197 results about "Laser data" patented technology

The invention belongs to the technical field of structure monitoring systems, and discloses a structure monitoring system and method for civil engineering, and the method comprises the steps that a data collection module collects structure data; the cruise monitoring mechanism collects a high-definition image, an infrared image and laser point cloud data; the environment data acquisition module acquires environment data; the image analysis module identifies abnormal conditions; the infrared data analysis module detects internal defects; the laser data analysis module accurately measures the deformation of the structure; the comprehensive analysis module performs comprehensive evaluation; the risk prediction module fuses multi-source data and predicts potential problems and risks; when an abnormal condition or a potential problem risk is monitored, the alarm module gives an alarm in time. According to the invention, through combination of sensor monitoring and unmanned aerial vehicle cruise monitoring, the structure of civil engineering is monitored in an omnibearing manner; the comprehensive analysis module is used for integrating the multi-source monitoring data to carry out comprehensive evaluation and abnormity judgment; and the risk prediction module fuses monitoring results of multiple modules and predicts potential problems and risks.

The invention relates to the technical field of surface measurement, in particular to a road surface flatness rapid detection method based on a laser radar, which comprises the following steps: collecting vehicle attitude data to form a three-dimensional vector, mapping laser data to a space coordinate system, identifying a projection difference adjustment track, detecting a disturbance generation distribution area, and transversely distributing a translation direction line. Uniformly projecting to construct a reference line, extracting an echo and time index recombination time sequence segment, analyzing a point number trend to screen a stable segment, and extracting symmetric points to compare an included angle to generate a closed zone. According to the method, the attitude vectors of the vehicle in rolling, pitching and yawing states are obtained, the laser echo distance measurement data are mapped to the absolute space coordinate system, and the included angle difference between the distance measurement direction and the ground direction is accurately calculated, so that the space matching precision of a measurement path is remarkably improved, and a longitudinal section analysis result is closer to a real road state; and the space integrity, the track smoothness and the section structure rationality of the whole measurement process are comprehensively optimized.

The invention discloses a high-precision laser positioning unpacking path planning system, and belongs to the technical field of robot automatic control and industrial automation. The system comprises a data synchronization module used for multi-sensor hardware synchronization and data alignment; the high-precision positioning module is used for outputting a precise pose based on environment skeleton characteristics and sliding window optimization; the semantic map construction module is used for fusing vision and laser data to generate a dynamic semantic grid map; the global path planning module is used for planning a smooth path in the skeleton channel by utilizing a mixed potential field improved A * algorithm; the motion control module is used for realizing closed-loop motion control and safety monitoring through model prediction and tracking; and the operation execution module is used for finishing millimeter-level precise stopping of an operation point by adopting visual servo and triggering unpacking operation. According to the method, the positioning robustness under dynamic shielding is improved through the environmental skeleton features, the safety and the high efficiency of the path are ensured by utilizing semantic understanding and intelligent planning, and the full-process automation from navigation to precise operation is realized.

The invention discloses a roadway deformation monitoring device based on a millimeter wave radar. The roadway deformation monitoring device comprises a main shell, the millimeter wave radar, a laser sensor, a PCBA (Printed Circuit Board Assembly) and a bubble level, and an integrated multi-modal data fusion analysis module, a dynamic measurement range intelligent adjustment module, a real-time deformation prediction and control module and a self-calibration and fault diagnosis module. The multi-modal fusion system fuses radar and laser data through a Kalman filtering algorithm, and full-scale high-precision monitoring is realized by using median filtering, Gaussian fitting preprocessing and dynamic weight distribution; the dynamic range measurement module intelligently switches measurement and frequency sweeping ranges based on a decision tree algorithm according to mining progress, geological conditions and distance fluctuation coefficients; the real-time prediction module adopts an ARIMA model to predict the deformation in advance, and automatically adjusts the scanning angle and the acquisition frequency; the self-calibration module uses a high-precision reflecting plate to correct errors everyday; the system supports 5G communication and remote control, has the advantages of high precision, self-adaption and high reliability, and is suitable for long-term deformation monitoring of mine roadways.

The invention discloses a weld joint three-dimensional structure detection device based on vortex laser, and relates to the field of laser welding, and the weld joint three-dimensional structure detection device comprises a vortex laser generation system used for generating and emitting vortex laser; the image acquisition unit is used for collecting returned laser data projected to the welding seam and carrying out dynamic scanning and data acquisition; the motion control and feedback system is used for adjusting the relative position of the laser welding head and the workpiece in real time and dynamically adjusting parameters such as welding power and scanning speed according to the collected data result; and the data processing and analyzing platform is used for carrying out image processing and feature extraction on the collected multi-dimensional data and modeling the morphology of the welding sample. The vortex laser serves as a light source for welding seam detection, high-precision, high-depth, multi-parameter and strong-interference-resistance three-dimensional welding seam modeling is achieved, the problems that in the long and thick plate welding process, welding seam detection parameters are few, precision is low, and real-time adjustment cannot be achieved are solved, and meanwhile the device has the performance characteristics of being high in detection precision, high in efficiency and comprehensive in structural parameter.

The invention relates to an automatic guided vehicle (AGV) adaptive path tracking method based on MPC. The method comprises the following steps: S1, establishing a kinematic discretization error model based on the kinematic characteristics of the two-wheel differential AGV, processing a continuous kinematic equation by adopting an Euler discretization method, expressing a dynamic change relationship between a transverse deviation distance and an angle deviation in a state-space equation form, and generating a kinematic discrete state-space model; the method has the advantages that the continuous equation is processed by establishing the kinematics discretization error model and adopting the Euler discretization method, the deviation dynamic relation is expressed through the state space, the calculation process is simplified, the precision is kept, sensor data are fused, the wheel type odometer, IMU and laser data are integrated through the extended Kalman filtering algorithm, and the precision is improved. The real-time position and angle deviation are calculated, the positioning accuracy is improved, a model prediction controller objective function is designed, a weight matrix and boundary constraint are introduced according to constraint conditions, and the effect of obstacle avoidance constraint is combined.

The invention belongs to the technical field of lake remote sensing monitoring, discloses a lake water level and water reserve dynamic monitoring method based on satellite-borne active and passive remote sensing information fusion, and effectively solves the problem that lake information in remote areas is difficult to efficiently and accurately obtain. Comprising the following steps: S1, preprocessing laser data; s2, preprocessing the multispectral data; s3, taking the ICESat-2 data as a core, combining with a multispectral image covering a corresponding region, and constructing a lake bottom DEM inversion data set based on neighborhood features; s4, constructing and training an elevation inversion convolutional neural network model; s5, predicting and generating a lake bottom DEM by using the trained elevation inversion convolutional neural network model; and S6, calculating the absolute water volume of the lake according to the DEM at the bottom of the lake, and carrying out lake water level-water reserve monitoring. According to the invention, long-time-sequence hydrological observation of remote region lakes can be effectively realized with low cost.

The invention discloses an underground mine positioning and mapping trajectory optimization method based on underground control point constraint, and belongs to the field of positioning and mapping, and the method comprises the steps: respectively obtaining GNSS data, laser data, IMU data and image data; according to the GNSS data, the laser data, the IMU data and the image data, completing initialization of a laser radar-vision-inertial odometer system and GNSS initialization; extracting point cloud features of the distributed underground control points in real time based on an RANSAC algorithm, and generating a global coordinate constraint factor of nonlinear least square optimization; and performing relative attitude calculation according to the global coordinate constraint factor to complete underground mine positioning and mapping trajectory optimization. According to the method, the problems of accumulated error overrun and point cloud dislocation layering easily caused by pose drift in a special environment of an underground mine are solved.

The invention relates to the technical field of laser data transmission, and provides a multi-dispersion laser system and a control method thereof. The control method of the multi-dispersion laser system comprises the following steps: establishing a first model and a second model; in the initial state, the pumping power of the pumping light source is adjusted, and a first target pulse interval and first target power are determined in combination with the first attenuation coefficient, the second attenuation coefficient and the first model; determining a second target power, a second target pulse interval and a target attenuation coefficient by a second model in combination with the fact that the second attenuation coefficient is zero; the real-time pumping power is controlled to be first target power, the first real-time attenuation coefficient is zero, the second real-time attenuation coefficient is zero, the first laser is output in a first state, and the second laser is output in a third state; the third state comprises a soliton dissipation state; the real-time pumping power is controlled to be second target power, the first real-time attenuation coefficient is the target attenuation coefficient, the second real-time attenuation coefficient is zero, the first laser is output in the first state, and the second laser is output in the second state.

The invention discloses an unmanned aerial vehicle surveying and mapping method and system based on three-dimensional point cloud data analysis, and relates to the technical field of unmanned aerial vehicle surveying and mapping. Determining the altitude of a key position node, and constructing an initial three-dimensional model; analyzing the laser data, generating a ground point cloud model, and screening an adjustment strategy with a high initial matching degree through proportional adjustment, rotation and translation optimization; and comparing the ground image with the surveying and mapping block features, determining a secondary matching degree, selecting an optimal point cloud model, and outputting data in combination with surveying and mapping marks. According to the method, GIS positioning, node modeling, point cloud optimization and image calibration are creatively fused, the complex terrain surveying and mapping precision is improved, and the method is suitable for the fields of engineering planning and the like.

The invention relates to the technical field of remote control positioning, and discloses a Bluetooth voice remote control positioning method and system based on laser ranging, and the method comprises the steps: obtaining laser ranging data, Bluetooth positioning data, ambient light intensity and reference object data; performing reflection feature extraction according to the reference object data to obtain laser reflection features; inputting the laser ranging data and the laser reflection characteristics into a pre-trained laser correction model to obtain corrected laser data; performing stain analysis according to the reference object data to obtain surface stain data; carrying out weight distribution according to the surface stain data and the ambient light intensity to obtain a positioning weight; and performing weighted fusion according to the positioning weight, the corrected laser data and the Bluetooth positioning data to obtain a final positioning coordinate. The method has the advantages that the Bluetooth voice remote control positioning accuracy based on laser ranging can be improved.

The invention provides an indoor robot target detection method and system based on multi-modal tracking and a medium, and belongs to the field of robotics.The method comprises the steps that laser data processing is optimized through static furniture learning and filtering and dynamic region clustering, and the visual anti-illumination interference capacity is combined; a dynamic cost matrix matching strategy based on target motion characteristics is adopted to obtain a stable trajectory of a target person; kalman filtering trajectory prediction and target appearance feature matching are fused, and it is ensured that tracking can be rapidly recovered after the target is temporarily lost; a human-guided following mapping mode is adopted, a moving track of a tracked target is used as dynamic guidance, dynamic and static point clouds are separated, and a high-precision environment map with semantic tags is constructed; according to the invention, a following state monitoring and active service linkage mechanism is established, scene decision is carried out by identifying a target attitude and combining a semantic map, corresponding health monitoring and safety services are triggered, and the crossing from passive tracking to active intelligent services is realized.

The invention discloses an online quality detection method and system for a stranded cable. The system comprises a data acquisition module, a data processing module and a quality detection module, relates to the technical field of cable quality detection, and solves the technical problem that the accuracy of cable quality detection in the wire drawing and stranding process is not high due to the fact that the acquisition frequency of a sensor is dynamically adjusted according to the movement speed of a stranded cable in the prior art. According to the invention, the movement speed of the wire rod is obtained in real time and the detection frequency is dynamically adjusted, so that the synchronous matching of the detection process and the production rhythm is ensured, and the problem of missing detection or repeated acquisition caused by traditional fixed frequency detection is avoided; the cable stranded wire is divided into a plurality of detection sections, and multi-dimensional data acquisition and analysis are performed in combination with an image recognition algorithm and a laser detection technology, so that the defect recognition precision and the detection efficiency are improved; and furthermore, the quality condition is comprehensively judged based on the defect area and the laser data, so that the accuracy of quality evaluation of the cable stranded wire is improved.

The invention discloses an enamelled rectangular wire online detection system and method, relates to the technical field of enamelled rectangular wire quality inspection, solves the problems of limited range and poor precision of a current enamelled wire detection mode, and comprises a laser data acquisition unit, a laser initial inspection unit, an image acquisition unit, an image monitoring unit and a defect identification module, the laser initial detection unit is used for detecting and analyzing external monitoring data of the enameled rectangular wire, abnormal laser monitoring data, obtained through analysis, of the enameled rectangular wire are sent to the database module, and the image monitoring unit is used for detecting and analyzing surface image data of the enameled rectangular wire, obtaining abnormal image monitoring data of the enameled rectangular wire and sending the abnormal laser monitoring data to the database module. The defect identification module is used for analyzing the defect condition of the enameled rectangular wire in combination with the abnormal laser monitoring data and the abnormal image monitoring data, the abnormal degree of the enameled rectangular wire is obtained through analysis, and comprehensive detection and accurate detection of the enameled rectangular wire are achieved.

The invention provides a point cloud noise reduction method based on a three-dimensional distance transformation field, and belongs to the technical field of mobile robot autonomous environment perception. According to the method, noise points are adaptively removed through dynamic resolution voxel division and a three-dimensional field intensity model, and meanwhile, a key point cloud structure is reserved. According to the method, the noisy points in the three-dimensional laser ranging data can be removed in a relatively low computing resource mode without depending on the type of a three-dimensional laser sensor and the spatial distribution characteristics and structural characteristics of the point cloud, meanwhile, the detail characteristics of the point cloud can be stored, the data accuracy is effectively improved, and the accuracy of the three-dimensional laser ranging data is improved. And the requirements of real-time positioning, scene reconstruction, subsequent map construction, scene understanding, path planning and other tasks of the mobile robot in an unknown dynamic environment on accurate three-dimensional laser data are met.

The invention relates to a sensor cleaning control method of an unmanned vehicle and a related device thereof, a sensor of the unmanned vehicle is provided with a pollution monitoring unit, and the method comprises the following steps: obtaining multi-element pollution data collected by the pollution monitoring unit; wherein the pollution detection unit at least comprises an image acquisition module and a laser detection module; the multi-element pollution data comprises image data acquired by the image acquisition module and laser data acquired by the laser detection module; the image data and the laser data are analyzed to obtain a pollution result of the sensor, and the pollution result is used for indicating the pollution degree of the sensor; when the pollution result indicates that the sensor is in a pollution state, determining a cleaning strategy based on the multi-element pollution data; and controlling a cleaning system of the unmanned vehicle to clean the sensor according to the cleaning strategy. According to the scheme provided by the invention, the pollution type and degree of the sensor can be accurately identified, a targeted cleaning strategy is adopted, and the cleaning efficiency and the cleaning capability are improved.

The invention provides a laser aging detection method and device, and the method comprises the steps: receiving a pressure signal of a to-be-detected laser group for triggering a pressure switch in response to a received aging command, and opening an electromagnetic valve in response to the pressure signal, so as to enable cooling water in a light receiving cylinder to circulate; switching on the laser group to be detected, and determining a first aging state according to the flow of the cooling water; determining a second aging state of the to-be-detected laser group through an external interface of the to-be-detected laser group; calling state data in the laser group to be detected, and determining a third aging state according to the state data; and after a preset time period, aging detection is stopped, and a detection result is uploaded. Safe aging and automatic testing of the laser are achieved, the laser testing efficiency is improved, laser data are inquired in real time in the aging process, aging is automatically stopped when the data are abnormal, and the accident occurrence probability is reduced.

The invention belongs to the field of robot path planning, and particularly relates to a method and system for dynamically covering a cleaning path of a cleaning robot, and the method comprises the following steps: sending a cleaning region task instruction to a task processing module; the task processing module controls the cleaning robot to sequentially execute cleaning tasks according to the task execution sequence; the motion control module sends corresponding cleaning path planning commands to the path planning module according to different cleaning task types; the sensing module processes the laser data and the camera data and then sends the laser data and the camera data to the path planning module; the path planning module updates the environmental information of the cleaning area, plans a cleaning path in real time based on the updated environmental information of the cleaning area, and sends the planned path to the motion control module; and the motion control module controls hardware of the cleaning robot to dynamically and intelligently execute cleaning operation. A dynamic path planning technology is used, so that the cleaning robot can dynamically plan the cleaning path in real time in a dynamic cleaning area, and the cleaning operation is efficiently completed.

The invention relates to a line laser contourgraph data consistency evaluation method and device which are applied to the field of optical precision measurement, and the method comprises the steps: obtaining point cloud data generated when a line laser contourgraph scans a measured plane of a measured target object; determining a spatial relationship between the measured plane and an ideal horizontal plane based on the point cloud data; determining an ideal horizontal plane based on an optical axis formed by a line laser profiler; constructing a rotation matrix between the original coordinate system of the point cloud data and the coordinate system of the ideal horizontal plane according to the spatial relationship between the measured plane and the ideal horizontal plane; correcting the point coordinate of the original laser line in the point cloud data through the rotation matrix to obtain the corrected point coordinate of the laser line; and evaluating the data consistency of the line laser contourgraph based on the corrected point coordinates of the laser lines. According to the invention, the problem that the accuracy of the consistency evaluation of the overall line laser data measured by the line laser contourgraph needs to be improved is solved.

The invention relates to the technical field of laser equipment management and industrial Internet of Things, and discloses a laser data acquisition and management system, method and device based on cloud service. The system comprises an equipment connection layer which is respectively connected with a plurality of lasers and dynamically matches a preset protocol library according to equipment fingerprints corresponding to the lasers so as to convert a communication protocol of each laser into a uniform data format; the edge calculation preprocessing module is deployed at the local end of the laser and is used for performing filtering, compression and feature extraction on original acquisition data of the laser and generating a key parameter set; the access service layer is used for carrying out distributed access processing on the key parameter set; the core processing layer receives the key parameter set and the environmental parameters corresponding to the laser, inputs the key parameter set and the environmental parameters to a time sequence prediction model, and outputs potential faults corresponding to the laser; generating maintenance suggestions corresponding to the potential faults according to the knowledge graph; and the application service layer is used for providing a data interaction interface for a preset user terminal.

The invention relates to the technical field of data processing, and discloses a laser data encryption transmission system and method based on quantum key distribution, and the system comprises a quantum key distribution module, a key negotiation module, a data encryption module, a laser transmission channel, a channel monitoring and compensation module, an optical power beam splitter deviation correction module, and an environment perception and self-adaption module. And the quantum key distribution module is configured to generate and transmit quantum keys based on photons, and the photons are single photons or weak coherent photons. And the optical power beam splitter deviation correction module is used for correcting the deviation value of the optical power beam splitter. And the channel monitoring and compensating module is configured to compensate signal loss and noise of encrypted data transmission. And the environment perception and self-adaption module is configured to adjust transmission parameters for transmitting the encrypted data based on the quantum environment information. According to the system, the problems of loss and noise of quantum signals in the transmission process are effectively solved, and high quality of data transmission is ensured through real-time compensation and correction measures.

The invention discloses a shield tunneling machine attitude deviation measurement method based on laser-vision deep learning heterogeneous fusion, and the method comprises the steps: employing double sensors of a laser target and a vision camera, carrying out the deployment of the sensors, and collecting data, which comprises laser data and vision data; preprocessing the data, wherein the preprocessing comprises laser data preprocessing and visual data preprocessing; the laser data preprocessing comprises laser data coordinate conversion, laser target attitude deviation calculation and noise filtering; the visual data preprocessing comprises image preprocessing, mark point detection, camera calibration and world coordinate calculation, and visual measurement attitude deviation calculation; a deep learning heterogeneous fusion model is constructed, the deep learning heterogeneous fusion model comprises a laser absolute feature branch, a visual spatial-temporal feature branch, an attention fusion layer and an output layer, and the model is trained; and inputting the preprocessed real-time data into the trained deep learning heterogeneous fusion model, and carrying out dynamic calibration on an output result.

The invention belongs to the technical field of welding robots, and particularly relates to a welding robot error correction method based on vision and laser data fusion. The method comprises the following steps: firstly, calibrating parameters on a dual-focus conjugate plane through a binocular camera, establishing a three-dimensional distortion correction model, constructing depth information in combination with a binocular triangle principle, completing laser light plane parameter calibration through an SVD (Singular Value Decomposition) method, and outputting large-field-of-view and high-depth-of-field laser-assisted vision measurement data; secondly, designing a three-dimensional target containing sphere characteristics, initially calibrating hand-eye parameters based on a fixed-point variable attitude method, establishing a hand-eye relationship and distance error identification model, and solving errors to realize robot-vision integrated online calibration; and finally, extracting a welding seam center point in a layered manner, planning a track through unit quaternion interpolation and a mixed curve, and writing an interface to output a welding control scheme. The problems that a traditional method is low in calibration precision and difficult in light bar extraction are solved, the measurement and positioning precision of the welding robot is greatly improved, and the high-precision welding requirement of a large component is met.

The invention relates to the technical field of data fusion analysis, and discloses a digital twinning-based multi-modal city data fusion analysis system, which comprises the following steps of: acquiring a construction image, laser PM data and XRF spectral data according to a fixed time interval; executing a box counting method for the construction image to obtain a fractal dimension; acquiring a calcium element proportion by using XRF spectral data; extracting a bare soil image in the construction image, and calculating a dust potential index according to the bare soil image; extracting a mean value of dust potential indexes in a historical time period, and determining an activity amplification coefficient by combining the dust potential indexes; calculating the effective density based on the calcium element proportion in combination with the preset reference density and the calcium element density; determining a shape correction coefficient according to the fractal dimension; according to the laser PM data, the mass concentration of the dust cloud is obtained through inversion in combination with the effective density, the activity amplification coefficient and the shape correction coefficient; the surface area concentration of the dust cloud is obtained by utilizing the mass concentration of the dust cloud and combining fractal dimension and effective density inversion.

The embodiment of the invention discloses a mobile robot positioning method and system based on laser and binocular information and a medium, and the method comprises the steps: collecting a binocular camera depth map of a detection environment, and obtaining three-dimensional pseudo laser data according to the binocular camera depth map; and collecting laser radar point cloud data of a detection environment, and performing edge extraction and angle constraint on the laser radar point cloud data to obtain laser radar data. And combining the three-dimensional pseudo laser data and the laser radar data to obtain fused laser data. On the basis of a synchronous positioning and map building algorithm, the position of the mobile robot is positioned by utilizing fused laser data, so that autonomous navigation of the mobile robot in a dynamic environment is realized.

The invention relates to the technical field of unmanned aerial vehicle positioning, discloses an unmanned aerial vehicle positioning method and device fusing visual data and laser data, electronic equipment, a computer readable storage medium and a computer program product, and is used for solving the problems that an unmanned aerial vehicle positioning method in the prior art is greatly influenced by scene environment feature changes, and the positioning accuracy is high. And universality and robustness are not good. The method comprises the following steps: acquiring visual data and laser data, and generating a visual point cloud and a laser point cloud; respectively extracting feature information of the visual point cloud and the laser point cloud, and matching and aligning the visual point cloud and the laser point cloud according to the feature information; evaluating position measurement errors of the visual point cloud and the laser point cloud in real time, and dynamically calculating weight parameters; and carrying out weighted fusion positioning in real time based on the visual image and the laser image in combination with the weight parameter to obtain unmanned aerial vehicle positioning information. According to the method, the unmanned aerial vehicle can adaptively fuse visual and laser data according to an actual scene for accurate positioning.

The invention belongs to the technical field of farm automatic inspection and positioning mapping, and discloses a farm inspection robot positioning mapping method based on laser and vision assistance. The method comprises the following steps: firstly, converting depth image data shot with similar depths into point cloud coordinates, and then converting the point cloud coordinates into laser data through an inverse projection method; then acquiring information of an unstructured region of the farm from an image shot by the depth camera by using an ORB-SLAM technology, and converting the information into a sparse three-dimensional point cloud map; converting the three-dimensional point cloud map into a grid map through point cloud mapping for subsequent map fusion; besides, a single-line laser radar is used for scanning the environment to obtain information of a structured part in the farm environment, and a Gmapping technology is used for establishing a laser radar map; and finally, fusing the laser radar map and the grid map subjected to visual conversion by adopting a Bayesian fusion technology to obtain a global grid map. According to the invention, an accurate and comprehensive map can be established in an indoor poultry breeding environment.

The invention discloses a shelf position determination method and device, electronic equipment, a storage medium and a program product. According to the specific implementation scheme, the method comprises the steps that laser data in the environment where the transportation equipment is located are obtained, wherein the environment where the transportation equipment is located comprises a goods shelf; performing clustering calculation on the laser data to obtain center point data; obtaining a target center point from the center point data according to the structure of the goods shelf; and updating the target center point according to the structure of the goods shelf, and determining the updated target center point as the position of a part for supporting the goods shelf. The laser data in the environment where the transportation equipment is located is subjected to clustering calculation, the positions of the parts for supporting the goods shelf are determined in combination with the structure of the goods shelf, the problem of locating the goods shelf according to the laser sensor is solved, the workload in the goods shelf locating process is reduced, and the automation efficiency of the transportation equipment and the goods shelf locating accuracy are improved.

The application provides a laser curtain wall image optimization system and method based on laser ranging analysis, and relates to the technical field of laser curtain walls.The application generates snowflake point probability and non-snowflake point probability by performing probability analysis on a snowflake point set and a non-snowflake point set, improves precision through variance analysis, and introduces a variance analysis module for snowflake points and non-snowflake points, which helps to deeply understand the intensity distribution characteristics of different reflection sources, outputs a reflection intensity threshold based on the size of the variance, optimizes the precision of laser ranging, and effectively identifies laser points that have passed through snowflake reflection and laser points that have not passed through snowflake reflection through the setting of a laser point cloud collection module and a division module, thereby realizing accurate classification of laser data; considering the possible jitter of the laser equipment under the influence of wind, the jitter data of the equipment are acquired in real time through a jitter collection module and an analysis module, and correlation analysis is performed with the reflection intensity threshold, thereby ensuring the authenticity of the data.

The invention belongs to the field of robot control, and provides a robot path planning method and system based on a target attention point, and the method comprises the steps: carrying out the environment field modeling based on a Gaussian process according to laser data obtained by a robot; based on a leading edge detection and clustering algorithm, generating target attention candidate points at known-unknown boundaries of an environment field, and taking prediction variances at the candidate points as measurement of field uncertainty; constructing a utility function fusing map information gain, field information gain and path cost, and selecting a target attention point from the candidate points by maximizing the utility function; and generating an optimal path by using a TEB path planner. According to the method, autonomous sampling of the robot can be effectively guided, information acquisition is maximized while the advancing path is optimized, and the precision and efficiency of environment field reconstruction are remarkably improved.