725 results about "Three dimensional measurement" patented technology

The invention provides a cast workpiece three-coordinate structured light rapid measurement system, and relates to the technical field of industrial automatic measurement, and the system comprises a calibration parameter module which is used for calibrating a standard ball, building an initial conversion relation between a structured light coordinate system and a three-coordinate measuring machine world coordinate system, and collecting temperature, humidity and vibration data in real time; dynamically updating the conversion relation to form calibration parameters; and the measurement path planning module is used for dividing the casting workpiece into a plurality of measurement areas based on the calibration parameters, planning a motion path of the three-coordinate measuring machine and driving the motion platform to move to each measurement position. According to the invention, full-process automation from calibration, measurement to modeling analysis of the casting workpiece and the advantage of comprehensive quality analysis are realized, and a reliable three-dimensional measurement and quality control solution is provided for the casting industry.

The invention belongs to the technical field of three-dimensional measurement, and discloses a 3D laser line scanning system based on a point cloud positioning algorithm and a control method. The method comprises the following steps: acquiring environment initial point cloud data and scanning target information; carrying out feature extraction, constructing an environment feature description model, carrying out three-dimensional space partitioning processing, carrying out regional reflectivity feature analysis, and constructing a space reflection feature model; adaptive optimization configuration is carried out on the laser scanning parameters, and a scanning strategy is generated; scanning path dynamic planning is carried out on the scanning target information, scanning density distribution calculation is carried out, and a scanning path is generated; performing laser line scanning control by using the scanning path and the scanning strategy, and performing scanning data quality real-time monitoring to obtain scanning quality evaluation data; scanning parameter iterative optimization is carried out on the scanning quality evaluation data, point cloud data real-time fusion reconstruction is carried out, a high-precision three-dimensional model is generated, the modeling precision is improved, and meanwhile the system resource utilization efficiency is optimized.

The invention belongs to the field of three-dimensional measurement, and discloses a three-dimensional reconstruction method based on structured light image enhancement, which comprises the following steps of: generating a stripe coding pattern: generating four sine stripe patterns with different phase shift amounts by using MATLAB programming, and projecting the sine stripe patterns to the surface of an object to be measured; calibrating a camera; calibrating a projector; the method comprises the following steps: capturing four phase shift stripe images projected on the surface of an object by using a camera, and preprocessing the stripe images collected by the camera through a GF-CL image enhancement algorithm; acquiring a wrapped phase: extracting wrapped phase distribution through a four-step phase calculation formula; generating a Gray code; carrying out binarization conversion; unwrapping the phase by using a complementary Gray code; and performing three-dimensional reconstruction. According to the invention, the contrast is improved by using an image enhancement algorithm, and noise is effectively removed. In addition, three-dimensional reconstruction is carried out by combining a four-step phase shift method and a complementary Gray code, so that the error of edge hopping in the traditional Gray code reconstruction is eliminated, and no hopping and interruption are ensured when a real phase is obtained.

The invention provides a chip bonding wire three-dimensional measurement method and system based on an inner cavity reflection camera system, and relates to the technical field of three-dimensional measurement. The method comprises the following steps: performing one-time exposure imaging on a chip bonding wire to be detected through an inner cavity reflection camera system to obtain at least three mutually independent visual angle images in the same frame; performing brightness normalization compensation and geometric calibration on the visual angle image to obtain a visual angle data set with uniform brightness and correlation; pairing the view angle data sets in pairs, extracting parallax information by using a feature matching algorithm based on optical flow, and fusing multiple pairs of parallax to generate a lead three-dimensional point cloud; performing noise filtering and curved surface reconstruction on the three-dimensional point cloud to obtain a continuous three-dimensional grid model of a lead; and performing texture mapping on the three-dimensional grid model by adopting any visual angle in the visual angle image or the combination of the visual angles, and outputting a lead three-dimensional reconstruction result with textures. According to the invention, high-precision, large-depth-of-field and rapid three-dimensional measurement of the chip bonding wire is realized.

The invention belongs to the technical field of machine vision and precision measurement, and particularly discloses a non-contact part arc parameter high-precision measurement method and system, and the method comprises the following steps: S1, constructing a three-dimensional measurement mobile platform; s2, establishing a dynamic scanning reference; s3, performing spatial pose optimization based on the three-dimensional morphology characteristic parameters of the part, and driving a moving guide rail to dynamically scan the surface of the part to obtain a three-dimensional point cloud image of the part; s4, cutting and screening the point cloud image to obtain an arc region point cloud image; s5, preprocessing the point cloud image of the arc region; s6, carrying out dimension reduction processing; s7, outputting a circle center position vector and a radius calibration value to determine a corresponding circle center coordinate and a radius parameter; s8, constructing a radial deviation evaluation function; and S9, judging that the measured part meets the standard. The non-contact part arc parameter high-precision measurement method and the non-contact part arc parameter high-precision measurement system have the advantages of high precision, high efficiency, automation and the like, and are suitable for arc parameter detection of complex curved surface parts.

The invention discloses an optical imaging and coding hole technology fused optical imaging system and method, and aims to integrate scattered polarization components in a reflected light signal into coding light field data with clear layers by constructing a polarization coding modulation system, so as to highlight a coupling relationship among optical elements. A refocusing sequence and a focal plane chromatography technology are adopted, spatial geometric information and light intensity distribution characteristics of different depth layers are fully excavated, and a three-dimensional distribution rule of surface topography is disclosed; wavefront correction and deformable mirror control technologies are introduced, imaging parameters of an optical system are adjusted in a self-adaptive mode, and the application range of measurement precision is expanded; light intensity modulation analysis and phase unwrapping window processing are combined, the change trend of the surface curvature is depicted, and key feature points of morphology measurement are grasped; finally, multi-dimensional and multi-level optical measurement information is fused, three-dimensional measurement output with rich content and reliable precision is formed, and comprehensive and high-quality measurement technology resources can be provided for application scenes such as precision optical detection and surface quality evaluation.

The invention discloses a fringe projection three-dimensional shape measurement method based on frequency domain and time domain joint coding, and the method comprises the following steps: firstly, embedding a multi-frequency three-step phase shift fringe pattern in the vertical direction based on multi-scale region division, introducing four-step phase shift and complementary Gray code joint coding in the horizontal direction, generating a coding pattern set, and carrying out the projection; after an image is collected, frequency domain transformation and time domain decoding are carried out respectively, and a vertical dominant frequency position, a horizontal period number and a wrapped phase are obtained; then, combining a main frequency position in the vertical direction with a period number and a wrapped phase in the horizontal direction, and extracting a space coordinate of a direct illumination component based on frequency position invariance; and finally, establishing a pixel homonymy point mapping relation between the projector and the camera, and realizing high-precision three-dimensional reconstruction. Compared with a traditional frequency shift method, the method has the advantages that projection patterns are greatly reduced, reconstruction precision and anti-interference performance are improved, and the method is suitable for dynamic three-dimensional measurement under complex illumination conditions such as specular reflection, semitransparent shielding and subsurface scattering.

The invention relates to the technical field of line laser three-dimensional scanning, in particular to a reference coordinate system calibration method based on line laser three-dimensional scanning, which comprises the following steps of: calibrating camera parameters; calibrating a light plane equation of the laser; obtaining a calibration whiteboard image; establishing a reference coordinate system; and calculating a conversion matrix from the camera coordinate system to the reference coordinate system. The reference coordinate system of the line laser three-dimensional scanner can be determined only by additionally acquiring a white board image during calibration, and whether the current object is located in the measurement range or not can be determined according to the z coordinate value of the point cloud data by converting the acquired three-dimensional point cloud data of the measured object to the reference coordinate system. And the efficiency and the accuracy of subsequent point cloud processing and three-dimensional measurement are greatly improved. Therefore, the problem that an existing calibration method is low in measurement precision is solved.

The invention relates to the technical field of large-size part three-dimensional measurement, and discloses a large-size part three-dimensional size measurement method and device based on machine vision, and the method comprises the steps: obtaining a material reflection characteristic reference data set and original point cloud data; according to the reference data set, laser power and gain are adjusted in a self-adaptive mode, and optimized scanning parameters are obtained; and performing denoising, feature extraction, region segmentation and plane fitting according to the optimized parameters and the original point cloud to obtain a high-precision geometric dimensioning result. According to the invention, high-precision, high-stability and high-efficiency three-dimensional size measurement can be realized on a large-size part made of a complex material and having a curved surface, and the three-dimensional size measurement method is obviously superior to a traditional scheme.

A servomotor cylinder inner wall scratch robot self-adaptive additive and subtractive material repairing method based on three-dimensional measurement is characterized in that a six-axis mechanical arm is integrated with a line laser sensor and milling, laser cladding and constant-force grinding and polishing tools, and automatic repairing is achieved. A regular groove body is milled through a slicing method and a rectangular-ambulatory-plane strategy; a workpiece coordinate system is built at the bottom of the groove, a bow-shaped layered alternate path is adopted for filling materials, and the laser power and the powder feeding rate are adjusted by measuring, matching and correcting the path according to the characteristics of the groove; and finally, a surplus height boundary is scanned and extracted, a rough grinding path is generated with the scratch trend as the benchmark, fine polishing is conducted through a reciprocating zigzag strategy, parameters are dynamically adjusted in combination with closed-loop feedback, and smooth transition between a cladding layer and the original surface is achieved. The method solves the problems of long construction period and low precision of traditional repair, integrates multiple processes and high-precision measurement, improves the repair efficiency and quality, and is suitable for on-site rapid maintenance of hydroelectric equipment.

The invention discloses a high-reflective surface defect detection method based on structured light and phase deflection, which belongs to the technical field of visual inspection, and comprises the following steps: generating a multi-frequency sinusoidal grating pattern by using a structured light module, and projecting the multi-frequency sinusoidal grating pattern to the surface of a detected object; multi-frequency phase shift coding is introduced, an absolute phase is calculated through a pilot frequency unwrapping method, a depth map obtained by the structured light is calculated, and a structured light point cloud is reconstructed; a unit normal vector is calculated, a Poisson reconstruction model is adopted to obtain a depth map obtained by phase deflection, and deflection point cloud is obtained; the structured light point cloud data and the deflection point cloud data are registered through an iterative nearest point algorithm and then fused to form a fused depth map; and determining a defect area by adopting the maximum principal curvature and the minimum principal curvature combined mask. By means of the mode, the limitation of a traditional three-dimensional measurement means in high-reflection and complex-curvature surface defect recognition is solved, and submicron-level three-dimensional deformation detection precision is achieved.

The invention discloses an online high-reflective material three-dimensional measurement method based on binocular line laser. The method comprises the following steps: establishing a world coordinate system and a calibration system; shooting to obtain a left laser strip image and a right laser strip image; performing gamma enhancement, gamma weakening and convolution processing on the image; threshold segmentation: extracting a light stripe center point meeting a light stripe width threshold value by a gray gravity center; fusing the point cloud data of the light stripe centers of the eight images; counting and calculating the three-dimensional structure size of the material; according to the measurement method, a single-frame laser strip image is shot through a binocular line laser three-dimensional scanning system, high-brightness, low-brightness and line-enhanced pictures are obtained through image processing, more point cloud data of a high-reflection area and a low-reflection area can be obtained, and the measurement precision is higher; light stripe center extraction is carried out in combination with threshold segmentation and width threshold constraint, the center of a highly reflective area is not extracted, light stripe center data with higher accuracy can be obtained, point cloud data of eight light stripe centers are fused, and both extraction accuracy and point cloud data integrity are considered.

The invention relates to the technical field of computer vision and three-dimensional measurement, in particular to a three-dimensional point cloud semantic segmentation and measurement reference surface intelligent fitting system and a method thereof, which are mainly applied to scenes needing accurate three-dimensional space understanding, such as topographic survey, mining, urban planning, intelligent driving and industrial detection. The system comprises a data acquisition module, a preprocessing module, a feature extraction module, a reference surface acquisition module and a pixel feature conversion module. Three-dimensional point cloud data are collected through multi-sensor fusion, and the data quality and integrity are improved. A cascade filtering preprocessing process is innovatively designed, and the data quality is remarkably improved. The feature extraction module generates semantic tags, the reference surface acquisition module calculates a probability optimal fitting plane, and the pixel feature conversion module realizes multi-scale feature output. According to the method, the three-dimensional point cloud processing precision and efficiency are effectively improved, and powerful technical support is provided for the field of computer vision and three-dimensional measurement.

The invention discloses a to-be-detected object surface image acquisition device, an image selection method and a defect detection method. The to-be-detected object surface image acquisition device comprises a projector, a diffusion plate, a reflector and a camera. The projector is suitable for projecting stripes; the diffusion plate is suitable for diffusing fringes projected by the projector to the surface of the to-be-measured object; the reflector moves between a first position and a second position relative to the to-be-measured object, and at the first position, the reflector shields a light path from the projector to the diffusion plate. And at the second position, the reflecting mirror avoids a light path from the projector to the diffusion plate. The camera is suitable for receiving a signal reflected by the surface of the to-be-measured object after the diffusion plate enters the surface of the to-be-measured object so as to obtain a phase deflection technology (PMD) image, or receiving a signal diffused by the surface of the to-be-measured object after the reflection mirror enters the surface of the to-be-measured object so as to obtain a fringe projection profile measurement (FPP) image. A phase deflection technology and a fringe projection profile measurement technology are fused in one set of defect detection system, rapid switching of two three-dimensional measurement defect detection technologies is realized for products with complex materials and different surface roughness, and the defect detection system is ensured to be high in efficiency, high in detection capability, wide in applicability and high in detection rate.

The invention discloses a wine jar interior three-dimensional measurement device and a wine jar interior three-dimensional modeling method, and relates to the technical field of three-dimensional modeling, the wine jar interior three-dimensional measurement device comprises a fixed cover, a movement mechanism and a three-dimensional information acquisition mechanism, the fixed cover is used for being fixed at a wine jar opening; the movement mechanism is movably connected to the fixed cover; the three-dimensional information acquisition mechanism comprises a conical laser, a first connecting column and a first camera which are connected in sequence, the first camera is connected to the movement mechanism, and the conical laser is located at the position away from the movement mechanism; the movement mechanism is used for driving the conical laser and the first camera to move along the axial direction of the wine jar; the conical laser is used for emitting conical laser to the inner wall of the wine jar, and the first camera is used for collecting a laser image of the laser projected on the inner wall of the wine jar; according to the technical scheme provided by the invention, the modeling efficiency can be improved while the modeling cost is reduced.

The invention discloses a pipeline inner wall panoramic three-dimensional scanning device and a measuring method, and the device comprises a panoramic plane laser generator which comprises a point laser generator, an axicon, a laser focusing lens, a conical surface reflector and a transparent cylindrical support, and is used for transmitting a 360-degree panoramic plane laser beam to the inner wall of an object to be measured; according to the invention, single-exposure full-circumferential high-precision three-dimensional measurement is realized, and the device can synchronously obtain complete three-dimensional point cloud data of the circumference of the inner wall of the whole pipeline at the moment of single exposure through innovative combination of a panoramic annular imaging system and a panoramic planar laser projection technology; the method has the advantages that axial rotary scanning or multi-view data splicing required by a traditional method is avoided, measurement efficiency is improved, splicing accumulative errors are avoided, laser stripe image acquisition is complete and free of breakpoints, and completeness and accuracy of three-dimensional reconstruction data are guaranteed from the source.

The invention provides a complex heterogeneous molded surface three-dimensional vision measurement method and system, and the method comprises the following steps: (1), extracting part design model features through a semantic segmentation and intelligent recognition method, and building a to-be-measured feature set; (2) a three-dimensional measurement viewpoint planning method based on reinforcement learning is adopted to obtain a viewpoint sequence and a motion path; (3) when the local measurement system reaches a preset viewpoint, a self-adaptive single-pixel imaging feature matching method is adopted for mutual reflection and semitransparent molded surfaces; for other molded surfaces, a parameter adaptive fringe projection three-dimensional measurement method is adopted to obtain a single-viewpoint three-dimensional point cloud; (4) converting the single-viewpoint three-dimensional point cloud into a global coordinate system to realize three-dimensional point cloud splicing; (5) traversing each viewpoint of the viewpoint sequence, and executing the steps (3) and (4) to obtain a multi-viewpoint spliced three-dimensional point cloud; and (6) based on the point cloud error estimation, fusing the multi-view three-dimensional point cloud. The problem of accurate acquisition of the three-dimensional point cloud of the complex heterogeneous molded surface is solved.

The invention relates to the technical field of three-dimensional measurement, and discloses a coating thickness measurement method and system based on a multi-source sensor, and the method comprises the steps: obtaining and fusing point cloud data of the multi-source sensor, and constructing a three-dimensional curved surface model of a component through curvature analysis and normal vector estimation; calculating an optimal incident angle of the sensor relative to each area of the curved surface based on the model, and generating a dynamic attitude adjustment parameter; according to the parameters, the three-axis attitude of the sensor is adjusted in real time for signal acquisition, and original measurement data are obtained; frequency domain analysis is carried out on the original data to diagnose reflection distortion, and correction is carried out in combination with time domain filtering and spatial domain smoothing; and finally, calculating a thickness value in combination with the three-dimensional model, detecting and repairing a data missing region by using Fourier transform and an interpolation algorithm, and generating a complete thickness distribution diagram. According to the invention, high-precision and automatic measurement of the thickness of the complex curved surface coating is realized.

The invention belongs to the technical field of three-dimensional shape measurement, and discloses a three-dimensional measurement method for a non-Lambert metal surface, which comprises the following steps of: projecting polarization coding structured light on the non-Lambert metal surface, synchronously acquiring reflection images and ambient light noise data, and removing light noise from each reflection image to obtain a non-Lambert metal surface; extracting and calculating the light intensity value, the light polarization value and the light deflection angle of each pixel point in different polarization states, constructing a grayscale image to distinguish a high polarization point from a low polarization point, marking mirror reflection and diffuse reflection areas, resolving a phase field based on the processed reflection image, and correcting the phase jump; a continuous phase field and polarization reflectivity characteristics are combined to input a double-branch network model, the model is fused and optimized, a control point coordinate matrix and a weight matrix are output, an NURBS curved surface is constructed for defect detection, a high-precision three-dimensional surface shape is reconstructed, and the problems of reflection interference, dynamic efficiency and industrial adaptation in non-Lambert metal surface three-dimensional measurement are systematically solved. And a solution is provided for high-precision industrial detection.

The invention relates to a three-dimensional reconstruction method and system for strong ambient light filtering and depolarization error correction, and the method comprises the steps: obtaining the reflection components of ambient polarized light and polarization structure light, respectively calculating the Kirth vector distribution of the reflection components of the ambient polarized light and the polarization structure light, and obtaining a polarization image of the ambient light and a reflection image of the polarization structure light, determining a polarization degree threshold according to the polarization image of the ambient light, and extracting the polarization degree of the projection area according to the structured light reflection polarization image; establishing an ambient light separation model based on a reflection depolarization principle of light, and generating an abnormal pixel mask according to a polarization degree threshold and the ambient light separation model; establishing an error traceability model based on the ambient light separation model, and performing component decomposition and error correction on the polarization structure light phase data of the abnormal pixel mask area; and reconstructing the three-dimensional point cloud by fusing the corrected phase data with the image captured by the polarization camera. According to the method disclosed by the invention, precise three-dimensional measurement work of the polarized structured light under strong ambient light interference can be realized.

The invention discloses a multi-robot cooperative measurement method and system based on crowd intelligence emergence, and aims to solve the problems of single-point fault, poor environmental adaptability and insufficient expandability in the existing centralized and pre-planned multi-robot cooperative measurement method. According to the method, a shared digital environment cooperatively and jointly maintained by all robots through decentration is constructed, a decentration task decision-making mechanism based on digital pheromones is introduced, each measurement robot is used as an autonomous agent, and the concentration of the digital pheromones dynamically determined by the quality of measurement data in the shared digital environment is sensed, so that the concentration of the digital pheromones in the shared digital environment is determined. Measurement target decisions are made independently. According to the method, a robot cluster for multi-robot cooperative measurement can spontaneously emerge a globally optimal cooperative measurement behavior without a central control node, so that the robustness, the adaptability and the expandability of a measurement system are remarkably improved, and efficient and reliable three-dimensional measurement of a large component is realized.

A three-dimensional measurement method for the key appearance characteristics of an aircraft surface. In the method, the distribution characteristics of point clouds are fully utilized, and an included angle is formed between a direction vector of each measurement point position and a seam direction, so that it is ensured that the point clouds can gradually approach the edges of actual seams, and the impact of randomness is eliminated. The point nearest to the seams in the point clouds on two sides of the seams is selected as the nearest point, so that the limitation of the point cloud density is overcome, and the distance between the selected nearest point and the edges of the actual seams is greatly reduced, thereby greatly reducing the error of gap measurement, and greatly reducing errors caused by insufficient point cloud density. Further provided are a three-dimensional measurement system for the key appearance characteristics of an aircraft surface, and a usage method for the three-dimensional measurement system.

The invention relates to a linear structured light sensor polarization correction method and system based on reflected polarized light, and the method comprises the steps: obtaining the reflected light intensity of the surface of an object at different polarization angles, calculating a Stokes vector according to the reflected light intensity, building a mapping relation between the reflected light intensity and an incident angle based on the Fresnel law, and correcting the polarization of the linear structured light sensor. Obtaining a light intensity maximum value and a light intensity minimum value; calculating a linear polarization degree based on the maximum light intensity value and the minimum light intensity value, and obtaining an optimal laser incident angle based on the linear polarization degree and the refractive index of the object; constructing a polarization optimization model of a polarization angle and an incident angle by using a Stokes vector, and solving an optimal polarization angle; and acquiring a light stripe image of the polaroid at the optimal polarization angle, and performing polarization correction on the light stripe image based on a Stokes vector to realize three-dimensional measurement of an object. According to the invention, errors caused by factors such as light intensity, incident angle and image quality are effectively reduced, and the measurement precision is greatly improved.

The invention relates to the technical field of three-dimensional measurement, and discloses a method and system for measuring the transparent dispensing volume, a computer readable storage medium and a computer program product. The method comprises the following steps: placing transparent dispensing glue on a preset metal sheet, and shooting to obtain cross section contour image data of the transparent dispensing glue; extracting a laser stripe center contour line of the two-dimensional contour slice; reconstructing a complete three-dimensional depth distribution model to obtain a dispensing depth map; carrying out plane attitude correction to realize fitting; performing three-dimensional connected domain analysis on the fitted dispensing depth map to screen out a dispensing volume measurement area; and calculating the dispensing volume in the dispensing volume measurement area by using a projection method. In combination with a depth map processing algorithm, high-speed and high-precision measurement of the dispensing volume is realized, so that the dispensing volume before dispensing is accurately controlled, and the method has important significance on product quality control in dispensing process production.

The invention belongs to the technical field of three-dimensional measurement, and discloses a power transmission line icing volume measurement method, system and device, a medium and a program product, and the method comprises the steps: employing a binocular camera to shoot and correct an icing power transmission line view, and obtaining internal and external parameters, performing depth estimation on the power transmission line view based on the corrected power transmission line view and the internal and external parameters, training a conductor detection model and inputting the corrected power transmission line view to obtain a detection frame and a corresponding confidence coefficient, using the detection frame with the highest confidence coefficient as a prompt, inputting the prompt and the corrected power transmission line view into an SAM2 network for segmentation, and obtaining a segmentation result; de-noising and morphological processing are carried out on the masks of the ice-coated wires, and finally the ice-coated area of the power transmission line is calculated. The system, the equipment and the medium are used for implementing the method. The program product comprises a computer program for implementing the method; the method for measuring the icing volume of the power transmission line has the effects of stability, reliability, high efficiency, accuracy and high safety.

The invention relates to a bridge floor transverse and longitudinal pre-camber steel beam manufacturing process. The manufacturing process is characterized by comprising the following specific manufacturing processes: S1, blanking and welding of a bottom plate; s2, blanking and welding of the side plates; s3, blanking and welding of the bridge deck slab; s4, blanking of the partition plate; s5, assembling the steel beams; s6, the pre-camber is monitored; s7, measuring a steel beam; blanking precision of each unit of a bridge deck transverse and longitudinal pre-camber steel beam is controlled, a bridge deck slab unit is tailor-welded on a pre-camber jig frame, the whole steel beam is welded in an inverted mode so as to reduce deformation of the bridge deck slab in the structure of tailor-welded steel beams, and the camber camber precision of the whole steel beam is guaranteed; besides, by arranging a three-dimensional measurement control network, all measurement points of the jig frame and the segments are directly and accurately monitored through the measurement control network, so that accumulative measurement errors are avoided, and the assembly precision is improved; and meanwhile, the welding quality is controlled in the splicing process, and welding deformation is reduced to ensure the size of the steel beam.

A measuring system for acquiring three-dimensional measuring points, comprising a base unit, a support unit mounted on the base unit and rotatable relative to the base unit around an azimuth axis, an emitting unit, a receiving unit, a directing unit mounted in the support unit, and configured for directing a transmission beam from the emitting unit towards a scene, directing a reception beam from the scene to the receiving unit, a first actuator configured for rotating the support unit relative to the base unit around the azimuth axis, a second actuator configured for rotating the directing unit relative to the support unit around the elevation axis, a first angle encoder configured for measuring a rotatory position of the support unit, a second angle encoder configured for measuring a rotatory position of the directing unit, a camera comprising an image sensor.

The invention discloses a boiler expansion indication three-dimensional remote transmission measurement method, system and equipment and a medium, and belongs to the technical field of boiler monitoring, and the method comprises the steps: obtaining the real-time distance data of a to-be-measured part of a boiler in a first direction, a second direction and a third direction through a measurement device disposed on the to-be-measured part of the boiler; according to the real-time distance data and preset reference distance data when the boiler does not expand, the expansion amount of the boiler component to be measured in the first direction, the second direction and the third direction is determined; converting the swelling amounts in the first direction, the second direction and the third direction into standard signals; and sending the standard signal to a monitoring system for display. According to the invention, high-precision three-dimensional measurement, automatic data remote transmission and intelligent analysis and early warning based on data are realized, so that the measurement precision and reliability are improved, automatic monitoring and graded early warning are realized, and intelligent diagnosis can be carried out to distinguish real abnormity and measurement interference.

The invention discloses an underwater high-speed three-dimensional measurement method based on stripe structured light, and relates to the technical field of underwater optical three-dimensional imaging, in an underwater operation scene of an FPP system, projecting a three-step phase shift sine stripe and a Gray code pattern to an object to be measured, and respectively calculating a wrapped phase 1, a wrapped phase 2 and an auxiliary order phase; analyzing the light intensity information received by the camera, and carrying out water body influence analysis in combination with an underwater light transmission model; the initial wrapped phase divides the order phase into a stable region and a non-stable region, the stable region is combined with the wrapped phase 1 to calculate a preliminary absolute phase, and the non-stable region is combined with the wrapped phase 2 to calculate an absolute phase through an island processing method. According to the method, a phase bisection complementary decoding strategy is adopted, a jump error region in an order phase is effectively identified and corrected by constructing complementary wrapped phase information, a wrong order phase is corrected by using a noise correction algorithm, and the measurement stability in a dynamic scene is remarkably improved.

The invention relates to the technical field of aviation digital measurement, solves the technical problems of low quality, more redundant viewpoints and insufficient global optimization capability of three-dimensional measurement viewpoint generation in the prior art, and particularly relates to a three-dimensional measurement viewpoint planning method for overall aircraft appearance detection. Comprising the following steps: discretizing the point cloud of the whole aircraft and generating an initial candidate viewpoint set; constructing a viewpoint observation quality comprehensive evaluation function, and performing multi-dimensional comprehensive evaluation on the initial candidate viewpoint set; screening the initial candidate viewpoint set by using a self-adaptive non-maximum suppression algorithm; and carrying out multi-objective optimization on the viewpoint set by adopting an improved alternating evolution genetic algorithm, and finally obtaining an optimal viewpoint set with coverage integrity and quality superiority. According to the method, the observation quality and the viewpoint compactness are considered on the premise that the coverage rate is guaranteed, the viewpoint generation automation and efficiency are remarkably improved, and the method can be conveniently popularized to actual measurement tasks of different models and engineering sites.