Elevator shaft real-time modeling monitoring method based on multiple area array laser radars
The invention provides an elevator shaft real-time modeling monitoring method based on a plurality of area array laser radars, which comprises the following steps of: calibrating a pose relation of a plurality of laser radars facing each surface of the inner wall of an elevator shaft on an elevator...
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| creator | HUANG JIANWEI ZHU HONGRONG XU YINHAO |
| description | The invention provides an elevator shaft real-time modeling monitoring method based on a plurality of area array laser radars, which comprises the following steps of: calibrating a pose relation of a plurality of laser radars facing each surface of the inner wall of an elevator shaft on an elevator car, and establishing current laser radar point cloud data; splicing the laser radar point cloud data at adjacent moments to obtain a pose change initial value; dividing a space in the elevator shaft into a plurality of grids, calculating a PCA result of each grid, and extracting all planes in the laser radar point cloud data according to feature values of the PCA results as first plane parameters; matching is carried out according to the pose change initial value and the first plane parameter, matching cost is calculated through a function, and the pose change initial value with the minimum matching cost is obtained; and combining the pose change initial values with the minimum matching cost at different moments t |
| format | Patent |
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splicing the laser radar point cloud data at adjacent moments to obtain a pose change initial value; dividing a space in the elevator shaft into a plurality of grids, calculating a PCA result of each grid, and extracting all planes in the laser radar point cloud data according to feature values of the PCA results as first plane parameters; matching is carried out according to the pose change initial value and the first plane parameter, matching cost is calculated through a function, and the pose change initial value with the minimum matching cost is obtained; and combining the pose change initial values with the minimum matching cost at different moments t</description><language>chi ; eng</language><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES ; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES ; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES ; MEASURING ; PHYSICS ; RADIO DIRECTION-FINDING ; RADIO NAVIGATION ; TESTING</subject><creationdate>2023</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20230822&DB=EPODOC&CC=CN&NR=116626702A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20230822&DB=EPODOC&CC=CN&NR=116626702A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>HUANG JIANWEI</creatorcontrib><creatorcontrib>ZHU HONGRONG</creatorcontrib><creatorcontrib>XU YINHAO</creatorcontrib><title>Elevator shaft real-time modeling monitoring method based on multiple area array laser radars</title><description>The invention provides an elevator shaft real-time modeling monitoring method based on a plurality of area array laser radars, which comprises the following steps of: calibrating a pose relation of a plurality of laser radars facing each surface of the inner wall of an elevator shaft on an elevator car, and establishing current laser radar point cloud data; splicing the laser radar point cloud data at adjacent moments to obtain a pose change initial value; dividing a space in the elevator shaft into a plurality of grids, calculating a PCA result of each grid, and extracting all planes in the laser radar point cloud data according to feature values of the PCA results as first plane parameters; matching is carried out according to the pose change initial value and the first plane parameter, matching cost is calculated through a function, and the pose change initial value with the minimum matching cost is obtained; and combining the pose change initial values with the minimum matching cost at different moments t</description><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</subject><subject>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</subject><subject>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</subject><subject>MEASURING</subject><subject>PHYSICS</subject><subject>RADIO DIRECTION-FINDING</subject><subject>RADIO NAVIGATION</subject><subject>TESTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2023</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNi0sKwkAQRLNxIeod2gMETIRxHULElSu3ElqnYwZ6PvS0grd3EA_gpupBvVpW14HphRoF8oyTghByrc4T-GiJXXgUCK4IXySdo4UbZrIQA_gnq0tMgOVXQvANXEYBQYuS19ViQs60-fWq2h6HS3-qKcWRcsI7BdKxPzeNMa057Npu_4_zAQbxPEQ</recordid><startdate>20230822</startdate><enddate>20230822</enddate><creator>HUANG JIANWEI</creator><creator>ZHU HONGRONG</creator><creator>XU YINHAO</creator><scope>EVB</scope></search><sort><creationdate>20230822</creationdate><title>Elevator shaft real-time modeling monitoring method based on multiple area array laser radars</title><author>HUANG JIANWEI ; 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splicing the laser radar point cloud data at adjacent moments to obtain a pose change initial value; dividing a space in the elevator shaft into a plurality of grids, calculating a PCA result of each grid, and extracting all planes in the laser radar point cloud data according to feature values of the PCA results as first plane parameters; matching is carried out according to the pose change initial value and the first plane parameter, matching cost is calculated through a function, and the pose change initial value with the minimum matching cost is obtained; and combining the pose change initial values with the minimum matching cost at different moments t</abstract><oa>free_for_read</oa></addata></record> |
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| language | chi ; eng |
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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION TESTING |
| title | Elevator shaft real-time modeling monitoring method based on multiple area array laser radars |
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