626 results about "Range finding" patented technology

The invention relates to the technical field of surface measurement, in particular to a road surface flatness rapid detection method based on a laser radar, which comprises the following steps: collecting vehicle attitude data to form a three-dimensional vector, mapping laser data to a space coordinate system, identifying a projection difference adjustment track, detecting a disturbance generation distribution area, and transversely distributing a translation direction line. Uniformly projecting to construct a reference line, extracting an echo and time index recombination time sequence segment, analyzing a point number trend to screen a stable segment, and extracting symmetric points to compare an included angle to generate a closed zone. According to the method, the attitude vectors of the vehicle in rolling, pitching and yawing states are obtained, the laser echo distance measurement data are mapped to the absolute space coordinate system, and the included angle difference between the distance measurement direction and the ground direction is accurately calculated, so that the space matching precision of a measurement path is remarkably improved, and a longitudinal section analysis result is closer to a real road state; and the space integrity, the track smoothness and the section structure rationality of the whole measurement process are comprehensively optimized.

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 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.

A UWB range finding method, device and system, the UWB range finding method comprising: in a range finding round, receiving a range finding end information frame by a UWB device in a range finding report time slot for receiving the range finding end information frame; when it is confirmed that the distance measurement ending information frame is received, the UWB device forwards the distance measurement ending information frame after the distance measurement report time slot; and when it is confirmed that the ranging end information frame is not received, the UWB device receives the ranging end information frame after the ranging report time slot.

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 relates to the technical field of laser radars, and provides a laser radar angular resolution enhancement method, which comprises the following steps of: obtaining a spatial direction priority according to a vehicle course, road information and target information obtained by a vehicle external sensor so as to dynamically adjust laser pulse density and energy level; scanning data generated after N circles of continuous scanning serve as a composite frame, the starting angle of each circle is shifted, multiphase filtering and coherent superposition are conducted in a digital domain, and the effective angular resolution is obtained. The invention further discloses a laser radar device, the method and the device can adjust the pulse density and energy distribution in the ROI direction in real time according to the dynamic scene of the vehicle, the total pulse number is kept unchanged, and the total power consumption is not increased. The effective horizontal angle resolution is improved through inter-frame phase offset and multi-phase synthesis. A corner reflector and an IMU (Inertial Measurement Unit) are integrated in the laser radar, and phase and ranging errors are corrected in real time through periodic loopback calibration, so that the angle stability is kept.

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.

Disclosed in the present invention is a combination tool, comprising a shell, wherein a cavity is formed in the shell, a laser module and a spirit level assembly are arranged in the cavity, the laser module is configured to generate point laser and / or line laser, and the spirit level assembly is configured to indicate whether a surface is level. The combination tool can further comprise a ranging module and a detection module to achieve functions such as range finding and wooden- / metal-part detection.

The invention provides a performance simulation method and device for an SPAD laser radar, computer equipment and a storage medium, and the method comprises the steps: obtaining the number of photons received by a single photon avalanche diode (SPAD) array, and determining the number of photons received by a single SPAD at a current moment; determining a target avalanche probability of the single SPAD according to the photon number received by the single SPAD and a pre-constructed target mapping relation between the photon number and the avalanche probability; according to the target avalanche probability and the total number of SPAD, calculating the avalanche number probability of avalanche of each SPAD with different numbers, and generating initial avalanche probability distribution of the SPAD array; performing iterative operation by using the initial avalanche probability distribution to obtain target avalanche probability distribution of the SPAD array; according to the target avalanche probability distribution, the range finding performance of the SPAD laser radar is predicted, and the range finding performance of the SPAD laser radar at least comprises the limit detection distance of the SPAD laser radar.

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.

A work machine includes a terrain verification system for dropping a pallet on a land surface at a destination. Operating autonomously or semi-autonomously, the work machine includes a range sensor, an image sensor, and an inertial sensor to assess the slope and roughness of the land surface on approach to the destination. The terrain verification system generates a ground map of the destination from range data received by the range sensor and generates a roughness metric indicative of the surface. Image data received by the image sensor is used to verify the roughness metric and, when obstructions are found from the image data, the system moves the work machine over the land surface and evaluates pitch and roll data from the inertial sensor to determine the condition of the destination for dropping the pallet.

Systems and methods for a processor in connection with a light detection and ranging (LiDAR) sensor to cluster data points in a LiDAR data set using reduced processing power are provided. The processor can receive a LiDAR dataset including a plurality of data points representing a plurality of points in a light detection and ranging (LiDAR) point cloud generated by a LiDAR device. For a group of data points having the same azimuth angle among the plurality of data points, the processor can, iteratively from a lowest elevation angle to a highest elevation angle, determining a search area of a specific data point, perform a range check on data points in the search area under a predefined sequence to identify neighbors of the specific data point, and cluster the specific data point with neighbors identified in the search area.

The invention relates to a silicon wafer line mark detection method and system, and the method comprises the steps: enabling m * n detection points to sequentially pass through a distance measurement reference, so as to obtain an actual measurement distance between each detection point and the distance measurement reference; calculating the range of each sliding window [a (xp, yk), a (xp + 1, yk)... a (xp + q, yk)] of the array [a (x1, yk), a (x2, yk)... a (xm, yk)], wherein q is a positive integer not less than 2; and comparing the range of each sliding window with a line mark threshold value, and if the range is greater than the line mark threshold value, determining that the sliding window is a line mark window and a line mark exists, and determining a boundary port of the line mark based on the line mark window. According to the invention, whether line marks exist on the surface of the to-be-detected silicon wafer or not can be accurately judged, and the boundary of the line marks can be accurately judged, so that the phenomenon of missing detection is avoided.

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.

The invention relates to the technical field of mine safety monitoring, in particular to a coal mine tunnel deformation real-time monitoring device and system. The technical problems that in the working process of a traditional roadway monitoring technology in a geological structure complex area, data processing delay is large, and the best intervention opportunity may be missed due to data lag in the traditional technology are solved. According to the technical scheme, the real-time monitoring device and system for deformation of the coal mine tunnel comprise a fixed distance measuring unit, a reflection target array and a displacement calculation unit, the displacement calculation unit is used for obtaining original distance data from each laser distance measuring sensor to a corresponding reflection target in real time, and the original distance data is calculated through difference calculation between the original distance data and a preset reference distance. The real-time displacement variable quantity of each key deformation monitoring position is directly output, and the displacement variable quantity is directly used as a monitoring index of roadway deformation; according to the invention, through the direct correspondence between laser ranging and the reflection target, the scanning and three-dimensional reconstruction process in the traditional technology is abandoned, the single measurement period is shortened, and the real-time capture requirement of catastrophe precursor is met.

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 embodiment of the invention discloses an anomaly detection method and device, a mobile robot and a storage medium, and the method comprises the steps: enabling the mobile robot to control a first range finder to carry out the range finding, obtaining a plurality of range finding data, and enabling the mobile robot to carry out the detection according to whether the range finding data is null or not; according to whether the ratio of the ranging data lower than the preset height in the ranging data exceeds a preset threshold value or not, whether ranging of the first ranging device is abnormal or not is determined, and the ranging data are data obtained by the first ranging device when the mobile robot moves. The embodiment of the invention further discloses an anomaly detection device, the mobile robot and a storage medium.

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 provides a laser signal emission control method of a three-dimensional laser scanner, and relates to the technical field of laser emission control. Obtaining a current working parameter and a grating signal, and determining an included angle between adjacent point clouds according to the current working parameter; the current working parameters comprise the ranging laser emission frequency and the rotating speed of the scanning rotating mirror; determining an original angle count value according to the grating signal; subdividing the increasing time interval of the original angle count value, and determining a subdivided count value; determining a subdivision angle count value according to the original angle count value and the subdivision count value; normalizing the point cloud included angle and the subdivision angle count value, and performing complementation processing on the normalized subdivision angle count value by using the normalized point cloud included angle to obtain a laser trigger reference value; and when the laser triggering reference value is negatively increased, laser emission is controlled. The method has the effect of improving the spatial position precision of the point cloud coordinate data and the consistency of the laser beam emission direction.

The invention discloses a simulation test method for evaluating the range finding performance of a laser range finder, and the method comprises the following steps: a to-be-tested laser range finder is fixed on a fixing jig provided with simulation receiving and transmitting installation positions, and the two installation positions are respectively corresponding to a receiving probe and a transmitting probe; a calibration unit with a first reference mark of a first lighting assembly calibrates a receiving light path by simulating the relative position of a receiving mounting position, and the focusing of a receiving end is finely adjusted; a calibration unit with a second reference mark of a second lighting assembly is used for calibrating an emission light path by simulating the relative position of an emission installation position, and the beam expanding multiplying power of an emission end is set; and selecting an analog signal processing link according to the to-be-simulated target distance. The method comprises the following steps: fixing equipment, calibrating an optical path, selecting an analog signal processing link, attenuating a simulation ranging optical signal, coupling noise light and the like, finally finishing simulation ranging and recording an analysis result, and comprehensively and truly simulating the actual working condition of the laser range finder.

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 deep hole inner diameter calculation method based on ellipse fitting, belongs to the technical field of size measurement, and solves the problems that the actual contours of some deep holes are not perfect circular holes, the inspection size pays more attention to the minimum value of the inner diameter, and the consistency of the diameter obtained by using circle fitting is not ideal. Comprising the following steps of: 1, scanning the inner wall of a deep hole by using an optical distance measuring sensor to obtain a plurality of pieces of inner hole surface distance data; 2, performing ellipse fitting on the scanning data to obtain a parameter equation of the scanning data; and 3, calculating the short axis length of the ellipse as the inner diameter of the deep hole according to the equation. According to the invention, the inner diameter size of the deep hole can be quickly and accurately calculated, and the consistency of measurement results is effectively improved.