[go: up one dir, main page]

SA522432689B1 - نظام وطريقة لمحاذاة جهاز مسح بالليزر لقياس حجم الحاويات - Google Patents

نظام وطريقة لمحاذاة جهاز مسح بالليزر لقياس حجم الحاويات

Info

Publication number
SA522432689B1
SA522432689B1 SA522432689A SA522432689A SA522432689B1 SA 522432689 B1 SA522432689 B1 SA 522432689B1 SA 522432689 A SA522432689 A SA 522432689A SA 522432689 A SA522432689 A SA 522432689A SA 522432689 B1 SA522432689 B1 SA 522432689B1
Authority
SA
Saudi Arabia
Prior art keywords
container
scanning device
laser scanning
volume
aligning
Prior art date
Application number
SA522432689A
Other languages
English (en)
Inventor
تريجوي حساني
باتيل ساهيجاد
عوطا علي
عبداللطيف فضل
Original Assignee
شركــــة الزيــت العربيـــة السعوديــة
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by شركــــة الزيــت العربيـــة السعوديــة filed Critical شركــــة الزيــت العربيـــة السعوديــة
Publication of SA522432689B1 publication Critical patent/SA522432689B1/ar

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2518—Projection by scanning of the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
    • B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/54—Revolving an optical measuring instrument around a body
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Fluid Mechanics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

يتعلق الاختراع الحالي بتوفير أنظمة وطرق لمحاذاة جهاز مسح بالليزر لقياس حجم حاوية. تتضمن الطريقة: جعل مركبة ذاتية القيادة يتم توصيلها بجهاز مسح بالليزر تتحرك إلى موضع على مسافة معروفة من محيط مرجعي؛ إنشاء بيانات تشير إلى مواضع نقاط على طول جزء من المحيط المرجعي؛ تحديد، على أساس البيانات، زاوية محاذاة والتي تتوجه عن طريقها مركبة ذاتية القيادة، بحيث يمر محور جهاز المسح بالليزر، الذي يتقاطع مع الحاوية، من خلال محور مركز الحاوية؛ جعل المركبة ذاتية القيادة تتوجه عن طريق زاوية المحاذاة، بحيث يتم بذلك محاذاة جهاز المسح بالليزر عمودياً على مستوى مماس لجدار من الحاوية؛ وقياس مجموعة إزاحات أفقية للجدار بالنسبة إلى المحيط المرجعي لاستخدامها في تحديد الحجم. شكل 2أ.
SA522432689A 2019-12-16 2022-05-23 نظام وطريقة لمحاذاة جهاز مسح بالليزر لقياس حجم الحاويات SA522432689B1 (ar)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/716,381 US10908263B1 (en) 2019-12-16 2019-12-16 System and method for aligning a laser scanning device for measurement of a volume of a container
PCT/US2020/064809 WO2021126748A1 (en) 2019-12-16 2020-12-14 System and method for aligning a laser scanning device for measurement of a volume of a container

Publications (1)

Publication Number Publication Date
SA522432689B1 true SA522432689B1 (ar) 2023-11-22

Family

ID=74141961

Family Applications (1)

Application Number Title Priority Date Filing Date
SA522432689A SA522432689B1 (ar) 2019-12-16 2022-05-23 نظام وطريقة لمحاذاة جهاز مسح بالليزر لقياس حجم الحاويات

Country Status (3)

Country Link
US (2) US10908263B1 (ar)
SA (1) SA522432689B1 (ar)
WO (1) WO2021126748A1 (ar)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11584525B2 (en) * 2020-11-30 2023-02-21 Saudi Arabian Oil Company Deep learning-based localization of UAVs with respect to nearby pipes
KR102366947B1 (ko) * 2021-12-22 2022-02-24 주식회사 디지털커브 라이다가 설치된 무인 비행체를 제어하는 방법 및 장치

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO150498C (no) * 1982-06-11 1984-10-24 Bloms Oppmaaling As Fremgangsmaate til maaling av sylindriske tanker
WO2013040274A2 (en) * 2011-09-13 2013-03-21 Sadar 3D, Inc. Synthetic aperture radar apparatus and methods
US9188472B2 (en) 2013-05-21 2015-11-17 Saudi Arabian Oil Company Enhanced reference line tank calibration method and apparatus
US20170023394A1 (en) * 2015-07-25 2017-01-26 Imran Akbar System and Method for Unmanned Aerial Vehicle Monitoring of Petroleum Storage Container Contents
US10672139B2 (en) * 2017-05-19 2020-06-02 Kayrros Method and system for remotely measuring the volume of liquid stored in external floating roof tanks
US10338592B2 (en) * 2017-08-24 2019-07-02 Saudi Arabian Oil Company High accuracy remote coordinate machine
US11077935B2 (en) * 2017-08-28 2021-08-03 Saudi Arabian Oil Company Thruster based locomotion for perched unmanned aerial vehicles

Also Published As

Publication number Publication date
US11385333B2 (en) 2022-07-12
US20210181313A1 (en) 2021-06-17
WO2021126748A1 (en) 2021-06-24
US10908263B1 (en) 2021-02-02

Similar Documents

Publication Publication Date Title
US10816347B2 (en) Tunnel mapping system and methods
SA522432689B1 (ar) نظام وطريقة لمحاذاة جهاز مسح بالليزر لقياس حجم الحاويات
CN105522988B (zh) 车辆导向系统、车辆定向的方法和安检车辆
EP3213104B1 (en) Underwater positioning system
CN103900489B (zh) 一种线激光扫描三维轮廓测量方法及装置
CN103229019B (zh) 旋转激光器
KR101679911B1 (ko) 차량용 측위 장치 및 그 방법
US11486988B2 (en) Method for calibrating the alignment of a moving object sensor
US11579628B2 (en) Method for localizing a vehicle
CN102914262A (zh) 一种基于附加视距的非合作目标贴近测量方法
US7325320B2 (en) Method for estimating the accuracy of azimuthal orientations and portable sighting device
MY185923A (en) Vehicle parameter measurement device, vehicle type determination device, vehicle parameter measurement method, and program
CN104075696A (zh) 坐标测量方法
US20160187147A1 (en) Autonomous vehicle assistance device
MX2021000103A (es) Sensor de movimiento con correccion de deriva.
US20160131473A1 (en) Shape Measuring Method and Device
KR20150078881A (ko) 클라우드 컴퓨팅을 통한 차량 위치 측정방법
CN105717499A (zh) 激光测距仪偏转角测量与校正系统及方法
KR101173161B1 (ko) 지중관로 탐사측정시스템
JP4261466B2 (ja) 自律移動装置、並びに物体及び自己位置検出システム
CN203259148U (zh) 内置测高装置的测量仪器
JP2011053165A (ja) 無軌道式移動台車の位置検出装置及び方法
JP2010231383A (ja) 路車間通信システム
GB2544207A (en) Image recording system with relational tracking
US9574909B2 (en) Method for determining a closed trajectory by means of a laser and a laser light sensor and apparatus for determining a closed trajectory curve