369 results about "Laser plane" patented technology

The invention discloses a binocular stereo vision three-dimensional measurement method based on line structured light scanning, which comprises the steps of performing stereo calibration on binocularindustrial cameras, projecting laser light bars by using a line laser, respectively acquiring left and right laser light bar images, extracting light bar center coordinates with sub-pixel accuracy based on a Hessian matrix method, performing light bar matching according to an epipolar constraint principle, and calculating a laser plane equation; secondly, acquiring a line laser scanning image of aworkpiece to be measured, extracting coordinates of the image of the workpiece to be measured, calculating world coordinates of the workpiece to be measured by combining binocular camera calibrationparameters and the laser plane equation, and recovering the three-dimensional surface topography of the workpiece to be measured. Compared with a common three-dimensional measurement system combininga monocular camera and line structured light, the binocular stereo vision three-dimensional measurement method avoids complicated laser plane calibration. Compared with the traditional stereo vision method, the binocular stereo vision three-dimensional measurement method reduces the difficulty of stereo matching in binocular stereo vision while ensuring the measurement accuracy, and improves the robustness and the usability of a visual three-dimensional measurement system.

The present invention relates to robot technology, and is weld seam tracking sight sensor based on laser structure light. The welding seam tracking sight sensor has laser as the light source of structure light, and consists of laser, video camera, monitor, treating unit, etc. By means of forming laser plane with laser beam in a cylindrical mirror, projecting the laser plane to a workpiece to generate laser fringes, acquiring the laser image of weld seam with a visual sensor, calculating weld seam positions through image processing and converting into analog signal or radio signal, the present invention controls welding robot for automatic weld seam tracking. Different weld seam processing modules for different kinds of weld seam are developed. The present invention has high weld seam position measuring precision, raised anti-jamming capacity and high versatility and flexibility.

A screeding apparatus for screeding and smoothing an uncured concrete surface includes a vibrating member and a grade setting device adjustably mounted to said vibrating member. The screeding apparatus may include a wheeled support which at least partially supports the vibrating member and/or the grade setting device. The grade setting device is vertically adjustable, such as via a laser plane responsive control system, to set or indicate the desired grade of the concrete surface as the screeding apparatus is moved over and through the uncured concrete. The level of the screeding apparatus may be automatically adjustable to maintain a desired level and angle of attack of the vibrating member. The vibrating member may be activated only when the screeding apparatus is moved in a screeding direction so as to reduce depressions that otherwise may occur if the vibrating member vibrates on the uncured concrete when not moving.

A method for detecting moving objects including people. Enhanced monitoring, safety and security is provided through the use of a monocular camera and a structured light source, by trajectory computation, velocity computation, or counting of people and other objects passing through a laser plane arranged perpendicular to the ground, and which can be setup anywhere near a portal, a hallway or other open area. Enhanced security is provided for portals such as revolving doors, mantraps, swing doors, sliding doors, etc., using the monocular camera and structured light source to detect and, optionally, prevent access violations such as “piggybacking” and “tailgating”.

A number of laser beam stations emit vertically separated parallel planes and/or ray-planes of laser light that can be discriminated by their respective plane elevations, modulation of the laser light, time synchronizing, etc. Identifying the laser plane would also imply an identification of the source laser beam station, and thus a precise indication of the elevation at the point of optical intercept. Alternatively, a single laser beam station is used that can emit several different monochromatic color planes and/or ray-planes of laser light. Monochromatic laser diodes, for example, are used for point-light sources and rotating or on-end conical mirrors are used to convert the diode laser light to the required monochromatic color planes and/or ray-planes of laser light. Receivers, generally held on masts attached to motor grader, bulldozer, loader, and excavator machines are used to sense the vertical reference position of the monochromatic color planes and/or ray-planes of laser light, relative to the earth cutting blade of the machine. Fixed-color filters, color filter wheels, and/or linear array photodetectors are used to discriminate amongst the colors and to exactly sense the plane of intersection with the machine. The results of the sensing are either displayed to an equipment operator for manual adjustment of the blade to an automatic servo control system connected to hydraulically control the blade.

A three-dimensional shape measuring apparatus includes a line laser light source (1) and an image capturing device (2). A three-dimensional shape measuring method and apparatus is characterized by irradiating a line laser beam to an object (3) to be measured from a laser projecting device, imaging points (6) irradiated with the laser beam by the image capturing device (2, detecting points on taken images as intersections (8), each of the points being detected from the taken images and being detected as a common point where line laser beams pass, deriving equations including the positions of the laser planes and the three-dimensional positions of the intersections as unknowns based on the detected intersections, determining the three-dimensional positions of the intersections and the positions of the laser planes by solving the derived equations as simultaneous equations, calculating by triangulation the three-dimensional positions of the points irradiated with the laser beams other than the intersections by using the positions of laser planes, and obtaining the three-dimensional shape of the object by repeating the series of processes.

A lightweight screeding apparatus for screeding and smoothing an uncured concrete surface includes a concrete surface working member, such as vibrating beam or member, and a grade setting device adjustably mounted to said vibrating beam. The screeding apparatus may include a wheeled support which at least partially supports the vibrating beam and/or the grade setting device. The wheels of the wheeled support may be powered or driven to assist an operator in moving the screeding apparatus over and through the uncured concrete. The grade setting device is vertically adjustable to set or indicate the desired grade of the concrete surface as the screeding apparatus is moved over and through the uncured concrete. The grade setting device may be adjusted by means of a laser plane responsive control system.

This invention relates to laser high-accuracy three-dimensional coordinate measurement, which in detail relates to a binocular structure photo-sensor compatibility calibration and its operation apparatus. In order to calibrate the photo plane parameters of the binocular structure photo-sensor, it unites the space coordinates measured of the left and right cameras. The technique project adopted in this invention is the following: the operation apparatus comprises left and right cameras, laser machine, and target and also movable guide rail with the target fixed on; the target plane is vertical to the moving direction of the guide rail which ensures the plane is vertical to the project laser plane. Besides, it is to identify the axis coordinates in the space coordinate system of the cross points of the each lines and photo bars in the target and brings the coordinates to the photo-sensor mathematical model for computation and get sensor parameters.

The invention relates to a device and a method for measuring a horizontal laser vertically rotary three-dimensional shape, and belongs to the technical field of computer vision measurement. The device comprises a base, a camera, a horizontal laser, a motor, a rotational axis, an angle measuring element, a driving circuit, a switching circuit and a controller, wherein the camera and the horizontal laser are fixedly connected with the rotational axis of which a central line is positioned in a laser plane of the horizontal laser; the included angle between an observation plane formed by the central line of the rotational axis and a focal center of a lens and the laser plane is between 80 and 100 DEG; and the included angle between the central line of the rotational axis and an optical axis of the lens is between 40 and 50 DEG. The device can detect edge information in various directions, realize high-precision measurement of the three-dimensional shape of object surfaces, and avoid the inconvenience caused by rotation of objects in the prior method, has a simple structure, low cost and high measurement precision, and is suitable for surface detection of the objects with various dimensions.

The invention discloses a three-dimensional space detection system, a positioning method and a system, the positioning system comprises a positioning base station, a to-be-positioned marking device and a calculating device, the positioning base station synchronizes a standard time with the to-be-positioned marking device, transmits a supersonic wave signal, rotatably transmits a first laser plane signal around a first rotating shaft and rotatably transmits a second laser plane signal around a second rotating shaft which is vertical to the first rotating shaft; the to-be-positioned marking device synchronizes the standard time from the positioning base station and detects the supersonic wave signal, the first laser plane signal and the second laser plane signal; the calculating device is used for determining a three-dimensional space coordinate of the to-be-positioned marking device according to the time of the to-be-positioned marking device detecting the supersonic wave signal, the time of the same detecting the first laser plane signal and the time of the same detecting the second laser plane signal. The system and the method can realize indoor precision positioning based on the supersonic wave signal and the laser signals.

The invention relates to a measuring method of a strictured butt-jointed seam in laser welding, and a device; two-dimension and three-dimension visual information is combined together organically, the information of three-dimension position, normal vector and weld width of a seam center is obtained at a same measurement position by carrying out calibration to a CCD camera and two laser planes and utilizing a seam image containing three laser stripes. The device comprises a telecentric lens, the CCD camera, an image grabbing card, a band-pass filter and a computer. Each linear light source laser projects three converged laser planes, the laser stripes formed by the intersection of all the laser planes and the plane which is vertical to the principal optic axis of the CCD camera are approximately parallel. The first and third linear light source lasers are symmetrically installed on the left and the right sides of the CCD camera and form the angles of 15 degrees to 60 degrees with the principal optic axis of the CCD camera; the second linear light source laser is symmetrically installed at the front side or the back side of the CCD camera and forms the angles of 10 degrees to 30 degrees with the principal optic axis of the CCD camera. The device has simple structure, with rich measurement information.

The invention discloses a three-dimensional information detection method based on dual laser and belongs to the technical field of three-dimensional measurement. The method comprises the following steps of: adopting two lasers, and respectively solving laser plane equations of the first laser and the second laser; collecting an object image containing dual laser by utilizing a camera in the eventof detecting the three-dimensional information of an object, and solving a centre line of each laser thick line; and rebuilding three-dimensional data by utilizing inner parameters of the camera and the laser plane equations of both lasers. Compared with the single-laser measurement method, because of large information amount, the method disclosed by the invention specifically has higher stability, reliability and accuracy; and simultaneously, the operation requirements are simple, thus the method has the important application in detecting the surface three-dimensional information of objects.

The invention discloses a method for acquiring a laser meat image by a double-laser triangle method. The method comprises the following steps of: 1) establishing a view field; 2) storing a gradient different between a laser meat curve and a laser plane reference curve which serves as meat thickness information to be a laser image meat thickness curve, and combining multi-frame laser meat thickness curves into a laser image according to an acquisition sequence; 3) unifying two laser images acquired by a left charge coupled device (CCD) camera and a right CCD camera to be under the same coordinate; and 4)splicing the laser images acquired at left and right angles under the unified coordinate into the same laser image to form a complete meat laser image.

The invention provides a quick orientating method of a work space measuring and positioning system by a standard rod, which comprises the steps of: calibrating the standard rod; measuring the rotating angle values theta 1 and theta 2 of a rotating table of a transmitting station when two rotating laser planes transmitted out from the transmitting station respectively reach a receiver; obtaining the equation parameter of the rotating light plane equation of the two rotating laser planes transmitted out from the transmitting station under the self coordinate system according to the rotating angle values theta 1 and theta 2 of the rotating table of the transmitting station; and resolving the azimuth angle and the pitch angle of the receiver under the self coordinate system of the transmitting station, so that global orientation is realized, and the like. The method can be used for globally orienting independent of auxiliary equipment, and the positioning and the putting of a work space measuring and positioning system (WMPS) system are not strictly required when the method is used for orientation, so that the use cost of the system can be effectively reduced. One person can complete the field orientation of the WMPS system only within ten minutes by adopting the orientating method provided by the invention, so that the networking measurement efficiency of the WMPS system can be greatly improved, therefore, the quick orientating method is very suitable for industrial fields.

The invention discloses a pile-supported embankment transparent soil model testing device and method. The device comprises a model groove, transparent soil, a pile body, a water bag, a water pipe, an industrial camera, and a laser emitter. The box-type water bag is placed on the bottom of the model groove made of organic glass. A pile hole position is reserved in the box-type water bag. A pile hole is reserved in the box-type water bag. A pile can be inserted into the pile hole in the box-type water bag. Under the assistance of transparent soil, the soil arch effect of embankment soil under self-weight load can be simulated by discharging the water in the box-type water bag. The invention also discloses a testing method of the testing device. The testing method comprises steps of installing pile and water bag, constructing a transparent soil embankment, slowly discharging water from the water bag, taking pictures of the laser plane by the industrial camera during the water discharging process, and analyzing the pictures to obtain the three dimensional deformation characteristics. The provided device and method have the advantages that high precision realtime measurement on the internal deformation of soil can be achieved, the macroscopic shape change of spacial soil arch can be observed, multiple work conditions can be simulated, the size of the testing device is small, the test operation is convenient, and the efficiency is improved.

The invention discloses a space locating method that is based on a network of planar dual-rotation laser transmitters, the rotation of three or more than three rotating transmitters are driven by an alternate current servo motor, the rotating transmitters that have two linear laser devices arranged on the head part transmit laser signals continuously to the surrounding space, the time distance of OZ pulse between a laser peak position that is sampled by a receiver module that takes a photocell as a sensor and a time origin is converted into a rotating angle of a laser plane, and consequently, the equation of the laser plane where measured points are positioned is deduced, an equation of a straight line that runs through the measured points is further obtained, an equation set is built according to the intersection method of multiple lines, and finally the equation set is solved by the least square method, thus obtaining the coordinate positions of the measured points. The space locating method avoids object aiming when measuring, and improves measuring speed and efficiency.

The invention discloses methods for calibrating machine tool follow-up laser scanning coordinates on the basis of space standard balls, belongs to the field of vision measurement, and relates to a method for calibrating machine tool follow-up laser scanning coordinates on the basis of space standard balls. The method includes providing third-dimension data for linear laser measurement sensors by movement modules of machine tools; scanning, measuring and fitting circle centers of the space standard balls with known radiuses and unifying data of coordinate systems of the machine tools and linear laser measurement coordinate systems; calibrating default axes of the measurement coordinate systems according to movement of the machine tools and movement of laser planes; calibrating measurement axes; integrally calibrating three-dimensional movement to obtain scale transformation matrixes of the coordinate systems of the machine tools and the measurement coordinate systems. The method has the advantages that the shortcoming that only two-dimensional data can be measured by the traditional laser measurement sensors is overcome, the measurement application ranges of the linear laser measurement sensors can be effectively expanded, and the method has a broad application prospect.

The invention discloses a numerical value calibration method for a line structured light vision sensor. The method comprises steps: an equidistantly-arranged dot array is made as a calibration target, the target position and a focal length are initially adjusted to enable the target to be completely placed in a view field of a camera, and a target point image is distinct; the relative position between a line structured laser plane and the calibration target is precisely adjusted to enable the laser plane and the target plane to be coplanar; the power supply of the laser is cut off, the focal length of the camera is adjusted precisely again, the target image photographed by the camera is ensured to be distinct, an ellipse fitting method is adopted to obtain pixel coordinates of each target point center, and the pixel coordinates are stored in a matrix Q; the target center coordinates in the matrix Q are used for carrying out Delaunary triangulation on the pixel plane, the point at the left corner of the target is marked as the original point of a world coordinate system 0WXY, and world coordinates corresponding to a vertex are determined; and a linear transformation coefficient corresponding to each triangulation area is calculated, and the linear transformation coefficient is stored in a transformation coefficient matrix D. The calibration method of the invention is simple and easy to operate, the computing efficiency is high, and the calibration precision is good.

The invention belongs to the technical field of automatic welding, and provides an intelligent three-dimensional weld joint autonomous tracking method which comprises the following steps: S1, camera calibration: a camera shoots and acquires image information of calibration plates at different spatial positions, establishes a corresponding equation set according to the shot image information, and obtains an internal parameter matrix and an external parameter matrix through analysis; s2, line laser plane calibration; s3, hand-eye calibration; s4, determination of a welding seam starting point and a welding seam ending point; and s5, welding seam track planning. According to the intelligent three-dimensional autonomous welding seam tracing method, any type of weld grooves is identified by utilizing an image algorithm; a linear laser triangulation method and a vision and robot calibration algorithm are adopted to autonomously plan a motion path, so that autonomous tracking of a welding line in any three-dimensional space is realized, three-dimensional orientation information of a welding line groove is obtained, and tracking of a right-angle or acute-angle inflection point is realized in a self-adaptive pre-swing manner.

The invention discloses a vision navigating method for a movement carrier based on the laser plane assistance. The method comprises the following steps: building a distance measurement and environment system, determining the position of a rectangular bright spot to be detected in an image, determining the center coordinate of the rectangular bright spot, obtaining a geometric distance measurement model, correcting the distance measurement model, segmenting the visual image, determining a local vectorization environmental space with distance information, positioning the position of the carrier per se, and building a global environmental space. Through the adoption of the method different from the traditional movement carrier autonomous navigation middle distance obtaining method, a laser plane is introduced as an auxiliary means, a single or a plurality of vision sensors are combined, the threadlike bright spot formed by the reflection of the laser plane on an object to be irradiated is fully utilized and taken as an cooperated distance measurement target, and the geometric relationship between the vision sensor and a laser light source is effectively utilized, so that the requirements for the precision, yield ratio and real-time performance of the distance calculating can be met. Therefore, the method is a reliable navigation method, and can be applied to a movement carrier autonomous navigation system.

A grading control system for a work machine having a work implement for grading along a grade defined by a laser plane generator is disclosed. The system includes tilt and lift actuators associated with the work implement and configured to selectively tilt, raise and lower the work implement. A laser receiver is configured to receive a laser signal indicative of a desired grade. The laser receiver is configured to communicate a height signal indicative of a position of the work machine relative to the laser plane. A lift sensor is configured to communicate a lift signal indicative of a lift position of the work implement. A control module is configured to generate and communicate a control signal based on the height and lift signals to actuate at least one of the lift and tilt actuators to maintain the work implement at a position substantially corresponding to the desired grade.

The invention provides an intelligent obstacle avoidance method for a robot based on three-dimensional laser, and relates to the field of robots. According to the invention, laser point cloud data ina three-dimensional laser plane emitted by a three-dimensional laser sensor is mapped into two-dimensional laser point cloud data, characteristic laser point cloud data corresponding to an obstacle isextracted by using the Euclidean clustering method, position and size information of the obstacle is calculated according to the extracted characteristic laser point cloud data, and finally the obstacle avoidance path of the robot is planned by using the cubic Bezier curve so as to realize effective obstacle avoidance of the robot. According to the obstacle avoidance method provided by the invention, the robot can obtain information of an unknown obstacle, and the timeliness and accuracy of obstacle avoidance navigation of the robot are improved.