CN105841631A - Three-dimensional laser scanning device and method - Google Patents
Three-dimensional laser scanning device and method Download PDFInfo
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- CN105841631A CN105841631A CN201610165775.3A CN201610165775A CN105841631A CN 105841631 A CN105841631 A CN 105841631A CN 201610165775 A CN201610165775 A CN 201610165775A CN 105841631 A CN105841631 A CN 105841631A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The present invention belongs to the detection technical field and discloses a three-dimensional laser scanning device and method. The device comprises a two-dimensional laser scanner used for performing two-dimensional scanning on an object to be measured and providing scanning contour point cloud data of the object to be measured, a rotary table used for performing rotation operation and providing rotation angle data, a fixing structure used for fixing the two-dimensional laser scanner to the rotary table, and a controller which is used for controlling the operation of the two-dimensional laser scanner and the rotary table and receiving the scanning contour point cloud data and the rotation angle data, and is also used for obtaining three-dimensional point cloud coordinate data of the object to be measured according to the scanning contour point cloud data and the rotation angle data. With the three-dimensional laser scanning device and method of the invention adopted, longitudinal line scanning and left-right plane scanning can be carried out, so that a three-dimensional plane scanning function can be realized. Since the two-dimensional laser scanner is used, cost can be greatly reduced, and cost performance is high.
Description
Technical field
The present invention relates to detection technique field, in particular it relates to a kind of 3 D laser scanning equipment and side
Method.
Background technology
Laser ranging is to find range using laser instrument as light source, is divided into continuously according to the mode of laser work
Laser instrument and pulse laser.The gas lasers such as He-Ne, argon ion, krypton cadmium work in and export shape continuously
State, for phase laser distance measurement；Double heterogeneous gallium arsenide semiconductor laser instrument, for infrared distance measurement；Red
The solid state laser such as gem, neodymium glass, finds range for pulse type laser.Laser range finder is due to laser
The features such as monochromaticity is good, high directivity, add that electronic circuit semiconductor transformation is integrated, with geodimeter
Compare, be possible not only to day and night operation and range accuracy can be improved, substantially reduce weight and power consumption, make
The distance measuring the remote target such as artificial earth satellite, the moon comes true.
Laser ranging is divided into one-dimensional laser range finder, two dimensional laser scanning instrument, three-dimensional laser scanner.
Wherein, one-dimensional laser range finder, a point can only be made a call to every time, the distance of a some position can only be measured.
Two dimensional laser scanning instrument, can scan multiple point every time, and multiple points can fit to a contour line, belongs to
Scan in line.Three-dimensional laser scanner can realize three-dimensional surface scan function.But of the prior art three
Dimension laser scanner cost is the highest, and the most general outdoor version measures the three-dimensional laser of distance more than 150
Scanner price, all more than 1,000,000, is difficult to universal.Low cost, high performance three-dimensional laser scanner
Urgently research and develop solution.
Summary of the invention
For lacking a kind of low cost in prior art, the technology of high performance three-dimensional laser scanner is asked
Topic, the invention provides a kind of 3 D laser scanning equipment, and this equipment includes: two dimensional laser scanning instrument,
For object to be measured being carried out two-dimensional scan and providing the scanning profile cloud data of described object to be measured；Turn
Platform, is used for carrying out revolution operation and providing angle of revolution data；Fixed structure, for swashing described two dimension
Photoscanner is fixed on described turntable；And controller, be used for controlling described two dimensional laser scanning instrument and
The operation of described turntable also receives described scanning profile cloud data and angle of revolution data；Described controller
It is additionally operable to obtain the three of described object to be measured according to described scanning profile cloud data and angle of revolution data
Dimension point cloud coordinate data.
Correspondingly, present invention also offers a kind of 3 D laser scanning method, the method includes: obtains and treats
Survey scanning profile cloud data and the angle of revolution data of object；And according to described scanning profile point cloud
Data and angle of revolution data obtain the three-dimensional point cloud coordinate data of described object to be measured.
Use 3 D laser scanning equipment and the method for present invention offer, by the fixed structure of this equipment
Can be fixed on turntable by two dimensional laser scanning instrument, two dimensional laser scanning instrument can be to be measured in use
Object carries out two-dimensional scan and provides the scanning profile cloud data of described object to be measured, and turntable is carried out simultaneously
Revolution operation also provides angle of revolution data, and controller can control described two dimensional laser scanning instrument and described
The operation of turntable also receives described scanning profile cloud data and angle of revolution data and sweeps according to described
Retouch profile cloud data and the three-dimensional point cloud coordinate data of the angle of revolution data described object to be measured of acquisition, i.e.
This equipment scans except the line that can carry out above-below direction, it is also possible to carry out the Surface scan of left and right directions, from
And realize three-dimensional surface scan function, and due to the use of two dimensional laser scanning instrument, greatly reduce cost
Spending, cost performance is the highest.
Other features and advantages of the present invention will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, with
Detailed description below is used for explaining the present invention together, but is not intended that limitation of the present invention.?
In accompanying drawing:
Fig. 1 is the structural representation of the 3 D laser scanning equipment according to one embodiment of the present invention；
Fig. 2 is the structural representation of two dimensional laser scanning instrument；
Fig. 3 A is the structural representation of the 3 D laser scanning equipment according to one embodiment of the present invention
Figure；
Fig. 3 B is the schematic diagram of the angle of revolution of the turntable according to one embodiment of the present invention；And
Fig. 4 is the example flow diagram of the 3 D laser scanning method according to one embodiment of the present invention.
Description of reference numerals
11 probe 12 meter base
100 two dimensional laser scanning instrument 200 turntables
300 fixed structure 400 controllers
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.It should be appreciated that
Detailed description of the invention described herein is merely to illustrate and explains the present invention, is not limited to this
Bright.
Will be exemplified below the thought of the present invention, it is to be understood that these examples be that but not limited is shown
Example, protection scope of the present invention is not limited to this:
In order to the thought of the present invention is clearly described, carry out as a example by 3 D laser scanning equipment in detail
Ground explanation.
Fig. 1 is the structural representation of the 3 D laser scanning equipment according to one embodiment of the present invention,
As it is shown in figure 1, this equipment may include that two dimensional laser scanning instrument 100, for object to be measured is carried out
Two-dimensional scan also provides the scanning profile cloud data of described object to be measured；Turntable 200, is used for carrying out back
Turn operation and angle of revolution data are provided；Fixed structure 300, for by described two dimensional laser scanning instrument 100
It is fixed on described turntable 200；And controller 400, be used for controlling described two dimensional laser scanning instrument and
The operation of described turntable also receives described scanning profile cloud data and angle of revolution data；Described controller
It is additionally operable to obtain the three of described object to be measured according to described scanning profile cloud data and angle of revolution data
Dimension point cloud coordinate data.
Use such embodiment, can be solid by two dimensional laser scanning instrument by the fixed structure of this equipment
It is scheduled on turntable, in addition to can carrying out the line of above-below direction and scanning, it is also possible to carry out the face of left and right directions
Scanning, thus realize three-dimensional surface scan function, and ensureing high performance while, cost is relatively low, and permissible
It is widely used and popularizes.
Specifically, two dimensional laser scanning instrument 100 can be selected according to practical situation, such as, can select room
The two dimensional laser scanning instrument of external form distance or short distance, in high precision, light-duty, the scanning of indoor type
Instrument product.As a example by the two dimensional laser scanning instrument of outdoor version distance, Fig. 2 is two dimensional laser scanning instrument
Structural representation, as in figure 2 it is shown, this two dimensional laser scanning instrument includes probe 11 and meter base 12.
Described two dimensional laser scanning instrument 100 can carry out two-dimensional scan and provide described object to be measured object to be measured
Scanning profile cloud data (such as scanning profile cloud data can include scanning angle and to sweeping
Retouch angle from the probe center of described two dimensional laser scanning instrument to any of described object to be measured away from
From).
Turntable 200 typically can with use one-dimensional revolution mode turntable (such as High Precision One Dimensional turntable),
May be used without level, the dimensional turntable of vertical twocouese.As a example by one-dimensional turntable, it can turn round
Operate and angle of revolution data are provided.
In order to realize the function of 3-D scanning, need to be connected two dimensional laser scanning instrument 100 with turntable 200,
Fig. 3 A is the structural representation of the 3 D laser scanning equipment according to one embodiment of the present invention, as
Shown in Fig. 3 A, described two dimensional laser scanning instrument 100 can be fixed on described turntable by fixed structure 300
On 200.Such as, described fixed structure 300 for wedge shape strengthen gusset (material can be ordinary carbon steel or
More excellent steel plate), described two dimensional laser scanning instrument 100 is secured by bolts in described wedge shape and strengthens gusset
One end, described turntable be secured by bolts in described wedge shape strengthen gusset the other end.Use such
Embodiment, this equipment not only can realize line scanning, but also can realize Surface scan.
Further, in order to gather and process the data scanned, controller 400 can respectively with two dimension
Laser scanner 100 and turntable 200, the such as data-interface of two dimensional laser scanning instrument 100 can pass through
Ethernet interface is connected with controller 400, and turntable 200 can be connect by the communication of such as RS485 etc.
Mouth is connected with described controller 400, and thus controller 400 can control described two dimensional laser scanning instrument 100
With the operation of described turntable 200 (such as control two dimensional laser scanning instrument 100 open, close, suspend,
Control turntable 200 forward revolution, reversed turning, turntable zero and speed of gyration setting etc.) and receive
Described scanning profile cloud data and angle of revolution data.Further, described controller 400 is always according to described
Scanning profile cloud data and angle of revolution data obtain the three-dimensional point cloud coordinate data of described object to be measured.
Wherein, described controller 400 can be any device that can realize above-mentioned functions, such as industrial computer.
It is elucidated further below controller 400 according to described scanning profile cloud data and angle of revolution data
Obtain the process of the three-dimensional point cloud coordinate data of object to be measured:
First, it is contemplated that laser scanner is in outdoor scanning process, it is possible to run into the noise of interference,
Thus cause the inaccurate of scan data, it is therefore desirable to the scanning profile cloud data received is filtered
Process.Described Filtering Processing include medium filtering, mean filter and method of least square filtering in arbitrary
Person.
Wherein, medium filtering can filter spike.Illustrate with the medium filtering of one-dimensional signal.To sequence
Row 80,120,90,200,100,110,70, if order arrangement by size, its result is 70,
80,90,10O, 110,120,200, the gray value on intermediate position is 10O, then this gray scale sequence
The intermediate value of row is 100.One-dimensional signal medium filtering is actually with Mesophyticum for assigned position (
As refer to original signal sequence center) signal value.For the sequence above lifted, medium filtering
Result be with the signal in intermediate value 100 alternative sequence 80,120,90,200,100,110,70
Formation center positional value 200, the filtered sequence obtained is exactly 80,120,90,100,100,110,
70.If 200 is a noise signal in this sequence, then with the method this noise spot the most removable.
The main thought of Mean Filtering Algorithm is neighborhood averaging, i.e. replaces each by the meansigma methods of several somes clouds
The numerical value of point, effectively suppresses additive noise, but the precision being likely to result in data declines.Method of least square
The optimal function being found data by the quadratic sum minimizing error is mated.Utilize method of least square can letter
Just try to achieve the data of the unknown, and make the quadratic sum of error between these data tried to achieve and real data
For minimum.It should be appreciated that those skilled in the art can select suitable filtering according to practical situation
One or more combination in processing method, to improve the degree of accuracy of scanning.
Additionally, due to three-dimensional laser scanner is operationally, two-dimensional laser is one-dimensional turntable while scanning
Also running, the angle-data reading a two-dimentional some cloud outline data turntable to be coordinated could form three
Dimension data, but if synchronicity is bad, such as, turntable is the two-dimensional points cloud number of laser scanning when 10 °
According to, if existing delayed when angle of revolution is read, it is read as 12 °, at this moment cloud data and truthful data
Between all differed one section of space length, cause error bigger.In order to solve this problem, controller 400
Any one in following methods can be used to synchronize to control described two dimensional laser scanning instrument and described turntable
Operation:
(1) single step static state reads method
In this approach, controller 400 first controls rotation of rotary table certain angle, such as 0.5 degree, stops
Start laser scanning after Zhi, scan a scanning profile cloud data, the most again revolution 0.5 degree, then
Secondary reading scan data.The advantage of this method is: synchronicity is good, and three-dimensional data accuracy is the highest；Lack
Point is turntable single step intermitten operation, and sweep time is longer.Height, scanning speed requirement are required for precision
Relatively low occasion can take this method to be scanned.
(2) timestamp method
In this approach, controller 400 controls turntable continuous rotary, scanner scans continuously, simultaneously
Angle of revolution data and scanning profile cloud data are read in circulation, but each reading is circulated to angle of revolution
Degrees of data and scanning profile cloud data plus a system timestamp, the most scanned after, when passing through
Between stab lookup time immediate angle of revolution data and scanning profile cloud data and mate.This side
The advantage of method is: scanning speed is very fast, synchronization accuracy still can, occasion quickly is required for scanning speed
It is suitable for this algorithm.
(3) quick positive and negative error concealment method
This method is similar with timestamp method, and difference is that controller 400 controls positive and negative two of turntable
Direction is all run once, forms twice sweep profile cloud data.By calculating twice sweep profile point cloud
The meansigma methods of data, improves synchronicity precision further.The advantage of this method is: sweep time is moderate,
Scanning accuracy is higher, can be in most of applications.
After data syn-chronization completes, can carry out the Coordinate Conversion of three-dimensional point cloud coordinate data, Fig. 3 B is root
According to the schematic diagram of angle of revolution of the turntable of one embodiment of the present invention, as shown in figs.3 a and 3b,
With place, the center vertical axis of described turntable 200 with described turntable bottom surface intersection point for zero O,
By the reference line of the angle of revolution α of described zero O as X-axis on described turntable bottom surface, with
By the vertical line of the X-axis of described zero O as Y-axis on described turntable bottom surface, with described turn
Place, the center vertical axis of platform, as Z axis, sets up three-dimensional cartesian coordinate system.
Wherein, described scanning profile cloud data can include two dimensional laser scanning instrument scanning angle θ and
To should scanning angle θ from probe 11 center of described two dimensional laser scanning instrument to described object to be measured
Distance l of a bit, described angle of revolution data can include the angle of revolution α of turntable, controller 400
The three-dimensional point cloud of described object to be measured is obtained according to described scanning profile cloud data and angle of revolution data
Coordinate data can include according to below equation obtain described object to be measured the three-dimensional coordinate of a bit (x, y,
Z):
Wherein, described angle of revolution α is that described turntable returns relative to described reference line in XOY plane
The angle turned, described scanning angle θ is that the probe of described two dimensional laser scanning instrument is in XOZ plane
Relative to the angle of X-axis deflection, h is that probe 11 center of described two dimensional laser scanning instrument is to described
The distance of YOZ plane, d is that probe 11 center of described two dimensional laser scanning instrument is put down to described XOY
The distance in face, wherein h and d is fixed value, can measure acquisition in advance.
Similarly, controller 400 can calculate the multiple points constituting described object to be measured according to above-mentioned formula
The three-dimensional coordinate of (such as constituting the point of all quantity of object to be measured), these three-dimensional coordinate points can wrap
Include in three-dimensional point cloud coordinate data, thus realize the function of 3-D scanning.
Owing to the data of single pass are up to more than 10M, data volume is bigger.It is therefore preferred that control
After the packet of acquisition can be converted to binary system by device processed, relevant database (data form one is arrived in storage
As be blob), to reduce memory space occupancy.
Fig. 4 is the example flow diagram of the 3 D laser scanning method according to one embodiment of the present invention,
As shown in Figure 4, the method may comprise steps of:
Step 1001, obtains scanning profile cloud data and the angle of revolution data of object to be measured；And
Step 100, it is described to be measured right to obtain according to described scanning profile cloud data and angle of revolution data
The three-dimensional point cloud coordinate data of elephant.
Preferably, the method also includes: be filtered processing to the scanning profile cloud data obtained, its
Described in Filtering Processing include medium filtering, mean filter and method of least square filtering in any one.
Preferably, the method also includes: use any one in following methods synchronously to obtain object to be measured
Scanning profile cloud data and angle of revolution data: single step static state reads method, timestamp method and fast
The positive and negative error concealment method of speed.
Preferably, described scanning profile cloud data includes scanning angle θ of two dimensional laser scanning instrument and right
Should scanning angle θ from the probe center of described two dimensional laser scanning instrument to described object to be measured a bit
Distance l, described angle of revolution data include the angle of revolution α of turntable, and sweep described in described basis
Retouch profile cloud data and the three-dimensional point cloud coordinate data bag of the angle of revolution data described object to be measured of acquisition
Include according to below equation obtain described object to be measured the three-dimensional coordinate of a bit (x, y, z):
Wherein, with place, the center vertical axis of described turntable with described turntable bottom surface intersection point as zero
O, by the reference line of the angle of revolution α of described zero O as X-axis on described turntable bottom surface,
Using on described turntable bottom surface by the vertical line of the X-axis of described zero O as Y-axis, with described
Place, the center vertical axis of turntable, as Z axis, sets up three-dimensional cartesian coordinate system, described angle of revolution α
The angle turned round relative to described reference line in XOY plane for described turntable, described scanning angle θ is
The probe of described two dimensional laser scanning instrument is relative to the angle of X-axis deflection in XOZ plane, and h is
The probe center of described two dimensional laser scanning instrument is to the distance of described YOZ plane, and d is described two dimension
The probe center of laser scanner is to the distance of described XOY plane；And the three of described object to be measured
Dimension point cloud coordinate data includes the three-dimensional coordinate constituting multiple points of described object to be measured.
It should be appreciated that each detailed description of the invention of above-mentioned 3 D laser scanning method, the most showing
Example has been done in the embodiment of 3 D laser scanning equipment and has been explained (as mentioned above), at this not
Repeat again.Further, those skilled in the art can select above-mentioned various embodiment party according to disclosure of the invention
Any one in formula, or select the combination of above-mentioned various embodiment to configure, and other
Replace embodiment and also fall into protection scope of the present invention.
The 3 D laser scanning equipment of present invention offer and method, degree of protection is high, precision is high, performance
Good, low cost, scanning distance length, sweep time are very fast, and a scan period is generally less than 2 minutes,
It is suitable for the outdoor work under vile weather.For example, it is possible to apply the dump in bulk cargo field, the three of ore storage
In dimension laser scanning modeling, or apply to container, the scanning of hull.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention does not limit
Detail in above-mentioned embodiment, in the technology concept of the present invention, can be to the present invention
Technical scheme carry out multiple simple variant, these simple variant belong to protection scope of the present invention.
It is further to note that each the concrete technology described in above-mentioned detailed description of the invention is special
Levy, in the case of reconcilable, can be combined by any suitable means, in order to avoid need not
The repetition wanted, various possible compound modes are illustrated by the present invention the most separately.
Additionally, combination in any can also be carried out between the various different embodiment of the present invention, as long as its
Without prejudice to the thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (10)
1. a 3 D laser scanning equipment, it is characterised in that this equipment includes:
Two dimensional laser scanning instrument, for carrying out two-dimensional scan and providing described object to be measured to object to be measured
Scanning profile cloud data；
Turntable, is used for carrying out revolution operation and providing angle of revolution data；
Fixed structure, for being fixed on described turntable by described two dimensional laser scanning instrument；And
Controller, is used for controlling to sweep described in described two dimensional laser scanning instrument and the operation of described turntable reception
Retouch profile cloud data and angle of revolution data；Described controller is additionally operable to according to described scanning profile point cloud
Data and angle of revolution data obtain the three-dimensional point cloud coordinate data of described object to be measured.
Equipment the most according to claim 1, it is characterised in that described controller is additionally operable to:
Being filtered processing to the scanning profile cloud data received, wherein said Filtering Processing includes intermediate value
Any one in filtering, mean filter and method of least square filtering.
Equipment the most according to claim 1, it is characterised in that described controller is additionally operable to:
Control described two dimensional laser scanning instrument and described turntable simultaneously operating.
4. the equipment described in claim 1, it is characterised in that it is described that described controller is additionally operable to control
Two dimensional laser scanning instrument and described turntable simultaneously operating include using any one in following methods:
Single step static state reads method, timestamp method and quick positive and negative error concealment method.
Equipment the most according to claim 1, it is characterised in that described fixed structure is that wedge shape adds
Strong gusset, described two dimensional laser scanning instrument is secured by bolts in described wedge shape and strengthens one end of gusset, institute
State turntable and be secured by bolts in the other end of described wedge shape reinforcement gusset.
Equipment the most according to claim 1, it is characterised in that described scanning profile cloud data
Including two dimensional laser scanning instrument scanning angle θ and to should scanning angle θ from described two dimensional laser scanning
The probe center of instrument is to distance l of any of described object to be measured, and described angle of revolution data include turning
The angle of revolution α of platform；And
Described obtain described object to be measured according to described scanning profile cloud data and angle of revolution data
Three-dimensional point cloud coordinate data includes the three-dimensional coordinate of any obtaining described object to be measured according to below equation
(x, y, z):
Wherein, with place, the center vertical axis of described turntable with described turntable bottom surface intersection point as zero
O, by the reference line of the angle of revolution α of described zero O as X-axis on described turntable bottom surface,
Using on described turntable bottom surface by the vertical line of the X-axis of described zero O as Y-axis, with described
Place, the center vertical axis of turntable, as Z axis, sets up three-dimensional cartesian coordinate system, described angle of revolution α
The angle turned round relative to described reference line in XOY plane for described turntable, described scanning angle θ is
The probe of described two dimensional laser scanning instrument is relative to the angle of X-axis deflection in XOZ plane, and h is
The probe center of described two dimensional laser scanning instrument is to the distance of described YOZ plane, and d is described two dimension
The probe center of laser scanner is to the distance of described XOY plane；And
The three-dimensional point cloud coordinate data of described object to be measured includes constituting multiple points of described object to be measured
Three-dimensional coordinate.
7. a 3 D laser scanning method, it is characterised in that the method includes:
Obtain scanning profile cloud data and the angle of revolution data of object to be measured；And
The three-dimensional of described object to be measured is obtained according to described scanning profile cloud data and angle of revolution data
Point cloud coordinate data.
Method the most according to claim 7, it is characterised in that the method also includes:
Being filtered processing to the scanning profile cloud data obtained, wherein said Filtering Processing includes intermediate value
Any one in filtering, mean filter and method of least square filtering.
Method the most according to claim 7, it is characterised in that the method also includes:
Use any one in following methods synchronously obtain the scanning profile cloud data of object to be measured with
And angle of revolution data:
Single step static state reads method, timestamp method and quick positive and negative error concealment method.
Method the most according to claim 7, it is characterised in that described scanning profile cloud data
Including two dimensional laser scanning instrument scanning angle θ and to should scanning angle θ from described two dimensional laser scanning
The probe center of instrument is to distance l of any of described object to be measured, and described angle of revolution data include turning
The angle of revolution α of platform, and described obtain according to described scanning profile cloud data and angle of revolution data
The three-dimensional point cloud coordinate data of described object to be measured includes obtaining described object to be measured according to below equation
Any three-dimensional coordinate (x, y, z):
Wherein, with place, the center vertical axis of described turntable with described turntable bottom surface intersection point as zero
O, by the reference line of the angle of revolution α of described zero O as X-axis on described turntable bottom surface,
Using on described turntable bottom surface by the vertical line of the X-axis of described zero O as Y-axis, with described
Place, the center vertical axis of turntable, as Z axis, sets up three-dimensional cartesian coordinate system, described angle of revolution α
The angle turned round relative to described reference line in XOY plane for described turntable, described scanning angle θ is
The probe of described two dimensional laser scanning instrument is relative to the angle of X-axis deflection in XOZ plane, and h is
The probe center of described two dimensional laser scanning instrument is to the distance of described YOZ plane, and d is described two dimension
The probe center of laser scanner is to the distance of described XOY plane；And
The three-dimensional point cloud coordinate data of described object to be measured includes constituting multiple points of described object to be measured
Three-dimensional coordinate.
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| CN201610165775.3A CN105841631A (en) | 2016-03-22 | 2016-03-22 | Three-dimensional laser scanning device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108398101A (en) * | 2017-02-08 | 2018-08-14 | 邹如飞 | A kind of measurement method and system of workpiece topography |
| CN109186488A (en) * | 2018-09-12 | 2019-01-11 | 西安米索软件有限公司 | A kind of Profile inspection software |
| CN109458969A (en) * | 2018-12-18 | 2019-03-12 | 东莞市三姆森光电科技有限公司 | A kind of multi-axial Simultaneous investigating method of position closed-loop |
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| CN110196019A (en) * | 2019-06-27 | 2019-09-03 | 中信戴卡股份有限公司 | A kind of laser sensor caliberating device and its scaling method |
| CN110514152A (en) * | 2018-05-21 | 2019-11-29 | 北京博清科技有限公司 | Degree of plainness for wall surface detection method and system based on laser scanning |
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| CN106289104A (en) * | 2016-09-26 | 2017-01-04 | 深圳市速腾聚创科技有限公司 | Color three dimension laser scanner |
| CN108398101A (en) * | 2017-02-08 | 2018-08-14 | 邹如飞 | A kind of measurement method and system of workpiece topography |
| WO2019114316A1 (en) * | 2017-12-11 | 2019-06-20 | 同方威视技术股份有限公司 | Three-dimensional scanning device, robot, and data processing method |
| CN110514152A (en) * | 2018-05-21 | 2019-11-29 | 北京博清科技有限公司 | Degree of plainness for wall surface detection method and system based on laser scanning |
| CN109186488A (en) * | 2018-09-12 | 2019-01-11 | 西安米索软件有限公司 | A kind of Profile inspection software |
| CN109458969A (en) * | 2018-12-18 | 2019-03-12 | 东莞市三姆森光电科技有限公司 | A kind of multi-axial Simultaneous investigating method of position closed-loop |
| CN109458969B (en) * | 2018-12-18 | 2020-12-11 | 东莞市三姆森光电科技有限公司 | Multi-axis synchronous measurement and control method of position full closed loop |
| CN110196019A (en) * | 2019-06-27 | 2019-09-03 | 中信戴卡股份有限公司 | A kind of laser sensor caliberating device and its scaling method |
| CN110599449A (en) * | 2019-07-31 | 2019-12-20 | 众宏（上海）自动化股份有限公司 | Gear scanning algorithm for template matching and point cloud comparison |
| CN113064178B (en) * | 2019-12-30 | 2024-05-24 | 武汉万集信息技术有限公司 | Three-dimensional point cloud data acquisition method and device based on two-dimensional laser scanner |
| CN113064178A (en) * | 2019-12-30 | 2021-07-02 | 武汉万集信息技术有限公司 | Three-dimensional point cloud data acquisition method and equipment based on two-dimensional laser scanner |
| CN112669376A (en) * | 2021-01-28 | 2021-04-16 | 燕山大学 | Method and system for calculating layer height of residual stack of material pile |
| CN112669376B (en) * | 2021-01-28 | 2022-11-15 | 燕山大学 | Method and system for calculating layer height of residual stack of material pile |
| CN113572557B (en) * | 2021-06-29 | 2024-03-19 | 武汉中观自动化科技有限公司 | Method for quickly synchronizing time stamps based on CAN communication and optical scanner thereof |
| CN113572557A (en) * | 2021-06-29 | 2021-10-29 | 武汉中观自动化科技有限公司 | Method for rapidly synchronizing timestamps based on CAN communication and optical scanner thereof |
| CN113776453A (en) * | 2021-07-28 | 2021-12-10 | 贵阳铝镁设计研究院有限公司 | Aluminum electrolysis cell scanning result automatic splicing method based on laser line profiler array |
| CN113790669A (en) * | 2021-07-28 | 2021-12-14 | 贵阳铝镁设计研究院有限公司 | Aluminum electrolysis cell furnace building result detection method based on laser line profiler array scanning |
| CN113727087A (en) * | 2021-08-06 | 2021-11-30 | 上海有个机器人有限公司 | 3D scanner device and method for generating three-dimensional map |
| CN116182724A (en) * | 2023-02-24 | 2023-05-30 | 南京航空航天大学 | Sliding rail type measuring method and device for airplane wings |
| CN116182724B (en) * | 2023-02-24 | 2023-11-07 | 南京航空航天大学 | Sliding rail type measuring method and device for airplane wings |
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