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Three-dimensional scanning system measurement method of carriage container based on two-dimensional laser radar

A two-dimensional laser radar and three-dimensional scanning technology, applied in the field of three-dimensional scanning system, can solve the problems of unrealistic use, few measurements, and high price of three-dimensional laser radar

Inactive Publication Date: 2020-04-21
WUHU HIT ROBOT TECH RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, 3D lidar is expensive, and it is not realistic to use it in the loading process of ordinary civilian enterprises
At present, the existing two-dimensional laser radar is mainly used in mobile robot obstacle avoidance, area detection, area monitoring and other functions, and it is rarely used in measurement and other fields, especially in the field of three-dimensional scanning measurement for larger measurement objects

Method used

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  • Three-dimensional scanning system measurement method of carriage container based on two-dimensional laser radar
  • Three-dimensional scanning system measurement method of carriage container based on two-dimensional laser radar
  • Three-dimensional scanning system measurement method of carriage container based on two-dimensional laser radar

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Experimental program
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Effect test

Embodiment 1

[0039] according to Figure 1-Figure 5 As shown, this embodiment provides a method for measuring a three-dimensional scanning system of a compartment container based on two-dimensional laser radar, which is characterized in that it includes the following measurement steps:

[0040] Step 1: Establish a three-dimensional scanning system for the compartment container, the three-dimensional scanning system includes a main controller 1, an upper industrial computer 2, a calibration object 3, a motion axis 4 that drives the longitudinal movement of the walking beam of the truss robot, and a two-dimensional laser radar 5 and the truss robot 6, the motion axis 4, the two-dimensional laser radar 5 and the truss robot 6 are placed on the support, the bottom of the support is placed with a calibration object 3, and the main controller 1 and the upper industrial computer are placed next to the support 2;

[0041]Step 2: Select the calibration object, and place the calibration object on t...

Embodiment 2

[0049] Such as Figure 2-Figure 5 As shown, a calibration method of a three-dimensional scanning system includes the following steps:

[0050] Step 1: The main controller controls the longitudinal movement axis to move along the longitudinal direction of the truss robot, and the upper industrial computer performs data interaction with the main controller and the two-dimensional laser radar at the same time to ensure the real-time and accuracy of data interaction. After the three-dimensional laser radar scan is completed, the data of the main controller and the two-dimensional laser radar are integrated, and then the original three-dimensional disordered point cloud data model of the calibration object is established;

[0051] Step 2: Select the calibration object, and place the calibration object on the ground directly under the two-dimensional laser radar, and then install the calibration head flange on the manipulator at the end of the truss robot to keep the calibration hea...

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Abstract

The invention discloses a three-dimensional scanning system measurement method of a carriage container based on a two-dimensional laser radar, which can effectively obtain a three-dimensional disordered point cloud data model of an object in a three-dimensional scanning system of carriage containers of a wagon, a truck and the like so as to provide necessary basic model data for subsequent functions such as positioning of the three-dimensional scanning system. According to the invention, a three-dimensional scanning technology for carriage containers such as wagons and trucks and other objectsin a large range can be realized, accurate three-dimensional point cloud data can be obtained, and other related processing and application development can be carried out according requirements on the basis of the obtained data.

Description

technical field [0001] The invention relates to a three-dimensional scanning system for compartment containers such as trucks and trucks, in particular to a three-dimensional scanning system measurement method for compartment containers based on two-dimensional laser radar. Background technique [0002] 3D laser scanning technology, also known as real scene replication technology, is a technological revolution in the field of surveying and mapping after GPS technology. It breaks through the traditional single-point measurement method and has the unique advantages of high efficiency and high precision. 3D laser scanning technology can provide 3D point cloud data on the surface of the scanned object. It uses high-speed laser scanning measurement to quickly obtain the 3D coordinate data of the surface of the measured object in a large area, and can quickly and massively collect spatial point information. Therefore, It can be used to obtain high-precision and high-resolution di...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00G01B11/24
CPCG01B11/002G01B11/24
Inventor 樊璇陈建刘志恒李龙高云峰曹雏清
Owner WUHU HIT ROBOT TECH RES INST