86 results about "Mobile laser scanning" patented technology

A fully automated package identification and measuring system, in which an omni-directional laser scanning system are used to read bar codes on packages entering the tunnel, while a package dimensioning subsystem is used to capture information about the package prior to entry into the tunnel. Mathematical models are created on a real-time basis for the geometry of the package and the position of the laser scanning beam used to read the bar code symbol thereon. The mathematical models are analyzed to determine if collected and queued package identification data is spatially and / or temporally correlated with package measurement data using vector-based ray-tracing methods, homogeneous transformations, and object-oriented decision logic so as to enable simultaneous tracking of multiple packages being transported through the scanning tunnel.

A method for constructing a 3D reference map useable in real-time mapping, localization and / or change analysis, wherein the 3D reference map is built using a 3D SLAM (Simultaneous Localization And Mapping) framework based on a mobile laser range scanner A method for real-time mapping, localization and change analysis, in particular in GPS-denied environments, as well as a mobile laser scanning device for implementing said methods.

The invention discloses a method of 3D contour measurement of a workpiece on a conveyor belt based on line laser scanning. The method comprises the following steps of obtaining camera internal and external parameters through camera calibration, carrying out filtering and laser light strip center position initial extraction through an image preprocessing step, carrying out sub-pixel precision refinement on the center coordinates of a light bar, obtaining a light plane equation through the laser light plane calibration and finally carrying out reconstruction and measurement of the three-dimensional contour information of a workpiece to be measured. The workpiece 3D contour measurement brought forward by the invention has the following advantages: a high measurement precision which means thethree-dimensional contour information of the workpiece to be measured can be accurately obtained through the laser light bar extraction with sub-pixel precision and 3D reconstruction; a fast measurement speed which means real-time measurement of 3D contour information of the workpiece to be tested can be realized to improve the efficiency of industrial production site operations; and low hardwarecosts which is realized in a hardware implementation mode in which laser is combined with a monocular camera. Accordingly, the technical method of the application has advantages such as being in a non-contact mode, high in measurement precision, fast in speed and low in cost, and can be applied to an industrial automation production process to realize accurate measurement of the 3D contour information of the workpiece on the conveyor belt.

A bioptical laser scanning system employing a plurality of laser scanning stations about a two independently controlled rotating polygonal mirrors. The system has an ultra-compact construction, ideally suited for space-constrained retail scanning environments, and generates a 3-D omnidirectional laser scanning pattern between the bottom and side-scanning windows during system operation. The laser scanning pattern of the present invention comprises plurality of groups of intersecting laser scanning planes that form a complex omni-directional 3-D laser scanning pattern within a 3-D scanning volume capable of scanning a bar code symbol located on the surface of an object presented within the 3-D scanning volume at any orientation and from any direction at the POS station so as to provide 360° of omnidirectional bar code symbol scanning coverage at the POS station.

The invention discloses an indoor unknown structure identification method based on laser scanning. The method comprises the following steps of designing a data structure of laser scanning data, and determining a global map coordinate system used in the scanning process; adopting a laser rangefinder to obtain laser scanning data, calculating the distance between scanning points with adjacent angles, and performing denoising pretreatment, generating a scanning contour of the indoor structure; saving the global coordinates of various points in the scanning contour into a database, and establishing a three-dimensional environmental point cloud by combining height sensor information; and according to the scanning contour and the environmental point cloud, identifying an indoor unknown environmental structure and barrier information. The method provided by the invention is complete in structure and real-time in data processing, and has strong adaptability and expandability.

A laser imaging apparatus with self-adaptable speed change scanning is used to obtain 3-D image of a target and belongs to the technical field of observation and imaging to ground. The apparatus is mainly used in 3-D imaging of the ground target on the basis of the observation to ground with laser scanning, and also used in 3-D laser imaging of close target and tomographic scan. A close loop mainly achieves the speed change scanning of a scanning lens driven by a scanning motor, and the basis for the scanning is the condition of fluctuation of the ground target. Electrical signal, mechanical rotation, laser detection and the like links to achieve the close loop. The close loop consists of four components, they are the components of optical members and of laser detection.

The invention discloses a high-precision urban three-dimensional modeling method integrating an airborne LIDAR (Laser Intensity Direction And Ranging) technology and a vehicle-mounted mobile laser scanning measurement technology, comprising the following steps of: firstly, acquiring high-precision three-dimensional laser point clouds and high-resolution digital aerial photos of a measuring region by adopting airborne LIDAR, fast extracting a high-precision digital elevation model and a digital orthoimage product, carrying out high-precision modeling on a building to make the scenes of an urban three-dimensional electronic sand table and an urban three-dimensional building body frame model; secondly, completing the acquisition of the high-density laser point clouds and high-precision digital photos of urban scenes positioned at both sides of a road of the measuring region by adopting vehicle-mounted mobile laser scanning measurement, carrying out the quality optimization of vehicle-mounted data by referring to airborne LIDAR results, and then fast carrying out three-dimensional modeling on various urban piece elements; and finally integrating three-dimensional digital model results acquired through the airborne LIDAR and the vehicle-mounted mobile laser scanning measurement, therefore the quality and the work efficiency of the urban three-dimensional modeling are greatly enhanced. The invention can greatly reduces the development cost of projects.

The invention discloses a linear laser scanning three-dimensional contour measuring method and device. A linear laser device swings under the control of a magnetostriction micrometric displacement controller to form a scanning surface on a detected object, the swing angle omega is determined by the size of the object, and it is guaranteed that the linear laser device completely scans the contour of the detected object; then height information of all contour points is acquired, and the three-dimensional surface contour of the object is reestablished. The linear laser scanning three-dimensional contour measuring method and device have the advantages that in the method, the object does not need to move, the laser device is controlled by the magnetostriction micrometric displacement controller to swing to completely scan the contour of the object, after light rays on which diffuse reflection is conducted by the surface contour of the object are received by an imaging module, the height information of all the points on the surface contour of the object can be acquired, the three-dimensional surface contour of the surface of the object is reestablished, the range and the angle of the laser scanning surface can flexibly change according to the size of the object, measurement is accurate and quick, accuracy is high, the application range is wide, and the three-dimensional contour measuring device is simple in structure and convenient to operate.

A fully automated package identification and measuring system, in which an omni-directional holographic scanning tunnel is used to read bar codes on packages entering the tunnel, while a package dimensioning subsystem is used to capture information about the package prior to entry into the tunnel. Mathematical models are created on a real-time basis for the geometry of the package and the position of the laser scanning beam used to read the bar code symbol thereon. The mathematical models are analyzed to determine if collected and queued package identification data is spatially and / or temporally correlated with package measurement data using vector-based ray-tracing methods, homogeneous transformations, and object-oriented decision logic so as to enable simultaneous tracking of multiple packages being transported through the scanning tunnel.

The invention belongs to a pedestrian traffic parameter extraction method based on mobile laser scanning, and belongs to the technical field of microscopic traffic parameter obtaining. The method comprises the steps: collecting surrounding point cloud of a vehicle through a three-dimensional laser scanner installed on the vehicle; obtaining different types of data objects through data segmentation, clustering, and detection; recognizing a pedestrian, and extracting fixed objects on a road; carrying out the matching of fixed ground objects in two data frames; calculating the movement distance of an autonomous vehicle in the two frames; calculating the speed of a vehicle; and finally carrying out the statistics of traffic parameters of a pedestrian flow. The method is specifically characterized in that a VLP-16 small-size laser radar from the Velodyne company is used for collecting the dynamic data of pedestrians on a road and the surroundings, and the cost is low; for the correlation of target data and the extraction of traffic parameters, the method employs a nearest neighbor method with reflection information in order to obtain the accurate matching information in the multiframe data, and solves a problem of target matching well.

The invention discloses a laser scanning method and device for helicopter collision avoidance. The device comprises a collision avoidance laser scanner device, a helicopter body pitch angle measuring device and a helicopter body; and the device can be used for scanning and imaging a ground obstacle in real time and timely providing the shape and distance information of the obstacle for a pilot. The state of a laser scanning point cloud is decided by two-dimensional motion, wherein the two-dimensional motion comprises sinusoidal swing in a pitch direction and conical laser scanning formed by rotating motion of a scanning mirror; and the laser point scanning track of circular rotating propulsion is generated by synthesizing two motions and a rectangular scanning strip is formed, so that the obstacle at lower front part of the helicopter can be detected at high resolution. When a pitch angle of the helicopter changes, a pitch angle value is obtained by the helicopter body pitch angle measuring device and is provided for a collision avoidance laser scanner controller, so that a swing angle in the pitch direction is controlled in real time, the change of the pitch angle is compensated, the laser scanning pitch field angle is kept unchanged relative to the local horizontal plane and the phenomenon of leaked scanning of the ground obstacle at the lower front part of the helicopter due to the influence from the pitch angle change is prevented.

The invention relates to a laser scanning based vehicle type recognition method for free flow charging. The laser scanning based vehicle type recognition method includes the following steps: by a laser scanning detector, parallelly scanning two sections of a travelling vehicle to acquire measured angle and distance data, wherein the two sections are perpendicular to the road plane and intersect; by the laser scanning detector, uploading the measured angle and distance data to a vehicle type recognition device; by the vehicle type recognition device, calculating to acquire length, width and height of the vehicle and outline information of the whole vehicle; matching the acquired vehicle outline information with a vehicle type classification feature library to acquire a vehicle type to achieve automatic vehicle type recognition. By the laser scanning based vehicle type recognition method, automatic vehicle type recognition of all passing vehicles of free vehicle flows with the average vehicle speed below 120 kilometers / hour can be realized.

The invention relates to a system of 3D scene reconstruction of caisson based on laser scanning and collision avoidance of excavator, comprising four modules that sensor module for collecting landforms information in caisson, dip angle of working top plate of caisson and position information of excavator, and building and displaying for collecting data; moving control module for controlling laser scanning to rotate across one vertical axis along the scanning surface so as to assist the system to obtain the 3D information; building and displaying 3D landforms module for building the information from sensor module and angle information from the moving control module so that the 3D figure of landforms in caisson is displayed on the display accurately; arithmetic module of collision avoidance of excavator for forecasting the position and gesture of excavator according to the information from building and display module of 3D landforms and history information. The invention realizes the reconstruction of 3D scene in caisson working room and collision avoidance of excavator and provides the basis for no-human construction in air pressure caisson accurately.

The invention discloses a robot laser scanning welding seam tracking system calibration method. A video camera in a sensor is calibrated based on a plane template firstly. The video camera is enabled to acquire at least three different positions by freely moving the sensor. The internal parameters of the video camera are solved according to the principle of least squares. Then image coordinates of an infinite point on a laser plane projected in the video camera are solved, and structured light is calibrated. Finally the calibrated sensor is fixed at the tail end of a manipulator via a flange plate. The same target point in space is detected by using the sensor through changing the attitude of a robot, and a conversion matrix of a video camera coordinate system and a manipulator tail end coordinate system is solved. A robot laser scanning welding seam tracking system acts as the object of study, and the parameters of the structured light are calibrated by adopting the video camera calibration method based on the plane template and the image coordinates of the infinite point on the laser plane projected in the video camera.

The invention relates to a three-dimensional imaging measurement system combining planar array imaging with laser scanning, comprising a laser scanning device and at least one planar array imaging equipment camera installed at the periphery of the laser scanning device, wherein the scanning coordinate system of the laser scanning device is XYZ, and the image coordinate system of the at least one planar array imaging equipment camera is X'Y'Z', and omega and kappa are respectively the space included angles of the image coordinate system and the scanning coordinate system X. The three-dimensional imaging measurement system is characterized in that the optical axis of the at least one planar array imaging equipment camera is spatially vertical to or parallel to the scanning surface of the laser scanning device so that any two space included angle values of the omega and the kappa are zero. In the invention, the spatial geometrical relationship between the image coordinate system and the scanning coordinate system is achieved only by single coordinate rotation and single coordinate conversion, thus the matching computation of laser point cloud data and camera image collection data can be simplified, and the fusion superiority of the laser point cloud data obtained by the scanning device and the image data collected by the cameras can be improved.

A laser scanner is located in a fixed position to have line-of-sight access to key features of monitored objects. The scanner rapidly scans pre-programmed points corresponding to the positions of retroreflecting targets affixed to the key features of the objects. The scanner is capable of making highly detailed scans of any portion of the field of view, permitting the exact location and identity of targets to be confirmed. The security of an object is verified by determining that the cooperative target is still present and that its position has not changed. The retroreflecting targets also modulate the reflected light for purposes of returning additional information back to the location of the scanner.

The invention provides a panoramic three-dimensional reconstruction system and method based on laser scanning, the system comprising a control turntable, a camera, a laser emitter, a data processing device and a bracket; the control turntable can be rotated many times according to a preset angle to realize 360 degree circumferential rotation; the camera is used for acquiring an image when the laser beam emitted by the laser emitter irradiates the surface of the object to be reconstructed after the control turntable rotates according to a preset angle each time; the data processing device is used for processing the pictures taken at each angle and calculating the point cloud under the angle, and combining the point cloud to realize the three-dimensional reconstruction of the scanned object;the data processing device is respectively connected with the control turntable, the camera and the laser emitter; the bracket is mounted on the control turntable, and the camera and the laser emitter are mounted on different positions of the bracket. The scheme solves the problems of high manufacturing cost, difficult registration of three-dimensional point cloud, inaccurate conversion of different coordinate systems and the like existing in the prior art.

The invention discloses a multiple large range laser scanning measurement method. The method uses multiple cameras which are arranged along the scanning line direction to perform stage imaging to a light knife and increases the total range of the field of vision by increasing the number of the cameras, thus achieving the aim of increasing the scanning efficiency. The length of the laser projecting line is increased correspondingly while the field of vision of cameras is increased so that the length of the light knife used for laser scanning can satisfy the demand of the field of vision for the multiple cameras. The method of the invention can be used to increase the efficiency of the laser scanning in multiple on the basis of not reducing the measurement accuracy.

PROBLEM: Efficiently generating digital terrain model (DTM) having high elevation surface accuracy and high point density, and suitable for controlling pavement milling machines during road repairs. SOLUTION: Combination of motorized levelling and Stop-Go mobile laser scanning system, including train of three vehicles, which are at standstill during measurements, and which move in unison in between measurements. Middle vehicle carries laser scanner, elevation sight, and GNSS receiver. Front and rear vehicle each carry levelling rod; front vehicle also carries GNSS receiver. During measurement cycle, laser scanner generates point cloud, while GNSS positions of middle and front vehicles and elevations at the resp. positions of front and rear vehicles are determined. After measurement cycle, vehicle train moves until rear vehicle halts at previous GNSS position of front vehicle, etc. When all measurement cycles are completed, collected data is integrated and transformed into a DTM.

A road marking line automatic extracting method based on laser scanning discrete point strength gradients is disclosed. The method includes steps of 1) extracting a road surface point set from a laser point cloud by utilizing height information and an RANSAC process, 2) filtering road surface points in the road surface point set by adopting a median filter, 3) separately calculating the strength gradient of each road surface point in the road surface point set, 4) according to the strength gradients of the road surface points, clustering the road surface points in the road surface point set into road surface points with high strength gradients and road surface points with low strength gradients by adopting a global clustering process, and adopting the road surface points with high strength gradients as seed points, and 5) performing marking line point searching according to the seed points. Strength gradient information of discrete points and geometrical morphology information of a marking line are comprehensively utilized in the method. The road marking line extraction accuracy and efficiency are increased. Automatic extraction can still be achieved for laser point cloud data with poor quality. The method is suitable for most mobile laser scanning data.

The invention discloses a method for automatically extracting a spatial position of rod-shaped ground objects from point clouds in vehicle laser scanning. The method first acquires the optimal spatial layered point cloud plane projected image from the laser scanning point cloud. Threshold segmentation is performed on the generated optimal spatial layered point cloud plane projection image to remove the low luminance points. The linear detection of the plane projection image after threshold segmentation is carried out, and the data with line features is removed. The image is further extracted to obtain the projection image of the rod-shaped ground object by removing the data part which does not accord with the diameter characteristics of the rod-shaped ground object. Finally, the geometric center of each rod-shaped ground object area is taken as the spatial location point of the rod-shaped ground object from the projected image of the rod-shaped ground object, and the relative position is reduced to the three-dimensional point cloud. The method of the invention is not susceptible to the noise point of data with high automation degree, fully utilizing the morphological characteristics of the point cloud data to achieve a better extraction effect.

The invention relates to the field of electronic technology and especially to a target positioning method using laser scanning and a laser receiving device. The method comprises steps that the laser receiving device records a first time when a synchronization signal transmitted from a first laser rotation scanning device is received, and a second time when a laser signal is received, determines a reception time length, determines the rotation angle of the first laser rotation scanning device according to the reception time length, determines the position of the laser receiving device (the same as the position of a target object) according to the rotation angles of N laser rotation scanning devices. The first laser rotation scanning device is any one of the N laser rotation scanning devices of a laser emission device, wherein N is greater or equal to 3. The method may position the laser receiving device just with at least three laser rotation scanning devices, does not have high requirements for light, mechanicals, and electrics. The number of laser sensitive element in the laser receiving device is at least one so that the laser receiving device is simple in structure.

A method for constructing a 3D reference map useable in real-time mapping, localization and / or change analysis, wherein the 3D reference map is built using a 3D SLAM (Simultaneous Localization And Mapping) framework based on a mobile laser range scanner A method for real-time mapping, localization and change analysis, in particular in GPS-denied environments, as well as a mobile laser scanning device for implementing said methods.

The invention relates to the field of laser scanning, and particularly provides a three-dimensional laser scanning device which comprises a rotation module, a fixed module and a laser generation unit, wherein the rotation module is arranged on the fixed module in a rotating manner, and comprises a laser transmission assembly, a laser receiving assembly and a data processing assembly. According to the three-dimensional laser scanning device, laser is generated by the laser generation unit, is shaped into linear laser with a field angle by the laser transmission assembly, and is projected into the space of an object; the linear laser reflected by the object is received by the laser receiving assembly, and is subjected to photoelectric conversion to obtain an electric signal; and the electric signal is processed by the data processing assembly to obtain spatial three-dimensional data of the target object. The target object is scanned by linear laser in a rotating manner, so that the scanning efficiency of the three-dimensional laser scanning device is improved. The three-dimensional laser scanning device is simple in structure, easy to mount and low in price.

The invention provides a method for judging a forward motion direction of a pedestrian by combining laser scanning and videos, which comprises the following steps: (a) carrying out vertical laser scanning and video shooting on pedestrians overhead to acquire laser scanning data and video images; (b) analyzing the laser scanning data to know that a pedestrian is scanned by laser in a frame of the laser scanning data and obtain the analytical data of the frame of the laser scanning data; (c) detecting the video images according to the analytical data so as to find out the body characteristics of the pedestrian; and (d) tracking the pedestrian in the video images according to the body characteristics so as to judge the forward motion direction of the pedestrian. The method can accurately andeffectively detect a human body target in the videos by combining the laser scanning and the videos so as to carry out tracking processing and has small influence of external environment.

The invention discloses a high-precision three-dimensional city modeling method, and relates to the field of modeling. The method is characterized in that firstly high-precision three-dimensional laser point cloud and high-resolution digital aerial photos of a measurement area are acquired by using airborne LIDAR, and high-precision digital elevation models and digital orthoimages are rapidly extracted and high-precision modeling of buildings is performed so that a three-dimensional city electronic sand table and three-dimensional building object frame model scenes are manufactured; secondly, acquisition of the highly dense laser point cloud and the high-resolution digital photos of the city scenes on the both sides of the measurement area is completed by using vehicle-mounted mobile laser scanning measurement, vehicle-mounted data quality optimization is performed by reference to the airborne LIDAR result and then three-dimensional modeling is rapidly performed on various types of sketch elements of the city; and finally the three-dimensional digital model results acquired by airborne LIDAR and vehicle-mounted mobile laser scanning measurement are integrated so that the quality and the working efficiency of three-dimensional city modeling can be greatly enhanced, and the project development cost can be greatly reduced.

The invention relates to a 2D laser sensor for realizing fruit tree crown volume measurement technology and GPS real-time positioning technology, in particular to a method for generating an orchard canopy geographic point cloud image based on RTK-GPS and mobile 2D laser scanning. The method comprises the following steps of: canning an orchard canopy by an onboard 2D laser scanner; mounting a GPS sensor that provides geographic location information and an inertial measurement unit (IMU) that provides vehicle body posture information on a vehicle; through a time synchronization procedure, retrieving the three-dimensional information of the point cloud from the 2D laser scanner; retrieving the geographic coordinate information of the moment from the GPS sensor; retrieving the real-time three-axis angular velocity information and angular acceleration information of the vehicle from the IMU, and obtaining the three-axis angle through real-time solution; finally, obtaining complete the orchard canopy cloud with geographic information through data fusion.

The embodiment of the invention provides a laser scanning device and a mobile measurement system, and relates to the technical field of laser scanning. The laser scanning device comprises a laser transmitting module, a rotating module, a laser receiving module, a data acquisition module and a data processing module, wherein the laser transmitting module and the laser receiving module are arrangedat one side of the rotating module, the rotating module is used for changing the direction of laser light so as to enable the laser light to irradiate to target objects at each position of a target scene, the laser receiving module is used for receiving the laser light reflected by the target objects and performing photoelectric conversion to obtain an electric signal, the data processing module is used for processing the electric signal to obtain the time difference between the transmitted laser light and the received laser light, and the data acquisition module is used for acquiring data ofthe laser transmitting module, the rotating module and the data processing module so as to obtain point cloud data of the target scene. The laser scanning device can acquire three-dimensional data ofa three-dimensional space of the target scene. In addition, the device can perform mobile measurement under a condition that GNSS signals are unavailable.

The invention provides a system and method for measuring a gear 3D profile based on line laser scanning. The system includes a line laser, a first image sensor, a second image sensor, an objective table, an image acquisition card, a rotary encoder, a stepping motor, and a terminal with an operation function. The gear to be tested is disposed on the objective table. The line laser is disposed right in front of the gear to be tested. The first image sensor and the second image sensor are arranged on two sides of the line laser separately and have lenses directing at a direction which intersects an optical axis of the line laser at an included angle. The first image sensor and the second image sensor are in electrical connection with the image acquisition card. The rotary encoder is placed on the objective table and is connected to the terminal for recording rotation angles of the gear to be tested. The stepping motor serves to drive the objective table to rotate and is controlled by the terminal. The image acquisition card is connected to the terminal for controlling synchronous on-off and acquisition of the first image sensor and the second image sensor. The terminal serves to establish the 3D profile of the gear.

The invention provides a device and a method for distance and speed measurement adopting scanning laser signals and a dual detector. The device comprises a transmitting unit and a receiving unit. The transmitting unit is mounted on an object A; and the receiving unit is mounted on an object B. The relative distance and the relative speed between the object A and the object B can be measured. The transmitting unit comprises a laser linear source, an N prism with a principle section of an N-sided polygon and a motor which can drive the N prism to rotate; and the receiving unit comprises at least two photoelectric detectors and a single-chip microcontroller. The N prism is driven to rotate by the motor; and laser transmitted from the laser source is reflected by lateral sides of the N prism to the receiving unit, and is received by the photoelectric detectors successively. Back waves are not required on the technical scheme which can be applicable to objects in relative motions; tracking measurement and continuous measurement can be performed; and the device can further be applicable to objects moving at low speed, and is wide in application.