CN110146015B - Scanning device, engineering vehicle and scanning method - Google Patents
Scanning device, engineering vehicle and scanning method Download PDFInfo
- Publication number
- CN110146015B CN110146015B CN201910447936.1A CN201910447936A CN110146015B CN 110146015 B CN110146015 B CN 110146015B CN 201910447936 A CN201910447936 A CN 201910447936A CN 110146015 B CN110146015 B CN 110146015B
- Authority
- CN
- China
- Prior art keywords
- scanning device
- camera
- laser
- engineering truck
- calibration plate
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 230000000007 visual effect Effects 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000006243 chemical reaction Methods 0.000 description 49
- 238000005259 measurement Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 13
- 238000009434 installation Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 5
- 239000011521 glass Substances 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Images
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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a scanning device, an engineering truck and a scanning method, wherein the scanning device comprises: the sensor component is arranged on the engineering truck and comprises a laser and a camera, the laser can emit laser towards the calibration plate, and the camera can acquire image information projected on the calibration plate by the laser; the total station is used for detecting the pose relation between the calibration plate and the scanning device; the inclinometer is arranged on the scanning device and used for detecting the pose relationship between the scanning device and the engineering truck; and the controller is connected with the sensor component, the total station and the inclinometer, and can determine the pose relationship between the camera and the scanning device according to the image information projected on the calibration plate by the laser and the detection result of the total station, and further determine the pose relationship between the camera and the engineering truck according to the pose relationship between the camera and the scanning device and the pose relationship between the scanning device and the engineering truck. The scanning device provided by the invention has higher scanning precision and low manufacturing cost.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a scanning device, an engineering truck and a scanning method.
Background
The three-dimensional measurement technology is mainly used for reconstructing the three-dimensional characteristics of the surface of a measured object and can be divided into contact measurement and non-contact measurement according to the measurement form and means. The classic application of contact measurement systems is represented by three-coordinate measuring machines, which require the probe to be brought into contact with the surface of the object to be measured and moved over the object in order to obtain point cloud information relative to a coordinate system. The method has the advantages of high precision, wide measurement range, no influence of external illumination, low measurement speed, low point cloud density and manual intervention in the measurement process, and the measured object may be slightly deformed and scratched due to the fact that the object surface needs to be contacted. The non-contact three-dimensional measurement utilizes an optical triangulation principle, does not need manual participation in the measurement process, has no influence on a measured object, but cannot be applied to scanning and positioning of an engineering vehicle at present.
A large amount of domestic high-speed railway tunnels and high-speed tunnels need to be excavated and maintained, and a traditional tunnel three-dimensional scanning system mainly adopts a laser scanning mode, and the laser scanning mode is suitable for large-section and full-range integral scanning, has certain limitation and is low in precision.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
To this end, a first aspect of the present invention provides a scanning apparatus.
The invention provides a engineering truck in a second aspect.
A third aspect of the invention provides a scanning method.
The invention provides a scanning device for a machineshop car, which comprises: the sensor component is arranged on the engineering truck and comprises a laser and a camera, the laser can emit laser towards the calibration plate, and the camera can acquire image information projected on the calibration plate by the laser; the total station is used for detecting the pose relation between the calibration plate and the scanning device; the inclinometer is arranged on the scanning device and used for detecting the pose relationship between the scanning device and the engineering truck; and the controller is connected with the sensor component, the total station and the inclinometer, and can determine the pose relationship between the camera and the scanning device according to the image information projected on the calibration plate by the laser and the detection result of the total station, and further determine the pose relationship between the camera and the engineering truck according to the pose relationship between the camera and the scanning device and the pose relationship between the scanning device and the engineering truck. Specifically, the total station is wirelessly connected with the controller for information interaction.
The invention provides a scanning device applied to an engineering truck, wherein a sensor component comprises a laser and a camera, a calibration plate is positioned in the visual field range of the camera, the laser emits laser towards the calibration plate, the camera acquires image information projected by the laser on the calibration plate, and a controller determines the pose relation between the camera and the calibration plate by using a correction calibration method; detecting the pose relationship between the calibration plate and the scanning device through a total station; under the condition that the position and posture relation between the camera and the calibration plate and the position and posture relation between the calibration plate and the scanning device are known, the controller can calculate the position and posture relation between the camera and the scanning device.
The scanning device is internally provided with an inclinometer, and the pose relation between the scanning device and the engineering truck is detected through the inclinometer; under the condition that the position and posture relation between the camera and the scanning device and the position and posture relation between the scanning device and the engineering truck are known, the controller can calculate the position and posture relation between the camera and the engineering truck, and further the conversion between a camera coordinate system and an engineering truck coordinate system is realized. When the camera acquires the coordinate information of a position, the coordinate information is based on the camera coordinate system, and the controller can convert the coordinate information to the engineering vehicle coordinate system, so that the scanning data can be observed conveniently. The scanning device provided by the invention adopts an active conversion mode, has higher scanning precision, can accurately reconstruct a 3D model, has high automation degree, does not need manual intervention in the scanning process, and has lower manufacturing cost compared with a laser scanning mode.
Specifically, the scanning device provided by the invention uses a calibration plate coordinate system as an intermediate medium, and determines the conversion relation between a camera coordinate system and the calibration plate coordinate system by a calibration method of the upright orientation through the cooperation of a laser and a camera; acquiring a conversion relation between a coordinate system of a calibration plate and a coordinate system of a scanning device by using a total station; and acquiring the coordinate system relation between the coordinate system of the scanning device and the coordinate system of the engineering truck by using the inclinometer, and further realizing the conversion between the coordinate system of the camera and the coordinate system of the engineering truck. Specifically, the camera coordinate system refers to a coordinate system established with the camera as the first viewing angle, the scanning device coordinate system refers to a coordinate system established with the monitoring device as a whole as the first viewing angle, and the engineering truck coordinate system deserves a coordinate system established with the engineering truck as the first viewing angle.
According to the scanning device of the present invention, the following additional technical features can be provided:
in the above technical solution, preferably, the sensor part further includes: the laser and the camera can synchronously rotate on the engineering truck under the driving of the double-shaft driving part.
In the technical scheme, the sensor component further comprises a double-shaft driving component, wherein the laser and the camera are mounted on the engineering truck through the double-shaft driving component. In the process of using the laser and the camera in a matched mode, after the relative position of the camera and the laser is determined, the laser and the camera are installed on the double-shaft driving part. After image information projected on the calibration board by one position laser and image information of the calibration board are obtained, the laser and the camera are driven to synchronously rotate on the engineering truck through the double-shaft driving part, then the image information of the next position calibration board and the image information of the calibration board are obtained, and the rotating and shooting steps are continuously repeated until the laser and the camera rotate 180 degrees. When the laser and the camera rotate 180 degrees, the characteristic points calibrated by the needed light plane equation can be obtained.
In any one of the above technical solutions, preferably, the biaxial drive means includes: the pitching shaft is arranged on the engineering truck, and the sensor part can rotate in the vertical direction under the driving of the pitching shaft; and the yaw shaft is arranged on the engineering vehicle, and the sensor component can rotate in the horizontal direction under the driving of the yaw.
In this technical scheme, biax drive part is including the every single move axle and the yaw axle that mutually support and use, and wherein, the every single move axle is used for driving sensor part and rotates along vertical direction, and the yaw axle is used for driving sensor part and rotates along the horizontal direction, and every single move axle and yaw axle cooperation are used, and the all-round scanning in the space is guaranteed to the appearance and is detected. Specifically, the pitch axis rotates 180 ° in the vertical direction and the yaw axis rotates 360 ° in the horizontal direction.
In any of the above technical solutions, preferably, the method further includes: at least two installation parts can rotationally set up on biax drive unit, and laser instrument and camera set up respectively on at least two installation parts, and laser instrument and camera can rotate under the drive of at least two installation parts respectively.
In the technical scheme, at least two mounting parts are arranged on the double-shaft driving part, and the number of the mounting parts is equal to the number of the lasers and the number of the cameras and is used for respectively mounting the cameras and the lasers. When the camera and the laser are installed, the camera and the laser are installed on different installation parts respectively, and each installation part can rotate, so that the relative positions of the camera and the laser which are matched with each other can be adjusted, and the adaptability of the scanning device is improved.
In any one of the above technical solutions, preferably, the sensor part further includes: the shell is arranged on the engineering truck, and the laser and the camera are positioned in the shell; and the lens is arranged in the shell and is connected with the camera.
In this technical scheme, the sensor part still includes the casing and the camera lens that is connected with the camera, and wherein, laser instrument, camera lens and inclinometer are integrated to be set up in the casing, adopt the integrated level of modularized design in order to promote the sensor part. Specifically, the camera is a CCD (charged coupled device) industrial camera, the lens is a fixed focus lens, the housing is a 3D (3 Dimensions) sensor housing, and the CCD industrial camera, the fixed focus lens and the housing are 3D sensor housings and jointly form a housing which is a 3D sensor (i.e., a sensor component).
In any of the above technical solutions, preferably, the sensor component further includes a light-transmitting layer disposed on the housing, and the laser and the camera are disposed toward the light-transmitting layer.
In the technical scheme, the light transmission layer is arranged on the shell, the laser and the camera are arranged towards the light transmission layer, the laser can be accurately projected on the calibration plate, and meanwhile, the camera can acquire the image information projected on the calibration plate by the laser and the image information of the calibration plate. Specifically, the light-transmitting layer is a glass plate.
The invention provides a engineering vehicle in a second aspect, which comprises the scanning device in any one of the second aspects.
The engineering truck according to the second aspect of the present invention includes the scanning device according to any one of the second aspects of the present invention, so that all the advantages of the scanning device are achieved, and thus, the description is omitted.
A third aspect of the present invention provides a scanning method, including: determining the pose relation between the camera and the calibration plate according to the image information projected on the calibration plate by the laser; acquiring the pose relation between the calibration plate and the scanning device through a total station; determining the pose relationship between the camera and the scanning device according to the pose relationship between the camera and the calibration plate and the pose relationship between the calibration plate and the scanning device; determining the pose relationship between the scanning device and the engineering truck through an inclinometer; and determining the pose relation between the camera and the engineering truck according to the pose relation between the camera and the scanning device and the pose relation between the scanning device and the engineering truck.
The scanning method provided by the invention comprises the steps of firstly acquiring image information projected on a calibration plate by laser, and determining the pose relationship between the calibration plate and a camera by using a correction calibration method to obtain the conversion relationship between a coordinate system of the calibration plate and a coordinate system of the camera; and then, acquiring the pose relationship between the calibration plate and the scanning device through the total station to obtain the conversion relationship between the coordinate system of the calibration plate and the coordinate system of the scanning device, and further determining the conversion relationship between the coordinate system of the camera and the coordinate system of the scanning device. And determining the pose relationship between the scanning device and the engineering truck through the inclinometer to obtain the conversion relationship between the scanning device coordinate system and the engineering truck coordinate system. In the case where the conversion relationship of the camera coordinate system to the scanning device coordinate system and the conversion relationship of the scanning device coordinate system to the work vehicle coordinate system have been determined, the conversion relationship of the camera coordinate system to the work vehicle coordinate system can be determined. When the camera captures the coordinate of a certain point, the coordinate can be converted into the coordinate system of the engineering truck according to the conversion relation, so that the scanning data can be observed more conveniently.
The scanning method provided by the invention adopts an active conversion mode, has higher scanning precision, can accurately reconstruct a 3D model, has high automation degree, does not need manual intervention in the scanning process, and has lower manufacturing cost compared with a laser scanning mode.
According to the scanning method of the present invention, the following additional technical features can be provided:
in the foregoing technical solution, preferably, determining a pose relationship between the camera and the calibration plate according to the image information projected on the calibration plate by the laser includes: acquiring image information of laser on a calibration plate at a first target position; respectively rotating the scanning device for i times towards a first direction according to a preset angle until the scanning device rotates 180 degrees in total to obtain i target positions; respectively acquiring image information of the laser on a calibration plate at the i target positions; and based on a visual algorithm, determining the pose relationship between the camera and the calibration plate according to the image information of the laser on the calibration plate.
In the technical scheme, in the process of determining the pose relation between the camera and the calibration plate, the scanning device is firstly arranged on a horizontal plane, the double-shaft driving part is adjusted to enable the laser of the camera instrument to be in a proper position (namely a first target position), then the calibration plate is placed right in front of the scanning device, and the linear distance between the calibration plate and the camera is taken as the measurement distance in the actual working condition, namely the scanning distance of the scanning device. After the camera and the laser find the calibration board, the laser is turned on to enable the laser to project image information on the calibration board, at the moment, the camera is used for shooting image information with laser on the calibration board, then the laser is turned off to shoot an image with only the calibration board, and therefore two pieces of image information of the first target position are obtained. And opening the laser again, driving the scanning device to rotate by a certain angle through the double-shaft driving component, connecting the laser stripe and the laser stripe at the second target position end to end as much as possible, moving the calibration plate to enable the calibration plate to be positioned right in front of the camera, paying attention to the fact that the linear distance of the calibration plate relative to the camera needs to be changed with the previous small amplitude, and repeating the shooting process. And rotating for i times until the total rotation is 180 degrees, and then obtaining the characteristic point calibrated by the needed light plane equation. And then the pose relation between the camera and the calibration plate can be calculated based on a visual algorithm.
In any of the above technical solutions, determining the pose relationship between the scanning device and the engineering truck by using the inclinometer specifically includes: acquiring the angle relation between a scanning device and an engineering truck; acquiring the displacement relation between the scanning device and the engineering truck; and determining the pose relationship between the scanning device and the engineering truck according to the angle relationship and the displacement relationship between the scanning device and the engineering truck.
In the technical scheme, in the actual engineering process of the engineering truck operation, the ground is not necessarily a horizontal plane, and the reference plane of the engineering truck is not necessarily a horizontal plane, so that the pose relationship between the engineering truck and the scanning device needs to be calibrated. After the engineering truck is stopped stably, leveling the position of the engineering truck to enable the datum plane of the engineering truck to be parallel to the ground level, setting an engineering truck coordinate system by using a total station, acquiring the angle relation between a scanning device and the engineering truck by using an inclinometer, and obtaining the angle information of the scanning device coordinate system and the engineering truck coordinate system after conversion; and measuring the linear distance between the scanning device and the engineering truck by using the total station, and collecting to obtain a conversion matrix of a scanning device coordinate system and an engineering truck coordinate system. Therefore, the pose relation between the scanning device and the engineering truck can be obtained, the coordinate of a certain point can be converted into the coordinate system of the engineering truck from the coordinate system of the scanning device, and the scanning data can be observed conveniently. Similarly, the coordinates of the point can be converted into any coordinate system, and the reconstruction standardization of the coordinates is realized.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a front view of a scanning device in accordance with one embodiment of the present invention;
FIG. 2 is a rear view of the scanning device of the embodiment shown in FIG. 1;
FIG. 3 is a left side view of the scanning device of the embodiment shown in FIG. 2;
FIG. 4 is a right side view of the scanning device of the embodiment shown in FIG. 1;
FIG. 5 is a top view of the scanning device of the embodiment shown in FIG. 4;
FIG. 6 is a bottom view of the scanning device of the embodiment shown in FIG. 1;
FIG. 7 is a flow chart of a scanning method of one embodiment of the present invention;
fig. 8 is a flowchart of a scanning method according to another embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 6 is:
100 scanning device, 102 laser, 104 camera, 106 biaxial drive component, 108 mounting hole.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
A scanning apparatus 100, a mobile station truck and a scanning method according to some embodiments of the present invention are described below with reference to fig. 1 to 8.
A first aspect of the present invention provides a scanning device 100 for a mobile machinery shop, as shown in fig. 1 to 6, including: the sensor component is arranged on the engineering truck and comprises a laser 102 and a camera 104, the laser 102 can emit laser towards the calibration plate, and the camera 104 can acquire image information projected on the calibration plate by the laser; a total station (not shown in the figure) for detecting the pose relationship of the calibration plate and the scanning device 100; an inclinometer (not shown in the figure) arranged on the scanning device 100 and used for detecting the pose relationship between the scanning device 100 and the engineering truck; and a controller (not shown in the figure) connected to the sensor unit, the total station and the inclinometer, wherein the controller is capable of determining the pose relationship between the camera 104 and the scanning device 100 according to the image information projected by the laser onto the calibration plate and the detection result of the total station, and further determining the pose relationship between the camera 104 and the engineering truck according to the pose relationship between the camera 104 and the scanning device 100 and the pose relationship between the scanning device 100 and the engineering truck. Specifically, the total station is wirelessly connected with the controller for information interaction.
The invention provides a scanning device 100 applied to an engineering truck, wherein a sensor component comprises a laser 102 and a camera 104, a calibration plate is positioned in the visual field range of the camera 104, the laser 102 emits laser towards the calibration plate, the camera 104 acquires image information projected on the calibration plate by the laser, and a controller determines the pose relation between the camera 104 and the calibration plate by using a stretched calibration method; detecting the pose relationship between the calibration plate and the scanning device 100 through a total station; given the positional relationship between the camera 104 and the calibration plate and the positional relationship between the calibration plate and the scanning device 100, the controller can calculate the positional relationship between the camera 104 and the scanning device 100.
An inclinometer is arranged in the scanning device 100, and the pose relation between the scanning device 100 and the engineering truck is detected through the inclinometer; under the condition that the pose relationship between the camera 104 and the scanning device 100 and the pose relationship between the scanning device 100 and the engineering truck are known, the controller can calculate the pose relationship between the camera 104 and the engineering truck, and further realize the conversion between the camera coordinate system and the engineering truck coordinate system. When the camera 104 acquires coordinate information of a position, which is based on the camera coordinate system, the controller can convert the coordinate information to the coordinate system of the engineering truck, so that the scanning data can be observed more conveniently. The scanning device 100 provided by the invention adopts an active conversion mode, has higher scanning precision, can accurately reconstruct a 3D model, has high automation degree, does not need manual intervention in the scanning process, and has lower manufacturing cost compared with a laser scanning mode.
Specifically, the scanning device 100 of the present invention uses a calibration plate coordinate system as an intermediate medium, and determines a transformation relationship between a camera coordinate system and the calibration plate coordinate system by a calibration method using a laser 102 and a camera 104; acquiring a conversion relation between a coordinate system of a calibration plate and a coordinate system of a scanning device by using a total station; and acquiring the coordinate system relation between the coordinate system of the scanning device and the coordinate system of the engineering truck by using the inclinometer, and further realizing the conversion between the coordinate system of the camera and the coordinate system of the engineering truck. Specifically, the camera coordinate system refers to a coordinate system established with the camera 104 as the first viewing angle, the scanning device coordinate system refers to a coordinate system established with the monitoring device as a whole as the first viewing angle, and the engineering truck coordinate system deserves a coordinate system established with the engineering truck as the first viewing angle.
In one embodiment of the present invention, preferably, as shown in fig. 1 to 6, the sensor part further includes: the two-axis driving part 106, the laser 102 and the camera 104 are located on the two-axis driving part 106, and the laser 102 and the camera 104 can be driven by the two-axis driving part 106 to synchronously rotate on the engineering truck.
In this embodiment, the sensor assembly further comprises a dual axis drive assembly 106, wherein the laser 102 and camera 104 are mounted to the machineshop car via the dual axis drive assembly 106. During use of the laser 102 in conjunction with the camera 104, the laser 102 and camera 104 are mounted on the dual-axis drive assembly 106 after the relative positions of the camera 104 and the laser 102 are determined. After the image information of the laser 102 projected on the calibration board and the image information of the calibration board are acquired, the laser 102 and the camera 104 are driven by the double-shaft driving component 106 to synchronously rotate on the engineering truck, so that the image information of the next position calibration board and the image information of the calibration board are acquired, and the rotating and shooting steps are continuously repeated until the laser 102 and the camera 104 rotate 180 degrees. When the laser 102 and the camera 104 rotate 180 °, the feature points calibrated by the required light plane equation can be obtained.
In one embodiment of the present invention, preferably, the biaxial driving part 106 includes: a pitching shaft (not shown in the figure) arranged on the engineering truck, wherein the sensor component can rotate in the vertical direction under the driving of the pitching shaft; and a yaw shaft (not shown in the figure) arranged on the engineering truck, wherein the sensor component can rotate along the horizontal direction under the driving of the yaw shaft.
In this embodiment, the dual-axis driving component 106 includes a pitch axis and a yaw axis, which are used in cooperation with each other, wherein the pitch axis is used for driving the sensor component to rotate along the vertical direction, the yaw axis is used for driving the sensor component to rotate along the horizontal direction, and the pitch axis and the yaw axis are used in cooperation, so that the instrument can ensure all-directional scanning detection in the space. Specifically, the pitch axis rotates 180 ° in the vertical direction and the yaw axis rotates 360 ° in the horizontal direction.
In one embodiment of the present invention, preferably, the method further includes: two mounting members (not shown) are rotatably disposed on the biaxial driving member 106, the laser 102 and the camera 104 are respectively disposed on the two mounting members, and the laser 102 and the camera 104 are respectively driven by the two mounting members to rotate.
In this embodiment, two mounting members are provided on the biaxial drive member 106, the number of which is equal to the number of the lasers 102 and the cameras 104, for mounting the cameras 104 and the lasers 102, respectively. When the camera 104 and the laser 102 are mounted, the camera 104 and the laser 102 are mounted on different mounting components, and each mounting component can rotate, so that the relative positions of the camera 104 and the laser 102 which are matched with each other can be adjusted, and the adaptability of the scanning device 100 is improved.
In one embodiment of the present invention, preferably, the sensor part further includes: a housing (not shown) disposed on the engineering truck, wherein the laser 102 and the camera 104 are located in the housing; a lens (not shown) disposed in the housing and connected to the camera 104.
In this embodiment, the sensor component further includes a housing and a lens connected to the camera 104, wherein the laser 102, the camera 104, the lens and the inclinometer are integrally disposed in the housing, and a modular design is adopted to improve the integration level of the sensor component.
In one embodiment of the present invention, the sensor component preferably further includes a light-transmissive layer disposed on the housing, and the laser 102 and the camera 104 are disposed toward the light-transmissive layer.
In this embodiment, the housing is provided with a light-transmitting layer, and the laser 102 and the camera 104 are disposed toward the light-transmitting layer, so as to ensure that the laser can be accurately projected onto the calibration board, and ensure that the camera 104 can acquire the image information of the laser projected onto the calibration board and the image information of the calibration board. Specifically, the light-transmitting layer is a glass plate.
The invention adopts a machine vision method and a triangulation principle to manufacture a set of two-shaft mechanical arm structure, a pitching shaft and a yawing shaft form a double-shaft driving part 106, a CCD industrial camera, a laser 102, a fixed-focus lens and a 3D sensor shell form a 3D sensor, and a calibration plate coordinate system is used as an intermediate coordinate system to determine the conversion relation between a camera coordinate system and a scanning device coordinate system; and measuring the angle relation between the coordinate system of the scanning device and the coordinate system of the engineering truck by using an inclinometer. Finally, the scanning device 100 integrates the 3D sensor, the biaxial driving component 106 and the inclinometer in a mounting component manner and is mounted on the engineering truck. By using the method, the tunnel contour 3D point cloud information acquired by the camera 104 is reconstructed in the coordinate system of the engineering vehicle, so that the method is more suitable for judging the operation condition of the control system of the engineering vehicle, and similarly, the tunnel contour 3D point cloud information acquired by the industrial camera can be reconstructed in any other coordinate system, thereby being more beneficial to realizing the point cloud information reconstruction standardization.
In an embodiment of the invention, as shown in fig. 1 to 6, the vehicular three-dimensional scanning device 100 includes a linear laser, an industrial camera, a dual-axis tilt sensor, and a dual-axis driving component 106. The dual-axis driving part 106 can rotate 360 degrees in yaw and 180 degrees in pitch, and rotate one direction every time, the operation of 360 degrees in yaw and pitch is not needed in the actual working condition, and the yaw limit is plus or minus 90 degrees, and the pitch limit is plus or minus 90 degrees in order to adapt to the actual working condition and protect the scanning device 100. Two installation parts capable of being manually rotated are installed on the double-shaft driving part 106, the camera 104 and the laser 102 are installed inside the installation parts respectively, one surface of the shell is made of transparent glass, an industrial camera and laser penetrate through the glass in the shell to carry out image acquisition operation, after the angles of the camera installation part and the laser 102 installation part are adjusted, the two installation parts are fixed on the double-shaft driving part 106, the camera and the laser 102 are installed inside the double-shaft driving part 106, and the camera and the laser 102 can be protected in the engineering vehicle operation environment. And finally, fixedly mounting the scanning device 100 on a reserved mounting surface of the operation engineering vehicle.
To use the present scanning apparatus 100, the pose relationship between the camera coordinate system and the scanning apparatus coordinate system and the engineering vehicle coordinate system needs to be determined. The coordinate system of the calibration plate is used as an intermediate coordinate system for obtaining the conversion relation between the coordinate system of the camera and the coordinate system of the scanning device, the calibration plate is placed in the visual field range of the camera 104, then the front surface of the calibration plate is aligned with the camera 104, the pose relation between the coordinate system of the calibration plate and the coordinate system of the camera is determined by using a stretched calibration method, and the relation between the coordinate system of the calibration plate and the coordinate system of the scanning device is determined by using a total station, so that the point cloud data acquired by the camera 104 can be converted into the coordinate system of the scanning device.
In the actual engineering process of the engineering vehicle operation, the ground is not necessarily a horizontal plane, and the reference plane of the engineering vehicle is not necessarily a horizontal plane, so that the relationship between the coordinate system of the engineering vehicle and the coordinate system of the scanning device needs to be calibrated at the moment. The coordinate system of the engineering truck is determined, the inclinometer is arranged, and the angle relation between the scanning device 100 and the coordinate system of the engineering truck is further determined. The scanning device 100 is internally provided with an inclinometer for scanning the angular relationship between the device 100 and a reference plane of the engineering vehicle. The method comprises the steps of arranging the origin of a coordinate system of the engineering truck on a datum plane of the engineering truck, detecting the displacement relation between the coordinate system of the engineering truck and a coordinate system of a scanning device by using a total station, calculating the direct pose conversion relation between the coordinate system of the scanning device and the coordinate system of the engineering truck by combining the angle relation read by an inclinometer, and converting point cloud data in the coordinate system of the scanning device to the coordinate system of the engineering truck by using the direct pose conversion relation.
Specifically, the conversion relation between the coordinate system of the engineering truck and the coordinate system of the scanning device is as follows:
wherein,
is the coordinate of a certain point under the coordinate system of the engineering truck;
RX、RY、RZis a rotation transformation matrix along X, Y, Z axes respectively for transforming the scanning device coordinate system to the engineering vehicle coordinate system;
α, β, γ represent rotation angles of the scanning device coordinate system around the engineering vehicle coordinate system.
The angle alpha, beta can be determined by inclinometer, gamma and
and finally obtaining the conversion relation between the coordinate system of the engineering truck and the coordinate system of the scanning device through calculation.
The scanning device 100 of the present invention specifically uses: the light condition of the tunnel construction environment is poor, and it is not suitable to calibrate the light plane equation of the scanning device 100, the relationship between the scanning device coordinate system and the camera coordinate system in the construction work environment. Firstly, calibrating an optical plane equation in a yaw direction, placing the scanning device 100 on a horizontal desktop, adjusting a double-shaft driving part 106 of a camera to enable the double-shaft driving part 106 of the camera to face to the right front, placing a calibration plate in the right front of the scanning device 100, and paying attention to that the linear distance between the calibration plate and the camera is the measured distance in the actual working condition, namely the standard working distance of the scanning device 100. After the calibration plate is automatically found, the laser 102 is turned on, an image of the calibration plate with the laser light stripe is taken, the laser 102 is turned off, and an image of only the calibration plate is taken, so that two images of one position are obtained. And then the laser 102 of the machine is opened, the scanning device 100 rotates for a certain angle, the laser stripes are connected with the laser stripes at the previous position end to end as much as possible, the calibration plate is moved, the calibration plate is positioned right in front of the visual field of the camera, the shooting action is repeated after the linear distance of the calibration plate relative to the camera is changed with a small amplitude at the previous time, and two images are stored. And rotating by 180 degrees in this way, and obtaining the characteristic points calibrated by the required light plane equation. And the light plane equation in the pitching direction can be calibrated in the same way.
The calibration plate is fixed in the visual field range of the camera and can be clearly imaged, at the moment, the coordinate system of the calibration plate takes the plane of the calibration plate as an XOY surface and accords with a right-hand coordinate system, the origin point is at the characteristic point of the calibration plate, and the Z axis is parallel to the horizontal plane. The conversion relation between the camera coordinate system and the calibration board coordinate system can be solved through a visual algorithm. Installing prisms at the positions of the installation holes 108 on both sides of the scanning device 100, vertically installing the scanning device 100, rotating to a zero position, setting a yaw axis to be vertical to a horizontal plane and a pitch axis to be parallel to the horizontal plane, setting a scanning device coordinate system by using a total station, and further solving the conversion relation between the scanning device coordinate system and a calibration board coordinate system. In this manner, the point cloud data may be converted from the camera coordinate system to the scanning device coordinate system.
The double-shaft driving part 106 of the device is arranged at a fixed position of the engineering truck, the engineering truck is leveled after being stably stopped at a working position, the reference surface of the engineering truck is parallel to the ground level, a total station is used for setting a coordinate system of the engineering truck, and the angle information between the XOY plane of the coordinate system of the engineering truck and the reference surface can be read by an inclination angle sensor. The angle information of the scanning device 100 and the coordinate system of the engineering truck is obtained through the inclinometer, the angle information of the scanning device 100 and the coordinate system of the engineering truck can be obtained after conversion, and then the total station is used for measuring the linear distance between the coordinate system of the scanning device and the origin of the coordinate system of the engineering truck, so that the conversion matrix of the coordinate system of the scanning device and the coordinate system of the engineering truck can be obtained. Therefore, the point cloud data can be converted into the coordinate system of the engineering vehicle from the coordinate system of the scanning device, and the scanning data can be observed more conveniently. Similarly, the point cloud data can be converted into any coordinate system, and point cloud reconstruction standardization is realized.
During the scanning operation, it should be noted that the working distance of the scanning device 100 should be as close as possible to the standard working distance, and the closer to the standard working distance, the higher the scanning accuracy. When both the yaw scanning and the pitch scanning are required to work, the point cloud data needs to be preprocessed, and repeated point clouds are removed in a scanning system.
The scanning device provided by the invention adopts a linear structured light scanning principle and combines a positioning method of the engineering truck, thereby realizing the yaw and pitch scanning of the scanning device 100, reconstructing the scanning point cloud data under the coordinate system of the engineering truck and acquiring any other reference coordinate system. The method has the advantages of high scanning precision, capability of accurately reconstructing the 3D model, high automation degree and no need of manual intervention in the scanning process, and is lower in manufacturing cost and beneficial to construction and use compared with a laser scanning mode.
A second aspect of the present invention provides a mobile machinery shop comprising the scanning apparatus 100 of any one of the second aspects of the present invention.
The engineering truck according to the second aspect of the present invention includes the scanning device 100 according to any one of the second aspects of the present invention, so that all the advantages of the scanning device 100 are provided, and thus, the description thereof is omitted. Specifically, the engineering truck is a trolley.
Fig. 7 shows a flowchart of a scanning method according to an embodiment of the present invention, and as shown in fig. 7, the scanning method includes:
s202, determining the pose relation between the camera and the calibration plate according to the image information projected on the calibration plate by the laser;
s204, acquiring the pose relation between the calibration plate and the scanning device through a total station;
s206, determining the pose relationship between the camera and the scanning device according to the pose relationship between the camera and the calibration plate and the pose relationship between the calibration plate and the scanning device;
s208, determining the pose relationship between the scanning device and the engineering vehicle through an inclinometer;
and S210, determining the pose relationship between the camera and the engineering truck according to the pose relationship between the camera and the scanning device and the pose relationship between the scanning device and the engineering truck.
The scanning method provided by the invention comprises the steps of firstly acquiring image information projected on a calibration plate by laser, and determining the pose relationship between the calibration plate and a camera by using a correction calibration method to obtain the conversion relationship between a coordinate system of the calibration plate and a coordinate system of the camera; and then, acquiring the pose relationship between the calibration plate and the scanning device through the total station to obtain the conversion relationship between the coordinate system of the calibration plate and the coordinate system of the scanning device, and further determining the conversion relationship between the coordinate system of the camera and the coordinate system of the scanning device. And determining the pose relationship between the scanning device and the engineering truck through the inclinometer to obtain the conversion relationship between the scanning device coordinate system and the engineering truck coordinate system. In the case where the conversion relationship of the camera coordinate system to the scanning device coordinate system and the conversion relationship of the scanning device coordinate system to the work vehicle coordinate system have been determined, the conversion relationship of the camera coordinate system to the work vehicle coordinate system can be determined. When the camera captures the coordinate of a certain point, the coordinate can be converted into the coordinate system of the engineering truck according to the conversion relation, so that the scanning data can be observed more conveniently.
The scanning method provided by the invention adopts an active conversion mode, has higher scanning precision, can accurately reconstruct a 3D model, has high automation degree, does not need manual intervention in the scanning process, and has lower manufacturing cost compared with a laser scanning mode.
In an embodiment of the present invention, preferably, determining the pose relationship between the camera and the calibration board according to the image information of the calibration board projected by the laser specifically includes: acquiring image information of laser on a calibration plate at a first target position; respectively rotating the scanning device for i times towards a first direction according to a preset angle until the scanning device rotates 180 degrees in total to obtain i target positions; respectively acquiring image information of the laser on a calibration plate at the i target positions; and based on a visual algorithm, determining the pose relationship between the camera and the calibration plate according to the image information of the laser on the calibration plate.
In this embodiment, in the process of determining the pose relationship between the camera and the calibration plate, the scanning device is first set on the horizontal plane, the dual-axis driving component is adjusted to make the laser of the camera in a suitable position (i.e., the first target position), then the calibration plate is placed right in front of the scanning device, and it is noted that the linear distance between the calibration plate and the camera is the measurement distance in the actual working condition, i.e., the scanning distance of the scanning device. After the camera and the laser find the calibration board, the laser is turned on to enable the laser to project image information on the calibration board, at the moment, the camera is used for shooting image information with laser on the calibration board, then the laser is turned off to shoot an image with only the calibration board, and therefore two pieces of image information of the first target position are obtained. And opening the laser again, driving the scanning device to rotate by a certain angle through the double-shaft driving component, connecting the laser stripe and the laser stripe at the second target position end to end as much as possible, moving the calibration plate to enable the calibration plate to be positioned right in front of the camera, paying attention to the fact that the linear distance of the calibration plate relative to the camera needs to be changed with the previous small amplitude, and repeating the shooting process. And rotating for i times until the total rotation is 180 degrees, and then obtaining the characteristic point calibrated by the needed light plane equation. And then the pose relation between the camera and the calibration plate can be calculated based on a visual algorithm.
In an embodiment of the present invention, preferably, determining the pose relationship between the scanning device and the engineering vehicle by using an inclinometer specifically includes: acquiring the angle relation between a scanning device and an engineering truck; acquiring the displacement relation between the scanning device and the engineering truck; and determining the pose relationship between the scanning device and the engineering truck according to the angle relationship and the displacement relationship between the scanning device and the engineering truck.
In this embodiment, in the actual engineering process of the engineering truck operation, the ground is not necessarily a horizontal plane, and the reference plane of the engineering truck is not necessarily a horizontal plane, so that the pose relationship between the engineering truck and the scanning device needs to be calibrated at this time. After the engineering truck is stopped stably, leveling the position of the engineering truck to enable the datum plane of the engineering truck to be parallel to the ground level, setting an engineering truck coordinate system by using a total station, acquiring the angle relation between a scanning device and the engineering truck by using an inclinometer, and obtaining the angle information of the scanning device coordinate system and the engineering truck coordinate system after conversion; and measuring the linear distance between the scanning device and the engineering truck by using the total station, and collecting to obtain a conversion matrix of a scanning device coordinate system and an engineering truck coordinate system. Therefore, the pose relation between the scanning device and the engineering truck can be obtained, the coordinate of a certain point can be converted into the coordinate system of the engineering truck from the coordinate system of the scanning device, and the scanning data can be observed conveniently. Similarly, the coordinates of the point can be converted into any coordinate system, and the reconstruction standardization of the coordinates is realized.
Fig. 8 shows a flowchart of a scanning method according to another embodiment of the present invention, as shown in fig. 8, including:
s302, acquiring image information of the laser on a calibration plate at a first target position;
s304, respectively rotating the scanning device for i times towards a first direction according to a preset angle until the scanning device rotates 180 degrees in total to obtain i target positions;
s306, respectively acquiring image information of the laser on the calibration plate at the i target positions; based on a visual algorithm, determining the pose relationship between the camera and the calibration plate according to the image information of the laser on the calibration plate;
s308, acquiring the pose relation between the calibration plate and the scanning device through the total station;
s310, determining the pose relationship between the camera and the scanning device according to the pose relationship between the camera and the calibration plate and the pose relationship between the calibration plate and the scanning device;
s312, acquiring the angle relation between the scanning device and the engineering truck;
s314, acquiring the displacement relation between the scanning device and the engineering truck;
and S316, determining the pose relationship between the scanning device and the engineering truck according to the angle relationship and the displacement relationship between the scanning device and the engineering truck.
In this embodiment, the scanning device is first set on a horizontal plane, and the biaxial driving component is adjusted so that the laser of the camera is in a proper position (i.e. the first target position), and then the calibration plate is placed right in front of the scanning device, and it is noted that the linear distance between the calibration plate and the camera is the measurement distance in the actual working condition, i.e. the scanning distance of the scanning device. After the camera and the laser find the calibration board, the laser is turned on to enable the laser to project image information on the calibration board, at the moment, the camera is used for shooting image information with laser on the calibration board, then the laser is turned off to shoot an image with only the calibration board, and therefore two pieces of image information of the first target position are obtained. And opening the laser again, driving the scanning device to rotate by a certain angle through the double-shaft driving component, connecting the laser stripe and the laser stripe at the second target position end to end as much as possible, moving the calibration plate to enable the calibration plate to be positioned right in front of the camera, paying attention to the fact that the linear distance of the calibration plate relative to the camera needs to be changed with the previous small amplitude, and repeating the shooting process. And rotating for i times until the total rotation is 180 degrees, and then obtaining the characteristic point calibrated by the needed light plane equation. And then the pose relation between the camera and the calibration plate can be calculated based on a visual algorithm.
And further, acquiring the pose relationship between the calibration plate and the scanning device through the total station to obtain the conversion relationship between the coordinate system of the calibration plate and the coordinate system of the scanning device, and further determining the conversion relationship between the coordinate system of the camera and the coordinate system of the scanning device.
Furthermore, in the actual engineering process of the engineering truck operation, the ground is not necessarily a horizontal plane, and the reference plane of the engineering truck is not necessarily a horizontal plane, so that the pose relationship between the engineering truck and the scanning device needs to be calibrated at the moment. After the engineering truck is stopped stably, leveling the position of the engineering truck to enable the datum plane of the engineering truck to be parallel to the ground level, setting an engineering truck coordinate system by using a total station, acquiring the angle relation between a scanning device and the engineering truck by using an inclinometer, and obtaining the angle information of the scanning device coordinate system and the engineering truck coordinate system after conversion; and measuring the linear distance between the scanning device and the engineering truck by using the total station, and collecting to obtain a conversion matrix of a scanning device coordinate system and an engineering truck coordinate system. Therefore, the pose relation between the scanning device and the engineering truck can be obtained.
In the case where the conversion relationship of the camera coordinate system to the scanning device coordinate system and the conversion relationship of the scanning device coordinate system to the work vehicle coordinate system have been determined, the conversion relationship of the camera coordinate system to the work vehicle coordinate system can be determined. When the camera captures the coordinate of a certain point, the coordinate can be converted into the coordinate system of the engineering truck according to the conversion relation, so that the scanning data can be observed more conveniently.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A scanning device for a mobile machinery shop, comprising:
the sensor component is arranged on the engineering truck and comprises a laser and a camera, the laser can emit laser towards the calibration plate, and the camera can acquire image information projected on the calibration plate by the laser;
the total station is used for detecting the pose relation between the calibration plate and the scanning device;
the scanning device is internally provided with the inclinometer and is used for detecting the pose relation between the scanning device and the engineering truck;
the controller is connected with the sensor component, the total station and the inclinometer, and can determine the pose relation between the camera and the scanning device according to the image information projected on the calibration plate by the laser and the detection result of the total station, and further determine the pose relation between the camera and the engineering truck according to the pose relation between the camera and the scanning device and the pose relation between the scanning device and the engineering truck;
the sensor component further includes:
the laser and the camera are positioned on the double-shaft driving part and can synchronously rotate on the engineering truck under the driving of the double-shaft driving part,
the biaxial drive component includes:
the pitching shaft is arranged on the engineering truck, and the sensor component can be driven by the pitching shaft to rotate in the vertical direction;
and the sensor component can rotate along the horizontal direction under the driving of the yaw shaft.
2. The scanning device of claim 1, further comprising:
the laser and the camera are respectively arranged on the at least two mounting parts, and the laser and the camera can be respectively driven by the at least two mounting parts to rotate.
3. A scanning device according to claim 1 or 2, wherein the sensor means further comprises:
the shell is arranged on the engineering truck, and the laser and the camera are positioned in the shell;
and the lens is arranged in the shell and is connected with the camera.
4. A scanning device as claimed in claim 3, characterized in that the sensor means further comprise:
and the euphotic layer is arranged on the shell, and the laser and the camera are arranged towards the euphotic layer.
5. A work vehicle, comprising:
a scanning device according to any one of claims 1 to 4.
6. A scanning method for a scanning device according to any one of claims 1 to 4 or a mobile machinery shop according to claim 5, comprising:
determining the pose relationship between a camera and a calibration plate according to image information projected on the calibration plate by laser;
acquiring the pose relation between the calibration plate and the scanning device through a total station;
determining the pose relation between the camera and the scanning device according to the pose relation between the camera and the calibration plate and the pose relation between the calibration plate and the scanning device;
determining the pose relationship between the scanning device and the engineering truck through an inclinometer;
and determining the pose relation between the camera and the engineering truck according to the pose relation between the camera and the scanning device and the pose relation between the scanning device and the engineering truck.
7. The scanning method according to claim 6, wherein the determining the pose relationship between the camera and the calibration plate according to the image information of the laser projection on the calibration plate specifically comprises:
acquiring image information of the laser on the calibration plate at a first target position;
respectively rotating the scanning device for i times towards a first direction according to a preset angle until the scanning device rotates 180 degrees in total to obtain i target positions;
respectively acquiring image information of the laser on the calibration plate at the i target positions;
and determining the pose relation between the camera and the calibration plate according to the image information of the laser on the calibration plate based on a visual algorithm.
8. The scanning method according to claim 6, wherein the determining the pose relationship between the scanning device and the engineering vehicle by the inclinometer specifically comprises:
acquiring the angle relation between the scanning device and the engineering truck;
acquiring the displacement relation between the scanning device and the engineering truck;
and determining the pose relationship between the scanning device and the engineering truck according to the angle relationship and the displacement relationship between the scanning device and the engineering truck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910447936.1A CN110146015B (en) | 2019-05-27 | 2019-05-27 | Scanning device, engineering vehicle and scanning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910447936.1A CN110146015B (en) | 2019-05-27 | 2019-05-27 | Scanning device, engineering vehicle and scanning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110146015A CN110146015A (en) | 2019-08-20 |
| CN110146015B true CN110146015B (en) | 2021-06-01 |
Family
ID=67592034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910447936.1A Active CN110146015B (en) | 2019-05-27 | 2019-05-27 | Scanning device, engineering vehicle and scanning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110146015B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111627113B (en) * | 2020-05-25 | 2023-09-19 | 易视智瞳科技（深圳）有限公司 | Calibration method, device, equipment and storage medium for 3D line scanning modeling horizontal angle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103177442A (en) * | 2013-03-04 | 2013-06-26 | 北京邮电大学 | Calibrating method for two-dimensional laser and camera without overlapped viewing fields |
| CN204924196U (en) * | 2015-04-11 | 2015-12-30 | 北京林业大学 | Forest zone three -dimensional laser scanning appearance carries on cloud platform mechanism |
| CN105698700A (en) * | 2016-02-01 | 2016-06-22 | 西安交通大学 | Tabletop-type three-dimensional laser scanning device with high degree of freedom |
| CN205472298U (en) * | 2016-01-20 | 2016-08-17 | 上海振华重工电气有限公司 | Automatic calibration system that detects of container crane |
| CN109682358A (en) * | 2019-02-01 | 2019-04-26 | 中国铁建重工集团有限公司 | Engineering truck and scanning processing method with 3-D scanning function |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI469902B (en) * | 2011-04-11 | 2015-01-21 | Univ Nat Kaohsiung Applied Sci | Unmanned trackless order picking forklift |
-
2019
- 2019-05-27 CN CN201910447936.1A patent/CN110146015B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103177442A (en) * | 2013-03-04 | 2013-06-26 | 北京邮电大学 | Calibrating method for two-dimensional laser and camera without overlapped viewing fields |
| CN204924196U (en) * | 2015-04-11 | 2015-12-30 | 北京林业大学 | Forest zone three -dimensional laser scanning appearance carries on cloud platform mechanism |
| CN205472298U (en) * | 2016-01-20 | 2016-08-17 | 上海振华重工电气有限公司 | Automatic calibration system that detects of container crane |
| CN105698700A (en) * | 2016-02-01 | 2016-06-22 | 西安交通大学 | Tabletop-type three-dimensional laser scanning device with high degree of freedom |
| CN109682358A (en) * | 2019-02-01 | 2019-04-26 | 中国铁建重工集团有限公司 | Engineering truck and scanning processing method with 3-D scanning function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110146015A (en) | 2019-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10088296B2 (en) | Method for optically measuring three-dimensional coordinates and calibration of a three-dimensional measuring device | |
| US9915521B2 (en) | Method for optically measuring three-dimensional coordinates and controlling a three-dimensional measuring device | |
| US20190130638A1 (en) | Augmented reality camera for use with 3d metrology equipment in forming 3d images from 2d camera images | |
| CN108221603B (en) | A kind of road surface three-dimensional information detection device, the method and system of road | |
| US9020240B2 (en) | Method and surveying system for noncontact coordinate measurement on an object surface | |
| CN101363717B (en) | Method and measuring system for contactless coordinate measurement of the surface of an object | |
| US8036452B2 (en) | Method and measurement system for contactless coordinate measurement on an object surface | |
| CN102448679B (en) | Method and system for extremely precise positioning of at least one object in the end position in space | |
| CN102257354B (en) | Method for chassis measurement and a device for measuring the chassis geometry of a vehicle | |
| CN101750012A (en) | Device for measuring six-dimensional position poses of object | |
| CN1545610A (en) | Position detecting device | |
| CN110517315A (en) | A kind of image-type railway bed surface settlement high-precision on-line monitoring system and method | |
| CN106197385A (en) | Measurement apparatus | |
| WO2016040229A1 (en) | Method for optically measuring three-dimensional coordinates and calibration of a three-dimensional measuring device | |
| CN110146015B (en) | Scanning device, engineering vehicle and scanning method | |
| CN112964318A (en) | Real-time detection method and detection system for belt conveyor muck volume flow | |
| CN206724906U (en) | A kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light | |
| CN215338167U (en) | Size detection equipment suitable for large-scale flat plate type industrial parts | |
| CN114459345A (en) | System and method for detecting position and attitude of airplane body based on visual space positioning | |
| CN109489642B (en) | Dynamic measurement method for relative attitude of two cube mirrors under any spatial attitude | |
| KR101348800B1 (en) | System for processing reflection image enhanced degree of precision by correcting error of reflection image | |
| CN113960564B (en) | Laser comprehensive reference system for underwater detection and ranging and calibrating method | |
| CN212265861U (en) | Vision photographing robot | |
| JPH1047940A (en) | Measuring plate, and device and method for measuring wheel alignment | |
| CN106767678A (en) | Vehicular photoelectric theodolite angle error modification method |
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 |