METHOD FOR ALIGNING A LASER SCANNER WITH RESPECT TO A ROADWAY

• US 20150177370A1
• Filed: 12/23/2014
• Published: 06/25/2015
• Est. Priority Date: 12/23/2013
• Status: Active Grant

• Current Assignee: Jenoptik Robot GmbH (Jenoptik AG)
• Original Assignee: Jenoptik Robot GmbH (Jenoptik AG)
• Inventors: LEHNING, Michael, TRUMMER, Michael, MICHAELSEN, Marcos, ORTNER, Marko
• Granted Patent: US 9,696,413 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G01S 7/51 Display arrangements

Abstract

A method for aligning a measuring device installed alongside a roadway at an unknown installation height, the measuring device including a laser scanner, a camera and a display. A camera image generated by the camera is inserted into the display and superimposed by a road model, formed from a multiplicity of straight lines running towards an intersection point. The measuring device is subsequently rotated and tilted, as a result of which the camera image is rotated and shifted on the display, until the images of the roadway margins and edges running parallel thereto are in alignment at the intersection point.

Claims

1. A method for aligning a measuring device installed alongside a roadway at an unknown installation height, the measuring device comprising a laser scanner, a camera fixedly assigned to the laser scanner, and a display, wherein the laser scanner defines a Cartesian rectangular scanner coordinate system having a scanning axis, a scanner longitudinal axis and a centre axis, wherein the camera defines a Cartesian rectangular camera coordinate system having a row axis, an optical axis, and a column axis, wherein the row axis is aligned parallel to the scanner longitudinal axis, the optical axis is aligned parallel to the centre axis, and the column axis is aligned in alignment with respect to the scanning axis, and wherein the measuring device is installed with respect to the roadway such that the scanner longitudinal axis lies in a plane substantially parallel to a roadway surface of the roadway, the method comprising:

visualizing a camera image from the camera on the display and projecting a road model having a plurality of straight lines running towards an intersection point onto the display, the intersection point coinciding with a natural vanishing point of images of a roadway margin of the roadway and edges parallel thereto if the measuring device is aligned with respect to the roadway such that the centre axis forms a predefined azimuth angle with the roadway margin and a predefined pitching angle with the roadway surface, the predefined pitching angle having a magnitude such that the centre axis impinges on the roadway surface;

inclining the measuring device about the scanning axis and the scanner longitudinal axis as a result of which the camera image rotates and shifts on the display, until the images of the roadway margin and edges parallel thereto are in alignment at the intersection point, as a result of which the centre axis forms the predefined azimuth angle with the roadway margin and the predefined pitching angle with the roadway surface;

emitting a laser beam via the laser scanner;

calculating a distance between an impingement point of the laser beam on the roadway surface and the measuring device via a pulse time-of-flight measurement;

calculating an installation height from the calculated distance and the predefined pitching angle;

selecting a previously ascertained dependent pitching angle assigned to the calculated installation height;

shifting the road model on the display, wherein the intersection point coincides with the natural vanishing point of the images of the roadway margin and of the edges parallel thereto if the measuring device is aligned with respect to the roadway such that the centre axis forms the predefined azimuth angle with the roadway margin and the dependent pitching angle with the roadway surface; and

inclining the measuring device about the scanner longitudinal axis, as a result of which the camera image shifts on the display until the images of the roadway margin and of the edges parallel thereto are in alignment at the intersection point, as a result of which the centre axis forms the predefined azimuth angle with the roadway margin and the dependent pitching angle with the roadway surface, as a result of which the measuring device is aligned.

2. A method for aligning a measuring device installed alongside a roadway at an unknown installation height, the method comprising:

visualizing a camera image from the camera on the display and projecting a road model having a plurality of straight lines running towards an intersection point onto the display, the intersection point coinciding with a natural vanishing point of images of a roadway margin of the roadway and edges parallel thereto if the measuring device is aligned with respect to the roadway such that a centre axis forms a predefined azimuth angle with the roadway margin and a predefined pitching angle with the roadway surface;

inclining the measuring device about the scanning axis and the scanner longitudinal axis as a result of which the camera image rotates and shifts on the display until the images of the roadway margin and edges parallel thereto are in alignment at an intersection point, as a result of which the centre axis forms the predefined azimuth angle with the roadway margin and the predefined pitching angle with the roadway surface;

emitting a laser beam via the laser scanner;

calculating a distance between an impingement point of the laser beam on the roadway surface and the measuring device via a pulse time-of-flight measurement;

calculating an installation height from the calculated distance and the predefined pitching angle;

selecting a previously ascertained dependent pitching angle assigned to the calculated installation height;

shifting the road model on the display, wherein the intersection point coincides with the natural vanishing point of the images of the roadway margin and of the edges parallel thereto if the measuring device is aligned with respect to the roadway such that the centre axis forms the predefined azimuth angle with the roadway margin and the dependent pitching angle with the roadway surface; and

inclining the measuring device about the scanner longitudinal axis, as a result of which the camera image shifts on the display until the images of the roadway margin and of the edges parallel thereto are in alignment at the intersection point, as a result of which the centre axis forms the predefined azimuth angle with the roadway margin and the dependent pitching angle with the roadway surface, as a result of which the measuring device is aligned.

3. The method according to claim 2, wherein the measuring device comprises:

a laser scanner;

a camera fixedly assigned to the laser scanner; and

a display,

wherein the laser scanner defines a Cartesian rectangular scanner coordinate system having a scanning axis, a scanner longitudinal axis and a centre axis,

wherein the camera defines a Cartesian rectangular camera coordinate system having a row axis, an optical axis, and a column axis,

4. The method according to claim 3, wherein the row axis is aligned parallel to the scanner longitudinal axis, the optical axis is aligned parallel to the centre axis, and the column axis is aligned in alignment with respect to the scanning axis.

5. The method according to claim 3, wherein the measuring device is installed with respect to the roadway such that the scanner longitudinal axis lies in a plane substantially parallel to a roadway surface of the roadway.

6. The method according to claim 2, wherein the predefined pitching angle has a magnitude such that the centre axis impinges on the roadway surface.