CN110554640A - scanner control circuit and data processing method - Google Patents
scanner control circuit and data processing method Download PDFInfo
- Publication number
- CN110554640A CN110554640A CN201810557348.9A CN201810557348A CN110554640A CN 110554640 A CN110554640 A CN 110554640A CN 201810557348 A CN201810557348 A CN 201810557348A CN 110554640 A CN110554640 A CN 110554640A
- Authority
- CN
- China
- Prior art keywords
- data
- point cloud
- control circuit
- synchronous
- scanner
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
a data processing method of a scanner control circuit comprises the following operation steps: A) and a synchronous request instruction: the control circuit synchronously sends out a data request instruction to all the sensors; B) synchronously returning data by each sensor in response to the request; C) and coordinate transformation: the control circuit core processing module performs high-speed analysis processing on the acquired synchronous data and performs coordinate transformation; D) and point cloud data generation: converting the synchronous data into three-dimensional point cloud data by a coordinate transformation method; E) preprocessing point cloud data; F) extracting characteristic physical quantity; G) outputting data; H) and then the process is finished. The invention realizes the accurate control of the servo shaft of the scanner, simultaneously acquires the data of all sensors in the scanner at high speed, automatically and quickly processes all the data in the control circuit, converts the data into three-dimensional point cloud data, extracts the characteristic quantity of a target model, and has good economic and social benefits when being popularized and applied.
Description
Technical Field
the invention belongs to the technical field of data processing circuits, and particularly relates to a scanner control circuit and a data processing method.
background
in the traditional measurement concept, the measured data are finally output as two-dimensional results (such as CAD images), a total station in a measuring instrument has more weight, but the measured data are in a two-dimensional form, three dimensions gradually replace two dimensions nowadays in gradual digitization, and the data measured by a three-dimensional laser scanner each time not only contain X, Y, Z point information, but also contain R, G and B color information and information of object color reflection rate, so that comprehensive information can give a feeling that an object is truly reproduced in a computer, and the method cannot be realized by a common measurement means. The three-dimensional laser scanning technology is a high and new technology which begins to appear in the middle of the nineties of the last century, is also called as a live-action replication technology, and is a technical revolution which follows the GPS technology in the mapping field. The method breaks through the traditional single-point measurement method and has the unique advantages of high efficiency and high precision; the three-dimensional laser scanning technology is a full-automatic high-precision three-dimensional scanning technology, and can quickly reconstruct a three-dimensional model of a measured object and various drawing data such as lines, surfaces and bodies by recording information such as three-dimensional coordinates, reflectivity, textures and the like of a large number of dense points on the surface of the measured object by utilizing the principle of laser ranging. Since the three-dimensional laser scanning system can densely acquire a large number of data points of the target object, the three-dimensional laser scanning technology is also referred to as a revolutionary technical breakthrough that evolves from single-point measurement to surface measurement, compared to the conventional single-point measurement. The technology also has many attempts, applications and exploration in the fields of historical relic protection, construction, planning, civil engineering, factory improvement, indoor design, building monitoring, traffic accident treatment, legal evidence collection, disaster assessment, ship design, digital cities, military analysis and the like.
The three-dimensional scanner needs to scan an object at a plurality of positions for several times, and since the laser is transmitted along a straight line, complete surface sampling data of the object can be obtained at 1 scanning angle, and the object needs to be scanned in a plurality of directions and angles, namely multi-view point cloud; each scanning position has a local coordinate system, and the splicing of the multi-view point clouds is to unify all the local coordinate systems into one coordinate system through coordinate transformation, so that how to unify point cloud data obtained from different viewpoints into one coordinate system is also a research hotspot; an ICP (iterative closest point) iterative closest point algorithm is a basic algorithm for solving the problem of multi-view splicing at present, and has higher precision than a method for splicing by using a calibration object.
the internal control circuit of the scanner in the prior art can only realize the functions of servo control and data acquisition, three-dimensional point cloud data obtained by scanning is uploaded to a computer in a wired or wireless mode, and manual or semi-automatic data processing is carried out by an operator by using matched upper computer software to realize three-dimensional modeling and model feature extraction. The three-dimensional point cloud data needs manual post-processing, is low in efficiency and cannot meet the requirements of real-time performance and rapidity of data processing, so that the method is not suitable for the data acquisition requirement of intelligent engineering machinery during field construction operation.
how to automatically and quickly process the data of the sensor and convert the data into three-dimensional point cloud data and how to extract the characteristic quantity of a target model becomes a problem which needs to be solved urgently.
disclosure of Invention
the present invention is directed to solving the above-mentioned problems and to providing a scanner control circuit and a data processing method.
a scanner control circuit, includes core operation module, its characterized in that: the core operation module is respectively connected with the data access module, the acquisition and control module and the communication interface module in a bidirectional way to form a scanner control circuit;
the core operation module comprises a high-speed digital processing chip and is responsible for the work of synchronous matching, coordinate transformation, point cloud data preprocessing and model target characteristic quantity extraction of all the sensing data;
the data access module consists of a flash memory and a synchronous dynamic memory and mainly realizes data storage of various sensors of the scanner and caching of intermediate results of various data operations;
The acquisition and control module comprises a motor control module, a laser range finder, an inclination angle sensor and a double-shaft angle module, wherein the motor control module is bidirectionally connected with the CAN interface, the double-shaft angle module is bidirectionally connected with the CAN interface, the laser range finder is bidirectionally connected with the synchronous serial interface, and the inclination angle sensor is bidirectionally connected with the serial interface; the method comprises the steps that distance data of a laser range finder are collected through a synchronous serial interface, angle position data of a high-precision absolute value encoder at a load end of a servo shaft of a motor are obtained through a CAN interface, a read value of an inclination angle sensor is obtained through a serial port, and the servo motor is controlled through the CAN interface;
the communication interface module consists of an Ethernet interface chip and an upper computer, and the Ethernet interface chip is in bidirectional connection with the upper computer to realize high-speed data receiving and transmitting of the scanner and external equipment.
a data processing method of a scanner control circuit is characterized in that: the method comprises the following operation steps:
A) and a synchronous request instruction:
the control circuit synchronously sends out a data request instruction to all the sensors;
B) and each sensor responds to the request and synchronously returns data:
firstly, synchronously returning distance data of the laser range finder through a synchronous serial interface;
the reading value of the tilt sensor synchronously returns data through a serial port;
The angular position data of the high-precision absolute value encoder at the load end of the servo shaft of the motor synchronously returns data through a CAN interface;
C) and coordinate transformation:
The control circuit core processing module performs high-speed analysis processing on the acquired synchronous data and performs coordinate transformation;
D) and point cloud data generation:
converting the synchronous data into three-dimensional point cloud data by a coordinate transformation method to obtain a three-dimensional point cloud data model of the scanned object;
E) point cloud data preprocessing:
the point cloud preprocessing comprises noise point elimination, interpolation operation, model malformation calibration and the like, and is mainly used for preprocessing original point cloud data to obtain available three-dimensional point cloud data and prepare for extracting the characteristic physical quantity of the model in the next step;
F) and extracting characteristic physical quantity:
The characteristic physical quantity extraction application comprises but is not limited to the field of intelligent engineering machinery construction, three-dimensional difference data between actual working conditions and design standards in the whole three-dimensional point cloud space can be obtained in real time through comparison with reference input quantity, and various characteristic physical quantities in the three-dimensional point cloud space can also be directly calculated;
G) and data output:
The acquired characteristic physical quantity and all three-dimensional point cloud data can be packed and uploaded as required or uploaded in real time;
H) and then the process is finished.
in the step D), the method for converting the synchronous data into the three-dimensional point cloud data by the coordinate conversion method includes the following steps:
A) And calculating the coordinates of each axis in the three-dimensional coordinate system:
X-axis coordinates: x ═ (radius + L1) × cos (β) + L4;
y-axis coordinates: y ═ i (radius + L1) × sin (β) × cos (α) + L2 × cos (α) -L3 × sin (α);
z-axis coordinates: z ═ i (radius + L1) × sin (β) × sin (α) + L2 × sin (α) + L3 × cos (α);
wherein radius is the distance from the laser ranging origin to the target point;
alpha is the rotation angle of the horizontal axis relative to the zero position;
beta is the rotation angle of the vertical axis relative to the zero position;
L1 is the distance from the laser light-emitting point to the vertical axis;
L2 is the vertical axis to horizontal axis distance;
l3 is the component of the distance of the laser light emitting spot from the horizontal axis in the vertical axis direction;
l4 is the component of the distance of the flange plate from the geometric center of the surface near the scanner to the vertical axis in the direction of the horizontal axis;
B) and repeating the step A), calculating all the obtained synchronous data once according to the method, and obtaining the three-dimensional point cloud data model of the scanned object.
and in the step F), the characteristic physical quantity is used for overexcavation and underexcavation in tunnel construction, and three-dimensional difference data between the actual working condition and the design standard in the whole three-dimensional point cloud space can be obtained in real time through comparison with the reference input quantity.
in the step F), the characteristic physical quantity is used for measuring and calculating the volume of the material pile in civil engineering, and various characteristic physical quantities in the three-dimensional point cloud space can be directly calculated through comparison with the reference input quantity.
the invention realizes the accurate control of the servo shaft of the scanner, simultaneously acquires the data of all sensors in the scanner at high speed, automatically and quickly processes all the data in the control circuit, converts the data into three-dimensional point cloud data, extracts the characteristic quantity of a target model, and finally can directly upload the target characteristic quantity required by the automatic construction operation of intelligent engineering machinery to a PLC (programmable logic controller) or an upper computer for controlling the construction operation, and also can upload the acquired point cloud data in real time to realize the real-time drawing and display of the target model, thereby having good economic benefit and social benefit for popularization and application.
drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a flow chart of the data processing process of the present invention.
Fig. 3 is a schematic diagram of the relationship structure of the internal axis of the scanner according to the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings, but is not to be construed as being limited thereto.
a scanner control circuit, includes core operation module, its characterized in that: the core operation module is respectively connected with the data access module, the acquisition and control module and the communication interface module in a bidirectional way to form a scanner control circuit;
the core operation module comprises a high-speed digital processing chip and is responsible for the work of synchronous matching, coordinate transformation, point cloud data preprocessing and model target characteristic quantity extraction of all the sensing data;
The data access module consists of a flash memory and a synchronous dynamic memory and mainly realizes data storage of various sensors of the scanner and caching of intermediate results of various data operations;
the acquisition and control module comprises a motor control module, a laser range finder, an inclination angle sensor and a double-shaft angle module, wherein the motor control module is bidirectionally connected with the CAN interface, the double-shaft angle module is bidirectionally connected with the CAN interface, the laser range finder is bidirectionally connected with the synchronous serial interface, and the inclination angle sensor is bidirectionally connected with the serial interface; the method comprises the steps that distance data of a laser range finder are collected through a synchronous serial interface, angle position data of a high-precision absolute value encoder at a load end of a servo shaft of a motor are obtained through a CAN interface, a read value of an inclination angle sensor is obtained through a serial port, and the servo motor is controlled through the CAN interface;
the communication interface module consists of an Ethernet interface chip and an upper computer, and the Ethernet interface chip is in bidirectional connection with the upper computer to realize high-speed data receiving and transmitting of the scanner and external equipment.
a data processing method of a scanner control circuit comprises the following operation steps:
A) and a synchronous request instruction:
the control circuit synchronously sends out a data request instruction to all the sensors;
B) and each sensor responds to the request and synchronously returns data:
firstly, synchronously returning distance data of the laser range finder through a synchronous serial interface;
the reading value of the tilt sensor synchronously returns data through a serial port;
The angular position data of the high-precision absolute value encoder at the load end of the servo shaft of the motor synchronously returns data through a CAN interface;
C) and coordinate transformation:
the control circuit core processing module performs high-speed analysis processing on the acquired synchronous data and performs coordinate transformation;
D) and point cloud data generation:
converting the synchronous data into three-dimensional point cloud data by a coordinate transformation method to obtain a three-dimensional point cloud data model of the scanned object;
E) point cloud data preprocessing:
The point cloud preprocessing comprises noise point elimination, interpolation operation, model malformation calibration and the like, and is mainly used for preprocessing original point cloud data to obtain available three-dimensional point cloud data and prepare for extracting the characteristic physical quantity of the model in the next step;
F) and extracting characteristic physical quantity:
The characteristic physical quantity extraction application comprises but is not limited to the field of intelligent engineering machinery construction, three-dimensional difference data between actual working conditions and design standards in the whole three-dimensional point cloud space can be obtained in real time through comparison with reference input quantity, and various characteristic physical quantities in the three-dimensional point cloud space can also be directly calculated;
G) and data output:
The acquired characteristic physical quantity and all three-dimensional point cloud data can be packed and uploaded as required or uploaded in real time;
H) and then the operation is finished;
in the step D), the method for converting the synchronous data into the three-dimensional point cloud data by the coordinate conversion method includes the following steps:
A) and calculating the coordinates of each axis in the three-dimensional coordinate system:
x-axis coordinates: x ═ (radius + L1) × cos (β) + L4;
y-axis coordinates: y ═ i (radius + L1) × sin (β) × cos (α) + L2 × cos (α) -L3 × sin (α);
Z-axis coordinates: z ═ i (radius + L1) × sin (β) × sin (α) + L2 × sin (α) + L3 × cos (α);
wherein radius is the distance from the laser ranging origin to the target point;
Alpha is the rotation angle of the horizontal axis relative to the zero position;
Beta is the rotation angle of the vertical axis relative to the zero position;
L1 is the distance from the laser light-emitting point to the vertical axis;
L2 is the vertical axis to horizontal axis distance;
L3 is the component of the distance of the laser light emitting spot from the horizontal axis in the vertical axis direction;
l4 is the component of the distance of the flange plate from the geometric center of the surface near the scanner to the vertical axis in the direction of the horizontal axis;
B) And repeating the step A), calculating all the obtained synchronous data once according to the method, and obtaining the three-dimensional point cloud data model of the scanned object.
the embodiment I of the invention is used for over excavation and under excavation in tunnel construction, and three-dimensional difference data between actual working conditions and design standards in the whole three-dimensional point cloud space can be obtained in real time through comparison with reference input quantity.
The second embodiment of the invention is used for measuring and calculating the volume of the stock pile in civil engineering, and various characteristic physical quantities in a three-dimensional point cloud space can be directly calculated through comparison with reference input quantities.
the above examples are merely illustrative for clearly illustrating the present invention and are not intended to limit the embodiments. It will be apparent to those skilled in the art that other variations and modifications may be made in the foregoing disclosure without departing from the spirit or essential characteristics of the invention, and it is not desired to exhaustively enumerate all embodiments, but rather those variations and modifications which are obvious and can be derived therefrom within the scope of the invention.
Claims (5)
1. A scanner control circuit, includes core operation module, its characterized in that: the core operation module is respectively connected with the data access module, the acquisition and control module and the communication interface module in a bidirectional way to form a scanner control circuit;
the core operation module comprises a high-speed digital processing chip and is responsible for the work of synchronous matching, coordinate transformation, point cloud data preprocessing and model target characteristic quantity extraction of all the sensing data;
the data access module consists of a flash memory and a synchronous dynamic memory and mainly realizes data storage of various sensors of the scanner and caching of intermediate results of various data operations;
The acquisition and control module comprises a motor control module, a laser range finder, an inclination angle sensor and a double-shaft angle module, wherein the motor control module is bidirectionally connected with the CAN interface, the double-shaft angle module is bidirectionally connected with the CAN interface, the laser range finder is bidirectionally connected with the synchronous serial interface, and the inclination angle sensor is bidirectionally connected with the serial interface; the method comprises the steps that distance data of a laser range finder are collected through a synchronous serial interface, angle position data of a high-precision absolute value encoder at a load end of a servo shaft of a motor are obtained through a CAN interface, a read value of an inclination angle sensor is obtained through a serial port, and the servo motor is controlled through the CAN interface;
the communication interface module consists of an Ethernet interface chip and an upper computer, and the Ethernet interface chip is in bidirectional connection with the upper computer to realize high-speed data receiving and transmitting of the scanner and external equipment.
2. A data processing method of a scanner control circuit is characterized in that: the method comprises the following operation steps:
A) and a synchronous request instruction:
the control circuit synchronously sends out a data request instruction to all the sensors;
B) and each sensor responds to the request and synchronously returns data:
Firstly, synchronously returning distance data of the laser range finder through a synchronous serial interface;
the reading value of the tilt sensor synchronously returns data through a serial port;
the angular position data of the high-precision absolute value encoder at the load end of the servo shaft of the motor synchronously returns data through a CAN interface;
C) and coordinate transformation:
the control circuit core processing module performs high-speed analysis processing on the acquired synchronous data and performs coordinate transformation;
D) And point cloud data generation:
converting the synchronous data into three-dimensional point cloud data by a coordinate transformation method to obtain a three-dimensional point cloud data model of the scanned object;
E) point cloud data preprocessing:
the point cloud preprocessing comprises noise point elimination, interpolation operation and model malformation calibration, and is mainly used for preprocessing original point cloud data to obtain available three-dimensional point cloud data and prepare for extracting model characteristic physical quantities in the next step;
F) And extracting characteristic physical quantity:
the characteristic physical quantity extraction application comprises but is not limited to the field of intelligent engineering machinery construction, three-dimensional difference data between actual working conditions and design standards in the whole three-dimensional point cloud space can be obtained in real time through comparison with reference input quantity, and various characteristic physical quantities in the three-dimensional point cloud space can also be directly calculated;
G) and data output:
the acquired characteristic physical quantity and all three-dimensional point cloud data can be packed and uploaded as required or uploaded in real time;
H) and then the process is finished.
3. the data processing method of a scanner control circuit according to claim 2, characterized in that: in the step D), the method for converting the synchronous data into the three-dimensional point cloud data by the coordinate conversion method includes the following steps:
A) and calculating the coordinates of each axis in the three-dimensional coordinate system:
X-axis coordinates: x ═ (radius + L1) × cos (β) + L4;
y-axis coordinates: y ═ i (radius + L1) × sin (β) × cos (α) + L2 × cos (α) -L3 × sin (α);
z-axis coordinates: z ═ i (radius + L1) × sin (β) × sin (α) + L2 × sin (α) + L3 × cos (α);
wherein radius is the distance from the laser ranging origin to the target point;
alpha is the rotation angle of the horizontal axis relative to the zero position;
Beta is the rotation angle of the vertical axis relative to the zero position;
L1 is the distance from the laser light-emitting point to the vertical axis;
l2 is the vertical axis to horizontal axis distance;
L3 is the component of the distance of the laser light emitting spot from the horizontal axis in the vertical axis direction;
L4 is the component of the distance of the flange plate from the geometric center of the surface near the scanner to the vertical axis in the direction of the horizontal axis;
B) and repeating the step A), calculating all the obtained synchronous data once according to the method, and obtaining the three-dimensional point cloud data model of the scanned object.
4. The data processing method of a scanner control circuit according to claim 2, characterized in that: and in the step F), the characteristic physical quantity is used for overexcavation and underexcavation in tunnel construction, and three-dimensional difference data between the actual working condition and the design standard in the whole three-dimensional point cloud space can be obtained in real time through comparison with the reference input quantity.
5. The data processing method of a scanner control circuit according to claim 2, characterized in that: in the step F), the characteristic physical quantity is used for measuring and calculating the volume of the material pile in civil engineering, and various characteristic physical quantities in the three-dimensional point cloud space can be directly calculated through comparison with the reference input quantity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810557348.9A CN110554640B (en) | 2018-06-01 | 2018-06-01 | Scanner control circuit and data processing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810557348.9A CN110554640B (en) | 2018-06-01 | 2018-06-01 | Scanner control circuit and data processing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110554640A true CN110554640A (en) | 2019-12-10 |
| CN110554640B CN110554640B (en) | 2022-08-30 |
Family
ID=68734921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810557348.9A Active CN110554640B (en) | 2018-06-01 | 2018-06-01 | Scanner control circuit and data processing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110554640B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111177059A (en) * | 2019-12-13 | 2020-05-19 | 珠海泰坦新动力电子有限公司 | Data processing method and system based on formation and grading system |
| CN113984026A (en) * | 2021-10-28 | 2022-01-28 | 江苏徐工工程机械研究院有限公司 | Total station scanning all-in-one instrument based on three-dimensional laser mapping technology and measuring method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8411032D0 (en) * | 1983-05-10 | 1984-06-06 | Casio Computer Co Ltd | Circular arc generator |
| JP2001221636A (en) * | 2000-02-10 | 2001-08-17 | Nkk Corp | Three-dimensional coordinate measuring method and measuring device |
| CN1862222A (en) * | 2005-05-10 | 2006-11-15 | 北京航空航天大学 | Laser self-collimation zero reference error angle measuring method |
| JP2007333646A (en) * | 2006-06-16 | 2007-12-27 | Hitachi Koki Co Ltd | Three-dimensional coordinate position measurement device |
| CN101825444A (en) * | 2010-04-09 | 2010-09-08 | 上海辉格科技发展有限公司 | Vehicle-mounted road spectrum testing system based on surface structured light |
| CN105928457A (en) * | 2016-06-21 | 2016-09-07 | 大连理工大学 | Omnidirectional three-dimensional laser color scanning system and method thereof |
| CN106017351A (en) * | 2016-07-20 | 2016-10-12 | 北京国泰星云科技有限公司 | 3D data acquisition system and method for identifying and positioning container |
| CN107036578A (en) * | 2017-06-06 | 2017-08-11 | 黄河勘测规划设计有限公司 | Foundation pile hole quality detecting system and its detection method |
| CN107782240A (en) * | 2017-09-27 | 2018-03-09 | 首都师范大学 | A kind of two dimensional laser scanning instrument scaling method, system and device |
-
2018
- 2018-06-01 CN CN201810557348.9A patent/CN110554640B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8411032D0 (en) * | 1983-05-10 | 1984-06-06 | Casio Computer Co Ltd | Circular arc generator |
| JP2001221636A (en) * | 2000-02-10 | 2001-08-17 | Nkk Corp | Three-dimensional coordinate measuring method and measuring device |
| CN1862222A (en) * | 2005-05-10 | 2006-11-15 | 北京航空航天大学 | Laser self-collimation zero reference error angle measuring method |
| JP2007333646A (en) * | 2006-06-16 | 2007-12-27 | Hitachi Koki Co Ltd | Three-dimensional coordinate position measurement device |
| CN101825444A (en) * | 2010-04-09 | 2010-09-08 | 上海辉格科技发展有限公司 | Vehicle-mounted road spectrum testing system based on surface structured light |
| CN105928457A (en) * | 2016-06-21 | 2016-09-07 | 大连理工大学 | Omnidirectional three-dimensional laser color scanning system and method thereof |
| CN106017351A (en) * | 2016-07-20 | 2016-10-12 | 北京国泰星云科技有限公司 | 3D data acquisition system and method for identifying and positioning container |
| CN107036578A (en) * | 2017-06-06 | 2017-08-11 | 黄河勘测规划设计有限公司 | Foundation pile hole quality detecting system and its detection method |
| CN107782240A (en) * | 2017-09-27 | 2018-03-09 | 首都师范大学 | A kind of two dimensional laser scanning instrument scaling method, system and device |
Non-Patent Citations (1)
| Title |
|---|
| 杨茂伟: "三维激光扫描仪在地质灾害地形测绘中的应用", 《测绘通报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111177059A (en) * | 2019-12-13 | 2020-05-19 | 珠海泰坦新动力电子有限公司 | Data processing method and system based on formation and grading system |
| CN113984026A (en) * | 2021-10-28 | 2022-01-28 | 江苏徐工工程机械研究院有限公司 | Total station scanning all-in-one instrument based on three-dimensional laser mapping technology and measuring method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110554640B (en) | 2022-08-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102003938B (en) | Thermal state on-site detection method for large high-temperature forging | |
| Fröhlich et al. | Terrestrial laser scanning–new perspectives in 3D surveying | |
| CN113607135A (en) | Unmanned aerial vehicle oblique photography measurement method used in road and bridge construction field | |
| CN104809754A (en) | Space synchronous positioning and information recording system based on three-dimensional real scene model | |
| CN105806251A (en) | Four-axis measuring system based on line laser sensor and measuring method thereof | |
| CN112762899B (en) | Fusion method of laser point cloud and BIM model with video information in visual transformer substation | |
| CN103644860A (en) | Large-scale spatial free curved surface measurement method | |
| CN105203023A (en) | One-stop calibration method for arrangement parameters of vehicle-mounted three-dimensional laser scanning system | |
| CN110554640B (en) | Scanner control circuit and data processing method | |
| CN101852607A (en) | Rotary laser visual linear array space identification and positioning system | |
| CN110579754A (en) | Method for determining external parameters of a lidar and other sensors of a vehicle | |
| CN103692651A (en) | BIM (Building Information Modeling) model designing device with 3D input and output functions | |
| CN113888712A (en) | Building structure construction deviation analysis method | |
| Cheng et al. | Study on reverse engineering of historical architecture based on 3D laser scanner | |
| CN102495879A (en) | Industrial overhead pipeline measurement method based on ground LIDAR (Light Detection And Ranging) | |
| Barazzetti et al. | Automated and accurate orientation of complex image sequences | |
| CN1605830A (en) | Large-scale three dimensional shape and appearance measuring and splicing method without being based on adhesive mark | |
| Jia et al. | An efficient, hierarchical viewpoint planning strategy for terrestrial laser scanner networks | |
| Lam | Application of terrestrial laser scanning methodology in geometric tolerances analysis of tunnel structures | |
| CN110553598B (en) | Three-dimensional laser scanning method controlled by computer | |
| CN203888213U (en) | BIM (building information modeling) designing device with 3D input and output functions | |
| CN111879253A (en) | Cabin body measuring workstation, cabin body non-contact measuring method and system | |
| Gabara et al. | Study on 3d point clouds accuracy of elongated object reconstruction in close range–comparison of different software | |
| CN115932879B (en) | Mine robot gesture rapid measurement system based on laser point cloud | |
| Manouchehri et al. | Extrinsic Calibration of Rotating 2d Laser Range Finder and Camera Using Photogrammetric Test Field and Ping Pong Balls |
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 |