CN111006744B - Infrared thermal imaging type aviation oil liquid level detection method - Google Patents
Infrared thermal imaging type aviation oil liquid level detection method Download PDFInfo
- Publication number
- CN111006744B CN111006744B CN201911301252.7A CN201911301252A CN111006744B CN 111006744 B CN111006744 B CN 111006744B CN 201911301252 A CN201911301252 A CN 201911301252A CN 111006744 B CN111006744 B CN 111006744B
- Authority
- CN
- China
- Prior art keywords
- point
- dimensional
- thermal
- marking
- imager
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000007788 liquid Substances 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 title claims abstract description 14
- 238000001931 thermography Methods 0.000 title claims abstract description 13
- 238000003703 image analysis method Methods 0.000 claims abstract description 6
- 238000004458 analytical method Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 7
- 238000001757 thermogravimetry curve Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000002372 labelling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Fluid Mechanics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radiation Pyrometers (AREA)
Abstract
An infrared thermal imaging type aviation oil liquid level detection method comprises the following steps: (1) placing a thermal infrared imager; (2) finding a point in the top line of the oil tank, and marking the point as a; (3) Hanging a plumb line from the point a, and marking any position on the plumb line as a point b; measuring the distance from the thermal infrared imager to the point a, and recording as La; measuring the distance from the thermal infrared imager to the point b, and recording as Lb; (6) identifying and marking points a and b in the infrared thermal image; (7) Taking the lengths of La and Lb and the actual nominal height h of the oil tank as parameters, converting a point a and a point b coordinate point in a two-dimensional image into three-dimensional space coordinate points Va and Vb in a three-dimensional space, (8) judging the position with the most obvious picture color difference on a line ab by adopting an image analysis method, and marking the position as a point c; (9) Obtaining a direction vector dc according to the position c to obtain a three-dimensional coordinate point Vc of the point c, (10) calculating the distance from the point Vc to the point Va, marking as lac, and finally obtaining the liquid level L.
Description
Technical Field
The invention relates to a liquid level detection method, in particular to an aviation oil liquid level detection method.
Background
The detection of the liquid level in the aviation oil tank has very important significance for transportation, storage and use of aviation oil, and the detection of the liquid level in the aviation oil tank is always realized by using a high-precision liquid level meter. One problem with the level gauge detection method is that the level gauge is still a probability of some physical failure as a device with physical movement, and because there is no backup system in the tank, it is difficult if not impossible to obtain a relatively reliable level height in a very short time when the device fails.
Disclosure of Invention
In order to solve the problems, the invention provides the following scheme:
An infrared thermal imaging type aviation oil liquid level detection method is applied to a system at least comprising an infrared thermal imager and a range finder; the infrared thermal imager is used for converting the oil tank into a two-dimensional thermal image and determining two-dimensional coordinates of a demand point on the oil tank, and the range finder is used for measuring the distance between the infrared thermal imager and the demand point on the oil tank; the method comprises the following steps:
acquiring a reference point a in the top line of the oil tank and a second reference point b on the vertical line of the reference point a;
Aligning the infrared thermal imager with the point a, measuring the distance from the infrared thermal imager to the point a by using a range finder, and recording as La; aligning the thermal infrared imager with the point b, measuring the distance from the thermal infrared imager to the point b by using a range finder, and marking as Lb;
Determining the coordinates [ ax, ay ] of the point a and the coordinates [ bx, by ] of the point b in the two-dimensional thermogram;
Judging the position of the two-dimensional thermal imaging graph, on the ab line, where the color difference of the graph is most obvious by adopting an image analysis method, and marking the position as a point c, wherein the sitting mark of the point c is [ cx, cy ]; the specific operation flow is as follows:
(1) Placing a distance measuring instrument and an infrared thermal imager, and taking the aviation oil tank body into the infrared thermal imager;
(2) Finding a point in the top line of the oil tank, and marking the point as a;
(3) Hanging a plumb line from the point a, marking any position on the plumb line as a point b, and fixing a marking object at the point b;
(4) Rotating the thermal infrared imager to align with the point a, measuring the distance from the thermal infrared imager to the point a by using a range finder, and recording as La;
(5) Rotating the thermal infrared imager to align with the point b, measuring the distance from the thermal infrared imager to the point b by using a range finder, and recording as Lb;
(6) Identifying and labeling coordinates [ ax, ay ] of the point a and coordinates [ bx, by ] of the point b in the two-dimensional thermal image;
(7) Judging the position of the two-dimensional thermal imaging graph, on the ab line, where the color difference of the graph is most obvious by adopting an image analysis method, and marking the position as a point c, wherein the sitting mark of the point c is [ cx, cy ];
transmitting the two-dimensional thermal image marked with the point a, the point b, the point c and the coordinates thereof to a liquid level analysis system for liquid level height calculation and analysis, wherein the liquid level analysis system comprises the following calculation processes:
(1) Taking the lengths of La and Lb and the actual nominal height h of an oil tank as parameters, converting coordinate points of a point and b point in a two-dimensional image into three-dimensional space coordinate points Va and Vb of a three-dimensional space taking an infrared thermal imager as an origin, knowing that the resolution of the two-dimensional thermal image is pw and ph, the two-dimensional sitting of the a point in the two-dimensional thermal image is [ ax and ay ], the two-dimensional sitting of the b point in the two-dimensional thermal image is [ bx and by ], the horizontal field angle of the infrared thermal imager is hfov, the vertical field angle is vfov, the PI is 3.1415926, and the conversion formula is as follows:
Va＝normalize(ax-2.0*ph*hfov/vfov,ph/2.0-ay,ph/2.0/ tan(vfov/2.0*PI/180.0))*La；
Vb＝normalize(bx-2.0*ph*hfov/vfov,ph/2.0-by,ph/2.0/ tan(vfov/2.0*π/180.0))*Lb；
(2) According to the two-dimensional coordinates of the point c, a three-dimensional coordinate Vc of the point c is obtained: according to the position c, a three-dimensional direction vector dc taking a thermal infrared imager as an origin can be obtained, a three-dimensional coplanarity line is obtained by carrying out three-dimensional coplanarity on a line segment Vab between Va and Vb and dc to obtain a three-dimensional coordinate point Vc of the point c, an x component of dc in a three-dimensional space is marked as dc.x, a standard three-dimensional vector is marked as v, an x component of the standard three-dimensional vector in the three-dimensional space is marked as v.x, a temporary scalar is marked as t, and the formula is as follows:
dc＝normalize(cx-2.0*ph*hfov/vfov,ph/2.0-cy,ph/2.0/ tan(vfov/2.0*PI/180.0))
v＝normalize(Vab)
t＝(dc.x-Va.x)/v.x
Vc＝Va+v*t
Wherein dc, v is a standard three-dimensional vector, the three-dimensional vector has three components of x, y and z, and dc.x represents the x component of dc; t is a temporary scalar, which means that the calculation result is stored in advance, and the value is used in the next formula; v.x denotes the x component of the v three-dimensional vector;
(3) The liquid level analysis system software calculates the distance from Vc point to Va point, marks as lac, and finally obtains the liquid level L, and the formula is as follows: l=h-lac.
Further, the thermal infrared imager is placed at a distance of 50 meters from the oil tank.
Further, the range finder is a high-precision laser range finder.
The beneficial effects of the invention are as follows:
1. when the liquid level meter in the oil tank fails and cannot be used, the liquid level height data in the oil tank can be quickly obtained, and the components are convenient to replace.
2. The method is simple and convenient to operate.
3. And meanwhile, the device is used with a liquid level instrument in the oil tank to compare and accurately detect the liquid level data in the oil tank.
Drawings
FIG. 1 is a schematic diagram of the present invention;
fig. 2 is a two-dimensional thermogram of an oil tank.
1. An oil tank; 2. a top line; 3. a high-precision laser range finder; 4. an infrared imager; h. the height of the oil tank; and L, liquid level.
Detailed Description
The present invention will now be described in detail with reference to the accompanying drawings:
Example 1: as shown in fig. 1 to 2, an infrared thermal imaging type aviation oil liquid level detection method is applied to a system at least comprising a thermal infrared imager and a range finder; the infrared thermal imager is used for converting the oil tank into a two-dimensional thermal image and determining two-dimensional coordinates of a demand point on the oil tank, and the range finder is used for measuring the distance between the infrared thermal imager and the demand point on the oil tank; the method comprises the following steps:
acquiring a reference point a in the top line of the oil tank and a second reference point b on the vertical line of the reference point a;
Aligning the infrared thermal imager with the point a, measuring the distance from the infrared thermal imager to the point a by using a range finder, and recording as La; aligning the thermal infrared imager with the point b, measuring the distance from the thermal infrared imager to the point b by using a range finder, and marking as Lb;
Determining the coordinates [ ax, ay ] of the point a and the coordinates [ bx, by ] of the point b in the two-dimensional thermogram;
Judging the position of the two-dimensional thermal imaging graph, on the ab line, where the color difference of the graph is most obvious by adopting an image analysis method, and marking the position as a point c, wherein the sitting mark of the point c is [ cx, cy ]; the specific operation flow is as follows:
(1) Placing a distance measuring instrument and an infrared thermal imager, and taking the aviation oil tank body into the infrared thermal imager;
(2) Finding a point in the top line of the oil tank, and marking the point as a;
(3) Hanging a plumb line from the point a, marking any position on the plumb line as a point b, and fixing a marking object at the point b;
(4) Rotating the thermal infrared imager to align with the point a, measuring the distance from the thermal infrared imager to the point a by using a range finder, and recording as La;
(5) Rotating the thermal infrared imager to align with the point b, measuring the distance from the thermal infrared imager to the point b by using a range finder, and recording as Lb;
(6) Identifying and labeling coordinates [ ax, ay ] of the point a and coordinates [ bx, by ] of the point b in the two-dimensional thermal image;
(7) Judging the position of the two-dimensional thermal imaging graph, on the ab line, where the color difference of the graph is most obvious by adopting an image analysis method, and marking the position as a point c, wherein the sitting mark of the point c is [ cx, cy ];
transmitting the two-dimensional thermal image marked with the point a, the point b, the point c and the coordinates thereof to a liquid level analysis system for liquid level height calculation and analysis, wherein the liquid level analysis system comprises the following calculation processes:
(1) Taking the lengths of La and Lb and the actual nominal height h of an oil tank as parameters, converting coordinate points of a point and b point in a two-dimensional image into three-dimensional space coordinate points Va and Vb of a three-dimensional space taking an infrared thermal imager as an origin, knowing that the resolution of the two-dimensional thermal image is pw and ph, the two-dimensional sitting of the a point in the two-dimensional thermal image is [ ax and ay ], the two-dimensional sitting of the b point in the two-dimensional thermal image is [ bx and by ], the horizontal field angle of the infrared thermal imager is hfov, the vertical field angle is vfov, the PI is 3.1415926, and the conversion formula is as follows:
Va＝normalize(ax-2.0*ph*hfov/vfov,ph/2.0-ay,ph/2.0/ tan(vfov/2.0*PI/180.0))*La；
Vb＝normalize(bx-2.0*ph*hfov/vfov,ph/2.0-by,ph/2.0/ tan(vfov/2.0*π/180.0))*Lb；
(2) According to the two-dimensional coordinates of the point c, a three-dimensional coordinate Vc of the point c is obtained: according to the position c, a three-dimensional direction vector dc taking a thermal infrared imager as an origin can be obtained, a three-dimensional coplanarity line is obtained by carrying out three-dimensional coplanarity on a line segment Vab between Va and Vb and dc to obtain a three-dimensional coordinate point Vc of the point c, an x component of dc in a three-dimensional space is marked as dc.x, a standard three-dimensional vector is marked as v, an x component of the standard three-dimensional vector in the three-dimensional space is marked as v.x, a temporary scalar is marked as t, and the formula is as follows:
dc＝normalize(cx-2.0*ph*hfov/vfov,ph/2.0-cy,ph/2.0/ tan(vfov/2.0*PI/180.0))
v＝normalize(Vab)
t＝(dc.x-Va.x)/v.x
Vc＝Va+v*t
Wherein dc, v is a standard three-dimensional vector, the three-dimensional vector has three components of x, y and z, and dc.x represents the x component of dc; t is a temporary scalar, which means that the calculation result is stored in advance, and the value is used in the next formula; v.x denotes the x component of the v three-dimensional vector;
(3) The liquid level analysis system software calculates the distance from Vc point to Va point, marks as lac, and finally obtains the liquid level L, and the formula is as follows: l=h-lac.
The invention can be started at any time, and when the liquid level instrument in the oil tank fails and can not be used, the liquid level height data in the oil tank can be obtained quickly, and the components are convenient to replace. The detection method is simple and convenient to operate. And meanwhile, the device is used with a liquid level instrument in the oil tank to compare and accurately detect the liquid level data in the oil tank.
The foregoing has described in detail the technical solutions provided by the embodiments of the present invention, and specific examples have been applied to illustrate the principles and implementations of the embodiments of the present invention, where the illustrations of the above embodiments are only useful for helping to understand the principles of the embodiments of the present invention; meanwhile, as for the person skilled in the art, according to the embodiments of the present invention, the details of the present invention and the application range may vary, and the present description should not be construed as limiting the present invention.
Claims (3)
1. An infrared thermal imaging type aviation oil liquid level detection method is characterized in that: the system is applied to a system at least comprising a thermal infrared imager and a range finder; the infrared thermal imager is used for converting the oil tank into a two-dimensional thermal image and determining two-dimensional coordinates of a demand point on the oil tank, and the range finder is used for measuring the distance between the infrared thermal imager and the demand point on the oil tank; the method comprises the following steps:
acquiring a reference point a in the top line of the oil tank and a second reference point b on the vertical line of the reference point a;
Aligning the infrared thermal imager with the point a, measuring the distance from the infrared thermal imager to the point a by using a range finder, and recording as La; aligning the thermal infrared imager with the point b, measuring the distance from the thermal infrared imager to the point b by using a range finder, and marking as Lb;
Determining the coordinates [ ax, ay ] of the point a and the coordinates [ bx, by ] of the point b in the two-dimensional thermogram;
judging the position of the two-dimensional thermal imaging graph, on the ab line, where the color difference of the graph is most obvious by adopting an image analysis method, and marking the position as a point c, wherein the sitting mark of the point c is [ cx, cy ];
Transmitting the two-dimensional thermal image marked with the point a, the point b, the point c and the coordinates thereof and La and Lb to a liquid level analysis system for liquid level height calculation and analysis, wherein the calculation process comprises the following steps:
(1) Taking the lengths of La and Lb and the actual nominal height h of an oil tank as parameters, converting coordinate points of a point a and b in a two-dimensional image into three-dimensional space coordinate points Va and Vb in a three-dimensional space with an infrared thermal imager as an origin, knowing the resolution of the two-dimensional thermal image as pw and ph, marking two-dimensional sitting of the point a in the two-dimensional thermal image as [ ax and ay ], marking two-dimensional sitting of the point b in the two-dimensional thermal image as [ bx and by ], marking the horizontal field angle of the infrared thermal imager as hfov, marking the vertical field angle as vfov, marking PI as 3.1415926, and converting the formula as follows:
Va＝normalize(ax-2.0*ph*hfov/vfov,ph/2.0-ay,ph/2.0/tan(vfov/2.0*PI/180.0))*La；
Vb＝normalize(bx-2.0*ph*hfov/vfov,ph/2.0-by,ph/2.0/tan(vfov/2.0*π/180.0))*Lb；
(2) According to the two-dimensional coordinates of the point c, a three-dimensional coordinate Vc of the point c is obtained: according to the position c, a three-dimensional direction vector dc taking a thermal infrared imager as an origin can be obtained, a three-dimensional coplanarity line is obtained by carrying out three-dimensional coplanarity on a line segment Vab between Va and Vb and dc to obtain a three-dimensional coordinate point Vc of the point c, an x component of dc in a three-dimensional space is marked as dc.x, a standard three-dimensional vector is marked as v, an x component of the standard three-dimensional vector in the three-dimensional space is marked as v.x, a temporary scalar is marked as t, and the formula is as follows:
dc＝normalize(cx-2.0*ph*hfov/vfov,ph/2.0-cy,ph/2.0/tan(vfov/2.0*PI/180.0))
v＝normalize(Vab)
t＝(dc.x-Va.x)/v.x
Vc＝Va+v*t
(3) Calculating the distance from Vc point to Va point, marking as lac, and finally obtaining the liquid level height L, wherein the formula is as follows: l=h-lac.
2. An infrared thermal imaging aviation oil level detection method as defined in claim 1, wherein: the thermal infrared imager is placed at a distance of 50 meters from the oil tank.
3. An infrared thermal imaging aviation oil level detection method as defined in claim 1, wherein: the range finder is a high-precision laser range finder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911301252.7A CN111006744B (en) | 2019-12-17 | 2019-12-17 | Infrared thermal imaging type aviation oil liquid level detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911301252.7A CN111006744B (en) | 2019-12-17 | 2019-12-17 | Infrared thermal imaging type aviation oil liquid level detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111006744A CN111006744A (en) | 2020-04-14 |
| CN111006744B true CN111006744B (en) | 2024-04-19 |
Family
ID=70115980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911301252.7A Active CN111006744B (en) | 2019-12-17 | 2019-12-17 | Infrared thermal imaging type aviation oil liquid level detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111006744B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112213352A (en) * | 2020-09-21 | 2021-01-12 | 四川阿格瑞新材料有限公司 | Method for measuring liquid evaporation change rate in high vacuum environment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101033954A (en) * | 2007-02-06 | 2007-09-12 | 华中科技大学温州先进制造技术研究院 | Liquid assisted section scanning measurement method for three-dimensional form |
| CN102706458A (en) * | 2012-05-29 | 2012-10-03 | 顺德中山大学太阳能研究院 | Infrared thermal imaging coordinate positioning method |
| CN103471500A (en) * | 2013-06-05 | 2013-12-25 | 江南大学 | Conversion method of plane coordinate and space three-dimensional coordinate point in vision of monocular machine |
| CN103557796A (en) * | 2013-11-19 | 2014-02-05 | 天津工业大学 | Three-dimensional locating system and locating method based on laser ranging and computer vision |
| CN103699141A (en) * | 2013-12-13 | 2014-04-02 | 天津大学 | Method for adjusting and positioning thermal imager for use in thermal imaging monitoring of liquefied natural gas (LNG) storage tank |
| JP2016161535A (en) * | 2015-03-05 | 2016-09-05 | トヨタ自動車株式会社 | Liquid level height measurement apparatus |
| CN108022265A (en) * | 2016-11-01 | 2018-05-11 | 狒特科技（北京）有限公司 | Infrared camera pose determines method, equipment and system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105627926B (en) * | 2016-01-22 | 2017-02-08 | 尹兴 | Four-camera group planar array feature point three-dimensional measurement system and measurement method |
-
2019
- 2019-12-17 CN CN201911301252.7A patent/CN111006744B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101033954A (en) * | 2007-02-06 | 2007-09-12 | 华中科技大学温州先进制造技术研究院 | Liquid assisted section scanning measurement method for three-dimensional form |
| CN102706458A (en) * | 2012-05-29 | 2012-10-03 | 顺德中山大学太阳能研究院 | Infrared thermal imaging coordinate positioning method |
| CN103471500A (en) * | 2013-06-05 | 2013-12-25 | 江南大学 | Conversion method of plane coordinate and space three-dimensional coordinate point in vision of monocular machine |
| CN103557796A (en) * | 2013-11-19 | 2014-02-05 | 天津工业大学 | Three-dimensional locating system and locating method based on laser ranging and computer vision |
| CN103699141A (en) * | 2013-12-13 | 2014-04-02 | 天津大学 | Method for adjusting and positioning thermal imager for use in thermal imaging monitoring of liquefied natural gas (LNG) storage tank |
| JP2016161535A (en) * | 2015-03-05 | 2016-09-05 | トヨタ自動車株式会社 | Liquid level height measurement apparatus |
| CN108022265A (en) * | 2016-11-01 | 2018-05-11 | 狒特科技（北京）有限公司 | Infrared camera pose determines method, equipment and system |
Non-Patent Citations (3)
| Title |
|---|
| 一种钢水液面精确定位算法的研究;吴云飞;刘堂友;;微型机与应用;20151210(第23期);全文 * |
| 基于红外热像仪的油罐液位测量系统设计;孙正鼐;张国亮;徐德强;袁艳艳;;微计算机信息;20100615(第17期);全文 * |
| 红外成像技术在储罐液位检测中的应用;陈婧;姚培芬;梁法春;曹学文;;内蒙古石油化工;20080328(第06期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111006744A (en) | 2020-04-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6225889B2 (en) | Vehicle position estimation apparatus and program | |
| US9618341B2 (en) | Calibrating a gyroscope based on visual codes | |
| CN107734449B (en) | Outdoor auxiliary positioning method, system and equipment based on optical label | |
| US10347051B2 (en) | Near field maneuvering for AR-device using image tracking | |
| CN111947578A (en) | Structure displacement measuring system and measuring method thereof | |
| CN109712157B (en) | Gravity field method accelerometer calibration method based on monocular vision | |
| CN111006744B (en) | Infrared thermal imaging type aviation oil liquid level detection method | |
| CN105717499B (en) | Laser range finder deflects angular measurement and correction system and method | |
| CN101629822A (en) | Multi-camera movable photography measuring method in vibration environment | |
| CN112461122B (en) | Tunnel surface feature detection device and method | |
| KR100564236B1 (en) | Self-localization apparatus and method of mobile robot | |
| KR20200065875A (en) | Method and system for recognizing lane using landmark | |
| JP4889576B2 (en) | Mark manufacturing apparatus and mark manufacturing method | |
| CN211349366U (en) | Visual positioning device based on two-dimensional label | |
| US20030118213A1 (en) | Height measurement apparatus | |
| CN104199074A (en) | GNSS (global navigation satellite system) handheld terminal and remote locating method | |
| CN103663149A (en) | Crane jib tail end position detection equipment, method and system and crane | |
| US20240085448A1 (en) | Speed measurement method and apparatus based on multiple cameras | |
| KR101364047B1 (en) | Method for estimating location based on object recognition using kalman filter | |
| CN113983951B (en) | Three-dimensional target measuring method, device, imager and storage medium | |
| CN214173350U (en) | Multisensor auxiliary positioning device of robot is patrolled and examined to rail mounted | |
| CN108627094A (en) | A kind of 3D laser measurement methods of parts height dimension | |
| CN116592757A (en) | Two-dimensional precision compensation method of measurement system | |
| KR100939213B1 (en) | Location acquisition apparatus and its method of the artificial object | |
| CN114266835A (en) | Deformation monitoring control method and system for non-measuring camera |
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 |