CN103411531A - Volume dynamic measuring device based on laser scanning radars and measuring method thereof - Google Patents
Volume dynamic measuring device based on laser scanning radars and measuring method thereof Download PDFInfo
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- CN103411531A CN103411531A CN2013102855103A CN201310285510A CN103411531A CN 103411531 A CN103411531 A CN 103411531A CN 2013102855103 A CN2013102855103 A CN 2013102855103A CN 201310285510 A CN201310285510 A CN 201310285510A CN 103411531 A CN103411531 A CN 103411531A
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Abstract
The invention belongs to the technical field of volume dynamic measurement and discloses a volume dynamic measuring device based on laser scanning radars and a measuring method thereof. The volume dynamic measuring device based on the laser scanning radars comprises a conveying belt. A first laser scanning radar, a second laser scanning radar and a third laser scanning radar are correspondingly installed at the upper side, the left side and the right side of the conveying belt and are in the same vertical plane. The first laser scanning radar faces a conveying belt plane vertically, and both the second laser scanning radar and the third laser scanning radar face the conveying belt plane horizontally. The rotating shaft of the driving motor of the conveying belt is fixedly equipped with an incremental rotary encoder. The first laser scanning radar, the second laser scanning radar and the third laser scanning radar are electrically connected with an industrial control machine through a switch. The incremental rotary encoder is electrically connected with the industrial control machine through a data collection card.
Description
Technical field
The invention belongs to volume dynamic measuring tech field, particularly based on volume dynamic measurement device and the measuring method of scanning laser radar.
Background technology
In a lot of scientific researches and commercial production, usually need to know the volumetric parameter of object correlation.But while when testee, having the characteristics such as time variation, toxicity, explosion hazard, for the sake of security, inconvenience is manually directly measured.For example, in the sorting and assorting process of coal cinder, need the dynamic volume size of measuring coal cinder, thereby can according to its volume, classify to it automatically or bond quality calculates its density.According to volume, be mainly the vibration screening method to the method that coal cinder carries out sorting at present, the different motion direction while namely vibrating according to coal cinder, filter out the coal cinder that volume is close.But what this screening technique can only be rough classifies to coal cinder, can't obtain accurately the volume size of coal cinder, thereby be used to calculating the density of coal cinder.In addition, this screening technique also can make coal cinder damage, and the coal cinder of large volume easily splits into the coal cinder of small size under vibration.
Summary of the invention
The object of the invention is to propose volume dynamic measurement device and the measuring method based on scanning laser radar.This volume dynamic measurement device investment cost is few, and measuring speed is fast, is convenient to realize automatic control, without manually-operated, can be easily the volume of measured object be carried out to kinetic measurement.
For realizing above-mentioned technical purpose, the present invention adopts following technical scheme to be achieved.
Technical scheme one:
Volume dynamic measurement device based on scanning laser radar, comprise travelling belt, the top of described travelling belt, left side and right side correspondence are equipped with the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar, and described the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar are positioned at same perpendicular; Described the first scanning laser radar is vertically towards the travelling belt plane, and described the second scanning laser radar and the equal level of the 3rd scanning laser radar are towards the travelling belt plane; In the rotating shaft of the drive motor of described travelling belt, be installed with incremental rotary encoder;
Described the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar all are electrically connected to industrial computer by switch, and described incremental rotary encoder is electrically connected to described industrial computer by data collecting card.
The characteristics of the technical program and further the improvement are:
The model of described the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar is UXM-30LX-EW; Described incremental rotary encoder adopts the E6A2-CW3C incremental rotary encoder.
Described the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar have identical sample frequency.
Technical scheme two:
Based on the volume dynamic measurement method of scanning laser radar, based on the above-mentioned dynamic measurement device of volume based on scanning laser radar, comprise the following steps:
Scanning laser radar is demarcated: the demarcation thing of making an octahedra shape, described octahedron has two bottom surfaces and six sides, described two bottom surfaces are respectively two regular hexagons, and described two regular hexagons have the identical length of side, and described six sides are rectangle; Described demarcation thing is placed on travelling belt, and six sides of described demarcation thing are all parallel with the direction of motion of described travelling belt; Use travelling belt to transmit described demarcation thing, the corresponding three groups of cloud datas demarcating the thing cross section that gather of the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar, by the coordinate system of the coordinate conversion of two groups of cloud datas wherein to another group cloud data place, determine the parameter of the coordinate conversion that described two groups of cloud datas are corresponding;
Gather the cloud data of travelling belt running speed and measured object cross section profile: use travelling belt to transmit measured object, utilize incremental rotary encoder and industrial computer to measure the real-time motion speed of travelling belt; The first scanning laser radar gathers the cloud data of the upper outline line in the 1st M measured object cross section, measured object cross section to the in chronological order successively, and M is greater than 1 natural number; I measured object cross section is: the first scanning laser radar carries out sampling corresponding measured object cross section the i time to measured object, and i gets 1 to M, and i measured object cross section is vertical section, and vertical with the conveyer belt direction; The second scanning laser radar gathers the cloud data of the revolver profile in the 1st M measured object cross section, measured object cross section to the in chronological order successively, and the 3rd scanning laser radar gathers the cloud data of the right outline line in the 1st M measured object cross section, measured object cross section to the in chronological order successively; The cloud data collected is inputed to industrial computer by switch;
Coordinate conversion: industrial computer is according to the parameter of coordinate conversion corresponding to described two groups of cloud datas, the cloud data that the same time of the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar is gathered carries out corresponding coordinate conversion, and industrial computer constructs corresponding measured object cross-sectional image according to the result of coordinate conversion;
The measured object area of section calculates: calculate corresponding measured object area of section according to described measured object cross-sectional image;
The measured object sampled distance calculates: according to the sample frequency of the first scanning laser radar, calculate the sampling time of the first scanning laser radar, the sampling time of described the first scanning laser radar is that the first scanning laser radar gathers the time interval between the cloud data in adjacent two measured object cross sections; During by the cloud data of collection measured object cross section profile, the real-time motion speed of travelling belt and the sampling time of the first scanning laser radar multiply each other, and obtain the sampled distance between every two adjacent measured object cross sections;
Measured object cuts the body volume and calculates: described measured object cuts the volume that the body volume refers to the measured object between two adjacent measured object cross sections; According to the sampled distance between two adjacent measured object cross sections of each measured object area of section and correspondence, adopt the terrace with edge computing method to show that corresponding measured object cuts the body volume;
The measured object volume calculates: all measured objects cut the cumulative measured object volume that is of body volume.
The characteristics of the technical program and further the improvement are:
When gathering the cloud data of travelling belt running speed and measured object cross section profile, incremental rotary encoder is sent to industrial computer by the pulse data recorded in the unit interval by data collecting card, and industrial computer calculates the real-time motion speed of travelling belt according to described pulse data.
Carrying out the scanning laser radar timing signal, the coordinate system of coordinate conversion to the first scanning laser radar of the cloud data in the demarcation thing cross section that the second scanning laser radar is collected, draw the parameter of corresponding coordinate conversion; The coordinate system of coordinate conversion to the first scanning laser radar of the cloud data in the demarcation thing cross section that the 3rd scanning laser radar is collected, draw the parameter of corresponding coordinate conversion; The coordinate of the first scanning laser radar is the coordinate system at the cloud data place in the demarcation thing cross section that collects of the first scanning laser radar.
Beneficial effect of the present invention is: this volume dynamic measurement device investment cost is few, and measuring speed is fast, is convenient to realize automatic control, without manually-operated, can to the measured object volume, carry out kinetic measurement easily.
The accompanying drawing explanation
Fig. 1 is the physical construction schematic diagram of the volume of the coal cinder based on scanning laser radar dynamic measurement device of the present invention;
Fig. 2 is the circuit connection diagram of the volume of the coal cinder based on scanning laser radar dynamic measurement device of the present invention;
Fig. 3 is the process flow diagram of the volume of the coal cinder based on scanning laser radar dynamic measurement method of the present invention;
Fig. 4 is that the area in coal cinder cross section calculates schematic diagram.
Embodiment
The invention will be further described below in conjunction with accompanying drawing: (octahedron)
The coal cinder of take is example, and coal cinder volume dynamic measurement device and measuring method based on scanning laser radar are described.With reference to Fig. 1, be the physical construction schematic diagram of the volume of the coal cinder based on scanning laser radar dynamic measurement device of the present invention.Should be based on the coal cinder volume dynamic measurement device of scanning laser radar, comprise the travelling belt 1 be used to transmitting coal cinder, above travelling belt 1, left side and right side correspondence be equipped with the first scanning laser radar 2, the second scanning laser radar 3 and the 3rd scanning laser radar 4, vertically downward, the equal level of laser head of the second scanning laser radar 3 and the 3rd scanning laser radar 4 is towards the travelling belt plane for the laser head of the first scanning laser radar 2.Three scanning laser radars (the first scanning laser radar 2, the second scanning laser radar 3 and the 3rd scanning laser radar 4) are positioned at same perpendicular, are separately fixed on three supports; Three scanning laser radars are respectively used to gather the cloud data of upper outline line, revolver profile and the right outline line in coal cinder cross section.
In the rotating shaft of the drive motor of travelling belt 1, be installed with incremental rotary encoder 5, incremental rotary encoder 5 is be used to measuring the real-time motion speed of travelling belt 1.
With reference to Fig. 2, be the circuit connection diagram of the volume of the coal cinder based on scanning laser radar dynamic measurement device of the present invention; The first scanning laser radar 2, the second scanning laser radar 3 and the 3rd scanning laser radar 4 all are electrically connected to industrial computer by switch, and incremental rotary encoder 5 is electrically connected to industrial computer by data collecting card.Specifically, industrial computer connects switch by the network interface of self, and by the serial ports connection data capture card of self.Industrial computer is arranged on a side (left side or right side) of travelling belt.
In the embodiment of the present invention, the model of the first scanning laser radar 2, the second scanning laser radar 3 and the 3rd scanning laser radar 4 all adopts the UXM-30LX-EW laser range finder of HOKUYO company.This laser range finder has the measurement range of 190 °, the sample frequency of 20Hz, the measuring distance of 0.1～30m.High performance industrial computer calculates the current real-time motion speed of travelling belt according to this pulse data after receiving the pulse data of incremental rotary encoder 5 transmissions.After the cloud data that industrial computer reception the first scanning laser radar 2, the second scanning laser radar 3 and the 3rd scanning laser radar 4 send, according to this cloud data, adopt the image in image split-joint method reconstruct coal cinder cross section, and, based on this, calculate corresponding coal cinder area of section.
In the embodiment of the present invention, incremental rotary encoder 5 adopts the E6A2-CW3C incremental rotary encoder of OMRON company.The E6A2-CW3C incremental rotary encoder adopts the two-phase mode that tests the speed, and its resolution is 500P/R, and it is connected the serial ports of industrial computer with Serial Port Line by data collecting card.
With reference to Fig. 3, be the process flow diagram of the volume of the coal cinder based on scanning laser radar dynamic measurement method of the present invention.Should comprise the following steps based on the coal cinder volume dynamic measurement method of scanning laser radar:
Scanning laser radar is demarcated: the coordinate system that the cloud data gathered due to scanning laser radar is corresponding all is based on from as initial point, setting up, therefore need to demarcate three scanning laser radars, after cloud data is converted to unified coordinate system, could calculate based on the cloud data that scanning laser radar gathers corresponding coal cinder area of section.
The detailed process that scanning laser radar is demarcated is: the demarcation thing of making an octahedra shape, this octahedron has two bottom surfaces and six sides, these two bottom surfaces are respectively two regular hexagons, two orthohexagonal length of sides are 20cm, octahedral six sides are rectangle (long 40cm, wide 20cm); Then will demarcate thing and be placed on travelling belt, six sides demarcating thing are all parallel with the direction of motion of described travelling belt; Use travelling belt to transmit this demarcation thing, because the sample frequency of the first scanning laser radar 2, the second scanning laser radar 3 and the 3rd scanning laser radar 4 is 20Hz, and the first scanning laser radar 2, the second scanning laser radar 3 and the 3rd scanning laser radar 4 are positioned at same perpendicular, so at synchronization, the first scanning laser radar 2, the second scanning laser radar 3 and the 3rd scanning laser radar 4 can corresponding collect cloud data, the cloud data of revolver profile and the cloud data of right outline line of upper outline line in a cross section of this demarcation thing.Then based on these three contour curves of these cloud datas, depict on industrial computer.
Then the coordinate system (coordinate system at the cloud data place in the demarcation thing cross section that the first scanning laser radar collects) of the first scanning laser radar 2 of take is benchmark, fixes the upper contour curve in this demarcation thing cross section.According to the total point of upper outline line, revolver profile and the right outline line of demarcating the thing cross section, the revolver profile in this demarcation thing cross section is carried out to translation and rotation, and the right outline line in this demarcation thing cross section is carried out to translation and rotation; Make three contour tilings become orthohexagonal five limits.Now, record the translational movement of revolver profile and translational movement and the rotation amount of rotation amount and right outline line.The translational movement of revolver profile and rotation amount are the parameter of the coordinate conversion that the cloud data of revolver profile is corresponding, and the translational movement of right outline line and rotation amount are the parameter of the coordinate conversion that the cloud data of right outline line is corresponding.The cross section of above-mentioned demarcation thing is regular hexagon, can comparatively accurately simulate the cross sectional shape of coal cinder, can improve the degree of accuracy that scanning laser radar is demarcated, thereby can improve the degree of accuracy that the coal cinder area of section calculates.In the embodiment of the present invention, can also select as required to demarcate the shape of thing, for example selecting cross section is the decahedron of octagon.
In the embodiment of the present invention, in the time of can also moving forward 5mm in the position of demarcating thing, then carry out as above scanning laser radar and demarcate, obtain corresponding translational movement and rotation data.After repeatedly carrying out as above scanning laser radar calibration process and the translational movement of all demarcation and rotation amount being averaged, determine corresponding translational movement and the rotation amount of cloud data of the revolver profile that the second scanning laser radar 3 gathers, and corresponding translational movement and the rotation amount of cloud data of the right outline line that gathers of the 3rd scanning laser radar 4.Finally make the coordinate system at coordinate transform to the first scanning laser radar 2 places of the cloud data of the coordinate of cloud data of the revolver profile that the second scanning laser radar 3 gathers and the right outline line that the 3rd scanning laser radar 4 gathers, form a unified coordinate system.
In the embodiment of the present invention, can also, before transmitting coal cinder, preset the running speed of travelling belt.For real-time and the high precision that guarantees that the coal cinder volume calculates, the sampled distance D that sets coal cinder is 5mm.Because the sample frequency f of scanning laser radar is 20Hz, the running speed v that therefore sets travelling belt is:
v=D*f=5′10
-3*20=0.1ms
Then gather the cloud data of travelling belt running speed and coal cinder cross section profile: when travelling belt had just started, travelling belt turned round with setting speed 0.1m/s.When coal cinder travels forward along with travelling belt, the weight of coal cinder can make the running speed of travelling belt that certain variation occurs, now, the Real-time Collection that incremental rotary encoder 5 starts the travelling belt running speed, while three scanning laser radars start the Real-time Collection to the cloud data of the cross section contour of coal cinder.Industrial computer utilizes the pulse data of serial ports Real-time Collection from incremental rotary encoder, according to pulse data, accurately calculates the real-time motion speed of travelling belt.Industrial computer utilizes the cloud data of network interface Real-time Collection from the coal cinder cross section contour of three scanning laser radars, detailed process is as follows: the first scanning laser radar gathers the cloud data of the upper outline line in the 1st M coal cinder cross section, coal cinder cross section to the in chronological order successively, and M is greater than 1 natural number; I coal cinder cross section is: the first scanning laser radar carries out sampling corresponding coal cinder cross section the i time to coal cinder, and i gets 1 to M, and i coal cinder cross section is vertical section, and vertical with the conveyer belt direction; The second scanning laser radar gathers the cloud data of the revolver profile in the 1st M coal cinder cross section, coal cinder cross section to the in chronological order successively, and the 3rd scanning laser radar gathers the cloud data of the right outline line in the 1st M coal cinder cross section, coal cinder cross section to the in chronological order successively; The cloud data collected is inputed to industrial computer by switch.
Then carry out coordinate conversion, industrial computer is according to the parameter of coordinate conversion, the cloud data that the same time of the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar is gathered carries out corresponding coordinate conversion (namely carrying out corresponding translation and rotation), and industrial computer constructs corresponding coal cinder cross-sectional image according to the result of coordinate conversion; The parameter of coordinate conversion refers to: translational movement and rotation amount that the cloud data of the left profile curve that the second scanning laser radar 3 gathers is corresponding, and corresponding translational movement and the rotation amount of cloud data of the right contour curve that gathers of the 3rd scanning laser radar 4.
Then carry out the calculating of coal cinder area of section: adopt split plot design to calculate the area in each coal cinder cross section, with reference to Fig. 4, be the area calculating schematic diagram in coal cinder cross section.From true origin, along the x direction of principal axis, choose a straight line perpendicular to the x axle every Dx, thereby it is individual little trapezoidal that each cross section of coal cinder is divided into to N.By asking for two intersection point y between every straight line perpendicular to the x axle and coal cinder cross section line segment
jAnd y'
j, calculate each little trapezoidal length of side value l
jFor:
l
j=|y'
j-y
j|
The area S in i coal cinder cross section
iFor:
Calculate sampled distance corresponding to each coal cinder cross section: when three scanning laser radars gathered cloud data corresponding to i coal cinder cross section contour, the real-time motion speed of the travelling belt measured was v'
i, because the sample frequency of three scanning laser radars is f, the sampling time of three scanning laser radars is 1/f, sampled distance D corresponding to i coal cinder cross section
iFor:
Coal cinder cuts the body volume and calculates, and coal cinder cuts the volume of body volume for the coal cinder between two adjacent coal cinder cross sections.Area S according to i coal cinder cross section
iThe sampled distance D corresponding with i coal cinder cross section
i, adopt the terrace with edge computing method to show that the coal cinder between two adjacent coal cinder cross sections cuts the volume V of body
i,
Calculate the coal cinder volume: the summation that all coal cinders cut the body volume is the actual volume size of coal cinder.Because the number in coal cinder cross section is M, to cut the number of body be M-1 to coal cinder, so coal cinder volume V is:
The present invention adopts a kind of contactless, nondestructive apparatus and method to carry out kinetic measurement to the volume of the coal cinder that transports on travelling belt.Volume dynamic measurement device of the present invention, adopt scanning laser radar, incremental rotary encoder and industrial computer, and investment cost is few, simplicity of design, and reliability is high; Volume dynamic measurement method of the present invention, based on above-mentioned volume dynamic measurement device, completed by industrial computer automatically to the calculating of coal cinder volume, and its intellectuality is high, and measuring accuracy is high, and to the intuitive measurement results of coal cinder, reliable.The present invention not only can be used for measuring the coal cinder volume, can also be widely used in the cubing of the object correlation of the industries such as medicine, chemical industry, food, building materials.
Obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention also is intended to comprise these changes and modification interior.
Claims (6)
1. based on the volume dynamic measurement device of scanning laser radar, comprise travelling belt (1), it is characterized in that, the top of described travelling belt (1), left side and right side correspondence are equipped with the first scanning laser radar (2), the second scanning laser radar (3) and the 3rd scanning laser radar (4), and described the first scanning laser radar (2), the second scanning laser radar (3) and the 3rd scanning laser radar (4) are positioned at same perpendicular; Described the first scanning laser radar (2) is vertically towards the travelling belt plane, and the equal level of described the second scanning laser radar (3) and the 3rd scanning laser radar (4) is towards the travelling belt plane; In the rotating shaft of the drive motor of described travelling belt (1), be installed with incremental rotary encoder (5);
Described the first scanning laser radar (2), the second scanning laser radar (3) and the 3rd scanning laser radar (4) all are electrically connected to industrial computer by switch, and described incremental rotary encoder (5) is electrically connected to described industrial computer by data collecting card.
2. the dynamic measurement device of the volume based on scanning laser radar as claimed in claim 1, is characterized in that, the model of described the first scanning laser radar (2), the second scanning laser radar (3) and the 3rd scanning laser radar (4) is UXM-30LX-EW; Described incremental rotary encoder (5) adopts the E6A2-CW3C incremental rotary encoder.
3. the dynamic measurement device of the volume based on scanning laser radar as claimed in claim 1, is characterized in that, described the first scanning laser radar (2), the second scanning laser radar (3) and the 3rd scanning laser radar (4) have identical sample frequency.
4. based on the volume dynamic measurement method of scanning laser radar, based on the dynamic measurement device of the volume based on scanning laser radar claimed in claim 1, it is characterized in that, comprise the following steps:
Scanning laser radar is demarcated: the demarcation thing of making an octahedra shape, described octahedron has two bottom surfaces and six sides, described two bottom surfaces are respectively two regular hexagons, and described two regular hexagons have the identical length of side, and described six sides are rectangle; Described demarcation thing is placed on travelling belt, and six sides of described demarcation thing are all parallel with the direction of motion of described travelling belt; Use travelling belt to transmit described demarcation thing, the corresponding three groups of cloud datas demarcating the thing cross section that gather of the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar, by the coordinate system of the coordinate conversion of two groups of cloud datas wherein to another group cloud data place, determine the parameter of the coordinate conversion that described two groups of cloud datas are corresponding;
Gather the cloud data of travelling belt running speed and measured object cross section profile: use travelling belt to transmit measured object, utilize incremental rotary encoder and industrial computer to measure the real-time motion speed of travelling belt; The first scanning laser radar gathers the cloud data of the upper outline line in the 1st M measured object cross section, measured object cross section to the in chronological order successively, and M is greater than 1 natural number; I measured object cross section is: the first scanning laser radar carries out sampling corresponding measured object cross section the i time to measured object, and i gets 1 to M, and i measured object cross section is vertical section, and vertical with the conveyer belt direction; The second scanning laser radar gathers the cloud data of the revolver profile in the 1st M measured object cross section, measured object cross section to the in chronological order successively, and the 3rd scanning laser radar gathers the cloud data of the right outline line in the 1st M measured object cross section, measured object cross section to the in chronological order successively; The cloud data collected is inputed to industrial computer by switch;
Coordinate conversion: industrial computer is according to the parameter of coordinate conversion corresponding to described two groups of cloud datas, the cloud data that the same time of the first scanning laser radar, the second scanning laser radar and the 3rd scanning laser radar is gathered carries out corresponding coordinate conversion, and industrial computer constructs corresponding measured object cross-sectional image according to the result of coordinate conversion;
The measured object area of section calculates: calculate corresponding measured object area of section according to described measured object cross-sectional image;
The measured object sampled distance calculates: according to the sample frequency of the first scanning laser radar, calculate the sampling time of the first scanning laser radar, the sampling time of described the first scanning laser radar is that the first scanning laser radar gathers the time interval between the cloud data in adjacent two measured object cross sections; During by the cloud data of collection measured object cross section profile, the real-time motion speed of travelling belt and the sampling time of the first scanning laser radar multiply each other, and obtain the sampled distance between every two adjacent measured object cross sections;
Measured object cuts the body volume and calculates: described measured object cuts the volume that the body volume refers to the measured object between two adjacent measured object cross sections; According to the sampled distance between two adjacent measured object cross sections of each measured object area of section and correspondence, adopt the terrace with edge computing method to show that corresponding measured object cuts the body volume;
The measured object volume calculates: all measured objects cut the cumulative measured object volume that is of body volume.
5. the dynamic measurement method of the volume based on scanning laser radar as claimed in claim 4, it is characterized in that, when gathering the cloud data of travelling belt running speed and measured object cross section profile, incremental rotary encoder is sent to industrial computer by the pulse data recorded in the unit interval by data collecting card, and industrial computer calculates the real-time motion speed of travelling belt according to described pulse data.
6. the dynamic measurement method of the volume based on scanning laser radar as claimed in claim 4, it is characterized in that, carrying out the scanning laser radar timing signal, the coordinate system of coordinate conversion to the first scanning laser radar of the cloud data in the demarcation thing cross section that the second scanning laser radar is collected, draw the parameter of corresponding coordinate conversion; The coordinate system of coordinate conversion to the first scanning laser radar of the cloud data in the demarcation thing cross section that the 3rd scanning laser radar is collected, draw the parameter of corresponding coordinate conversion; The coordinate of the first scanning laser radar is the coordinate system at the cloud data place in the demarcation thing cross section that collects of the first scanning laser radar.
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| CN114383499A (en) * | 2020-10-21 | 2022-04-22 | 南京牧镭激光科技有限公司 | Method for measuring ceramic tile in full size by adopting laser linear array means |
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