3115 results about "Gyroscope" patented technology

The invention relates to a dynamic adjust gyroscope life forecasting method based on gray model. By data collection of vibration effective value, random drift and environmental temperature parameter which are preprocessed using radial neural networks, influence of environmental temperature on vibration effective value and random drift is eliminated and random drift and effective value just related to time are obtained by subtracting drift constant value term, then trend term of vibration effective value and random drift are extracted by using wavelet transformation and gray model are built separately for their trend term. The smaller data in two values of life predicted of dynamic adjust gyroscope unless two predicted values exceeding performance parameter limitation when dynamic adjust gyroscope is considered losing effect. The invention uses performance parameter of life probative period of product to predict its life, showing discipline of performance parameter and life of dynamic adjust gyroscope. It is easy and convenient economical and reliable.

The invention relates to the technical field of aviation communication, and discloses a true north calibration system and method for an aviation airborne laser communication equipment alignment system, and the method comprises the steps: synchronously collecting flight data through an IMU sensor and a double-antenna GPS at a preset sampling frequency, and outputting the real-time attitude angle information of an aircraft through an IMU; filtering and de-noising the synchronously acquired IMU and double-antenna GPS data, and carrying out noise suppression and deviation compensation on accelerometer and gyroscope data output by the IMU by adopting a Kalman filtering algorithm; based on the preprocessed sensor data, calculating an initial course angle by measuring relative position change and phase difference between antennas by using a double-antenna GPS (Global Positioning System); the calibration controller transmits the calculated true north direction information to an alignment system of the laser communication equipment in real time through a communication interface; and the attitude change and external environment disturbance of the aircraft are continuously monitored in the whole flight process. The method has the advantage that the alignment performance and the communication stability of the laser communication equipment are improved.

The invention relates to the technical field of camera anti-shake, and discloses a motion camera anti-shake method and system based on inertial prediction, and the method comprises the steps: collecting the three-axis acceleration original data of an IMU sensor in a motion camera, and calculating a first motion intensity value; when the first motion intensity value is smaller than an acceleration change rate threshold value, starting a first anti-shake mode, and extracting angular velocity data of the gyroscope; performing cubic spline interpolation curve fitting and time domain extrapolation prediction on the angular velocity data of the gyroscope to obtain a three-axis angular displacement predicted value and generate a first lens compensation driving signal in a first anti-shake mode; continuously monitoring the motion camera, switching to a second anti-shake mode when a second motion intensity value exceeds the acceleration change rate threshold value, acquiring three-axis acceleration sudden change data, and generating a second lens compensation driving signal in the second anti-shake mode, compared with a traditional single-mode anti-shake method, the method improves the adaptability and compensation precision in a complex motion environment.

The invention provides a fiber-optic gyroscope drift compensation method and system fused with LMS self-adaptive filtering, and relates to the technical field of LMS self-adaptive filtering, the method comprises the following steps: synchronously collecting multi-point temperature data, temperature change rate, axial and radial gradient information and original output signals of a gyroscope shell, and calculating the multi-point temperature data, the temperature change rate, the axial and radial gradient information and the original output signals of the gyroscope shell; the original signal is separated into a temperature drift component and a non-temperature noise component through variational mode decomposition, and noise is filtered out; establishing a nonlinear mapping relation by combining the temperature field data and the drift component to generate a drift predicted value, and inputting the predicted value and the residual error of the actual drift component into an LMS adaptive filter for dynamic error compensation; and finally, superposing the compensation result and the predicted value, and outputting a corrected gyro signal. According to the invention, the drift compensation precision and stability of the fiber-optic gyroscope in a complex variable-temperature environment are improved.

The invention relates to the field of cableway transportation safety control, in particular to a cableway lift carriage operation deflection attitude monitoring device and a control method, and the method comprises the steps: collecting the position, speed, attitude angle and local micro deflection disturbance information of a lift carriage in real time by constructing a multi-mode sensing network; the frequency of the sensor is dynamically adjusted by adopting an adaptive sampling mechanism, and space-time alignment and fusion of heterogeneous data are completed in combination with dynamic time warping and minimum mean square estimation; strengthening the key disturbance dimension based on a disturbance-driven attention mechanism, and predicting a future deflection angle sequence; a decoupling torque is generated through spatial deflection vector field modeling, regional coupling tensor analysis and a dynamic direction alignment matrix, and power consumption constraint and a dynamic environment parameter optimization control instruction are fused; and finally, driving the quadrilateral moment gyroscope to execute correction, and constructing a multi-dimensional evaluation index based on the attitude response residual error. According to the method, adaptive closed-loop adjustment of the control strategy is realized, and the robustness under wind speed disturbance and load variation is improved.

The invention discloses a semiconductor mechanical arm autonomous navigation and positioning method based on AI vision, and relates to the technical field of mechanical arms, and the method comprises the following specific steps: visual perception and multi-modal information fusion: collecting multi-modal data through configured industrial, depth, light field and polarized light cameras, pre-processing the multi-modal data, and carrying out multi-modal information fusion; realizing information fusion by using a deep learning network containing a feature extraction layer and a fusion layer and an attention mechanism, and outputting a unified visual description; according to the method, a deep learning target detection model is utilized, an attention mechanism is introduced to enhance the attention and extraction capability of small target features, the recognition result is optimized in combination with surface feature information recognized by polarized light imaging, the category and position of a target object can be accurately determined, meanwhile, a mechanical arm motion error model is established, and the recognition accuracy is improved. And the fused visual positioning information is fused with sensor data such as a mechanical arm joint encoder and a gyroscope by utilizing a sensor fusion technology, and a positioning result is optimized and compensated.

The invention belongs to the technical field of coupling alignment, and particularly relates to an intelligent auxiliary system for coupling alignment based on dual-laser displacement and an MEMS gyroscope, which adopts a mode of cooperative work of an active stable attitude measurement module and a space reference beacon module to establish a dynamic stable measurement basis which is not influenced by barring operation and environmental disturbance. The micro attitude change of the measuring device can be sensed and actively compensated in real time in the measuring process, it is ensured that laser displacement data at all angles are collected in the same absolute space coordinate system, and the high consistency and accuracy of multi-point measurement data are ensured. And then fusing the attitude feedback signal and the attitude reference signal by using an intelligent resolving module to generate an attitude control instruction, and processing displacement measurement data acquired by a double-laser displacement sensor after the attitude is stable to resolve a centering deviation parameter, thereby being beneficial to improving the efficiency, precision and automation level of coupling alignment work.

The invention discloses a GNSS (Global Navigation Satellite System) / inertial navigation tightly integrated navigation method and system based on robust auto-velocity constraint factor graph optimization, and the method specifically comprises the following steps: extracting pseudo-range and Doppler observation data from original observation information of a GNSS satellite, and obtaining accelerometer and gyroscope data from an INS (Inertial Navigation System); constructing a pseudo-range residual block, a Doppler residual block, an inertial navigation pre-integration residual block and a speed constraint factor, and integrating into a sliding window estimator based on factor graph optimization; according to the size of a set sliding window, adding all residual blocks in the window to form an optimized objective function; performing a first round of factor graph optimization to obtain a preliminary state estimation result, and endowing the observed quantity containing gross error with a relatively low weight; and updating the prior weight matrix, and carrying out second round of optimization to obtain a joint optimal estimation result of a plurality of moment states in the current time window. According to the method, the influence of gross error-containing observation information on weight estimation and state estimation is suppressed, the positioning precision is high, the robustness is strong, and the reliability is high.

The present invention provides a method for modeling the temperature error of a fiber optic gyroscope based on parameter uncertainty. First, the model parameters (or variables) are sorted in order of uncertainty from small to large, and the parameters with small uncertainty are preferentially selected and introduced into the compensation model. At the same time, the contribution of each parameter in the model is tested, and the parameters with large uncertainty are selected first, and the compensation model is eliminated until there are no new introduced items or new eliminated items in the model parameters. For gyros that require an accuracy of ≤0.01° / h after compensation, if the parameter contribution is ≤0.0001° / h, it can be eliminated from the model. This method effectively solves the contradiction between the applicability and accuracy of the model, and can achieve temperature error compensation of high-precision fiber optic gyros.

The invention discloses an MEMS and MHD combined gyroscope low-high frequency composite calibration method, which comprises the following steps: synchronously acquiring vibration response data of a combined gyroscope sensor, separating low-high frequency signals, calculating low-frequency static error parameters and high-frequency dynamic error parameters, constructing a static orthogonal matrix based on a mounting angle error, and calibrating the low-high frequency composite of the MEMS and MHD combined gyroscope. The method comprises the following steps: generating a normalized error transfer coefficient by utilizing a high-frequency dynamic error parameter cross response ratio and a rejection ratio, generating a dynamic error matrix according to the normalized error transfer coefficient, establishing an expression containing error output of a sensor by utilizing the dynamic error matrix, and inversing the dynamic error matrix to obtain a dynamic error transfer matrix, and the static orthogonal matrix and the dynamic error transfer matrix are combined to construct a composite error compensation model, error parameters after dynamic compensation are evaluated, a residual feedback signal is generated in combination with an error evaluation result, calibration error parameters are iteratively corrected until convergence, and the calibration parameters are output.

The invention provides an attitude monitoring method and system in navigation of an aircraft, and the method comprises the steps: determining a process noise covariance matrix through a high-frequency energy component of an angular velocity signal measured by a current gyroscope in each filtering period; predicting a prior state vector and a prior covariance matrix at the current moment according to the state vector at the previous moment, the angular velocity measured by the current gyroscope and the process noise covariance matrix; generating an asymmetric Sigma point set and determining a measurement noise covariance matrix; the asymmetric Sigma point set is substituted into a measurement model, and a predicted measurement value and a predicted measurement covariance are obtained through unscented transformation; calculating Kalman gain based on the predicted measurement covariance and the measurement noise covariance matrix, and performing weighted gating test on innovation formed by a real measurement value and a predicted measurement value; and updating a state vector and a covariance matrix on the basis of the adjusted Kalman gain and information so as to obtain attitude information of the aircraft at the current moment.

The invention relates to the technical field of automobile glass film removal, in particular to a laser film removal control method and system based on dynamic environment compensation. The control method comprises the steps that a multi-source vibration monitoring network is constructed at key nodes of a galvanometer system base, a linear guide rail driving unit and a workpiece clamp of the laser film removing equipment, an original vibration signal set containing acceleration, angular speed and displacement is collected in real time through a three-axis acceleration sensor and a gyroscope set, and the sampling frequency is not lower than 10 kHz. According to the method, breakthrough improvement of curved surface laser processing is achieved through a full-link compensation mechanism, specifically, a three-axis sensor network is synchronously deployed at a motor flange, a lead screw bearing seat and a clamp interface, a differential anti-interference circuit is combined, coupling vibration characteristics of a mechanical transmission link are captured at the same time for the first time, and a data foundation is laid for accurate compensation.

The invention provides a cavity adjusting method and device for a laser gyroscope resonant cavity, and the method comprises the following steps: building a light beam loop: horizontally placing a resonant cavity substrate on a supporting seat, and forming the light beam loop with two plane reflectors and two spherical reflectors; light beam introduction: starting a sweep frequency laser assembly, and enabling the reference light beam to enter a resonant cavity light path after passing through a light beam collimation system; light spot form monitoring and coarse adjustment: after a light beam emitted by the resonant cavity is collected by an image collector, the main control computer analyzes the light spot form and judges the imbalance state, evaluation information is fed back to the control system, the control system adjusts the inclination amount of the horizontal dimension and the pitching dimension of the light beam in the light beam collimation system according to the feedback information, and the light spot form is obtained. And the light spot is located at the center of the cavity mirror to finish coarse adjustment of the cavity. According to the method, coarse cavity adjustment can be completed without depending on a complex optical cavity technology, the cavity adjustment time is greatly shortened, the overall operation is simple, and the cavity adjustment efficiency is improved.

The invention relates to the technical field of man-machine interaction, in particular to a multi-user-based ring pairing and left and right hand judgment method and system and a medium, and the method comprises the steps: firstly collecting azimuth angles, distances and historical tracks of a plurality of rings, and clustering the azimuth angles, the distances and the historical tracks into different user clusters; shoulder breadth geometric constraint, posture consistency, micro-motion synchronism and historical prior are fused in the cluster, paired scores are calculated, and paired rings are identified by using a greedy strategy; and then, calculating a judgment score to distinguish the left hand and the right hand by counting the rotation deviation of the angular velocity of the gyroscope on the horizontal plane projection and combining the spatial position score of the ring relative to the human body center line with the historical consistency. A steady-state mode and an event-driven wake-up mechanism are also introduced to balance power consumption. According to the invention, through multi-modal fusion, automatic ring pairing and accurate left and right hand judgment are realized.

The invention provides a low-power-consumption control method of a GPS module. Through data fusion of the gyroscope and the GPS, accurate perception of the motion state of the equipment is realized, and in combination with a dynamic frequency modulation technology and hardware-level power supply control, the power consumption of the system is remarkably reduced on the premise of ensuring the positioning accuracy and the real-time performance. The angular velocity change of the equipment is detected in real time through the gyroscope, and in combination with GPS position information, the equipment is judged to be in a moving, low-speed moving or static state. And dynamically adjusting the GPS sampling period according to the state division result. A sliding window algorithm is adopted to smooth rate fluctuation, a multi-threshold hysteresis mechanism is combined to avoid state misjudgment, a mathematical optimization model is constructed to carry out iterative optimization on control parameters, and balance between power consumption and performance is achieved. Through hardware-level power supply control, zero power consumption in a static state is realized, the average power consumption of the GPS module can be greatly reduced in long-endurance demand scenes such as Internet of Things equipment, wearable equipment, field animal research and the like, and meanwhile, relatively high positioning precision is maintained.

The invention relates to an intelligent oil containment boom mechanical arm device and a control method thereof. The intelligent oil containment boom mechanical arm device comprises a mechanical arm, a hydraulic driving system, a sensing system and a control unit. The mechanical arm comprises a transmission base, a steering stand column, a large arm, a small arm, an overturning head and a tail end grabbing hook assembly. The hydraulic driving system comprises a hydraulic pump station, a proportional reversing electromagnetic valve group and a plurality of execution oil cylinders; the sensing system comprises a gyroscope array and a camera array to form a distributed attitude sensing network and a distributed visual sensing network; the control unit identifies and positions an oil containment boom target based on a sea surface image acquired by the distributed visual perception network, performs motion planning on the mechanical arm, and controls the mechanical arm to move and grab the target; in the target positioning process, posture changes of all parts of the mechanical arm are sensed in real time based on the distributed posture sensing network, and dynamic compensation is conducted on the posture error of the mechanical arm. According to the device, the oil containment boom can be quickly, accurately, reliably and intelligently grabbed, and the laying efficiency and safety of the oil containment boom are improved.

The invention discloses an RTK (Real Time Kinematic) and IMU (Inertial Measurement Unit) fusion state estimation method based on adaptive weight. According to the method, an observable state estimation system is established by using two RTK-GPS antennas and an IMU device based on a self-adaptive Kalman filtering framework. By constructing a proper antenna layout, the connecting line for connecting the two GPS antennas is not parallel to the acceleration vector, so that the observability condition is met, and the attitude error caused by gyroscope drift is effectively compensated. Compared with a traditional single-GPS fusion scheme, high-precision estimation of the three-dimensional attitude and position can be achieved without an additional attitude measurement device such as a magnetic compass, a self-adaptive covariance estimation strategy based on a sliding window is introduced, the GPS measurement noise level is evaluated in real time, the fusion process is endowed with a high weight only when GPS information is reliable, and the fusion precision is improved. The method effectively improves the robustness of the system, is suitable for unmanned ship navigation tasks in various water area environments, and has a wide engineering application prospect.

The invention discloses a fault detection method and a fault detection device for an accelerometer of a downhole tool. Taking an accelerometer and a gyroscope as state quantities, establishing a generalized nonlinear system for the downhole tool sensor model, and performing linearization processing to obtain a generalized linear variable parameter system; based on a T-N-L observer architecture, constructing a system state estimation error equation and a residual error generation equation, establishing a fault sensitivity and interference robustness evaluation system on the basis of the system state estimation error equation and the residual error generation equation, and determining observer parameters; and the sensor obtains a system state value, an estimated value is obtained through the observer, a residual value of a current system state quantity is calculated to judge an occurrence event, and a threshold value of sensor fault occurrence under the current event is calculated to judge a fault occurrence condition. A nonlinear model is adopted, the system dynamic state is described more accurately, the model is linearized, it is guaranteed that the model and the actual working condition have the high matching degree, and meanwhile a corresponding linear variable parameter system is obtained to reduce the calculated amount.

The invention provides a train attitude precision keeping method and system based on inertial quaternion modeling, and belongs to the technical field of train operation positioning. Through a quaternion modeling train attitude feedback compensation model, auxiliary calibration of a gyroscope is realized by using an accelerometer, and calculation of an inertial attitude is realized; converting the acquired wheel speed sensor information into three-dimensional speed under a navigation coordinate system through attitude information resolved by a quaternion modeling train attitude feedback compensation model, and further integrating to obtain a position; and fusing the speed and position information of the wheel speed sensor after attitude conversion with the speed and position information obtained by inertial navigation dead reckoning to realize error correction of the inertial navigation system. According to the method, the problem that the train state sensing precision is degraded due to the fact that a satellite navigation / inertial navigation system positioning model is difficult to overcome inertial device error accumulation when a satellite fails is solved, the train attitude precision is kept, and then error divergence of a combined positioning system during satellite signal denial is effectively restrained.

The invention discloses a high-precision intelligent distance measurement positioning device for a heading machine, and belongs to the technical field of heading positioning. An elastic base station network comprises a plurality of groups of miniature base stations arranged on the side wall and the top plate of a roadway; the multi-source sensing module fuses multi-source data through the data acquisition and processing device to realize continuous dynamic positioning in the working process of the heading machine, the target card provides an absolute distance reference, the inertial navigation unit calculates the pose of the heading machine in real time through a built-in MEMS gyroscope and an accelerometer, the geological radar scans the stratum structure in the heading direction in real time, and the real-time positioning of the heading machine is realized. And the laser radar scans a roadway contour by emitting a laser beam to perform point cloud matching with a preset three-dimensional digital map. The probability of tunneling deviation caused by settlement or displacement is reduced by arranging the vertical crossing positioning network and dynamically correcting the positioning reference, the working environment and self state information of the tunneling machine can be comprehensively sensed from different dimensions, and the actual distance and position relation between the tunneling machine and objects around a roadway can be judged in an auxiliary mode.

The invention discloses an intelligent and safe hoisting monitoring method for a large-tonnage I-beam, relates to the field of construction safety, is based on a monitoring system consisting of a sensing layer, a transmission layer, a data layer, a decision layer and an execution layer, and comprises the following steps: deploying the sensing layer, constructing the transmission layer, configuring the data layer, constructing the decision layer and responding to the execution layer. Structural stress is monitored through a high-precision strain gauge and a distributed optical fiber sensor, the posture is monitored through an MEMS tilt angle sensor and a six-axis gyroscope, the state of the lifting appliance is monitored through a tension sensor and a visual recognition sensor, the environment is monitored through an ultrasonic anemograph and a laser radar, and multi-dimensional data collection is conducted through a displacement sensor monitoring device. Full-scene monitoring of the state of the I-shaped beam, the performance of a lifting appliance, the working environment and crane equipment is achieved, potential risks are captured without dead corners, the accuracy and reliability of data under complex working conditions are ensured, the problems that traditional monitoring data are prone to being interfered by the environment and insufficient in precision are solved, and the safety coefficient is increased.

Various optical systems for use in a light pulse atomic interferometer (LPAI)-based one-, two-, or three-axis accelerometer or gyroscope are disclosed. As an LPAI accelerometer or gyroscope may employ many different laser beams to implement the LPAI functionality, ways of combining these different laser beams to thereby simplify the optical systems are desired. The cooling laser beam portion of the optical system may be simplified using one or more reflective grating chips. The Raman laser beam optics may be simplified using combiners and separators. For LPAI systems sensing along three axes, various optical switching schemes may be employed, including ones that generate variable data-rates with a primary sensing axis having a higher data-rate than the secondary sensing axes. Further, by combining various laser beams in a time-multiplexed manner, the number of optical fiber tethers to a sensor head may be reduced.

A heat balance optimal satellite sun orientation control method comprises the following steps: firstly, determining sun orientation target parameters according to a sun vector direction calculated by an orbit, using preset sun orientation target parameters when regular preset parameters are set, and then calculating a sun orientation target attitude angle and angular velocity by using a formula provided by the method, and finally, the sun orientation of the satellite to the target attitude angle and angular velocity is realized according to the measurement of the terahertz gyroscope and the plane control of the jet phase.

The invention relates to the technical field of inertial navigation and sensor fusion, in particular to a multi-sensor fusion and adaptive filtering attitude estimation method, which comprises the following steps: S1, acquiring sensor data of a gyroscope, a magnetometer and an accelerometer, and respectively acquiring angular velocity, magnetic field direction and gravitational acceleration information; s2, angle information is obtained, and magnetometer and accelerometer sensor data are converted into attitude information; s3, carrying out weighting processing on the angle information and the attitude information through a fading memory weighting method and a limited memory weighting method; S4, carrying out filtering fusion on the weighted angle information and attitude information through an RAEKF filtering fusion algorithm; s5, an adaptive factor and a robust factor are introduced into the RAEKF filtering fusion algorithm; s6, outputting attitude angle estimation; according to the method, the theoretical contradiction that long-term drifting and stability cannot be achieved at the same time is fundamentally solved, stable precision is kept under abnormal data interference, and the robust performance is remarkably improved.

The utility model discloses an auxiliary cavity adjusting device for a laser gyroscope, which comprises a He-Ne laser, a collimation laser, an adjustable first reflecting mirror, a semi-transparent semi-reflecting mirror, a second reflecting mirror, a third reflecting mirror, an imaging mechanism and a light beam coincidence verification structure, and is characterized in that the collimation laser is arranged on the right side of a cavity to be adjusted and corresponds to a left upper plane mirror of the cavity to be adjusted; the first reflecting mirror and the third reflecting mirror are located between the cavity to be adjusted and the collimating laser, the semi-transparent and semi-reflecting mirror is located between the second reflecting mirror and the He-Ne laser, the light beam coincidence verification structure is movably located between the semi-transparent and semi-reflecting mirror and the second reflecting mirror, the He-Ne laser is located right above the collimating laser, and the He-Ne laser is located right above the collimating laser. The semi-transparent semi-reflecting mirror is located over the first reflecting mirror, the second reflecting mirror is located over the third reflecting mirror, and the imaging mechanism is located on the right side of the cavity to be adjusted and corresponds to a left lower plane mirror of the cavity to be adjusted. According to the utility model, the cavity adjusting efficiency and accuracy of the laser gyroscope can be improved.

The invention provides a multi-source data fusion system and method for laser radar assisted train positioning, and the system comprises a front-end odometer and a rear-end diagram optimization device. The front-end odometer comprises a multi-satellite multi-frequency external measuring antenna module, a double-antenna GNSS navigation receiver module, an SINS inertial navigation module and a laser radar information acquisition module; the rear-end map optimization device comprises an inertial navigation calculation module, a loopback detection module, an information fusion navigation module, a map optimization module, a map construction module and a navigation result display module. According to the multi-source data fusion system for laser radar assisted train positioning, a satellite, a gyroscope and a laser signal are fused, and the purpose of improving the positioning reliability and accuracy in a complex environment is achieved.

The modular inertial measurement device comprises a sensitive assembly, a circuit assembly and a structural assembly, the sensitive assembly comprises a fiber-optic gyroscope ring assembly, an accelerometer assembly and a temperature sensor, and the fiber-optic gyroscope ring assembly comprises an X-axis fiber-optic gyroscope ring assembly, a Y-axis fiber-optic gyroscope ring assembly and a Z-axis fiber-optic gyroscope ring assembly. The accelerometer assembly comprises three paths of accelerometers; the circuit assembly comprises an inertial measurement component and an optical fiber gyroscope digital closed-loop control component; the structure assembly comprises a body support and a flexible cable assembly, the body support is of a hexahedron structure, and ten mounting table boards are arranged and used for mounting the fiber-optic gyroscope ring assembly, the accelerometer assembly and the circuit assembly; and the flexible cable assembly is used for connecting the fiber-optic gyroscope ring assembly, the accelerometer assembly and the circuit assembly. According to the invention, an inertial product is designed into a modular scheme for realizing decoupling with a system circuit in structural form, so that the adaptability of an inertial system is ensured, the assembly is convenient, and the pain point restricting the layout of the system is solved.

The invention discloses an intelligent inspection robot. The robot is composed of a belt conveyor, an inspection mechanism and a robot walking mechanism. The belt conveyor is provided with a bottom frame, a conveyor frame, transmission rollers, a conveying belt and side baffles. The inspection mechanism is connected with the robot walking mechanism through an inverted-L-shaped vertical rod, a visual camera, an infrared camera, an arc-shaped push plate and the like are arranged on the inspection mechanism, the temperature of materials, the ground and a transmission roller can be monitored, and the materials exceeding the range can be pushed back. The robot walking mechanism drives the inspection mechanism to move front and back through an electric slide way and an electric sliding block, and the belt conveyor is comprehensively monitored. In addition, the inspection mechanism is further provided with a small pulse air pump, dust at the bottom of the tempered glass cover is removed through straight pipe pulse blowing, clear shooting is guaranteed, the air pump is provided with a filtering device for purifying air, stable work of the air pump is guaranteed through a gyroscope sensor and a servo electric push rod, and the intelligent level of inspection is overall improved.

The invention provides an underwater integrated navigation method and system based on speed prediction, and relates to the technical field of underwater navigation.The underwater integrated navigation method comprises the steps that observation data of an inertial navigation system (INS), a Doppler log (DVL) and a pressure sensor (PS) are obtained, and when the observation speed of the Doppler log (DVL) fails or meets the gross error condition, the pressure sensor (PS) is determined; predicting the observation speed based on the corrected rotating speed of the propeller; based on the observation data, calculating an IMU pre-integration factor, a DVL factor and a PS factor, constructing a factor graph, and fusing the observation data through a factor graph optimization method to obtain a final underwater vehicle state, including position coordinates, speed, attitude, accelerometer and gyroscope zero offset errors; according to the method, the pseudo DVL factor constructed by the speed predicted value replaces the DVL factor to participate in the navigation framework, so that the navigation precision divergence is effectively inhibited in the DVL failure state.

The utility model belongs to the technical field of automobile lighting, and particularly relates to a follow-up adjusting automobile lighting lamp structure which comprises a fixing seat, a mounting shell, a driving motor, a transmission mechanism, a lighting device, a gyroscope and a control circuit. The fixing base is used for being fixedly installed in an automobile lampshade, an installation position is arranged on the fixing base, and the installation shell is rotationally connected with the installation position. The lighting device is arranged in the mounting shell; the driving motor is connected with the transmission mechanism; the driving motor and the transmission mechanism are respectively connected with the fixed seat and the mounting shell; the gyroscope is independent of the mounting shell and used for being fixedly arranged in the fixing base or the lampshade. The control circuit is electrically connected with the gyroscope and the driving motor, the gyroscope is used for sensing the turning direction of the vehicle head and feeding back a signal to the control circuit, and the control circuit controls the driving motor and pushes the mounting shell to rotate through the transmission mechanism, so that the lighting device rotates along with the driving motor.