CN117031495A - Storage ore heap scanning equipment of multi-line laser radar and range finder coupling - Google Patents
Storage ore heap scanning equipment of multi-line laser radar and range finder coupling Download PDFInfo
- Publication number
- CN117031495A CN117031495A CN202311033498.7A CN202311033498A CN117031495A CN 117031495 A CN117031495 A CN 117031495A CN 202311033498 A CN202311033498 A CN 202311033498A CN 117031495 A CN117031495 A CN 117031495A
- Authority
- CN
- China
- Prior art keywords
- laser radar
- range finder
- line laser
- data
- point cloud
- 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.)
- Pending
Links
- 230000008878 coupling Effects 0.000 title claims abstract description 5
- 238000010168 coupling process Methods 0.000 title claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 5
- 238000003860 storage Methods 0.000 title claims description 17
- 230000003287 optical effect Effects 0.000 claims abstract description 8
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 21
- 229910052500 inorganic mineral Inorganic materials 0.000 claims description 16
- 239000011707 mineral Substances 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 9
- 230000010354 integration Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 2
- 230000036544 posture Effects 0.000 claims description 2
- 238000002310 reflectometry Methods 0.000 claims description 2
- 230000009897 systematic effect Effects 0.000 claims description 2
- 239000013077 target material Substances 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 7
- 239000013590 bulk material Substances 0.000 description 5
- 239000003245 coal Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000001788 irregular Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Classifications
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Abstract
The invention discloses a warehouse heap scanning device with a multi-line laser radar and a range finder coupled, which comprises: the device comprises a main body support, a set of sensor fixing cradle head, a multi-line laser radar, a laser range finder, a control terminal, an optical reflecting plate and two parallel sliding rails. Actively transmitting electromagnetic wave pulses to the horizontal and vertical view fields by the multi-line laser radar, recording the return time and the scanning angle at the same time, calculating the linear distance between the target and the radar, and combining the radar scanning angle to obtain three-dimensional coordinates under a radar coordinate system; the range finder emits pulses along the moving direction of the sliding rail, and the sliding distance of the sliding rail is obtained by recording echo signals; and finally, carrying out coordinate conversion and pairing operation on data coupling of the multi-line laser radar and the range finder, obtaining the surface three-dimensional point cloud of the warehouse heap and calculating the square quantity. The invention can realize accurate and efficient data acquisition without multiple scanning and point cloud registration, and solves the problems of data shielding and registration errors.
Description
Technical Field
The invention relates to the technical field of spatial information application, in particular to warehouse heap scanning equipment with a multi-line laser radar and a range finder coupled.
Background
Coal is used as important energy materials, and has high cost and large reserves, so that quick and accurate inventory is required. At present, most of coal is stored in a coal pile mode, manual checking, material consumption and other modes are adopted for checking and storing the volume of the coal pile, high labor cost is required, time and labor are wasted in the checking process especially for a large bulk storage yard, the operation cost of enterprises is increased, and the data accuracy is limited. Most importantly, these traditional methods require a long time to inventory, which results in inventory information that cannot be reflected in time, and affects the decision efficiency of the enterprise.
In mine engineering construction, accurate calculation of the storage capacity of a mine warehouse is important for material cashier statistics and mineral production capacity assessment. However, due to the limitations of various factors such as storage environment, mine car production, etc., and challenges such as irregular mineral stacking morphology and high updating frequency, it becomes very difficult to accurately measure the volume of the storage heap. The existing warehouse heap measurement equipment and the prescription measurement method are difficult to meet the requirement of mine informatization production, so that development of intelligent heap measurement equipment is urgently needed, high-precision three-dimensional information of warehouse heap can be rapidly and accurately obtained, and informatization level of warehouse coil quantity is improved.
With the application and development of lidar equipment in various fields, students at home and abroad have proposed some new research attempts. According to the method, an unmanned aerial vehicle is used for matching with a laser radar to model a bulk material storage yard, the unmanned aerial vehicle is used for carrying the laser radar to scan the bulk material storage yard, then the obtained point cloud data are processed and modeled, inventory of the bulk material storage yard can be completed rapidly, and the effect of closed warehouse coal mine storage is required to be further improved. The other method is to use a portable measuring instrument to count a large bulk material storage yard, and the method has the advantages of high counting precision, flexible use and the like, but still requires operators to manually perform inventory operation on the site of the bulk material storage yard, and the degree of automation still needs to be further improved. Meanwhile, a scholars can measure the volume of a large material pile with irregular shapes by using a computer vision measurement system, the large material pile can be subjected to image acquisition and processing by using a system consisting of 4 CCD cameras, an image acquisition card and a microcomputer, and then the volume of the material pile is obtained by using a computer vision technology, but the complex pile shape can have measurement errors and algorithm processing challenges.
The research shows that the laser radar technology has feasibility in the aspect of warehouse side inventory. However, aiming at the warehouse inventory of a complex enclosed space, the existing laser radar equipment technology still faces some challenges, such as missing data acquisition, large difficulty of multi-station cloud registration, long time consumption of data processing and the like caused by unreachable personnel or scene shielding. In addition, the traditional laser radar equipment has higher cost, and the popularization of the laser radar technology in warehouse coil application is limited.
Aiming at the requirements and difficulties in the operation of warehouse heap inventory, the invention designs warehouse heap scanning equipment with a multi-line laser radar and a range finder coupled. The method has the advantages of low cost, high scanning precision and high speed, and realizes the acquisition of three-dimensional point cloud data of the ore heap by combining the multi-line laser radar with the range finder. Compared with the traditional single-point measurement mode, the device overcomes the limitation, and can effectively solve the efficient and accurate acquisition of the irregular ore heap three-dimensional point cloud under the complex storage condition. By providing complete and accurate three-dimensional data, the equipment can improve the precision and efficiency of warehouse coil quantity, and brings great convenience for industrial production.
With the improvement of the frequency of the inventory, enterprises can master the consumption condition of raw materials in real time, and the production management is facilitated. Meanwhile, the whole measuring process and the result are stored in a digital form, so that the materials can be more conveniently inquired in and out of the warehouse. The automatic measurement is combined with an enterprise production system, so that the fine management level of enterprises is improved, and the method has good application and popularization values. The new technical result has important significance for realizing higher-level warehouse heap accounting and improving the production efficiency and management level of enterprises.
3. Summary of the invention
(one) solving the technical problems
The technical problems to be solved by the invention are as follows: aiming at the problems of high in-and-out frequency of stored mineral aggregate, complex geometric form of a mineral pile, complicated space stacking, serious shielding, high cost, incapability of complete scanning, poor timeliness and the like of the conventional laser radar disk measuring equipment, the storage mineral pile scanning equipment with the multi-line laser radar and the range finder coupled is designed. According to the invention, the multi-line laser radar and the range finder are fixed on the sliding rail, three-dimensional contour information of the horizontal and vertical directions of the ore heap is obtained by scanning the multi-line laser radar in the sliding process, the range finder is used for obtaining horizontal position information of the laser radar at any moment, and the three-dimensional information of the scanned ore heap is obtained by integrating the three-dimensional contour information and the radar horizontal position information and is used for building a three-dimensional point cloud model of the storage ore heap and estimating the square quantity. The invention does not need multi-station scanning and point cloud registration, can solve the problems of data shielding, registration errors and the like, improves the accuracy and efficiency of data acquisition, and can realize a more intelligent and efficient production mode.
(II) technical scheme
The traditional stock quantity estimation mode is selected by a shelf site and is blocked by ground objects, so that key measurement information is lost, measurement is too long in time consumption, and working efficiency and square quantity accounting accuracy are affected. In order to overcome the defects, the invention provides warehouse mineral aggregate scanning equipment with the coupled multi-line laser radar and the range finder, which combines the distance information acquired by the range finder with three-dimensional coordinate data of the multi-line laser radar to accurately construct a three-dimensional space model of target mineral aggregate. The specific implementation steps are as follows:
1) Sensor integration: the device comprises a main body support, a group of cradle head, a range finder, a multi-line laser radar, a control terminal, an optical reflecting plate and two parallel sliding rails. The integration mode mainly solves the spatial integration of the laser radar sensor and the range finder sensor, and is mainly expressed as follows: the range finder and the multi-line laser radar are arranged on the main body bracket through a cradle head and horizontally move along the parallel sliding rail; the laser radar can scan the heap in the horizontal and vertical ranges; the pulse emission direction of the range finder is parallel to the direction of the slide rail, and irradiates the reflector plate of the front Fang Yuanduan. The control terminal is positioned in the driving cab and controls each sensor through wired connection.
2) Three-dimensional information acquisition: actively transmitting electromagnetic wave pulses to the horizontal and vertical view fields by the multi-line laser radar, recording the return time and the scanning angle at the same time, calculating the linear distance between the target and the radar, and obtaining the three-dimensional coordinates under the radar coordinate system through the radar scanning angle; the range finder emits pulses along the moving direction of the sliding rail, and the sliding distance of the sliding rail is obtained by recording echo signals; and finally, carrying out coordinate conversion and pairing operation on data coupling of the multi-line laser radar and the range finder, obtaining the surface three-dimensional point cloud of the warehouse heap and calculating the square quantity.
(III) beneficial effects
1. And rapidly acquiring accurate three-dimensional point cloud data of irregular stockpiles in a storage complex scene.
2. Low labor cost and high automation level.
3. The three-dimensional point cloud is high in collection efficiency, high in precision and free of shielding.
4. Description of the drawings
Fig. 1 is a schematic diagram of an apparatus integration.
Fig. 2 is a schematic diagram of a rear view scan of a lidar.
FIG. 3 schematic diagram of a laser radar side view scan
Fig. 4 is a side view of a three-dimensional scanning coordinate system.
Fig. 5 is a rear view of a three-dimensional scanning coordinate system.
FIG. 6 is a schematic view of the calculation of the heap prescription by the slice integration method.
5. Detailed description of the preferred embodiments
1. Sensor integration
Fig. 1 is a side view and a top view of an equipment structure of the invention, which comprises a main body bracket 1, a sensor fixing cradle head 2, a range finder 3, a multi-line laser radar 4, a remote control terminal 5, an optical reflector 6 and two parallel sliding rails 7 and 8. The main body bracket 1 is erected on the slide rails 7 and 8 and horizontally slides through pulleys at two ends; the sensor holder 2 is arranged on the main body bracket 1; the range finder 3 and the multi-line laser radar 4 are arranged below the sensor fixing holder 2 in parallel; the leveling and rotating device for fixing the cradle head 2 through the adjusting sensor can correct the postures of the range finder 3 and the multi-line laser radar 4, ensure that the pulse transmitting direction of the range finder 3 is parallel to the slide rails 7 and 8 and vertically irradiates on the far-end optical reflector 6, and the central scanning line of the multi-line laser radar 4 is parallel to the main body bracket 1 and is vertical to the slide rails 7 and 8; the remote control terminal 5 can use various types of computers and is arranged in a driving control room so as to be convenient for a worker to operate, and the distance meter 3 and the multi-line laser radar 4 input data into the remote control terminal 5 through two data lines; the range finder 3 and the multi-line laser radar 4 are respectively provided with a dust cover so as to avoid the interference of ore dust on measurement;
2. three-dimensional information acquisition and Fang Liangji calculation
In the data acquisition process, a sensor holder is used for carrying a multi-line laser radar and a range finder, as shown in fig. 2 and 3, the whole scanning of a lower ore heap is realized by horizontally sliding along a sliding rail, and the local three-dimensional point cloud data obtained by scanning and the distance data of the range finder are combined to construct a three-dimensional point cloud model of a target object. The method specifically comprises the following steps:
step 1: and (3) constructing a coordinate system: as shown in fig. 4 and 5, a local coordinate system is constructed for the multi-line laser radar 4, specifically, a left-hand coordinate system 0-X 'Y' Z 'is constructed with the transmitting center of the laser radar 4 as an origin 0, the direction perpendicular to the ground being the X' axis, the direction parallel to the main body support 1 being the Y 'axis, and the direction parallel to the slide rails 7 and 8 being the Z' axis; constructing a right-hand coordinate system 0-XYZ for the point cloud three-dimensional model, wherein the origin of coordinates is positioned on a plane where the optical reflecting plate is positioned, and at the intersection point of three surfaces of the ground, X and Y coordinates are obtained through a laser radar sensor, and Z coordinates are obtained through combined calculation of laser radar and range finder data;
step 2: parameter presetting: setting the erection height of the multi-line laser radar 4 to be 0, setting the scanning range to be 180 degrees, performing test scanning to obtain the distance-H between the multi-line laser radar and the ground so as to obtain the instrument erection height H, and simultaneously obtaining the distance between the laser radar and the edge of a warehouse, thereby setting the actual working scanning angle of the multi-line laser radar based on the erection height H
Step 3: coordinate calculation: for a certain point in space, calculating the coordinates of laser radar point cloud data in a local coordinate system 0-X ' Y ' Z ' according to the formula (1), wherein r is laser radar pulseThe linear distance from the transmitting center to the space point is theta the included angle between the laser radar pulse and the X' axis,the included angle between the laser radar pulse and the X 'axis plane and between the laser radar pulse and the Y' axis plane are set;
step 4: data pairing and coordinate conversion: in actual measurement, the working frequencies of the range finder and the multi-line laser radar may be different due to different engineering requirements, and due to the influence of the reflectivity of a target material and the systematic error of the sensor, the working frequency of the sensor fluctuates, so that the two sensor data are matched by adopting a timestamp matching method, the multi-line laser radar and the range finder are subjected to time reference correction synchronization and then are subjected to data acquisition, and the data format acquired by the range finder is (d l ,T l ) Wherein d l Distance T from traveling crane acquired by distance meter to far-end reflector l A time stamp corresponding to the distance value; the data format acquired by the multi-line laser radar is (x ', y ', z ', tau), wherein tau is the current point timestamp. Calculating the average value of the time stamps of all the data points in each frame of the laser radar according to the formula (2)Matching the data closest to the time stamp T of the range finder to enable each frame of point cloud to correspond to a unique distance value, and finally converting the data of each frame of point cloud into a point cloud coordinate system O-XYZ, wherein +_>The method is characterized in that the method is the time stamp mean value of all data points of each frame of point cloud of the laser radar, m is the number of the point clouds of each frame, i is a frame number, K is the data sequence number of the range finder closest to the time stamp mean value of the point clouds of the ith frame, and d K Distance data of the range finder corresponding to the ith frame point cloud is represented by T, a time stamp set and D, a distance value set corresponding to the time stamp;
step 5: calculating the formula amount of mineral aggregate: as shown in fig. 6, a slice integration method is adopted to calculate the volume of the mineral aggregate point cloud model, the slice area of each scanning line is calculated according to the formula (3), and then the mineral aggregate square quantity is obtained by integrating along the Z-axis direction according to the formula (4), wherein S is as follows p For scan line slice area, x pq ,z pq V is the mineral aggregate square quantity for the x and z coordinates of the qth point on the p-th scan line.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (1)
1. The mineral aggregate square quantity scanning device with the coupling of the multi-line laser radar and the range finder is characterized by comprising a main body bracket 1, a sensor fixing cradle head 2, a range finder 3, a multi-line laser radar 4, a remote control terminal 5, an optical reflector 6 and two parallel sliding rails 7 and 8;
the main body bracket 1 is erected on the slide rails 7 and 8 and horizontally slides through pulleys at two ends; the sensor holder 2 is arranged on the main body bracket 1; the range finder 3 and the multi-line laser radar 4 are arranged below the sensor fixing holder 2 in parallel; the leveling and rotating device for fixing the cradle head 2 through the adjusting sensor can correct the postures of the range finder 3 and the multi-line laser radar 4, ensure that the pulse transmitting direction of the range finder 3 is parallel to the slide rails 7 and 8 and vertically irradiates on the far-end optical reflector 6, and the central scanning line of the multi-line laser radar 4 is parallel to the main body bracket 1 and is vertical to the slide rails 7 and 8; the remote control terminal 5 can use various types of computers and is arranged in a driving control room so as to be convenient for a worker to operate, and the distance meter 3 and the multi-line laser radar 4 input data into the remote control terminal 5 through two data lines; the range finder 3 and the multi-line laser radar 4 are respectively provided with a dust cover so as to avoid the interference of ore dust on measurement;
the method for scanning the storage ore material volume comprises the following steps:
1) Parameter presetting: setting the erection height of the multi-line laser radar 4 to be 0, setting the scanning range to be 180 degrees, carrying out test scanning, and obtaining the distance-H between the multi-line laser radar and the ground so as to obtain the instrument erection height H, and simultaneously obtaining the distance between the laser radar and the edge of a warehouse, wherein the scanning angle theta of the actual work of the multi-line laser radar is set according to the erection height H;
2) And (3) constructing a coordinate system: a local coordinate system is built for the multi-line laser radar 4, specifically, a right-hand coordinate system 0-X 'Y' Z 'is built by taking the transmitting center of the laser radar 4 as an origin 0, taking the direction vertical to the ground as an X' axis, taking the direction parallel to the main body bracket 1 as a Y 'axis and taking the direction parallel to the sliding rails 7 and 8 as a Z' axis; constructing a left-hand coordinate system 0-XYZ for the point cloud three-dimensional model, wherein the origin of coordinates is positioned on a plane where the optical reflecting plate is positioned, and at the intersection point of three surfaces of the ground, X and Y coordinates are obtained through a laser radar sensor, and Z coordinates are obtained after data operation of the laser radar and a range finder;
3) Coordinate calculation: for a certain point in space, calculating the lower coordinate of the laser radar point cloud data in a local coordinate system 0-X 'Y' Z 'according to the formula (1), wherein r is the linear distance from the laser radar pulse transmitting center to the space point, θ is the included angle between the laser radar pulse and the Z' axis,the included angle between the laser radar pulse and the X' axis is set;
4) Data pairing and coordinate conversion: in actual measurement, the working frequencies of the range finder and the multi-line laser radar may be different due to different engineering requirements, and due to the influence of the reflectivity of a target material and the systematic error of the sensor, the working frequency of the sensor fluctuates, so that the two sensor data are matched by adopting a timestamp matching method, the multi-line laser radar and the range finder are subjected to time reference correction synchronization and then are subjected to data acquisition, and the data format obtained by the range finder at the same time is (d l ,T l ) Wherein d l Distance T from traveling crane acquired by distance meter to far-end reflector l A time stamp corresponding to the distance value; the data format acquired by the multi-line laser radar is (x ', y ', z ', tau), wherein tau is the current point timestamp. Calculating the average value of the time stamps of all the data points in each frame of the laser radar according to the formula (2)Matching the data closest to the time stamp T of the range finder to enable each frame of point cloud to correspond to a unique distance value, and finally converting the data of each frame of point cloud into a point cloud coordinate system O-XYZ, wherein +_>The method is characterized in that the method is the time stamp mean value of all data points of each frame of point cloud of the laser radar, m is the number of the point clouds of each frame, i is a frame number, K is the data sequence number of the range finder closest to the time stamp mean value of the point clouds of the ith frame, and d K Distance data of the range finder corresponding to the ith frame point cloud is represented by T, a time stamp set and D, a distance value set corresponding to the time stamp;
5) Calculating the formula amount of mineral aggregate: calculating the volume of the mineral aggregate point cloud model by adopting a slice integration method, and calculating each mineral aggregate point cloud model according to the formula (3)The slice area of the scanning line is then integrated along the Z-axis direction according to the formula (4) to obtain the volume of the ore material, wherein S p For scan line slice area, x pq ,z pq V is the mineral aggregate square quantity for the x and z coordinates of the qth point on the p-th scan line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311033498.7A CN117031495A (en) | 2023-08-16 | 2023-08-16 | Storage ore heap scanning equipment of multi-line laser radar and range finder coupling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311033498.7A CN117031495A (en) | 2023-08-16 | 2023-08-16 | Storage ore heap scanning equipment of multi-line laser radar and range finder coupling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117031495A true CN117031495A (en) | 2023-11-10 |
Family
ID=88633330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311033498.7A Pending CN117031495A (en) | 2023-08-16 | 2023-08-16 | Storage ore heap scanning equipment of multi-line laser radar and range finder coupling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117031495A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117309898A (en) * | 2023-11-30 | 2023-12-29 | 云翔赛博(山东)数字技术有限公司 | Belt abrasion degree detection device and detection method based on synchronous single-line laser radar |
-
2023
- 2023-08-16 CN CN202311033498.7A patent/CN117031495A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117309898A (en) * | 2023-11-30 | 2023-12-29 | 云翔赛博(山东)数字技术有限公司 | Belt abrasion degree detection device and detection method based on synchronous single-line laser radar |
| CN117309898B (en) * | 2023-11-30 | 2024-03-26 | 云翔赛博(山东)数字技术有限公司 | Belt abrasion degree detection device and detection method based on synchronous single-line laser radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112945137B (en) | Storage ore heap scanning method based on single-line laser radar and range finder equipment | |
| CN110194375B (en) | Automatic stacking, taking and stacking method and system for material yard | |
| CN103090791B (en) | Measurement system, method and device of scattered materials and material piling and taking control system | |
| CN102506702B (en) | Large three-dimensional coordinate measuring method with laser tracking and device | |
| CN102425991B (en) | Automation storage yard laser measurement device and application method thereof | |
| CN102878928B (en) | Storage yard real-time dynamic three dimensional measurement and control system | |
| CN105841631A (en) | Three-dimensional laser scanning device and method | |
| CN201653373U (en) | Triaxial non-contact image measuring system | |
| CN117031495A (en) | Storage ore heap scanning equipment of multi-line laser radar and range finder coupling | |
| CN108919825A (en) | The unmanned plane indoor locating system and method for having barrier avoiding function | |
| CN102230785B (en) | Indoor 3D (3-dimensional) dimension measurement method | |
| CN102980512A (en) | Fixed type automatic volume measurement system and measuring method thereof | |
| CN104111035B (en) | One kind digitlization disk coal system and method | |
| CN108981580A (en) | A kind of crane runway on-line measuring device and method | |
| CN112880599B (en) | Roadbed flatness detection system based on four-foot robot and working method | |
| CN103913116A (en) | Large-scale piled material volume two-side parallel measuring device and method | |
| CN101858730A (en) | Automatic coal pile volume measurement method and special device | |
| CN102155913A (en) | Method and device for automatically measuring coal pile volume based on image and laser | |
| CN105758308A (en) | Laser coal-checking device and coal-checking method | |
| CN2294453Y (en) | Automatically measuring and drawing the volume of coal bulk on ground | |
| CN101413785A (en) | Error compensation method of positioning system based on double-rotating laser plane transmitter network | |
| KR20200034869A (en) | Real-Time Modeling System and Method for Geo-Spatial Information Using 3D Scanner of Excavator | |
| CN102313538A (en) | Prism-free surface settlement level monitoring method | |
| CN116679313A (en) | Point cloud coordinate temporal correction method for single-line laser radar and range finder moving swing | |
| CN108249307B (en) | Movement measurement and feedback control system and method for large crane |
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 |