CN112881995B - Laser radar range camera - Google Patents
Laser radar range camera Download PDFInfo
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- CN112881995B CN112881995B CN202110140317.5A CN202110140317A CN112881995B CN 112881995 B CN112881995 B CN 112881995B CN 202110140317 A CN202110140317 A CN 202110140317A CN 112881995 B CN112881995 B CN 112881995B
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- laser radar
- camera
- radar ranging
- motor
- camera head
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- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 239000012634 fragment Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 25
- 238000000034 method Methods 0.000 abstract description 16
- 238000013016 damping Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000012876 topography Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000004441 surface measurement Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000013499 data model Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000009291 secondary effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
Abstract
The invention discloses a laser radar ranging camera, which comprises a camera base and a laser radar ranging camera head, wherein the laser radar ranging camera head is arranged at the upper end of the camera base, and the camera base is connected with the laser radar ranging camera head through a mechanical rotating mechanism. The laser radar ranging camera realizes 360-degree rotation of the laser radar ranging camera head, and is convenient for unmanned aerial vehicle loading to perform three-dimensional terrain measurement; meanwhile, the vibration generated during the operation of the motor is solved, and the precision of the laser radar ranging camera head during the rotation scanning of the measured terrain is improved, so that the method is applicable to the measurement of the ground surface terrain and the ground surface features by taking the unmanned aerial vehicle as low-altitude flight; meanwhile, laser DTOF radar ranging is utilized, an avalanche diode is utilized to replace CCD or CMOS to form distance pixel point information, and then the three-dimensional coordinates of the pixel points are calculated by utilizing the space coordinates and the gesture of the unmanned plane, so that a ground three-dimensional model is directly generated.
Description
Technical Field
The invention relates to the technical field of road topography measurement, in particular to a laser radar ranging camera.
Background
Oblique photogrammetry has evolved from aerial photogrammetry. Compared with a manned plane, the unmanned plane has the advantages of small size, light weight and convenient carrying. Meanwhile, the unmanned aerial vehicle can fly at low altitude without applying airspace, and the use cost is low. 1 may be performed: 500. 1: 1000. 1: data acquisition work of 2000 and other large scale three-dimensional topography measurement modeling.
With the development of digital cameras and digital imaging technologies, oblique photogrammetry is generated, and a plurality of cameras are installed on an aircraft at the same time to shoot the ground at the same time, so that the number of photos and the overlapping degree of the photos are greatly increased, and the working efficiency is improved.
The measurement of the cross section of the roadbed in road engineering is always the task with the largest workload of road measurement, before roadbed construction, the measurement control point of the lifting arch of the design institute is handed over to a construction unit, the construction unit firstly carries out encryption and joint measurement of the control point, and then carries out the cross section measurement of the roadbed and the calculation of the earth and stone quantity of the roadbed so as to recheck the engineering quantity of drawings. The conventional roadbed cross section measurement adopts a leveling instrument and steel ruler distance measuring method, and the method needs turning points in areas with large height difference, and has low speed and low working efficiency. The working efficiency is improved by the total station triangle elevation and coordinate measurement and RTK elevation fitting method, but the method is a point measurement method and cannot carry out surface measurement. Common to these methods is that the field work is too great. The aerial survey technology greatly reduces the field workload of the topographic survey, and can carry out the surface survey, but the precision is not high, and the elevation precision is lower than the plane precision. After the three-dimensional laser scanner appears, the accuracy of the surface measurement is improved. The device uses laser scanning ranging, can measure and record hundreds of thousands of point cloud data per second to generate a three-dimensional figure of the ground surface. Meanwhile, a vehicle-mounted three-dimensional mapping system integrating laser scanning ranging, GPS, IMU (inertial measurement unit) and CCD digital camera enters the market, and mobile three-dimensional laser scanning measurement can be performed.
In the three-dimensional topography measurement of large scale, unmanned airborne three-dimensional laser scanner and unmanned airborne laser radar also are spreading at topography measurement, compare photogrammetry, and laser scanning or laser radar precision is higher. The common laser radar adopts laser pulse to measure time difference multiplied by light speed to measure distance, or adopts continuous sine wave to measure phase difference to calculate distance, and adopts mechanical rotation laser emission head to make scanning measurement, i.e. the motor is required to rotate, but the vibration of the motor has influence on distance measurement.
Disclosure of Invention
The invention aims to provide a laser radar ranging camera, which can realize 360-degree rotation of a laser radar ranging camera head and is convenient for unmanned aerial vehicle loading to perform three-dimensional terrain measurement; meanwhile, the vibration generated during the operation of the motor is solved, the precision of the laser radar ranging camera head during the rotation scanning measurement of the terrain is improved, and therefore the laser radar ranging camera head is applicable to the measurement of the ground surface terrain by taking an unmanned aerial vehicle as a low-altitude flight, and the problems in the prior art can be solved.
In order to achieve the above purpose, the present invention provides the following technical solutions: the laser radar ranging camera comprises a camera base and a laser radar ranging camera head, wherein the laser radar ranging camera head is arranged at the upper end of the camera base, the camera base is connected with the laser radar ranging camera head through a mechanical rotating mechanism, the mechanical rotating mechanism consists of a motor, a rotary table, a gear and a fixed seat, the motor is installed in the camera base, an output shaft of the motor stretches out of the camera base, the rotary table is arranged on the camera base, a shaft hole is formed in the middle of the rotary table, a round groove is formed in the rotary table, the shaft hole is communicated with the round groove, the gear is embedded and installed in the round groove, an input shaft of the motor is inserted into the shaft hole to extend into the round groove and is connected with the gear, and the fixed seat is installed at four ends of the rotary table;
still set up damper in the camera base, damper comprises fixed plate, movable plate, side lever, arcuation shell fragment and spring, the spout is seted up at the four ends of motor to the fixed plate, the one end installation slider in the spout, the movable plate is located between fixed plate and the motor, the both ends of movable plate are located to the side lever, the one end of side lever is through pivot and movable plate swing joint, the other end of side lever extends to on the fixed plate to be connected with the slider in inserting the spout, arcuation shell fragment is installed on the movable plate, the cambered surface and the motor contact of arcuation shell fragment are connected, the other end in the spout is installed in the spring gomphosis, and the one end and the slider contact of spring are connected.
Preferably, tooth grooves are uniformly arranged on the inner side wall of the round groove, and tooth surfaces of the tooth grooves are meshed with tooth surfaces of the gears.
Preferably, the diameter of the bottom of the laser radar ranging camera head is matched with the inner diameter of the circular outline formed by the fixing base, and the bottom of the laser radar ranging camera head is embedded into the circular outline formed by the fixing base and is fixed by screws.
Preferably, the laser radar ranging camera head comprises a laser transmitter and a receiving camera.
Preferably, the four receiving cameras are respectively arranged at four ends of the laser transmitter, and the photosensitive units of the receiving cameras adopt an avalanche photodiode component array.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the laser radar ranging camera, the camera base and the laser radar ranging camera head are connected through the mechanical rotating mechanism, so that 360-degree rotation of the laser radar ranging camera head is realized, and the unmanned aerial vehicle can conveniently load to perform three-dimensional topography measurement; meanwhile, vibration generated during the operation of the motor is reduced or even offset based on the damping mechanism arranged in the camera base, so that the accuracy of the laser radar ranging camera head during the rotation scanning of the terrain is improved.
2. The laser radar ranging camera has the following specific processes that the damping mechanism reduces or even counteracts vibration generated during the operation of a motor: when the motor vibrates and touches the arc-shaped elastic sheet, if the vibration is small, the effect of reducing or even counteracting the motor vibration can be achieved based on the elastic buffer effect of the arc-shaped elastic sheet, if the vibration is large, the vibration force acting on the arc-shaped elastic sheet can be transmitted to the movable plate so as to push the movable plate to move towards the fixed plate, in the process, the side rod can drive the sliding block to slide in the sliding groove along with the movement of the movable plate, and then the side rod is propped against the spring, the deformation of the two springs is utilized to gradually counteract the effect of the force, so that the vibration force generated during the motor working is reduced or even counteracted, and a stable working environment is provided for the laser radar ranging camera head during the rotation scanning measurement of the terrain.
3. The laser radar ranging camera has the advantages that the photosensitive element is not CCD or CMOS and can only receive light intensity information, the distance is measured by using the DTOF laser radar principle, and an avalanche diode or a photoelectric tube or a photomultiplier tube is adopted to replace a CCD or CMOS photosensitive device. All avalanche diode points receive distance information to replace light intensity information, and three-dimensional coordinates of information points are calculated by using space coordinates and postures of the unmanned aerial vehicle, so that a three-dimensional ground model can be directly generated.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is an assembled view of the mechanical rotary mechanism of the present invention;
FIG. 3 is an assembly view of the shock absorbing mechanism of the present invention;
fig. 4 is a laser radar ranging camera head layout of the present invention.
In the figure: 1. a camera mount; 2. laser radar ranging camera head; 21. a laser emitter; 22. a receiving camera; 3. a mechanical rotation mechanism; 31. a motor; 32. a turntable; 321. a shaft hole; 322. a circular groove; 323. tooth slots; 33. a gear; 34. a fixing seat; 4. a damping mechanism; 41. a fixed plate; 411. a chute; 412. a slide block; 42. a movable plate; 43. a side bar; 44. an arc-shaped elastic sheet; 45. and (3) a spring.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-4, a laser radar ranging camera comprises a camera base 1 and a laser radar ranging camera head 2, wherein the laser radar ranging camera head 2 is arranged at the upper end of the camera base 1, the camera base 1 and the laser radar ranging camera head 2 are connected through a mechanical rotating mechanism 3, the mechanical rotating mechanism 3 consists of a motor 31, a rotary table 32, a gear 33 and a fixed seat 34, the motor 31 is installed in the camera base 1, an output shaft of the motor 31 extends out of the camera base 1, the rotary table 32 is arranged on the camera base 1, a shaft hole 321 is formed in the middle of the rotary table 32, a round groove 322 is formed in the rotary table 32, the shaft hole 321 is communicated with the round groove 322, the gear 33 is embedded and installed in the round groove 322, tooth grooves 323 are uniformly arranged on the inner side wall of the round groove 322, tooth surfaces of the tooth grooves 323 are meshed with tooth surfaces of the gear 33, an input shaft of the motor 31 is inserted into the shaft hole 321 to extend into the round groove 322 and is connected with the gear 33, and the fixed seat 34 is installed at four ends of the rotary table 32; the diameter of the bottom of the laser radar ranging camera head 2 is matched with the inner diameter of the circular outline formed by the fixing seat 34, and the bottom of the laser radar ranging camera head 2 is embedded into the circular outline formed by the fixing seat 34 and is fixed by screws.
In the above, the gear 33 is driven by the motor 31 to rotate, so as to drive the turntable 32 to rotate, and the laser radar range finder head 2 is driven to rotate by the rotation of the turntable 32, so that the large-scale scanning and measuring of the terrain within 360 degrees is realized.
The camera base 1 is internally provided with a damping mechanism 4, the damping mechanism 4 is composed of a fixed plate 41, a movable plate 42, side rods 43, an arc-shaped elastic sheet 44 and a spring 45, the fixed plate 41 is arranged at the four ends of the motor 31, two ends of the fixed plate 41 are provided with sliding grooves 411, one end in each sliding groove 411 is provided with a sliding block 412, the movable plate 42 is arranged between the fixed plate 41 and the motor 31, the side rods 43 are arranged at the two ends of the movable plate 42, one end of each side rod 43 is movably connected with the movable plate 42 through a rotating shaft, the other end of each side rod 43 extends to the fixed plate 41 and is inserted into each sliding groove 411 to be connected with the corresponding sliding block 412, the arc-shaped elastic sheet 44 is arranged on the movable plate 42, the arc surface of the arc-shaped elastic sheet 44 is in contact connection with the motor 31, the spring 45 is embedded at the other end in the sliding grooves 411, and one end of the spring 45 is in contact connection with the sliding blocks 412.
In the above, when the motor 31 vibrates and touches the arc spring 44, the vibration of the motor 31 is primarily reduced based on the elastic buffering effect of the arc spring 44, and further, the vibration force is transmitted to the moving plate 42, so as to push the moving plate 42 to move toward the fixed plate 41, in the process, the side rod 43 moves along with the moving plate 42 to drive the sliding block 412 to slide in the sliding slot 411, and then to contact against the spring 45, so that the deformation of the spring 45 is utilized to gradually counteract the secondary effect of the force, thereby reducing or even counteracting the vibration force generated when the motor 31 works.
The laser radar ranging camera head 2 comprises a laser transmitter 21 and a receiving camera 22, wherein the four receiving cameras 22 are respectively arranged at four ends of the laser transmitter 21, and a photosensitive unit of the receiving camera 22 adopts an avalanche photodiode component array.
In the above, each avalanche photodiode assembly array is provided with a switch circuit and an accumulation count storage unit, and a protection circuit is provided to prevent breakdown of the diode, and a lens group in front of the laser transmitter 21 spreads the transmitted laser beam spot signals so as to facilitate the camera to receive the ground surface scattered light signals.
Transmitting laser pulses and signals to the avalanche diode array components through the laser transmitter 21, and starting a clock counter to connect with clock pulse signals and count; the avalanche photodiode immediately turns off the clock signal to stop counting upon receipt of the returned laser signal, and writes the counting result into the memory cell. The unmanned aerial vehicle internal data processing unit reads out the time information of each camera avalanche diode component at high speed, calculates the distance of the ground surface detail point after correcting by using the light speed in the air and the temperature and the air pressure, and calculates the three-dimensional coordinates of the ground surface detail point by using the internal and external azimuth elements of the camera to generate a ground surface data model.
Because the photosensitive unit of the receiving camera 22 adopts an avalanche photodiode component array and can also be replaced by an integrated micro-photoelectric tube, in order to improve the intensity of the received laser reflected signal, the integrated micro-photoelectric tube can be used for replacing the received laser reflected signal, so that a weak return light signal can be received through the photoelectric tube, and the device can be used for carrying out ground surface model photogrammetry on the ground at the high altitude of a manned aircraft; the photomultiplier replaces the avalanche photodiode and consumes more power, so that glass bubbles are not adopted any more, the inside of the camera is vacuumized and sealed, and the inner lens is not replaceable.
According to the laser radar ranging camera, the camera base 1 and the laser radar ranging camera head 2 are connected in a mechanical rotating mechanism 3, so that 360-degree rotation of the laser radar ranging camera head 2 is realized, and the unmanned aerial vehicle can conveniently load to perform three-dimensional topography measurement; meanwhile, vibration generated during the operation of the motor 31 is reduced or even offset based on the damping mechanism 4 arranged in the camera base 1, so that the accuracy of the laser radar ranging camera head 2 during the rotation scanning of the measured terrain is improved.
The specific process of the laser radar ranging camera, in which the vibration generated during the operation of the motor 31 is reduced or even counteracted by the damping mechanism 4, is as follows: when the motor 31 vibrates and touches the arc-shaped elastic sheet 44, if the vibration is small, the effect of reducing or even counteracting the vibration of the motor 31 can be achieved based on the elastic buffering effect of the arc-shaped elastic sheet 44, if the vibration is large, the vibration force acting on the arc-shaped elastic sheet 44 can be transmitted to the movable plate 42 so as to push the movable plate 42 to move towards the fixed plate 41, in the process, the side rod 43 can drive the sliding block 412 to slide in the sliding groove 411 along with the movement of the movable plate 42 so as to prop against the spring 45, and the force is gradually counteracted by utilizing the deformation of the two springs 45, so that the vibration force generated when the motor 31 works is reduced or counteracted, and a stable working environment is provided for the laser radar ranging camera head 2 when the laser radar scans and measures the terrain.
The laser radar ranging camera has the advantages that the photosensitive element is not CCD or CMOS and can only receive light intensity information, the distance is measured by using the DTOF laser radar principle, and an avalanche diode or a photoelectric tube or a photomultiplier tube is adopted to replace a CCD or CMOS photosensitive device. All avalanche diode points receive distance information to replace light intensity information, and three-dimensional coordinates of information points are calculated by using space coordinates and postures of the unmanned aerial vehicle, so that a three-dimensional ground model can be directly generated.
To sum up: the laser radar ranging camera realizes 360-degree rotation of the laser radar ranging camera head 2, and is convenient for unmanned aerial vehicle loading to perform three-dimensional terrain measurement; meanwhile, the vibration generated during the operation of the motor 31 is solved, the precision of the laser radar ranging camera head 2 during the rotation scanning of the measured terrain is improved, and therefore the method is applicable to the measurement of the ground surface terrain features by taking the unmanned aerial vehicle as a low-altitude flight, and the problem in the prior art is effectively solved.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a laser radar range finding camera, includes camera base (1) and laser radar range finding camera head (2), its characterized in that: the laser radar range finding camera head (2) is arranged at the upper end of the camera base (1), the camera base (1) is connected with the laser radar range finding camera head (2) through a mechanical rotating mechanism (3), the mechanical rotating mechanism (3) consists of a motor (31), a rotary table (32), a gear (33) and a fixing seat (34), the motor (31) is arranged in the camera base (1), an output shaft of the motor (31) extends out of the camera base (1), the rotary table (32) is arranged on the camera base (1), a shaft hole (321) is formed in the middle of the rotary table (32), a circular groove (322) is formed in the rotary table (32), the shaft hole (321) is communicated with the circular groove (322), a gear (33) is embedded and arranged in the circular groove (322), an input shaft of the motor (31) is inserted into the shaft hole (321) and extends into the circular groove (322) and is connected with the gear (33), and the fixing seat (34) is arranged at four ends of the rotary table (32);
still set up damper (4) in camera base (1), damper (4) comprises fixed plate (41), movable plate (42), side lever (43), arcuation shell fragment (44) and spring (45), fixed plate (41) are installed on four ends of motor (31), spout (411) are seted up at the both ends of fixed plate (41), one end installation slider (412) in spout (411), movable plate (42) are located between fixed plate (41) and motor (31), the both ends of movable plate (42) are located to side lever (43), the one end of side lever (43) is through pivot and movable plate (42) swing joint, the other end of side lever (43) extends to on fixed plate (41) to be connected with slider (412) in inserting spout (411), arcuation shell fragment (44) are installed on movable plate (42), the cambered surface of arcuation shell fragment (44) is connected with motor (31) contact, the other end in spout (411) is installed in spring (45) gomphosis, and one end and slider (412) contact connection of spring (45).
2. A lidar range camera according to claim 1, characterized in that: the bottom diameter of the laser radar ranging camera head (2) is matched with the inner diameter of the circular outline formed by the fixing seat (34), and the bottom of the laser radar ranging camera head (2) is embedded into the circular outline formed by the fixing seat (34) and is fixed by screws.
3. A lidar range camera according to claim 1, characterized in that: the laser radar ranging camera head (2) comprises a laser transmitter (21) and a receiving camera (22).
4. A lidar range camera according to claim 3, characterized in that: four receiving cameras (22) are arranged at four ends of the laser transmitter (21), and the photosensitive units of the receiving cameras (22) adopt an avalanche photodiode component array.
5. A lidar range camera according to claim 4, wherein: the light sensing unit of the receiving camera (22) can only receive light intensity information, and uses the DTOF laser radar principle to measure distance, adopts an avalanche diode or a photoelectric tube and a photomultiplier tube to replace CCD or CMOS light sensing devices, and simultaneously uses the avalanche diode point receiving distance information to replace the light intensity information, and uses the space coordinates and the gesture of the unmanned plane to calculate the three-dimensional coordinates of the information points, so as to directly generate a three-dimensional ground model.
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| CN202110140317.5A CN112881995B (en) | 2021-02-02 | 2021-02-02 | Laser radar range camera |
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| CN202110140317.5A CN112881995B (en) | 2021-02-02 | 2021-02-02 | Laser radar range camera |
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| CN112881995A CN112881995A (en) | 2021-06-01 |
| CN112881995B true CN112881995B (en) | 2024-02-02 |
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| CN115127523B (en) * | 2022-05-09 | 2023-08-11 | 湖南傲英创视信息科技有限公司 | Heterogeneous processing panoramic detection and ranging system based on double-line camera |
| CN116660923B (en) * | 2023-08-01 | 2023-09-29 | 齐鲁空天信息研究院 | Unmanned agricultural machinery library positioning method and system integrating vision and laser radar |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101975950A (en) * | 2010-09-20 | 2011-02-16 | 扬州精湛光电仪器有限公司 | Laser ranging device |
| DE102012107329A1 (en) * | 2012-08-09 | 2014-02-13 | Trimble Jena Gmbh | Distance measuring system |
| CN109298409A (en) * | 2018-11-30 | 2019-02-01 | 南京理工大学 | The laser three-dimensional imaging radar and its imaging method of acousto-optic and mechanical compound scan |
| WO2020218683A1 (en) * | 2019-04-23 | 2020-10-29 | 이지스로직 주식회사 | Three-dimensional image acquisition system using lidar |
-
2021
- 2021-02-02 CN CN202110140317.5A patent/CN112881995B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101975950A (en) * | 2010-09-20 | 2011-02-16 | 扬州精湛光电仪器有限公司 | Laser ranging device |
| DE102012107329A1 (en) * | 2012-08-09 | 2014-02-13 | Trimble Jena Gmbh | Distance measuring system |
| CN109298409A (en) * | 2018-11-30 | 2019-02-01 | 南京理工大学 | The laser three-dimensional imaging radar and its imaging method of acousto-optic and mechanical compound scan |
| WO2020218683A1 (en) * | 2019-04-23 | 2020-10-29 | 이지스로직 주식회사 | Three-dimensional image acquisition system using lidar |
Non-Patent Citations (1)
| Title |
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| 三维扫描激光雷达系统设计及实时成像技术;李小路;曾晶晶;王皓;徐立军;;红外与激光工程(第05期);35-42 * |
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