CN108444383A - The box-like process integral measurement method of view-based access control model laser group - Google Patents
The box-like process integral measurement method of view-based access control model laser group Download PDFInfo
- Publication number
- CN108444383A CN108444383A CN201810188758.0A CN201810188758A CN108444383A CN 108444383 A CN108444383 A CN 108444383A CN 201810188758 A CN201810188758 A CN 201810188758A CN 108444383 A CN108444383 A CN 108444383A
- Authority
- CN
- China
- Prior art keywords
- laser
- measured
- coordinate
- coordinate system
- measurement
- 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
- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention is based on the box-like process integral measurement methods of vision laser group to belong to geometric measurement field, is related to a kind of process integral measurement method that view-based access control model laser group is box-like.This method realizes the online guiding of the end measuring device pose of mechanical arm in such a way that left and right camera is by visual servo, and the local feature of part to be measured is made to be in the measurement range of laser scanner.And high-acruracy survey is carried out to local feature using laser scanner, track and localization is carried out to end measuring device with laser tracker；The pose for adjusting end measuring device repeatedly measures part to be measured progress subregion, will be under the local laser scan data repeatedly measured unification to the global coordinate system established based on laser tracker.This method efficiently solves the problems, such as high-precision process integrated measuring within the scope of large space, has the characteristics that high certainty of measurement, range be wide and high robust, realizes large space, across scale, high-precision process integrated measuring.
Description
Technical field
The invention belongs to geometric measurement fields, are related to a kind of process integrated test that view-based access control model laser group is box-like
Amount method.
Background technology
In aerospace field, with the propulsion of automation, mechanical arm is gradually adopted to carry out large parts whole
Processing, and high-precision integrated measuring is the important technology guarantee for realizing high quality processing in process.Large parts
Size up to several meters to tens of rice, when measurement, had both needed the positioning of full-scale range to realize that precision is micron-sized part again
It measures, measurement scale crosses over multiple orders of magnitude.Measured object size is larger and complicated, accurately measure its geological information tool
There is prodigious difficulty.Therefore, invention one kind has great importance towards large space, across scale, high-precision measurement method.
The measurement of large-sized object at present mainly passes through total powerstation, large space laser scannings instrument, indoor GPS, laser radar etc.
Equipment is completed.Total powerstation popularity rate height, far measuring distance, but measuring speed is slow, function is limited, is only suitable for the big of tens of rice or more
Dimensional measurement；Large space laser scannings measuring speed is fast, data volume is big, but measurement accuracy is relatively low, measurement dead angle is more, is not suitable for
High-acruracy survey.The equipment that indoor GPS method needs is more, and layout is complicated, cumbersome so that measurement efficiency is relatively low.Laser radar
Method needs point by point scanning, and measurement efficiency is relatively low and is unable to measure local complex region.
Dongguan Xin Ji kelvin measuring techniques Co., Ltd Tu Chengsheng, Patent No. CN104316007A " are referred to based on measuring
The low cost large-sized precision physical dimension measurement system of dot matrix " determines traverse measurement using the witness mark battle array by calibration
Equipment is measuring the position in space, and then mobile measuring equipment institute measured data is transformed into and measures the preset world coordinates in space
System realizes the large scale accurate measurement of low cost, but this method needs arrange big measurement on fixed ground and metope
Reference point simultaneously demarcates it, and its measurement accuracy is influenced by reference point extraction accuracy, and system answers production scene
Miscellaneous environmental suitability is poor.High Buddha's warrior attendant of Changchun Institute of Technology etc., the Patent No. CN107024175A " large sizes based on multi-vision visual
Bus body critical size detecting system solution " is uniformly arrived the measurement data of multigroup binocular camera using laser tracker
Under global coordinate system, the stitching measure within the scope of large space is realized, but the position of multigroup binocular camera is fixed not in the program
It moves and needs certain installation space, it is difficult to meet the integrated measuring demand in process.The Liu Jianwei of Xi'an Communications University
Et al. in 2010《Optical precision engineering》The first phase has delivered article《Large scale videogrammetry system》, it is proposed that one
Portable industrial measuring system of the kind based on stereovision technique, the system is by global flag point measuring system and local point off density
Scanning system form, large-scale workpiece can be measured in production scene, but this method need object under test surface and around
Region sticking sign point reduces the efficiency of measurement, and the overall measurement accuracy of the system is 112 μm/3m, cannot still be met
The high-acruracy survey demand of aerospace field large scale parts.
Invention content
The problem to be solved in the present invention is to overcome prior art insufficient to processing site bad adaptability, measurement accuracy
Defect invents a kind of process integral measurement method that view-based access control model laser group is box-like.This method, first with binocular phase
Machine guides the pose that mechanical arm adjusts its end measuring device online by way of visual servo, and measured object is made to be swept in laser
It retouches in the measurement range of instrument；Then high-acruracy survey is carried out to the local feature of measured object using laser scanner；Adjustment measures
The pose of device carries out subregion domain measurement to measured object, the data for finally scanning multiple local laser it is unified to based on laser with
Under the global coordinate system that track instrument is established, the high-acruracy survey of large space range is realized.The method is by partial high-precision scanning and greatly
The positioning of spatial domain real-time tracking is combined, and the online guiding of mechanical arm tail end measuring device posture is realized by visual servo,
It improves measurement efficiency and can adapt to the complex environment of processing site, realize large space, across scale, high-precision processed
Journey integrated measuring.
The technical solution adopted by the present invention is a kind of process integral measurement method that view-based access control model laser group is box-like,
It is characterized in that this method is swept using local laser essence tracks the technical approach being combined with visual servo and global laser；First
Two CCD camera measure system is built, realizes that the end of mechanical arm measures dress in the way of visual servo by left and right camera 7,9
The online guiding for setting I pose makes the local feature of part 1 to be measured be in the measurement range of laser scanner 5；Then using sharp
Photoscanner 5 carries out high-acruracy survey to local feature, at the same using laser tracker 2 to end measuring device I into line trace
Positioning；The pose for adjusting end measuring device repeatedly measures part 1 to be measured progress subregion, the part that finally will repeatedly measure
Laser scanning data is unified to be arrived under the global coordinate system established based on laser tracker 2, realizes large space, across scale, high-precision
Process integrated measuring；Measurement method is as follows：
The first step builds measuring system；
Build measuring system：Precise mobile platform 10, laser scanner 5 are installed in the babinet 11 of end measuring device I
It is fixed on a mobile platform 10 by fixture 6, precise mobile platform moving direction is vertical with line laser plane, realizes scanner 5
Translational motion in Y direction；Left and right camera 7,9 is installed on babinet 11, when mounted, it is ensured that left and right camera 7,
9 at it is symmetrically placed and have certain angle, left and right camera is demarcated；Multiple laser tracker targets are installed on babinet 11
Ball 8, and ensure that laser is not blocked in measurement process；2 fixed placement of laser tracker is in the side of part 1 to be measured, with swashing
Optical tracker system 2 carries out laser tracker target ball 8 track and localization of multi-measuring point, utilizes three or more not on the same line
The coordinate of laser target ball 8 determines the pose of mechanical arm tail end measuring device I in space；
Second step establishes coordinate system；
Establish coordinate system：In world coordinate system OwXwYwZwUnder a characteristic point P on part to be measuredw, coordinate is (Xw,Yw,
Zw), the coordinate system of left camera is OlXlYlZl, focal length fl, the coordinate system of right camera is OrXrYrZr, focal length fr, olxlyl
And orxryrIt is the coordinate system of left and right image plane respectively；PwCoordinate under left camera and right camera coordinates system is respectively (Xl,Yl,
Zl) and (Xr,Yr,Zr), coordinate of the imaging point under the camera photo coordinate system of left and right is respectively (xl,yl) and (xr,yr), left and right
The relative position relation of two cameras can be indicated by formula (1)：
In above formula, R is the spin matrix of two camera positions conversion, and T is the translation matrix of two camera positions conversion, rijFor
The value that the i-th row jth arranges in spin matrix R, tiFor the value of i-th of number in translation matrix T；If world coordinate system OwXwYwZwWith left phase
Machine coordinate system OlXlYlZlIt coincides, then can obtain coordinate of the object point under world coordinate system and left and right by the imaging model of camera
The relationship between picpointed coordinate on the transformational relation between picpointed coordinate in camera image plane, with left camera image plane is formula
(2), the relationship between the picpointed coordinate in right camera image plane is formula (3)：
The more than simultaneous various three-dimensional coordinate for acquiring measured point is formula (4)：
Third walks, and high-acruracy survey is carried out to local feature using laser scanner；
Coordinate of the characteristic point under world coordinate system on part 1 to be measured is obtained by image procossing and calculating, by be measured
The coordinate of multiple characteristic points can determine the relative pose of end measuring device I and part 1 on part 1；Then, according to opposite position
Appearance calculates expected pose and the track of the end measuring device I of mechanical arm, and the phase of mechanical arm 3 is exported by inverse kinematics
It should it is expected that joint angles, control machinery arm 3 are moved, and using the real-time measuring data of binocular vision system as feedback, lead to
Visual servoing control is crossed, so that local feature to be measured is in the measurement range of laser scanner 5, utilizes line laser scanner
5 obtain the accurate two-dimensional position information of measured object, the i.e. location information of X-axis and Z-direction, in order to obtain the three-dimensional letter of measured object
Breath needs auxiliary laser scanner progress translational motion in the Y-axis direction；It is guided by visual servo, part to be measured is special
Sign has been in the measurement range of laser scanner 5, drives scanner 5 to move realization to tested along Y direction by platform 10
Thus the measurement of 1 three-dimensional information of object obtains the partial high-precision geological information in region to be measured；
4th step, laser tracker track and localization
What laser scanner 5 scanned every time is limited in scope, and needs in the position for measuring multiple mobile measuring equipment in space
Large-sized measurement is realized by data splicing；The tracking of multi-measuring point is carried out to laser tracker target ball 8 using laser tracker 2
Positioning can determine that the end of mechanical arm measures dress using the coordinate of three or more laser target balls 8 not on the same line
I pose in space is set, and then the global coordinate system based on laser tracker 2 is transformed by the data obtained is measured；
5th step obtains the measurement data under global coordinate system；
If a point P is in mechanical arm tail end Mechanics coordinates O on 1 surface of part to be measuredAXAYAZAUnder coordinate be (XA,YA,
ZA), point P is in the global coordinate system O established based on laser tracker 2HXHYHZHUnder coordinate be (XH,YH,ZH), the two coordinates
It can be converted by formula (5)：
Wherein, RAAnd TARespectively mechanical arm tail end Mechanics coordinates are transformed into the spin matrix of laser tracker coordinate system
And translation matrix, RAAnd TAMatrix can be tracked by 3 or more multiple laser target balls 8 not on the same line in laser
Coordinate value under instrument coordinate system acquires；The data of more than 5 measurement of laser scanner are transformed into the world coordinates of laser tracker 2
It is OHXHYHZHUnder, realize the global high-precision joining of laser scanning.
Large space is realized by above step, across scale, high-precision process integrated measuring.
The high-precision process one within the scope of large space is efficiently solved the beneficial effects of the invention are as follows this method
Change measurement problem, and visual servo, local laser essence swept and global laser tracking technology is combined, have high certainty of measurement,
The advantages of wide range of measurement and high robust, is guided the posture of mechanical arm tail end measuring device by visual servo, makes survey online
Amount is more intelligent, efficient.
Description of the drawings
Fig. 1 is the box-like process integrated measuring system of view-based access control model laser group.Wherein, 1- tested parts, 2- swash
Optical tracker system, 3- mechanical arms, 4- mobile platforms, I-end measuring device, OHXHYHZHThe world coordinates established for laser tracker
System.
Fig. 2 is the partial enlarged view of the end measuring device I of mechanical arm in Fig. 1.Wherein, 5- line laser scanners, 6- folders
Tool, the left cameras of 7-, 8- laser tracker target balls, the right cameras of 9-, 10- precise mobile platforms, 11- babinets, OlXlYlZlFor left camera
Coordinate system, OrXrYrZrFor right camera coordinates system, OwXwYwZwFor world coordinate system, OXYZ is line laser scanner coordinate system,
OAXAYAZAFor mechanical arm tail end Mechanics coordinates.
Fig. 3 is the flow chart of the box-like process integral measurement method of view-based access control model laser group.
Specific implementation mode
Describe the specific implementation mode of the present invention in detail below in conjunction with technical solution and attached drawing.
The line laser scanner 5 that the present embodiment is selected is the LJ-V7060 model measuring instruments of Keyemce company, in X-axis side
To repeatable accuracy be 5 μm, Z-direction repeatable accuracy be 0.4 μm.Electric control platform 10 uses the M521.DD types of PI Corp.
Number precise mobile platform, repetitive positioning accuracy are 0.2 μm.Laser tracker 2 is the AT960 of Leica companies, is measured not true
Fixed degree is ± 15 μm+6 μm/m.Camera 7,9 model vieworks VC-12MC-M/C, 65 cameras in binocular vision system, point
Resolution：4096 × 3072, imaging sensor：CMOS, frame per second：Silent frame, highest 64.3fps.Camera lens model EF16-35mmf/
2.8LIIUSM, lens focus：F=16-35, APS focal length：25.5-52.5 aperture：F2.8.Shooting condition is as follows：Picture pixels
It is 4096 × 3072, lens focus 24mm.
The present invention is swept using local laser essence and is combined with global laser tracking, is guided online by way of visual servo
Mechanical arm adjusts the pose of its end measuring device, realizes the high-acruracy survey within the scope of large scale, the specific step of measurement method
It is rapid as follows：
The first step builds measuring system；
Measuring system is made of mobile platform 4, mechanical arm 3, end measuring device I and laser tracker 2, as shown in Figure 1.
In end measuring device I, left and right camera 7,9 is mounted on babinet 11, when installation to ensure left and right camera 7,9 one-tenth symmetrically put
It sets, and the angle with 30o.7 laser tracker target balls 8 are mounted on babinet 11, and laser scanner 5 is fixed by fixture 6
In precise electric control platform 10, as shown in Figure 2.Laser scanner 5 is driven to carry out translation fortune along Y-axis by precise electric control platform 10
It is dynamic.
Binocular camera is demarcated using gridiron pattern scaling board, gridiron pattern scaling board is full of binocular camera as possible when calibration
Visual field, put 16 different positions, using Zhang Shi standardizations carry out binocular camera calibration, obtain its translation, spin moment
Battle array be：
Second step establishes coordinate system, as shown in Fig. 2.In world coordinate system OwXwYwZwUnder a characteristic point on part to be measured
Pw, coordinate is (Xw,Yw,Zw), the coordinate system of left camera is OlXlYlZl, the coordinate system of right camera is OrXrYrZr, laser with
Track instrument establishes global coordinate system OHXHYHZH, as shown in Fig. 1.
Third walks, and high-acruracy survey is carried out to local feature using laser scanner；
Three-dimensional coordinate of the measured point under world coordinate system, i.e., left camera coordinates system can be derived according to formula (1)-(3)
Formula (4) acquires three-dimensional coordinate of the measured point under world coordinate system according to formula (4), passes through multiple features on part 1 to be measured
The coordinate of point determines the relative pose of end measuring device I and part 1.Obtain the figure of part 1 to be measured in real time using left and right camera
Picture solves real-time relative pose of the mechanical arm tail end measuring device I relative to part 1 to be measured.
Expected pose and the track of the end measuring device I of mechanical arm are calculated according to relative pose, and by reversely transporting
The dynamic corresponding expectation joint angles for learning export mechanical arm 3, control machinery arm 3 are moved.And by the real-time of binocular vision system
Measurement data, by Visual servoing control, makes local feature to be measured be in the measurement range of laser scanner 5 as feedback
It is interior, the accurate two-dimensional position information of measured object, the i.e. location information of X-axis and Z-direction are obtained using line laser scanner 5.For
The three-dimensional information for obtaining measured object, need in the Y-axis direction auxiliary laser scanner carry out translational motion；By visual servo
Guiding, local feature to be measured have been in the measurement range of laser scanner 5, drive scanner 5 along Y-axis by platform 10
Direction moves, and realizes the measurement to 1 three-dimensional information of measured object, thus obtains the partial high-precision geological information in region to be measured；
4th step, laser tracker track and localization
What laser scanner 5 scanned every time is limited in scope, and needs in the position for measuring multiple mobile measuring equipment in space
Large-sized measurement is realized by data splicing；The tracking of multi-measuring point is carried out to laser tracker target ball 8 using laser tracker 2
Positioning, can determine the end measuring device I of mechanical arm in sky using the coordinate of 3 laser target balls 8 not on the same line
Between in pose, and then by measure the data obtained be transformed into the global coordinate system based on laser tracker 2；
5th step obtains the measurement data under global coordinate system；
If tail house coordinate system Os of the point P in mechanical arm on 1 surface of part to be measuredAXAYAZAUnder coordinate be (XA,YA,
ZA), point P is in the global coordinate system O established based on laser tracker 2HXHYHZHUnder coordinate be (XH,YH,ZH), the two coordinates
It is converted by formula (5).The data of more than 5 measurement of laser scanner are transformed into the global coordinate system of laser tracker 2
OHXHYHZHUnder, realize the global high-precision joining of laser scanning.Large space is realized by above step, across scale, high-precision
Process integrated measuring.
Line laser scanner partial high-precision is measured and is combined with the positioning of laser tracker global follow by the present invention, and is led to
The posture that visual servo guides mechanical arm tail end measuring device online is crossed, the high-acruracy survey within the scope of large space is efficiently solved
Problem.This method is flexibly, efficient, robustness is high, realizes large space, across scale, high-precision process integrated measuring.
Claims (1)
1. a kind of process integral measurement method that view-based access control model laser group is box-like, characterized in that this method is using part
Laser essence is swept tracks the technical approach being combined with visual servo and global laser；Two CCD camera measure system is built first, profit
The online guiding for realizing mechanical arm tail end measuring device (I) pose by way of visual servo with left and right camera (7,9), from
And the local feature of part to be measured (1) is made to be in the measurement range of laser scanner (5)；Then laser scanner (5) is utilized
High-acruracy survey is carried out to local feature, while track and localization is carried out to end measuring device (I) using laser tracker (2)；
The pose of adjustment end measuring device (I) carries out subregion to part to be measured (1) and repeatedly measures, the part that finally will repeatedly measure
Under the unified global coordinate system established to laser tracker (2) of laser scanning data, realization large space, across scale, high-precision
Process integrated measuring；Measurement method is as follows：
The first step builds measuring system；
Build measuring system：Precise mobile platform (10), laser scanner are installed in end in the babinet (11) of measuring device (I)
(5) it is fixed on mobile platform (10) by fixture (6), precise mobile platform moving direction is vertical with line laser plane, realizes
Translational motion of the scanner (5) in Y direction；Left and right camera (7,9) is installed on babinet (11), when mounted, to be protected
Left and right camera (7,9) is demonstrate,proved at symmetrically placed and there is certain angle, and left and right camera is demarcated；Pacify on babinet (11)
Multiple laser tracker target balls (8) are filled, and ensure that laser is not blocked in measurement process；Laser tracker (2) fixed placement
Side in part to be measured (1) carries out laser tracker target ball (8) with laser tracker (2) track and localization of multi-measuring point, profit
Determine mechanical arm tail end measuring device (I) in space with the coordinate of three or more laser target balls (8) not on the same line
In pose；
Second step establishes coordinate system；
Establish coordinate system：In world coordinate system OwXwYwZwUnder a characteristic point P on part to be measuredw, coordinate is (Xw,Yw,Zw), it is left
The coordinate system of camera is OlXlYlZl, focal length fl, the coordinate system of right camera is OrXrYrZr, focal length fr, olxlylWith
orxryrIt is the coordinate system of left and right image plane respectively；PwCoordinate under left camera and right camera coordinates system is respectively (Xl,Yl,Zl)
(Xr,Yr,Zr), coordinate of the imaging point under the camera photo coordinate system of left and right is respectively (xl,yl) and (xr,yr), left and right phase
The relative position relation of machine is indicated by formula (1)：
In above formula, R is the spin matrix of two camera positions conversion, and T is the translation matrix of two camera positions conversion, rijFor rotation
The value that the i-th row jth arranges in matrix R, tiFor the value of i-th of number in translation matrix T；If world coordinate system OwXwYwZwIt is sat with left camera
Mark system OlXlYlZlIt coincides, then can obtain coordinate of the object point under world coordinate system and left and right camera by the imaging model of camera
The relationship between picpointed coordinate on the transformational relation between picpointed coordinate in image plane, with left camera image plane is formula (2),
Relationship between the picpointed coordinate in right camera image plane is formula (3)：
The more than simultaneous various three-dimensional coordinate for acquiring measured point is formula (4)：
Third walks, and high-acruracy survey is carried out to local feature using laser scanner；
Coordinate of the characteristic point under world coordinate system on part (1) to be measured is obtained by image procossing and calculating, passes through to be measured zero
The coordinate of multiple characteristic points determines the relative pose of end measuring device (I) and part (1) on part (1)；Then, according to opposite position
Appearance calculates expected pose and the track of mechanical arm tail end measuring device (I), and exports mechanical arm (3) by inverse kinematics
It is corresponding it is expected that joint angles, control machinery arm (3) are moved, and using the real-time measuring data of binocular vision system as anti-
Feedback, by Visual servoing control, makes local feature to be measured be in the measurement range of laser scanner (5)；Swashed using line
Photoscanner (5) obtains the accurate two-dimensional position information of measured object, the i.e. location information of X-axis and Z-direction, tested in order to obtain
The three-dimensional information of object needs auxiliary laser scanner progress translational motion in the Y-axis direction；It is guided by visual servo, it is to be measured
The local feature of amount has been in the measurement range of laser scanner (5), drives scanner (5) along Y-axis side by platform (10)
The measurement to measured object (1) three-dimensional information is realized to movement, thus obtains the partial high-precision geological information in region to be measured；
4th step, laser tracker track and localization
What laser scanner (5) scanned every time is limited in scope, and needs logical in the position for measuring repeatedly mobile measuring equipment in space
It crosses data splicing and realizes large-sized measurement；Using laser tracker (2) to laser tracker target ball (8) carry out multi-measuring point with
Track positions, and can determine that the end of mechanical arm is surveyed using the coordinate of three or more laser target balls (8) not on the same line
The pose of device (I) in space is measured, and then the world coordinates based on laser tracker (2) is transformed by the data obtained is measured
System；
5th step obtains the measurement data under global coordinate system；
If a point P is in mechanical arm tail end Mechanics coordinates O on part (1) surface to be measuredAXAYAZAUnder coordinate be (XA,YA,
ZA), the global coordinate system O that point P is established in laser tracker (2)HXHYHZHUnder coordinate be (XH,YH,ZH), the two coordinates are logical
Formula (5) is crossed to be converted：
Wherein, RAAnd TARespectively mechanical arm tail end Mechanics coordinates are transformed into the spin matrix peace of laser tracker coordinate system
Move matrix, RAAnd TAMatrix is by 3 or 3 or more laser target balls (8) not on the same line in laser tracker coordinate system
Under coordinate value acquire；The data that laser scanner (5) repeatedly measures are transformed into the global coordinate system of laser tracker (2)
OHXHYHZHUnder, realize the global high-precision joining of laser scanning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810188758.0A CN108444383B (en) | 2018-03-08 | 2018-03-08 | The box-like process integral measurement method of view-based access control model laser group |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810188758.0A CN108444383B (en) | 2018-03-08 | 2018-03-08 | The box-like process integral measurement method of view-based access control model laser group |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108444383A true CN108444383A (en) | 2018-08-24 |
| CN108444383B CN108444383B (en) | 2019-06-28 |
Family
ID=63193658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810188758.0A Active CN108444383B (en) | 2018-03-08 | 2018-03-08 | The box-like process integral measurement method of view-based access control model laser group |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108444383B (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591019A (en) * | 2018-12-19 | 2019-04-09 | 南京航空航天大学 | A kind of Space Precision Orientation Method of no certainty location feature object |
| CN109613519A (en) * | 2019-01-11 | 2019-04-12 | 清华大学 | Pairing attitude-adjusting method based on more laser trackers measurement field |
| CN109631793A (en) * | 2018-12-12 | 2019-04-16 | 上海卫星装备研究所 | Type face digital photography automatic measurement method |
| CN110149463A (en) * | 2019-04-22 | 2019-08-20 | 上海大学 | It is a kind of to carry the hand-held line-structured light camera for turning station measurement target |
| CN110160444A (en) * | 2019-06-03 | 2019-08-23 | 西安飞机工业（集团）有限责任公司 | A kind of aircraft C-type beam flexibility testing equipment and detection method |
| CN110487179A (en) * | 2019-08-05 | 2019-11-22 | 中国铁路设计集团有限公司 | Truss-like industrial measuring system and measurement method based on optical tracking scanner and PLC control system |
| CN111008607A (en) * | 2019-12-11 | 2020-04-14 | 南京航空航天大学 | Automatic laser scanning method and system for cabin door gap of visual servo aircraft |
| CN111133395A (en) * | 2019-07-19 | 2020-05-08 | 爱佩仪测量设备有限公司 | Intelligent manufacturing system |
| CN111398271A (en) * | 2020-01-10 | 2020-07-10 | 武汉大学 | Detection optimization system and method for laser near-net-shape defect |
| CN111536901A (en) * | 2020-05-21 | 2020-08-14 | 南京航空航天大学 | Combined three-dimensional laser scanning measurement method based on field gantry and robot |
| CN111561868A (en) * | 2020-05-21 | 2020-08-21 | 郑州辰维科技股份有限公司 | Method for realizing non-contact measurement of antenna profile by utilizing optical tracking structure optical scanner |
| CN111982012A (en) * | 2020-07-22 | 2020-11-24 | 无锡中车时代智能装备有限公司 | Three-dimensional measurement method, device and system for component surface |
| CN112146571A (en) * | 2020-09-25 | 2020-12-29 | 浙江汉振智能技术有限公司 | Non-contact three-dimensional measurement system for large-scale component and data splicing method |
| CN112325796A (en) * | 2020-10-26 | 2021-02-05 | 上海交通大学 | Large-scale workpiece profile measuring method based on auxiliary positioning multi-view point cloud splicing |
| CN112729163A (en) * | 2019-10-14 | 2021-04-30 | 中国科学院沈阳自动化研究所 | Visual detection method for geometric parameters of large-sized product |
| CN112833784A (en) * | 2021-01-04 | 2021-05-25 | 中铁四局集团有限公司 | Steel rail positioning method combining monocular camera with laser scanning |
| CN112859087A (en) * | 2020-12-31 | 2021-05-28 | 上海外高桥造船海洋工程有限公司 | Positioning method for ship floating state |
| CN112853835A (en) * | 2021-01-04 | 2021-05-28 | 中铁四局集团有限公司 | Automatic control method and system for steel rail laying |
| CN112923849A (en) * | 2021-01-27 | 2021-06-08 | 长春涵智科技有限公司 | Space positioning method and system based on contour sensor |
| CN112964196A (en) * | 2021-02-05 | 2021-06-15 | 杭州思锐迪科技有限公司 | Three-dimensional scanning method, system, electronic device and computer equipment |
| CN113358070A (en) * | 2021-07-07 | 2021-09-07 | 苏州鑫睿益荣信息技术有限公司 | Automobile brake pad flatness and pin height detection system and detection method thereof |
| CN113376649A (en) * | 2021-06-30 | 2021-09-10 | 华中科技大学 | Robot automatic local scanning planning method based on global rough scanning imaging |
| CN114111627A (en) * | 2021-12-07 | 2022-03-01 | 深圳市中图仪器股份有限公司 | Scanning system and scanning method based on laser tracker |
| CN114413790A (en) * | 2022-01-31 | 2022-04-29 | 北京航空航天大学 | Large-view-field three-dimensional scanning device and method for fixedly connecting photogrammetric camera |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102003938A (en) * | 2010-10-11 | 2011-04-06 | 中国人民解放军信息工程大学 | Thermal state on-site detection method for large high-temperature forging |
| CN201858962U (en) * | 2010-07-22 | 2011-06-08 | 首都师范大学 | Three-dimensional measuring system and three-dimensional scanning device thereof |
| CN104457569A (en) * | 2014-11-27 | 2015-03-25 | 大连理工大学 | Geometric parameter visual measurement method for large composite board |
| CN104897060A (en) * | 2015-06-17 | 2015-09-09 | 大连理工大学 | large Large field of view global measurement method using coordinates tracking control board |
| CN105931234A (en) * | 2016-04-19 | 2016-09-07 | 东北林业大学 | Ground three-dimensional laser scanning point cloud and image fusion and registration method |
| CN205664790U (en) * | 2016-06-08 | 2016-10-26 | 杭州非白三维科技有限公司 | Three -dimensional scanning system that combines machine people |
| CN106840041A (en) * | 2017-04-07 | 2017-06-13 | 吉林大学 | Automobile pattern scanner based on binocular active vision |
| US9686532B2 (en) * | 2011-04-15 | 2017-06-20 | Faro Technologies, Inc. | System and method of acquiring three-dimensional coordinates using multiple coordinate measurement devices |
| CN107016667A (en) * | 2017-03-21 | 2017-08-04 | 哈尔滨理工大学 | A kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud |
| CN107144236A (en) * | 2017-05-25 | 2017-09-08 | 西安交通大学苏州研究院 | A kind of robot automatic scanner and scan method |
| CN107194983A (en) * | 2017-05-16 | 2017-09-22 | 华中科技大学 | A kind of three-dimensional visualization method and system based on a cloud and image data |
| CN107421465A (en) * | 2017-08-18 | 2017-12-01 | 大连理工大学 | A kind of binocular vision joining method based on laser tracker |
-
2018
- 2018-03-08 CN CN201810188758.0A patent/CN108444383B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201858962U (en) * | 2010-07-22 | 2011-06-08 | 首都师范大学 | Three-dimensional measuring system and three-dimensional scanning device thereof |
| CN102003938A (en) * | 2010-10-11 | 2011-04-06 | 中国人民解放军信息工程大学 | Thermal state on-site detection method for large high-temperature forging |
| US9686532B2 (en) * | 2011-04-15 | 2017-06-20 | Faro Technologies, Inc. | System and method of acquiring three-dimensional coordinates using multiple coordinate measurement devices |
| CN104457569A (en) * | 2014-11-27 | 2015-03-25 | 大连理工大学 | Geometric parameter visual measurement method for large composite board |
| CN104897060A (en) * | 2015-06-17 | 2015-09-09 | 大连理工大学 | large Large field of view global measurement method using coordinates tracking control board |
| CN105931234A (en) * | 2016-04-19 | 2016-09-07 | 东北林业大学 | Ground three-dimensional laser scanning point cloud and image fusion and registration method |
| CN205664790U (en) * | 2016-06-08 | 2016-10-26 | 杭州非白三维科技有限公司 | Three -dimensional scanning system that combines machine people |
| CN107016667A (en) * | 2017-03-21 | 2017-08-04 | 哈尔滨理工大学 | A kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud |
| CN106840041A (en) * | 2017-04-07 | 2017-06-13 | 吉林大学 | Automobile pattern scanner based on binocular active vision |
| CN107194983A (en) * | 2017-05-16 | 2017-09-22 | 华中科技大学 | A kind of three-dimensional visualization method and system based on a cloud and image data |
| CN107144236A (en) * | 2017-05-25 | 2017-09-08 | 西安交通大学苏州研究院 | A kind of robot automatic scanner and scan method |
| CN107421465A (en) * | 2017-08-18 | 2017-12-01 | 大连理工大学 | A kind of binocular vision joining method based on laser tracker |
Non-Patent Citations (3)
| Title |
|---|
| 李博阳等: "基于机器视觉的激光条纹扫描系统", 《计算机仿真》 * |
| 王欣宇等: "图像传感器与空间坐标测量传感器融合综述", 《测绘通报》 * |
| 郭晶晶等: "手持式激光扫描仪激光点云数据拼接方法", 《电光与控制》 * |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109631793A (en) * | 2018-12-12 | 2019-04-16 | 上海卫星装备研究所 | Type face digital photography automatic measurement method |
| CN109591019B (en) * | 2018-12-19 | 2021-07-27 | 南京航空航天大学 | Space accurate positioning method for nondeterministic positioning characteristic object |
| CN109591019A (en) * | 2018-12-19 | 2019-04-09 | 南京航空航天大学 | A kind of Space Precision Orientation Method of no certainty location feature object |
| CN109613519A (en) * | 2019-01-11 | 2019-04-12 | 清华大学 | Pairing attitude-adjusting method based on more laser trackers measurement field |
| CN110149463A (en) * | 2019-04-22 | 2019-08-20 | 上海大学 | It is a kind of to carry the hand-held line-structured light camera for turning station measurement target |
| CN110160444A (en) * | 2019-06-03 | 2019-08-23 | 西安飞机工业（集团）有限责任公司 | A kind of aircraft C-type beam flexibility testing equipment and detection method |
| CN111133395A (en) * | 2019-07-19 | 2020-05-08 | 爱佩仪测量设备有限公司 | Intelligent manufacturing system |
| CN111133395B (en) * | 2019-07-19 | 2023-11-14 | 爱佩仪测量设备有限公司 | Intelligent manufacturing system |
| CN110487179A (en) * | 2019-08-05 | 2019-11-22 | 中国铁路设计集团有限公司 | Truss-like industrial measuring system and measurement method based on optical tracking scanner and PLC control system |
| CN112729163A (en) * | 2019-10-14 | 2021-04-30 | 中国科学院沈阳自动化研究所 | Visual detection method for geometric parameters of large-sized product |
| CN112729163B (en) * | 2019-10-14 | 2022-02-22 | 中国科学院沈阳自动化研究所 | Visual detection method for geometric parameters of large-sized product |
| CN111008607A (en) * | 2019-12-11 | 2020-04-14 | 南京航空航天大学 | Automatic laser scanning method and system for cabin door gap of visual servo aircraft |
| CN111398271A (en) * | 2020-01-10 | 2020-07-10 | 武汉大学 | Detection optimization system and method for laser near-net-shape defect |
| CN111561868A (en) * | 2020-05-21 | 2020-08-21 | 郑州辰维科技股份有限公司 | Method for realizing non-contact measurement of antenna profile by utilizing optical tracking structure optical scanner |
| CN111536901A (en) * | 2020-05-21 | 2020-08-14 | 南京航空航天大学 | Combined three-dimensional laser scanning measurement method based on field gantry and robot |
| CN111982012A (en) * | 2020-07-22 | 2020-11-24 | 无锡中车时代智能装备有限公司 | Three-dimensional measurement method, device and system for component surface |
| CN112146571A (en) * | 2020-09-25 | 2020-12-29 | 浙江汉振智能技术有限公司 | Non-contact three-dimensional measurement system for large-scale component and data splicing method |
| CN112146571B (en) * | 2020-09-25 | 2022-06-14 | 浙江汉振智能技术有限公司 | Non-contact three-dimensional measurement system for large-scale component and data splicing method |
| CN112325796A (en) * | 2020-10-26 | 2021-02-05 | 上海交通大学 | Large-scale workpiece profile measuring method based on auxiliary positioning multi-view point cloud splicing |
| CN112859087A (en) * | 2020-12-31 | 2021-05-28 | 上海外高桥造船海洋工程有限公司 | Positioning method for ship floating state |
| CN112833784B (en) * | 2021-01-04 | 2022-02-25 | 中铁四局集团有限公司 | Steel rail positioning method combining monocular camera with laser scanning |
| CN112853835A (en) * | 2021-01-04 | 2021-05-28 | 中铁四局集团有限公司 | Automatic control method and system for steel rail laying |
| CN112833784A (en) * | 2021-01-04 | 2021-05-25 | 中铁四局集团有限公司 | Steel rail positioning method combining monocular camera with laser scanning |
| CN112923849A (en) * | 2021-01-27 | 2021-06-08 | 长春涵智科技有限公司 | Space positioning method and system based on contour sensor |
| CN112923849B (en) * | 2021-01-27 | 2022-09-13 | 长春涵智科技有限公司 | Space positioning method and system based on contour sensor |
| CN112964196A (en) * | 2021-02-05 | 2021-06-15 | 杭州思锐迪科技有限公司 | Three-dimensional scanning method, system, electronic device and computer equipment |
| WO2022165973A1 (en) * | 2021-02-05 | 2022-08-11 | 杭州思看科技有限公司 | Three-dimensional scanning method and system, electronic device, and computer equipment |
| CN113376649A (en) * | 2021-06-30 | 2021-09-10 | 华中科技大学 | Robot automatic local scanning planning method based on global rough scanning imaging |
| CN113358070A (en) * | 2021-07-07 | 2021-09-07 | 苏州鑫睿益荣信息技术有限公司 | Automobile brake pad flatness and pin height detection system and detection method thereof |
| CN113358070B (en) * | 2021-07-07 | 2023-03-28 | 苏州鑫睿益荣信息技术有限公司 | Automobile brake pad flatness and pin height detection system and detection method thereof |
| CN114111627A (en) * | 2021-12-07 | 2022-03-01 | 深圳市中图仪器股份有限公司 | Scanning system and scanning method based on laser tracker |
| CN114413790A (en) * | 2022-01-31 | 2022-04-29 | 北京航空航天大学 | Large-view-field three-dimensional scanning device and method for fixedly connecting photogrammetric camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108444383B (en) | 2019-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108444383B (en) | The box-like process integral measurement method of view-based access control model laser group | |
| CN111156925B (en) | Three-dimensional measurement method for large component based on line structured light and industrial robot | |
| CN108555908B (en) | Stacked workpiece posture recognition and pickup method based on RGBD camera | |
| CN108594245A (en) | A kind of object movement monitoring system and method | |
| CN100453966C (en) | Spatial three-dimensional position attitude measurement method for video camera | |
| CN100504299C (en) | Method for obtaining three-dimensional information of space non-cooperative object | |
| CN110246175A (en) | Intelligent Mobile Robot image detecting system and method for the panorama camera in conjunction with holder camera | |
| CN102663763A (en) | Camera calibration method for large field-of-view high-accuracy vision measurement | |
| CN109443209A (en) | A kind of line-structured light system calibrating method based on homography matrix | |
| CN113674345B (en) | Two-dimensional pixel-level three-dimensional positioning system and positioning method | |
| CN105953771A (en) | Active theodolite system and measuring method | |
| CN103759669A (en) | Monocular vision measuring method for large parts | |
| CN111536872B (en) | Two-dimensional plane distance measuring device and method based on vision and mark point identification device | |
| CN113191388B (en) | Image acquisition system for training target detection model and sample generation method | |
| CN105698700A (en) | Tabletop-type three-dimensional laser scanning device with high degree of freedom | |
| CN1793780A (en) | Measuring splice method and device of large three-dimensional body shape based on splicing target | |
| CN106846488A (en) | A kind of large-sized object three-dimensional modeling and method based on many three-dimensional tracking devices | |
| CN110017852A (en) | A kind of navigation positioning error measurement method | |
| CN115235379A (en) | Monocular line laser three-dimensional vision sensor parameter in-situ calibration device and method | |
| CN108168472B (en) | Method and device for measuring satellite antenna unfolding flatness and pointing accuracy | |
| CN103954220A (en) | Ship motion state digital image measuring method in bridge collision test | |
| CN208350997U (en) | A kind of object movement monitoring system | |
| Mi et al. | A vision-based displacement measurement system for foundation pit | |
| CN113028990B (en) | Laser tracking attitude measurement system and method based on weighted least square | |
| CN112665523B (en) | Combined measurement method for complex profile |
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 |