2115 results about "Distance measurement" patented technology

The invention relates to the technical field of goods shelf detection, in particular to a self-detection method and device for goods shelf settlement, and provides the following scheme: obtaining a top view image through an image sensor arranged right above the top of a goods shelf, dividing the image into a plurality of grid units, and positioning a rectangular geometric shape by utilizing Hough transform; and screening a plurality of to-be-detected areas in combination with the edge features. For an area to be measured, homographic registration and ortho-rectification are carried out based on a reference image, a displacement field is obtained by adopting sub-pixel-level dense registration, and a geometric parallax component field corresponding to imaging parameters is obtained through robust estimation. And under the hypothesis of small deformation, inverting the parallax into a pixel normal distance, and carrying out weighted aggregation on the local region to obtain a local distance measurement result. And by iteratively combining adjacent grids, determining a settlement area boundary, and finally outputting a settlement detection result. Millimeter-level settlement quantification can be realized under a single-frame image, hardware transformation is avoided, and the method is suitable for automatic detection and long-term monitoring of multi-specification goods shelves.

The invention discloses a high-voltage cable operation state on-line monitoring, intelligent early warning and fault positioning system, particularly relates to the technical field of power equipment insulation monitoring, and is used for solving the problems that transient discharge signals generated in the cable insulation degradation process are difficult to effectively capture and accurate fault positioning cannot be realized in the prior art. The method comprises the following steps: collecting transient leakage current signals and traveling wave propagation characteristic parameters, performing phase correlation analysis on leakage current pulses and power frequency voltage to identify discharge types, and performing variational mode decomposition and Hilbert-Huang transform on the signals to respectively extract complexity characteristics and energy distribution characteristics; signal logic conflicts are judged by analyzing similarity and statistical distance among characteristics of a plurality of monitoring points, and collaborative diagnosis is started or traveling wave distance measurement is directly utilized to carry out insulation state evaluation and fault location. And finally, differential early warning levels are generated according to the diagnosis result, and fault line selection and positioning information is output to realize real-time monitoring, intelligent early warning and accurate positioning of the operation state of the high-voltage cable.

Tracked distance measuring device, systems, and methods for determining and mapping point of interest for use in utility locating operations and other mapping applications are disclosed. A tracked distance measuring device embodiment includes simultaneously triggered rangefinder and positioning elements to measure a distance and determine location and pose, optionally in conjunction with a utility locator.

The invention discloses an underground engineering lining disease detection system based on point cloud, and belongs to the technical field of underground engineering detection. In order to solve the technical problems that an existing underground engineering lining disease detection method is low in detection precision, low in automation degree and the like, underground engineering point cloud data to be detected and corresponding position information are collected, and an improved PointNet + + model is adopted for disease recognition. According to the method, original three-dimensional coordinates of a point cloud are expanded into seven-dimensional point cloud data containing coordinates, normal vectors and reflection intensity, the normal vector standard deviation of points in a neighborhood of each candidate point is calculated to serve as local geometric complexity, a local geometric complexity index is fused into sampling distance measurement, then a multi-scale local neighborhood is constructed by combining sphere query, and therefore the multi-scale local neighborhood is obtained. And extracting geometric features, texture features and deformation features by using a PCA feature dimension reduction technology, carrying out feature fusion based on a normal vector weighting mechanism, finally obtaining disease type classification based on a network model, and calculating the size and position of the disease.

The invention discloses a three-dimensional modeling method and system, and relates to the technical field of intelligent perception and three-dimensional reconstruction, and the method comprises the steps: taking BIM as a priori, sampling a geometric entity as a visibility evaluation point cloud, and constructing a graph structure environment state under the constraints of a field of view, distance measurement, an incident angle, overlapping and other sensors; on the basis, a deep reinforcement learning agent which is pre-trained by a synthetic scene and subjected to domain randomization migration is introduced, stations and scanning parameters are selected online according to an observation-decision-execution-update closed loop, visibility and coverage are re-estimated after each step of scanning, and self-adaptive correction is carried out on an unexecuted sequence in combination with online optimization; compared with an off-line global optimization method, the method has the advantages that a search space is effectively compressed through candidate station pre-generation and visibility gating, and continuous and adjustable balance is formed among coverage, point cloud quality and operation time by multi-target awards; for engineering constraints such as temporary shielding, site reachability, registration overlapping degree and the like, the strategy can be dynamically replanned in an execution period.

The invention discloses an unmanned aerial vehicle control method and device and a storage medium, and relates to the technical field of unmanned aerial vehicle control, and the unmanned aerial vehicle control method comprises the steps: aligning infrared data and image data according to coordinates, and obtaining fusion data, so as to eliminate the spatial deviation of the infrared data and the image data; analyzing the water mist concentration and the water mist particle size based on the fused data; after the water mist concentration and the water mist particle size in a preset continuous detection time period are aligned according to a time sequence, fitting water mist concentration distribution between the unmanned aerial vehicle and the wall surface; and adjusting a signal-to-noise ratio threshold value and a radar cross-sectional area threshold value of the radar sensor according to the water mist concentration distribution. The technical effect of preventing the water mist sprayed by the unmanned aerial vehicle from interfering with the distance measurement of the wall surface can be achieved.

The invention discloses a UWB (Ultra Wideband) ranging error suppression method fusing a black-wing plinary algorithm and an information entropy adaptive adjustment mechanism. The method comprises the following steps: firstly, identifying a non-line-of-sight signal by combining a ranging residual error, a first-order difference and a sliding window strategy; abnormal values are removed based on residual errors, missing data are compensated through segmented three-time Hermite interpolation, and data continuity and smoothness are guaranteed; calculating Shannon information entropy by using sliding window kernel density estimation, dynamically quantifying residual distribution uncertainty, adaptively adjusting Kalman gain, and realizing weight real-time adjustment; meanwhile, the initial parameter configuration of the filter is optimized by adopting a black-wing algorithm, and the convergence and the overall stability of adaptive filtering are improved. Aiming at the problems of measurement abnormity and precision reduction caused by the fact that UWB distance measurement is easy to be shielded and interfered in the NLOS environment, the method can effectively inhibit distance measurement errors, overcomes the limitation that a traditional method depends on manual parameter adjustment, and provides powerful technical support for high-precision UWB distance measurement in the NLOS environment.

The invention relates to a heading machine pose measurement and control method and system based on visual direction finding and communication distance measurement. The system comprises a base station end measuring system in a roadway, a mobile end measuring system on a heading machine body and a motion control module. The method comprises the following steps: S1, establishing a base station end coordinate system; s2, establishing a mobile terminal coordinate system; s3, the base station side identifies and measures the vector information of the characteristic light source of the mobile terminal through a visual sensor; s4, the base station end and the mobile end measure the distance between the base station end and the mobile end through communication ranging equipment; s5, calculating the three-dimensional position of the mobile terminal in the coordinate system of the base station terminal based on the vector information and the distance information; s6, according to the three-dimensional position and the inertial measurement data of the mobile terminal, carrying out combined navigation calculation based on an EKF algorithm; and S7, performing pose control based on a combined navigation calculation result. According to the invention, a means of combining visual direction finding, communication distance measurement and inertial measurement is adopted, so that the position measurement precision is improved.

The invention relates to the technical field of electric vehicle charging pile planning, in particular to an intelligent charging pile layout optimization method based on a multi-scale space-time diagram neural network. Comprising the following steps: S1, constructing a heterogeneous dynamic graph which represents a potential charging pile position node set, epsilon t represents a time-varying edge set, At represents a time-varying adjacent matrix, and Xt represents a node feature matrix; s2, calculating a self-adaptive adjacency matrix with a specific relationship, and calculating a multi-type dynamic relationship between capture nodes of the self-adaptive adjacency matrix based on the constructed heterogeneous dynamic graph model; s3, updating a structure bias matrix, and capturing dynamic change characteristics of the network; s4, calculating distance measurement between nodes, and fusing geographic information and semantic information; s5, through graph neural network learning, based on the constructed heterogeneous dynamic graph and the calculated adaptive adjacency matrix, executing a graph neural network learning process, and extracting node space-time representation; and S6, predicting a future charging demand based on node representation obtained by graph neural network learning, and generating based on the future charging demand.

The invention provides a power transmission line intelligent distance measurement false alarm prevention method and system based on multi-mode discrimination, and the method comprises the steps: carrying out the preprocessing of the scene image data of a power transmission line, and obtaining the processed image data; performing target discrimination on the processed image data by using a pre-constructed target detection model to obtain an external damage target in the processed image data and position label information of the external damage target; constructing a multi-modal cue word based on the processed image data and the position label information of the external damage target; according to the processed image data and the multi-modal cue word, performing state discrimination by using a pre-constructed visual language large model to obtain state information of the external damage target, and according to the state information of the external damage target, generating an anti-error report alarm result of the power transmission line; according to the invention, through the multi-mode discrimination of the image data of the power transmission line, the recognition stability and the distance measurement accuracy in a complex environment can be improved, and the precise recognition of an external damage target, the precise calculation of a three-dimensional space distance and the anti-false-report alarm are realized.

The invention provides a ship distance estimation method and device based on an AIS (Automatic Identification System) supervision signal, relates to the technical field of intelligent shipping and water traffic supervision, and solves the problems that the prior art depends on a single sensor or a complex multi-source fusion scheme, so that supervision blind areas, inaccurate distance measurement and system complexity are caused, and the cost is low. And effective distance estimation cannot be carried out on the AIS-free ship. The method comprises the following steps: acquiring and preprocessing AIS data and video data; obtaining an approximate predicted position of the ship at the current moment through the AIS trajectory prediction model, and obtaining a ship target detection frame of the current field angle through the target detection model; dividing the current field angle of the camera into equal credible areas and carrying out space-time matching; and the matched visual features and AIS distance information are fused, an AIS distance is used as a supervision signal to construct a distance regression module, and a target detection model is trained to output a ship distance estimation value. The method is used in the other ship distance estimation process of the shore-based and ship bridge view angle.

The invention provides a straightening machine roll gap initial position calibration device and method and a straightening machine, and relates to the technical field of calibration equipment. The straightening machine roll gap initial position calibration device comprises a fine adjustment device, a distance measurement device and a calibration plate; the calibration plate is used for being placed on a lower straightening roller set of the straightening machine. The distance measuring device is used for measuring the distance between an upper straightening roller set of the straightening machine and the calibration plate. The fine adjustment device is arranged between the upper straightening rollers of the upper straightening roller set and a lifting beam of the straightening machine and used for finely adjusting the distance between the upper straightening rollers and the lower straightening rollers. Through the synergistic effect of the fine adjustment device, the distance measurement device and the calibration plate, the calibration plate provides an adjustment reference plane for coarse adjustment, the distance measurement device obtains a to-be-adjusted distance to thoroughly avoid interference of field light, personnel experience and the like, the fine adjustment device completes fine adjustment, and the fine adjustment device, the distance measurement device and the fine adjustment device cooperate to effectively improve the roll gap initial position calibration precision. And meanwhile, the device is suitable for multiple types of multi-roller straighteners such as five-roller straighteners and seven-roller straighteners, convenient to install and use and high in universality.

The invention relates to the technical field of semiconductor detection and automatic packaging, discloses a vision detection and accurate placement system and method for MINI chips, and aims to solve the problems that in the prior art, due to the lack of multi-source sensing fusion and closed-loop control, the chip positioning precision is insufficient, the grabbing and placement reliability is low, and the whole-process quality monitoring is lack. The method comprises the following steps: acquiring three-dimensional coordinates and attitude data of a chip through a distance measurement detection unit; the vacuum pressure of the suction nozzle is monitored in real time to confirm the grabbing state; the actual posture of the chip and the burning station reference data are fused, a six-dimensional space compensation vector is calculated, a manipulator is driven to conduct fine adjustment, and accurate placement is achieved; and visual inspection is carried out at the discharging braid end, and comprehensive judgment of position, appearance and character recognition is completed. According to the scheme, submicron positioning correction, closed-loop grabbing control and whole-process quality monitoring are achieved, and the chip placement precision, the production yield and the automation efficiency are remarkably improved.

The invention is suitable for the technical field of fault distance measurement, and provides a power distribution network fault distance measurement method and system based on fault point voltage transient waveform comparison, and the method comprises the steps: collecting three-phase voltage and current signals at two ends of a line when a power distribution network fault occurs, and extracting a transient component signal in a preset frequency range; performing phase-mode transformation decoupling processing on the transient component signal; constructing a transient voltage differential equation from the two ends of the line to a hypothetical fault point, dynamically adjusting the fault position hypothetical point in a preset distance measurement interval by adopting a dichotomy, and calculating a transient voltage calculation waveform from the two ends of the line to the fault position hypothetical point; performing time domain similarity analysis on the transient voltage calculation waveform, and calculating a waveform consistency index; judging whether a preset convergence condition is met or not; if yes, determining that the current fault position hypothesis point is a target fault point; otherwise, adjusting the dichotomy interval according to the waveform comparison difference direction, and carrying out the next round of iterative calculation until the convergence condition is met, thereby effectively improving the fault distance measurement accuracy.

The invention discloses a slide rail quality detection method, a detector and a computer readable storage medium, and is applied to the detector, and the detector is used for obtaining point cloud data after scanning a detected slide rail. The method comprises the following steps: calibrating a detector to obtain a hand-eye matrix; correcting the initial sliding rail point cloud obtained by the detector according to the hand-eye matrix to obtain the sliding rail point cloud; the initial slide rail point cloud is obtained by scanning a detected slide rail by a detector; hole point clouds and edge point clouds are screened out according to the sliding rail point clouds; calculating to obtain a hole distance measurement value according to the hole point cloud, and calculating to obtain a point orbit distance value according to the edge point cloud; and generating and outputting a detection report according to the hole distance measurement value and the point track distance value. Therefore, the accuracy of the collected point cloud data is ensured by solving the hand-eye proof. The distance value between the hole site and the edge of the sliding rail is calculated and then checked, the whole process is automatically executed by a checker, manual work is replaced to achieve automatic quality detection, and the quality detection precision and efficiency of the sliding rail are improved.

The invention discloses a system and a method for automatically measuring pipe network parameters based on three-dimensional scanning of a wellhead of an inspection well, and belongs to the technical field of municipal engineering measurement. The system comprises a wellhead fixing assembly, a three-dimensional laser scanning assembly, a posture sensing assembly, a distance measuring assembly, a coordinate input assembly, a control processing assembly and a telescopic rod assembly. According to the method, through system deployment leveling, coordinate reference establishment, working condition judgment, point cloud acquisition, data processing and result output, automatic measurement of inspection well depth, pipe network pipe diameter, pipeline trend and pipe orifice center coordinates is realized. The system is fixed at a wellhead, does not need to descend, and adapts to scenes such as shallow wells / deep wells and good / weak signal areas; based on a high-density point cloud and an automatic algorithm, the measurement precision is high, the efficiency is improved, and output data can be directly used for pipe network modeling. The method solves the problems of low efficiency, strong manual dependence and poor safety of traditional measurement, and is suitable for parameter measurement of various inspection wells and pipe networks.

The invention relates to the technical field of engineering surveying and mapping, in particular to a structural point cloud principal axis identification method based on adaptive weighted principal component analysis, which comprises the following steps: acquiring a point cloud data set, initializing a weight set, and performing weighted centralization on the point cloud data set after point cloud downsampling; calculating a weighted covariance matrix according to the point cloud data set after weighted centralization, and obtaining a feature value and a normalized feature vector through the weighted covariance matrix; obtaining a distance measurement set of all point clouds; calculating an iteration weight set; and calculating the eigenvalue of the weighted covariance matrix and outputting an iterative spindle rotation angle. In the application of the method, along with the increase of the complexity of the point cloud, the advantage of adaptive weight estimation is more remarkable than that of common scale estimation, so that the high-precision rapid convergence performance when the common scale estimation is used for processing the uniform and symmetrical point cloud is reserved; and interference of outliers and environmental noise points on main shaft identification can be effectively prevented when highly non-uniform distribution point clouds are processed.

The invention discloses an unmanned aerial vehicle group mutual authentication and key agreement method based on PUF, and relates to the technical field of unmanned aerial vehicle group communication security and network authentication, and the method comprises the steps: S1, obtaining change data through monitoring unmanned aerial vehicle node position coordinate tracking and connection signal intensity in real time, the method comprises the following steps: S1, carrying out state change detection on a node moving speed by adopting position deviation calculation and connection interruption records to obtain a position coordinate tracking sequence after data synchronization update, S2, carrying out data point clustering on the position coordinate tracking sequence by adopting a K-Means clustering algorithm, processing the connection interruption record groups through central point iteration and distance measurement calculation to obtain change vector groups under group number setting; the PUF-based unmanned aerial vehicle group mutual authentication and key agreement method not only effectively solves the problems of slow response, easy communication interruption, unstable key agreement and the like of a traditional unmanned aerial vehicle group authentication mechanism, but also realizes comprehensive improvement in the aspects of safety, robustness and intelligence.

The invention relates to the technical field of intelligent sensing systems, in particular to an algorithm and system for avoiding water surface floating objects and improving monitoring precision based on radar water level monitoring, and the method comprises the following steps: collecting radar echoes, constructing spatial-temporal characteristics based on waveform asymmetry and coherent attenuation gradient, and calculating the spatial-temporal characteristics; according to the method, the central moments of the front edge and the rear edge of the echo are calculated, the waveform asymmetry is quantified, the dynamic stability is analyzed in combination with the attenuation gradient of the multi-time-lag coherence coefficient, the floating object interference is recognized from the double dimensions of the spatial form and the time memorability, and the actual water level is inverted. An effective scattering trailing interval is positioned, nonlinear approximation operation is performed on trailing data in combination with an index physical model, a shielded water surface energy distribution curve is reconstructed, a derivative zero point is solved, distance measurement deviation caused by floating objects is corrected, the real water level height is effectively restored, and the monitoring anti-interference capability and the data accuracy in a complex hydrological environment are improved.

The invention discloses a dynamic optimization method for a USV-AUV collaborative navigation network topological structure based on a consensus algorithm, and relates to the technical field of collaborative navigation of an ocean unmanned system. Comprising the steps that according to a positioning equation between the unmanned surface vehicles and the autonomous underwater vehicles, the relation between the positioning error of the autonomous underwater vehicles and the distance measurement error between the unmanned surface vehicles and the distance measurement error between the autonomous underwater vehicles and the position error between the unmanned surface vehicles is constructed through a partial differential method; designing a positioning precision evaluation function by using an optimal estimation criterion; solving an optimal solution for the evaluation function by using an alternating direction multiplier method, and performing consistency estimation on a formation center and adjusting dynamic formation parameters through a consensus algorithm to obtain an optimal topological structure; and acquiring the number of the formation aircrafts in real time, if the number of the formation aircrafts changes, performing iteration, and if the number of the formation aircrafts does not change, keeping a topological structure. The method is high in dynamic adaptability, constraint collaborative optimization is achieved, the safety margin is improved, and robustness is enhanced.

A computing platform is configured to (1) extract first, second, third, fourth, and fifth source datasets from a first database containing data about a set of product-level ingredients, a second database containing data about food products, a third database containing data about manufacturing plants, a fourth database containing data about ingredient source locations, and a fifth database containing data about ingredient transportation modes, respectively, (2) merge the first, second, third, fourth, and fifth source datasets into a first merged dataset, (3) update the first merged dataset by inserting a column representing distance measurements between source locations and plant locations for product-level ingredients, (4) extract a sixth source dataset from a sixth database containing environmental-impact values for ingredients, (5) merge the updated first merged dataset and the sixth source dataset into a second merged dataset, and (6) determine a group of environmental-impact indicators for each product-level ingredient in the set.

The present disclosure relates to a distance measuring device and a distance measuring method enabling use of a plurality of sensors employing different distance measurement schemes in combination at low cost. A pixel region including a pixel including a SPAD to be used for distance measurement using a direct ToF scheme and a pixel including a current assisted photonic demodulator (CAPD) to be used for distance measurement using an indirect ToF scheme or a normal pixel, and a light emitting unit are shared and controlled. The present disclosure can be applied to a distance measuring device.

A kind of passive temperature measurement ranging method and system based on multispectral infrared, multispectral long-wave infrared detection system is designed, multispectral infrared temperature measurement ranging model is constructed, the difference between the minimum system observation value and model calculation value is taken as objective function, KKT and gradient descent method are used to solve model parameters preliminarily.Further, the temperature and distance correction model is established, the loss function fusing data error term and physical information term is designed, and the corrected temperature and distance are obtained.The multispectral long-wave infrared detection system is used to obtain infrared thermal image of specific wavelength, and the multispectral infrared detection model is established, the temperature and distance of target object are synchronously obtained, and the accuracy and reliability are high.

The invention relates to the technical field of power distribution network fault positioning, in particular to a power distribution network fault self-healing method based on fault detection positioning and isolation recovery. Comprising the steps of collecting data; judging that a fault occurs, and judging a fault type based on a wavelet transform method; screening candidate fault branches based on a matrix method, and obtaining fault distances of the candidate fault branches based on a traveling wave distance measurement method; on the basis of topological connection of candidate fault branches, a minimum set of switches needing to be disconnected is generated, the minimum power failure range is calculated, and the isolation priority is dynamically adjusted; and constructing a physical constraint of recovery operation and a multi-objective function of power supply recovery, solving the multi-objective function of power supply recovery, obtaining an interconnection switch state, a section switch state and a distributed power supply output adjustment instruction, and executing a power supply recovery action. According to the method, the strategy transparency and the operation and maintenance efficiency are improved, the problem of positioning failure of a traditional method under noise interference and multi-branch scenes is solved, and the fault positioning precision is improved.

The invention discloses a method and a system for jointly initializing the position of an ultra-wideband base station. The method comprises the following steps of: cooperatively working through a plurality of carriers carrying visual sensors and ultra-wideband tags; establishing an inter-carrier distance measurement model and a visual pose constraint; each carrier records the pose in the own coordinate system and recognizes the coordinate of the base station image; calculating a base station distance based on visual re-projection, and fusing ultra-wideband ranging to match a base station ID; broadcasting the position of the base station and synchronizing the position to each carrier coordinate system through coordinate conversion; and constructing a ranging residual model to iteratively optimize the position of the base station until convergence and initialization are completed. According to the invention, by fusing visual perception, inertial measurement and UWB ranging technologies, the problems of tedious deployment, low efficiency and the like of the UWB base station in an unknown environment are effectively solved. In addition, by constructing the relative constraint relationship among multiple carriers, the precision of pose estimation of each carrier is effectively improved, and the positioning accuracy of the UWB base station is further improved.

The invention discloses a real-time installation precision detection system and method for a ship desulfurization tower, and the system comprises a biaxial rotation detection device which integrates a distance measurement module and an angle measurement module, and the transmitting end of the distance measurement module is fixedly disposed at the reference position of a ship structure. The first receiving end and the second receiving end are detachably mounted at different height positions of a desulfurization tower body, and the distance measurement module is used for representing the spatial relationship of the different height positions of the desulfurization tower relative to a reference position; the angle measurement module is a three-axis attitude instrument, is fixedly mounted at a reference position of a ship structure and is used for measuring a roll angle, a pitch angle and a yaw angle of the desulfurization tower in real time, and the upper computer calculates the front-back inclination degree, the left-right inclination degree and the offset distance of the desulfurization tower in real time; and the upper computer is also used for displaying the calculation result and carrying out sound-light alarm. The system can obtain the inclination angle and the position error of the desulfurization tower in real time to realize accurate real-time monitoring and dynamic adjustment.

The method comprises the following steps that a paint nozzle and a distance measuring device are installed at the tail end of the mechanical arm, and an assembly at least comprises a set of distance measuring devices with adjustable distance measuring directions; determining a reference time source, and stamping reference timestamps for all ranging data; before paint spraying or during operation, a distance measuring device scans the surface of a front workpiece to obtain front distance measuring data, and the shape change trend of the surface of the workpiece is predicted in combination with a reference timestamp and the moving speed of a mechanical arm; the distance measuring device measures the vertical distance between the nozzle and the surface of the workpiece in real time to obtain center distance measuring data. And generating a control instruction based on the two types of data, dynamically adjusting the tail end position, speed and / or posture of the mechanical arm, and maintaining the preset vertical distance and / or angle between the nozzle and the surface of the workpiece. Dynamic distance measurement, interference resistance, foresight prediction and real-time regulation and control are integrated, and high-quality automatic paint spraying operation on non-specific workpieces through the mechanical arm can be achieved.

The invention belongs to the technical field of additive manufacturing, and provides an SLM quality improving method and system based on dynamic focusing and light spot tracking. Comprising three core processes of real-time measurement, compensation calculation and dynamic focusing scanning, wherein height information of an actual working surface on a current scanning path relative to an ideal focal plane is measured in real time; the central processing and control unit calculates the real-time compensation amount of the laser focus; the three-dimensional dynamic focusing device adjusts the laser Z-axis focus position and is matched with the two-dimensional galvanometer to realize that a light spot is always focused on an actual working surface; according to the invention, the three-dimensional dynamic focusing device works cooperatively with the central processing and control unit and the distance measuring device to form a shape follow-up processing mechanism; a closed-loop control system effectively reduces forming defects through a ranging-control-focusing circulation mechanism; the adaptive adjustment capability of the system broadens the application boundary of the SLM technology.

The invention discloses a method and a system for quickly positioning the vertex of a suspension arm based on laser radar point cloud calibration monocular depth estimation, and the method comprises the steps: firstly constructing a power transmission line external damage prevention monitoring and shooting scene in a simulation environment, collecting data, and training a lightweight monocular depth estimation network suitable for the power transmission line scene and a monitoring and shooting visual angle; secondly, constructing a truncated cone containing construction machinery by using rapid projection between the monocular camera and the laser radar point cloud, performing depth scale calibration on a monocular depth estimation result by taking the laser radar point cloud as a reference, and performing rapid densification on sparse point cloud in the truncated cone; and finally, accurately positioning the three-dimensional coordinates of the vertex of the suspension arm in the dense virtual point cloud in the crane truncated cone. The method is suitable for a vision and laser radar integrated power transmission line external damage prevention edge monitoring and shooting device, supports one kind of related applications of accurate distance measurement between the suspension arm vertex and the power transmission line, can overcome the problem of sparse point cloud of a long-distance suspension arm, and improves the three-dimensional positioning precision of the suspension arm vertex.

The invention relates to the technical field of wireless communication positioning, and discloses an electronic fence method and device based on Bluetooth distance measurement, equipment and a storage medium. The method comprises the following steps: deploying Bluetooth anchor point equipment in a to-be-monitored area and configuring fence boundary parameters, acquiring positioning signals broadcasted by a target positioning point on a plurality of frequency channels, and extracting carrier phase data and timestamp data of each channel; obtaining a first distance measurement result through multi-frequency phase difference calculation and propagation distance calculation, and carrying out round-trip delay calculation on the timestamp data to obtain a second distance measurement result; performing multi-path identification on the positioning signal to obtain a multi-path identification result, and performing weighted fusion on the first distance measurement result and the second distance measurement result based on the multi-path identification result to obtain a fused distance measurement result; and processing the fusion distance measurement result through a position judgment algorithm, and generating position state information of the target positioning point. According to the invention, the positioning precision and deployment environment adaptability of the electronic fence to area boundary monitoring are improved.