102 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 relates to a measurement device that acquires measurement data obtained by measuring maintenance work by a worker by using a 3D sensor installed in a space in which maintenance work for a semiconductor manufacturing device is performed. The measurement device includes: an object identification unit 223 that identifies an object included in a raw data image acquired from a 3D sensor; a coordinate conversion unit 224 that acquires the position in space of the identified identification object; a work determination unit 225 that determines a work process being performed by a worker, on the basis of the movement of one or more identification objects; a region setting unit 226 that sets, in the raw data image, a region that can be output or cannot be output according to the work process; and a data limiting unit 227 that generates limited data in which a region of the raw data image that the region setting unit has set as a region that cannot be output is made invisible.

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.

The utility model discloses a steam turbine blade surface image acquisition system based on 3D visual path planning, which comprises an industrial robot unit, a product tooling platform unit, a surface data acquisition unit and a geometrical optics unit, and is characterized in that the surface data acquisition unit comprises a 3D sensor and a 2D industrial camera; the geometrical optical unit is formed by combining a plurality of optical light sources and illuminates the blade at different angles and under different illumination conditions, so that details and features of the surface of the blade can be highlighted, and the contrast ratio and definition of an image are improved. The system utilizes 3D visual path planning to guide the data acquisition unit to perform steam turbine blade surface image acquisition, can be widely applied to industrial detection and maintenance, can dynamically adjust the position and the angle of acquisition equipment, and can realize accurate path planning and multi-visual-angle fusion through accurate path planning and multi-visual-angle fusion. And the data acquisition system is guided to realize comprehensive and accurate image acquisition of the blade surface.

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 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.

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.

A confocal three-dimensional sensor (22) for measuring height of a point on an object (10) is provided. The sensor (22) includes a light source (2) and a light source modulator (16) configured to temporally modulate the light source intensity. A source pinhole aperture (4) is positioned to be illuminated by the light source (2) and a focus-tunable lens (8) is configured to focus illumination passing through the source pinhole aperture (4) onto the object (10). A detector pinhole aperture (12) is configured to receive reflected light from the object (10), wherein the focus-tunable lens (8) is configured to image the reflected light from the object (10) onto the detector pinhole aperture (12). A detector (14) and integrator (15) are configured to output a measurement indicative of total light transmitted through the detector pinhole aperture (12). A processor (20) is operably coupled to the detector (14), integrator (15), and light source modulator (16). The processor (20) is configured to synchronously cause the light source modulator (16) to modulate light source intensity while causing the focus tunable lens (8) to sweep axial focal position, the processor (20) being further configured to calculate a height of the point on the object (10) based on the output from the detector (14) and integrator (15).

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 present application provides a tire sidewall engraving device, method and readable storage medium. The device includes a loading layer, a scanning layer and an engraving layer arranged in sequence from bottom to top, wherein: the tire to be processed is placed at the loading layer; a double-track synchronous gantry slide is provided at the scanning layer, and along the direction facing the tire sidewall on the slide, a plurality of 3D sensors for collecting the point cloud of the tire sidewall are provided; a laser engraving head is provided at the engraving layer, and the laser engraving head is used to project etching laser onto the engraving position on the tire sidewall under the drive of a controller. The present invention uses laser to engrave on the side of the already formed tire, which can effectively avoid the occurrence of poor operation caused by manual operation, accurately perform laser engraving on the position of the tire sidewall that needs to be engraved, improve the tire production quality, and at the same time greatly improve the engraving efficiency of the tire sidewall, which is beneficial to ensuring the consistency of the product.

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.

The technology disclosed relates to creating user-defined interaction spaces and modalities in a three dimensional (3D) sensor space in response to control gestures. It also relates to controlling virtual cameras in the 3D sensor space using control gestures and manipulating controls of the virtual cameras through the control gestures. In particular, it relates to defining one or more spatial attributes of the interaction spaces and modalities in response to one or more gesture parameters of the control gesture. It also particularly relates to defining one or more visual parameters of a virtual camera in response to one or more gesture parameters of the control gesture.

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.