558 results about "Light scanning" patented technology

The invention discloses an online monitoring method and system for the light transmittance of an optical lens, and relates to the technical field of precise optical detection. The objective of the invention is to solve the problem of large light transmittance calculation error caused by halo scattering noise interference, low optical path calibration precision of a complex curved lens, a measurement blind area of a large-aperture lens and environmental disturbance of a high-reflection / high-light-transmittance lens in the prior art. According to the scheme, a three-dimensional curved surface model is constructed based on Gray code structured light projection and ICP registration, a dynamic partition scanning instruction set is generated through an improved genetic algorithm, and multi-wavelength polarized light is driven to scan and collect multi-dimensional data; specular reflection and scattering noise are suppressed by combining an improved Stokes vector algorithm and an attention mechanism U-Net network, and the data precision of the complex curved surface is improved by adopting Bayesian optimization and Zernike polynomial weighted fusion; constructing a double-loop coupling optimization architecture to realize closed-loop adaptive optimization; according to the invention, the anti-interference capability, the complex lens adaptability and the full-aperture detection precision are obviously improved.

The invention belongs to the technical field of three-dimensional imaging and measurement, and particularly discloses a laser scanning three-dimensional imaging method and device, a medium and equipment, and the method comprises the steps: obtaining laser scanning data of a target object, and the laser scanning data comprises depth data including reflection intensity, a scanning angle, a timestamp and flight time; preprocessing the laser scanning data, and fusing a time sequence and scanning path information to obtain multi-channel input features adaptive to a neural network; constructing a three-dimensional geometric reconstruction model, and training the model; inputting the multi-channel input features into a trained three-dimensional geometric reconstruction model to obtain a dual-channel output tensor containing a dense depth map of the target object and a corresponding uncertainty map; converting the dual-channel output tensor comprising the dense depth map of the target object and the corresponding uncertainty map into a three-dimensional point cloud under world coordinates; and post-processing the three-dimensional point cloud to obtain a three-dimensional image of the target object.

The invention provides a tunnel rock mass dynamic disaster monitoring system based on digital twinning, and relates to the technical field of tunnel rock mass dynamic disaster monitoring based on digital twinning. By integrating a multi-mode sensing network, the system comprises a self-adaptive infrared structured light scanner, a distributed micro-seismic sensing array and a fiber grating strain sensor; comprehensive and real-time monitoring of the rock mass state is realized; meanwhile, an intelligent analysis algorithm based on deep learning is introduced, abnormal conditions are automatically recognized, a rockburst risk comprehensive index is generated, in addition, a physical entity and a virtual model are combined through a dynamic digital twinborn modeling technology, and visual analysis of rock mass state changes is achieved; and finally, an edge-cloud cooperative communication technology is adopted to ensure low delay and reliability of data transmission and ensure that the monitoring system can quickly respond and timely take emergency measures.

The invention provides a self-adaptive teaching-free welding robot intelligent gas saving monitoring system, which relates to the technical field of industrial robots, and comprises a three-dimensional sensing module used for identifying the workpiece material category through a multispectral sensor integrated with a welding gun of a welding robot, meanwhile, a stereoscopic vision camera and a line structure light scanning camera are used for obtaining three-dimensional point cloud data of the welding seam in real time; the parameter adjusting module is used for calling a heat conductivity coefficient database based on the three-dimensional point cloud data, and correcting the initial flow of the welding current, the arc voltage and the protective gas in real time; and the matching control module is used for calculating the arc length variable quantity based on the arc voltage, controlling the opening degree of the gas flow valve through a dynamic regulator, realizing dynamic matching of the gas flow and the changed arc length, and generating gas dynamic matching control parameters. Through cooperative operation of self-adaptive attitude compensation and real-time gas consumption monitoring, teaching-free accurate operation in the welding process is achieved, and intelligent control over gas consumption is improved.

The invention discloses a wide-range weak feature scene measurement system based on multi-sensor fusion and structured light scanning, and relates to the technical field of wide-range scene scanning, in the system, an extended Kalman filtering algorithm is adopted, fusion is carried out based on positioning data provided by an inertial measurement module and a positioning sensing module, and a wide-range weak feature scene is obtained. And the distance measurement information provided by the laser distance measurement module is combined to correct the fused positioning data, so that the precision and robustness of subsequent point cloud registration are ensured. Then, according to position information and attitude information of the binocular structured light scanning camera during scene scanning, calculating a relative rotation matrix and a relative displacement matrix of each frame of scanning point cloud data relative to the first frame of scanning point cloud data, and performing coarse registration; in the coarse registration process, all frames of point clouds can be converted into a unified coordinate system by directly utilizing global pose information, and the efficiency of coarse registration is greatly improved. And finally, extracting laser marking point clouds projected by the non-contact laser marking device in each frame of scanning point cloud data, and performing iterative precise registration on each frame of scanning point cloud data by using color features and geometric distribution rules of the extracted laser marking point clouds. In conclusion, high-precision, high-efficiency and high-robustness point cloud registration in a large-scale weak feature scene is realized, and the method can be used for realizing high-precision non-contact measurement.

The present invention relates to an adaptive manufacturing method for building components, particularly in prefabrication, modular construction, and panelized construction. The invention minimizes cumulative errors in building component production, enhances precision, and facilitates automated assembly using real-time digital updates. The method includes creating a digital information model of a building, containing data on the dimensions and positions of building components; manufacturing at least one building component based on initial model parameters; scanning the manufactured component using laser scanning, structured light scanning, or ultrasound-based scanning, selected based on the material properties, to generate a digital representation of its actual dimensions and shape; updating the digital model with the scanned data to dynamically adjust parameters for subsequent components; recalculating and adjusting the parameters of unmanufactured components based on detected deviations; transmitting adjusted parameters to an automated manufacturing system for real-time modifications in production. The system comprises a processor executing adaptive manufacturing instructions, a scanning module, a processing unit, and a recalculation module that updates component dimensions based on deviations, ensuring seamless integration of prefabricated elements.

The invention discloses a carbon fiber composite material surface modification spraying system and a control method thereof. The system comprises a multi-axis robot, a plasma spray gun, a contact angle measuring probe, a 3D line laser scanner, a hyperspectral imager, an environment sensor and a controller. According to the method, the plasma power and the robot speed are adjusted in real time through contact angle measurement and plasma treatment feedback control, so that the CFRP surface can accurately reach a target value, and the coating adhesive force is improved; 3D line laser scanning and hyperspectral imaging are combined, and the posture, the distance, the wet film thickness and the component uniformity of the spray gun are monitored in real time; based on a prediction model fusing a physical model and a neural network, a self-adaptive fuzzy PID control algorithm is adopted, and the coating flow and the track posture of a spray gun are accurately regulated and controlled in real time. The problems of weak coating binding force, uneven thickness, orange peel, sagging and serious coating waste in traditional spraying are effectively solved, and self-adaptive, high-quality and green spraying of workpieces with complex curved surfaces is achieved.

The invention relates to the technical field of environment evaluation, and discloses a multi-dimensional environment comprehensive evaluation method and system, and the method comprises the steps: carrying out the comprehensive image shooting of an environment through an unmanned plane carrying device, constructing an environment real scene model through combining laser scanning point cloud data and an algorithm, and providing a precise reference for the layout of a sensor. The method comprises the following steps: selecting proper sensors according to requirements and arranging the sensors; ensuring comprehensive coverage; setting an evaluation period; collecting environmental parameter values, constructing Bayesian network fusion data to obtain parameter evaluation values, calculating actual comprehensive evaluation values by combining subjective weights and objective weights, reflecting environmental conditions, and collecting historical data. And constructing an ARI MA model to predict an environmental parameter evaluation value in the next evaluation period, evaluating the prediction precision, if the precision is low, generating a prediction deviation signal, collecting data in real time in the evaluation period, constructing a complex time sequence, training a CNN-LSTM model for prediction, obtaining a prediction comprehensive evaluation value, and performing comprehensive evaluation on an environmental evaluation area.

The invention discloses a frozen soil roadbed hot melt settlement laser scanning measurement method and system, and relates to the technical field of measurement, the method comprises the following steps: obtaining gridding surface data, and obtaining an elevation data sequence of each grid point; acquiring an elevation change index of each grid point according to the elevation data sequence of each grid point; acquiring a plurality of grid points adjacent to the ith grid point and taking the plurality of grid points as a plurality of reference grid points of the ith grid point, acquiring each relative difference quantity of the ith grid point, and acquiring a correction proportion of the ith grid point according to the plurality of relative difference quantities of the ith grid point; and obtaining target elevation data of each grid point according to the correction proportion of each grid point and the measured elevation data at the current moment, and forming a measurement result including the gridding surface data according to the target elevation data of each grid point. The method has the advantages of identifying abnormal values, dynamically correcting measurement and improving data reliability.

The invention discloses a film strength detection method and related equipment, and the method comprises the steps: carrying out the multi-angle broadband scanning sampling of the whole process of an incident light beam penetrating through a lens, recording the transmission light intensity, group phase and scattering power, and generating a reference transmission spectrum matrix; applying low-amplitude periodic ultrasonic vibration disturbance to the lens according to the reference matrix, synchronously obtaining a transmission spectrum time change curve, and performing time domain analysis to obtain a stress response characteristic matrix; determining a detection path by integrating the two matrixes, performing incremental load scratch disturbance along the path, recording data of transmission light intensity and scattering power changing along with the load in real time, and forming a critical damage response data set; performing fine grid transmission light scanning on the scratch and the neighborhood, acquiring multi-angle scattering distribution, and constructing optical characteristic distribution data; and performing multi-dimensional analysis on the data, and outputting a result. According to the scheme, early-stage accurate identification and evaluation of microcracks in a lens film layer and interface hidden defects are realized, and the use reliability of the lens is improved.

The invention discloses a tempered glass cutting method based on two-step laser scanning, belongs to the technical field of tempered glass cutting, meets the high-precision cutting requirement of whole-plate tempered glass, and is particularly suitable for high-value recycling and recycling of the whole-plate tempered glass in a retired photovoltaic module. Comprising the following steps: presetting a cutting path and placing glass to suspend a scanning area; a two-step laser scanning process is adopted, a defocused or focused laser beam is adopted for scanning along a cutting path to form an initial modified area in the first scanning process, a focused or defocused laser beam is adopted for scanning in the second scanning process, and glass separation is achieved by inducing crack expansion through thermal stress; thermal stress distribution is optimized by combining out-of-focus adjustment and temperature control, and glass separation is realized by inducing crack propagation through thermal stress. The method solves the problems of high breakage rate, path deviation, poor edge quality and the like of traditional cutting, is compatible with tempered glass with different stress strengths (0-600 MPa) and thicknesses (0.7-5 mm), and remarkably improves the recycling rate.

The invention relates to the technical field of three-dimensional analysis, in particular to an oral cavity three-dimensional motion analysis system based on dynamic occlusion scanning. The system comprises an oral cavity occlusion feature extraction module, a dynamic occlusion reconstruction module, an occlusion track smoothing module and an oral cavity motion abnormity identification module, and a multi-view structured light scanner can be used for carrying out image scanning on the oral cavity in the dynamic occlusion process so as to obtain a multi-frame original occlusion image sequence; occlusal feature extraction and three-dimensional occlusal reconstruction are carried out on the multiple frames of original occlusal image sequences to construct corresponding three-dimensional occlusal model sequences; a dynamic occlusion trajectory prediction model is constructed based on the three-dimensional occlusion model sequence, oral cavity three-dimensional motion analysis and occlusion trajectory smoothing filtering processing are carried out, and a smooth three-dimensional occlusion motion trajectory is generated; and performing oral cavity motion abnormity identification according to the smooth three-dimensional occlusion motion track so as to generate an oral cavity occlusion three-dimensional motion abnormity identification result. According to the invention, accurate capture and analysis of three-dimensional motion of the oral cavity can be realized.

The invention provides Fourier transform spectrum equipment based on phase regulation and control and a spectrum detection method, and relates to the technical field of spectrum measurement. The Fourier transform spectrum equipment comprises a light source module used for providing detection light; the spectroscope is used for splitting the detection light into first scanning light and first reference light; the scanning module is used for introducing phase delay linearly related to the light frequency into the first scanning light to obtain second scanning light, and providing the second scanning light for the sample through the spectroscope; the reference module is used for reflecting the first reference light to obtain second reference light and providing the second reference light for the sample through the spectroscope; the photoelectric detector is used for receiving the second scanning light acted on the sample and the second reference light acted on the sample to obtain a first interference pattern; and the processing module is used for processing the first interference spectrum to obtain a spectrum detection result of the sample.

The invention discloses a roundness deviation control method and system for bending a U-shaped pipe of a heat exchanger, and relates to the related field of size and shape measurement, and the method comprises the steps: determining a pipe blank of the U-shaped pipe and a bending target, and inputting the pipe blank and the bending target into a control center for analysis; controlling a pipe bending machine to perform bending control on a first side bending arm of the U-shaped pipe according to the first bending parameter, and starting laser scanning equipment to perform 360-degree scanning along the section of the pipe; performing camber detection on each section based on the continuous scanning data sequence, performing camber deviation prediction and correction, and generating a first real-time correction parameter; and the bending control is continued, after the first control is completed, the opposite-side influence verification of the second-side bending arm is executed according to the opposite-side mutual influence information, and after the opposite-side influence verification passes, the bending deviation prediction and correction of the second-side bending arm are carried out according to the second-time bending parameters. The technical problem that in existing roundness deviation control, the roundness deviation is difficult to effectively control, and consequently the bending quality is unstable is solved, and the technical effects that the roundness deviation is effectively controlled, and the bending quality is improved are achieved.

The invention discloses a laser scanning system, and belongs to the technical field of laser signal processing. The system comprises a laser emission and control module, a scanning device, a receiving device, a signal processing module and a self-adaptive learning module. And the signal processing module extracts the instantaneous frequency of the beat signal through Fourier transform and Hilbert transform, and dynamically adjusts the input voltage based on an iterative algorithm optimized by the adaptive learning module to realize linearization correction of the beat signal frequency and a nonlinear mapping linearization interpolation scheme. The adaptive learning module stores historical correction data, dynamically optimizes parameters such as step length and convergence conditions of an iterative algorithm by using a machine learning method, and improves the adaptability and correction precision of the system in a complex environment. According to the method, full-closed-loop intelligent control from signal acquisition and processing to parameter optimization is realized, and the method has the characteristics of high precision, strong robustness and low manual intervention, and is suitable for the fields of laser radar, three-dimensional scanning, precise distance measurement and the like.

The invention provides a roadbed slope collapse early warning method and system based on linear structured light scanning, and is suitable for the technical field of slope safety monitoring. The method comprises the steps of unmanned aerial vehicle-scanning equipment cooperative deployment, fixed path automatic scanning, original point cloud data space registration, data feature matching and early warning response. The unmanned aerial vehicle carries line structure light scanning equipment, fixed path automatic scanning and real-time single-frame image three-dimensional reconstruction are combined, space-time continuous point cloud data of the roadbed slope are obtained, efficient dynamic monitoring of large-range slope surface deformation is achieved, and the problems that traditional manual inspection is low in efficiency and insufficient in coverage are solved; through the space-time synchronization registration and abnormal point intelligent identification technology, real slump displacement and environment interference are effectively distinguished by utilizing displacement direction analysis and threshold screening, the false alarm rate is greatly reduced, and the anti-interference capability in a complex scene is enhanced; the slope sudden change characteristics of slope crest displacement are matched through regularized piecewise linear modeling, so that the early warning response time is advanced.

A method is disclosed for providing a component. During this method, braze powder is additively deposited with a substrate. The braze powder is sintered together during the depositing of the braze powder to provide the substrate with sintered braze material. The sintered braze material is heated to melt the sintered braze material and to diffusion bond the sintered braze material to the substrate to provide braze filler material. A first object is scanned using structured light to provide first object scan data. The first object includes the substrate and the braze filler material diffusion bonded to the substrate. The first object scan data is compared to first object reference data to provide machining data. The first object is machined using the machining data to provide a second object.

The invention discloses an industrial visual inspection method based on edge light scanning, which comprises the following steps of: initializing projector parameter setting, adjusting shooting frequency and exposure time of an industrial camera, acquiring defect images and forming an image sequence according to the size and the material of a detected piece and an expected defect type to be detected and based on an edge light scanning method; carrying out fusion operation on the image sequence, enhancing defect signals of the images through a weighted stacking algorithm by utilizing high-contrast characteristics of defect areas in multiple frames of images, and carrying out defect positioning and classification on the enhanced images by adopting an image segmentation technology, so as to realize visual detection on defects of the detected piece; by optimizing the design of an optical imaging system, edge light scanning of the quartz wafer is realized, defects are highlighted, surface defects can be quickly and accurately identified, the detection efficiency is greatly improved, defect characteristics are directly enhanced in an image acquisition stage, and quick and accurate defect detection is realized in combination with a sequence image analysis technology.

A three-dimensional displacement measuring system for a railway platform comprises a laser, an angle sensor, a high-magnification camera and an LED (light-emitting diode) illuminating lamp which are respectively arranged on a fixed upright post, the target is adhered to the edge of the platform to form a measurement reference surface, and the horizontal distance between the stand column and the target is a preset value; the system establishes a virtual zero point and defines a space rectangular coordinate system XYZ, the X axis is in the longitudinal direction of the platform, the Y axis is perpendicular to the edge of the platform, and the Z axis is vertically upward. The invention provides a non-contact, high-precision and low-power-consumption railway platform three-dimensional displacement measurement method, which comprises the following steps of: performing periodic laser scanning and image acquisition on a target adhered to the edge of a platform by utilizing a vision measurement system formed by double lasers and a high-magnification camera and combining feedback information of an angle sensor; and the relative displacement of the X axis, the Y axis and the Z axis in the space is inversely calculated through a geometric model. The method can automatically complete the whole-process operation of zero calibration, photographing, identification, calculation, storage and the like, and meets the actual requirements of long-term structure monitoring of the railway platform.

A radar system and a radar ranging method. The radar system comprises: a light emission assembly (100), which successively emits a plurality of groups of emitted light; a receiving end assembly (200), which receives reflected light after the emission light is reflected by a target object and converts the reflected light into a received electrical signal; a light scanning member (300); and a processor (600), which determines the distance to the target object according to the received electrical signal, and adjusts control parameters related to the received electrical signal and a detection field-of-view angle, such that the control parameters change according to a first preset rule starting from an emission start moment; or the detection field-of-view angle changes according to a second preset rule starting from the emission start moment.

The invention provides a handheld laser scanning testing fixture for motorcycle parts, and belongs to the technical field of motorcycle inspection, and the handheld laser scanning testing fixture comprises a main shell member, a lifting assembly, a turnover assembly, an annular moving assembly, a laser scanning module, a stable connecting rod member, a buckle member and an infrared module, the opening end of the lifting frame is rotationally connected with a turnover frame capable of automatically rotating, the annular moving assembly can automatically move along the main body of the lifting frame or the turnover frame as a path, and laser scanning modules symmetrically distributed at the bottom in the housing can be driven to rotate in a reciprocating mode within a certain range while the annular moving assembly automatically moves. The small parts located in the range of the circular ring formed by the lifting frame and the overturning frame are automatically scanned; and after the annular moving assembly is overturned upwards to a certain angle along with the overturning frame, large parts can be scanned in cooperation with advancing movement of an operator, and the stability and operation convenience can be improved through a stable connecting rod component, a buckle component and an infrared module.

A panoramic scanning coal fire detection and disaster early-warning, prevention and control apparatus for a mining area, the apparatus comprising a detection apparatus, a laser scanning apparatus, a satellite remote-sensing monitoring apparatus, a data processing and analysis system, and an early-warning, prevention and control apparatus. High-precision thermistor temperature sensors (1) are arranged inside, on the surface and in surrounding areas of coal piles, such that subtle changes in the temperature of the coal piles can be accurately captured, and early-stage potential coal fire hazards can be effectively detected; gas sensors (2) installed at vents of a mining area can simultaneously measure the concentrations of gases such as carbon monoxide, carbon dioxide, methane and sulfur dioxide, so as to promptly identify anomalies in gas composition that are caused by coal fire combustion; an infrared thermal imager (3), which is located at a high position to acquire a panoramic view of the mining area, can clearly display high-temperature regions; and cameras (4) provide high-definition, wide-angle and low-illumination visual monitoring, and various sensors comprehensively collect data from different dimensions, thereby greatly improving the accuracy and comprehensiveness of monitoring.

An image forming apparatus includes a light emitter; a photoconductor to form a latent image on a surface of the photoconductor; a deflector to deflect light at a write start timing; an optical sensor; and circuitry. The optical sensor detects the scanning light scanning, with one of multiple sensitivities. The circuitry adjusts a light intensity of the emitted light and the write start timing based on the detection signal; switches from the one of multiple sensitivities to other of multiple sensitivities or from the other of multiple sensitivities to the one of multiple sensitivities based on the light intensity adjusted; and determines whether to perform a color misregistration correction based on a shift in the write start timing caused by a switch from the one of multiple sensitivities to the other of multiple sensitivities or from the other of multiple sensitivities to the one of multiple sensitivities.

The invention relates to the technical field of machine vision detection, in particular to a flaw detection method and system for large mold production based on machine vision. The method comprises the following steps: positioning the surface and a key curvature area of a spherical acoustic focusing lens mold, and establishing a three-dimensional coordinate reference frame of the spherical acoustic focusing lens mold; the method comprises the following steps: acquiring an image of a spherical area of a whole spherical acoustic focusing lens mold, preprocessing the image, and acquiring point cloud data of the surface of the spherical acoustic focusing lens mold; and based on the preprocessed image, utilizing a convolutional neural network model to identify the surface defect of the spherical acoustic focusing lens mold, and combining point cloud data to detect an area with geometric anomaly. According to the method, a unified three-dimensional coordinate reference frame is established, and high-resolution image data and point cloud data generated by high-precision structured light / laser scanning are precisely registered in space.

The invention relates to the technical field of edible mushroom cultivation covering soil quality detection equipment, in particular to an edible mushroom cultivation covering soil quality detection device based on visual identification. According to the technical scheme, the edible mushroom cultivation covering soil quality detection device based on visual recognition comprises a detection device body, movable universal wheels, a terminal controller, a heat dissipation module, a pushing handle, a storage bin and a cleaning module, the movable universal wheels are arranged at the four corners of the bottom face of the detection device body, and the terminal controller is arranged on one side of the detection device body; a heat dissipation module is arranged on one side of the terminal controller; according to the invention, the degree-of-freedom mechanical arm and the binocular structured light scanning unit are introduced, and through spiral track scanning and phase deflection technologies, full-area high-precision three-dimensional shape acquisition is realized, and meanwhile, the multispectral imaging module synchronously obtains spectral characteristics of covering soil color, humidity and impurities through a pulse type composite light source and automatic white balance calibration, so that the detection precision of the covering soil is improved. And the detection efficiency and the impurity identification accuracy are effectively improved.

The invention discloses a silver nanowire network film and a welding method, and relates to the technical field of nano material processing and flexible electronic device manufacturing, and the welding method comprises the following steps: taking a polyester film as a substrate, taking silver nanowires, and placing the silver nanowires in ethanol to prepare a silver nanowire dispersion liquid; spin-coating the silver nanowire dispersion liquid on a substrate, and drying to form a silver nanowire network electrode; a focused light scanning system is adopted to weld the silver nanowire film, a xenon lamp light source is adopted to form a light spot through focusing of a convex lens, an XY motor drives a platform to drive a silver nanowire network electrode to perform two-dimensional motion, and the light spot scans a to-be-welded area of the silver nanowire network electrode according to a preset path for welding; and naturally cooling to obtain the silver nanowire network film. Uniformity and stability of current conduction of the electrode network are guaranteed, and comprehensive and efficient node welding is achieved.

The invention discloses a vehicle-mounted point cloud density enhancing device and method for tunnel lining disease detection, the vehicle-mounted point cloud density enhancing device is composed of an image acquisition assembly, a data transmission assembly, an intelligent terminal and a laser scanner, the image acquisition assembly and the laser scanner are integrally located at the top of a detection vehicle, the data transmission assembly is used for realizing data link, and the intelligent terminal is connected with the image acquisition assembly. And transmitting picture information obtained by the image acquisition assembly and laser scanning data to the intelligent terminal through Bluetooth. The laser scanner performs 360-degree rotary scanning on the tunnel section in the detection process to obtain a standard distance and further obtain three-dimensional information of a point, and three-dimensional point cloud data is generated by converting a coordinate system. According to the invention, the area-array camera and the grating projector are integrated, the point cloud image is generated by using the visual reconstruction technology, the laser scanner is assisted, the point cloud density of the collected data is improved, and the comprehensiveness and accuracy of disease detection are ensured.

This invention is a multi-dimensional ancient building maintenance and restoration method based on 3D laser scanning, relating to the field of computer processing technology. The method comprises the following steps: S01, using a terrestrial laser scanner to acquire basic 3D point cloud data of the ancient building. This basic 3D point cloud data includes geometric information of the building facade, ground structure, and near-ground decorative components; S02, using an unmanned aerial vehicle equipped with a multi-line laser scanner to scan the building roof and high-altitude structures to generate supplementary point cloud data. This supplementary point cloud data covers the millimeter-level precision 3D coordinates of the sloping roof, tower eaves, and eaves brackets; S03, using a multispectral imaging device to simultaneously collect surface texture data of the ancient building. This invention achieves millimeter-level accuracy in 3D reconstruction of ancient buildings through multi-source data fusion and a hierarchical optimization algorithm. Combined with automated defect identification and multimodal analysis techniques, this method improves the efficiency of maintenance decision-making.

The invention relates to the technical field of shape deviation detection, in particular to a pressure vessel shape deviation detection device and method based on laser scanning, the pressure vessel shape deviation detection device comprises a handheld laser 3D scanner and further comprises a frame body, the side, close to a vessel tank, of the frame body is detachably connected with the scanner, and equidistant assemblies are symmetrically installed on the frame body; the ends of the two equidistant assemblies are in contact with the surface of the container tank, the two equidistant assemblies and the scanner form a triangle, and laser emitted by the scanner is perpendicular to the midpoints of the two equidistant assemblies; the ends of the two rotating pieces are attached to the peripheral face of the container tank, it is guaranteed that the distance between the scanner and the container tank is not changed, meanwhile, it can be guaranteed that the central axis of the container tank, the generatrix of the container tank and the path of laser emitted by the scanner are located on the same plane, and therefore the problem that in the prior art, due to distance measurement and scanning angle changes, the scanning precision is poor is solved. And the cylindrical container tank part is not scanned, so that repeated scanning is needed.

The present disclosure provides a laser scanning device and a projection imaging device, which realizes real-time compensation of the outgoing direction of the scanning beam by adding a hardware level distortion correction component and its control module after the reflection of the galvanometer. In the nonlinear distortion area such as the pillow-shaped distortion and the tilt distortion generated by the galvanometer scanning, the distortion correction component can accurately adjust the beam deflection angle according to the pre-calibrated correction parameter sequence, effectively restore the geometric shape of the scanning pattern, significantly improve the linearity of the point cloud distribution and the overall imaging accuracy, and complete the distortion correction of the full field of view without sacrificing the field of view angle or the resolution, thereby ensuring a wider effective imaging area and more delicate image details. By integrating a special distortion correction component in the optical path, the dependence on the upper image processing algorithm is reduced, the demand for high-performance controllers and complex software operations of the entire system is reduced, and better cost effectiveness and engineering implementation are achieved.