680 results about "Laser line" patented technology

The invention belongs to the technical field of three-dimensional measurement, and discloses a 3D laser line scanning system based on a point cloud positioning algorithm and a control method. The method comprises the following steps: acquiring environment initial point cloud data and scanning target information; carrying out feature extraction, constructing an environment feature description model, carrying out three-dimensional space partitioning processing, carrying out regional reflectivity feature analysis, and constructing a space reflection feature model; adaptive optimization configuration is carried out on the laser scanning parameters, and a scanning strategy is generated; scanning path dynamic planning is carried out on the scanning target information, scanning density distribution calculation is carried out, and a scanning path is generated; performing laser line scanning control by using the scanning path and the scanning strategy, and performing scanning data quality real-time monitoring to obtain scanning quality evaluation data; scanning parameter iterative optimization is carried out on the scanning quality evaluation data, point cloud data real-time fusion reconstruction is carried out, a high-precision three-dimensional model is generated, the modeling precision is improved, and meanwhile the system resource utilization efficiency is optimized.

The invention provides a steel plate surface defect detection method and system based on multi-source data fusion, and relates to the technical field of steel production automatic detection.The method comprises the steps that water stain pretreatment is conducted on the surface of a steel plate, the residual humidity is reduced to be below a preset low humidity threshold value, and a dry surface is obtained; based on the dry surface, collecting multi-source data through a 3D laser line scanning camera and a 2D industrial line scanning camera which are synchronously triggered, obtaining line scanning laser point cloud data, a line scanning reflectivity gray level image, a line scanning depth gray level image and an area array reflectivity color image, and establishing a space corresponding relation among the multi-source data; and forming a multi-source data set based on the spatial correspondence among the multi-source data. According to the method, a high-precision and high-robustness steel plate surface defect detection system covering the whole detection process is constructed by eliminating water stain interference, unifying a multi-source data reference, optimizing data quality, accurately identifying defects and realizing automatic feedback and data closed loop.

The invention relates to the technical field of 3D vision measurement, and discloses a 3D binocular line laser weld contour data acquisition method and system. Two core steps of obtaining surface reflection characteristic information of a to-be-scanned area and adjusting output intensity of laser rays projected by a line laser device at different positions of the to-be-scanned area according to the surface reflection characteristic information are introduced, so that the problem that when a high-reflection welding seam is processed by a traditional method, the laser rays cannot be projected by the line laser device is effectively solved; the problem of image overexposure or underexposure caused by dramatic change of illumination characteristics is solved.

The invention discloses a depth and color fused true color three-dimensional point cloud acquisition method and system, and the method comprises the steps: setting a plurality of lasers to emit specific spectrum laser, enabling the specific spectrum laser to be reflected by the surface of an object, and filtering the specific spectrum laser through a narrow-band optical filter of a corresponding wave band, thereby enabling a corresponding sensor to only receive a single-spectrum laser line emitted by a corresponding laser emitter. A laser center point position and an intensity response value are extracted through a sub-pixel-level laser line refinement technology; calibrating the unified measurement coordinate system through sensor pose calibration; according to the light transmittance of an optical filter, spectral response characteristics of an image sensor and the like, correcting and compensating the intensity response value, calculating a compensation factor to obtain a color value of a measurement point, fusing a three-dimensional coordinate with corrected color information, outputting true color point cloud data, and presenting depth and color information of an object at the same time. The three-dimensional information and the color information of the object are synchronously obtained, so that the measurement data contain rich spectral characteristics.

The invention relates to the technical field of underwater operation equipment, solves the problems that existing dam underwater crack repairing depends on divers or complex equipment, the automation degree is low, the construction period is long, the comprehensive cost is high and the adaptability is poor, and particularly relates to concrete dam underwater crack repairing and leaking stoppage equipment which comprises a robot for underwater cruise, and the robot comprises a machine body; the cruise vision module comprises a foresight navigation lens group, a look-around lens group, a bottom wide-angle lens, an active illumination system, an obstacle avoidance sonar system and a topographic mapping sonar; the crack detection module comprises a crack scanning ultrasonic detector, a high-resolution strip-shaped scanning lens group, a laser ray scanner, a multispectral imager, a laser distance measuring sensor, a water flow sensor and an attitude sensor, the crack repairing module comprises two groups of mechanical arms for punching and grouting, and the central controller controls the robot to execute. Crack filling, structure bonding recovery and long-acting sealing are achieved, and meanwhile the construction difficulty and the comprehensive cost are reduced.

Provided is a handheld device and a method for detecting weld defects on a weld surface. The handheld device projects a thin beam laser light on the weld surface using a laser emitter. A processor receives the projected thin beam laser light from a laser receiving sensor, which indicates captured contours of the weld surface. The captured contours are processed to filter laser lines and extract contours. The extracted contours are utilized to classify a type of weld surface such as, surface joints, butt joints, corner joints, and tee joints. The processor, upon classifying, automatically adjusts angle and position of the laser light to be projected on the weld surface and detects deviation patterns by employing an ensemble of a laser line extraction process and a pixel width measurement process. The processor determines the detected deviation patterns as one or more defects on the weld surface that is being inspected.

The invention provides a hand-eye calibration method for improving tracking and positioning precision of a line laser contourgraph, which comprises an execution mechanism, the line laser contourgraph, a calibration plane and a calibration block, and comprises the following steps of: adjusting the line laser contourgraph to be vertical to the calibration plane and a laser line to fall on a calibration straight line; collecting a blind area information set for calibration; obtaining an original point of the line laser contourgraph; obtaining a laser angular bisector direction of the line laser contourgraph; and obtaining a coordinate system conversion relation between the line laser contourgraph and the tail end of the execution mechanism. According to the technical scheme provided by the invention, the position of the calibration block in the laser plane of the laser contourgraph is adjusted to form a blind area shielded by the laser, so that the coordinate system transformation matrix of the laser of the line laser contourgraph and the coordinate system of the execution mechanism is calibrated, and the laser position posture of the line laser contourgraph is accurately controlled; high-precision calibration objects do not need to be customized, and operation is easy and convenient.

The application discloses a parallel laser line scanning device and a method for measuring crack width and spalling area. The device includes a laser source configured to emit two beams of laser light in parallel to each other to scan a surface; a camera configured to collect an image of the scanned surface, and the camera comprising a lens and an image sensor; a positioning rod; and a controller configured to process an image of scanned surface to obtain a pixel scale of a crack or three-dimensional coordinates of contour points of a spalling, and determine an actual crack width in the scanned surface according to the pixel scale of the crack, or determining an actual spalling area according to the three-dimensional coordinates of the contour points of the spalling. The device facilitates faster and more objective evaluations of building conditions, contributing to improved structural health monitoring and maintenance decision-making.

The invention relates to the technical field of machine vision detection, and particularly discloses a high-temperature medium-thickness steel plate contour detection device which comprises a detection room, the detection room is arranged above a roller way, and an industrial air conditioner is arranged in the detection room; a first window and a second window are arranged at the bottom of the detection room, bottom-layer optical glass is mounted at the first window and the second window, a linear array camera mechanism and an area-array camera mechanism are arranged in the detection room, the linear array camera mechanism is arranged corresponding to the first window, and the area-array camera mechanism is arranged corresponding to the second window; a laser and a velocimeter are mounted on the area-array camera mechanism, a laser line of the laser on the steel plate is in the advancing direction of the steel plate, and the laser line of the laser and a laser point of the velocimeter are on the same straight line; and heat insulation cotton is arranged on a room body of the detection room. The detection room is installed above the roller way, all components for detection are installed in the room, maintenance and installation are implemented in the room, walking safety of personnel is guaranteed, and the dustproof problem can be solved.

The invention relates to the technical field of precision measuring instruments, and particularly discloses an automatic leveling system of a multi-axis laser gradienter for decoration construction, which adopts an intelligent leveling mechanism based on magnetorheological fluid to overcome the defects of the traditional leveling method in speed, precision and environmental adaptability. Rapid switching from coarse adjustment to fine adjustment is realized through an unconstrained attitude upper platform generation module, a real-time approaching horizontal signal acquisition module, a non-uniform guide magnetic field generation module, a rigid support structure formation module and the like. The method comprises the following steps of: performing large-range passive self-leveling through gravitational potential energy by utilizing the phase change of magnetorheological fluid between a liquid state and a semi-solid state, and realizing high-precision active leveling through the guidance of a non-uniform magnetic field to finally form a rigid integrated support structure to isolate vibration and project high-stability reference laser rays; the leveling efficiency and the anti-interference capability are remarkably improved, the manufacturing cost is reduced, and the high-precision positioning and leveling requirements under the complex construction environment are met.

The invention relates to the field of golf, in particular to a portable multi-eye golf real-time detection and measurement method and equipment and electronic equipment. The method comprises the following steps: carrying out coupling calibration on a laser line direction and a camera coordinate system, and establishing a reference direction of measurement; acquiring a ball position based on the reference direction, judging whether the ball position is within a preset ball hitting range or not, and if yes, adjusting each camera and each auxiliary lighting device to be in a preset first working mode according to the ball position and a preset ball hitting mode; the ball hitting process is monitored, state information at different moments is screened according to a preset comparison rule, multi-view image data associated with state change moments are stored, and the state information comprises club state information, ball state information and environment state information; according to the multi-view image data and a preset image processing algorithm, calculating a three-dimensional space position including a sphere, a ball rod and an environment; and according to the three-dimensional space position and a simulation algorithm, acquiring flight data of the sphere and outputting the flight data.

The invention provides a workpiece thickness detection method which is applied to the field of workpiece thickness detection, and the method comprises the steps: building a workpiece thickness detection device, and calculating the internal parameters and external parameters of two area array cameras; laser is projected on the calibration plate, the calibration plate is moved in a plurality of spaces, and laser line images of the four line lasers on the calibration plate are captured through the two area-array cameras respectively; obtaining point cloud information of the upper surface and the lower surface of the workpiece based on the laser line image and the internal parameters and the external parameters of the two area-array cameras; three-dimensional fitting is conducted according to the point cloud information of the upper surface and the lower surface of the workpiece, an upper surface plane equation of the workpiece and a lower surface plane equation of the workpiece are obtained, real-time thickness detection in the workpiece production process can be achieved, especially detection under the abnormal conditions such as inclination and swinging of the workpiece can be achieved, and the detection system has high accuracy.

A fillet weld identification method based on image feature point iterative processing solves the problems of accuracy and robustness of weld identification, and comprises the step of respectively carrying out iterative processing on all fillet weld images with laser lines. The method comprises the following processing steps: carrying out angular point detection on a binary image, obtaining the initial position of an image feature point, segmenting the binary image into a group of regions, setting that each region has only one section of linear laser line, fitting a straight line in each region by using a least square method, and obtaining a linear model of the region; and determining the intersection point of the straight lines in the adjacent areas as a new image feature point, re-segmenting the image by using the new image feature point, carrying out iteration to identify and update the image feature point, terminating iteration when the change of the position of the image feature point is smaller than a specified threshold value, and splicing the welding path welding spots corresponding to all the image feature points into a line according to the image sequence. The method has the beneficial effect that the welding seam position can be identified more accurately. The method can adapt to subtle changes of the welding seam, and the robustness of an identification system is enhanced.

The invention relates to the technical field of image processing, in particular to a machine vision-based real-time detection method for straightening a super-long linear guide rail, which comprises the following steps of: acquiring a laser image, acquiring the probability that each pixel point in the laser image belongs to an optical center line, and calculating the optical center line according to the probability that each pixel point on a first frame of laser line belongs to the optical center line; acquiring a starting point of an optical center line; obtaining the direction change degree of each pixel point on each frame of laser line according to the degree that the pixel point on each frame of laser line deviates from the starting point of the optical center line; according to the direction change degree and the probability of each pixel point belonging to the optical center line, the final probability of each pixel point belonging to the optical center line on each frame of laser line is obtained, the pixel points corresponding to the maximum value of the final probability belonging to the optical center line on each frame of laser line are connected to obtain the optical center line, and the optical center line serves as a guide rail center line. According to the method, the accuracy of contour extraction of the automobile plate is improved.

The invention discloses a single-line laser medium plate surface flatness measuring method and system, and belongs to the field of metallurgical equipment intellectualization, and the method comprises the steps: obtaining a laser line image of a to-be-measured medium plate, the laser line image being an image obtained by carrying out laser line projection on the medium plate through line lasers in the longitudinal direction and the transverse direction; collecting a cross point of the projected laser rays in two sequentially adjacent laser ray images, and correcting according to the cross point of the projected laser rays; performing image preprocessing on the laser line image, performing laser contour line extraction on the preprocessed laser line image, and obtaining an area surrounded by the extracted laser contour line; according to the area surrounded by the extracted laser contour line and the standard area, the surface straightness of the medium-thickness plate is obtained through calculation; the calculation precision and stability of the straightness of the medium-thickness plate are improved.

The invention relates to a metal surface weld feature positioning method and system based on polarization imaging, and the method comprises the steps: collecting a plurality of polarization information images of a metal surface in different polarization directions, and calculating the Stokes parameter images of the polarization information images; processing the plurality of polarization information images to obtain strong reflection light component images; segmenting the strong reflection light component image to obtain an initial target laser line image; segmenting the second Stokes parameter image to obtain an initial background laser line image; performing morphological operation on the initial background laser line image to obtain a final background laser line image; performing logical operation on the initial target laser line image and the final background laser line image to obtain a final target laser line image; and reconstructing a laser line track and positioning welding seam feature points. According to the method, the dependence of the traditional technology on a large number of manual parameters is avoided, and the robustness, the adaptive capability and the generalization performance in the complex illumination and reflection environment are greatly improved through the adaptive image processing flow.

The invention provides an anti-pinch flat thin-walled tube cutting jig, a sawing machine and a method. The jig comprises a clamping seat, a semicircular sleeve and a laser transmitter, the clamping seats are symmetrically and fixedly arranged on a jaw of the bench clamp and are used for assembling the jig on the bench clamp; each semicircular sleeve is of a half-section structure, a semicircular arc-shaped containing cavity is formed in each semicircular sleeve, the arc diameter of each semicircular arc-shaped containing cavity is matched with the outer diameter of a thin-walled pipe to be cut, and when the two semicircular sleeves are folded, the thin-walled pipe is wrapped and clamped, and a cutting gap is reserved; the back of the semicircular sleeve is connected with the clamping seat, and the semicircular sleeve is fixed to the lower portion of the clamping seat in a cantilever mode. The laser transmitter is arranged at the top of the clamping base and used for transmitting cross-shaped laser rays to judge clamping of the thin-walled tube. The semicircular sleeve provides uniform and firm radial support for the thin-walled tube, and huge clamping force of the bench clamp is dispersed to the whole semicircular sleeve, so that plastic deformation and flattening caused by the fact that the clamping force directly acts on the thin-walled tube are avoided, and the technical problem of deformation and flattening during cutting of the thin-walled tube in the prior art is effectively solved.

A surface inspection system can be provided with a laser spot size or a laser line width that is selectable based on a measurable aspect of the objects under test that project upward or downward from a surface under test. The larger laser spot size or line width can be selected to cover a larger area of the surface under test at a time, which can increase scanning speed over the surface under test and enhance system measurement throughput.

This application discloses a method and related equipment for online planning of welding gun posture for multi-layer and multi-pass external welding of pipelines. This method belongs to the technical field of intelligent welding and includes obtaining a laser line image and welding gun posture data of the pipeline welding groove; extracting characteristic pixel points from the laser line image; converting it into a three-dimensional point cloud by detecting a mathematical model and fitting it to obtain a three-dimensional welding groove diagram; using the three-dimensional welding groove diagram and welding gun posture data to calculate the welding groove size parameters, welding gun posture parameters, and the posture parameters of the workpiece to be welded, thereby determining the welding gun posture planning value; performing the current pass of filling welding along the welding groove according to the welding gun posture planning value, while simultaneously detecting and correcting the real-time welding gun posture value in real time; replanning the welding gun posture parameters during the return process; and after completing multiple passes of filling welding, controlling the welding gun to perform a cover weld on the welding groove to complete the pipeline external welding. It can be seen that this method can achieve better welding results.

The invention relates to a line laser contourgraph data consistency evaluation method and device which are applied to the field of optical precision measurement, and the method comprises the steps: obtaining point cloud data generated when a line laser contourgraph scans a measured plane of a measured target object; determining a spatial relationship between the measured plane and an ideal horizontal plane based on the point cloud data; determining an ideal horizontal plane based on an optical axis formed by a line laser profiler; constructing a rotation matrix between the original coordinate system of the point cloud data and the coordinate system of the ideal horizontal plane according to the spatial relationship between the measured plane and the ideal horizontal plane; correcting the point coordinate of the original laser line in the point cloud data through the rotation matrix to obtain the corrected point coordinate of the laser line; and evaluating the data consistency of the line laser contourgraph based on the corrected point coordinates of the laser lines. According to the invention, the problem that the accuracy of the consistency evaluation of the overall line laser data measured by the line laser contourgraph needs to be improved is solved.

The invention provides a multi-light-path spacing adjustment scribing control system and method for a perovskite scribing device. Aiming at the technical problems of insufficient multi-path laser line spacing uniformity, poor track following synchronism and low line width and line depth stability in perovskite solar cell laser processing, a control system is constructed by integrating a laser emission module, a visual positioning module, a light path spacing adjustment module, a track cooperative control module and a laser focus compensation module; by correcting the line spacing deviation and the track deviation in real time and dynamically adapting to the flatness change of the surface of the substrate, the processing defects caused by mechanical adjustment response lag, track dislocation and focus fixation in the traditional technology are effectively overcome, the line spacing uniformity, the track synchronization precision and the line width and line depth stability are obviously improved, and the production efficiency is improved. The dynamic line spacing switching response time is less than or equal to 1 second, the mass production requirement of large-size substrates can be met, and technical support is provided for efficient large-scale production of perovskite cells.

The invention discloses an underwater high-repetition-frequency pulse laser line scanning imaging system and method, and relates to the technical field of underwater laser imaging, a laser emission module is used for emitting high-repetition-frequency pulse laser and comprises a high-repetition-frequency pulse laser device with the working wavelength of 532 nm and a beam shaping module; wherein the light beam shaping module is composed of a double-axis cone mirror and a cylindrical mirror; the laser imaging module is used for carrying out large-depth-of-field imaging on target reflection echoes in a set time window, comprises a high-speed gating camera, an imaging lens and a narrow-band optical filter, and is constructed based on the Sammer imaging principle; and the synchronous control module is used for performing power supply communication and gating time sequence control to realize time sequence synchronization of the laser and the camera in the system. According to the invention, laser line scanning and range gating imaging technologies are combined, so that the method is suitable for long-distance and large-range environment detection, high-precision three-dimensional reconstruction of a short-distance target can be realized, and the definition, the signal-to-noise ratio and the applicability of underwater imaging are effectively improved.

The invention discloses an automatic welding process combining laser scanning with visual inspection. The process specifically comprises four working procedures of laser scanning before welding, automatic wire feeding, automatic welding and online tracking detection in welding. The specific implementation effects of each process are as follows: the pre-welding laser line scanner scans a weldment by emitting a laser beam to extract three-dimensional information of the weldment, so that a welding route is conveniently planned, and a walking route is fed back to the control cabinet; the control system can receive an instruction to control the driving system to carry out an automatic welding process, so that the welding gun reaches a specified position to carry out automatic welding; in the welding process, the infrared laser tracker dynamically tracks the welding gun, corrects the walking route and guides the compound eye camera to conduct visual inspection so as to judge the welding quality, and the machining targets that components at the welding seam connecting position are uniform, and the welding seam surface is high in quality and low in defect are achieved.

One example provides a laser measurement system comprising an alignment artifact attached to a global reference frame. The alignment artifact has features that define corresponding reference points. A controller is configured to obtain metadata comprising expected locations of the corresponding reference points for the features within a target view during a scan. The controller is also configured to obtain a raw point cloud of the alignment artifact within a scanner reference frame. The controller is further configured to determine scanned features from the raw point cloud, and locations of corresponding scanned reference points to form a set of scanned locations. The controller is also configured to determine a transformation matrix to transform coordinates between the scanner reference frame and the global reference frame based at least upon the set of expected locations, the set of scanned locations, and a common direction vector for a plurality of laser line scanners.

The invention belongs to the technical field of building tools, and discloses a grating type wall brick laser pay-off device which comprises a supporting mechanism, an adjusting mechanism is installed on the supporting mechanism, an optical mechanism is installed on the adjusting mechanism, and the supporting mechanism is used for providing stable support for the whole device and can adjust the height of the optical mechanism. The adjusting mechanism is used for achieving horizontal calibration, vertical calibration and distance calibration with a to-be-constructed wall face on the optical mechanism, and the optical mechanism is used for conducting projection on the to-be-constructed wall face to form clear and straight wall brick laying reference grid lines with the uniform distance. Through the coaxial optical design of the laser, the five-time Galileo beam expanding lens, the DOE grating and the plano-convex lens and the multi-dimensional accurate calibration of the adjusting mechanism, it is ensured that wall tiles, floor tiles and suspended ceilings are accurately crossed and jointed, internal and external corners are straight, and the pain point that traditional paying-off precision is insufficient is solved.

The utility model discloses a kind of belt tearing detection devices, belong to belt detection technical field, a kind of belt tearing detection device, including bottom plate, bottom plate upper end is fixedly connected with adjusting mechanism, adjusting mechanism upper portion is fixedly connected with locating plate, locating plate upper end is fixedly connected with detection mechanism, adjusting mechanism upper portion is fixedly connected with four reinforcing plates, it is through the cooperation of adjusting mechanism and adjusting assembly, the quick fixing of different width and length belt is realized, motor two drive bidirectional screw rod rotation is used, drive both sides positioning roller synchronous movement, can adapt to multiple sizes of belt;Through the cooperation of laser and industry camera, improve detection accuracy and real-time, laser projects laser line on the surface of belt, and the industrial camera captures laser line deformation in real time, when the belt is torn, the laser line form change can be quickly identified, the function of tearing detection can be realized to different sizes of belt, improve the practicability of device.

The utility model discloses a construction positioner and tunnel construction five line wall -hanging equipment belongs to the technical field of tunnel construction, and the construction positioner includes a character line laser and universal angle adjusting device, and the universal angle adjusting device includes the adjusting portion and the installation portion for installing on the projection point, and the character line laser is installed on the adjusting portion of universal angle adjusting device, and the character line laser includes the rotary emission head for projecting the character laser line on the construction surface, and the projection point has the projection distance with the construction surface. Tunnel construction five line wall -hanging equipment includes the vertical frame, is equipped with five projection points of setting gradually from top to bottom on the vertical frame, and the construction positioner is installed on the projection point. Utilize the character line laser to project the character laser line on the construction surface, to replace the way of forming the construction line of paint spraying line drawing, has solved the problem that the construction surface exists the paint spraying line drawing operation difficulty, and exists the deviation.

1. The name of the design product: laser line marker. 2. The use of the design product: used for marking line on target with laser. 3. The design points of the design product: in shape. 4. The picture or photo that can best show the design points: perspective view 1.

The invention discloses a plate cutting method based on a 3D laser line scanning device, and the method comprises the following steps: arranging the 3D laser line scanning device above a to-be-cut plate, enabling the scanning visual field of the 3D laser line scanning device to cover the to-be-cut plate, and enabling the scanning visual field to cover the thickness of the to-be-cut plate; scanning the point cloud of the to-be-cut plate, then converting the point cloud into a height map, and then converting the height map into a grey-scale map; extracting edges of cut-off parts in the point cloud on the grey-scale map, independently establishing an X array and a Y array for each cut-off part, and storing the X array and the Y array into the arrays according to the edge sequence; the multiple arrays X and Y obtained in the third step are converted into dxf format files, the dxf format files are transmitted to a control system, graphic software is used for opening the dxf format files so that a user can determine an effective area by observing the collected height map, and further cut graphs are determined through the graphic software; and the control system stores the graph as coordinates and imports the coordinates into a cutting device for cutting.