100 results about "Laser plane" patented technology

The invention provides a high-dynamic deformation measurement system and method based on laser section contour differential scanning. The measurement system is composed of a section contour measurement unit, a calibration unit, an error compensation unit and a data processing unit, wherein the section contour measurement unit comprises a multi-sight-line structured light sensor module, a speed sensing module and a distance measurement module; the calibration unit comprises a synchronous control module, an adjustment module and a common tooth-shaped calibration target; the error compensation unit comprises a vibration detection module, a posture detection module and a temperature detection module; the data processing unit is a device with programming and computing functions. The measuring method comprises the following steps: (1) calibrating a laser plane and an image plane; (2) unifying a global coordinate system; (3) obtaining point cloud data; (4) error compensation; (5) constructing a deformation time-history model; and (6) carrying out maximum deformation global optimization. According to the measurement system and method, accurate expression and maximum value global optimization of a pavement micro-deformation three-dimensional space under the load effect can be realized.

The invention discloses a submarine topography reconstruction system and method based on optical mobile measuring and scanning, and relates to the technical field of ocean exploration, and the system comprises the following units: an image collection unit, which is used for coordinating the emission of 532nm pulse laser and the collection of a gating camera image through a synchronous sequential circuit, a triangulation measurement optical structure with separated emission and reception is adopted, and a submersible can be carried for mobile measurement and scanning; the system calibration unit is used for carrying out joint calibration on camera parameters and a laser plane so as to determine system calibration parameters, so that the spatial position of a laser stripe accurately corresponds to the actual coordinate of the target surface; and the image processing unit is used for preprocessing the image acquired by the system and further extracting the coordinates of the center line of the laser stripe in the preprocessed image. According to the invention, adjacent splicing can be carried out through continuously collected laser stripe images to construct two-dimensional submarine landform information, and three-dimensional reconstruction of submarine topography can be carried out by using generated point cloud data.

The present application relates to the field of measurement technology, and in particular to a rapid measurement system for aviation blades based on a four-line structured light sensor, wherein the measurement system comprises: four line structured light sensors and a calculation processing module mounted on a three-dimensional coordinate measuring machine; determining the equation of the laser plane in the camera coordinate system based on a target; solving the three-dimensional coordinates of the target point on the intersection of the laser plane and the blade in the camera coordinate system based on the equation; establishing a transformation relationship between the camera coordinate system and the machine coordinate system of the three-dimensional coordinate measuring machine, converting the target point to the machine coordinate system, and realizing three-dimensional scanning measurement; obtaining the point cloud data of the standard sphere in the sensor external parameter calibration module, fitting and outputting a point cloud sphere; using the center of the point cloud sphere as the measurement reference, combining the measurement data of multiple line structured light sensors to obtain the measurement result. Through the present application, only one-dimensional movement along the Z axis of the three-dimensional coordinate measuring machine is required to complete the measurement, thereby improving the measurement efficiency.

The invention belongs to the technical field of measurement, and relates to a coordinate system calibration method and system for a single base station positioning system, and the method comprises the steps: 1) building a coordinate unification experiment platform; 2) measuring coordinate values of the six photoelectric receivers under the cooperative target coordinate system when the base point is used as an original point of the cooperative target coordinate system; 3) measuring rotation angles of the two laser planes when the two laser planes scan the six photoelectric receivers, and calculating laser plane parameters according to the rotation angles; 4) simultaneously solving to obtain a rotation matrix and a translation matrix by using the laser plane parameters and the coordinate value of the photoelectric receiver under the cooperative target coordinate system; 5) constraining and optimizing the rotation matrix and the translation matrix by using the distance between each photoelectric receiver and the laser plane; and 6) calculating the coordinate of the original point of the cooperative target coordinate system in the laser emission station coordinate system based on the optimized rotation matrix and translation matrix. Space coordinate measurement with millimeter-level precision can be realized.

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 invention discloses a compensation method for attitude change of a line laser three-dimensional reconstruction system, and relates to the field of three-dimensional measurement. The method solves the problem that after an existing line laser three-dimensional reconstruction system shoots a camera calibration picture, after the posture is changed due to the influence of the external environment, three-dimensional reconstruction cannot be carried out on a measured target through an original calibration result, and the method comprises the steps that the structure and the initial posture of the line laser three-dimensional reconstruction system are determined, shooting a camera calibration image and a laser plane calibration image; performing camera internal parameter calibration and laser plane calibration on the image, and storing an internal parameter matrix and a laser plane equation of the camera; using an attitude sensor to collect attitude transformation matrixes before and after displacement; combining the attitude transformation matrix to obtain a camera external parameter matrix of the line laser three-dimensional reconstruction system after position and attitude updating; the displacement direction of the system is calibrated, linear laser scanning is performed, a laser stripe image is shot, and three-dimensional reconstruction is performed in combination with a compensation algorithm. The method is also suitable for the field of linear laser stripe image reconstruction.

The invention relates to the field of detection, in particular to a bridge arc-shaped steel formwork flatness detection device and method.The bridge arc-shaped steel formwork flatness detection device comprises a positioning frame used for supporting and positioning a steel formwork and further comprises a detection frame used for fixing a detection mechanism, the detection mechanism comprises a set of linear telescopic units, and one end of each linear telescopic unit is matched with the detection frame in a rotating mode; the rotation axis is parallel to the axis of the steel template; a laser detection module is fixed at the other end of the linear telescopic unit; the laser detection module comprises an installation frame which is arranged in the direction parallel to the axis of the steel formwork and used for fixing a laser flatness measuring instrument, the installation frame is matched with the linear telescopic unit in a rotating mode, the rotating axis is parallel to the axis of the steel formwork, and the linear telescopic unit and the installation frame are driven by independent power sources to rotate around the rotating axes of the linear telescopic unit and the installation frame respectively. According to the invention, rapid detection of the flatness of the die surface of the arc-shaped steel template can be realized, and the detection precision is high.

The invention relates to the technical field of correction optimization, in particular to a watermelon and melon transplanting machine field path automatic correction optimization method based on laser navigation, which comprises the following steps: capturing a reference laser signal projected by a laser plane transmitter in real time through a laser receiver array; calculating a real-time pitch angle and a roll angle of the transplanting machine according to the irradiation position distribution of the reference laser signal in the receiver array; generating a calibration laser plane equation based on the real-time pitch angle and the roll angle; synchronously outputting transverse position deviation and course angle deviation; according to the coupling relation between the transverse position deviation and the course angle deviation, steering motor control quantity and advancing speed compensation quantity are generated in sections; the steering motor control quantity and the advancing speed compensation quantity are synchronously output to a steering servo system and a walking hydraulic system of the transplanting machine tool, and continuous deviation correction between ridges is achieved. According to the invention, by constructing the laser receiver array and the attitude calculation model, the pitch angle and the roll angle of the transplanting machine in the field operation process can be sensed in real time.

The invention provides a line laser contourgraph calibration method and a light path deviation quantitative evaluation method applying the same, and the method comprises the steps: adjusting the pose of an execution mechanism, and obtaining the laser straight line information formed by a line laser contourgraph at an initial position on a calibration plane and the end information of the execution mechanism; translating the executing mechanism to obtain a laser straight line information set for calibration and an executing mechanism tail end information set; and calculating and obtaining a line laser profiler-actuating mechanism tail end coordinate transformation relation based on the information. According to the technical scheme, the position and geometric feature information of the laser plane are directly calibrated, so that the laser position posture of the line laser contourgraph is accurately controlled, the situation that quantitative data of the contourgraph is used for calculating feature transfer calculation is avoided, the calibration precision is improved, a high-precision three-dimensional calibration block does not need to be used, and the requirement for a calibration object and the calibration complexity are reduced.

The invention discloses an underwater three-dimensional point cloud generation method of a line laser scanning device, and belongs to the field of laser. The galvanometer is used for refracting the laser emitted by the laser; the controller is used for controlling the deflection amplitude and the angular velocity of the galvanometer; and the camera is used for shooting the process of scanning and traversing the target by the laser rays refracted by the galvanometer. The method comprises the following steps of: calibrating the camera; carrying out distortion processing; extracting laser rays; calibrating a laser plane; three-dimensional reconstruction: obtaining three-dimensional point cloud data of the target surface; according to the method in the three-dimensional point cloud generation process, the three-dimensional point cloud generation of the underwater scene is realized based on the underwater double refraction model when the image is processed, and finally, the noise of the obtained target point cloud is removed to obtain the three-dimensional point cloud data with relatively high robustness.

The invention provides a calibration control method and system for laser scanning equipment and electronic equipment, and relates to the field of laser scanning equipment calibration, in the method, a special calibration block comprising a protruding part is used for calibrating the laser scanning equipment, calibration of external parameters can be completed only through one-time collection, and the operation process is simplified; according to the method, the calibration control process is achieved through the intersection points between the characteristic lines of the calibration block and the laser plane of the laser scanning equipment, the length of the direction of the characteristic lines is not required, only the laser stripes need to cover the multiple characteristic lines, and the calibration precision is improved.

The invention discloses a laser welding seam on-line detection method and device and a laser welding device.The detection method comprises the steps that after laser welding is completed, a laser plane is projected to the surface of a welding seam, modulated laser stripes are formed, and a laser stripe image is collected; a Gaussian fitting method is adopted to extract sub-pixel coordinates of the centers of all columns of stripes in the laser stripe image, and a center line of the section contour of the welding seam is generated; identifying feature endpoints on the center line; based on the feature endpoints and the center lines, the convexity and the concavity of the surface of the weld joint are calculated; and judging whether the weld quality is qualified or not according to the convexity and the concavity of the weld surface. The method detects the surface characteristics of the post-welding weld through a light vision method, can directly detect the size and shape of a molten pool on the surface of the weld, surface pores and other defects, and has the obvious advantages of rapidness, real-time performance, high detection precision and the like.

An ice leveling system involves a laser receiver mountable on an ice conditioning head of an ice resurfacing machine below a top-most portion of the ice resurfacing machine and at least two laser projectors that project laser light in a plane below a level of the top-most portion of the ice resurfacing machine. The at least two laser projectors are mountable adjacent to an ice surface and are positionable around the ice surface so that the laser receiver when mounted on the ice resurfacing machine always receives the laser light from at least one of the at least two laser projectors during an ice leveling operation. At least one of the at least two laser projectors is height adjustable to align the laser light plane projected by the height adjustable laser projector with the laser light plane of others of the at least two laser projectors.

1. The name of the design product: ultraviolet internal engraving machine. 2. The use of the design product: for laser plane, 2.5D, 3D marking, relief and internal engraving. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The present application belongs to the technical field of road engineering detection, and discloses a pavement rut three-dimensional model reconstruction method and system. The method comprises the following steps: acquiring vehicle speed, GPS stake number, vehicle three-axis acceleration data, environmental brightness value and deformation light strip image in real time; extracting pixels from the deformation light strip image to obtain pixel coordinate data representing laser line positions; performing triangular calculation on the pixel coordinate data by using a preset camera internal parameter matrix and distortion coefficient and a preset laser plane equation to obtain cross section coordinate data; compensating errors in the cross section coordinate data caused by vehicle vibration by using the vehicle three-axis acceleration data to obtain compensated cross section data; and associating corresponding road mileage positions for each frame of data in the compensated cross section data based on vehicle speed and GPS stake number to generate cross section data with mileage. The method has the advantages of high detection efficiency, low cost, safe operation, continuous and non-missing data and high reconstruction precision.

The application provides a 3D printer and a working method of a laser profiler. The 3D printer is provided with a calibration plate. Before a target object is scanned by the laser profiler, the print head and / or the print bed of the 3D printer can be moved, so that the laser profiler has different distances with the print bed. The camera and the laser emitter of the laser profiler controlled under different distances respectively shoot laser images with laser lines and calibration images without laser lines. Then, based on the calibration images and the laser images under different distances, the laser plane parameters of the laser profiler are calculated, so that the calibration of the laser profiler is realized in the 3D printer. When the calibration parameters of the laser profiler change due to vibration or other reasons, the laser profiler of the 3D printer can be recalibrated, so that the scanning precision of the laser profiler is ensured, and the precision of the 3D printer is ensured.

The invention relates to the technical field of machine vision and three-dimensional measurement, and discloses a laser plane calibration method based on a binocular single line, and the method comprises the steps: obtaining an initial laser plane equation; rotating a known angle theta to obtain a new laser plane; acquiring an actual intersection point coordinate set of the new laser plane and the calibration plane; obtaining a theoretical intersection point coordinate set of the theoretical new laser plane and the calibration plane; combining the theoretical new laser plane, the actual intersection point coordinate set and the theoretical intersection point coordinate set, and optimizing the new laser plane equation by adopting nonlinear optimization to obtain an optimized new laser plane equation; and driving the laser transmitter to rotate around the rotating shaft of the motor by an angle theta through the motor until the laser transmitter passes through all the transmitting positions, and fitting laser planes of all the transmitting positions.

The application discloses a laser measuring device for touch control assembly plane detection, which comprises a fixing seat and a filter box, a touch control seat is movably connected to the inside of the fixing seat, a rotating assembly is arranged on the outside of the fixing seat, movable assemblies are arranged on the two sides of the rotating assembly, and the application relates to the field of laser plane measurement. The inside of the fixing seat is movably connected with the touch control seat, the outside of the fixing seat is provided with the rotating assembly, the two sides of the rotating assembly are provided with the movable assemblies, one side of the movable assembly is movably connected with a laser detection sensor, the outside of the fixing seat is fixedly provided with a detection grating and a positioning point, therefore, multiple laser detection sensors emit laser to the same touch control seat through the gaps between the detection gratings, the height of the point on the touch control is calculated by the height of the laser penetration sensed by the grating, and the flatness of the touch control in the touch control seat is measured.

The utility model discloses a frame product flatness repairing device which comprises a base, a placing table is installed on the base, first moving grooves are symmetrically formed in the two sides of the base in the length direction of the base, length positioning assemblies are installed in the two first moving grooves, second moving grooves are symmetrically formed in the two sides of the base in the width direction of the base, and the length positioning assemblies are installed in the second moving grooves. Width positioning assemblies are mounted in the two second moving grooves, a support is mounted on the base, a first moving assembly is mounted on the upper portion of the support, a second moving assembly is mounted on the first moving assembly, a mounting plate is mounted at the bottom of the second moving assembly, and a laser flatness measuring instrument is mounted on one side of the bottom of the mounting plate; a telescopic piece is installed on the other side of the bottom of the installation plate, and a flattening head is installed at the telescopic end of the telescopic piece. According to the utility model, through the processes of automatic detection, automatic pressing and secondary automatic detection on the flatness of a frame product, the labor intensity of workers is reduced, and the detection efficiency is improved.

The invention discloses a method for cooperatively detecting the curvature radius and the surface shape error of a toroidal optical element. The method comprises the following steps: S1, determining the position of a CGH compensator relative to a laser plane wave interferometer; s2, determining the position of the ring surface optical element and acquiring curvature radius data; and S3, performing zero position measurement to obtain surface shape error data of the optical surface of the ring surface optical element. The method for cooperatively detecting the curvature radius and the surface shape error of the toroidal optical element has the advantages of being few in steps, ingenious in design, capable of cooperatively detecting the curvature radius and the surface shape error of the toroidal optical element and the like.

The invention belongs to the technical field of laser processing, and relates to a speed control method and related equipment applied to special-shaped plate processing, and the method comprises the following steps: in a laser plane processing operation process, collecting current height data of a laser processing nozzle in real time; calculating a height error according to the current height data and a preset height of the preset processing path; calling an initial follow-up control algorithm, and performing gain parameter optimization processing on an original gain parameter of the follow-up control algorithm according to the adaptive adjustment function to obtain a target follow-up control algorithm; calculating control parameters of the laser processing nozzle according to a target follow-up control algorithm and the height error; performing speed optimization operation on the speed of the laser processing nozzle according to the control parameters to obtain a target processing speed; and controlling the laser processing nozzle to perform laser plane processing operation according to the target processing speed. The special-shaped plate machining quality can be greatly improved.

The present invention relates to the technical field of petrochemical apparatus manufacturing, and specifically relates to a tube-tube sheet joint low-stress welding method, comprising a pre-positioning step, a partitioning step, a heating step, a stress measurement and control step, a welding step and a heat removal step. By dividing a joint area to be welded into a plurality of welding areas, a plurality of heat exchange tubes of each welding area are simultaneously subjected to temperature control, such that the number of lines is small, thus reducing the likelihood of confusion and facilitating operation; a laser flatness measurement instrument provided beside a second tube sheet is used to measure the flatness of the outer side surface of the second tube sheet, so as to indirectly feed back the amounts of thermal elongation of the heat exchange tubes of each welding area, and there is no need to install linear displacement sensors on the side walls of the heat exchange tubes as in the prior art, thereby avoiding the problem of high installation difficulty of elongation measurement devices, and achieving relatively simple disassembly and assembly; electronic components such as the laser flatness measurement instrument are separated from the heat exchange tubes, such that the impact of the high temperature of the heat exchange tubes on the measurement precision of the electronic components is avoided, thus prolonging the service life thereof, and saving costs.

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.

Analyte sensors are being increasingly employed for monitoring various analytes in vivo. Analyte sensors may feature enhancements to address signals obtained from interferent species. Some analyte sensors may comprise a working electrode comprising an active area disposed thereon and electrode asperities laser planed therefrom. Some analyte sensors may comprise an interferent-reactant species incorporated therewith. Some analyte sensors may comprise an interferent scrubbing electrode. Combinations of these enhancements may additionally be employed.

The application discloses a seabed topography and geomorphology reconstruction system and method based on optical mobile scanning, and relates to the technical field of ocean exploration. The system comprises the following units: an image acquisition unit, which is used for coordinating the emission of a 532nm pulsed laser and the acquisition of a gated camera image through a synchronous timing circuit, and adopting a triangulation optical structure with separated emission and reception, and can be carried on a submersible for mobile scanning; a system calibration unit, which is used for jointly calibrating camera parameters and a laser plane, so as to determine system calibration parameters, and make the spatial position of a laser stripe accurately correspond to the actual coordinates of a target surface; and an image processing unit, which is used for pre-processing images acquired by the system, and further extracting the center line coordinates of a laser stripe in the pre-processed images. The application can not only perform adjacent splicing through continuously acquired laser stripe images, and construct two-dimensional geomorphology information of the seabed, but also perform three-dimensional reconstruction of seabed topography by using generated point cloud data.

The invention discloses a curved surface normal measurement method and system based on monocular vision and multiple laser planes. The method comprises the following steps: calibrating laser planes generated by a monocular camera and at least two laser plane projection units; collecting an image of a laser strip formed by the laser plane on the surface of the workpiece through a monocular camera; processing the image, and extracting a central pixel position of each laser strip to obtain a pixel point sequence; back-projecting the pixel point sequence into a three-dimensional ray in a camera coordinate system based on camera model parameters; and performing intersection operation on the three-dimensional rays and the equations of the corresponding laser planes to obtain a plurality of space intersection point sets, establishing a local curved surface model of the workpiece surface, calculating and outputting the normal direction of the workpiece surface according to the local curved surface model, and converting the normal direction into a reference coordinate system for unified representation. According to the method, the stability and universality of normal estimation are improved, the structure of a measurement system is simplified, and the adaptive capacity in the fields of robot machining, automatic detection and industrial measurement is improved.

The invention discloses a workpiece attitude error compensation method and system based on a space angle and a TCSTRANS. According to the method, automatic sensing, seamless compensation and efficient machining of workpiece attitudes are achieved through the synergistic effect of three core technologies including automatic fitting of a space angle aligned by a laser plane, workpiece coordinate system correction of kernel translation and TCSTRANS characteristic coordinate system transformation supporting five-axis RTCP programming. An original machining program does not need to be modified, the operation complexity and the technical threshold are reduced, the machining precision, efficiency and process reliability are greatly improved, the method is particularly suitable for machining of a five-axis numerical control machine tool on precise workpieces, and the problems that in the prior art, manual experience is relied on, program management is disordered, and post-processing is complex are solved.

The invention provides a line structure light laser surface modeling method and a line structure light calibration method, and the line structure light calibration method comprises the following steps: (1.1) collecting data of a calibration laser surface; (1.2) calculating a point cloud center and a covariance matrix based on the collected point cloud data; (1.3) establishing a laser surface coordinate system on the cross section of the laser surface; and step (1.4), converting all point cloud data from a camera system to a laser coordinate system, and fitting a curvilinear equation.

This utility model relates to the field of laser cutting machine worktables, and discloses a worktable for a laser flat cutting machine, including a worktable body with a blade on its upper surface, and a support and limiting structure on the worktable body to allow two longitudinally stacked worktable bodies to be stacked at a preset distance. When the support and limiting structure in the laser flat cutting machine worktable is active, it can restrict the relative movement of adjacent worktable bodies and also form a preset distance between longitudinally adjacent worktable bodies. The blade on the lower worktable body is within the preset distance and does not come into contact with the upper worktable body, thus protecting the blade from damage. When the worktable body is installed on the machine bed, the support and limiting structure is housed on the worktable body and does not affect the installation and subsequent use of the worktable body.

The invention belongs to the technical field of laser plane processing, and relates to an intermittent cutting method in processing, which comprises the following steps of: recording processing data of an interpolation track section in real time, and determining breakpoint data according to the processing data when the processing is interrupted; calculating corresponding breakpoint positioning information on the current interpolation track based on the breakpoint data; calculating breakpoint processing information on the current processing track according to the breakpoint positioning information; constructing a breakpoint row residual track based on the breakpoint processing information; and executing continuous cutting operation according to the remaining trajectory of the breakpoint row. The invention further provides an intermittent cutting device in machining, machining equipment and a storage medium. According to the invention, accurate breakpoint recovery can be realized.