CN108287164A - A kind of flaw detection system - Google Patents
A kind of flaw detection system Download PDFInfo
- Publication number
- CN108287164A CN108287164A CN201711415148.1A CN201711415148A CN108287164A CN 108287164 A CN108287164 A CN 108287164A CN 201711415148 A CN201711415148 A CN 201711415148A CN 108287164 A CN108287164 A CN 108287164A
- Authority
- CN
- China
- Prior art keywords
- crack
- laser
- high definition
- dot matrix
- definition camera
- 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
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
- G01N2021/8809—Adjustment for highlighting flaws
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The application belongs to crack detection technical field, more particularly to a kind of flaw detection system.The flaw detection system includes loading device, crack detection device and data processing equipment, and the crack detection device is installed on loading device, and is connect with the data processing equipment；The crack detection device includes high definition camera and dot matrix laser, and the high definition camera is used to shoot the crack image of measured target, and the dot matrix laser is used to obtain the 3 d scan data of measured target；The data processing equipment is used to carry out the extracting thermal crack of measured target according to the 3 d scan data and crack image of the measured target and Crack Parameters calculate.The application realizes the high-precision detection of crackle, improves the degree of automation and efficiency of crack detection by machine vision and laser technology.
Description
Technical field
The application belongs to crack detection technical field, more particularly to a kind of flaw detection system.
Background technology
With the continuous development of national basis construction, reinforced concrete structural construction each corner all over the world, water
Mud structural construction is susceptible to peeling, crackle equivalent damage, the crackle inspection of cement structures building after prolonged solarization rainforest
It surveys for ensureing that building safety, assessment building life etc. are of great significance.
Traditional crack detection device is fixed, needs a large amount of preparation, detection efficiency extremely low.And with nobody
The continuous development of machine technology carries out crack detection by using unmanned aerial vehicle onboard crack detection device, greatly improves crackle
The efficiency of detection.However, existing unmanned aerial vehicle onboard crack detection device has the following problems：
1, unmanned plane safety is low, the case where unmanned plane damage often occurs；
2, detection efficiency and precision are relatively low, cannot be satisfied application request；
3, datamation degree is low, needs to rely on the width and length for manually judging crackle according to data such as photos
Degree.
Therefore, it is necessary to a kind of crack detection device safe, precision is high and efficient be developed, to improve existing nothing
It is insufficient existing for man-machine airborne crack detection device.
Invention content
This application provides a kind of flaw detection systems, it is intended to solve at least to a certain extent in the prior art above-mentioned
One of technical problem.
To solve the above-mentioned problems, this application provides following technical solutions：
A kind of flaw detection system, including loading device, crack detection device and data processing equipment, the crack detection
Device is installed on loading device, and is connect with the data processing equipment；
The crack detection device includes high definition camera and dot matrix laser, and the high definition camera is for shooting measured target
Crack image, the dot matrix laser is used to obtain the 3 d scan data of measured target；
The data processing equipment according to the 3 d scan data and crack image of the measured target for being tested
The extracting thermal crack and Crack Parameters of target calculate.
The technical solution that the embodiment of the present application is taken further includes：The loading device includes unmanned plane and guard shield, institute
Unmanned plane is stated in guard shield.
The technical solution that the embodiment of the present application is taken further includes：The loading device further includes image passback module, described
Unmanned plane shoots the image of surrounding enviroment in flight course, and described image passback module is transmitted to data for that will shoot image
Processing unit is shown.
The technical solution that the embodiment of the present application is taken further includes：The crack detection device further includes LED supplementary lighting sources, institute
State LED supplementary lighting sources have with spectrum similar in natural light, for being that the high definition camera is mended under dark or low light environment
Light.
The technical solution that the embodiment of the present application is taken further includes：The crack detection device further includes control module, described
Control module is connect with high definition camera, dot matrix laser and LED supplementary lighting sources respectively, for swashing respectively to high definition camera, dot matrix
Light device and LED supplementary lighting sources are controlled, and read the crack image of high definition camera shooting and the three-dimensional of dot matrix laser acquisition
The crack image and 3 d scan data are transmitted to data processing equipment by scan data.
The technical solution that the embodiment of the present application is taken further includes：The dot matrix laser has swashing for square dot matrix distribution
Radiant, and have well-regulated laser facula distribution, the laser emitting angle of the dot matrix laser is not more than 30 °, laser hair
It dissipates angle and is not more than 1mrad.
The technical solution that the embodiment of the present application is taken further includes：The data processing equipment includes three-dimensional computations module, splits
Line computing module and display module；
The three-dimensional computations module is used to obtain the three dimensional point cloud on measured target according to 3 d scan data, according to
The three dimensional point cloud establishes the threedimensional model of measured target；
The Calculation of Crack module is used to the crack image being mapped to the threedimensional model of measured target, and will be three-dimensional
Model is distributed according to laser facula carries out gridding, for each grid cell into after row interpolation, carries out gridding again, carries
Take fixed point of the crackle in all grid cells passed through, and by nearest fixed point as this section of crackle to high definition camera away from
From calculating the width and length of this section of crackle by pinhole imaging system principle, and pass through the display module and show result of calculation.
The technical solution that the embodiment of the present application is taken further includes：The key light of the main shaft and high definition camera of the dot matrix laser
Axis is parallel, if the mounting distance of the main shaft of the dot matrix laser and high definition camera be H, according to the aperture of the high definition camera at
As principle obtains following relationship：
In above-mentioned formula, DiFor high definition camera to the distance on measured target surface, θiSwash for present laser emergent ray and dot matrix
Angle of the main shaft of light device in xOy planes between x-axis, βiFor the crack image and three-dimensional computations shot by high definition camera
Angle between the calculated present laser emergent ray of module and xOy planes.
The technical solution that the embodiment of the present application is taken further includes：The high definition camera is with 5,000,000 pixels and 15fps frames
The low distortion camera of frequency.
The technical solution that the embodiment of the present application is taken further includes：The unmanned plane is constituted using carbon fibre material, described anti-
Shield shell adds glass fiber material to constitute using carbon fiber.
Compared with the existing technology, the advantageous effect that the embodiment of the present application generates is：The crack detection of the embodiment of the present application
System is combined using unmanned air vehicle technique, machine vision technique and laser technology, by designing unmanned plane safeguard structure, ensure that
Unmanned plane during flying safety and system job safety；By machine vision and laser technology, the high-precision detection of crackle is realized；Pass through
Image procossing improves the degree of automation and efficiency of crack detection.The application improves crack detection efficiency and accuracy of detection,
It is largely bridge, the crack detection of the buildings such as water channel, house provides new means.
Description of the drawings
Fig. 1 is the structural schematic diagram of the flaw detection system of the embodiment of the present application；
Fig. 2 is the loading device schematic diagram of the embodiment of the present application；
Fig. 3 is the rasterizing Computing Principle schematic diagram of the Calculation of Crack module of the embodiment of the present application；
Fig. 4 is the schematic layout pattern of the high definition camera and dot matrix laser of the embodiment of the present application；
Fig. 5 is that the theoretical precision of the flaw detection system of the embodiment of the present application calculates figure.
Specific implementation mode
It is with reference to the accompanying drawings and embodiments, right in order to make the object, technical solution and advantage of the application be more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the application, not
For limiting the application.
Please refer to Fig.1 and Fig. 2, Fig. 1 be the embodiment of the present application flaw detection system structural schematic diagram, Fig. 2 is this Shen
Please embodiment loading device schematic diagram.The flaw detection system of the embodiment of the present application includes loading device 100, crack detection dress
Set 200 and data processing equipment 300, crack detection device 200 is installed on loading device 100, and with data processing equipment 300
Connection；The crack image of measured target is shot in a manner of airborne by the drive crack detection device 200 of loading device 100, and
Obtain the 3 d scan data of measured target；Data processing equipment 300 is split according to crack image and 3 d scan data
Line extracts and Crack Parameters calculate.
Further, as shown in Fig. 2, loading device 100 is the unmanned machine equipment of more rotor structures, including unmanned plane 101,
Guard shield 102 and image return module 103；Unmanned plane 101 is constituted using carbon fibre material, and guard shield 102 uses carbon fiber
Dimension plus glass fiber material are constituted, and guard shield 102 is set to the outside of unmanned plane 101, ensure that the flight peace of unmanned plane 101
Entirely；The image of the captured in real-time surrounding enviroment in flight course of unmanned plane 101, and module 103 is returned by shooting figure by image
It is shown as being transmitted to data processing equipment 300, personnel easy to operation observe the environment feelings near loading device 100 in real time
Condition ensures flight safety.In the embodiment of the present application, loading device 100 is using poly-lithium battery as dynamical system, with brushless motor
For power output, there is the cruising ability not less than 25 minutes and the take-off weight not less than 2.5kg.
Further, crack detection device 200 includes high definition camera 201, dot matrix laser 202, LED supplementary lighting sources 203
With control module 204；
High definition camera 201 is used for the crack image of captured in real-time measured target；In the embodiment of the present application, high definition camera
201 be the low distortion camera with 5,000,000 pixels and 15fps frame frequencies, can specifically be configured according to actual demand.
Dot matrix laser 202 is used to obtain the 3 d scan data of measured target；In the embodiment of the present application, dot matrix laser
The laser light source that device 202 is distributed with 11 × 11 or more square dot matrix, and with more regular laser facula distribution
And certain laser emitting point quantity, to ensure the point cloud density of 3-D scanning；It can emit with regular shape and hot spot point
The red laser of cloth, laser emitting angle are not more than 30 °, and laser beam divergence degree is not more than 1mrad (milliradian), and optical maser wavelength is
The visible light of 650nm, 520nm or 450nm is, it can be achieved that effective 3-D scanning within the scope of 15 meters, 3-D scanning precision are better than
5cm。
LED supplementary lighting sources 203 have with spectrum similar in natural light, for being high definition phase under dark or low light environment
201 light filling of machine；
Control module 204 use damascene structures, respectively with high definition camera 201, dot matrix laser 202 and LED light filling light
Source 203 connects, for being shot, light filling, being split to high definition camera 201, dot matrix laser 202 and LED supplementary lighting sources 203 respectively
The controls operations such as print image is read and 3 d scan data is read, and the crack image read and 3 d scan data are transmitted
To data processing equipment 300.
Further, data processing equipment 300 is the terminal devices such as PC, smart mobile phone, and data processing equipment 300 includes three
Tie up computing module 301, Calculation of Crack module 302 and display module 303；
Three-dimensional computations module 301 is used to obtain measured target according to the 3 d scan data that dot matrix laser 202 obtains
Three dimensional point cloud (three dimensional point cloud precision is in Centimeter Level), the three-dimensional mould of measured target is established according to three dimensional point cloud
Type；
Calculation of Crack module 302 is based on rasterizing Computing Principle, according to the threedimensional model and high definition camera of measured target
The crack image of 201 shootings carries out extracting thermal crack and Crack Parameters calculate, and realizes the crack detection of measured target, and pass through display
Module 303 shows testing result.
It is the rasterizing Computing Principle schematic diagram of the Calculation of Crack module of the embodiment of the present application also referring to Fig. 3.It is first
First, the crack image that high definition camera 201 is shot is mapped on the threedimensional model of measured target, is then pressed entire threedimensional model
It is distributed according to laser facula and carries out gridding, for each grid cell, according to accuracy requirement into after row interpolation, carry out net again
It formats, fixed point of the extraction crackle in all grid cells passed through, and using nearest fixed point as this section of crackle to high definition
The distance of camera 201 calculates the parameters such as width and the length of this section of crackle by pinhole imaging system principle.
It is the schematic layout pattern of the high definition camera and dot matrix laser of the embodiment of the present application also referring to Fig. 4.Dot matrix swashs
The main shaft x of the light device 202 and primary optical axis γ of high definition camera 2011It is parallel, main shaft and high definition camera 201 peace of dot matrix laser 202
Dress distance is H (H1+H2=H), and H1, H2, D are intermediate variables, according to the pinhole imaging system principle of high definition camera 201, can be calculated
Obtain following relationship：
In above-mentioned formula, DiThe distance on measured target surface, θ are arrived for high definition camera 201iFor present laser emergent ray and point
Angle of the main shaft of battle array laser 202 in xOy planes between x-axis, βiFor the crack image shot by high definition camera 201
And three-dimensional computations module 301 angle between calculated present laser emergent ray and xOy planes.
As shown in figure 5, the theoretical precision for the flaw detection system of the embodiment of the present application calculates figure.In high definition camera 201
Under the conditions of 35mm focal lengths, 1.5um pixel sizes, the 3-D scanning precision variation under different mounting distance H, in practical operation
In, different mounting distance H can be selected according to different accuracy requirements.
The flaw detection system of the embodiment of the present application is mutually tied using unmanned air vehicle technique, machine vision technique with laser technology
It closes, by designing unmanned plane safeguard structure, ensure that unmanned plane during flying safety and system job safety；By machine vision and swash
Light technology realizes the high-precision detection of crackle；By image procossing, the degree of automation and efficiency of crack detection is improved.This
Application improves crack detection efficiency and accuracy of detection, is largely bridge, the inspection of the crackle of the buildings such as water channel, house
Survey provides new means.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the application.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can in other embodiments be realized in the case where not departing from spirit herein or range.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (10)
1. a kind of flaw detection system, which is characterized in that including loading device, crack detection device and data processing equipment, institute
It states crack detection device to be installed on loading device, and is connect with the data processing equipment；
The crack detection device includes high definition camera and dot matrix laser, and the high definition camera is for shooting splitting for measured target
Print image, the dot matrix laser are used to obtain the 3 d scan data of measured target；
The data processing equipment is used to carry out measured target according to the 3 d scan data and crack image of the measured target
Extracting thermal crack and Crack Parameters calculate.
2. flaw detection system according to claim 1, which is characterized in that the loading device includes unmanned plane and protection
Shell, the unmanned plane are set in guard shield.
3. flaw detection system according to claim 2, which is characterized in that the loading device further includes image passback mould
Block, the unmanned plane shoot the image of surrounding enviroment in flight course, and described image passback module will be for that will shoot image biography
Data processing equipment is transported to be shown.
4. flaw detection system according to claim 1, which is characterized in that the crack detection device further includes that LED is mended
Radiant, the LED supplementary lighting sources have with spectrum similar in natural light, for being the height under dark or low light environment
Clear camera light filling.
5. flaw detection system according to claim 4, which is characterized in that the crack detection device further includes control mould
Block, the control module are connect with high definition camera, dot matrix laser and LED supplementary lighting sources respectively, for respectively to high definition camera,
Dot matrix laser and LED supplementary lighting sources are controlled, and read crack image and the acquisition of dot matrix laser of high definition camera shooting
3 d scan data, the crack image and 3 d scan data are transmitted to data processing equipment.
6. flaw detection system according to claim 5, which is characterized in that the dot matrix laser has square dot matrix
The laser light source of distribution, and have well-regulated laser facula distribution, the laser emitting angle of the dot matrix laser is not more than
30 °, laser beam divergence degree is not more than 1mrad.
7. flaw detection system according to claim 6, which is characterized in that the data processing equipment includes three-dimensional computations
Module, Calculation of Crack module and display module；
The three-dimensional computations module is used to obtain the three dimensional point cloud on measured target according to 3 d scan data, according to described
Three dimensional point cloud establishes the threedimensional model of measured target；
The Calculation of Crack module is used to the crack image being mapped to the threedimensional model of measured target, and by threedimensional model
It is distributed according to laser facula and carries out gridding, for each grid cell into after row interpolation, carry out gridding again, extraction is split
Fixed point of the line in all grid cells passed through, and the distance by nearest fixed point as this section of crackle to high definition camera,
The width and length of this section of crackle are calculated by pinhole imaging system principle, and result of calculation is shown by the display module.
8. flaw detection system according to claim 7, which is characterized in that the main shaft and high definition phase of the dot matrix laser
The primary optical axis of machine is parallel, if the mounting distance of the main shaft of the dot matrix laser and high definition camera is H, according to the high definition camera
Pinhole imaging system principle obtain following relationship：
In above-mentioned formula, DiFor high definition camera to the distance on measured target surface, θiFor present laser emergent ray and dot matrix laser
Angle of the main shaft in xOy planes between x-axis, βiFor the crack image and three-dimensional computations module shot by high definition camera
Angle between calculated present laser emergent ray and xOy planes.
9. according to claim 1 to 8 any one of them flaw detection system, which is characterized in that the high definition camera be with
The low distortion camera of 5000000 pixels and 15fps frame frequencies.
10. flaw detection system according to claim 2, which is characterized in that the unmanned plane uses carbon fibre material structure
At the guard shield adds glass fiber material to constitute using carbon fiber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711415148.1A CN108287164B (en) | 2017-12-23 | 2017-12-23 | Crack detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711415148.1A CN108287164B (en) | 2017-12-23 | 2017-12-23 | Crack detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108287164A true CN108287164A (en) | 2018-07-17 |
| CN108287164B CN108287164B (en) | 2021-03-23 |
Family
ID=62832181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711415148.1A Active CN108287164B (en) | 2017-12-23 | 2017-12-23 | Crack detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108287164B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870459A (en) * | 2019-02-21 | 2019-06-11 | 武汉武大卓越科技有限责任公司 | The track plates crack detection method of non-fragment orbit |
| CN110893382A (en) * | 2019-11-09 | 2020-03-20 | 钟连杰 | Automatic fine grain repairing system |
| KR102100496B1 (en) * | 2019-05-02 | 2020-04-13 | 케이에스엠기술 주식회사 | System and method for finding crack in concrete using drone and laser scanner |
| CN111141225A (en) * | 2019-12-20 | 2020-05-12 | 山东大学 | Steel bar size measuring method and system based on laser array |
| CN111311555A (en) * | 2020-01-22 | 2020-06-19 | 哈尔滨工业大学 | Large-scale intelligent temporary stand safety detection system |
| CN113447486A (en) * | 2020-03-27 | 2021-09-28 | 长江勘测规划设计研究有限责任公司 | Binocular and infrared combined diagnosis system and method for diseases of unmanned aerial vehicle-mounted linear engineering |
| CN114152616A (en) * | 2021-10-14 | 2022-03-08 | 盐城工学院 | Crack image recognition system and use method thereof |
| TWI823654B (en) * | 2022-11-01 | 2023-11-21 | 國立中央大學 | Structure surface defect identification and correction system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102519434A (en) * | 2011-12-08 | 2012-06-27 | 北京控制工程研究所 | Test verification method for measuring precision of stereoscopic vision three-dimensional recovery data |
| CN104048970A (en) * | 2014-06-19 | 2014-09-17 | 樊晓东 | High-speed detection system and method of tunnel defects |
| CN105004324A (en) * | 2015-05-16 | 2015-10-28 | 上海砺晟光电技术有限公司 | Monocular vision sensor with triangulation ranging function |
| CN106097348A (en) * | 2016-06-13 | 2016-11-09 | 大连理工大学 | A kind of three-dimensional laser point cloud and the fusion method of two dimensional image |
| CN106441235A (en) * | 2016-09-23 | 2017-02-22 | 湖南科技大学 | Concrete-crack-width identification system and method based on robot bomb airborne imaging |
| CN106504320A (en) * | 2016-11-02 | 2017-03-15 | 华东师范大学 | A kind of based on GPU and the real-time three-dimensional reconstructing method towards depth image |
| CN108106801A (en) * | 2017-11-15 | 2018-06-01 | 温州市交通工程试验检测有限公司 | Bridge tunnel disease non-contact detection system and detection method |
-
2017
- 2017-12-23 CN CN201711415148.1A patent/CN108287164B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102519434A (en) * | 2011-12-08 | 2012-06-27 | 北京控制工程研究所 | Test verification method for measuring precision of stereoscopic vision three-dimensional recovery data |
| CN104048970A (en) * | 2014-06-19 | 2014-09-17 | 樊晓东 | High-speed detection system and method of tunnel defects |
| CN105004324A (en) * | 2015-05-16 | 2015-10-28 | 上海砺晟光电技术有限公司 | Monocular vision sensor with triangulation ranging function |
| CN106097348A (en) * | 2016-06-13 | 2016-11-09 | 大连理工大学 | A kind of three-dimensional laser point cloud and the fusion method of two dimensional image |
| CN106441235A (en) * | 2016-09-23 | 2017-02-22 | 湖南科技大学 | Concrete-crack-width identification system and method based on robot bomb airborne imaging |
| CN106504320A (en) * | 2016-11-02 | 2017-03-15 | 华东师范大学 | A kind of based on GPU and the real-time three-dimensional reconstructing method towards depth image |
| CN108106801A (en) * | 2017-11-15 | 2018-06-01 | 温州市交通工程试验检测有限公司 | Bridge tunnel disease non-contact detection system and detection method |
Non-Patent Citations (5)
| Title |
|---|
| 付成群: "《全息三维联测理论与方法》", 31 December 2016, 国防工业出版社 * |
| 吴侃: "《矿山开采沉陷监测及预测新技术》", 31 December 2012, 中国环境科学出版社 * |
| 朱红等: "《3D测量技术》", 31 August 2017, 华中科技大学出版社 * |
| 杨浩: "基于机载LiDAR点云的真正射影像生成方法研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 雷利伟等: "结构光三维扫描技术在道路病害识别方面的研究", 《科学技术与工程》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870459A (en) * | 2019-02-21 | 2019-06-11 | 武汉武大卓越科技有限责任公司 | The track plates crack detection method of non-fragment orbit |
| CN109870459B (en) * | 2019-02-21 | 2021-07-06 | 武汉光谷卓越科技股份有限公司 | Track slab crack detection method for ballastless track |
| KR102100496B1 (en) * | 2019-05-02 | 2020-04-13 | 케이에스엠기술 주식회사 | System and method for finding crack in concrete using drone and laser scanner |
| CN110893382A (en) * | 2019-11-09 | 2020-03-20 | 钟连杰 | Automatic fine grain repairing system |
| CN111141225A (en) * | 2019-12-20 | 2020-05-12 | 山东大学 | Steel bar size measuring method and system based on laser array |
| CN111141225B (en) * | 2019-12-20 | 2021-04-02 | 山东大学 | Steel bar size measuring method and system based on laser array |
| CN111311555A (en) * | 2020-01-22 | 2020-06-19 | 哈尔滨工业大学 | Large-scale intelligent temporary stand safety detection system |
| CN111311555B (en) * | 2020-01-22 | 2023-07-14 | 哈尔滨工业大学 | Large intelligent temporary stand safety detection system |
| CN113447486A (en) * | 2020-03-27 | 2021-09-28 | 长江勘测规划设计研究有限责任公司 | Binocular and infrared combined diagnosis system and method for diseases of unmanned aerial vehicle-mounted linear engineering |
| CN114152616A (en) * | 2021-10-14 | 2022-03-08 | 盐城工学院 | Crack image recognition system and use method thereof |
| TWI823654B (en) * | 2022-11-01 | 2023-11-21 | 國立中央大學 | Structure surface defect identification and correction system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108287164B (en) | 2021-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108287164A (en) | A kind of flaw detection system | |
| CN104330074A (en) | Intelligent surveying and mapping platform and realizing method thereof | |
| CN111006646B (en) | Method for monitoring construction progress based on unmanned aerial vehicle oblique photography measurement technology | |
| CN104484887B (en) | External parameters calibration method when video camera is used in combination with scanning laser range finder | |
| CA2252409A1 (en) | Integrated system for imaging and modeling three-dimensional objects | |
| CN109102563A (en) | A kind of outdoor scene three-dimensional modeling method | |
| CN102519434A (en) | Test verification method for measuring precision of stereoscopic vision three-dimensional recovery data | |
| CN106254738A (en) | Dual image acquisition system and image-pickup method | |
| Qu et al. | Construction site monitoring using UAV oblique photogrammetry and BIM technologies | |
| CN111522360A (en) | Banded oblique photography automatic route planning method based on electric power iron tower | |
| CN105551043B (en) | Unmanned plane image data real-time processing method | |
| CN113776504B (en) | High-precision photographing and quality control method for water engineering unmanned aerial vehicle with complex structure | |
| Zhou et al. | Application of UAV oblique photography in real scene 3d modeling | |
| Previtali et al. | Rigorous procedure for mapping thermal infrared images on three-dimensional models of building façades | |
| CN110913197B (en) | Automatic three-dimensional high-definition camera shooting cultural relic data protection device and method | |
| CN116129064A (en) | Electronic map generation method, device, equipment and storage medium | |
| CN111638272A (en) | In-service hydraulic concrete structure internal loss monitoring and early warning system and method thereof | |
| CN116228870A (en) | Mapping method and system based on two-dimensional code SLAM precision control | |
| CN206618861U (en) | Vehicle-mounted binocular rangefinder | |
| CN213748993U (en) | Infrared pneumatic optical distortion wind tunnel test system | |
| CN207817212U (en) | A kind of machine-carried type laser radar 3-D measuring apparatus | |
| Xi et al. | Ams-3000 large field view aerial mapping system: Basic principles and the workflow | |
| Sun et al. | Aircraft model reconstruction with image point cloud data | |
| Valero et al. | Comparison of 3D Reality Capture Technologies for the Survey of Stone Walls | |
| Arsene | Fusion of real time thermal image and 1D/2D/3D depth laser readings for remote thermal sensing in industrial plants by means of UAVs and/or robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220422 Address after: No. 517, nanzhiyuan community, Taoyuan District, Shenzhen, Guangdong Province Patentee after: Shenzhen Lijian Tianyan Technology Co.,Ltd. Address before: 518000, 1st floor, Building A7, No. 1001 Xueyuan Avenue, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN TIANYAN LASER TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |