CN110864725A - Panoramic three-dimensional color laser scanning system and method based on lifting motion - Google Patents
Panoramic three-dimensional color laser scanning system and method based on lifting motion Download PDFInfo
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Abstract
The invention belongs to the technical field of three-dimensional color point cloud data processing and three-dimensional scene reconstruction, and discloses a panoramic three-dimensional color laser scanning system and a method thereof based on lifting motion, wherein the panoramic three-dimensional color laser scanning system comprises: the method comprises the following steps: (1) controlling the electric control lifting platform to lift at a constant speed, (2) synchronously acquiring data, and (3) fusing the acquired data. The invention has the following advantages: firstly, a brand-new data synchronous acquisition method is utilized to synchronously acquire laser three-dimensional point cloud, omnidirectional two-dimensional images, equipment pose information and lifting platform position information in real time, and the synchronous acquisition precision is high; secondly, data fusion is carried out by utilizing the laser three-dimensional point cloud and the omnidirectional two-dimensional image at each synchronous moment, three-dimensional color point cloud data of a space scene are obtained in real time, and the data fusion real-time performance is good; thirdly, fusion and reconstruction of dense three-dimensional color point clouds in a large-scale space scene are achieved by utilizing the reciprocating motion of the lifting platform and the GPS combined inertial navigation module.
Description
Technical Field
The invention relates to a panoramic three-dimensional color laser scanning system based on lifting motion and a method thereof, belonging to the technical field of three-dimensional color point cloud data processing and three-dimensional scene reconstruction.
Background
In the process of digitalizing the real world, the three-dimensional point cloud data records the geometric attributes and the position information of the surface of an object, the two-dimensional image records the color information and the texture information of the surface of the object, the two-dimensional image and the color information are deeply fused to form a new digital medium, namely three-dimensional color point cloud data, and the three-dimensional color point cloud data is the further development of the three-dimensional point cloud data and can describe the real world more accurately. In order to acquire three-dimensional color point cloud data of a scene, a three-dimensional color laser scanning system is required to be constructed and mainly comprises a laser scanner, a digital camera and a computer. The method comprises the steps that a laser scanner obtains three-dimensional point cloud data of a scene, a digital camera obtains two-dimensional image data of the scene, and a computer fuses the three-dimensional point cloud data and the two-dimensional image data to finally obtain three-dimensional color point cloud data of the scene. The three-dimensional laser color scanning technology has stronger theoretical significance and application value, and has more and more applications in the fields of industrial detection, autonomous navigation, reverse engineering, virtual reality, military defense and the like.
Three-dimensional point cloud data can be divided into two major categories according to the difference of geometrical structures: line point clouds and surface point clouds. The two-dimensional laser scanner works in a line scanning mode, and a dispersion curve (line point cloud) consisting of a series of dispersion points sequentially can be obtained in each scanning process, and the dispersion curve (line point cloud) is located on an intersection line of an actual scene and a laser scanning plane. The three-dimensional laser scanner works in a surface scanning mode, and a discrete curved surface consisting of a group of discrete points, namely surface point cloud, can be obtained in each scanning, and the discrete curved surface (the surface point cloud) is positioned on the surface of an object in an actual scene.
At present, the existing three-dimensional laser color scanning system mainly comprises a laser scanner, a digital camera, a translation rotating platform and a computer. The working mode is as follows: 1) the translation rotating table drives the laser scanning device to rotate in a translation mode, and a plurality of line point clouds obtained by the laser scanner in the translation rotating process are combined into a surface point cloud of the whole scene, namely scene three-dimensional point cloud; 2) a digital camera shoots a two-dimensional image of a scene; 3) and the computer fuses the three-dimensional point cloud and the two-dimensional image of the scene to form the three-dimensional color point cloud of the whole scene. The three-dimensional laser color scanning device has the following problems: 1) three-dimensional laser scanning of the whole scene is required to be completed firstly, three-dimensional point cloud of the whole scene is obtained, then the three-dimensional point cloud and a two-dimensional image of the scene can be fused, the three-dimensional color point cloud of the scene cannot be obtained in real time in the scanning process, and the data acquisition of the three-dimensional color point cloud is not real-time; 2) the three-dimensional point cloud of the whole scene is only fused with one or a plurality of two-dimensional images, the image information is less, and the fusion quality is low.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a panoramic three-dimensional color laser scanning system based on lifting motion and a method thereof, which have simple structure and high working efficiency. The system and the method thereof firstly utilize a brand-new data synchronous acquisition method to synchronously acquire the laser three-dimensional point cloud, the omnidirectional two-dimensional image, the equipment pose information and the lifting platform position information in real time, and have high synchronous acquisition precision; secondly, data fusion is carried out by utilizing the laser three-dimensional point cloud and the omnidirectional two-dimensional image at each synchronous moment, three-dimensional color point cloud data of a space scene are obtained in real time, and the data fusion real-time performance is good; thirdly, fusion and reconstruction of dense three-dimensional color point clouds in a large-scale space scene are achieved by utilizing the reciprocating motion of the lifting platform and the GPS combined inertial navigation module.
In order to realize the purpose of the invention and solve the problems in the prior art, the invention adopts the technical scheme that: a three-dimensional color point cloud scanning method of a panoramic three-dimensional color laser scanning system based on lifting motion comprises the following steps:
step 1, controlling the electric control lifting platform to lift at a constant speed by a computer through a motor control driver, and simultaneously, controlling the three-dimensional laser scanner and the 4 high-speed color cameras which are arranged on the electric control lifting platform to lift at a constant speed along with the electric control lifting platform;
step 2, synchronously acquiring data, namely simultaneously sending a command for starting data acquisition to the three-dimensional laser scanner and the GPS combined inertial navigation module by the computer through a network and an RS-485 interface, and taking the system time of the computer at the moment as the initial reference time of the data acquisition; after receiving a data acquisition command, the three-dimensional laser scanner starts scanning a spatial scene and sends acquired data to a computer at a scanning frequency of 20Hz, the computer immediately analyzes the horizontal angle of each frame of point cloud under a polar coordinate system after receiving the frame of point cloud, if the horizontal angle is 0 degrees, the three-dimensional laser scanner scans right ahead, the computer triggers a front high-speed color camera to shoot to obtain a front spatial scene image, if the horizontal angle is 90 degrees, the three-dimensional laser scanner scans right, the computer triggers a right high-speed color camera to shoot to obtain a right spatial scene image, if the horizontal angle is 180 degrees, the three-dimensional laser scanner scans right behind, the computer triggers a rear high-speed color camera to shoot to obtain a rear spatial scene image, if the horizontal angle is 270 degrees, the three-dimensional laser scanner scans to the right left, and the computer triggers the left high-speed color camera to shoot at the right left to obtain a left space scene image so as to complete the synchronization of 360-degree omnidirectional scanning of the three-dimensional laser scanner and shooting of 4 spatial high-speed color cameras; after receiving a data acquisition command, the GPS combined inertial navigation module sends acquired equipment pose information to a computer at a sampling frequency of 100Hz, and calculates the time when the three-dimensional laser scanner completes scanning for 360 degrees at each time and the time when the GPS combined inertial navigation module completes sampling for the equipment pose at each time by using the initial reference time of data acquisition, the scanning frequency of the three-dimensional laser scanner and the sampling frequency of the GPS combined inertial navigation module; at the moment when the three-dimensional laser scanner finishes scanning for 360 degrees each time, the computer sends a command to the motor control driver to read the absolute position of the current motion of the electric control lifting platform, so that the synchronization of 360-degree omnidirectional scanning of the three-dimensional laser scanner and the acquisition of position information of the electric control lifting platform is finished;
step 3, collecting data fusion, dividing each 360-degree omnidirectional three-dimensional point cloud into four parts according to horizontal angles of 315-45 degrees, 45-135 degrees, 135-225 degrees and 225-315 degrees, solving a homography matrix between an image coordinate system of each high-speed color camera and a laser coordinate system of the three-dimensional laser scanner by utilizing the imaging principle of the high-speed color camera to obtain the mapping relation between the image coordinate of each high-speed color camera and the space coordinate of the three-dimensional laser scanner, the mapping relation is utilized to fuse 315-45 degree three-dimensional point cloud and a front high-speed color camera image, 45-135 degree three-dimensional point cloud and a right high-speed color camera image, 135-225 degree three-dimensional point cloud and a rear high-speed color camera image, and 225-315 degree three-dimensional point cloud and a left high-speed color camera image in real time, so that a 360-degree panoramic three-dimensional color point cloud is obtained; on the basis, 360-degree panoramic three-dimensional color point clouds at a plurality of sampling moments are fused together by utilizing an iterative closest point method, position information of an electric control lifting platform and position and posture information of a GPS combined inertial navigation module to form a dense panoramic three-dimensional color point cloud of a large-range space scene.
The system comprises a three-dimensional laser scanner, a three-dimensional laser scanner power supply communication module, a front high-speed color camera, a rear high-speed color camera, a left high-speed color camera, a right high-speed color camera, an electric control lifting platform, a motor control driver, a GPS combined inertial navigation module, a switch, a multi-path power supply module, a computer, an equipment mounting plate and an equipment shell, wherein the three-dimensional laser scanner is fixed at the top of the outer side of the equipment shell through screws, the switch is fixed at the top of the inner side of the equipment shell through screws, the front high-speed color camera, the rear high-speed color camera, the left high-speed color camera and the right high-speed color camera are respectively fixed at the upper part of the equipment mounting plate through screws, and lenses of the front high-speed color camera, the rear high-speed color camera, the left high-speed, Rear, left, right lens holes; the three-dimensional laser scanner power supply communication module and the multi-path power supply module are respectively fixed on the lower part of the equipment mounting plate through screws; the equipment mounting plate is fixed in the middle of the inner side of the equipment shell through screws; the GPS combined inertial navigation module is fixed at the left part of the inner side of the equipment shell through screws, and the bottom of the equipment shell is fixed at the top of the electric control lifting platform through screws; the three-dimensional laser scanner is connected with a three-dimensional laser scanner power supply communication module through a power line and a communication line, the three-dimensional laser scanner power supply communication module, the front high-speed color camera, the rear high-speed color camera, the left high-speed color camera and the right high-speed color camera are respectively connected with the switch through network cables, and the three-dimensional laser scanner power supply communication module, the front high-speed color camera, the rear high-speed color camera, the left high-speed color camera, the right high-speed color camera, the GPS combined inertial navigation module and the switch are respectively connected with the multi-path power supply module through power lines; the switch is connected with the computer through a network cable, the GPS combined inertial navigation module is connected with the computer through an RS-485 communication line, the electric control lifting platform is connected with the motor control driver through a power line and a signal line, the motor control driver is connected with the computer through the RS-485 communication line, and the multi-path power supply module, the motor control driver and the computer are respectively connected with a power supply through power lines.
The invention has the beneficial effects that: a panoramic three-dimensional color laser scanning system and method based on lifting motion are disclosed, wherein: the method comprises the following steps: (1) controlling the electric control lifting platform to lift at a constant speed, (2) synchronously acquiring data, and (3) fusing the acquired data. The system comprises a three-dimensional laser scanner, a three-dimensional laser scanner power supply communication module, a front high-speed color camera, a rear high-speed color camera, a left high-speed color camera, a right high-speed color camera, an electric control lifting platform, a motor control driver, a GPS combined inertial navigation module, a switch, a multi-path power supply module, a computer, an equipment mounting plate and an equipment shell. Compared with the prior art, the invention has the following advantages: firstly, a brand-new data synchronous acquisition method is utilized to synchronously acquire laser three-dimensional point cloud, omnidirectional two-dimensional images, equipment pose information and lifting platform position information in real time, and the synchronous acquisition precision is high; secondly, data fusion is carried out by utilizing the laser three-dimensional point cloud and the omnidirectional two-dimensional image at each synchronous moment, three-dimensional color point cloud data of a space scene are obtained in real time, and the data fusion real-time performance is good; thirdly, fusion and reconstruction of dense three-dimensional color point clouds in a large-scale space scene are achieved by utilizing the reciprocating motion of the lifting platform and the GPS combined inertial navigation module.
Drawings
FIG. 1 is a flow chart of the method steps of the present invention.
Fig. 2 is a schematic diagram of the overall structure of the system of the present invention.
Fig. 3 is a schematic diagram of the exploded structure of the system of the present invention.
Fig. 4 is a block diagram of the electrical connections of the system of the present invention.
FIG. 5 is a schematic diagram of point cloud image fusion according to the present invention.
FIG. 6 is a three-dimensional color point cloud result map of an outdoor scene.
In the figure: 101. three-dimensional laser scanner, 102, three-dimensional laser scanner power communication module, 201, preceding high-speed color camera, 202, back high-speed color camera, 203, left high-speed color camera, 204, right high-speed color camera, 301, automatically controlled elevating platform, 401, motor control driver, 501, GPS combination inertial navigation module, 601, switch, 701, multichannel power module, 801, computer, 901, equipment mounting panel, 902, equipment shell.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, a three-dimensional color point cloud scanning method of a panoramic three-dimensional color laser scanning system based on lifting motion includes the following steps:
step 1, controlling the electric control lifting platform to lift at a constant speed by a computer through a motor control driver, and simultaneously, controlling the three-dimensional laser scanner and the 4 high-speed color cameras which are arranged on the electric control lifting platform to lift at a constant speed along with the electric control lifting platform;
step 3, collecting data fusion, dividing each 360-degree omnidirectional three-dimensional point cloud into four parts according to horizontal angles of 315-45 degrees, 45-135 degrees, 135-225 degrees and 225-315 degrees, solving a homography matrix between an image coordinate system of each high-speed color camera and a laser coordinate system of a three-dimensional laser scanner by utilizing a high-speed color camera imaging principle to obtain a mapping relation between the image coordinate of each high-speed color camera and a space coordinate of the three-dimensional laser scanner, and fusing 315-45 degrees three-dimensional point cloud and a front high-speed color camera image, 45-135 degrees three-dimensional point cloud and a right high-speed color camera image, 135-225 degrees three-dimensional point cloud and a rear high-speed color camera image and 225-315 degrees three-dimensional point cloud and a left high-speed color camera image in real time by utilizing the mapping relation to obtain a 360-degree panoramic three-dimensional color point cloud, as shown in fig. 5. On the basis, 360-degree panoramic three-dimensional color point clouds at a plurality of sampling moments are fused together by utilizing an iterative closest point method, position information of an electric control lifting platform and position and posture information of a GPS combined inertial navigation module to form a dense panoramic three-dimensional color point cloud of a large-range space scene. As shown in fig. 6, the upper left window is an outdoor scene image, the right window is an outdoor scene point cloud, and the lower left window is an outdoor scene three-dimensional color point cloud.
As shown in fig. 2, 3 and 4, a panoramic three-dimensional color laser scanning system based on lifting movement comprises a three-dimensional laser scanner 101, a three-dimensional laser scanner power communication module 102, a front high-speed color camera 201, a rear high-speed color camera 202, a left high-speed color camera 203, a right high-speed color camera 204, an electrically controlled lifting platform 301, a motor control driver 401, a GPS combined inertial navigation module 501, a switch 601, a multi-path power module 701, a computer 801, an equipment mounting board 901 and an equipment housing 902, wherein the three-dimensional laser scanner 101 is fixed on the top of the outer side of the equipment housing 902 by screws, the switch 601 is fixed on the top of the inner side of the equipment housing 902 by screws, the front high-speed color camera 201, the rear high-speed color camera 202, the left high-speed color camera 203 and the right high-speed color camera 204 are respectively fixed on the upper portion of the equipment mounting, Lenses of the rear high-speed color camera 202, the left high-speed color camera 203 and the right high-speed color camera 204 respectively pass through front, rear, left and right lens holes formed in the device housing 902; the three-dimensional laser scanner power supply communication module 102 and the multi-path power supply module 701 are respectively fixed at the lower part of the equipment mounting plate 901 through screws; the equipment mounting plate 901 is fixed in the middle of the inner side of the equipment shell 902 through screws; the GPS combined inertial navigation module 501 is fixed at the left part of the inner side of the equipment shell 902 through screws, and the bottom of the equipment shell 902 is fixed at the top of the electric control lifting platform 301 through screws; the three-dimensional laser scanner 101 is connected with a three-dimensional laser scanner power supply communication module 102 through a power line and a communication line, the three-dimensional laser scanner power supply communication module 102, a front high-speed color camera 201, a rear high-speed color camera 202, a left high-speed color camera 203 and a right high-speed color camera 204 are respectively connected with a switch 601 through network cables, and the three-dimensional laser scanner power supply communication module 102, the front high-speed color camera 201, the rear high-speed color camera 202, the left high-speed color camera 203, the right high-speed color camera 204, a GPS combined inertial navigation module 501 and the switch 601 are respectively connected with a multi-path power supply module 701 through power lines; the switch 601 is connected with the computer 801 through a network cable, the GPS combined inertial navigation module 501 is connected with the computer 801 through an RS-485 communication line, the electric control lifting platform 301 is connected with the motor control driver 401 through a power line and a signal line, the motor control driver 401 is connected with the computer 801 through an RS-485 communication line, and the multi-path power supply module 701, the motor control driver 401 and the computer 801 are respectively connected with a power supply through power lines.
The three-dimensional laser scanner 101 scans a space scene 360 degrees in an omnidirectional manner to obtain a three-dimensional point cloud of the space scene, the front high-speed color camera 201, the rear high-speed color camera 202, the left high-speed color camera 203 and the right high-speed color camera 204 synchronously shoot the space scene to obtain color images of the space scene in 4 directions, and in the scanning and shooting process, the electric control lifting platform 301 drives the three-dimensional laser scanner 101, the front high-speed color camera 201, the rear high-speed color camera 202, the left high-speed color camera 203 and the right high-speed color camera 204 which are installed on the electric control lifting platform to vertically reciprocate so as to increase the scanning and shooting density and fineness.
The invention has the advantages that: a panoramic three-dimensional color laser scanning system and method based on lifting movement, utilize the brand-new synchronous acquisition method of data first, gather laser three-dimensional point cloud, omnibearing two-dimensional image, apparatus position and posture information and elevating platform position information synchronously in real time, the synchronous acquisition precision is high; secondly, data fusion is carried out by utilizing the laser three-dimensional point cloud and the omnidirectional two-dimensional image at each synchronous moment, three-dimensional color point cloud data of a space scene are obtained in real time, and the data fusion real-time performance is good; thirdly, fusion and reconstruction of dense three-dimensional color point clouds in a large-scale space scene are achieved by utilizing the reciprocating motion of the lifting platform and the GPS combined inertial navigation module.
Claims (2)
1. A three-dimensional color point cloud scanning method of a panoramic three-dimensional color laser scanning system based on lifting motion is characterized by comprising the following steps:
step 1, controlling the electric control lifting platform to lift at a constant speed by a computer through a motor control driver, and simultaneously, controlling the three-dimensional laser scanner and the 4 high-speed color cameras which are arranged on the electric control lifting platform to lift at a constant speed along with the electric control lifting platform;
step 2, synchronously acquiring data, namely simultaneously sending a command for starting data acquisition to the three-dimensional laser scanner and the GPS combined inertial navigation module by the computer through a network and an RS-485 interface, and taking the system time of the computer at the moment as the initial reference time of the data acquisition; after receiving a data acquisition command, the three-dimensional laser scanner starts scanning a spatial scene and sends acquired data to a computer at a scanning frequency of 20Hz, the computer immediately analyzes the horizontal angle of each frame of point cloud under a polar coordinate system after receiving the frame of point cloud, if the horizontal angle is 0 degrees, the three-dimensional laser scanner scans right ahead, the computer triggers a front high-speed color camera to shoot to obtain a front spatial scene image, if the horizontal angle is 90 degrees, the three-dimensional laser scanner scans right, the computer triggers a right high-speed color camera to shoot to obtain a right spatial scene image, if the horizontal angle is 180 degrees, the three-dimensional laser scanner scans right behind, the computer triggers a rear high-speed color camera to shoot to obtain a rear spatial scene image, if the horizontal angle is 270 degrees, the three-dimensional laser scanner scans to the right left, and the computer triggers the left high-speed color camera to shoot at the right left to obtain a left space scene image so as to complete the synchronization of 360-degree omnidirectional scanning of the three-dimensional laser scanner and shooting of 4 spatial high-speed color cameras; after receiving a data acquisition command, the GPS combined inertial navigation module sends acquired equipment pose information to a computer at a sampling frequency of 100Hz, and calculates the time when the three-dimensional laser scanner completes scanning for 360 degrees at each time and the time when the GPS combined inertial navigation module completes sampling for the equipment pose at each time by using the initial reference time of data acquisition, the scanning frequency of the three-dimensional laser scanner and the sampling frequency of the GPS combined inertial navigation module; at the moment when the three-dimensional laser scanner finishes scanning for 360 degrees each time, the computer sends a command to the motor control driver to read the absolute position of the current motion of the electric control lifting platform, so that the synchronization of 360-degree omnidirectional scanning of the three-dimensional laser scanner and the acquisition of position information of the electric control lifting platform is finished;
step 3, collecting data fusion, dividing each 360-degree omnidirectional three-dimensional point cloud into four parts according to horizontal angles of 315-45 degrees, 45-135 degrees, 135-225 degrees and 225-315 degrees, solving a homography matrix between an image coordinate system of each high-speed color camera and a laser coordinate system of the three-dimensional laser scanner by utilizing the imaging principle of the high-speed color camera to obtain the mapping relation between the image coordinate of each high-speed color camera and the space coordinate of the three-dimensional laser scanner, the mapping relation is utilized to fuse 315-45 degree three-dimensional point cloud and a front high-speed color camera image, 45-135 degree three-dimensional point cloud and a right high-speed color camera image, 135-225 degree three-dimensional point cloud and a rear high-speed color camera image, and 225-315 degree three-dimensional point cloud and a left high-speed color camera image in real time, so that a 360-degree panoramic three-dimensional color point cloud is obtained; on the basis, 360-degree panoramic three-dimensional color point clouds at a plurality of sampling moments are fused together by utilizing an iterative closest point method, position information of an electric control lifting platform and position and posture information of a GPS combined inertial navigation module to form a dense panoramic three-dimensional color point cloud of a large-range space scene.
2. The system of claim 1, comprising a three-dimensional laser scanner, a three-dimensional laser scanner power communication module, a front high-speed color camera, a rear high-speed color camera, a left high-speed color camera, a right high-speed color camera, an electrically controlled lift, a motor controlled drive, a GPS combination inertial navigation module, a switch, a multi-channel power module, a computer, a device mounting board, and a device housing, wherein: the three-dimensional laser scanner is fixed on the top of the outer side of the equipment shell through screws, the switch is fixed on the top of the inner side of the equipment shell through screws, the front high-speed color camera, the rear high-speed color camera, the left high-speed color camera and the right high-speed color camera are respectively fixed on the upper part of the equipment mounting plate through screws, and lenses of the front high-speed color camera, the rear high-speed color camera, the left high-speed color camera and the right high-speed color camera respectively penetrate through front, rear, left and right lens holes formed in the equipment shell; the three-dimensional laser scanner power supply communication module and the multi-path power supply module are respectively fixed on the lower part of the equipment mounting plate through screws; the equipment mounting plate is fixed in the middle of the inner side of the equipment shell through screws; the GPS combined inertial navigation module is fixed at the left part of the inner side of the equipment shell through screws, and the bottom of the equipment shell is fixed at the top of the electric control lifting platform through screws; the three-dimensional laser scanner is connected with a three-dimensional laser scanner power supply communication module through a power line and a communication line, the three-dimensional laser scanner power supply communication module, the front high-speed color camera, the rear high-speed color camera, the left high-speed color camera and the right high-speed color camera are respectively connected with the switch through network cables, and the three-dimensional laser scanner power supply communication module, the front high-speed color camera, the rear high-speed color camera, the left high-speed color camera, the right high-speed color camera, the GPS combined inertial navigation module and the switch are respectively connected with the multi-path power supply module through power lines; the switch is connected with the computer through a network cable, the GPS combined inertial navigation module is connected with the computer through an RS-485 communication line, the electric control lifting platform is connected with the motor control driver through a power line and a signal line, the motor control driver is connected with the computer through the RS-485 communication line, and the multi-path power supply module, the motor control driver and the computer are respectively connected with a power supply through power lines.
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| CN112834238A (en) * | 2020-12-31 | 2021-05-25 | 中汽院智能网联科技有限公司 | System and method for testing lane changing performance of automatic driving automobile |
| CN113706594A (en) * | 2021-09-10 | 2021-11-26 | 广州中海达卫星导航技术股份有限公司 | System and method for generating three-dimensional scene information and electronic equipment |
| CN114543700A (en) * | 2022-01-27 | 2022-05-27 | 哈尔滨工程大学 | Augmented reality visualization three-dimensional scanning measuring robot with variable large range |
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