CN111721265A - Three-dimensional measuring device of indoor ground gradient - Google Patents
Three-dimensional measuring device of indoor ground gradient Download PDFInfo
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- CN111721265A CN111721265A CN202010701115.9A CN202010701115A CN111721265A CN 111721265 A CN111721265 A CN 111721265A CN 202010701115 A CN202010701115 A CN 202010701115A CN 111721265 A CN111721265 A CN 111721265A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
The invention provides a three-dimensional measuring device for indoor ground inclination, which relates to the technical field of measurement and comprises a laser emission component, a laser reference plane and a measuring component, wherein the laser emission component is used for emitting a laser reference plane; a positioning assembly for intersecting the laser datum plane at a positioning point to form a laser image; the image acquisition component is used for acquiring a laser image, processing the laser image into image data and sending the image data to the data processing component; the displacement measurement assembly is used for measuring the distances and the angles of the plurality of measurement points and sending angle data and distance data to the data processing assembly; the data processing component is used for processing the data calculation and generating a ground three-dimensional view; and the control component is used for automatically controlling the components. The ground height of the measuring point is obtained through the matching of the image acquisition assembly and the positioning assembly; the plane two-dimensional data of the measuring points are measured through the displacement measuring assembly, so that a ground three-dimensional view is formed, corresponding work is completed through wirelessly controlling each assembly through the control assembly, data processing through human eye observation and manual recording are not needed, and the operation is convenient.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a three-dimensional measuring device for indoor ground inclination.
Background
The three-dimensional measurement of the indoor ground is the main basis of material construction budget before indoor ground decoration and quality assessment after decoration, and the measurement precision and the automation level directly influence the quality and efficiency of house construction and decoration. At present, domestic indoor area measurement mainly depends on a tape measure or a handheld laser range finder, the ground levelness measurement is that a guiding rule with the length of two meters is manually used, the ground inclination is measured at each section with the length of two meters, and then all the sections are added together; secondly, with the help of the tape measure and the horizontal laser reference surface, the human eyes observe and measure the height of each point on the ground relative to the horizontal laser, and then the points are connected to form the ground levelness. In addition, many of the ground leveling patents are based on various lever members, and a contact-type manual ground leveling device is configured by a lever member combination, a mirror, and the like. The prior art provides an intelligent road construction levelness detector, which utilizes an installation rod, a guide rail, a bubble and a reflector to realize the amplification of the ground levelness and improve the detection precision. But the measurement is still based on guide rail adjustment, human eye observation and manual record processing data, and the speed is slow, and measuring point is few. A few patents in recent years have combined laser length measurement, image processing and opto-electronic techniques for civil engineering level measurements. The similar prior art provides a three-way displacement measuring method based on a laser spot imaging technology, two laser transmitters are utilized to emit light beams to an imaging target surface, an imaging lens focuses the laser beams into spot images, an imaging photoelectric device receives the spot images, and a signal processing unit finds out the coordinate positions of the central points of the two spots relative to an imaging system through a graph processing algorithm. Thereby measuring the three-way displacement of the two target points. However, the laser is difficult to aim at the focusing lens of the target surface in a long distance, most of the work is still based on the observation and recording of hands and eyes, and the main defects are low speed and low efficiency.
Disclosure of Invention
In view of the above, the present invention is to provide an indoor floor inclination three-dimensional measuring device to overcome the disadvantages of the prior art.
The invention provides the following technical scheme: an indoor ground inclination three-dimensional measuring device, a laser emitting assembly, a laser reference line or a laser reference plane, wherein the laser reference line or the laser reference plane is used for intersecting with a positioning assembly to generate a laser image of a measuring position; a positioning assembly for intersecting the laser reference line or laser reference plane at a location point to form the laser image; the image acquisition component is used for acquiring the laser image, processing the laser image into image data and sending the image data to the data processing component; the displacement measurement component is used for measuring angles among the laser images and generating angle data, measuring distances between the laser images and the displacement measurement component and generating distance data, and the displacement measurement component sends the angle data and the distance data to the data processing component; and the data processing component is used for receiving the image data, the angle data and the distance data, calculating three-dimensional data of the plurality of laser images according to the image data, the angle data and the distance data and generating a ground three-dimensional view.
Further, the laser emitting assembly comprises a laser and a level meter, wherein the laser comprises one or more of a gas laser, a solid laser or a semiconductor laser and is used for emitting the laser reference line or the laser reference surface; the level comprises an automatic level or a manual level, and is used for sensing the horizontal angle of the laser reference line or the laser reference surface and adjusting the emitted laser reference line or the laser reference surface to be in a horizontal state by matching with the laser.
Further, the laser is a semiconductor laser, and the semiconductor laser is used for emitting the laser reference surface; the level gauge is an automatic level gauge and is used for adjusting the laser reference surface to a horizontal state.
Furthermore, the positioning assembly is a movable target rod, the top of the movable target rod is higher than the laser reference line or the laser reference surface, and the bottom of the movable target rod is connected with the moving assembly.
Furthermore, the moving assembly is a universal wheel or an AGV.
Furthermore, the image acquisition assembly is a camera, the camera is fixedly connected to the positioning assembly, and a lens of the camera is aligned to the position where the positioning assembly intersects with the laser reference line or the laser reference plane, so as to acquire the laser image.
Further, the displacement measuring assembly comprises a target position measurer and an angle sensor connected with the target position measurer, the target position measurer is used for measuring the distance between the laser images and the target position measurer, and the angle sensor is used for measuring the angle between the laser images.
Further, the data processing assembly comprises a three-dimensional data processing program and a wireless communication module, wherein the three-dimensional data processing program is used for calculating three-dimensional data of a plurality of laser images according to the image data, the angle data and the distance data and generating a ground three-dimensional view; the wireless communication module is used for enabling the data processing assembly to be wirelessly connected with the image acquisition assembly and the displacement measurement assembly.
The device further comprises a control assembly, wherein the control assembly is respectively in wired or wireless connection with the data processing assembly, the displacement measuring assembly, the image acquisition assembly, the positioning assembly and the laser emission assembly.
Furthermore, the control assembly comprises a main controller, a remote controller connected with the main controller and a display, and the remote controller is used for controlling the data processing assembly, the displacement measuring assembly, the image acquiring assembly, the positioning assembly and the laser emitting assembly to work through the main controller; the display is used for displaying the ground three-dimensional view.
The embodiment of the invention has the following advantages: the method comprises the steps that a laser image formed by a positioning component on a laser reference surface emitted by a laser emitting component is obtained through an image obtaining component and is transmitted to a data processing component to be processed to obtain the ground height of the laser image; the distance and the angle between the displacement measurement component and each laser image are measured, the data are transmitted to the data processing component to be processed to obtain the two-dimensional data of each laser image, so that three-dimensional data are formed, a ground three-dimensional view is formed after arrangement, the control component wirelessly controls each component to complete corresponding work, data processing through human eye observation and manual recording is not needed, the operation is convenient, the measurement speed is high, and the precision is high.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible and comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a block diagram showing a connection structure of an indoor floor inclination three-dimensional measuring apparatus;
FIG. 2 is a schematic diagram showing the working structure of a laser emitting assembly and a positioning assembly of the indoor ground inclination three-dimensional measuring device;
FIG. 3 is a schematic diagram showing three working principles of an image acquisition assembly of an indoor ground inclination three-dimensional measuring device for acquiring laser images;
fig. 4 is a schematic diagram showing an operation structure of a displacement measuring assembly of the indoor ground inclination three-dimensional measuring device.
Description of the main element symbols:
1-a semiconductor laser; 2-moving the target rod; 3-a camera; 4-loosening and tightening the screw; 5-a moving component; 6-laser image; 7-cross cursor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example 1
The invention provides a three-dimensional measuring device for the inclination of an indoor ground, which is used for measuring the inclination of the ground. As shown in fig. 1, the indoor ground inclination three-dimensional measuring apparatus includes:
the laser emitting assembly is used for emitting a laser reference line or a laser reference surface which is used as a measurement basis; the laser reference line or laser reference plane is the basis for forming the measurement point information. For the convenience of measurement, the invention selects the laser reference surface as the measurement basis.
And a positioning component for intersecting the laser reference line or the laser reference plane at a positioning point (measuring point) to form a laser image 6, wherein the ground level of the measuring point is reflected by the formed laser image 6, and although the laser image 6 is formed at the same measuring point, the distances or angles of the laser image 6 acquired by the image acquiring component and the laser image 6 measured by the displacement measuring component may be different.
The image acquisition component is used for acquiring the laser image 6, processing the laser image into image data and sending the image data to the data processing component; the image acquisition assembly is installed on the positioning assembly, the mutual positions are kept fixed and unchanged, the laser reference surface emitted by the laser emission assembly is horizontal and the height is fixed and unchanged, when the positioning assembly is arranged at different measuring points, the heights of the ground among the measuring points are possibly different, so the height positions of the laser reference surface irradiated on the positioning assembly are possibly different, the heights of light spots in the formed laser images 6 are different, the distances between the laser images 6 shot by the image acquisition assembly are different, and the display positions of the light spots in the shot images are also different. And obtaining the change of the ground height of each measuring point according to the difference of the positions of the light spots in the laser image.
And the displacement measuring component is used for measuring the angle between the laser images 6, measuring the distance between the laser images 6 and the displacement measuring component, and sending the measured angle data and the measured distance data to the data processing component. The displacement measuring assembly determines coordinates of the measuring point in the horizontal direction according to the distance from the measuring point and the angle between the plurality of measuring points.
And the data processing component is used for receiving the image data sent by the image acquisition component, receiving the angle data and the distance data sent by the displacement measurement component and automatically calculating the ground three-dimensional data formed by the laser images 6. The relative height measurement data of the measurement points can be obtained according to the image data sent by the image acquisition assembly, the displacement measurement assembly is used for obtaining the measurement data of the measurement points in the horizontal direction to form three-dimensional data of all the measurement points, and finally the three-dimensional data is processed to form a ground three-dimensional view, so that the inclination degree of the measured ground can be reflected visually.
And the control component is used for connecting and controlling the data processing component, the displacement measuring component, the image acquisition component, the positioning component and the laser emission component to work. And meanwhile, the control assembly can also be used for displaying a ground three-dimensional view formed by the ground three-dimensional data. The components can be in wired or wireless connection with the control component, and the working state of each component is controlled by the control component, so that automatic manual control is formed, and the trouble of independently operating each component is saved; in order to make the control of each component more convenient, the invention selects a wireless control mode to operate each component, and each component is provided with a wireless communication module which can be one or more of a Bluetooth module, a WIFI module and the like.
In some possible embodiments, the laser emitting assembly includes a laser and a level, the laser may be one or more of a gas laser, a solid laser or a semiconductor laser for emitting a laser reference plane; the level can be an automatic level or a manual level and is used for sensing the horizontal angle of the laser reference surface and adjusting the emitted laser reference surface to be in a horizontal state in cooperation with the laser. The laser emitting assembly can adjust the angle of the laser reference surface through one or more of an electronic inclinometer, an automatic level gauge or a manual level gauge, so that the laser reference surface is adjusted to be in a horizontal state. In order to accelerate the working efficiency, the automatic level meter is selected, and the laser reference surface can be automatically adjusted to be in a horizontal state. The laser can be one or more of a gas laser, a solid laser or a semiconductor laser, and can be connected with a laser angle display screen for displaying the included angle between the current laser reference surface and the horizontal plane, and the electronic angle sensor is matched with the laser angle display screen for use, so that the laser reference surface emitted by the laser is adjusted to be in a horizontal state. In the invention, the semiconductor laser 1 is selected to emit the laser reference surface, in order to ensure the measurement accuracy, the laser reference surface needs to be adjusted to be in a horizontal state, a corresponding adjusting mechanism (not shown in the figure) can be selected to be operated and controlled to adjust the emission angle of the semiconductor laser 1, the electronic angle sensor can measure the horizontal angle of the laser reference surface in real time, the laser angle display screen can display the levelness of the laser reference surface in real time until the displayed angle is adjusted to be zero, and the laser reference surface is in a horizontal state.
The positioning assembly is a moving target rod 2, the top of the moving target rod 2 is higher than the laser datum plane, and the bottom of the moving target rod 2 is connected with a moving assembly 6. In actual measurement, since it is necessary to measure a plurality of positions to accurately reflect the change of the ground, the position of the moving target rod 2 needs to be frequently changed. To facilitate the transfer of the moving target rod 2, the measuring position can be changed by moving the moving target rod 2 driven by a moving assembly 6 attached to the bottom of the moving target rod 2. The moving assembly 6 can be, but is not limited to, a universal wheel, and can manually push the moving target rod 2, and measure while pushing the moving target rod 2, so as to obtain three-dimensional data of each measuring point along the path.
In order to be able to reflect the laser image 6 on the moving target 2 clearly, the surface of the moving target 2 is coated with a reflective layer or a specific laser-sensitive coating.
As shown in fig. 2, the image capturing component is a camera 3, the camera 3 is fixedly connected to the positioning component, and a lens of the camera 3 aligns with a position where the positioning component intersects with the laser reference plane to capture a laser image 6. As shown in fig. 3, the width of the range of the camera 3 for taking images is H, and the present invention is mainly applied to indoor ground measurement, and the inclination of the indoor ground is not very large, so the deviation of the laser imaging is small, and the laser imaging is not deviated from the range of the camera 3 for taking images H. The black bar in fig. 3 is a laser image formed on the moving target 2, the cross cursor 7 is the center point of the shot of the lens of the camera 3, the camera 3 transmits the shot image to the data processing component, the data processing component automatically calculates the distance between the center point and the black bar, and the height of the measuring point can be reflected according to the value of the distance.
As shown in fig. 3(a), when the moving target rod 2 moves to a measurement position with a high terrain, the position of the camera 3 relative to the laser reference surface becomes high, the height of the laser image 6 formed by irradiating the laser reference surface on the moving target rod 2 is not changed, but the cross cursor 7 of the camera 3 is above the laser image, the calculation system of the data processing component can automatically set the positive and negative values of the distance, and when the center of the cross cursor 7 is displayed above the center of the laser image, the distance calculated by the data processing component is a positive value; when the center of the cross cursor 7 is displayed below the center of the laser image, the distance calculated by the data processing component is a negative value; when the center of the cross cursor 7 is completely coincident with the center of the laser image, the distance calculated by the data processing component is zero. As shown in fig. 3(b), the center of the cross cursor 7 completely coincides with the center of the laser image, and the distance calculated by the data processing unit is zero, indicating that the ground of the measurement point is the height of the reference. As shown in fig. 3(c), when the moving target 2 is moved to the measurement position where the terrain is low, the position of the camera 3 with respect to the laser reference surface becomes low, and the center of the cross cursor 7 is displayed below the center of the laser image, the distance calculated by the data processing means becomes a negative value.
In the moving process of the moving target rod 2, the sampling frequency of the camera 3 can be set by self, and the sampling frequency can be set according to the moving speed and the measurement density of the moving target rod 2, so that the inclination of each small ground can be measured as evenly as possible. The camera 3 moves along with the movement of the moving target rod, pictures are taken according to a set frequency and sent to the data processing assembly for processing, and the data processing assembly automatically calculates the distance between the focal point of the camera 3 and the center of the laser image according to the pictures, so that height data of each measuring position 8 are obtained.
The displacement measurement assembly comprises a target position measurer and an angle sensor connected with the target position measurer, the target position measurer is used for measuring the distance between the laser images 6 and the target position measurer, and the angle sensor is used for measuring the angle between the laser images 6. The target position measurer can be a laser range finder which is fixedly connected with an angle sensor, the laser range finder projects a laser beam onto the movable target rod 2 through rotation to form a laser image in the working process, and the distance from the laser range finder to the laser image is measured through the phase or the pulse of the laser. When the laser range finder rotates from one measuring point to the next measuring point, the angle sensor synchronously measures the rotating angle of the laser range finder at the moment, namely the moving angle of the moving target rod; and simultaneously measuring the distance II between the new position of the moving target rod and the laser range finder. When the distance one, the distance two and the angle of rotation are determined, then the displacement between the two measuring points can also be determined. By analogy, the distance between each measuring point and the laser range finder and the included angle formed by each measuring point and the straight line of the laser range finder can be obtained. The position of each measuring point on the plane can be determined through the measuring information, and the position information of the measuring point on the horizontal plane is obtained.
A. B, C is three measuring points on the measuring track, the light outlet of the laser range finder is used as the origin O, the triangle formed by AOB and BOC, the lengths of OA, OB and OC can be directly obtained through the laser range finder, the included angle between OA and OB and the included angle between OB and OC can be obtained through the angle sensor, so the lengths of AB and BC can be determined, and the position information of A, B, C on the horizontal plane can be obtained.
In some possible embodiments, the target measuring device can also function as the semiconductor laser 1 described above for emitting a laser reference line or a laser reference plane in addition to the above-described functions. The displacement measuring assembly and the laser emitting assembly are combined into a whole for use, so that the use and the operation are more convenient, and the cost is saved.
The data processing assembly comprises a three-dimensional data processing program and a wireless communication module which is wirelessly connected with the image acquisition assembly, the displacement measurement assembly and the control assembly. And when the data processing component receives the ground height information data of the measuring point transmitted by the image acquisition component and the horizontal plane position information data of the measuring point on the laser reference plane transmitted by the displacement measuring component, the three-dimensional data processing program arranges the data into three-dimensional data and forms a ground three-dimensional view.
The control assembly comprises a main controller, a remote controller connected with the main controller and a display, wherein the remote controller is used for controlling the data processing assembly, the displacement measuring assembly, the image acquisition assembly, the positioning assembly and the laser emission assembly to work through the main controller. For convenient operation, the remote controller is provided with a Bluetooth module, the remote controller is manually operated, and the components are controlled to work in a wireless mode, for example, whether the laser emitting component emits a laser reference plane or the angle of the laser reference plane is adjusted, the photographing frequency of the camera 3 is controlled, and the like. The display is used for being connected with the data processing assembly and displaying the formed ground three-dimensional view for reference viewing.
Example 2
In some possible embodiments, the moving assembly 6 provided at the bottom of the moving target 2 may also be an AGV cart.
When the moving assembly 6 is an AGV car, the running of the AGV car can be automatically controlled by the control assembly, so that the position of the moving target rod 2 is controlled. For convenience of operation, a path to be measured can be determined in advance, then the moving track of the AGV is set to be consistent with the path, and the AGV drives the moving target 2 to move along the path, and measurement is performed while moving, so that all three-dimensional data of the path are obtained.
In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above examples merely represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. An indoor ground inclination three-dimensional measuring device, comprising:
the laser emitting assembly is used for emitting a laser reference line or a laser reference surface, and the laser reference line or the laser reference surface is used for intersecting with the positioning assembly to generate a laser image of the measuring position;
a positioning assembly for intersecting the laser reference line or laser reference plane at a location point to form the laser image;
the image acquisition component is used for acquiring the laser image, processing the laser image into image data and sending the image data to the data processing component;
the displacement measurement component is used for measuring angles among the laser images and generating angle data, measuring distances between the laser images and the displacement measurement component and generating distance data, and the displacement measurement component sends the angle data and the distance data to the data processing component;
and the data processing component is used for receiving the image data, the angle data and the distance data, calculating three-dimensional data of the plurality of laser images according to the image data, the angle data and the distance data and generating a ground three-dimensional view.
2. The indoor floor inclination three-dimensional measuring device according to claim 1, wherein the laser emitting assembly comprises a laser and a level, the laser comprises one or more of a gas laser, a solid laser or a semiconductor laser for emitting the laser reference line or the laser reference plane;
the level comprises an automatic level or a manual level, and is used for sensing the horizontal angle of the laser reference line or the laser reference surface and adjusting the emitted laser reference line or the laser reference surface to be in a horizontal state by matching with the laser.
3. The indoor ground inclination three-dimensional measuring device according to claim 2, wherein the laser is a semiconductor laser for emitting the laser reference plane; the level gauge is an automatic level gauge and is used for adjusting the laser reference surface to a horizontal state.
4. The indoor floor inclination three-dimensional measuring device according to claim 1, wherein the positioning assembly is a moving target rod, the top of the moving target rod is higher than the laser reference line or the laser reference plane, and the bottom of the moving target rod is connected with a moving assembly.
5. The three-dimensional measuring device for the indoor ground inclination according to claim 4, wherein the moving assembly is a universal wheel or an AGV.
6. The indoor ground inclination three-dimensional measuring device according to claim 1, wherein the image capturing component is a camera, the camera is fixedly connected to the positioning component, and a lens of the camera is aligned with a position where the positioning component intersects with the laser reference line or the laser reference plane to capture the laser image.
7. The indoor floor inclination three-dimensional measuring device according to claim 1, wherein the displacement measuring assembly comprises a target position measurer and an angle sensor connected with each other, the target position measurer is used for measuring a distance between the laser image and the target position measurer, and the angle sensor is used for measuring an angle between the laser images.
8. The indoor ground inclination three-dimensional measuring device according to claim 1, wherein the data processing component comprises a three-dimensional data processing program and a wireless communication module, the three-dimensional data processing program is used for calculating three-dimensional data of a plurality of laser images according to the image data, the angle data and the distance data and generating a ground three-dimensional view; the wireless communication module is used for enabling the data processing assembly to be wirelessly connected with the image acquisition assembly and the displacement measurement assembly.
9. The indoor ground inclination three-dimensional measuring device according to claim 1, further comprising a control component, wherein the control component is respectively connected with the data processing component, the displacement measuring component, the image acquiring component, the positioning component and the laser emitting component in a wireless or wired manner.
10. The indoor ground inclination three-dimensional measuring device according to claim 9, wherein the control assembly comprises a main controller, a remote controller connected to the main controller, and a display, and the remote controller is used for controlling the data processing assembly, the displacement measuring assembly, the image acquiring assembly, the positioning assembly and the laser emitting assembly to work through the main controller; the display is used for displaying the ground three-dimensional view.
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| CN202010701115.9A CN111721265A (en) | 2020-07-20 | 2020-07-20 | Three-dimensional measuring device of indoor ground gradient |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112611344A (en) * | 2020-11-30 | 2021-04-06 | 北京建筑大学 | Autonomous mobile flatness detection method, device and storage medium |
| CN115507744A (en) * | 2022-08-02 | 2022-12-23 | 中国船舶重工集团公司第七一三研究所 | Marine equipment guide rail precision measurement device |
| CN115790464A (en) * | 2023-02-07 | 2023-03-14 | 潍坊三建建材科技有限公司 | Indoor large space level detection device for building |
-
2020
- 2020-07-20 CN CN202010701115.9A patent/CN111721265A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112611344A (en) * | 2020-11-30 | 2021-04-06 | 北京建筑大学 | Autonomous mobile flatness detection method, device and storage medium |
| CN112611344B (en) * | 2020-11-30 | 2023-03-10 | 北京建筑大学 | Autonomous mobile flatness detection method, device and storage medium |
| CN115507744A (en) * | 2022-08-02 | 2022-12-23 | 中国船舶重工集团公司第七一三研究所 | Marine equipment guide rail precision measurement device |
| CN115507744B (en) * | 2022-08-02 | 2023-09-15 | 中国船舶重工集团公司第七一三研究所 | Marine equipment guide rail precision measuring device |
| CN115790464A (en) * | 2023-02-07 | 2023-03-14 | 潍坊三建建材科技有限公司 | Indoor large space level detection device for building |
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