CN110307797A - A kind of blade of wind-driven generator deformation detecting system based on laser radar - Google Patents
A kind of blade of wind-driven generator deformation detecting system based on laser radar Download PDFInfo
- Publication number
- CN110307797A CN110307797A CN201910650726.2A CN201910650726A CN110307797A CN 110307797 A CN110307797 A CN 110307797A CN 201910650726 A CN201910650726 A CN 201910650726A CN 110307797 A CN110307797 A CN 110307797A
- Authority
- CN
- China
- Prior art keywords
- point cloud
- laser radar
- data
- blade
- cloud data
- 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.)
- Pending
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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of blade of wind-driven generator deformation detecting system based on laser radar, comprising: several laser radar scanners and a data processing terminal；Several laser radar scanners are disposed side by side on the front on blade face to be detected；Wherein, blade face to be detected is the one side that blade of wind-driven generator needs to carry out shape changing detection；Each laser radar scanner is scanned blade face to be detected according to respective scanning range, obtains local point cloud data, and the local point cloud data of acquisition is sent to data processing terminal；Data processing terminal receives the local point cloud data of all laser radar scanners, and splices to all local point cloud datas, and point cloud data has been spliced in acquisition；Then the standard point cloud data for having spliced point cloud data and having prestored is compared, judges whether blade face to be detected is qualified according to comparison result；Blade of wind-driven generator can be detected by implementing the embodiment of the present invention, easy to operate, complexity is low.
Description
Technical field
The present invention relates in wind-power electricity generation detection technique field more particularly to a kind of wind-driven generator based on laser radar
Blade deformation detecting system.
Background technique
Increasingly closing on for timetable is exhausted with conventional fossil energy, wind-power electricity generation increasingly obtains the attention of people.
In general, the length of wind electricity blade is several meters, and several meters even tens meters, the growing demand of wind electricity blade brings production
The problem of heavy workload of the artificial detection of product deformation, inefficiency.
Wind electricity blade is the core equipment of wind-driven generator, needed before factory and equipment strict inspection blade whether
Production has in transit by external force and generates deformation, avoids unnecessary economic loss.Therefore suitable technology is used
It is necessary that means, which carry out deformation detection to wind electricity blade,.
Such as number of patent application is 201610169477.1 in the prior art, discloses a kind of wind power motor blade shape changing detection
Method and system, it is main using transmitting light pulse and to inject tested optical fiber, passed back if then being done along detection tested optical fiber
Backward Rayleigh scatter light；According to the backward Rayleigh scattered power that measurement obtains, each point along tested optical fiber is acquired
Bending radius, to obtain wind power motor blade deformation；This method and system are using the Rayleigh scattering of measurement optical fiber
The variation that Rayleigh scattering occurs with fibre-optical bending obtains wind power motor leaf to measure the bending radius of fan blade each point
Piece deformation.
But it is needed using the above method by transmitting light pulse and is injected in tested optical fiber, in the cutting to optical fiber and connected all
Certain tool, equipment and technology are needed, needs professional person to operate, detects cumbersome, complexity height.
Summary of the invention
The embodiment of the present invention provides a kind of blade of wind-driven generator deformation detecting system based on laser radar, can be to wind
Power generator blade is detected, easy to operate, and complexity is low.
One embodiment of the invention provides a kind of blade of wind-driven generator deformation detecting system based on laser radar, comprising:
Several laser radar scanners and a data processing terminal；Several laser radar scanners are disposed side by side on blade face to be detected
Front；Wherein, the blade face to be detected is the side that the blade of wind-driven generator needs to carry out shape changing detection；
Each laser radar scanner is scanned the blade face to be detected according to respective scanning range, obtains
Local point cloud data, and the local point cloud data of acquisition is sent to the data processing terminal；
The data processing terminal receives the local point cloud data of all laser radar scanners, and to all described
Local point cloud data is spliced, and point cloud data has been spliced in acquisition；Then by the standard having spliced point cloud data and having prestored
Point cloud data is compared, and judges whether the blade face to be detected is qualified according to comparison result.
Further, several laser radar scanners are arranged on the same line, and each laser radar scanning
The height of instrument is identical.
It further, further include several reflector groups, each reflector group includes at least two panels emitter；
The overlapping region of two adjacent laser radar scanner scanning ranges is arranged in each reflector group.
Further, before splicing to all local point cloud datas, further includes:
Whether the density for judging all point cloud datas to be spliced is more than preset threshold；
If being more than preset threshold, by all point cloud datas to be spliced carry out the processing of voxelization grid down-samplings, and
It is filtered.
Further, described to have spliced point cloud data by described and be compared with the standard point cloud data prestored, according to than
The blade face to be detected is judged to result, specifically:
The point cloud data that spliced is subjected to point cloud segmentation, point cloud data has been divided in acquisition；
The one segmentation point cloud data is compared with the standard point cloud data prestored, judged according to comparison result described in
Blade face to be detected.
Further, further include that calculating is described to have divided in point cloud data, the curvature value of each data point, and according to described
The size of curvature value sets color when each data point is shown.
Further, color when each data point is shown is set according to the size of the curvature value, specifically:
Red component when each data point is shown, blue component and green component are adjusted according to the size of curvature value
Ratio sets color when each data point is shown；
Wherein, when the curvature value of data point increases, the red component of data point is reduced, and the blue component of data point is by red
The reduction amount equal proportion of component increases, and the green component of data point is distributed in normal function.
It is had the following beneficial effects: by implementing the embodiment of the present invention
The embodiment of the invention provides a kind of blade of wind-driven generator deformation detecting system based on laser radar, if including
Dry laser radar scanner and a data processing terminal, several laser radar scanners are being disposed side by side on blade face to be detected just
Front；Each laser radar scanner is scanned the corresponding position in blade face to be detected, obtains local point cloud data, then sends out
It send to data processing terminal；Data processing terminal splices each local point cloud data after receiving, and obtains above-mentioned spliced
Point cloud data, it then be compared to obtain with the point cloud data of standard, may determine that leaf to be detected according to the result of comparison
Whether face is qualified；The present invention is scanned blade face to be detected by laser radar, laser radar scanning, and scanning speed is fast；Work
Make personnel when detecting to blade face to be detected, it only need to be by laser radar scanner and after sequencing, by laser radar scanner
Accessing after power supply with data processing terminal can carry out that detection operation is simple, and operator is without grasping special professional skill
Art can be implemented.
Detailed description of the invention
Fig. 1 is a kind of blade of wind-driven generator deformation detecting system based on laser radar that one embodiment of the invention provides
System architecture diagram.
Fig. 2 be another embodiment of the present invention provides a kind of blade of wind-driven generator shape changing detection system based on laser radar
The system architecture diagram of system.
Description of symbols: blade of wind-driven generator 1 to be detected, laser radar scanner 2, data processing terminal 3, reflection
Body 4.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of blade of wind-driven generator deformation inspection based on laser radar that one embodiment of the invention provides
Examining system, comprising:
Several laser radar scanners 2 and a data processing terminal 3；Several laser radar scanners 2 are arranged side by side
In the front on blade face to be detected；Wherein, the blade face to be detected is that blade of wind-driven generator 1 to be detected needs to carry out deformation inspection
The side of survey；
Each laser radar scanner 2 is scanned the blade face to be detected according to respective scanning range, obtains
Local point cloud data is obtained, and the local point cloud data of acquisition is sent to the data processing terminal 3；
The data processing terminal 3 receives the local point cloud data of all laser radar scanners 2, and to all institutes
It states local point cloud data to be spliced, point cloud data has been spliced in acquisition；Then by the mark for having spliced point cloud data and having prestored
Quasi- point cloud data is compared, and judges whether the blade face to be detected is qualified according to comparison result；
Specifically, blade of wind-driven generator 1 to be detected is fixed when detecting, then by several laser radar scanners
2 are fixed on the one side that blade of wind-driven generator 1 to be detected needs to detect, i.e., the front on above-mentioned blade face to be detected side by side；Each
Between laser radar scanner 2 at intervals, this distance can be set according to the actual situation, preferably can be with
It is to be configured every 3-4 meters, the various pieces on blade face to be detected is scanned by laser radar scanner 2 side by side, are adopted
Collect the point cloud data of various pieces, obtains several local point cloud datas, the local point cloud data of acquisition is then sent to data
Processing terminal 3.
In a preferred embodiment, each laser radar scanner 2 is arranged on the same line, and each laser thunder
Height up to scanner 2 is identical.Laser radar scanner 2 uses such setting, can mention for the splicing of later period point cloud data
For convenience, when the Point-clouds Registration in later period, it is only necessary to consider that two reference axis can be by the point of different coordinates
Cloud data are united；
For further such that each part Point-clouds Registration is more convenient, in a preferred embodiment, if further including
Dry reflector group, each reflection group include at least two panels reflector 4；Each reflector group is arranged in two adjacent lasers
The overlapping region of 2 scanning range of radar scanner.
Two panels reflector 4 is arranged in overlapping region by the way that two neighboring 2 scanning range of laser radar scanner is arranged in,
The quick positioning splicing point of energy, is equivalent to different two-dimensional coordinates but the appearance but the data of two common points are united when splicing
It easily realizes, to fast implement Point-clouds Registration in the later period.
Data processing terminal 3 be one processing point cloud data terminal device, optional data processing terminal 3 can with but not
It is limited to be a computer；Data processing terminal 3 is connect with laser radar scanner 2, and connection here can be wireless company
Mode is connect, wired connection type is also possible to, can be specifically adjusted according to the actual situation.
Data processing terminal 3 carries out processing in real time and storage after receiving each local point cloud data, to received data,
And it is shown in display interface；Specific processing is as follows:
The point cloud data coordinate of two reflectors 4 in each reflector group determined first, then according to each reflector group
The cartesian coordinate system one of all local point cloud datas is spliced to first by the point cloud data coordinate of two interior reflectors 4
Platform laser radar scanner 2 scans in the cartesian coordinate system of the point cloud data come.
I.e. 2 local Coordinate System of First laser radar scanner is swept as engineering coordinate system, other laser radars here
The data for retouching the scanning of instrument 2 will be unified into engineering coordinate system, be spliced using correcting reflector plate as the data of common point, to realize
Point cloud registering splicing.Here mentioned First laser radar scanner refers in laser radar scanner side by side, position
Any one laser radar scanner in head end or end.
It is excessive due to being possible to will appear point cloud data density in splicing, it is to solve this problem, excellent at one
In first embodiment, before splicing to all local point cloud datas, further includes:
Whether the density for judging all point cloud datas to be spliced is more than preset threshold；If being more than preset threshold, by institute
All point cloud datas to be spliced carry out the processing of voxelization grid down-sampling, and are filtered.
This preset threshold can be set according to the actual situation, determine that density is excessive if being more than this threshold value, this
When first carry out voxelization grid down-sampling processing reduce point cloud data amount.It is filtered again, by target ambient noise point mistake
It filters.
For data processing terminal 3 after completing local Point-clouds Registration, acquisition is above-mentioned to have spliced point cloud data.It then will
Splice point cloud data, and the point cloud data of the default standard stored is compared, can determine that according to comparison result to be detected
Whether blade face is qualified.Specifically when comparing, the curvature and normal vector for having spliced each data point in point cloud data are calculated first,
Deformation quantity is found out according to curvature and normal vector, is then compared with standard point cloud data, if deformation quantity is more than preset threshold
Value, then judge that the blade is unqualified；The algorithm that Point cloud curvature and normal vector calculate is mature, and the speed of service is fast, and the two accuracy rate is all
There is theoretical and algorithm guarantee；
It should be noted that standard point cloud data here is, to deformation occurs or deformation occurs but deformation degree
Without departing from preset threshold value, blade of wind-driven generator blade face be scanned after the point cloud data that obtains.
Since the image of laser radar scanner scanning may have the unrelated background such as bottom surface or metope, one
In a preferred embodiment,
It is described to have spliced point cloud data by described and be compared with the standard point cloud data prestored, judged according to comparison result
The blade face to be detected, specifically:
The point cloud data that spliced is subjected to point cloud segmentation, point cloud data has been divided in acquisition；
The one segmentation point cloud data is compared with the standard point cloud data prestored, judged according to comparison result described in
Blade face to be detected.
Spliced in point cloud data by point cloud segmentation removal, has belonged to the point cloud data of the extraneous backgrounds such as ground or metope；
In order to allow users to the deformation degree on more intuitive understanding blade face to be checked；In a preferred embodiment
In, calculating is described have been divided in point cloud data, the curvature value of each data point, and sets each institute according to the size of the curvature value
State color when data point is shown.
According to each point, different curvature is shown with different colors, the bending degree of visual representation different location,
The big position of deformation quantity can be directly told with human eye.
In an alternative embodiment, it is set when each data point is shown according to the size of the curvature value
Color, specifically: red component, blue component and green point when adjusting the display of each data point according to the size of curvature value
The ratio of amount sets color when each data point is shown；Wherein, when the curvature value of data point increases, data point
Red component is reduced, and the blue component of data point is increased by the reduction amount equal proportion of red component, and the green component of data point is in
Normal function distribution.
Above-described embodiment is the signal wherein detected on one side to blade of wind-driven generator,
If desired the deformational displacement amount and its visual image of the higher precision at the certain points of blade are obtained, it can be right simultaneously
The two sides of blade of wind-driven generator is detected, i.e., when blade face to be detected is two sides of blade of wind-driven generator, needs
Laser radar scanner is all placed in two sides of wind-driven generator；And need to guarantee the laser thunder of detection blade tow sides
It is corresponded up to scanner and height is consistent, specific schematic diagram is as shown in Figure 2.
It is detected by two sides to blade of wind-driven generator, the high-precision three-dimensional visualization of blade can be obtained
Then image scans out the point cloud come as benchmark using the blade that deformation occurs, establishes the number of deformation Yu stress size in advance
Formula is learned, formula is applied by making comparisons with datum mark cloud and calculates displacement, angle and distribution of force to calculating blade
Deformational displacement, angle and distribution of force.
Optionally, reflector group can also be set between two neighboring laser radar scanner, then this is not repeated to open up
Open explanation.
It is had the following beneficial effects: by implementing the embodiment of the present invention
(1) it is scanned using laser radar scanner, scanning speed is high-efficient fastly, and when execution detection operation, work
Personnel only each laser radar scanner need to be arranged in corresponding position, then that laser radar scanner and data processing is whole
End, accesses power supply, and the technology easy to operate for not needing profession reduces the complexity of detection operation.
(2) data processing terminal can handle the point cloud data that scanner is continually passed in real time, realize at data scene
Reason, i.e., the purpose fed back immediately；
(3) data processing terminal is shown according to the different curvature of each data point with different colors, visual representation
The bending degree of different location, user with the naked eye can directly tell the big position of deformation quantity.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (7)
1. a kind of blade of wind-driven generator deformation detecting system based on laser radar characterized by comprising several laser thunders
Up to scanner and a data processing terminal；Several laser radar scanners are disposed side by side on the front on blade face to be detected；
Wherein, the blade face to be detected is the side that the blade of wind-driven generator needs to carry out shape changing detection；
Each laser radar scanner is scanned the blade face to be detected according to respective scanning range, obtains part
Point cloud data, and the local point cloud data of acquisition is sent to the data processing terminal；
The data processing terminal receives the local point cloud data of all laser radar scanners, and to all parts
Point cloud data is spliced, and point cloud data has been spliced in acquisition；Then by the standard point cloud for having spliced point cloud data and having prestored
Data are compared, and judge whether the blade face to be detected is qualified according to comparison result.
2. the blade of wind-driven generator deformation detecting system based on laser radar as described in claim 1, which is characterized in that institute
State several laser radar scanner settings on the same line, and the height of each laser radar scanner is identical.
3. the blade of wind-driven generator deformation detecting system based on laser radar as described in claim 1, which is characterized in that also
Including several reflector groups, each reflector group includes at least two panels reflector；
The overlapping region of two adjacent laser radar scanner scanning ranges is arranged in each reflector group.
4. the blade of wind-driven generator deformation detecting system based on laser radar as described in claim 1, which is characterized in that
Before splicing to all local point cloud datas, further includes:
Whether the density for judging all point cloud datas to be spliced is more than preset threshold；
If being more than preset threshold, by all point cloud datas to be spliced carry out the processing of voxelization grid down-samplings, and carry out
Filtering processing.
5. the blade of wind-driven generator deformation detecting system based on laser radar as described in claim 1, which is characterized in that institute
It states and has spliced point cloud data by described and be compared with the standard point cloud data prestored, judged according to comparison result described to be detected
Blade face, specifically:
The point cloud data that spliced is subjected to point cloud segmentation, point cloud data has been divided in acquisition；
The one segmentation point cloud data is compared with the standard point cloud data prestored, is judged according to comparison result described to be checked
Survey blade face.
6. the blade of wind-driven generator deformation detecting system based on laser radar as claimed in claim 5, which is characterized in that also
Include:
Divide in point cloud data described in calculating, the curvature value of each data point, and has been set respectively according to the size of the curvature value
The color when data point is shown.
7. the blade of wind-driven generator deformation detecting system based on laser radar as claimed in claim 6, which is characterized in that root
Color when each data point is shown is set according to the size of the curvature value, specifically:
The ratio of red component, blue component and green component when adjusting the display of each data point according to the size of curvature value
Example sets color when each data point is shown；
Wherein, when the curvature value of data point increases, the red component of data point is reduced, and the blue component of data point presses red component
Reduction amount equal proportion increase, the green component of data point is in normal function distribution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910650726.2A CN110307797A (en) | 2019-07-18 | 2019-07-18 | A kind of blade of wind-driven generator deformation detecting system based on laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910650726.2A CN110307797A (en) | 2019-07-18 | 2019-07-18 | A kind of blade of wind-driven generator deformation detecting system based on laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110307797A true CN110307797A (en) | 2019-10-08 |
Family
ID=68080314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910650726.2A Pending CN110307797A (en) | 2019-07-18 | 2019-07-18 | A kind of blade of wind-driven generator deformation detecting system based on laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110307797A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111121658A (en) * | 2019-12-31 | 2020-05-08 | 沈阳航空航天大学 | Blade deformation measuring method under wind turbine aerodynamic performance experiment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103292722A (en) * | 2013-06-07 | 2013-09-11 | 温州大学 | Three-dimensional deformation measuring method of non-contact wind power blade whole field |
| CN103322916A (en) * | 2013-06-28 | 2013-09-25 | 中国计量学院 | Large-scale vertical tank volume measurement system and method based on three-dimensional laser scanning method |
| CN104034275A (en) * | 2014-06-09 | 2014-09-10 | 同济大学 | Total station instrument based subway tunnel deformation automatic monitoring method and device |
| CN105115442A (en) * | 2015-07-28 | 2015-12-02 | 中国神华能源股份有限公司 | Tunnel internal surface form detecting method, apparatus and system |
| CN105737752A (en) * | 2014-12-06 | 2016-07-06 | 中国石油化工股份有限公司 | Vertical storage tank safety system |
| CN106225707A (en) * | 2016-08-01 | 2016-12-14 | 三峡大学 | A kind of method for the deformation of fast monitored high CFRD extrusion side wall |
| CN107316299A (en) * | 2017-07-13 | 2017-11-03 | 云南数云信息科技有限公司 | Ancient architecture deformed monitoring method and system based on three-dimensional point cloud technology |
| CN109059791A (en) * | 2018-06-29 | 2018-12-21 | 山东鲁能智能技术有限公司 | Power equipment deformation monitoring method and device |
| CN109509256A (en) * | 2018-06-21 | 2019-03-22 | 华南理工大学 | Building structure automatic measurement and 3D model generating method based on laser radar |
| CN109669190A (en) * | 2018-12-20 | 2019-04-23 | 大连理工大学 | A kind of high precision large-sized three-dimensional environment scanning system for excavating equipment of large scene |
-
2019
- 2019-07-18 CN CN201910650726.2A patent/CN110307797A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103292722A (en) * | 2013-06-07 | 2013-09-11 | 温州大学 | Three-dimensional deformation measuring method of non-contact wind power blade whole field |
| CN103322916A (en) * | 2013-06-28 | 2013-09-25 | 中国计量学院 | Large-scale vertical tank volume measurement system and method based on three-dimensional laser scanning method |
| CN104034275A (en) * | 2014-06-09 | 2014-09-10 | 同济大学 | Total station instrument based subway tunnel deformation automatic monitoring method and device |
| CN105737752A (en) * | 2014-12-06 | 2016-07-06 | 中国石油化工股份有限公司 | Vertical storage tank safety system |
| CN105115442A (en) * | 2015-07-28 | 2015-12-02 | 中国神华能源股份有限公司 | Tunnel internal surface form detecting method, apparatus and system |
| CN106225707A (en) * | 2016-08-01 | 2016-12-14 | 三峡大学 | A kind of method for the deformation of fast monitored high CFRD extrusion side wall |
| CN107316299A (en) * | 2017-07-13 | 2017-11-03 | 云南数云信息科技有限公司 | Ancient architecture deformed monitoring method and system based on three-dimensional point cloud technology |
| CN109509256A (en) * | 2018-06-21 | 2019-03-22 | 华南理工大学 | Building structure automatic measurement and 3D model generating method based on laser radar |
| CN109059791A (en) * | 2018-06-29 | 2018-12-21 | 山东鲁能智能技术有限公司 | Power equipment deformation monitoring method and device |
| CN109669190A (en) * | 2018-12-20 | 2019-04-23 | 大连理工大学 | A kind of high precision large-sized three-dimensional environment scanning system for excavating equipment of large scene |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111121658A (en) * | 2019-12-31 | 2020-05-08 | 沈阳航空航天大学 | Blade deformation measuring method under wind turbine aerodynamic performance experiment |
| CN111121658B (en) * | 2019-12-31 | 2021-04-20 | 沈阳航空航天大学 | Blade deformation measuring method under wind turbine aerodynamic performance experiment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104501720B (en) | Non-contact object size and range image measuring instrument | |
| CN103913117B (en) | A kind of three-dimensional laser scanner positioner and laser point cloud absolute fix method | |
| CN107561547B (en) | Method, device and system for measuring distance from power transmission line to target object | |
| CN103690191B (en) | A kind of ultrasonic probe intelligence continuous sweep device and scan method thereof | |
| CN106056587A (en) | Full-view linear laser scanning 3D imaging calibration device and full-view linear laser scanning 3D imaging calibration method | |
| CN208140024U (en) | A kind of spatial digitizer with a variety of scan patterns | |
| CN107101623A (en) | Measuring method, system and device based on coordinate transform | |
| CN110595446B (en) | Building actual measurement method and device based on virtual guiding rule | |
| CN108692656B (en) | Laser scanning data acquisition method and device | |
| CN108824816A (en) | A kind of big inter-network frame sliding location and installation in high-altitude and monitoring method | |
| CN107421466A (en) | A kind of synchronous acquisition device and acquisition method of two and three dimensions image | |
| CN108955520A (en) | A kind of structural light three-dimensional scanning analysis method of reachability and analysis system | |
| CN110307797A (en) | A kind of blade of wind-driven generator deformation detecting system based on laser radar | |
| CN109900220B (en) | Method, device and system for measuring overall dimension of vehicle to be measured | |
| CN109708570A (en) | Information collection and analysis method and device for face structural plane | |
| CN108036742A (en) | New lines structural light three-dimensional method for sensing and device | |
| CN205909897U (en) | On line measurement system of blast furnace charge level | |
| CN106908804A (en) | A kind of forestry plant three-dimensional point cloud measures laser radar system and method | |
| CN101738308A (en) | Data collecting method, device and system for optical cable testing | |
| CN112361989B (en) | Method for calibrating parameters of measurement system through point cloud uniformity consideration | |
| CN211425868U (en) | Spraying characteristic detection device and detection system | |
| CN106352937A (en) | On-line blast furnace charge level measuring system and method | |
| CN209312098U (en) | Laser point cloud and visible images are total to optical path registration apparatus | |
| CN209978890U (en) | Multi-laser-line rapid detection system | |
| CN207231401U (en) | A kind of scanning system |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191008 |
|
| RJ01 | Rejection of invention patent application after publication |