417 results about "Range finding" patented technology

The present invention provides an automatic focusing method, an electronic device, and a readable storage medium. The automatic focusing method comprises: using a target detection model to detect a target object in an image frame acquired at an initial focal length by an optical imaging device to be focused, so as to acquire a target object detection result; on the basis of the target object detection result, determining whether a target object is present in the image frame; if yes, determining an actual object distance on the basis of the target object detection result and the initial focal length, and on the basis of the actual object distance and a mapping relationship between the object distance and an optimal imaging focal length, determining the optimal imaging focal length; and if not, using a preset search algorithm to search for a focal length until an image having the highest definition value is found, and using a focal length corresponding to the image having the highest definition value as the optimal imaging focal length. The present invention primarily employs a deep learning-based automatic focusing method, supplemented by an image definition evaluation method. Compared with traditional passive focusing methods, the present invention greatly improves the focusing efficiency. Compared with traditional active focusing methods, the present invention eliminates a need for adding an additional optical ranging component, ensuring that the imaging device has a simple structure and a low cost.

The invention discloses a mobile robot accurate docking method based on edge calculation, and aims to solve the problems that the dynamic docking precision is reduced and the collision risk is increased due to micro-motion or drifting of a target station. According to the method, unified time reference alignment is carried out on data of a camera, a laser radar, an inertial measurement unit, an ultra-wideband range finder, a station encoder and a programmable logic controller at an edge node, and a three-dimensional special Euclidean group equivariant multi-source fusion network is used for outputting relative pose estimation and covariance; the estimation in the time window is further used as a condition to be input into a conditional diffusion short-time prediction model to obtain a time-varying mean value and a time-varying covariance, an anisotropic probability tube is constructed, and prediction-measurement joint correction is carried out based on a score function; scenarized opportunity constraints are constructed under correction probability tube constraints, a tubular nonlinear model is adopted to predict, control and solve a reference trajectory, an actuator command is generated in combination with depth visual servo and compliance control, and the technical effects of high precision, robustness and safe docking under the station dynamic disturbance condition are achieved.

The invention discloses a laser measurement system suitable for a large complex curved surface and a measurement method thereof.The measurement system comprises a control module, a positioning module, a pre-scanning module and a high-precision scanning module, and the control module comprises a high-precision scanning planning unit and a scanning analysis unit; the high-precision scanning module comprises a three-dimensional scanning platform, a universal mechanical arm and a distance measuring laser; the measurement method comprises the steps of pre-scanning to generate an initial model, scanning path planning and scanning attitude control, high-precision scanning to collect point cloud data, preprocessing and marking of the high-precision scanning point cloud data, local optimization and supplementary scanning strategy generation and high-precision scanning model generation. According to the measurement system and method, the dynamic scanning path of the high-precision scanning module is intelligently planned based on the pre-scanning result, the pre-scanning and high-precision scanning strategies are combined, high-density coverage and uniform sampling of the large complex curved surface are achieved, measurement is accurate, the anti-interference capacity is high, and the model scanning precision is high; a dynamic supplementary scanning mechanism is automatically marked and triggered in the scanning process, and the quality of scanned data is ensured.

The invention discloses a three-dimensional positioning method for an inspection unmanned aerial vehicle in an underground pipe gallery based on multi-sensor fusion, and relates to the technical field of unmanned aerial vehicle positioning, and the method comprises the following steps: obtaining UWB distance measurement information, IMU attitude information, optical flow motion information and TOF distance measurement information, correcting the UWB and TOF information based on the IMU and optical flow information, and analyzing the global coordinates of a UWB label on the unmanned aerial vehicle; acquiring original point cloud data of the laser radar, performing motion distortion compensation on the original point cloud data through an interpolation algorithm based on the pose data of the unmanned aerial vehicle, and converting the original point cloud data from local coordinates to global coordinates; further calculating the Euclidean distance between each point cloud coordinate and the UWB label coordinate, setting a dynamic threshold interval based on the UWB label positioning result, precision and pipe gallery mapping data, and filtering the point cloud data with the distance in the threshold interval; and finally, analyzing the residual point cloud data through a laser positioning algorithm, and outputting a high-precision positioning result of the unmanned aerial vehicle.

The invention provides a multi-target adaptive optical tracking method and system for an unmanned intelligent turntable. The method comprises the following steps: acquiring a video stream and turntable attitude data on an unmanned intelligent turntable; carrying out scene understanding operation on the video stream, fusing the dynamic attention area and extracting spatial distribution information of a plurality of moving targets in a rotary table coordinate system; calculating an optical deformation parameter of the liquid lens, and driving the liquid lens to execute non-uniform optical curved surface adjustment, so that a focus area simultaneously covers a plurality of spatially dispersed moving targets; receiving distance data fed back by the distance measuring equipment, carrying out cross validation on the distance data and actual optical parameters of the adjusted liquid lens, and generating a cooperative calibration instruction when the deviation exceeds the tolerance; and synchronously updating the dynamic region of interest identification logic of scene understanding and an optical deformation parameter calculation strategy according to the instruction. According to the invention, the stability and spatial positioning precision of multi-moving-target tracking in a wide-area complex scene are improved.

The invention relates to the technical field of optical three-dimensional measurement and metering, and discloses a single-camera three-dimensional coordinate measurement method and system based on full-field distance measurement, and the method comprises the following steps: S1, building a calibration field containing a control point, shooting an image of the calibration field through a monocular camera, extracting the image coordinate of the control point, carrying out the camera calibration, and obtaining a calibration field; obtaining internal parameters and external orientation parameters of the camera; and S2, controlling the laser range finder to aim at the control point in the calibration field through the non-orthogonal double-axis turntable. Submillimeter-level high-precision measurement can still be realized under the condition of a short baseline, and the problems that the precision in the depth direction is insufficient, the baseline requirement is long, parameters are easy to drift and the like in traditional stereoscopic vision measurement are effectively solved. By introducing a non-orthogonal double-shaft turntable and a visual guidance laser aiming mechanism, autonomous, rapid and accurate measurement of multiple measurement points in a large field of view is realized, and the automation degree and reliability of measurement in a complex environment are remarkably improved.

The invention relates to a target tracking optimization method and system based on image recognition laser ranging. According to the method, when the intensity of a signal returned by laser ranging operation is lower than a preset threshold value, a candidate target is determined as a non-target and a non-target mark is added, and in subsequent image processing, when a candidate target associated with the non-target mark is identified again, the identification confidence of the candidate target is reduced, so that the identification confidence is lower than a threshold value for triggering ranging. According to the method and the system, repeated laser ranging operation on a non-target object can be avoided, so that unnecessary computing resource consumption is reduced, the efficiency and the accuracy of the system for tracking a real target are improved, particularly, tracking interruption can be effectively avoided when the target moves highly dynamically, and the robustness and the reliability of the system are improved.

Disclosed are a projection device and a projection method. The projection device includes an optical engine, a distance measuring unit, and a processor. The distance measuring unit is configured to emit testing light to the target area and receive reflected light. The distance measuring unit generates multiple pieces of corresponding distance information according to the reflected lights received and multiple areas of the target area. The processor is configured to: generate area distance information according to the multiple pieces of distance information; select a mode from multiple pieces of sub-area distance information comprised by each piece of area distance information as corrected distance information corresponding to each area; and control the optical engine to project an image beam according to the corrected distance information of each area to form a projected image in the target area.

A method to align a constellation of access points of a wireless local area network to, e.g., a floorplan, includes generating a representation of a constellation of access points of a wireless local area network area using inter-access point range finding, wherein data from the inter-access range finding is filtered based on a quality indicator associated with respective links between the access points, matching the representation of the constellation of access points to features of a map of a predetermined space, and identifying a location for each access point in the representation of the constellation of access points based on location information associated with the map.

The invention belongs to the technical field of laser radars, and particularly relates to a laser radar scanning distance measuring sensor suitable for complex working conditions, which is characterized in that original point cloud data is acquired and then defect identification processing is carried out, a linear propagation hypothesis failure area and a reflection characteristic abnormal area of light are identified, false points, missing points and ambiguous points are marked, and the accuracy of the laser radar scanning distance measuring sensor is improved. According to the method, point cloud defects are attributed and classified from a physical source, accurate tracing of a point cloud abnormal source is realized, compensation optimization is actively performed based on a defect identification result to generate a compensation data point set, an optimized point cloud is obtained through fusion processing, and the integrity and geometric accuracy of final point cloud data are remarkably improved. And finally, closed-loop linkage is carried out on the rear-end point cloud defect features and front-end scanning parameter adjustment, defect cause diagnosis is carried out, laser radar scanning parameter adjustment is directly driven, the point cloud defect occurrence rate can be reduced, and therefore the optimal sensing performance can be continuously kept in a complex and changeable environment.

The invention provides an inner hole boring automatic centering method and device based on laser ranging. A positioning tool is adopted for carrying out the following steps that a sliding rail is driven to enable a main shaft to move a laser displacement sensor to the left end of a workpiece; the laser displacement sensor emits light beams to measure the workpiece inner hole distance and the distance between a light-emitting point and the spindle axis, and an original distance value is obtained; calibrating a coordinate system direction and establishing a measurement coordinate system; the servo motor drives the main shaft to rotate layer by layer, and synchronously records ranging data of the laser displacement sensor; processing distance measurement data and position coordinates based on a geometric algorithm and a triangulation principle, calculating coordinates of a measurement point, and fitting the circle center and radius of the section of the inner hole of the workpiece by adopting a section least square fitting algorithm in combination with the minimum boring cutting amount; performing a space cylinder least square fitting algorithm on the fitted circle center of each section to obtain the axis of a virtual inner hole cylinder; and calculating the position deviation value of the axial lead of the boring rod and the axial lead of the fitting cylinder, and driving the main shaft to move through motion interpolation to realize automatic centering adjustment.

The invention relates to the technical field of nondestructive testing of constructional engineering, and discloses a laser measuring instrument for nondestructive testing of concrete cavities, which comprises a laser interference measuring assembly, a paraxial sound wave excitation assembly, coaxially arranged anti-interference equipment and a cooperative control processing system. The sound wave excitation assembly performs wide-area excitation on the concrete surface, and the laser interference measurement assembly receives returned light through a clean light path constructed by the anti-interference equipment. The cooperative control processing system establishes acousto-optic time-frequency association by using an adaptive control module, generates a phase compensation angle according to ranging data to eliminate phase lock loss caused by sound wave propagation delay, and monitors a spectral gradient to automatically trigger fixed-frequency locking to capture resonance response. And the signal analysis module uses the phase compensation correction signal, and outputs cavity features through dual data cleaning and thermodynamic diagram analysis. According to the invention, the problems of time-space synchronization and weak signal extraction of long-distance non-contact detection in a complex environment are effectively solved.

The invention discloses an error compensation method based on laser distance measuring equipment and related equipment, and relates to the technical field of data processing, and the method comprises the steps: responding to an error compensation instruction, determining target equipment to be subjected to error compensation, determining the distance measuring range of the target equipment and preset distance measuring precision, and based on the distance measurement range, the preset distance measurement precision and a preset correction interval division strategy, dividing the distance measurement range to obtain a plurality of target correction intervals, determining an error compensation value corresponding to each target correction interval, and based on the error compensation values, performing error compensation on the target equipment. The correction intervals are divided according to the ranging distance and the ranging precision, the corresponding error compensation values are set according to the different correction intervals, the compensation effect is optimized, and the overall ranging precision is improved.

The invention discloses an HSI and ranging data cross-domain classification method and system based on domain expansion and feature decoupling, and aims to solve the problems of single mode, insufficient domain offset simulation and weak generalization ability in the prior art. Preprocessing the HSI and LiDAR data to obtain a source domain sample, and generating an expansion domain sample through frequency domain amplitude disturbance and adversarial domain expansion; extracting basic features by using a multi-stream convolutional neural network, and separating domain specific features and cross-modal and cross-domain domain invariant features; and adaptively fusing the three types of features through an attention network, and inputting the preprocessed target domain data into a trained model to obtain a classification result. Through multi-modal fusion, mixed domain expansion and feature decoupling, the cross-domain classification precision and generalization ability are improved, fine adjustment of target domain data is not needed, application is flexible, and the method is suitable for multi-scene remote sensing ground feature classification.

The invention discloses a laser radar chip, a test system, a point cloud generation method and a readable storage medium. The laser radar chip comprises a transmitting module, a receiving module and a point cloud data processing module. The transmitting module transmits detection laser. The receiving module receives echo laser formed by reflection of the detection laser through the target object. The receiving module comprises a receiving array and a time conversion unit, the receiving array comprises a plurality of receiving units, each receiving unit comprises a plurality of receiving devices, and the time conversion unit obtains photon count values of each receiving device at different flight time according to the flight time of photons received by each receiving device. The point cloud data processing module generates point cloud data according to the photon count values of each receiving device at different flight times, one frame of point cloud data comprises a plurality of point cloud pixels, each point cloud pixel corresponds to one receiving unit, and each point cloud pixel comprises the ranging distance and the reflectivity of the target object. According to the scheme, the dynamic range of a single point cloud pixel can be improved.

The invention discloses a crystal cutting positioning system and method based on three-laser orthogonal distance measurement and tangent calculation, and belongs to the field of precision machining of semiconductor crystal materials. The main structure of the system is as follows: three orthogonally arranged laser range finders are arranged on an objective table facing a crystal; a posture adjusting device is arranged below the objective table and used for adjusting the yaw angle and the pitch angle of the crystal. And the data processing module is used for receiving distance signals of the three laser range finders and calculating a yaw angle and a pitch angle of the crystal according to a tangent function relationship. According to the method, laser ranging micron-order resolution and fixed baseline geometric constraint are utilized, and the deviation of the yaw angle and the pitch angle is accurately quantified in combination with tangent function solution, so that coupling deviation decoupling is realized. And non-contact laser measurement is adopted, so that hard and brittle crystal damage is avoided. Laser sensing, high-speed processing and precise executing mechanisms are integrated, full-automatic rapid calibration is achieved, and the cutting preparation efficiency is improved. A real-time closed-loop control mechanism actively maintains the position and posture of the crystal before machining and / or during machining, dynamic interference is overcome, and the cutting quality stability is ensured.

The embodiment of the invention discloses a target distance adjustable laser radar calibration system and calibration method, targets with different reflectivity are installed on a target tool table, the target tool table slides on a guide rail and can rotate to switch the targets, and the distance between the targets and a to-be-calibrated laser radar is measured through a range finder. During calibration, the upper computer controls the target tool table to slide along the guide rail and receives the distance measured by the distance measuring instrument, controls the target tool table to stop moving when the distance is equal to the calibration distance, controls the to-be-calibrated laser radar to measure the distance of the target to obtain distance measuring data, receives the distance measuring data of the to-be-calibrated laser radar and stores the distance measuring data and the calibration distance. The targets are not required to be manually placed and the targets with different reflectivity are not required to be manually replaced according to the calibration distance, the distance of the targets on the target tool table can be accurately controlled and the targets with different reflectivity can be automatically switched through the range finder and the upper computer, the accuracy of the distance from the targets to the to-be-calibrated laser radar is improved, manual operation is not required, and the working efficiency is improved. And the calibration data acquisition efficiency is improved.

In a ranging device, a characteristic setting unit is configured to extract, from one or more pieces of received-light information representing changes with time in amount of received light acquired by the light receiving unit, at least one of a received-light amount range and a light reception time range of pulsed light other than emitted light from the light emitting unit, as a specified range. A received-light integration unit is configured to generate integrated received-light information by integrating the received-light information on a time axis with emission timings matched over a plurality of light receptions. A distance calculation unit is configured to exclude or identify distance noise formed of pulsed waveforms arising from pulsed light other than the emitted light, using the specified range extracted by the characteristic setting unit, and calculate a distance to the object reflecting the emitted light.

1. The name of the design product: hand-held telescope range finder (SW-1000X). 2. The use of the design product: for long-distance observation and has ranging function. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The invention discloses a static leveling instrument calibration device and method, a storage medium and a controller. The static leveling instrument calibration device comprises a liquid level communication tank; a first reference liquid level tank; a second reference liquid level tank; a liquid supply metering module; the first movable distance measuring module comprises a first moving assembly and a first laser distance measuring instrument; the second movable distance measuring module comprises a second moving assembly and a second laser distance measuring instrument; the controller is used for controlling the liquid supply metering module to perform quantitative liquid injection for multiple times, and according to a first current liquid level value measured by the laser range finder after each time of liquid injection, a second current liquid level value measured by the second laser range finder and an output value generated by each to-be-calibrated static force level gauge, calibration parameters of each to-be-calibrated static force level gauge are determined; and when the measuring range of the to-be-calibrated hydrostatic level gauge is greater than that of the first laser range finder, controlling the moving assembly to adjust the measuring range of the laser range finder according to the current liquid level value, and controlling the second moving assembly to adjust the measuring range of the second laser range finder according to the second current liquid level value.

Various measurement systems and methods are disclosed to enable characterizing the optical characteristics of light beams emitted by a light detection and range finding (LIDAR) system or sensor and evaluating the range finding function of user selected lidar channels while the lidar operates under a real operational condition and is exposed to a range of user defined environmental conditions.

The invention relates to the technical field of engineering surveying and structural health monitoring, in particular to a laser-based engineering surveying deformation monitoring device and method. The deformation monitoring device comprises a laser ranging unit and a reflection unit which are paired with each other, each of the laser ranging unit and the reflection unit comprises an orthogonal rotation adjusting mechanism, each orthogonal rotation adjusting mechanism comprises a vertically-arranged supporting plate, and a horizontal pedestal and a vertical pedestal which are perpendicular to each other are arranged on the two sides of each supporting plate respectively. A horizontal turntable and a vertical turntable are rotationally mounted on the horizontal pedestal and the vertical pedestal respectively, the horizontal turntable of the laser ranging unit is fixedly mounted on the vertical rod, a laser range finder is arranged on the vertical turntable of the laser ranging unit, the horizontal turntable of the reflecting unit is fixedly connected with the mounting seat, and a reflecting surface is arranged on the vertical turntable of the reflecting unit. Through the modular design and the laser automatic ranging technology, the defects that a traditional method is high in cost, low in efficiency and poor in real-time performance are effectively overcome.

The application discloses a kind of laser range finder field dynamic error automatic compensation method and device.Device includes laser emission / reception processing module, main control unit, built-in reference reflection light path and optical path automatic switching and reflection mechanism.Optical path automatic switching and reflection mechanism are composed of drive assembly and shielding reflection element, under the control of main control unit, drive shielding reflection element switches between first position and second position: when first position, laser is directed to external target, in measurement mode;Second position, laser is reflected into built-in reference reflection light path, in calibration mode.Method calculates error by measuring current value of built-in reference light path and factory calibration true value, and updates compensation parameter and corrects external measurement result accordingly.The application realizes "measurement, calibration" real-time dynamic error compensation, without manual intervention, can effectively suppress systematic error caused by environmental change, improve ranging accuracy.

The application discloses a power transmission line sag identification and early warning method and device combined with zoom ranging, relates to the technical field of power transmission line monitoring, and comprises the following steps: installing a binocular camera system in a target identification scene, adjusting variable focus lens parameters, calibrating the binocular camera system by using a checkerboard, and constructing a disparity-depth mapping relationship; collecting Q times of synchronous images by using the calibrated system, performing multi-point disparity analysis, obtaining disparity analysis results of a first suspension point, a second suspension point and a sag lowest point, and screening and determining target suspension point and sag lowest point analysis results; taking the results as indexes, searching the disparity-depth mapping relationship, and obtaining depth information; calculating target suspension point ranging results according to the depth information, calculating a sag value and judging whether the sag value exceeds a threshold value, and if not, triggering early warning, so as to solve the technical problem that a traditional ranging mode cannot feed back sag changes in real time, and thus cannot effectively early warn safety hazards caused by excessively large sag.

The application discloses a point cloud processing method and a laser radar for actually measuring quantities, and the point cloud processing method comprises the following steps: acquiring a to-be-processed point cloud model; dividing the to-be-processed point cloud model into a plurality of data point units; acquiring data quality of each data source of a data point unit; acquiring all optimal data point units, wherein data points in the optimal data point units are data points of the data source with the highest data quality; and generating an optimized model of the to-be-processed point cloud model by using the all optimal data point units. The point cloud processing method and the laser radar can reduce the accumulation of errors, including but not limited to point cloud splicing errors, laser radar ranging errors and distance errors caused by laser radar incident angles, so that the best measurement effect is obtained, more accurate point cloud data is obtained, and the accuracy of point cloud measurement is improved.

1. Name of the designed product: laser radar. 2. Use of the designed product: for detecting obstacles and measuring distance. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: design 1 perspective view. 5. Design 1 is designated as the basic design.

The present application belongs to the field of weapon fire control system, and particularly relates to a method for correcting parallelism of optical axes of a laser range finder and a zoom system. The method changes the position of a sighting crosshair scale, and the optical axes of the zoom system are consistent at different focal lengths. The corresponding relationship between the scale position and the focal length is stored in a control board. The control board is part of the zoom system, and can realize the functions of superimposing a crosshair scale on a video and zoom control. During ranging, the sighting scale changes position with the focal length. The method eliminates the sighting error caused by inconsistency of the optical axes of the zoom system. Compared with the prior art, the scheme realizes ranging during the whole zooming process, and reduces the difficulty of debugging.

Range finding devices and target object management systems each having one or more features that enhance their functionality. In some embodiments, a disclosed range finding device includes a target object location area calculation unit that defines near and far edges and side edges of a target location area. In some embodiments, a disclosed range finding device is a passive range finding device that inserts a scale marker into an output image, varies the size of the scale marker in response to user actuation of a scale input, and determines the size of the scale marker and an estimated range to a target object. In some embodiments, a disclosed target object management system includes a processing unit operable to manage new location records for existing and new target objects via target object registers. Other embodiments are disclosed, as are corresponding methods and software.

The invention relates to the technical field of bearing detection devices, and discloses a bearing processing quality inspection device based on a laser range finder, which comprises a platform, an equipment frame and a driving assembly which are fixedly mounted above the platform, a range finding assembly and a composite adjusting mechanism which are arranged in the equipment frame, and a bearing sample arranged at the top of the composite adjusting mechanism, through related structures in a composite adjusting mechanism and a driving assembly, simple adjustment of detection of bearings of different sizes is realized, in the composite adjusting mechanism, an outer diameter clamping plate is in sliding connection with an outer side through groove, an inner diameter clamping frame is in sliding connection with a cross-shaped through groove, and in the driving assembly, a first threaded rod and a second threaded rod are connected through a synchronous transmission box. The first threaded rod drives the sliding distance measuring table to move, the second threaded rod finely adjusts the position of the telescopic air cylinder, the structures are matched, clamp replacement or manual complex adjustment is not needed, the measuring position can be rapidly and accurately adjusted, and the detection efficiency is improved.

[Problem] To make it possible to increase accuracy of three-dimensional reconstruction. [Solution] An information processing system comprising a control unit that: estimates, for each captured image of a first captured image group of an object captured by a first imaging device and a second captured image group of the object captured by a second imaging device, the position and orientation of imaging on the basis of a common reference; generates, on the basis of a ranging data group of the object measured by a ranging device attached to the second imaging device, an integrated point cloud obtained by integrating each piece of ranging data so as to be consistent with the positions and orientations estimated from each captured images of the second captured image group; and performs three-dimensional reconstruction of the object on the basis of the integrated point cloud and the first captured image group.