CN105223562A - A kind of laser radar footprint overlapping scan device and scan method - Google Patents
A kind of laser radar footprint overlapping scan device and scan method Download PDFInfo
- Publication number
- CN105223562A CN105223562A CN201510677587.4A CN201510677587A CN105223562A CN 105223562 A CN105223562 A CN 105223562A CN 201510677587 A CN201510677587 A CN 201510677587A CN 105223562 A CN105223562 A CN 105223562A
- Authority
- CN
- China
- Prior art keywords
- turntable
- laser radar
- target
- servo motor
- scanning
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
Abstract
The invention discloses a kind of laser radar footprint overlapping scan device and scan method, it comprises: level platform, the first turntable, the second turntable, the first driver, the second driver, controller, main control system, positioning camera, target, control box, stadimeter.The Auto-matching of laser footprint position and overlapping scan when the scan method proposed can realize scanning.It is simple that the present invention has structure, the feature that cost is low, be particularly suitable for Surface scan observation target being done to long-term sequence, under particularly laser radar footprint overlapping scan device needs repeatedly to repeat laying situation, conveniently can realize the overlapping scan of pulse laser footprint.
Description
Technical field
The present invention relates to laser radar remote sensing field, particularly relate to a kind of laser radar footprint overlapping scan device and scan method.
Background technology
Laser radar is a kind of active optical remote sensing technology, and the advantage of its uniqueness affects less, and in addition, the launch spot of laser radar can through the space of target, makes laser radar can detect information below shelter.
Traditional laser thunder such as equipment such as the VZ1000 of Riegl company can generate cloud data, but the operation wavelength of this this kind equipment often only has 1, and therefore, cloud data only contains the information of structure.Along with the development of technology, polychromatic lidar or pulse lidar have become new research point, this kind equipment can produce the cloud data with spectral reflectivity information, each analyzing spot both comprised positional information, comprise the reflectance spectrum information of analyzing spot, this spectral information contains material (material, the biochemistry group are graded) feature of of analyzing spot itself simultaneously.
Polychromatic lidar or pulse lidar adopt super continuous spectrums pulse laser as light source usually, and the laser pulse footprint sent is for circular.When carrying out large-area, multidate Surface scan, we often require the repeatability of accuracy and the laser footprint scanned.In concrete test, polychromatic lidar or pulse lidar sometimes need the size adjusting hot spot, and when hot spot is larger, the positional accuracy of the hot spot repeatedly during duplicate measurements is very large on the impact of measurement result, higher to repetition positioning accuracy request.
In order to realize the detection of the change to observed object, need to use observation data that is continuous or spaced long-term sequence.In order to ensure the comparability of each cloud data, be necessary to realize the consistance of the position of each laser footprint under repetitive measurement.
Realizing in process of the present invention, inventor finds that background technology at least exists following problem: in prior art, 1) and complex structure, cost is higher; 2) higher in kinematic accuracy and resolution, and scanning consistance when not considering repeatedly duplicate measurements and plyability problem, particularly after surveying instrument is laid again, the plyability of laser footprint when still needing to ensure scanning.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is to provide a kind of laser radar footprint overlapping scan device scanner uni method, for ensureing during repeatedly duplicate measurements that the laser pulse footprint that the pulse lidar that scanister carries sends has higher Duplication, thus under ensureing long-term sequence observation, in laser point cloud data, each laser footprint has comparability.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of laser radar footprint overlapping scan device, it comprises:
Level platform 105, first turntable 104, second turntable 103, first driver 107, second driver 108, controller 106, main control system 109, positioning camera 102, target, control box 110, stadimeter 101;
Described level platform 105 has x, y two dimension regulating device, for whole pulse lidar scanister provides level reference;
Described first turntable 104 is by being installed on level platform 105, supported the 4, first thrust ball bearing 5, first connection rotating shaft 6 formed by connection base 3, first AC servo motor 1, first absolute value encoder, first harmonic reductor 2, first, connecting base 3 is arranged on level platform 105, connected by flat key between first harmonic reductor 2 and the first connection rotating shaft 6, the first AC servo motor 1, first absolute value encoder, first harmonic reductor 2 three coaxially connect;
Described second turntable 103 is made up of turntable seat 7, second support the 8, second rotating shaft 9, cylinder roller bearing 11, end ring 10, second harmonic reductor 12, second AC servo motor 13, second absolute value encoder, load support 14, support stationary shaft 15, second harmonic reductor 12 connects the second rotating shaft 9 by flat key, second rotating shaft 9 is connected by socket head cap screw with load support 14, and second harmonic reductor 12, second AC servo motor 13, second absolute value encoder three coaxially connects;
Described first driver 107 and the second driver 108 are arranged in control box 110,13 are connected with the first AC servo motor 1 with the second AC servo motor with scrambler cable 112 by driving cable, simultaneously by control port one and the control port two of two control cables 114 connection control devices 106, controller is by the serial ports of Serial Port Line 113 connection control main frame 109;
Described positioning camera 102 comprises the manual focusing lens and industrial camera 17, and industrial camera 17 is fixed on load support 14, and industrial camera 17 is by the network interface of netting twine connection control main frame 109; Described stadimeter 101 is also fixed on load support, and obtain the range information of scanister center to scanning impact point, load support is the carrying platform of laser radar simultaneously;
Preferred as technique scheme, target is the spherical target of high reflectance with fixed support.
Preferred as technique scheme, the model of the first driver 107 and the second driver 108 is SGDV-R90A01B.
Preferred as technique scheme, the model of controller 106 is GUS-400-TPG.
Preferred as technique scheme, the first AC servo motor 1 and the second AC servo motor 13 model are SHMJV-01A3E6S.
Preferred as technique scheme, first harmonic reductor 2 and second harmonic reductor 12 model are XB1-25-63-I.
The scan method that the present invention proposes comprises:
S1: target is placed on testee side, and target placement is locked;
S2: level platform 105 leveling, laser radar footprint overlapping scan device resets, and the first turntable and the second turntable move to zero position;
S3: the angle adjusting the first turntable 104 and the second turntable 103, the manual focusing lens on adjustment industrial camera, regulates visual field to include target and measured target, and camera lens is locked;
S4: main control system 109 controls industrial camera 17 and takes pictures, image information uploads to main control system 109, scanning sequence on main control system 109 identifies Target Center location of pixels in the picture automatically, and this position is recorded as scanning initial position (x0, y0), meanwhile, scanning sequence obtains the range information d0 of Target Center range sweep basic point;
S5: the first turntable 104 and the second turntable 103 continue point by point scanning in a stepwise manner under the control of scanning sequence, complete once complete Surface scan task;
S6: when again repeating Surface scan task, first step S2 to S3 is repeated, then, main control system 109 again controls industrial camera 17 and takes pictures, identify the location of pixels (xn of Target Center, yn), according to range information dn and the pixel-shift ((xn-x0) of Target Center range sweep basic point, (yn-y0)), resolve the side-play amount of the first turntable 104 and the second turntable 103, finally, control the first turntable 104 again and the second turntable 103 rotates, scanning position is adjusted to scan first consistent, simultaneously, the step-length of the rotation of the first turntable 104 and the second turntable 103 is adjusted according to range information dn, ensure that the footprint of pulse laser during each scanning is overlapping, finally, repeat step S5.
(3) beneficial effect
A kind of laser radar footprint overlapping scan device that technique scheme provides and scan method, this system can realize the pulse lidar scanning with laser footprint high contact ratio that repeatedly multiple scanning particularly repeatedly repeats under deployment scenario.First AC servo motor 1 of level of control rotary motion and first harmonic reductor 2 are vertically placed, and can farthest reduce the space taken like this, facilitate the layout of other parts.Control the second AC servo motor 13 and second harmonic reductor 12 horizontal positioned of pitching, the benefit done like this is, the moment of torsion that reductor exports can act directly on load support 14, and then load support 14 realizes the rotation of predetermined action with dynamic load, can output torque be made full use of, improve utilization ratio.The first AC servo motor 1 that the center of gravity of load simultaneously and level of control are rotated and first harmonic reductor 2, on a vertical curve, just decrease the biased torque because load deflection brings like this.In addition, laser radar footprint overlapping scan method proposes a kind of target automatic matching method and motion compensation method of adjustment, thus under the scanning application of long-term sequence, when particularly needing repeatedly to dispose, there is higher autoscan location matches ability, and repetitive positioning accuracy when again laying laser radar footprint overlapping scan device is less demanding.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of a kind of laser radar footprint overlapping scan device of the embodiment of the present invention;
Fig. 2 is the mechanical structure portion schematic diagram of a kind of laser radar footprint overlapping scan device of the embodiment of the present invention;
Wherein, 1: the first AC servo motor; 2: first harmonic reductor; 3: connect base; Support at 4: the first; 5: the first thrust ball bearings; 6: the first connection rotating shafts; 7: turntable seat; Support at 8: the second; 9: the second rotating shafts; 10: end ring; 11: cylinder roller bearing; 12: second harmonic reductor; 13: the second AC servo motor; 14: load support; 15: support stationary shaft; 16: the manual focusing lens; 17: industrial camera; 101: stadimeter; 102: positioning camera; 103: the second turntables; 104: the first turntables; 105: level platform; 106: controller; 107: the first drivers; 108: the second drivers; 109: main control system; 110: control box; 111: netting twine; 112: driving cable and scrambler cable; 113: Serial Port Line; 114: control cables.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
Shown in composition graphs 1 and Fig. 2, embodiments provide a kind of laser radar footprint overlapping scan device, comprising: level platform 105, first turntable 104, second turntable 103, first driver 107, second driver 108, controller 106, main control system 109, positioning camera 102, target, control box 110, stadimeter 101; Described level platform 105 has x, y two dimension regulating device, for whole pulse lidar scanister provides level reference; Described first turntable 104 is by being installed on level platform 105, supported the 4, first thrust ball bearing 5, first connection rotating shaft 6 formed by connection base 3, first AC servo motor 1, first absolute value encoder, first harmonic reductor 2, first, connecting base 3 is arranged on level platform 105, connected by flat key between first harmonic reductor 2 and the first connection rotating shaft 6, the first AC servo motor 1, first absolute value encoder, first harmonic reductor 2 three coaxially connect; Connect base 3 to maintain static, connected by flat key between first harmonic reductor 2 and the first connection rotating shaft 6, and the first connection rotating shaft 6 and turntable seat 7 are welded into one, thus power transmission is to turntable seat 7, finally realize horizontal rotation motion.Wherein in order to ensure that the first connection rotating shaft 6 and turntable seat 7 ensure higher verticality when welding, two part junctions adopt transition fit Φ 25H7/r6.In the vertical direction is subject to the Action of Gravity Field of luffing mechanism and load and turntable, there is larger axial force, in order to avoid this axial force acts directly on first harmonic reductor 2, be configured with the first thrust ball bearing 5 to bear axial force, complete pivotal effect simultaneously.
Described second turntable 103 is made up of turntable seat 7, second support the 8, second rotating shaft 9, cylinder roller bearing 11, end ring 10, second harmonic reductor 12, second AC servo motor 13, second absolute value encoder, load support 14, support stationary shaft 15, second harmonic reductor 12 connects the second rotating shaft 9 by flat key, second rotating shaft 9 is connected by socket head cap screw with load support 14, and second harmonic reductor 12, second AC servo motor 13, second absolute value encoder three coaxially connects.Second turntable 103 belongs to vertical pitching mechanical structure portion, this mechanism is that stress distribution and power change relatively large part, from luffing mechanism loading characteristic, pitch axis is equivalent to a semi-girder in this section, mainly bear the effect of bending stress or crankling vibration stress, improve the load-bearing capacity of laser radar footprint overlapping scan device, the stressed sectional dimension of pitch axis, the second AC servo motor 13 and second harmonic AC servo motor 12 ratio of gear must be increased.But can increase so again the weight of laser radar footprint overlapping scan device, increase overall dimension volume, bring certain problem to again the design of horizontal rotating part, this is conflict.Through force analysis and balance, because the load weight of setting is 3Kg, be not large especially, what motor was selected is peace river servo alternating current generator, this power of motor is large, and power stage is stablized, lightweight and with scrambler, enough power can be provided, therefore determine the Design of Mechanical Structure layout adopting beam type.The design of this part and principle of work thereof are with to horizontally rotate part substantially identical, second harmonic reductor 13 is crossed flat key and is connected the second rotating shaft 9, second rotating shaft 9 is connected by using the socket head cap screw that size is M4 with load support 14, and then dynamic torque is transferred to load support 14, final load support 14 drives pulse type laser radar load to complete set scan task action.
Described first driver 107 and the second driver 108 are arranged in control box 110,13 are connected with the first AC servo motor 1 with the second AC servo motor with scrambler cable 112 by driving cable, simultaneously by control port one and the control port two of two control cables 114 connection control devices 106, controller is by the serial ports of Serial Port Line 113 connection control main frame 109;
Described positioning camera 102 comprises the manual focusing lens and industrial camera 17, and industrial camera 17 is fixed on load support 14, and industrial camera 17 is by the network interface of netting twine connection control main frame 109; Described stadimeter 101 is also fixed on load support 14, and obtain the range information of scanister center to scanning impact point, load support 14 is the carrying platform of laser radar simultaneously.In actual applications, because carried load pulse lidar inherently has the function of range finding, the function of therefore above-mentioned stadimeter also can be realized by pulse lidar.
Preferred as technique scheme, target is the spherical target of high reflectance with fixed support.
Preferred as technique scheme, the model of the first driver 107 and the second driver 108 is SGDV-R90A01B.
Preferred as technique scheme, the model of controller 106 is GUS-400-TPG.
Preferred as technique scheme, the first AC servo motor 1 and the second AC servo motor 13 model are SHMJV-01A3E6S.
Preferred as technique scheme, first harmonic reductor 2 and second harmonic reductor 12 model are XB1-25-63-I.
The specific works process of the present embodiment is:
S1: target is placed on testee side, and target placement is locked;
S2: level platform 105 leveling, laser radar footprint overlapping scan device resets, and the first turntable and the second turntable move to zero position;
S3: the angle adjusting the first turntable 104 and the second turntable 103, the manual focusing lens on adjustment industrial camera, regulates visual field to include target and measured target, and camera lens is locked;
S4: main control system 109 controls industrial camera 17 and takes pictures, image information uploads to main control system 109, scanning sequence on main control system 109 identifies Target Center location of pixels in the picture automatically, and this position is recorded as scanning initial position (x0, y0), meanwhile, scanning sequence obtains the range information d0 of Target Center range sweep basic point;
S5: the first turntable 104 and the second turntable 103 continue point by point scanning in a stepwise manner under the control of scanning sequence, complete once complete Surface scan task;
S6: when again repeating Surface scan task, particularly under pulsed lidar system rearranges situation, pulse lidar scanister will be placed on the close position of initial observation position, because the change of twice different observation angle caused of observation position is minimum, and consider the BRDF characteristic of target, when observation angle difference is minimum, the reflectivity Characteristics of target also differs minimum and can ignore, therefore, lower to the placement accuracy requirement of Laser Radar Scanning device.First step S2 to S3 is repeated, then, main control system 109 again controls industrial camera 17 and takes pictures, identify the location of pixels (xn of Target Center, yn), according to range information dn and the pixel-shift ((xn-x0), (yn-y0)) of Target Center range sweep basic point, resolve the side-play amount of the first turntable 104 and the second turntable 103, wherein resolve model and adopt national forest park in Xiaokeng.Finally, control the first turntable 104 again and the second turntable 103 rotates, scanning position is adjusted to scan first consistent, simultaneously, the step-length of the rotation of the first turntable 104 and the second turntable 103 is adjusted according to range information dn, ensure that the footprint of pulse laser during each scanning is overlapping, finally, repeat step S5.
Below be only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and replacement, these improve and replace and also should be considered as protection scope of the present invention.
Claims (7)
1. a laser radar footprint overlapping scan device, it is characterized in that, described device comprises: level platform, the first turntable, the second turntable, the first driver, the second driver, controller, main control system, positioning camera, target, control box, stadimeter;
Described level platform has x, y two dimension regulating device, for whole pulse lidar scanister provides level reference;
Described first turntable is by being installed on level platform, be made up of connection base, the first AC servo motor, the first absolute value encoder, first harmonic reductor, the first support, the first thrust ball bearing, the first connection rotating shaft, connect floor installation on level platform, connected by flat key between first harmonic reductor and the first connection rotating shaft, the first AC servo motor, the first absolute value encoder, first harmonic reductor three coaxially connect;
Described second turntable is made up of turntable seat, the second support, the second rotating shaft, cylinder roller bearing, end ring, second harmonic reductor, the second AC servo motor, the first absolute value encoder, load support, support stationary shaft, second harmonic reductor connects the second rotating shaft by flat key, second rotating shaft is connected by socket head cap screw with load support, and second harmonic reductor, the second AC servo motor, the first absolute value encoder three coaxially connect;
Described first driver and the second driver are arranged in control box, be connected with the second AC servo motor with the first AC servo motor with scrambler cable by driving cable, simultaneously by control port one and the control port two of two control cables connection control devices, controller is by the serial ports of Serial Port Line connection control main frame;
Described positioning camera comprises the manual focusing lens and industrial camera, and industrial camera is fixed on load support, and industrial camera is by the network interface of netting twine connection control main frame; Described stadimeter is also fixed on load support, and obtain the range information of scanister center to scanning impact point, load support is the carrying platform of laser radar simultaneously.
2. a kind of laser radar footprint overlapping scan device according to claim 1, described target is the spherical target of high reflectance with fixed support.
3. a kind of laser radar footprint overlapping scan device according to claim 1, it is characterized in that, the first described driver and the model of the second driver are SGDV-R90A01B.
4. a kind of laser radar footprint overlapping scan device according to claim 1, it is characterized in that, the model of described controller is GUS-400-TPG.
5. a kind of laser radar footprint overlapping scan device according to claim 1, it is characterized in that, the first described AC servo motor and the second AC servo motor model number are SHMJV-01A3E6S.
6. a kind of laser radar footprint overlapping scan device according to claim 1, it is characterized in that, described first harmonic reductor and second harmonic reductor model are XB1-25-63-I.
7. use a scan method for a kind of laser radar footprint overlapping scan device according to any one of claim 1 ~ 6, it is characterized in that comprising:
S1: target is placed on testee side, and target placement is locked;
S2: level platform erection, scanning system resets, and the first turntable and the second turntable move to zero position;
S3: the angle adjusting the first turntable and the second turntable, the manual focusing lens on adjustment industrial camera, regulates visual field to include target and measured target, and camera lens is locked;
S4: main control system controls industrial camera and takes pictures, image information uploads to main control system, scanning sequence on main control system identifies Target Center location of pixels in the picture automatically, and this position is recorded as scanning initial position (x0, y0), meanwhile, scanning sequence obtains the range information d0 of Target Center range sweep basic point;
S5: the first turntable and the second turntable continue point by point scanning in a stepwise manner under the control of scanning sequence, complete once complete Surface scan task;
S6: when again repeating Surface scan task, first step S2 to S3 is repeated, then, main control system again controls industrial camera and takes pictures, identify the location of pixels (xn of Target Center, yn), according to range information dn and the pixel-shift ((xn-x0) of Target Center range sweep basic point, (yn-y0)), resolve the side-play amount of the first turntable and the second turntable, wherein resolve model and adopt national forest park in Xiaokeng, finally, control the first turntable again and the second turntable rotates, scanning position is adjusted to scan first consistent, simultaneously, the step-length of the rotation of the first turntable and the second turntable is adjusted according to range information dn, ensure that the footprint of pulse laser during each scanning is overlapping, finally, repeat step S5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510677587.4A CN105223562A (en) | 2015-10-20 | 2015-10-20 | A kind of laser radar footprint overlapping scan device and scan method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510677587.4A CN105223562A (en) | 2015-10-20 | 2015-10-20 | A kind of laser radar footprint overlapping scan device and scan method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105223562A true CN105223562A (en) | 2016-01-06 |
Family
ID=54992620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510677587.4A Pending CN105223562A (en) | 2015-10-20 | 2015-10-20 | A kind of laser radar footprint overlapping scan device and scan method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105223562A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113589260A (en) * | 2021-09-29 | 2021-11-02 | 盎锐(常州)信息科技有限公司 | High-precision closed-loop rotary table for laser radar and laser radar |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040100547A1 (en) * | 2002-08-19 | 2004-05-27 | Brother Kogyo Kabushiki Kaisha | Tandem image forming device with reduced footprint |
| CN101713827A (en) * | 2009-11-18 | 2010-05-26 | 九江精密测试技术研究所 | Marine laser scanner |
| CN204154271U (en) * | 2014-07-15 | 2015-02-11 | 广州大学 | A kind of Portable there-dimensional laser scanning instrument |
| CN205139364U (en) * | 2015-10-20 | 2016-04-06 | 中国科学院遥感与数字地球研究所 | Laser radar footprint overlaps scanning device |
-
2015
- 2015-10-20 CN CN201510677587.4A patent/CN105223562A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040100547A1 (en) * | 2002-08-19 | 2004-05-27 | Brother Kogyo Kabushiki Kaisha | Tandem image forming device with reduced footprint |
| CN101713827A (en) * | 2009-11-18 | 2010-05-26 | 九江精密测试技术研究所 | Marine laser scanner |
| CN204154271U (en) * | 2014-07-15 | 2015-02-11 | 广州大学 | A kind of Portable there-dimensional laser scanning instrument |
| CN205139364U (en) * | 2015-10-20 | 2016-04-06 | 中国科学院遥感与数字地球研究所 | Laser radar footprint overlaps scanning device |
Non-Patent Citations (4)
| Title |
|---|
| 王鸣霄: ""三维激光扫描仪点位精度检测研究"", 《城市勘测》 * |
| 袁豹等: ""基于稳健加权总体最小二乘法的地面三维激光扫描球型标靶定位"", 《勘察科学技术》 * |
| 赵新: ""基于透镜成像机理的目标深度信息获取算法及其调节机构研究"", 《中国优秀硕士学位论文全文数据库 信息科技辑（月刊）》 * |
| 赵松: ""三维激光扫描仪与数码相机联合标定方法研究"", 《中国优秀硕士学位论文全文数据库 信息科技辑（月刊）》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113589260A (en) * | 2021-09-29 | 2021-11-02 | 盎锐(常州)信息科技有限公司 | High-precision closed-loop rotary table for laser radar and laser radar |
| CN113589260B (en) * | 2021-09-29 | 2022-01-11 | 盎锐(常州)信息科技有限公司 | High-precision closed-loop rotary table for laser radar and laser radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9989973B2 (en) | Measurement control system for multi-shaft supported air floatation platform | |
| EP1538457B1 (en) | Three-dimensional location measurement sensor | |
| CN206648610U (en) | Three-dimensional laser scanner | |
| CN101118719A (en) | Gantry type four dimensional automatic measurement used for detecting display screen color performance | |
| CN111578862B (en) | Point cloud precision calibration device and method for ground three-dimensional laser scanner | |
| CN103743338B (en) | There is sphere revolution runout error and compensate laser tracking measurement system and the compensation method thereof of function | |
| CN111220123B (en) | Foundation ring inclination angle monitoring system and method | |
| CA2875266C (en) | Remote visual inspection system and method | |
| CN105445292A (en) | Industrial CL system scanning device for scanning thin plate structure | |
| CN106768899A (en) | A kind of method of the MTF detection means and detection eyeglass for eyeglass production | |
| CN103954267A (en) | Linear array CCD (Charge Coupled Device)-based secondary platform levelness measurement system and method | |
| EP4230956A1 (en) | Three-dimensional survey apparatus, three-dimensional survey method, and three-dimensional survey program | |
| CN205139364U (en) | Laser radar footprint overlaps scanning device | |
| CN107202553B (en) | Full view scanning measurement system and its target measurement method | |
| CN109084960B (en) | Double-parallel-light-tube type tracking and aiming turntable pointing accuracy testing system and method | |
| CN105223562A (en) | A kind of laser radar footprint overlapping scan device and scan method | |
| Luo et al. | A novel static deformation measurement and visualization method for wind turbine blades using home-made LiDAR and processing program | |
| CN206891996U (en) | A kind of detection device of medicine column crack | |
| CN107907164A (en) | A kind of prosthetic robot end effector mechanism dynamic characteristic detection device and method | |
| CN104848839A (en) | Multi-shaft support air-floating platform horizontal measurement device | |
| CN206670893U (en) | A kind of MTF detection means for eyeglass production | |
| CN207600515U (en) | A kind of prosthetic robot end effector mechanism dynamic characteristic detection device | |
| WO2023166437A1 (en) | Cable-driven devices and systems for performing surface operations | |
| RU2718396C1 (en) | Method of mounting wind-driven power plant components | |
| KR102258344B1 (en) | Displacement Measuring Device for Load Test of Bridges Using a Laser Doppler Vibrator and Method Testing Using it |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160106 |
|
| WD01 | Invention patent application deemed withdrawn after publication |