85 results about "3d sensor" patented technology

An apparatus may be configured to perform a perception task based on features fused with height information. The apparatus configured may generate 3D sensor features from data from one or more sensors, generate a plurality of height maps from the 3D sensor features at a plurality of times, generate a height gradient map from the plurality of height maps, fuse the 3D sensor features and the height gradient map to generate height informed fused features, and perform the perception task using the height informed fused features.

Method and apparatus for a 3D sensor having die Hall element clusters located on first and second die. In an embodiment, a sensor IC package includes a first die having first, second, and third Hall clusters having different axes of magnetic field sensitivity and a second die having a fourth Hall cluster having sensitivity in the first and third axes of sensitivity. The sensor provides 3D field sensing for stroke, end of shaft and side shaft sensing applications.

A method and a system are disclosed for maintaining accuracy of a photogrammetry system comprising a stereo pair of cameras and characterized by calibration parameters determined at initialization, the system for tracking one of a touch probe and a 3D sensor, the method comprising in use, continuously detecting a presence of a reduced number of 3D target points comprising at least one pair of 3D target points selected in a group comprising at least two 3D target points; measuring image position data associated with the at least one pair of 3D target points of the reduced number of 3D target points; computing at least one updated calibration parameter using the measured image position data and corresponding reference distance data associated with the at least one pair of 3D target points of the reduced number of 3D target points; and updating at least one calibration parameter of the photogrammetry system.

The present application belongs to the technical field of construction engineering equipment, and specifically relates to a ring area steel mesh hole positioning test device and method based on 3D vision. Mainly includes the following contents: the 3D sensor is driven to scan the steel mesh through a rotating mechanism, and a steel mesh point cloud image is obtained; the steel mesh image is subjected to binaryzation processing, facilitating subsequent image analysis; the steel mesh image is skeletonized by using a 3D refinement algorithm, and a steel mesh skeleton is extracted; the neighborhood integral algorithm is used to find a steel intersection point set; the least square sphere fitting algorithm is used to fit and position a steel binding point; and the Varignon parallelogram method is used to position a steel mesh center hole. The method reduces the consumption of manpower, improves the construction efficiency, and helps to realize the automation and intelligentization of steel mesh area concrete construction.

The invention relates to a displacement sensor, for example as used in 3D sensors for measuring the three-dimensional shape of an object. A diffraction grating is used to reduce the angle of incidence of measurement light on a light sensor, such as an image sensor, thereby improving the performance of the light sensor. The displacement sensors of the present invention include sensors based on triangulation and coaxial sensors.

This invention belongs to the field of physical testing, specifically relating to an automated detection system for surface defects on a 3D sensor protective film. The system includes an acoustic-thermal excitation device, a thermal imaging sensing unit, an optical coherence tomography (OCT) scanning device, and a data processing and analysis terminal. The acoustic-thermal excitation device emits a focused ultrasonic beam onto the protective film surface to generate an acoustic-thermal effect; the thermal imaging sensing unit captures the spatiotemporal attenuation characteristics of the surface temperature field and generates a two-dimensional thermal diffusion feature map; the OCT scanning device adaptively acquires a three-dimensional structural cross-sectional image of the protective film based on the hotspot location; the data processing and analysis terminal performs spatial alignment and pixel-level fusion of multimodal data, and uses a deep neural network to identify defects. Through the above technical solution, this invention achieves non-contact, non-destructive, high-precision detection, balancing detection efficiency and accuracy. It can accurately identify deep, minute defects under complex coatings and predict the impact of defects on optical performance.

A 2D area array camera-line laser 3D sensor joint calibration method, comprising: establishing a 3D coordinate system of the line laser 3D sensor, and obtaining 3D coordinates of a light bar point on the 2D area array camera; placing a target at a common measurement position, and allowing the 2D area array camera to acquire images of intersection lines of three sets of laser plane and cylinders and the image coordinates of three sets of laser light bars respectively; calculating 3D coordinates of the light bar point in a 2D area array camera coordinate system, and calculating three ellipse center position coordinates; directly acquiring 3D coordinates of three sets of laser light bars in the 3D sensor coordinate system from the line laser 3D sensor, and calculating three ellipse center position coordinates; and calculating a conversion distance between two coordinate systems.

A method and system for registering a 3D sensor with an autonomous manipulator is provided. The 3D sensor has a field of view and a sensor coordinate system. The autonomous manipulator is a vision-guided manipulator having a work envelope and a manipulator coordinate system. The method includes moving a registration target relative to the sensor in the field of view of the sensor in the work envelope to obtain a plurality of depth maps or images of the target. The depth maps or images are processed to obtain a plurality of extrinsic registration parameters between the manipulator and the sensor.

An embodiment sealer work automation system includes a robot configured to perform a brushing work of spreading a sealer applied to a joint by moving a brushing work tool to a work location of an under body, a three-dimensional (3D) sensor mounted on the robot and configured to photograph a work portion of the joint to acquire 3D data, a residual sealer remover configured to remove a residual sealer by applying a physical force to a brush of the brushing work tool contaminated after the brushing work, a robot path generator configured to generate a robot path for the brushing work by matching the 3D data received from the 3D sensor and design data for the brushing work of the joint, and a robot controller configured to control an overall operation of the robot and to control the brushing work of the robot based on the robot path.

An AI model generation device (2) is provided with: a captured image data storage unit (211) for storing image data of a 3D image obtained by capturing an image of a welding site by means of a 3D sensor (36); a processor (22) specifies a correction region on an XY coordinate plane of image data stored in a captured image data storage unit (211) on the basis of an input to a first input device (24) by a user, and corrects a Z coordinate of the correction region of the image data stored in the captured image data storage unit (211) to a value in a state in which there is no welding defect. And acquiring the corrected image data as image data used in machine learning.

The invention discloses an automatic detection device for surface defects of synthetic leather, and belongs to the technical field of synthetic leather production lines. The front cleaning mechanism is arranged on the synthetic leather body for cleaning before the detection process, so that defects are exposed; the defect detection and recognition assembly is erected above the conveying mechanism and comprises a linear array camera directly facing the to-be-detected synthetic leather body, a thermal infrared imager arranged side by side with the linear array camera and a laser triangulation 3D sensor located on one side of the linear array camera and the thermal infrared imager and capable of adjusting the angle according to measurement requirements; and the flattening mechanism is arranged above the synthetic leather body, and the flattening mechanism can flatten elastic wrinkles and curls generated due to self elasticity or internal stress release of the synthetic leather body so as to assist identification and detection of the defect detection and identification assembly. Through the design of the front cleaning mechanism, the surface of the synthetic leather is cleaned more thoroughly, and the detection accuracy is improved.

The present application relates to a kind of based on 3D vision splicing calibration method and size detection system, it is related to machine vision technical field;Splicing calibration method, comprising: according to different depth camera scanning standard plane calibration piece, obtain corresponding calibration piece depth map;The calibration point of the calibration piece depth map is detected, corresponding image flatness is calculated and judged, and read several image point coordinates;According to the actual point set of different depth camera under the same reference coordinate system, the inter-camera transformation matrix is calculated;According to the inter-camera transformation matrix, complete all depth image splicing of rephotographing, and the workpiece size of the standard plane calibration piece is calculated;According to workpiece size, two or more 3D sensor is calibrated and workpiece image is collected, then multi-view workpiece image is fused, realize fast splicing and engineering size accurate detection, can satisfy the high-precision size detection of various product features.

Embodiments of the present disclosure relate to a sensor apparatuses with stacked metasurfaces suitable for small form factors. The apparatus is a sensing apparatus operable to be used in sensing applications. The apparatus includes a light source and an optical device. The optical device includes multiple metasurfaces. The optical device includes a collimation metasurface disposed on a substrate to collimate one or more laser beams from the light source. The one or more laser beams propagate through the substrate to a diffractive metasurface. The diffractive metasurface diffracts the collimated one or more laser beams into diffraction beams.

This invention discloses a control circuit for a white light interferometric 3D sensor system, relating to the field of 3D sensor technology. It includes a power module, an ARM main control module, an input / output module, a network module, a camera trigger module, a stepper motor drive module, a laser LD drive module, and a grating ruler encoder receiving module. This invention employs an Arm + 50nm grating ruler decoding + 2µm stepper motor control + laser LD drive + high-speed trigger camera control system. This circuit eliminates the need for a professional motion control card, ultra-high precision, high-cost motion platform, servo / linear motors, etc. Through a self-implemented motion control algorithm within the ARM processor, it only requires a conventional stepper motor and high-precision grating ruler feedback to achieve the requirement of rapid nanometer-level position triggering for image acquisition. This also achieves miniaturization, low cost, and high precision in circuit board installation, reducing the requirements for process assembly.

The invention relates to a splicing calibration method based on 3D vision and a size detection system, and relates to the technical field of machine vision. The splicing calibration method comprises the following steps: scanning a standard plane calibration piece according to different depth cameras to obtain a corresponding calibration piece depth map; detecting calibration points of the calibration piece depth map, calculating and judging corresponding image flatness, and reading coordinates of a plurality of image points; calculating a transformation matrix between the cameras according to the actual point sets of the cameras at different depths under the same reference coordinate system; splicing all re-shot depth images according to the inter-camera transformation matrix, and calculating the workpiece size of the standard plane calibration piece; two or more 3D sensors are used for calibrating and collecting workpiece images according to the workpiece size, then multi-view workpiece images are fused, rapid splicing and precise engineering size detection are achieved, and high-precision size detection of various product features can be met.

To provide a monitoring system which can be operated without stopping an object detection function even when work in a monitoring area is scheduled.SOLUTION: The monitoring system of the present example includes a 3D sensor 20 for detecting an object present in a monitoring area and a server 40 for detecting the object in the monitoring area based on point cloud data acquired by the 3D sensor 20, and a specific person (for example, a worker) whose action in the monitoring area is permitted is requested to wear a predetermined reflector, and the server 40 determines whether or not the object in the monitoring area is the specific person based on a reflection intensity of a point cloud included in the point cloud data.SELECTED DRAWING: Figure 1

The invention discloses an omnidirectional structured light 3D sensor calibration method and system based on model-free learning, and the method comprises the steps: synchronously collecting image data of an omnidirectional camera and a measurement sensor, carrying out the multi-camera coordinate alignment of the measurement sensor, and building a unified reference coordinate system; in a unified reference coordinate system, light plane calibration is carried out, and a light plane equation in a measurement sensor coordinate system is obtained; based on the light plane equation, a 2D-3D corresponding data set between the omnidirectional camera and the measurement sensor is constructed, and the data set comprises a sample pair composed of two-dimensional pixel points in an omnidirectional camera image and three-dimensional coordinate points corresponding to the two-dimensional pixel points in a measurement sensor coordinate system; and based on the 2D-3D corresponding data set, training an end-to-end deep learning model, and learning a direct mapping relation from the image coordinates of the omnidirectional camera to the 3D coordinates of the measurement sensor to complete calibration. According to the invention, a general calibration framework without an explicit physical model is realized.

Devices, methods, and systems for aircraft detection, tracking, and docking using three-dimensional sensor data are described herein. One method includes capturing, by a light detection and ranging (LIDAR) sensor, LIDAR sensor data of an aircraft while the aircraft is approaching a docking area of an airport, receiving, from the LIDAR sensor, the sensor data of the aircraft while the aircraft is approaching a docking area, retrieving, by a computing device, a simulated two-dimensional image of the aircraft generated based on simulated data of the aircraft, tracking, by the computing device, a position of the aircraft while the aircraft is approaching the docking area using the LIDAR sensor data and the simulated two-dimensional image, and displaying an image including the position of the aircraft while the aircraft is approaching the docking area to provide navigation guidance to a pilot.

The embodiment of the invention provides a 3D projector, a 3D sensor system and electronic equipment. The 3D projector comprises a light source, an optical projection assembly, a switchable transparent sheet and a driving mechanism, the optical projection assembly is arranged on a light emitting path of the light source and is used for carrying out collimation and diffraction copying on light emitted by the light source; the driving mechanism is configured to be used for driving the transparent sheet to move in or out of a light path between the light source and the optical projection assembly; when the transparent sheet moves out of the light path, light emitted by the light source forms a dot matrix pattern after passing through the optical projection assembly. When the transparent sheet moves into the optical path, the transparent sheet changes the optical path from the light source to the optical projection assembly, so that light emitted by the light source forms a floodlight pattern after passing through the optical projection assembly.

A red glue thickness measuring device of solder paste detection equipment comprises a solder paste detection equipment body, a built-in optical camera and a motion control system. The 3D coaxial line confocal sensor is fixedly mounted on the side of the optical camera, and a preset offset distance is kept between the 3D coaxial line confocal sensor and the central axis of the optical camera; in conclusion, the position of the red glue on the PCB is quickly scanned and identified by the optical camera, and key parameters such as the thickness, the width and the volume of the red glue are accurately measured by the 3D sensor, so that the coating quality is ensured; meanwhile, the system monitors environment temperature and humidity and vibration conditions in real time, dynamically corrects measurement errors, and improves detection accuracy; according to the utility model, the production efficiency is improved, manual intervention is reduced, defects can be timely found and marked, subsequent assembly faults caused by quality problems are effectively avoided, and the product quality and the automation level of a production line are greatly improved.

Embodiments of the present disclosure relate to a method and system for determining a path for machining a workpiece. The method comprises: causing a manipulator (12) of the industrial robot (10) to assume a plurality of different postures; causing a 3D sensor (20) mounted on the robot (12) to capture point cloud data of the workpiece (30) when the robot (12) assumes a respective different pose, one of the workpiece (30) and the 3D sensor (20) being mounted on the robot (12), the other of the workpiece (30) and the 3D sensor (20) being placed on the table (50); splicing the obtained point cloud data under the plurality of attitudes; and generating a path for machining the workpiece (30) based at least in part on the spliced point cloud data.

The invention relates to the field of optical measurement devices, in particular to displacement sensors, 3D sensors for measuring the position and / or shape or thickness of a measurement object or roughness sensors for measuring the roughness of the surface of an object. Measurement light is projected onto a measurement object after filtering by a first Fabry-Perot filter such that at each point in a measurement plane, the filtered measurement light has a locally unique wavelength or combination of wavelengths in at least one direction in the measurement plane. Measurement light reflected from the surface of the measurement object is filtered by a second Fabry-Perot filter in order to filter out measurement light not reflected from the intersection of the measurement object with the measurement plane.

The invention relates to an airport vehicle with a collision avoidance system and a method for operating the vehicle. The vehicle comprises a distance sensor, a 3D sensor system comprising two independent 3D sensors, a brake activation system arranged for activating the braking system of the vehicle, an operator visual indication system, and a collision avoidance processing system for controlling the visual indication system in dependence of sensing parameters from the distance sensor and the 3D sensors, and for controlling the brake activation system in dependence of the sensing parameters, such that the visual indication system and the brake activation system are activated when a predetermined minimum distance is sensed by the distance sensor, and the visual indication system and / or the brake activation system are activated when an aircraft part is sensed by the 3D sensors; wherein the brake activation system is arranged to control the braking system of the vehicle independently of any control or activation of the drive train of the vehicle.

The application belongs to the technical field of computer vision, and particularly relates to a multi-target tracking method; on the basis of a classic Kalman filter + Hungarian algorithm, a unique PoDe-SORT framework is proposed, element-wise fusion of a width-height ratio representing the posture of a target with a standard IoU, construction of a deep iterative layered correlation process from fine granularity to coarse granularity based on pseudo-depth, and the like, so that a lightweight PoDe-SORT based on 2D sensor data operation with smaller calculation amount is realized while the robustness is improved. Overall, the application can realize the effect of target tracking based on 3D sensor information with small calculation amount, and has high robustness, strong operation rationality, small deformation error and high scene applicability.

The present invention provides a screw detection system capable of appropriately detecting the position and orientation of a male screw, a screw fastening system equipped therewith, and a screw detection method. [Solution] The screw detection system comprises a 3D sensor and a processing circuit. The processing circuit generates a brightness distribution image of male screws with different brightness levels depending on the distance from distance data, generates a second derivative image by taking the second derivative of the brightness distribution image, generates a third derivative image by taking the third derivative of the brightness distribution image, calculates the logical AND of the second derivative image and the third derivative image to generate an edge extraction image showing the brightness distribution at the top of the screw threads of the male screw, converts the brightness values ​​in the edge extraction image into 3D point cloud data for distance, performs a cylinder fitting process to fit a cylinder model with a preset outer diameter to the 3D point cloud data, and determines the position and orientation of the central axis of the cylinder model after the execution of the cylinder fitting process as the position and orientation of the central axis of the male screw.

The invention relates to the field of fixed-frequency washing machine dehydration eccentricity detection, in particular to a fixed-frequency washing machine eccentricity detection system and method and a fixed-frequency washing machine. The eccentricity detection method comprises a sampling step: in the process of starting a motor of the fixed-frequency washing machine, continuously or discontinuously collecting current signals of the motor; and a processing step: according to the current signal, acquiring a slope k of a curve of the current of the motor changing with time and / or acquiring a fluctuation value of the current of the motor in a corresponding moment, and comparing the slope k and / or the fluctuation value with a slope threshold value and / or a fluctuation threshold value so as to output an eccentric signal of the inner barrel of the constant-frequency washing machine. The eccentricity detection system comprises a sampling module and a processing module which are electrically connected with each other and are used for executing the method. According to the eccentricity detection system, the detection method and the fixed-frequency washing machine, a traditional 3D sensor or a ball switch or a barrel collision safety switch and installation steps thereof can be omitted, and the cost is lower.

The application provides an optical monitoring system and method for quality detection, the system comprising: an imaging module comprising at least one camera and a 3D sensor for collecting image data and three-dimensional topography data of a dispensing area; an illumination module comprising at least two light sources with different incident angles or different polarization states for providing adjustable illumination to the dispensing area to enhance the contrast between the glue and the background; a synchronous control module configured to synchronously trigger the imaging module and coordinate the light source switching of the illumination module; and a processing module connected with the imaging module and the synchronous control module, configured to perform fusion processing on the synchronously collected image data and three-dimensional topography data, and judge the dispensing quality based on the fusion result. The technical scheme of the application can realize high-precision online automatic dispensing quality detection.

A control system 1 detects work information indicating the position and the shape of a wrapper 4 wrapping a sheet bundle 14A by using a 3D sensor 6, identify the location of a side surface of the wrapper 4 by using the detected work information, control an arm 2 so that a knife 8B attached to the arm 2 moves along the outlines of sheets 14 on the identified side surface of the wrapper 4, and removes the sheet bundle 14A from the wrapper 4 opened by the knife 8B by causing the arm 2 to grip the sheet bundle 14A exposed outside the wrapper 4.

The invention relates to the technical field of 3D (three-dimensional) sensors, and discloses a high-precision high-magnification imaging method for a 3D line laser sensor, which comprises the following steps: a light ray enters a first lens with a narrow-band coating film, and the light ray with non-405nm wavelength is filtered and then enters a second lens, so that the light ray is gathered; the gathered light enters the third lens to reduce the distortion of the light, and then sequentially enters the fourth lens, the diaphragm and the fifth lens to optimize the incident angle of the light; light emitted from the fifth lens enters the sixth lens, spherical aberration caused by the first lens, the second lens, the third lens, the fourth lens and the fifth lens is effectively compensated through the sixth lens, the light is deflected, and the angle when the light is emitted is reduced; the light emitted from the sixth lens sequentially enters the seventh lens and the eighth lens to deflect the light angle; light emitted from the eighth lens sequentially enters the first reflective mirror and the second reflective mirror, so that the total length of the high-precision and high-magnification imaging lens is shortened, and the light receiving efficiency is improved by controlling the angle at which the light enters the CMOS.