CN107664492A - The deflection angle measuring method and system of harbour gantry crane laser scanner installation - Google Patents
The deflection angle measuring method and system of harbour gantry crane laser scanner installation Download PDFInfo
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- CN107664492A CN107664492A CN201710214219.5A CN201710214219A CN107664492A CN 107664492 A CN107664492 A CN 107664492A CN 201710214219 A CN201710214219 A CN 201710214219A CN 107664492 A CN107664492 A CN 107664492A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Radar, Positioning & Navigation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention provides a kind of the deflection angle measuring method and system of the installation of harbour gantry crane laser scanner, to change the existing detection in harbour and adjust the situation that laser scanner setting angle operating process is cumbersome and wastes time and energy；The detecting system, after scanner completes first installation and setting angle adjustment is adapted to, in the extra large side crossbeam and land side crossbeam of gantry crane one object of reference can be installed respectively；When scanner disassembles, when needing to reinstall, the installation again of assistance completion scanner that can be very easy and angle adjustment, installation personnel adjusts the setting angle of scanner, assistance personnel see whether that the object of reference being pre-installed on gantry crane sea side crossbeam and land side crossbeam can be scanned simultaneously on graphic interface, if preassembled two objects of reference can be scanned simultaneously, scanner setting angle end-of-job is adjusted.
Description
Technical field
The present invention relates to a kind of deflection angle detection technique, specifically a kind of harbour gantry crane laser scanner installation
Deflection angle measuring method and system.
Background technology
Gantry crane is the visual plant of container terminal system, is responsible for shipment, unloading operation.It is strong in order to reduce the work of driver
Degree, operating efficiency is improved, increasing harbour uses gantry crane (partly) automated job.During automated job, in order to
Energy resource consumption is reduced, improves operating efficiency, suspender must walk parabolic path, and this just needs scanning device and corresponding program to enter
The real time scan of container distribution situation on road wheel ship, form the contoured profile of container.
Steamer container profile scanning system carries out steamer form scan, laser scanning device bag using laser scanning device
Laser scanner containing two 2D, laser scanner are fixed on the trolley frame of gantry crane, are bolted, and follow dolly to transport
It is dynamic.Wherein a laser scanner is scanned along trolley travelling direction, and one is scanned along cart traffic direction in addition.
Because the position of laser scanner installation is higher, even if there is the deflection angle of a very little during installation, to scanning
As a result it will also result in very big influence.Therefore, when scanner is installed every time, the deflection angle of accurate measurement installation is required for, such as
The deflection of fruit setting angle is excessive, it is necessary to reinstalls, until the deflection of setting angle is in defined threshold value.However, this mistake
Journey is related to several staff and cooperated, and operating process is more troublesome, and wastes time and energy.Sometimes, scanner due to maintenance or
Other reasonses need to disassemble from trolley frame, install again afterwards.Installation site can accomplish substantially and peace before
Holding position is constant, even if there is small deviation, also follow-up application will not be had an impact.But setting angle be difficult accomplish and it
Preceding setting angle is constant, and setting angle once has small change, will cause very big influence to follow-up use.Now, again
The setting angle for needing to remeasure scanner is if appropriate for troublesome operation when repeating to install for the first time.
The content of the invention
The defects of the invention aims to overcome in the above-described techniques, using the skill of scanning profile graphic software platform
Art, there is provided a kind of the deflection angle measuring method and system of the installation of harbour gantry crane laser scanner, to change the existing inspection in harbour
Survey and adjust the situation that laser scanner setting angle operating process is cumbersome and wastes time and energy.The detecting system, it is complete in scanner
Adjusted into first installation and setting angle after being adapted to, in the extra large side crossbeam and land side crossbeam of gantry crane one reference can be installed respectively
Thing.When scanner is disassembled, it is necessary to when reinstalling, installation again and the angle of scanner are completed in assistance that can be very easy
Degree adjustment.Installation personnel adjusts the setting angle of scanner, and assistance personnel see whether to sweep simultaneously on graphic interface
Retouch the object of reference being pre-installed on gantry crane sea side crossbeam and land side crossbeam, if it is possible to while scanning arrives preassembled two
Individual object of reference, then adjust scanner setting angle end-of-job.
The technical solution used in the present invention is：A kind of harbour gantry crane laser scanner installs deflection angle measuring method,
It is characterised in that it includes following steps：
Step 1：First installation scanner simultaneously adjusts setting angle；Measure installation site of the scanner on gantry crane trolley frame
P1, including X-direction position, Y direction position and Z-direction position；
Described coordinate system is defined as follows：
X-axis：Dolly direction of advance is X-axis positive direction, and dolly stop position is 0 point of X-axis；
Y-axis：Raising ascent direction is Y-axis positive direction, and ground level is 0 point of Y-axis；
Z axis：Cart is Z axis positive direction to the right, and cart central point is 0 point of Z axis；
The polar coordinates for the scanning element that scanner feeds back are converted to by rectangular co-ordinate by coordinate transform, and are shown in computer
On graphic interface；Place two objects of reference in the place for being separated by M rice on ground so that the scan line of scanner passes through this two
Object of reference；The coordinate position of object of reference is decomposed to the X-axis and Z axis of rectangular co-ordinate, using trigonometric function relation, calculates scanner
Installation deflection angle；Judge to install deflection angle whether in threshold value, if being unsatisfactory for threshold value, installation personnel adjustment installation
Angle, measure again, until installation deflection angle is in threshold value；
Step 2：Result after the first installation of record；Installation site P1 of the writing scan instrument on gantry crane trolley frame；Keep
The position of dolly is constant so that scan line is passed through at two objects of reference described in step 1；If it can scan simultaneously to two
Object of reference, then scanner setting angle end-of-job is adjusted, otherwise installation personnel detects again after finely tuning setting angle, directly
To can scan to two objects of reference simultaneously.
Preferably, in step 1, installation site P1 of the measurement scanner on gantry crane trolley frame on trolley frame, it is necessary to survey
Amount, comprises the following steps：
Displacement S of the scanner central point to dolly central point in dolly direction is measured firstTSX；The center of trolley frame is with hanging
Tool center is corresponding；
Then displacement S of the scanner central point to dolly central point in cart direction is measuredTSZ；
Described STSZScope be (U, L), if it is out of this range, need reinstall；Record STSXAnd STSZ。
Preferably, in step 1, the coordinate position of object of reference is decomposed to the X-axis and Z axis of rectangular co-ordinate, utilizes triangle letter
Number relation, calculate the installation deflection angle of scanner；Measure displacement of the object of reference on cart direction, point PHIt is put into ground for suspender
The position of central point when on face, specific measuring method are as follows：
(a) one is drawn on the ground parallel to dolly direction and passing point PHStraight line LT；
(b) tape measure object of reference P is usedATo straight line LTDistance, be designated as SAZ, SAZSpan be (U, L), if super
Go beyond the scope, then need to reinstall adjustment scanner, it is met area requirement, SAZAnd STSZDifference need to be less than K, it is no
Then, it is necessary to reinstall adjustment scanner, it is set to meet area requirement；
(c) tape measure object of reference P is usedBTo straight line LTDistance, be designated as SBZ。SBZSpan be (U, L), if super
Go beyond the scope, then need to reinstall adjustment scanner, it is met area requirement.SBZAnd STSZDifference need to be less than K, it is no
Then, it is necessary to reinstall adjustment scanner, it is set to meet area requirement；
(d)SAZAnd SBZDifference need to be less than K, otherwise, it is necessary to reinstall adjustment scanner, it is met area requirement；
(e) S is recordedAZAnd SBZ, used in subsequent step；
It is as follows to calculate deflection angle：
Angle α=around the deflection angle of Y-axis
Angle beta=around the deflection angle of X-axis
Tan (α)=(SBZ- SAZ)/(SBX- SAX)
Tan (β)=[SAZ×(SBX- STX)]/[STX- SAX)-STSZ]/(STSY)。
Preferably, in step 1, described M span is (22,28) rice.
Preferably, it is characterised in that described U and L is respectively 100cm and 200cm.
Preferably, described K is 50cm.
Preferably, described threshold value is 1.5 °.
A kind of system that deflection angle measuring method is installed using harbour gantry crane laser scanner, including：Installed in gantry crane
Laser scanner on trolley frame and be attached thereto be used for the processing of laser scanner scans profile information and graphic interface is straight
The computer of angular coordinate system.
The present invention has the advantages of many compared with Development Techniques before：
(1) object of reference that the present invention uses is very simple, it is only necessary to which the iron block can of two rectangular shapes completes peace
The measurement of deflection angle is filled, only should be noted that object of reference surface is smooth and is light tone.And object of reference is integrally fixed at gantry crane horizontal stroke
Liang Shang, other operations of gantry crane are not interfered with.
(2) method of this detection and adjustment scanner setting angle, it is not necessary to the configuration parameter of subsequent applications program is changed,
Parameter before can be used directly.
(3) reduce field adjustable personnel, save human cost, value needs a mounting and adjusting setting angle, and one auxiliary
Personal observations' graphic interface can is helped to complete.
(4) operating process of measurement scanner installation deflection angle is simplified, has saved the time.
Brief description of the drawings
Fig. 1 is system installation and the scanning covering of the fan schematic diagram of the present invention；
The system when extra large side saddle beam and land side saddle beam set object of reference that Fig. 2 is the present invention is installed and scanning covering of the fan shows
It is intended to；
Fig. 3 is schematic view of the mounting position of the scanner on trolley frame；
Fig. 4 is the object of reference coordinate diagram of the graphic interface auxiliary program SPSS on computer；
Fig. 5 is the object of reference P of the graphic interface auxiliary program SPSS on computerACoordinate enlarged drawing；
Fig. 6 is the object of reference P of the graphic interface auxiliary program SPSS on computerBCoordinate enlarged drawing；
Fig. 7 is (X, Z) the coordinate position figure of object of reference on the ground.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.For the laser scanning in dolly scanning direction
The measuring method of deflection angle is installed in instrument, emphasis description when installing for the first time.
(1) setting angle is adjusted after installation scanner for the first time：Installation site P1 of the scanner on gantry crane trolley frame is measured,
Including X-direction position, Y direction position and Z-direction position；It is soft as an existing maturation that auxiliary program SPSS is installed
Part, the polar coordinates for the scanning element that scanner feeds back are converted to by rectangular co-ordinate by coordinate transform, and shown on computers
Graphic interface；It is separated by 25 meters of place on ground and places two objects of reference, distance can fluctuates in 3 meters so that scanner
Scan line just past this two objects of reference；The coordinate position of object of reference is decomposed to the X-axis and Z axis of rectangular co-ordinate, utilized
Trigonometric function relation, calculate the installation deflection angle of scanner；Judge to install deflection angle whether in 1.5 ° of threshold value, if
This threshold value is unsatisfactory for, then installation personnel adjustment setting angle, is measured again, until angle is adapted to.
(2) result after the first installation of record：Installation site P1 of the writing scan instrument on gantry crane trolley frame；Record dolly
Position；The position of holding dolly is constant, and embodiments of the invention place one respectively in the extra large side saddle beam and land side saddle beam of gantry crane
Individual object of reference so that scan line passes through this two objects of reference, and the two objects of reference are fixed on into this position.
(3) when scanner because maintenance or other reasonses need to disassemble from trolley frame, when installing again afterwards：
Scanner is arranged on to the opening position of first installation record；Gantry crane dolly is moved to the position of first installation record
Place；Installation personnel adjusts the setting angle of scanner, and assistance personnel see whether to scan simultaneously on graphic interface
The object of reference being pre-installed on gantry crane sea side crossbeam and land side crossbeam, if it is possible to while scanning is then adjusted to two objects of reference
Whole scanner setting angle end-of-job, otherwise installation personnel detected again after finely tuning setting angle, until can sweep simultaneously
Retouch to two objects of reference.
Described for convenience of method of testing, it is as follows to define coordinate system：
X-axis：Dolly direction of advance is X-axis positive direction, and stop position is 0 point of X-axis after dolly；
Y-axis：Raising ascent direction is Y-axis positive direction, and ground level is 0 point of Y-axis；
Z axis：Cart is Z axis positive direction to the right, and cart central point is 0 point of Z axis.
Referring to Fig. 3, the installation site of scanner is measured, it is necessary to be measured on trolley frame, measuring method is as follows：
(1) center of trolley frame refers to point corresponding to suspender center；
(2) center of scanner refers to the center of scanner glass case；
(3) displacement S of the tape measure scanner to dolly central point in dolly direction is usedTSX；
(4) displacement S of the tape measure scanner to dolly central point in cart direction is usedTSZ；
(5)STSZScope be (100cm, 200cm), if it is out of this range, need reinstall；
(6) S is recordedTSXAnd STSZ, used in subsequent step.
Referring to Fig. 4, Fig. 5 and Fig. 6, scan line is found on the ground, can be sought by placing 2 objects of reference on the ground
Scan line is looked for, 2 objects of reference are designated as P respectivelyAAnd PB.Object of reference can be common paper box, size be 10cm × 30cm ×
30cm.After operation installation auxiliary software SPSS, the height on ground is 0, when not placing other objects below QC, the company of scanning element
Line substantially overlaps with ground；Land side saddle beam, extra large side saddle beam, the profile of suspender use word marking on interface；Scanner
Height and position word marking is also used on interface.The specific method for finding scan line is as follows：
(1) dolly is parked near parking stall, should not moving cart, remain stationary as, record the position S of dollyTX, such as Fig. 4
In, small truck position is 2760cm；
(2) from SPSS interfaces scanner height, be designated as STSY, such as in Fig. 4, scanner is highly 5140cm；
(3) suspender is put into ground, during suspender declines, pays attention to trying not to rock.Suspender is found on the ground
The position P of central pointH, and a mark is done on the ground.With reference to the Spreader signs in figure 4, scan line herein is suspender
It is put into the scanning shape behind ground；
(4) between two saddle beams, object of reference P is placed close to the place of land side saddle beamA.Specific method is：Allow a people
Slowly walked about back and forth on the ground of this position annex, another person observes SPSS interfaces, until occurring one on SPSS interfaces
Projection, this projection are exactly the scanning profile of ground staff, do a temporary marker on the ground；Reference is placed around in this position
Thing, it may be necessary to neighbouring multiple mobile object of reference herein, it is consistent with reference height convex until occurring one on SPSS interfaces
Rise.It may be referred to the sign P in figureAPlace, Fig. 5 be amplification after effect.Object of reference is placed on this position and not moved, on ground
On make marks, and pass through SPSS interfaces observe PASmall truck position, be designated as SAX, such as in Fig. 5 object of reference small truck position about
Equal to 2280cm；
(5) between two saddle beams, object of reference P is placed close to the place of extra large side saddle beamB.Specific method refers to object of reference
PALaying method.Object of reference is placed on this position and not moved, and makes marks on the ground, and observes P by SPSS interfacesBIt is small
Truck position, it is designated as SBX, such as the small truck position of object of reference is approximately equal to 4970cm in Fig. 6；
(6) object of reference PAWith object of reference PBLine, be exactly the scan line of scanner on the ground；
(7) S is recordedTX、SAX、SBX、STSY, used in subsequent step.
Referring to Fig. 7, displacement of the measurement object of reference on cart direction, point PHThe central point being put into for suspender when on ground
Position.Specific measuring method is as follows：
(1) one is drawn on the ground parallel to dolly direction and passing point PHStraight line LT；
(2) tape measure object of reference P is usedATo straight line LTDistance, be designated as SAZ。SAZSpan for (100cm,
200cm), if it is out of this range, then needing to reinstall adjustment scanner, it is made to meet area requirement.SAZAnd STSZDifference
Value need to be less than 50cm, otherwise, it is necessary to reinstall adjustment scanner, it is met area requirement；
(3) tape measure object of reference P is usedBTo straight line LTDistance, be designated as SBZ。SBZSpan for (100cm,
200cm), if it is out of this range, then needing to reinstall adjustment scanner, it is made to meet area requirement.SBZAnd STSZDifference
Value need to be less than 50cm, otherwise, it is necessary to reinstall adjustment scanner, it is met area requirement；
(4)SAZAnd SBZDifference need to be less than 50cm, otherwise, it is necessary to reinstall adjustment scanner, make its meet scope will
Ask；
(5) S is recordedAZAnd SBZ, used in subsequent step.
It is as follows to calculate deflection angle：
Angle α=around the deflection angle of Y-axis
Angle beta=around the deflection angle of X-axis
Tan (α)=(SBZ- SAZ)÷(SBX- SAX)
Tan (β)=(SAZ×(SBX- STX)÷(STX- SAX)-STSZ)÷(STSY)
Judge installation deflection angle if appropriate for, if it is not, then installation personnel adjustment setting angle, measure again,
Until angle is adapted to.
First installation terminates to receive, and records the result installed for the first time：Installation site of the writing scan instrument on gantry crane trolley frame
P1；Record the position S of dollyTX；Keep the position of dolly constant, one is placed respectively in the extra large side saddle beam and land side saddle beam of gantry crane
Individual object of reference so that scan line passes through this two objects of reference, the two objects of reference is fixed on into this position, such as Fig. 1, herein
During, can be by observing installation auxiliary program SPSS graphic interface, in the event of shape corresponding to object of reference, then
Represent the correct of object of reference.
Scanner is installed again：Scanner is arranged at the position P1 of first installation record；Gantry crane dolly is moved to
The position S of first installation recordTXPlace；Installation personnel adjusts the setting angle of scanner, and assistance personnel see on graphic interface
Whether can simultaneously scan the object of reference that is pre-installed in gantry crane sea side saddle beam and land side saddle beam on, if it is possible to sweep simultaneously if examining
Retouch to two objects of reference, referring to Fig. 2, then adjust scanner setting angle end-of-job, otherwise installation personnel, which is finely tuned, installs
Detected again after angle, until can scan to two objects of reference simultaneously.
Claims (10)
1. a kind of deflection angle measuring method of harbour gantry crane laser scanner installation, it is characterised in that comprise the following steps：
Step 1：First installation scanner simultaneously adjusts setting angle；Installation site P1 of the scanner on gantry crane trolley frame is measured,
Including X-direction position, Y direction position and Z-direction position；
Described coordinate system is defined as follows：
X-axis：Dolly direction of advance is X-axis positive direction, and dolly stop position is 0 point of X-axis；
Y-axis：Raising ascent direction is Y-axis positive direction, and ground level is 0 point of Y-axis；
Z axis：Cart is Z axis positive direction to the right, and cart central point is 0 point of Z axis；
The polar coordinates for the scanning element that scanner feeds back are converted to by rectangular co-ordinate by coordinate transform, and shown on computers
Graphic interface；Place two objects of reference in the place for being separated by M rice on ground so that the scan line of scanner passes through this two references
Thing；The coordinate position of object of reference is decomposed to the X-axis and Z axis of rectangular co-ordinate, using trigonometric function relation, calculates the peace of scanner
Fill deflection angle；Judge to install deflection angle whether in threshold value, if being unsatisfactory for threshold value, installation personnel adjustment established angle
Degree, is measured again, until installation deflection angle is in threshold value；
Step 2：Result after the first installation of record；Installation site P1 of the writing scan instrument on gantry crane trolley frame；Keep dolly
Position it is constant so that scan line by two objects of reference described in step 1 at；If it can scan simultaneously to two references
Thing, then scanner setting angle end-of-job is adjusted, otherwise installation personnel detects again after finely tuning setting angle, Zhi Daoneng
Scan simultaneously to two objects of reference.
2. a kind of deflection angle measuring method of harbour gantry crane laser scanner installation according to claim 1, its feature
It is, in step 1, installation site P1 of the measurement scanner on gantry crane trolley frame is including as follows, it is necessary to measured on trolley frame
Step：
Displacement S of the scanner central point to dolly central point in dolly direction is measured firstTSX；In the center and suspender of trolley frame
The heart is corresponding；
Then displacement S of the scanner central point to dolly central point in cart direction is measuredTSZ；
Described STSZScope be (U, L), if it is out of this range, need reinstall；Record STSXAnd STSZ。
3. a kind of deflection angle measuring method of harbour gantry crane laser scanner installation according to claim 1, its feature
It is, in step 1, the scan line of described scanner needs to find scan line on the ground when passing through two objects of reference, specifically
Comprise the following steps：2 objects of reference are placed on the ground to find scan line, and 2 objects of reference are designated as P respectivelyAAnd PB；
(1) dolly is parked in parking stall and remained stationary as, and records the position S of dollyTX；
(2) from the graphic interface rectangular co-ordinate on computer scanner height, be designated as STSY；
(3) suspender is put into ground, finds the position P of the central point of suspender on the groundH, and a mark is done on the ground；
(4) between two saddle beams, object of reference P is placed close to the place of land side saddle beamA；
(5) between two saddle beams, object of reference P is placed close to the place of extra large side saddle beamB；
(6) object of reference PAWith object of reference PBLine, be exactly the scan line of scanner on the ground；
(7) S is recordedTX、SAX、SBX、STSY。
4. a kind of deflection angle measuring method of harbour gantry crane laser scanner installation according to claim 3, its feature
It is, in described step (4) and (5) between two saddle beams, places object of reference PAAnd PB, specific method is：Close to land side
Move back and forth object of reference on the ground of saddle beam and extra large side saddle beam, scanned when being observed on the graphic interface rectangular co-ordinate on computer
During the height projection of instrument, i.e., do on the ground and place object of reference PAAnd PBMark.
5. a kind of deflection angle measuring method of harbour gantry crane laser scanner installation according to claim 1, its feature
It is, in step 1, the coordinate position of object of reference is decomposed to the X-axis and Z axis of rectangular co-ordinate, using trigonometric function relation, calculates
The installation deflection angle of scanner；Measure displacement of the object of reference on cart direction, point PHIn when being put into for suspender on ground
The position of heart point, specific measuring method are as follows：
(a) one is drawn on the ground parallel to dolly direction and passing point PHStraight line LT；
(b) tape measure object of reference P is usedATo straight line LTDistance, be designated as SAZ, SAZSpan be (U, L), if exceeding this
Individual scope, then need to reinstall adjustment scanner, it is met area requirement, SAZAnd STSZDifference need to be less than K, otherwise, need
Adjustment scanner is reinstalled, it is met area requirement；
(c) tape measure object of reference P is usedBTo straight line LTDistance, be designated as SBZ。SBZSpan be (U, L), if exceeding this
Individual scope, then need to reinstall adjustment scanner, it is met area requirement.SBZAnd STSZDifference need to be less than K, otherwise, need
Adjustment scanner is reinstalled, it is met area requirement；
(d)SAZAnd SBZDifference need to be less than K, otherwise, it is necessary to reinstall adjustment scanner, it is met area requirement；
(e) S is recordedAZAnd SBZ, used in subsequent step；
It is as follows to calculate deflection angle：
Angle α=around the deflection angle of Y-axis
Angle beta=around the deflection angle of X-axis
Tan (α)=(SBZ- SAZ)/(SBX- SAX)
Tan (β)=[SAZ×(SBX- STX)]/[STX- SAX)-STSZ]/(STSY)。
6. a kind of deflection angle measuring method of harbour gantry crane laser scanner installation according to claim 1, its feature
It is, in step 1, described M span is (22,28) rice.
7. a kind of deflection angle measuring method of harbour gantry crane laser scanner installation according to claim 2 or 5, it is special
Sign is that described U and L are respectively 100cm and 200cm.
8. a kind of deflection angle measuring method of harbour gantry crane laser scanner installation according to claim 5, its feature
It is, described K is 50cm.
9. a kind of deflection angle measuring method of harbour gantry crane laser scanner installation according to claim 5, its feature
It is, described threshold value is 1.5 °.
10. a kind of system of the deflection angle measuring method of harbour gantry crane laser scanner installation according to claim 1,
It is characterised in that it includes：Laser scanner on gantry crane trolley frame is used for laser scanner scans with what is be attached thereto
Profile information processing and the computer of graphic interface rectangular coordinate system.
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| CN201710214219.5A CN107664492B (en) | 2017-04-01 | 2017-04-01 | Deflection angle measuring method and system for mounting port shore bridge laser scanner |
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| CN201710214219.5A CN107664492B (en) | 2017-04-01 | 2017-04-01 | Deflection angle measuring method and system for mounting port shore bridge laser scanner |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109141285A (en) * | 2018-09-14 | 2019-01-04 | 上海川丰机电科技发展有限公司 | Ship type outline detection system and its detection method |
| CN113734976A (en) * | 2021-09-14 | 2021-12-03 | 三一海洋重工有限公司 | Method and device for detecting deflection posture and box width of lifting appliance and crane |
| CN114065555A (en) * | 2022-01-13 | 2022-02-18 | 聚时领臻科技(浙江)有限公司 | Deviation correction compensation method for identifying target in quayside crane road |
| CN114234905A (en) * | 2022-02-24 | 2022-03-25 | 山东拓普地理信息工程有限公司 | Angle measuring instrument for bridge engineering detection |
| CN114993252A (en) * | 2022-05-18 | 2022-09-02 | 三一海洋重工有限公司 | Scanner leveling method, device, equipment, scanning system and crane |
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| CN114234905A (en) * | 2022-02-24 | 2022-03-25 | 山东拓普地理信息工程有限公司 | Angle measuring instrument for bridge engineering detection |
| CN114993252A (en) * | 2022-05-18 | 2022-09-02 | 三一海洋重工有限公司 | Scanner leveling method, device, equipment, scanning system and crane |
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