94 results about "Three dimensional measurement" patented technology

The application discloses a kind of high-temperature forging dynamic three-dimensional measurement-oriented sliding mode fault-tolerant control methods, and specific implementation steps include: establishing the discrete-time singular perturbation Markov jump state space model of high-temperature forging measurement system;Design probability dynamic event trigger mechanism, utilize internal dynamic variable intelligent judgment data transmission time to save bandwidth resources;For possible fraud attacks and actuator failure, build the corresponding attack model and fault model;Sliding surface and sliding control rate function are constructed;Deduce the sufficient condition for guaranteeing system reachability and closed-loop system finite time boundedness;Iterative solution controller gain and dynamic trigger parameters.The application considers network security, resource-constrained and actuator degradation and other multiple constraints under the high-temperature forging dynamic three-dimensional measurement scene, while guaranteeing the system finite time stability, significantly improves the robust cooperative control ability and operation safety of measurement system.

A three-dimensional measurement method and apparatus for a structured light system based on system pose optimization is provided. The method includes acquiring multiple binary fringe modulations and performing intrinsic and extrinsic parameter calibration of a projector and a camera by using a preset visual positioning method to determine an initial inter-optical-center horizontal distance; calculating system distance magnification data based on each sinusoidal fringe image and the initial inter-optical-center horizontal distance; determining defocus phase undetermined coefficients based on each binary fringe modulation; applying a preset system pose optimization mathematical model to determine a target inter-optical-center horizontal distance based on the initial inter-optical-center horizontal distance, the system distance magnification data, and the defocus phase undetermined coefficients; and adjusting the system pose of the structured light system based on the target inter-optical-center horizontal distance, and constructing a three-dimensional model of an object to be measured based on the triangulation method.

The management system 1 for the belt conveyor 30 that transports materials by belt includes a three-dimensional measuring device 10 that measures the three-dimensional position of the lowest surface 32A of the belt 32 and the height of the accumulated material 42 located below the lowest surface 32A, and a monitoring device 20 that monitors the height of the accumulated material 42 relative to the three-dimensional position of the lowest surface 32A of the belt 32 measured by the three-dimensional measuring device 10.

The present application belongs to the technical field of PCB defect detection, and particularly relates to a PCB back-drilling defect detection method, a detection device and an evaluation method. The method first identifies and preliminarily screens the holes to be rechecked through the two-dimensional image of the whole board; then performs three-dimensional topography scanning on the holes to be rechecked, and performs spatial registration on the two-dimensional image subgraph and the three-dimensional point cloud data matrix of the same hole through a unified coordinate system, so that the two-dimensional texture and the three-dimensional topography information are accurately corresponded; based on the fused data after registration, residual stubs, copper wire residues, dirt, microcavities, depressions, scratches and hole wall roughness are identified and classified. The present application corresponds the two-dimensional preliminary screening result and the three-dimensional measurement data through spatial registration, so that the copper wire and the dirt, the microcavity and the scratch can be distinguished based on the three-dimensional topography difference, and the size parameters such as the residual stub length and the hole wall roughness are included in the quality evaluation.

The application provides a unit quaternion-based error compensation calibration method, comprising the following steps: S11, establishing a calibration measurement system; S12, CCD camera calibration; S13, initial light plane calibration; S14, angle correlation establishment; S15, initial rotating shaft linear equation calibration; S16, assembly error compensation and rotating shaft optimization; and S17, dynamic light plane calibration. The application directly takes the rotating shaft of the motor of the galvanometer as a reference, calibrates the origin of the galvanometer linear laser three-dimensional measurement system on the rotating shaft of the motor of the galvanometer, does not need to add an additional coordinate system, reduces the conversion error of the coordinate system, does not need an additional work platform, can not consider the assembly error of the target plane and the workbench, and the calibration based on the unit quaternion can effectively reduce the complexity of the mathematical model and improve the calibration efficiency.

The application discloses an industrial robot calibration device and method based on a structured light system and a hemispherical target. The application takes a double target fixed at both ends of a rigid ruler and composed of at least three precise standard hemispheres as a calibration reference, combines a structured light three-dimensional measurement technology, constructs a double-constraint calibration algorithm based on fixed distances and fixed relative postures, and realizes calibration of kinematic parameters of an industrial robot. Through a low-cost structured light system and a standardized double-hemispherical target reference element, high-precision standards required by calibration of the industrial robot are met, the calibration operation threshold and equipment cost are greatly reduced, and stable and reliable constraint conditions are provided for identification of kinematic parameters of the industrial robot.

The application relates to the technical field of optical three-dimensional measurement and machine vision, and discloses a coating thickness detection method and system based on visual monitoring, which comprises the following steps: controlling a test environment to induce transient evaporation of a liquid phase on a coating surface, and collecting an image sequence under structured light projection; calculating an evaporation gradient index field of the image, extracting a time stamp corresponding to a time sequence maximum value to construct an extreme value time field; performing a spatial gradient operation on the extreme value time field to generate an evaporation dynamics scalar field; fusing the scalar field with a structured light fringe modulation degree matrix to construct a quality map function; guiding a spatial phase unwrapping path by the quality map function, obtaining a full field of view absolute phase, and calculating coating thickness. The application uses phase transition space-time evolution rules to guide phase unwrapping, so that the algorithm path actively avoids a phase abnormal area caused by water droplet refraction, error global diffusion is inhibited, and the accuracy of coating thickness measurement under a dynamic alternating environment is improved.

The application belongs to the technical field of optical three-dimensional measurement, and discloses a two-division iteration sub-pixel matching method and system for phase structured light three-dimensional measurement, which comprises the following steps: obtaining a phase map; performing legality marking and pixel-level initial matching on the phase map; determining a sub-pixel search area based on the pixel-level initial matching; and performing sub-pixel matching point search based on the sub-pixel search area by using a two-division iteration method to obtain a sub-pixel matching point. The application can improve the precision of binocular matching in phase structured light three-dimensional measurement, thereby improving the precision of three-dimensional reconstruction.

There are provided a medical image processing apparatus, a medical image processing method, and a program capable of presenting distance information that is useful for lesion evaluation together with a medical image. A medical image processing apparatus according to an aspect of the present disclosure includes a processor and a storage device. The processor is configured to, by executing a command of a program stored in the storage device, acquire a three-dimensional medical image, receive an input of information indicating a lesion region included in the medical image, determine, from the medical image, a measurement reference surface serving as a measurement reference for lesion evaluation, three-dimensionally measure a distance between the lesion region and the measurement reference surface, and display a measurement result including information indicating at least one of a closest distance or a farthest distance between the lesion region and the measurement reference surface together with the medical image.

This invention relates to the field of dynamic three-dimensional measurement technology for irregular surfaces or contours, and provides a phase-shift-free multi-frequency fringe absolute phase calculation method for dynamic three-dimensional measurement. The method includes two processes: initial phase calculation and phase result optimization. The initial phase calculation process processes the acquired multi-frequency fringe pattern and calculates the absolute phase information of the corresponding pixels. The phase result optimization process uses the constraint of the absolute phase on the multi-frequency fringe pattern equation as a data fidelity term and the modulation degree of the fringe pattern as a smoothing constraint term. Through joint optimization of phase fidelity and modulation degree smoothness, the optimal absolute phase is solved. This invention introduces a multi-frequency fringe pattern combination that satisfies the uniqueness of the optimal phase. While maintaining high measurement efficiency, it comprehensively utilizes its information constraints to improve phase accuracy, thus contributing to high-efficiency and high-precision dynamic three-dimensional measurement.

This invention belongs to the field of marine engineering technology, and specifically discloses a method for assembling ship sections based on a floating platform. Using the unified hull coordinate system of the ship design as a reference, the method sequentially completes the survey of the common reference system of the section to be assembled and the floating platform, the three-dimensional measurement and assembly simulation of the section, the pre-repair of the port, the transfer and positioning of the left section and the reference locking, and the alignment of the right section, and finally completes the assembly and docking of the two sections, realizing zero-interference one-time assembly of large ship sections on the floating platform.

The application provides a water turbine runner blade crack milling and slotting method based on three-dimensional measurement, relates to the technical field of robot milling and slotting processing, and comprises the following steps: S1, a plurality of mark points are arranged near the crack, the coordinates of each mark point are scanned and extracted, and all the mark points are fitted to obtain a spline curve; S2, a water turbine blade surface model is established; S3, the water turbine blade surface model is cut to obtain a cutting region, a reference plane is constructed, each discrete point on the spline curve is projected onto the reference plane, the modeling section parameters of each discrete point at the projection point of the reference plane are determined, and a geometric body model expressing the crack is constructed; and S4, the water turbine blade surface model and the geometric body model are intersected to obtain a slotting region model, and a milling tool trajectory is calculated. The application has the beneficial effects that the depth and width of the slotting can be accurately controlled, the runner blade after the slotting is not affected, the repair quality of the runner blade can be improved, and the service life of the blade is prolonged.

The application discloses a night highway pit and pond recognition method and system based on low-illumination enhancement and parallax calculation, and relates to the technical field of intelligent traffic monitoring and road maintenance. The method comprises the following steps: S1: collecting environmental data, calculating a meteorological index to determine a laser compensation power, and obtaining a stereo image pair to generate environmental metadata; S2: determining an enhancement strategy based on the environmental metadata, and obtaining an enhanced image pair by using an improved Retinex algorithm; S3: performing stereo matching on the enhanced image pair, and generating a scene depth map by fusing pose data; S4: based on a double-branch recognition model, fusing image and depth features, detecting and verifying a pit and pond area, and obtaining a pit and pond area mask; and S5: based on the pit and pond area mask, the depth map and the pose data, calculating three-dimensional parameters and a position of the pit and pond, and generating a detection report. Through adaptive image enhancement and multi-source data fusion technology, the accuracy of pit and pond recognition and the three-dimensional measurement precision in a night low-illumination environment are improved, and automatic and efficient inspection without affecting traffic is realized.

Provided is a method for repairing a coke oven that includes: a confirmation step in which a three-dimensional measurement device is used to observe, from an oven mouth, concavity and convexity of an oven wall of a neighboring non-replacement target combustion chamber that is adjacent to one side surface of one replacement target combustion chamber or a plurality of continuous replacement target combustion chambers, and concavity and convexity of an oven wall of a neighboring non-replacement target combustion chamber that is adjacent to the other side surface of the one replacement target combustion chamber or plurality of continuous replacement target combustion chambers, thereby confirming that bulging amounts of the oven walls of the neighboring non-replacement target combustion chambers are each smaller than a given value; a replacement step in which when the bulging amounts of the oven walls of the neighboring non-replacement target combustion chambers have each been confirmed to be smaller than the given value in the confirmation step, a portion of an oven wall of the one replacement target combustion chamber or plurality of continuous replacement target combustion chambers, which requires repair, is dismantled, followed by newly stacking oven wall bricks and binder bricks in the dismantled area; and a step of using a previously formed oven wall refractory aggregate and a previously formed ceiling part refractory aggregate as a newly stacked oven wall and ceiling part in the replacement target combustion chamber.

This utility model relates to the technical field of automated production lines, and in particular to an automated device for automatically detecting pins and assembling circuit boards, comprising: a feeding platform, a conveying device, a gripping device, and a detection device; wherein, the detection device includes a U-shaped frame spanning both sides of the conveying device, a transverse moving module mounted on the top of the U-shaped frame, a vertical moving module mounted on the drive end of the transverse moving module, and a line scanning module mounted on the drive end of the vertical moving module. The line scanning module performs three-dimensional measurement of the PIN pins within the housing stopped at the detection station. In summary, the high-precision line scanning module accurately detects the position and state of the PIN pins, and, in conjunction with a SCARA robot and special gripper components, achieves efficient gripping and assembly; the gripper and the bottom recognition module work together to ensure assembly accuracy, and the rational design of each module improves the versatility and stability of the equipment, significantly improving production efficiency and product quality.

This invention discloses a method for encoding structured light patterns, a structured light projection module, and a three-dimensional measurement system, belonging to the field of optical measurement. Addressing the problem of fixed and inaccurate structured light encoding units in existing methods, this invention provides a method for encoding structured light patterns. The method divides the structured light pattern into multiple types of grid units, forming a grid encoding group with a predetermined number of consecutively arranged grid units. The grid encoding group is encoded based on the type of each grid unit, ensuring that each grid encoding group has a unique and non-repeating code. The code of the grid encoding group maps to its spatial position within the structured light pattern. Decoding includes acquiring the structured light pattern, determining the type of each grid unit, and matching the grid encoding group with the encoding set to obtain its position. This invention achieves flexible, high-density, and highly occlusion-resistant absolute position encoding by uniquely and non-repeating grid encoding groups composed of multiple consecutive grid units, making it suitable for high-precision three-dimensional measurement.

This invention discloses a three-dimensional measurement method for micro / nano devices based on an improved focusing evaluation function. The method includes the following steps: processing acquired sequential images, calculating a structure fidelity index, and assembling the processed images into a three-dimensional image matrix; generating gradient response maps based on sliced ​​images in the three-dimensional image matrix, combining the response maps with the structure fidelity index and a noise reduction term to construct an improved focusing evaluation function, obtaining a focusing value sequence; performing a preliminary peak search on the focusing value sequence, constructing a candidate dataset, and calculating a peak quality factor; calculating the comprehensive effective quality based on the selected candidate fitting dataset, and solving for the final depth coordinates of the pixels based on the effective quality; generating an initial sparse point cloud, and using the point cloud to generate a surface consistency index, driving an anisotropic diffusion algorithm and depth iteration, outputting a three-dimensional morphology model and size parameters. This invention improves the depth measurement accuracy and edge details of three-dimensional reconstruction of micro / nano devices.

This invention discloses a phase-height mapping calibration method and apparatus in fringe projection, relating to the field of three-dimensional object contour measurement technology. The method includes: controlling a projector to project a set of phase-shifted sinusoidal fringe patterns onto a micromirror array with known height values; simultaneously triggering a camera to acquire fringe image sequences; performing phase shift calculations on the fringe image sequences to obtain a wrap-around phase map; constructing a global optimization model of absolute phase using the known height value of the micromirror array as an absolute constraint; solving for the absolute phase field corresponding to the height of the micromirror array; extracting the center coordinates, absolute phase values, and known height values ​​of each micromirror element; constructing a three-dimensional control point set; fitting the three-dimensional control point set; calculating the continuous model coefficient field; and forming a phase-height lookup table. This invention can significantly improve the real-time calculation efficiency of three-dimensional measurement, meeting the practical needs of high-precision, high-stability industrial three-dimensional shape measurement.

A three-dimensional measurement apparatus includes: a projection device projecting a predetermined stripe pattern on a measurement object; an imaging device capturing an image of the measurement object on which the predetermined stripe pattern is projected; a measurement device measuring a three-dimensional shape of the measurement object using a phase shift method by determining stripe pattern information from the image captured by the imaging device; and a controller controlling the projection device. The measurement device determines, in the image captured by the imaging device, the stripe pattern information on a pixel-by-pixel basis based on (i) a time difference between an output time of previous event data and an output time of subsequent event data, which are output from the imaging element during the unit time period, and (ii) at least one of a polarity of the previous event data or a polarity of the subsequent event data.

The objective of the present invention is to provide an optical system device that reduces the influence of delay and noise to improve measurement accuracy in a three-dimensional measurement sensor using a time-of-flight (TOF) method.　This optical system device comprises: a light irradiation means 1 capable of irradiating light 10; an optical element 3 exerting an optical function on the light 10; and a housing 2 including the light irradiation means 1 together with the optical element 3, and is characterized in that the housing 2 has a light extraction part 21 for extracting the light of the light irradiation means 1 to a predetermined position.

This invention relates to the field of inkjet printing technology, specifically disclosing a method, apparatus, device, medium, and product for three-dimensional droplet measurement. By acquiring two images of a droplet from the same nozzle at two different positions along the optical axis of an observation device, the image radius and sharpness are extracted separately. Based on these, the geometric distance and the sharpness-based distance are calculated in parallel, and then fused to output the final three-dimensional measurement result of the droplet. This method effectively overcomes the limitations of the single geometric method being susceptible to imaging noise interference and the single sharpness method relying on calibration accuracy, significantly improving the accuracy and robustness of distance calculation. Based on the fused distance, more accurate and reliable three-dimensional spatial coordinates and physical dimensions of the droplet can be obtained, meeting the high-precision detection requirements for droplet parameters in industrial printing and other fields. Furthermore, this solution has low implementation cost and strong adaptability, providing a reliable technical foundation for comprehensive nozzle state evaluation and printing quality control.

The application provides a large rotary equipment blade measurement system calibration method based on a topological structure landmark point coding, and belongs to the field of blade appearance three-dimensional measurement. Firstly, the three-dimensional landmark points are projected onto a two-dimensional plane by using a principal component analysis method. Then, a local geometric descriptor is generated for each point on the projection plane. The cross-frame matching and trajectory tracking of the landmark points are realized through the descriptor matching. Finally, the center point and normal vector of all trajectories are extracted, the average value of the center point coordinates and the average value of the normal vector are calculated, and the rotary shaft axis linear solution is taken as the rotary shaft pose calibration. The application takes a disc with circular landmark points as a calibration module, designs a position tracking descriptor based on the topological relationship between the landmark points in the disc plane, realizes the landmark point position tracking, has important significance for the rotary shaft pose calibration, and provides a strong technical foundation for the subsequent blade splicing measurement based on the axis calibration.

Provided are a projection device and a projection method for assisting in measurement by a three-dimensional measuring machine. This projection method comprises: a step for generating, through use of a processing unit (102), measurement assistance images (AS1-AS2, SF1, P1-P3, H1-H2, A1-A2) corresponding to the contour or shape of a workpiece (W) installed in a measurement device (10), on the basis of the position and orientation of the workpiece (W); and a step for projecting the measurement assistance images (AS1-AS2, SF1, P1-P3, H1-H2, A1-A2) onto the workpiece (W) from a projection unit (50).

A three-dimensional measurement system includes an irradiation region division section that divides an irradiation region into two or more regions and irradiates each of the two or more regions with irradiation light in a different pattern, an imaging region division section that divides an imaging region into two or more regions, a region association section that associates a divided region in the imaging region with a corresponding region obtained by division of the irradiation region, an allocation section that allocates one measurement method from among measurement methods to each of divided regions in the imaging region, the divided regions each being associated with a corresponding one of regions obtained by division of the irradiation region, and a shape measurement calculation section that measures a shape of each of target workpieces by a measurement method allocated to a corresponding one of the divided regions in the imaging region.

This utility model discloses a high-precision multi-reference measuring device for shaft parts, including a measuring platform. The top of the measuring platform is provided with longitudinal and transverse grid grooves. A correction component is installed on the top of the measuring platform. A telescopic adjustment rod is also installed on the top of the measuring platform. One end of the telescopic adjustment rod is fixedly connected to a connecting end. A slide rod is internally engaged with the connecting end. A movable pulley frame is slidably mounted on the outer wall of the slide rod. A drive motor is installed on the outer wall of the movable pulley frame. Longitudinal and transverse rods are installed on the inner side of the movable pulley frame. A height adjustment component is installed on the top of the longitudinal and transverse rods. A three-dimensional measuring component is installed at the bottom of the height adjustment component. This utility model provides a high-precision multi-reference measuring device for shaft parts that utilizes a correction motor to drive a bidirectional threaded rod, which in turn drives the transverse and longitudinal correction rods to automatically center and correct the part, enabling precise control of the correction force and position.

Provided is a three-dimensional measurement device with which it is possible to prolong the service life of a light source while more reliably preventing any decrease in measurement accuracy in cases in which a reflective optical modulation element such as a DMD is used. A first projection device, a second projection device, and a camera are controlled to sequentially project and capture a plurality of types of stripe patterns, whereby a plurality of pieces of image data having different light intensity distributions are acquired. In acquiring the image data, a phase change lighting process is sequentially executed in individual projection devices 4x, 4y, the phase change lighting process including changing the phases of the stripe patterns while light sources of the projection devices 4x, 4y are lit, and then extinguishing the light sources, after the elapse of a rise time required until the luminance of light emitted from the light sources is stabilized after the light sources begin to be lit. When the luminance of the light emitted from the light sources is stable while the light sources are lit, the camera 5 executes a continuous imaging process for imaging each of the plurality of types of stripe patterns having different phases.