755 results about "Range finding" patented technology

The embodiment of the invention provides an unmanned aerial vehicle surveying and mapping adaptive control method and device based on image analysis, and belongs to the technical field of laser surveying and mapping. The method comprises the following steps: controlling an unmanned aerial vehicle carrying a laser scanning distance measurement module to fly to a target area and stably hover, and obtaining three-dimensional point cloud data of a target; analyzing target features based on the acquired three-dimensional point cloud data, and determining at least one target measuring point needing fine displacement measurement; acquiring image data of the target measurement point, and judging whether the measurement point meets a laser interference measurement condition or not based on image processing; collecting a laser interference signal of the target measuring point when image judgment meets a measuring condition, and calculating vibration or displacement data of the measuring point; and performing fusion processing on the three-dimensional point cloud data and the vibration / displacement data of the measurement point, and outputting the geometric dimension and displacement measurement result of the target. According to the scheme, the stability and pertinence of infinitesimal displacement measurement in the surveying and mapping task of the unmanned aerial vehicle are effectively improved.

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 invention discloses a wafer detection focusing method and device, electronic equipment and a computer storage medium. The method comprises the following steps: when a target detection point of a to-be-detected wafer moves to an imaging center position of a detection camera, obtaining a wafer warping degree which is obtained by carrying out distance measurement on the target detection point and is corresponding to a distance measuring instrument; and controlling the detection camera to focus according to the wafer warping degree corresponding to the target detection point and the initial focal length of the detection camera, so that a to-be-detected wafer image shot by the detection camera at the target detection point meets a preset detection requirement, and the wafer detection speed and precision are improved. Meanwhile, the detection camera and the range finder are coaxial, the range finder is always located in front of the scanning path of the detection camera, an independent light path and the range finder are used for focusing, interference of irregular reflection or scattered light generated by the range finder focusing and ranging light path on an imaging light path of the detection camera is avoided, and the stability and reliability of wafer detection are improved.

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 relates to a three-way laser ranging method and device, equipment and a medium. The method comprises the following steps: acquiring a laser echo signal reflected from a target object; transmitting the laser echo signal to an image sensor to obtain a three-way light spot image; performing morphological feature recognition on the three-way light spot image, judging whether the light spot of the three-way light spot image has abnormal deformation or not, obtaining a light spot recognition result, and obtaining a stability index of the light spot form in each direction based on the light spot recognition result; carrying out validity marking on the distance measurement data in each direction according to the light spot identification result to obtain effective direction distance measurement data, and generating an integrity index of the distance measurement data; and carrying out flight time calculation based on the effective direction distance measurement data to obtain three-dimensional coordinates of the target object. The method has the effect of improving the reliability of laser measurement.

The invention belongs to the technical field of building measurement, and discloses a building distance measuring device and a use method thereof, and the method comprises the steps that a route planning module plans an optimal advancing route; automatically controlling a moving trolley distance measuring mechanism to carry out building distance measuring operation; the monitoring analysis mechanism receives environment sensor data; the image acquisition module continuously acquires building scene images; the image analysis module continuously detects whether an obstacle exists in the image; adjusting the distance measuring mechanism to a proper height and an accurate direction; the monitoring analysis mechanism obtains accurate distance data after correction calculation; during long-distance detection, data of the laser range finder and the ultrasonic range finder are combined, and an accurate distance value is obtained through fusion analysis of the comprehensive evaluation module. According to the invention, the monitoring analysis mechanism can correct and comprehensively analyze distance measurement data according to environmental parameters to obtain accurate distance data; and the comprehensive evaluation module fuses the laser ranging data and the ultrasonic ranging data, so that the long-distance detection precision is improved.

The invention discloses a tracking scanning measurement system and platform, the tracking scanning measurement system comprises a two-dimensional angle measurement driving device, a contact laser tracker, a non-contact laser scanner and a control device, and the control device is connected with the contact laser tracker, the non-contact laser scanner and the two-dimensional angle measurement driving device. The system is used for controlling a two-dimensional angle measurement driving device to drive a laser tracker to track a set tracking cooperative target in real time in a tracking coordinate measurement mode, obtaining coordinate data of a contact point of the tracking cooperative target and the to-be-measured surface through combination of two-dimensional angle measurement and laser interference distance measurement data, and scanning the to-be-measured surface in a scanning measurement mode. The two-dimensional angle measurement driving device is controlled to drive the non-contact laser scanner to scan a to-be-measured surface, and the scanning point cloud data of the to-be-measured surface is obtained through the combination of two-dimensional angle measurement and absolute distance measurement data. According to the invention, high-precision tracking coordinate measurement and high-efficiency scanning measurement can be realized through one instrument, and the detection efficiency is remarkably improved.

The invention provides a water turbine vibration monitoring sensor system and method. The water turbine vibration monitoring sensor system comprises a space compensation mechanism, a stabilizing mechanism, a distance measuring sensor and a reflection target. The reflection target is fixedly arranged on a tested device and is used for transmitting vibration; the space compensation mechanism is connected with a tested device, the stabilizing mechanism is arranged on the space compensation mechanism, and the space compensation mechanism is used for compensating the influence of vibration on the stabilizing mechanism; the stabilizing mechanism is used for keeping the relative stability of the spatial position, the distance measuring sensor is arranged in the stabilizing mechanism, and the distance measuring sensor detects the distance data of the spatial component between the distance measuring sensor and the reflection target so as to obtain the low-frequency vibration data of the detected device. According to the invention, an active driving space compensation mechanism is arranged and is matched with a prediction compensation scheme based on artificial intelligence, so that the problem of sensor stability of a conventional stabilizing mechanism in a low-frequency state is solved. And the laser range finders are adopted to respectively collect the distance between the laser range finders and the reflection target, and displacement data are accurately obtained, so that accurate low-frequency vibration data are obtained.

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 utility model belongs to the field of measurement, particularly relates to an elevator top space measuring device, and aims to solve the problems that an existing laser range finder needs to be held by a hand to measure the distance during use and an existing device cannot well follow an elevator car to move and measure, the following scheme is provided: the elevator top space measuring device comprises a limiting base, a measuring and calculating base is fixedly installed on one side of the limiting base, a clamping buckle is rotatably installed on one side of the measuring and calculating base, a laser range finder is installed on the inner side of the clamping buckle in a clamped mode, a containing groove is formed in the limiting base, and a sliding metal block is installed on the inner wall of one side of the containing groove in a sliding mode. Two rack grooves are formed in the bottom of the limiting base. According to the utility model, working personnel can record and calculate conveniently, the stability of the laser range finder during measurement is ensured, the laser range finder can move along with the elevator car, and the space at the top of the elevator shaft can be measured and calculated more effectively.

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.

The invention relates to the technical field of space optical communication and distance measurement, in particular to a distance measurement method and device based on a non-equal sampling digital phase discriminator and a storage medium. A non-equal sampling method is used for carrying out sampling and phase discrimination on data bit clocks on two asynchronous clock domains for sending and receiving GTX, and hardware resources required for processing all use an FPGA internal digital logic block; the clock processing rate and the GTX sending and receiving clock rate are kept in a non-integer multiple relationship, so that the measurement precision of the phase difference between the two clock rates is improved, and the purpose of improving the laser ranging precision on the basis of simplifying the hardware design of a ranging system is achieved.

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.

An unmanned aerial device and an operation method thereof are provided. The unmanned aerial device includes a plurality of optical radars, a visual sensing module, an edge operator, and a flight controller. The plurality of optical radars generate a plurality of ranging data. The visual sensing module executes a simultaneous localization and mapping to generate obstacle distance data, six-axis acceleration data, and spatial coordinate data. The edge operator performs spatial coordinate conversion on the obstacle distance data, the six-axis acceleration data, and the spatial coordinate data. The flight controller controls the unmanned aerial vehicle to perform obstacle avoidance operation according to the plurality of ranging data, the obstacle distance data, the six-axis acceleration data, and the spatial coordinate data.

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.

The invention relates to the technical field of laser ranging, in particular to a laser ranging method and system, and the method comprises the steps: employing a laser range finder to emit a laser beam to a first to-be-measured point at a first site, and collecting first laser receiving and transmitting data; calculating a first relative position of the first to-be-measured point; emitting a laser beam to a second to-be-measured point at a second site by using the laser range finder, and collecting second laser transceiving data; calculating a second relative position of the second point to be measured; a plurality of target distances between the first to-be-measured point and the second to-be-measured point are calculated respectively; and calculating the difference degree between any target distance D1 and other distances D2, and when the difference degree belongs to a second threshold range, identifying the target distance D1 as a qualified measurement value. Based on the laser ranging technology provided by the invention, the user can directly measure the distance between the two points when standing at the third point except the two points, so that the flexibility and convenience of ranging 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.

The invention discloses a wafer two-dimensional warping degree measuring device and method and a wafer measuring system.The wafer two-dimensional warping degree measuring device comprises a first motion platform, an image collecting device, a distance measuring module and a controller, and the controller controls the first motion platform to move according to a to-be-measured point located by the image collecting device; and reading the three-dimensional coordinate data of the at least three measuring points uploaded by the distance measuring module until the to-be-measured point coincides with the central point of the polygon formed by the at least three measuring points of the distance measuring module on the surface of the wafer, and calculating the two-dimensional inclination angle of the to-be-measured point according to the three-dimensional coordinate data. According to the invention, the to-be-measured point on the wafer can be accurately positioned, and then the warping degree of the to-be-measured point is accurately measured.