CN108267133A - A kind of laser type reflecting plate coordinate system redundancy scaling method and Laser navigation system - Google Patents
A kind of laser type reflecting plate coordinate system redundancy scaling method and Laser navigation system Download PDFInfo
- Publication number
- CN108267133A CN108267133A CN201711392298.5A CN201711392298A CN108267133A CN 108267133 A CN108267133 A CN 108267133A CN 201711392298 A CN201711392298 A CN 201711392298A CN 108267133 A CN108267133 A CN 108267133A
- Authority
- CN
- China
- Prior art keywords
- laser
- coordinate system
- pip
- pips
- distance
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of laser type reflecting plate coordinate system redundancy scaling method, comprising：Reflecting plate setting is there are four the pip of Unequal distance, and wherein Two-point distribution is where using 2 points of maximum distance in region of the line segment as the circle of diameter；Scanning laser sensor carries out random twice sweep to pip, three pips of scanning every time, thus coordinate system A and position fixing system B are established, then chooses and is included in coordinate system A or B there are four the coordinate system of two farthest pips of distance in pip as calibration coordinate system；If coordinate system A and coordinate system B include 2 points of maximum distance, one is randomly selected.By setting four pips and redundancy processing being carried out after twice sweep is carried out, accuracy and precision of the laser radar sensor during coordinate system is demarcated is increased, ensure that the success rate of robot localization, improves the navigation accuracy of robot.
Description
Technical field
The present invention relates to robot navigation's technical field, more particularly to a kind of laser type reflecting plate coordinate system redundancy calibration side
Method and Laser navigation system.
Background technology
With the fast development of industrial technology, the continuous propulsion of robot science and technology, so the application of sports equipment is not yet
Disconnected expansion.In most of sports equipment operational process, navigate as the core technology independently travelled, to sports equipment
Safety traffic, has great importance.Existing robot navigation's equipment coordinate system calibration generally using mechanical constraint point come
It realizes.But adopt this method not high enough to coordinate system stated accuracy and accuracy, easily make robot in navigation procedure
It positions unsuccessful.
Invention content
It is an object of the invention to solve existing airmanship accuracy and precision not Gao Ding in coordinate system calibration process
The unsuccessful problem in position.
It, can be with for this purpose, the present invention provides a kind of laser type reflecting plate coordinate system redundancy scaling method and Laser navigation system
Redundancy processing is done to rectangular coordinate system calibration suitable for robotic laser independent navigation, to improve the calibration accuracy of coordinate system
With the success of accuracy guarantee positioning.
To achieve these goals, the present invention provides a kind of laser type reflecting plate coordinate system redundancy scaling method, feature
It is, comprises the steps of：Baffle reflection area setting there are four unequally distributed blades pip, wherein Two-point distribution with
Where 2 points of maximum distance in region of the line segment for the circle of diameter；Scanning laser sensor sweeps four pips twice
It retouches, and twice sweep scans into the pip of four unequally distributed blades random three and difference；After the first scan,
Straight line where 2 points that are that distance is maximum in three pips scanned is used as to the X-axis of rectangular coordinate system, if three instead
Exit point is conllinear, then origin of the farthest point of selected distance intermediate point as rectangular coordinate system, if three pips are not conllinear, is selected
Take the thirdly origin of farthest point as rectangular coordinate system of distance in maximum 2 points of distance；Finally determined according to right-hand rule
Thus the Y direction of rectangular coordinate system establishes coordinate system A；After second scans, coordinate system B is determined according to mentioned above principle；Then
It chooses and is included in coordinate system A or coordinate system B there are four the coordinate system of two farthest pips of distance in pip as calibration
Coordinate system；If coordinate system A and coordinate system B include 2 points of maximum distance, one is randomly selected as calibration coordinate system.
The present invention also provides a kind of Laser navigation systems, which is characterized in that includes：Laser radar sensor, Laser emission
Device, laser reflection component；The laser radar sensor and the laser beam emitting device are arranged on sports equipment；It is described
Laser reflection component is laser reflection plate；The pip of the laser reflection plate reflector space is four and each point Unequal distance point
Cloth.
Further, a kind of Laser navigation system of the present invention, which is characterized in that the laser beam emitting device is sharp
Light device.
Further, a kind of Laser navigation system of the present invention, which is characterized in that at least three in the pip
Pip is collinearly set.
Further, a kind of Laser navigation system of the present invention, which is characterized in that the pip forms one four
Side shape.
Further, a kind of Laser navigation system of the present invention, which is characterized in that the laser reflection plate is glass
Fiber is made.
Further, a kind of Laser navigation system of the present invention, which is characterized in that the laser reflection plate is rectangular
Shape or square or circle.
Further, a kind of Laser navigation system of the present invention, which is characterized in that the laser reflection back is set
Double faced adhesive tape is equipped with, the laser reflection plate is fixed on by double faced adhesive tape on preset route.Or the laser reflection plate is provided with
Screw hole, the laser reflection plate are fixed on by the screw hole on preset route.
By a kind of laser type reflecting plate coordinate system redundancy scaling method described in the invention to robot navigation's process
In the redundancy of standard rectangular coordinate system is demarcated, by setting four pips and after twice sweep is carried out at progress redundancy
Reason, increases accuracy of the laser radar sensor during coordinate system is demarcated, ensure that the success rate of robot localization, make
The navigation accuracy of robot improves.The present invention also provides a kind of Laser navigation system, by set laser radar sensor and
The position of reflecting plate and the setting of number, it is determined that the uniqueness of coordinate system calibration, so as to improve the accurate of robot navigation
Degree and the success rate of positioning.
Description of the drawings
Fig. 1 is the flow chart of the coordinate system redundancy scaling method of laser type reflecting plate of the present invention；
Fig. 2 is the structure chart of Laser navigation system of the present invention；
Fig. 3 for the method for the present invention three pips are conllinear in scanning process when rectangular coordinate system demarcate schematic diagram；
Fig. 4 for the method for the present invention three pips are not conllinear in scanning process when rectangular coordinate system demarcate schematic diagram.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is explicitly described in attached drawing, it is clear that described embodiment is the one of the present invention
Section Example rather than whole embodiments.Based on the embodiment of the present invention, this field general technical staff is not making wound
All other embodiments obtained shall fall within the protection scope of the present invention under the premise of the property made labour.
In view of scanning laser sensor is in AGV trolley navigation procedures, since observation angle, distance, barrier block
And the factors such as scanning angle, the pip of each laser reflection plate reflector space can not possibly be scanned every time；So I
Assume that the probability that each pip is scanned is：P, the then probability being not scanned are：1-P.
It then can successfully be positioned when scanning is put to two or three when three pips are only set.Three anti-
Exit point is scanned probability entirely：P × P × P, the probability scanned to two points are：P×P×(1-P)×3.Then setting three sweep
During described point, in navigation procedure, the probability positioned that can succeed is AGV：P × P × P+P × P × (1-P) × 3=P × P × (3-
2P)【Formula 1】.
When four pips are set scanning to two or three or four when can successfully position.Four anti-
The probability that exit point is scanned entirely is：P × P × P × P, the probability of random scanning to three points are：P × P × P × (1-P) × 4,
The probability of random scanning to two points is：P × P × (1-P) × (1-P) × 6.Then when setting four scanning elements, exist in AGV
In navigation procedure, the probability positioned that can succeed is：P × P × P × P+P × P × P × (1-P) × 4+P × P × (1-P) ×
(1-P) × 6=P × P × (6-8P+3 × P × P)【Formula 2】.
Compare【Formula 1】With【Formula 2】Size,【Formula 2】Subtract【Formula 1】：3×(1-P)×(1-P).Obviously this
As a result more than zero, that is,【Formula 2】It is more than【Formula 1】As a result, namely after four pips of setting carry out redundancy processing
AGV navigator fixs success rate be more than setting three when AGV navigation success rate, also just ensured in AGV navigation procedures into
Work(positions.
According to successful probability calculation is positioned above, scanning laser sensor is when single pass is to four pips
Successfully maximum probability is positioned, scans to probability of success minimum is positioned when two, is positioned to when scanning to three
Power is placed in the middle, in order to make scanning laser sensor scanning to three pips when positioning the probability of success promoted the present invention will from swash
Optical scanning sensor is scanning twice, and is scanned every time to the calibration that coordinate system is carried out when three pips.
For this purpose, a kind of coordinate system redundancy scaling method of laser type reflecting plate of present invention offer, flow chart as shown in Figure 1,
Its step includes：
S101：The setting of baffle reflection area is there are four the pip of unequally distributed blades, and wherein Two-point distribution is with most long distance
Where from 2 points in region of the line segment for the circle of diameter；Scanning laser sensor carries out twice sweep to four pips, twice
Scanning scans into the pip of four unequally distributed blades random three and difference.
Specifically, it is both provided with four pips in each baffle reflection area, and this four pip Unequal distances
Distribution, wherein Two-point distribution are in the region using the line segment of 2 points of maximum distance as the circle of diameter.When scanning laser sensor pair
When reflecting plate is scanned, must random scanning to three points therein and difference, scanning laser sensor is needed at random to anti-
The pip for penetrating plate carries out twice sweep.
S102：After the first scan, the straight line where 2 points of distance maximum in scan three pips is made
For the X-axis of rectangular coordinate system, if three pips are conllinear, original of the farthest point of selected distance intermediate point as rectangular coordinate system
Point, if three pips are not conllinear, in maximum 2 points of selected distance distance thirdly farthest point as rectangular coordinate system
Origin, the Y direction of rectangular coordinate system is finally determined according to right-hand rule, thus establishes coordinate system A.
Specifically, laser radar sensor starts to carry out first time scanning to the pip in baffle reflection area, works as laser
Radar sensor scan to three Unequal distances reflecting plate point-blank when, then maximum 2 points of identification spacing first, and
Using the straight line where 2 points of spacing maximum as the X-axis of rectangular coordinate system, sat the point farthest apart from intermediate point as right angle
Mark system origin, then determines Y-axis coordinate system according to the right-hand rule, thereby determined that random scanning to reflecting plate on three reflection
Put the scaling method of rectangular coordinate system A when point-blank.As shown in Figure 3：Three are scanned for laser radar sensor to differ
Away from reflecting plate it is conllinear when, the rectangular coordinate system schematic diagram demarcated.
If the pip in laser radar sensor random scanning to the reflecting plate of three Unequal distances is not in same straight line
When upper, the pip of three unequally distributed blades just constitutes a non-isosceles triangle, and laser radar sensor recognizes three first
2 points of maximum distance between point, and using the straight line where 2 points as X-axis, one side longer between longest edge and another both sides is handed over
Origin of the vertex as rectangular coordinate system of point determine the Y direction of rectangular coordinate system according to right-hand rule, demarcates according to this
Rectangular coordinate system A when three reflecting plates are not conllinear.As shown in Figure 4：For laser radar sensor three Unequal distances of scanning
When reflecting plate is not conllinear, the rectangular coordinate system schematic diagram demarcated.
S103：After second scans, coordinate system B is determined according to mentioned above principle.
Specifically, after laser sensor carries out second scanning to the pip in baffle reflection area, according to step
Principle involved by S102 carries out the calibration of coordinate system B.
S104：Choose the coordinate that two farthest pips of distance in four pips are included in coordinate system A or coordinate system B
System is as calibration coordinate system；If coordinate system A and coordinate system B include 2 points of maximum distance, coordinate system A or seat are randomly selected
Mark system B is as calibration coordinate system.
Specifically, coordinate system A and coordinate system B are compared, and determine four with this before calibration coordinate system is chosen
The position of pip, and then determine the correlation between four pips determines farthest 2 points of distance in four pips；
Coordinate system A and coordinate system B are compared, choose the coordinate for wherein including two farthest pips of distance in four pips
System, if coordinate system A and coordinate system B include 2 points of maximum distance, randomly selects one of them as calibration coordinate system
Coordinate system is as calibration coordinate system.
Laser navigation system structural representation Figure 200 as shown in Figure 2, comprising：Laser radar sensor 201, Laser emission dress
Put 202, laser reflection component 203.
Laser radar sensor 201 and laser beam emitting device 202 are arranged on sports equipment.
Laser beam emitting device 202 can be laser.
Laser reflection component 203 is laser reflection plate, and laser reflection plate is made of glass fiber material, laser reflection plate
Shape can be rectangle, square or circle.More preferably, the back side of laser reflection plate is provided with double faced adhesive tape, laser reflection plate
It is fixed in predetermined paths by double faced adhesive tape.More preferably, screw hole is provided on laser reflection plate, laser reflection plate passes through screw
Hole is fixed in predetermined paths, enhances the fixed stability of laser reflection plate.
The number of the reflector space pip of the laser reflection plate is four, and unequally distributed blades.
Laser reflection plate can be preferably provided at each operating point in sports equipment travelling route.
Laser beam emitting device 202 is for emitting laser, when in laser irradiation to laser reflection component 203, laser reflection
Plate can be by laser reflection to laser radar sensor 201, and laser radar sensor 201 can pick out three laser reflection plate reflections
The pip in region, the setting of the pip of three laser reflection plate reflector spaces can collinearly be set can not also be collinearly.
When three in four pips or four pips is conllinear settings, laser radar sensor 201 can utilize upper
The coordinate system redundancy scaling method for stating a kind of laser type reflecting plate is demarcated.
When four pips are set for a quadrangle, laser radar sensor 201 can utilize a kind of above-mentioned laser type anti-
The coordinate system redundancy scaling method for penetrating plate is demarcated.
After the completion of coordinate system calibration, can the position of sports equipment be judged according to calibration coordinate system, so as to ensure success
Localizing sports equipment, so as to ensure sports equipment navigation accuracy.
Sports equipment can be robot, AGV trolleies, and fork truck etc. has the article of motor function.
By baffle reflection region set four pips, rectangular coordinate system is demarcated using redundancy approach,
The accuracy that reflecting plate coordinate system is demarcated in AGV navigation procedures is improved, the success rate of navigator fix is improved, reduces machine
The error of people's navigation.
Obviously, various changes and modifications can be made to the invention without departing from spirit of the invention by those skilled in the art
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the present invention is also intended to include these modifications and variations.
Claims (8)
1. a kind of laser type reflecting plate coordinate system redundancy scaling method, which is characterized in that comprise the steps of：
In baffle reflection area, setting is there are four the pip of unequally distributed blades, and wherein Two-point distribution is with two point institute of maximum distance
In region of the line segment for the circle of diameter；Scanning laser sensor carries out twice sweep to four pips, and twice sweep is equal
Random three and difference are scanned into the pip of four unequally distributed blades；
After the first scan, using the straight line where 2 points that are that distance is maximum in three pips scanned as right angle seat
The X-axis of system is marked, if three pips are conllinear, origin of the farthest point of selected distance intermediate point as rectangular coordinate system, if three
A pip is not conllinear, then the distance thirdly origin of farthest point as rectangular coordinate system in maximum 2 points of selected distance；
The Y direction of rectangular coordinate system is finally determined according to right-hand rule, thus establishes coordinate system A；
After second scans, coordinate system B is determined according to mentioned above principle；
Then choose the coordinate system that two pips there are four distance in pip farthest are included in coordinate system A or coordinate system B
As calibration coordinate system；
If coordinate system A and coordinate system B include 2 points of maximum distance, one is randomly selected as calibration coordinate system.
2. a kind of Laser navigation system, which is characterized in that include：Laser radar sensor, laser beam emitting device, laser reflection portion
Part；
The laser radar sensor and the laser beam emitting device are arranged on sports equipment；
The laser reflection component is laser reflection plate；
The pip of the laser reflection plate reflector space is four and each point unequally distributed blades.
3. a kind of Laser navigation system according to claim 2, which is characterized in that the laser beam emitting device is laser
Device.
A kind of 4. Laser navigation system according to claim 2, which is characterized in that at least three reflection in the pip
The conllinear setting of point.
5. a kind of Laser navigation system according to claim 2, which is characterized in that the pip forms four sides
Shape.
6. a kind of Laser navigation system according to claim 2, which is characterized in that the laser reflection plate is by glass fibre
It is made.
7. a kind of Laser navigation system according to claim 2, which is characterized in that the laser reflection plate for rectangle or
Square is round.
8. a kind of Laser navigation system according to claim 2, which is characterized in that the laser reflection back is provided with
Double faced adhesive tape, the laser reflection plate are fixed on by double faced adhesive tape on preset route；Alternatively, the laser reflection plate is provided with spiral shell
Nail hole, the laser reflection plate are fixed on by the screw hole on preset route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711392298.5A CN108267133B (en) | 2017-12-21 | 2017-12-21 | Laser type reflecting plate coordinate system redundancy calibration method and laser navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711392298.5A CN108267133B (en) | 2017-12-21 | 2017-12-21 | Laser type reflecting plate coordinate system redundancy calibration method and laser navigation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108267133A true CN108267133A (en) | 2018-07-10 |
| CN108267133B CN108267133B (en) | 2021-07-27 |
Family
ID=62772464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711392298.5A Expired - Fee Related CN108267133B (en) | 2017-12-21 | 2017-12-21 | Laser type reflecting plate coordinate system redundancy calibration method and laser navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108267133B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109143206A (en) * | 2018-08-27 | 2019-01-04 | 森思泰克河北科技有限公司 | Laser radar caliberating device and scaling method |
| CN109712190A (en) * | 2018-11-10 | 2019-05-03 | 浙江大学 | The outer ginseng scaling method of three-dimensional laser scanner and three-dimensional laser radar |
| CN109959937A (en) * | 2019-03-12 | 2019-07-02 | 广州高新兴机器人有限公司 | Localization method, storage medium and electronic equipment of the gallery environment based on laser radar |
| CN110133593A (en) * | 2019-05-23 | 2019-08-16 | 浙江厚达智能科技股份有限公司 | Unmanned indoor vehicle |
| CN111580073A (en) * | 2020-04-10 | 2020-08-25 | 昆山同孚智能技术有限公司 | Detection method for measuring distribution quality of AGV laser navigation reflecting plate |
| CN111624577A (en) * | 2019-02-28 | 2020-09-04 | 深圳市速腾聚创科技有限公司 | Reflection intensity calibration method, device and system and computer equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1559356A (en) * | 2004-03-11 | 2005-01-05 | 上海交通大学 | Method for connecting space object positioned by visible marking points |
| CN101299270A (en) * | 2008-05-27 | 2008-11-05 | 东南大学 | Multiple video cameras synchronous quick calibration method in three-dimensional scanning system |
| CN104483664A (en) * | 2015-01-05 | 2015-04-01 | 中国科学院光电研究院 | Single-linear-array laser radar equipment centering method |
| CN106003052A (en) * | 2016-07-29 | 2016-10-12 | 哈尔滨工大服务机器人有限公司 | Creation method of robot visual navigation map |
| CN106485757A (en) * | 2016-10-13 | 2017-03-08 | 哈尔滨工业大学 | A kind of Camera Calibration of Stereo Vision System platform based on filled circles scaling board and scaling method |
| CN106526580A (en) * | 2016-10-26 | 2017-03-22 | 哈工大机器人集团上海有限公司 | Road sign, apparatus, and method for determining robot position |
| CN106772240A (en) * | 2016-12-13 | 2017-05-31 | 哈工大机器人集团上海有限公司 | Reject dot matrix retro-reflective label interference point methods and robot navigation method |
| CN107229043A (en) * | 2017-05-22 | 2017-10-03 | 中国农业科学院农业资源与农业区划研究所 | A kind of range sensor external parameters calibration method and system |
-
2017
- 2017-12-21 CN CN201711392298.5A patent/CN108267133B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1559356A (en) * | 2004-03-11 | 2005-01-05 | 上海交通大学 | Method for connecting space object positioned by visible marking points |
| CN101299270A (en) * | 2008-05-27 | 2008-11-05 | 东南大学 | Multiple video cameras synchronous quick calibration method in three-dimensional scanning system |
| CN104483664A (en) * | 2015-01-05 | 2015-04-01 | 中国科学院光电研究院 | Single-linear-array laser radar equipment centering method |
| CN106003052A (en) * | 2016-07-29 | 2016-10-12 | 哈尔滨工大服务机器人有限公司 | Creation method of robot visual navigation map |
| CN106485757A (en) * | 2016-10-13 | 2017-03-08 | 哈尔滨工业大学 | A kind of Camera Calibration of Stereo Vision System platform based on filled circles scaling board and scaling method |
| CN106526580A (en) * | 2016-10-26 | 2017-03-22 | 哈工大机器人集团上海有限公司 | Road sign, apparatus, and method for determining robot position |
| CN106772240A (en) * | 2016-12-13 | 2017-05-31 | 哈工大机器人集团上海有限公司 | Reject dot matrix retro-reflective label interference point methods and robot navigation method |
| CN107229043A (en) * | 2017-05-22 | 2017-10-03 | 中国农业科学院农业资源与农业区划研究所 | A kind of range sensor external parameters calibration method and system |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109143206A (en) * | 2018-08-27 | 2019-01-04 | 森思泰克河北科技有限公司 | Laser radar caliberating device and scaling method |
| CN109143206B (en) * | 2018-08-27 | 2021-06-01 | 森思泰克河北科技有限公司 | Laser radar calibration device and calibration method |
| CN109712190A (en) * | 2018-11-10 | 2019-05-03 | 浙江大学 | The outer ginseng scaling method of three-dimensional laser scanner and three-dimensional laser radar |
| CN111624577A (en) * | 2019-02-28 | 2020-09-04 | 深圳市速腾聚创科技有限公司 | Reflection intensity calibration method, device and system and computer equipment |
| CN111624577B (en) * | 2019-02-28 | 2023-08-15 | 深圳市速腾聚创科技有限公司 | Reflection intensity calibration method, device, system and computer equipment |
| CN109959937A (en) * | 2019-03-12 | 2019-07-02 | 广州高新兴机器人有限公司 | Localization method, storage medium and electronic equipment of the gallery environment based on laser radar |
| CN110133593A (en) * | 2019-05-23 | 2019-08-16 | 浙江厚达智能科技股份有限公司 | Unmanned indoor vehicle |
| CN110133593B (en) * | 2019-05-23 | 2021-07-27 | 浙江厚达智能科技股份有限公司 | Unmanned cab vehicle |
| CN111580073A (en) * | 2020-04-10 | 2020-08-25 | 昆山同孚智能技术有限公司 | Detection method for measuring distribution quality of AGV laser navigation reflecting plate |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108267133B (en) | 2021-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108267133A (en) | A kind of laser type reflecting plate coordinate system redundancy scaling method and Laser navigation system | |
| JP5599524B2 (en) | Automatic measurement of dimensional data by laser tracker | |
| US8467072B2 (en) | Target apparatus and method of making a measurement with the target apparatus | |
| CN108415022A (en) | A kind of the coordinate system scaling method and Laser navigation system of laser type reflecting plate | |
| CN104870938A (en) | Method and device for determining the position coordinates of a target object | |
| JP2020008406A (en) | Surveying method, surveying device and program | |
| JP2016505839A (en) | Method and apparatus for determining position coordinates of a target | |
| CN103493470B (en) | Method and corresponding examination and adjustment device for the adjustment deviation of the view data detection chip that determines optical camera | |
| CN110986831B (en) | Cable straightness detection device and detection method | |
| CN109655034B (en) | Rotary laser device and laser ranging method | |
| JP7423553B2 (en) | Methods, systems and optical signs for wireless power supply | |
| US20200333463A1 (en) | Three-dimensional laser scanning device | |
| CN109991613A (en) | Localization method, positioning device, vehicle and readable storage medium storing program for executing | |
| CN106886027A (en) | Laser locating apparatus and laser positioning method | |
| CN110389355A (en) | A kind of multi-line laser radar | |
| JP2018048866A (en) | Surveying device and measurement method | |
| US20220307833A1 (en) | Surveying system, point cloud data acquiring method, and point cloud data acquiring program | |
| EP3597375B1 (en) | Autonomous cart | |
| CN207936963U (en) | A kind of laser locating apparatus | |
| JP4375710B2 (en) | Three-dimensional shape measuring apparatus and three-dimensional shape measuring method | |
| CN115002671B (en) | Bluetooth positioning system and method | |
| JP6274410B2 (en) | Overhead detection method | |
| CN114096369A (en) | Control device, laser processing system with control device, and laser processing method | |
| JP2023021423A (en) | Measurement device and control method of measurement device | |
| JP7289252B2 (en) | Scanner system and scanning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210727 Termination date: 20211221 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |