Laser Scanner Orientation Monitoring for Calibration Drift
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Solution Overview
Problem
Laser scanners in cranes experience orientation changes due to material deformation and shocks, leading to incorrect transformation of measuring points into a world coordinate system, causing inaccurate object positioning and potential collisions.
Innovation Solution
A method to monitor laser scanner orientation by determining distances from multiple planar surfaces of measurement objects with known geometric shapes, using cluster centroids and transformation matrices to correct orientation changes without manual recalibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual calibration is performed initially, then the laser scanner provides accurate position data, but the orientation changes during operation causing accuracy to deteriorate
Solution Approach 1:
The system continuously monitors the orientation of the laser scanner by repeatedly determining distances to multiple measuring points on calibration objects with known geometry. The normal vector directions are calculated and compared against reference values to detect orientation changes, providing continuous feedback that enables automatic correction of calibration drift without manual intervention.
Solution Approach 2:
The laser scanner system performs self-calibration by using its own measurement capabilities to monitor its orientation. The system automatically detects changes in its orientation by analyzing distances to known reference points and corrects its calibration parameters without requiring external calibration equipment or manual intervention, enabling the system to maintain accuracy autonomously.
2Measurement precision
If manual re-calibration is performed when orientation changes are detected, then accuracy is restored, but operation is interrupted and time is lost
Solution Approach 1:
The system automatically detects orientation changes and performs self-correction by recalculating calibration parameters based on the monitored normal vector directions. This eliminates the need for manual re-calibration and prevents operational interruptions, allowing the crane to continue operating without downtime while maintaining measurement accuracy.
Solution Approach 2:
The orientation monitoring and correction process operates continuously during crane operation without interrupting the useful work. The system repeatedly determines distances and calculates normal vectors in real-time, enabling continuous detection and correction of orientation drift while the crane remains operational, thus maintaining uninterrupted productivity.
3Measurement precision
If manual calibration with external measuring systems is performed, then calibration accuracy is restored, but effort and complexity increase
Solution Approach 1:
The laser scanner system uses its own measurement capabilities to monitor and correct its orientation without requiring external measuring systems such as theodolites. The system automatically calculates normal vector directions from distance measurements to calibration objects and uses these to correct its calibration parameters, eliminating the need for complex external calibration equipment and manual procedures.
Solution Approach 2:
The system replaces manual mechanical calibration procedures with an automated optical/electronic monitoring system. Instead of using external mechanical measuring instruments and manual adjustment processes, the system uses laser distance measurements and computational geometry to automatically detect and correct orientation changes, reducing both complexity and manual effort.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables continuous monitoring and correction of laser scanner orientation, reducing downtime and effort in recalibration, ensuring precise object positioning and preventing collisions.
Implementation Method 1
From the transit time of a laser pulse between the emission of the laser pulse and the reception of the reflected part of the laser pulse, it is possible to determine the distance of the laser scanner from the location reflecting the respective laser pulse
Data Source
AI summary
In a method and system for monitoring the orientation of a laser scanner, the laser scanner repeatedly determines distances of the laser scanner from a plurality of measurement points on various planar external surfaces of a measurement object. All measurement objects have the same geometric form having planar external surfaces and are arranged such that the normal vectors of the external surfaces of all measurement objects have defined directions in a fixed first reference system. From the determined distances, the directions of normal vectors of external surfaces of the measurement object are determined, for each measurement object, in a second reference system relating to the laser scanner. A change to the orientation of the laser scanner is inferred when the direction of at least one normal vector in the second reference system changes significantly, for example by more than a specified angle.