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Non-contact three-dimensional measurement and positioning system, method and storage medium

A three-dimensional measurement, non-contact technology, applied in the direction of measurement device, measurement angle, mapping and navigation, etc., can solve the problems of small measurement and positioning range, inability to adapt to measurement and positioning range, etc.

Active Publication Date: 2021-08-31
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Visual measurement and positioning methods include binocular measurement and positioning and monocular measurement and positioning based on line structured light, etc., but the measurement and positioning range is relatively small, usually within the meter level, and cannot adapt to a large measurement and positioning range (such as 10m*10m*0.2 m measurement positioning range) requirements

Method used

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  • Non-contact three-dimensional measurement and positioning system, method and storage medium
  • Non-contact three-dimensional measurement and positioning system, method and storage medium
  • Non-contact three-dimensional measurement and positioning system, method and storage medium

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Experimental program
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Embodiment 1

[0027] figure 1 It is a structural block diagram of a non-contact three-dimensional measurement and positioning system provided by Embodiment 1 of the present invention. This embodiment is applicable to the case of non-contact three-dimensional measurement and positioning with a large measurement and positioning range, and is also applicable to a large measurement and positioning range In the case of 1D / 2D measurement positioning, object tracking, trajectory reconstruction or local map navigation. By applying the non-contact three-dimensional measurement and positioning system, a non-contact three-dimensional measurement and positioning method can be realized.

[0028] see figure 1 , the non-contact three-dimensional measurement and positioning system in this embodiment includes:

[0029] The laser emitting device 10 is fixedly arranged at a preset position in the measurement scene, including: a laser emitting unit 11 for emitting point laser light; a first rotation unit 12 ...

Embodiment 2

[0060] image 3 It is a flow chart of a non-contact three-dimensional measurement and positioning method provided by Embodiment 2 of the present invention. This embodiment is applicable to the case of non-contact three-dimensional measurement and positioning with a relatively large measurement and positioning range, and is also applicable to a relatively large measurement and positioning range In the case of 1D / 2D measurement positioning, object tracking, trajectory reconstruction or local map navigation. The method may be implemented by a processing device in the non-contact three-dimensional measurement and positioning system provided by any embodiment of the present invention, specifically, it may be implemented by hardware and / or software in the processing device.

[0061] see image 3 , the non-contact three-dimensional measurement and positioning method is applied to the processing device in any system of the present invention, comprising the following steps:

[0062] ...

Embodiment 3

[0097] In this embodiment, on the basis of the foregoing method embodiments, the steps of constructing the positioning model are described in detail. The embodiment of the present invention and the non-contact three-dimensional measurement and positioning method proposed in the above embodiment belong to the same inventive concept, and the technical details not described in detail in this embodiment can be referred to the above embodiment, and this embodiment has the same features as the above embodiment Beneficial effect.

[0098] Optionally, the step of constructing the positioning model includes: constructing the model of the laser emitting device and the model of the laser receiving device; integrating the model of the laser emitting device and the model of the laser receiving device to obtain the positioning model.

[0099] The laser emitting device model can include the transformation relation matrix between the laser emitting unit coordinate system, the first motor coor...

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Abstract

The embodiment of the present invention discloses a non-contact three-dimensional measurement and positioning system, method and storage medium, wherein the system includes: a fixedly arranged laser emitting device, including: a laser emitting unit for emitting point laser light; a first rotating unit, It is used to rotate the laser emitting unit and record the rotation angle; the laser receiving device arranged on the target object includes: a receiving part, used for receiving point laser light to obtain laser spots; a second rotating unit, used for rotating the receiving part and recording the rotation angle; an image acquisition device for acquiring a laser spot image; a processing device for determining the pose parameters of the target object according to the received rotation angle of the laser emitting unit, the rotation angle of the receiving piece and the laser spot image. By arranging the laser emitting and receiving devices separately, the measurement range of the three-dimensional measurement and positioning can be expanded, and it is easy to install and expand; and by combining the vision and the laser measurement and positioning method, the measurement speed and accuracy are ensured.

Description

technical field [0001] Embodiments of the present invention relate to three-dimensional measurement and positioning technology, and in particular to a non-contact three-dimensional measurement and positioning system, method and storage medium. Background technique [0002] With the rapid development of science and technology, there are more and more application requirements for non-contact 3D measurement and positioning methods, such as 3D positioning, 3D measurement, 3D reconstruction, target tracking, defect detection, etc., in physical profiling, automatic processing, machine vision , robot control, map construction and other fields have important applications. [0003] In the prior art, common non-contact three-dimensional measurement and positioning methods include: laser measurement and positioning methods, ultrasonic measurement and positioning methods, and visual measurement and positioning methods. Among them, the laser measurement and positioning method has a smal...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00G01C1/00
CPCG01B11/002G01C1/00
Inventor 黄以恺张强赵志强赵瑞欣任岭雪
Owner GUANGDONG BOZHILIN ROBOT CO LTD