dimensional measurement and the speed of floor plan drawing and 3D model construction, a design scheme of scanning measurement system based on single-line LiDAR is proposed. Through the development of the embedded system, a fast scanning measurement system is built on site; the scanning point cloud data are corrected and complemented by using the least squares and quaternion method to realize easy, high-precision, and high-efficiency dimensional measurements and floor plan drawings of the interior space of the building. Finally, the performance of the measurement system is tested and analyzed, which shows that the system has high accuracy and fast plan drawing speed. The unidirectional error of fixed-point measurement within the radius of radar measurement is 22.2mm, and the unidirectional error of hand-held measurement system is no more than 23.9mm, and the error with the actual size after tilt angle correction is no more than 18.2mm; the system can quickly obtain the dimensions and positions of the doors, windows, beams, columns and other information by scanning through the transverse and longitudinal cutting rings, and it has a good effect and high efficiency of drawing the floor plan in measuring the curved shape, polygon-shaped and other non-rectangular spaces. When measuring non-rectangular spaces such as arcs and polygons, it has a good effect of plan drawing and high measuring accuracy, which can effectively improve the efficiency of measuring and plan drawing of architectural space dimensions.