CN112504174B - Three-dimensional laser scanning system and working method thereof - Google Patents
Three-dimensional laser scanning system and working method thereof Download PDFInfo
- Publication number
- CN112504174B CN112504174B CN202011237983.2A CN202011237983A CN112504174B CN 112504174 B CN112504174 B CN 112504174B CN 202011237983 A CN202011237983 A CN 202011237983A CN 112504174 B CN112504174 B CN 112504174B
- Authority
- CN
- China
- Prior art keywords
- measuring
- distance
- point
- dimensional laser
- measuring point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a three-dimensional laser scanning system, which comprises a rotatable measuring head of a three-dimensional laser scanner and a distance measuring module, wherein the distance measuring module comprises a distance measuring module, an angle increment adjusting module and a measuring point confirming module; the distance measuring module measures the distance between a measuring point and the rotatable measuring head of the three-dimensional laser scanner; the angle increment adjusting module calculates a new angle increment according to a preset algorithm according to a preset initial angle increment, a preset spatial resolution and a distance between a measuring point and the rotatable measuring head of the three-dimensional laser scanner; and the measuring point confirming module determines a new measuring point according to the new angle increment obtained by calculation and sends the new measuring point information to the ranging module. The angle increment is dynamically adjusted during scanning of the three-dimensional laser scanning system, so that the three-dimensional laser scanning system can be adaptively adjusted according to the complex condition of the surface of a measured object, key characteristics can be effectively avoided from being omitted due to improper initial angle increment setting, and the spatial resolution is improved.
Description
Technical Field
The invention relates to the field of laser measurement, in particular to a three-dimensional laser scanning system and a working method thereof.
Background
The three-dimensional laser scanning technology is an advanced full-automatic high-precision stereo scanning technology, also called as a real scene replication technology, is another survey and drawing technology innovation after a GPS space positioning technology, and enables a survey and drawing data acquisition method, service capability and level, a data processing method and the like to enter a new development stage. Due to the advantages of non-contact measurement, high efficiency, high precision and the like, the method is widely applied to goaf detection, digital cities, engineering construction and the like. The measurement accuracy of the three-dimensional laser scanner includes a distance resolution and a spatial resolution. The distance resolution refers to the accuracy degree of the distance between the rotatable measuring head of the three-dimensional laser scanner and the measuring point of the surface of the measured target; the spatial resolution mainly represents the fineness of the three-dimensional laser scanner for restoring the surface morphology of the measured target. The research for improving the range resolution has been widely conducted for different laser ranging methods, but the research for improving the spatial resolution has been rarely reported.
Traditional three-dimensional laser scanner adopts the scanning method of equal step angle usually, after measuring range to a measuring point on the measured object promptly, drive arrangement drives three-dimensional laser scanner and rotates fixed predetermined angle, carries out next measuring point range finding again. Appropriate angular increments require a compromise between measurement efficiency and spatial resolution. The preset angle increment is set too small, so that the measurement efficiency is lowered. In practical application, the surface of the measured object is uneven or has gaps. Therefore, the preset angle increment is too large, so that sampling loss, gap omission and other key features are easily caused, and the spatial resolution is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a three-dimensional laser scanning system with real-time angle increment adjustment and a working method thereof, so that the problems of low measurement efficiency or low spatial resolution caused by improper angle increment setting are solved.
In order to achieve the above object, the present invention provides a three-dimensional laser scanning system, which includes a three-dimensional laser scanner and a distance measuring module, wherein the distance measuring module includes a distance measuring module, an angle increment adjusting module and a measuring point confirming module; the distance measuring module is used for measuring the distance between a measuring point and the rotatable measuring head of the three-dimensional laser scanner; the angle increment adjusting module is used for calculating to obtain a new angle increment according to a preset algorithm according to the initial angle increment, a preset spatial resolution and the distance between the measuring point and the rotatable measuring head of the three-dimensional laser scanner; and the measuring point confirming module is used for determining a new measuring point according to the new angle increment obtained by calculation and sending the new measuring point information to the ranging module.
According to the three-dimensional laser scanning system, the angle increment of the rotatable measuring head during the scanning of the surface of the measured target is adjusted in real time, so that the spatial resolution can be adjusted in a self-adaptive manner according to the complex condition of the surface of the measured target, the missing of key features caused by improper setting of the angle increment can be effectively avoided, and the spatial resolution of the three-dimensional laser scanner is improved.
The further technical scheme is as follows: the preset algorithm is as follows:
l' (n-1) -l 1 Is less than or equal to A and is more than 0 and k theta' (n-1) < theta, theta' (n) ＝kθ' (n-1) ；(k≥1,n≥1,n∈N * )
L' (n-1) -l 1 Is less than or equal to A and k theta' (n-1) Theta 'when being more than or equal to theta' (n) ＝θ；(n≥1,n∈N * )
L' (n-1) -l 1 When > A, theta' (n) ＝f(A,θ,g(l))；(0＜θ' (n) ≤θ；n≥1,n∈N * )
The above-mentioned 1 Is the distance between the initial measuring point and the rotatable measuring head of the three-dimensional laser scanner;
l' (n-1) Is rotated by theta 'from an initial measurement point' (n-1) Obtaining the distance between the measuring point and the rotatable measuring head of the three-dimensional laser scanner;
l' (n) Is rotated by theta 'from an initial measurement point' (n) Obtaining the distance between the measuring point and the rotatable measuring head of the three-dimensional laser scanner;
a is a preset spatial resolution;
the theta is an initial angle increment;
theta' (n-1) The angle increment obtained by the (n-1) th calculation;
theta 'is' (n) The angle increment obtained by the nth calculation is obtained;
k is an adjusting coefficient;
the g (l) is a function of the distance between the measuring point and the three-dimensional laser scanner rotating measuring head.
The further technical scheme is as follows:
l' (n-1) -l 1 Greater than A, then
The above-mentioned 2 And the distance between a second measuring point obtained by rotating the initial angle increment theta on the basis of the initial measuring point and the rotatable measuring head of the three-dimensional laser scanner.
When the surface of the measured object has complex characteristics such as unevenness, the distance between the measuring point and the rotatable measuring head of the three-dimensional laser scanner changes greatly. The angle increment calculation method can ensure that the angle increment and the spatial resolution can be adaptively adjusted according to the complex condition of the surface of the measured target, the more complex the surface is, the smaller the angle enhancement is, and the higher the spatial resolution is, thereby effectively improving the spatial resolution of the complex surface of the measured target in the scanning process of the three-dimensional laser scanner.
The further technical scheme is as follows: k is a variable, and the calculation method is as follows:
when x < b, k is 1;
when x is larger than or equal to b,
x is continuously present l' (n+1) -l' (n) The frequency is less than or equal to A;
b is a preset continuous occurrence l' (n+1) -l' (n) Critical times less than or equal to A;
the a is a constant.
When scanning a surface with a complex shape, the angular increment is adjusted to be maintained at a small value. When the surface of the measured object tends to be flat, the small angle increment is still maintained, the spatial resolution is not obviously improved, but the calculated amount is increased, and the measuring efficiency is reduced. The variable k is arranged, so that when the surface of a measured object tends to be gentle, the variable k can be gradually increased, the increment of the adjustment angle is increased, and the measurement efficiency is improved. The angle increment will not increase infinitely and can be increased to the maximum to the initial angle increment.
The further technical scheme is as follows: the measuring point confirming module is used for determining a new measuring point according to the new angle increment obtained by calculation and sending new measuring point information to the ranging module, and comprises the following steps:
when theta' (n) ＝kθ' (n-1) Is or theta' (n) When theta is equal to theta, a new measuring point is not needed to be added between the initial measuring point and the current measuring point, and the measuring point is rotated by theta 'on the basis of the current measuring point' (n) Obtaining a new measuring point;
when theta' (n) If f (a, θ, g (l)), a new measurement point is needed between the initial measurement point and the current measurement point, and the measurement point is rotated by θ' (n) A new measurement point is obtained.
The further technical scheme is as follows: the distance measuring module is used for measuring the distance between a measuring point and the three-dimensional laser scanner rotatable measuring head, and comprises an initial measuring point, a second measuring point and a distance between a new measuring point and the three-dimensional laser scanner rotatable measuring head, wherein the distance is determined according to a new angle increment obtained through calculation.
The invention also provides a working method of the three-dimensional laser scanning system, which comprises the following steps:
s1, distributing and measuring a scanning station and distributing and measuring a target;
s2, three-dimensional laser scanning is carried out, and distance measurement is carried out;
s3, point cloud data and texture data are obtained;
s4, preprocessing data;
s5, splicing and matching data;
and S6, three-dimensional modeling.
The further technical scheme is as follows: the work flow of step S2 includes:
s21, the distance measuring module measures the distance between the initial measuring point and the distance between the second measuring point and the rotatable measuring head of the three-dimensional laser scanner; the second measuring point is a measuring point obtained by rotating the initial angle increment theta by taking the initial measuring point as an original point;
s22, calculating by an angle increment adjusting module according to the distance between the initial measuring point and the second measuring point and the rotatable measuring head of the three-dimensional laser scanner, the initial angle increment and the preset spatial resolution according to a preset algorithm to obtain a new angle increment;
s23, the measuring point confirming module judges the position of the new measuring point according to the new angle increment and transmits the position of the new measuring point to the distance measuring module;
s24, the distance measuring module measures the distance between the new measuring point and the rotatable measuring head of the three-dimensional laser scanner;
and S25, repeating the angle increment calculation process and the new measuring point confirmation process until the scanning is finished.
The further technical scheme is as follows: the data preprocessing process comprises the following steps: point cloud data registration → coordinate system conversion → noise reduction and thinning → image data processing → color point cloud production.
The further technical scheme is as follows: the image data processing includes image color adjustment, distortion correction, image matching, and format conversion.
The further technical scheme is as follows: the method also comprises S7, DEM production, S8 and DLG production.
Compared with the prior art, the invention has the beneficial effects that: when the three-dimensional laser scanner scans the surface of the measured target, the angle increment can be dynamically adjusted, so that the three-dimensional laser scanner can be adaptively adjusted according to the complex condition of the surface of the measured target, key features can be effectively avoided from being omitted due to improper angle increment setting, and the spatial resolution of the three-dimensional laser scanner is improved.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural view of example 1;
fig. 2 is a schematic flow chart of a working method of the measurement point confirmation module in embodiment 1;
FIG. 3 is a schematic workflow diagram of example 4;
fig. 4 is a flowchart of a scanning method in embodiment 4.
In the figure: 10. a three-dimensional laser scanner rotatable measuring head; 20. a distance measuring module; 201. a distance measurement module; 202. an angle increment adjustment module; 203. and a measuring point confirming module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Example 1
A three-dimensional laser scanning system, as shown in FIG. 1, includes a three-dimensional laser scanner rotatable measuring head 10 and a distance measuring module 20, and the distance measuring module 20 includes a distance measuring module 201, an angle increment adjusting module 202 and a measuring point confirming module 203.
The distance measuring module 201 is used for measuring the distance between the measuring point and the three-dimensional laser scanner rotatable measuring head 10; including measuring the initial measurement point, the second measurement point, and the distance between the new measurement point and the three-dimensional laser scanner rotatable measurement head 10, determined from the new calculated angular increment.
The angle increment adjusting module 202 is configured to calculate a new angle increment according to a preset algorithm according to the initial angle increment, a preset spatial resolution, and a distance between the measuring point and the rotatable measuring head 10 of the three-dimensional laser scanner; the specific preset algorithm is as follows:
l' (n-1) -l 1 Is less than or equal to A and is more than 0 and k theta' (n-1) < theta, theta' (n) ＝kθ' (n-1) ；(k≥1,n≥1,n∈N * )
L' (n-1) -l 1 Is less than or equal to A and k theta' (n-1) Theta 'when being more than or equal to theta' (n) ＝θ；(n≥1,n∈N * )
L' (n-1) -l 1 Theta > A' (n) ＝f(A,θ,g(l))；(0＜θ' (n) ≤θ；n≥1,n∈N * )
l 1 Is the distance between the initial measurement point and the rotatable measurement head 10 of the three-dimensional laser scanner;
l' (n-1) is rotated by theta 'from an initial measurement point' (n-1) The distance between the resulting (n-1) th measurement point and the three-dimensional laser scanner rotatable measurement head 10;
l' (n) is rotated by theta 'from an initial measurement point' (n) The obtained distance between the nth measuring point and the rotatable measuring head 10 of the three-dimensional laser scanner;
a is a preset spatial resolution;
theta is the initial angle increment;
θ' (n-1) the angle increment obtained by the (n-1) th calculation;
θ' (n) the angle increment obtained by the nth calculation is obtained;
k is an adjustment coefficient;
g (l) is a function of the distance between the measuring point and the three-dimensional laser scanner rotatable measuring head 10.
The measuring point confirming module 203 is configured to determine a new measuring point according to the calculated new angle increment, and send new measuring point information to the ranging module 201. As shown in fig. 2, the working method of the measuring point confirming module is as follows:
when theta' (n) ＝kθ' (n-1) Is equal to or theta' (n) When theta (i.e. when theta' (n) Becoming larger or unchanged), no new measuring point is needed to be added between the initial measuring point and the current (n-1) th measuring point, and the measuring point is rotated by theta 'based on the current measuring point' (n) Obtaining a new measuring point;
when theta' (n) When f (a, θ, g (l)) (i.e., when θ' (n) Becomes small), a new measurement point needs to be added between the initial measurement point and the current (n-1) th measurement point, and the measurement point is rotated by theta 'based on the initial measurement point' (n) A new measurement point is obtained.
Example 2
F (A, θ, g (l)) is further defined as compared to example 1. Specifically, the method comprises the following steps:
l' (n-1) -l 1 Greater than A, then
l 2 The distance between the second measuring point, which is obtained for a rotation theta on the basis of the initial measuring point, and the rotatable measuring head 10 of the three-dimensional laser scanner.
Example 3
K is further defined compared to example 2. Specifically, the method comprises the following steps:
k is variable, and the calculation method is as follows:
when x < b, k is 1;
when x is larger than or equal to b,
x is continuously present l' (n+1) -l' (n) The frequency is less than or equal to A;
b is a preset continuous occurrence l' (n+1) -l' (n) Critical times less than or equal to A;
a is a constant.
Example 4
The working method of the three-dimensional laser scanning system comprises the following steps:
s1, distributing and measuring a scanning station and distributing and measuring a target;
s2, three-dimensional laser scanning is carried out, and distance measurement is carried out; the work flow is shown in fig. 4, and includes:
s21, the distance measuring module 201 measures the distance between the initial measuring point and the second measuring point and the three-dimensional laser scanner rotatable measuring head 10; the second measuring point is a measuring point obtained by rotating the initial angle increment theta by taking the initial measuring point as an original point;
s22, the angle increment adjusting module 202 calculates a new angle increment according to a preset algorithm based on the distance between the initial measuring point and the second measuring point and the three-dimensional laser scanner rotatable measuring head 10, the initial angle increment, and the preset spatial resolution;
s23, the measuring point confirming module 203 determines the position of the new measuring point according to the new angle increment, and transmits the position of the new measuring point to the distance measuring module 201;
s24, the distance measuring module 201 measures the distance between the new measuring point and the rotatable measuring head 10 of the three-dimensional laser scanner;
s25, repeating the angle increment calculation process and the new measuring point confirmation process until the scanning is finished;
s3, point cloud data and texture data are obtained;
s4, preprocessing data: point cloud data registration → coordinate system conversion → noise reduction and thinning → image data processing → color point cloud production;
s5, splicing and matching data;
s6, three-dimensional modeling;
s7, manufacturing a DEM;
s8, DLG production.
Example 5
Compared with the embodiment 4, the method for calculating the angle increment is further defined, and specifically:
l' (n-1) -l 1 Less than or equal to A and 0 < k theta' (n-1) < theta, theta' (n) ＝kθ' (n-1) ；(k≥1,n≥1,n∈N * )
L' (n-1) -l 1 ≤A，And k θ' (n-1) Theta 'when being more than or equal to theta' (n) ＝θ；(n≥1,n∈N * )
L' (n-1) -l 1 When > A, theta' (n) ＝f(A,θ,g(l))；(0＜θ' (n) ≤θ；n≥1,n∈N * )
l 1 Is the distance between the initial measurement point and the rotatable measuring head 10 of the three-dimensional laser scanner;
l' (n-1) is rotated by theta 'from an initial measurement point' (n-1) The distance between the obtained (n-1) th measuring point and the three-dimensional laser scanner rotatable measuring head 10;
l' (n) is rotated by theta 'from an initial measurement point' (n) Obtaining the distance 10 between the nth measuring point and the rotatable measuring head of the three-dimensional laser scanner;
a is a preset spatial resolution;
theta is the initial angle increment;
θ' (n-1) the angle increment obtained by the (n-1) th calculation;
θ' (n) the angle increment obtained by the nth calculation is obtained;
k is an adjustment coefficient;
g (l) is a function of the distance between the measuring point and the three-dimensional laser scanner rotatable measuring head 10.
Example 6
F (A, θ, g (l)) is further defined as compared to example 5. Specifically, the method comprises the following steps:
l 'if' (n-1) -l 1 ＞A，
l 2 The distance between the second measuring point, obtained for rotation by theta on the basis of the initial measuring point, and the rotatable measuring head 10 of the three-dimensional laser scanner.
Example 7
K is further defined compared to example 6. Specifically, the method comprises the following steps:
k is variable, and the calculation method is as follows:
when x < b, k is 1;
when x is larger than or equal to b, k is abx;
x is continuously present l' (n+1) -l' (n) The frequency is less than or equal to A;
b is a preset continuous occurrence l' (n+1) -l' (n) Critical times less than or equal to A;
a is a constant.
The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.
Claims (5)
1. The utility model provides a three-dimensional laser scanning system, includes three-dimensional laser scanner rotatable measuring head and distance measurement module, its characterized in that: the distance measuring module comprises a distance measuring module, an angle increment adjusting module and a measuring point confirming module; the distance measuring module is used for measuring the distance between a measuring point and the rotatable measuring head of the three-dimensional laser scanner; the angle increment adjusting module is used for calculating to obtain a new angle increment according to a preset algorithm according to the initial angle increment, a preset spatial resolution and the distance between the measuring point and the rotatable measuring head of the three-dimensional laser scanner; the measuring point confirming module is used for determining a new measuring point according to the new angle increment obtained by calculation and sending the new measuring point information to the ranging module;
the preset algorithm is as follows:
l' (n-1) -l 1 Is less than or equal to A and is more than 0 and k theta' (n-1) < theta, theta' (n) ＝kθ' (n-1) ；(k≥1,n≥1,n∈N * )
L' (n-1) -l 1 Is less than or equal to A and k theta' (n-1) Theta 'when being more than or equal to theta' (n) ＝θ；(n≥1,n∈N * )
L' (n-1) -l 1 When the pressure is higher than the pressure value of A,
the above-mentioned 1 Is the distance between the initial measuring point and the rotatable measuring head of the three-dimensional laser scanner;
the above-mentioned 2 The distance between a second measuring point obtained by rotating an initial angle increment theta on the basis of the initial measuring point and the rotatable measuring head of the three-dimensional laser scanner is obtained;
l' (n-1) Is rotated by theta 'from an initial measurement point' (n-1) Obtaining the distance between the measuring point and the rotatable measuring head of the three-dimensional laser scanner;
l' (n) Is rotated by theta 'from an initial measurement point' (n) Obtaining the distance between the measuring point and the rotatable measuring head of the three-dimensional laser scanner;
a is a preset spatial resolution;
the theta is an initial angle increment;
theta' (n-1) The angle increment obtained by the (n-1) th calculation;
theta' (n) The angle increment obtained by the nth calculation is obtained;
said g (l) is a function of the distance between the measurement point and the rotatable measurement head of the three-dimensional laser scanner;
k is an adjusting coefficient and is a variable, and the calculation method comprises the following steps:
when x < b, k is 1;
when x is larger than or equal to b,
x is continuously present l' (n+1) -l' (n) The frequency is less than or equal to A;
b is a preset continuous occurrence l' (n+1) -l' (n) Critical times less than or equal to A;
a is a constant;
when theta' (n) ＝kθ' (n-1) Is or theta' (n) When theta is equal to theta, then at the initial measurement point and the currentNo new measurement point is needed between measurement points, and the measurement point is rotated by theta 'on the basis of the current measurement point' (n) Obtaining a new measuring point;
when theta' (n) If f (a, θ, g (l)), a new measurement point is needed between the initial measurement point and the current measurement point, and the measurement point is rotated by θ' (n) A new measurement point is obtained.
2. The three-dimensional laser scanning system according to claim 1, wherein: the range finding module is used for measuring the measuring point with the distance between the rotatable measuring head of three-dimensional laser scanner includes: and measuring the distance between the initial measuring point, the second measuring point and the new measuring point determined according to the calculated new angle increment and the rotatable measuring head of the three-dimensional laser scanner.
3. A method of operating a three-dimensional laser scanning system as claimed in claim 1 or 2, characterized by: the method comprises the following steps:
s1, distributing and measuring a scanning station and distributing and measuring a target;
s2, three-dimensional laser scanning is carried out, and distance measurement is carried out;
s3, point cloud data and texture data are obtained;
s4, preprocessing data;
s5, splicing and matching data;
and S6, three-dimensional modeling.
4. The method of claim 3, wherein: the work flow of the step S2 includes:
s21, the distance measuring module measures the distance between the initial measuring point and the distance between the second measuring point and the three-dimensional laser scanner rotatable measuring head; the second measuring point is a measuring point obtained by rotating the initial angle increment theta by taking the initial measuring point as an original point;
s22, calculating by an angle increment adjusting module according to the distance between the initial measuring point and the second measuring point and the rotatable measuring head of the three-dimensional laser scanner, the initial angle increment and the preset spatial resolution according to a preset algorithm to obtain a new angle increment;
s23, the measuring point confirming module judges the position of the new measuring point according to the new angle increment and transmits the position of the new measuring point to the distance measuring module;
s24, the distance measuring module measures the distance between the new measuring point and the rotatable measuring head of the three-dimensional laser scanner;
and S25, repeating the angle increment calculation process and the new measuring point confirmation process until the scanning is completed.
5. The method of operating a three-dimensional laser scanning system according to claim 3 or 4, characterized in that: the data preprocessing process comprises the following steps: point cloud data registration → coordinate system conversion → noise reduction and thinning → image data processing → color point cloud production; the image data processing includes image color adjustment, distortion correction, image matching, and format conversion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011237983.2A CN112504174B (en) | 2020-11-09 | 2020-11-09 | Three-dimensional laser scanning system and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011237983.2A CN112504174B (en) | 2020-11-09 | 2020-11-09 | Three-dimensional laser scanning system and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112504174A CN112504174A (en) | 2021-03-16 |
| CN112504174B true CN112504174B (en) | 2022-08-26 |
Family
ID=74955673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011237983.2A Active CN112504174B (en) | 2020-11-09 | 2020-11-09 | Three-dimensional laser scanning system and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112504174B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029035A (en) * | 2021-04-02 | 2021-06-25 | 合肥中加激光技术有限公司 | Three-dimensional measurement method for gantry type automobile sheet metal structural part |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09297013A (en) * | 1996-05-08 | 1997-11-18 | Mitsubishi Heavy Ind Ltd | Three-dimensional coordinate measuring apparatus |
| DE102009035336B3 (en) * | 2009-07-22 | 2010-11-18 | Faro Technologies, Inc., Lake Mary | Device for optical scanning and measuring of environment, has optical measuring device for collection of ways as ensemble between different centers returning from laser scanner |
| CN101718719B (en) * | 2009-12-01 | 2011-11-02 | 北京航空航天大学 | Method for determining angle increment of 3D cone-beam industry CT through continuous scan |
| CN101922912B (en) * | 2010-07-22 | 2012-05-09 | 北京矿冶研究总院 | Three-dimensional laser scanning measurement method and device |
| EP2698602A1 (en) * | 2012-08-16 | 2014-02-19 | Leica Geosystems AG | Hand-held distance measuring device with angle calculation unit |
| CN102937418B (en) * | 2012-10-18 | 2015-09-09 | 北京航空航天大学 | A kind of scan-type object surface three-dimensional shape measurement method and device |
| EP2980528A1 (en) * | 2014-08-01 | 2016-02-03 | HILTI Aktiengesellschaft | Tracking method and tracking system |
| EP2980599A1 (en) * | 2014-08-01 | 2016-02-03 | Hilti Aktiengesellschaft | Tracking method and tracking system |
| CN104613896B (en) * | 2015-02-10 | 2017-06-20 | 北京矿冶研究总院 | Method for enhancing spatial resolution of three-dimensional laser scanning |
| CN104897061A (en) * | 2015-06-19 | 2015-09-09 | 太原理工大学 | Total station and three-dimensional laser scanning combined large-scale maritime work equipment measuring method |
| CN105953742A (en) * | 2016-04-30 | 2016-09-21 | 广东工业大学 | 3D laser scanner based on unknown environment detection |
| CN107179051A (en) * | 2017-06-27 | 2017-09-19 | 中国航空工业集团公司北京长城航空测控技术研究所 | A kind of big angle of visual field 3 D measuring instrument |
| CN109215108B (en) * | 2017-06-30 | 2023-05-23 | 深圳先进技术研究院 | Panoramic three-dimensional reconstruction system and method based on laser scanning |
| CN108646259B (en) * | 2018-05-14 | 2021-05-07 | 南京数联空间测绘科技有限公司 | Three-dimensional laser scanner station setting and orienting device and method |
| CN111006601A (en) * | 2019-11-12 | 2020-04-14 | 黑龙江工程学院 | Key technology of three-dimensional laser scanning in deformation monitoring |
-
2020
- 2020-11-09 CN CN202011237983.2A patent/CN112504174B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112504174A (en) | 2021-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111369630A (en) | Method for calibrating multi-line laser radar and camera | |
| CN109945853B (en) | Geographic coordinate positioning system and method based on 3D point cloud aerial image | |
| CN112053432B (en) | Binocular vision three-dimensional reconstruction method based on structured light and polarization | |
| CN111288967B (en) | Remote high-precision displacement detection method based on machine vision | |
| CN110645917B (en) | Array camera-based high-spatial-resolution three-dimensional digital image measuring method | |
| CN112762899B (en) | Fusion method of laser point cloud and BIM model with video information in visual transformer substation | |
| CN112504174B (en) | Three-dimensional laser scanning system and working method thereof | |
| EP1092206A1 (en) | Method of accurately locating the fractional position of a template match point | |
| CN111722202B (en) | Reflector position fitting method and system based on echo intensity | |
| CN111251189B (en) | Visual positioning method for casting polishing | |
| CN110047146B (en) | Error correction method based on single revolving body image 3D restoration | |
| CN115018249A (en) | Subway station construction quality evaluation method based on laser scanning technology | |
| CN115953604B (en) | Real estate geographic information mapping data acquisition method | |
| CN105491315A (en) | Projector gamma correction method | |
| CN112819882A (en) | Real-time earth volume calculation method based on binocular vision | |
| CN112665528B (en) | Correction method for laser scanning three-dimensional imaging | |
| CN113592744B (en) | Geometric fine correction method suitable for high-resolution remote sensing image | |
| CN115546158A (en) | Method for detecting abrasion of lining plate of mining crusher | |
| CN109978800B (en) | Point cloud shadow data removing method based on threshold | |
| CN110285764B (en) | Display panel cutting precision measuring method and display panel | |
| CN114373013B (en) | Quick filling and rolling speed statistics method based on image processing | |
| CN111369432A (en) | 3D printing single-point laser scanning path planning method | |
| Sheng et al. | Research on point-cloud collection and 3D model reconstruction | |
| CN115482312B (en) | Surface temperature space simulation correction method based on DEM and urban heat island | |
| CN113592877B (en) | Method and device for identifying red line exceeding of pumped storage power station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |