2745 results about "Laser rangefinder" patented technology

The invention discloses a control system and method of an intelligent screw grouting extruder, and belongs to the technical field of wire and cable production, and the control system comprises the following steps: a flow control module monitors the material flow in real time, and adjusts the feeding amount through fluctuation detection and frequency analysis; the temperature control module monitors and predicts temperature deviation through a temperature sensor and adjusts heating power; the rotating speed control module initializes the rotating speed of the screw according to material characteristics and monitors the load of the screw through the torque sensor so as to dynamically adjust the rotating speed of the screw; the pressure adjusting module monitors and adjusts the pressure of the inner cavity of the extruder in real time, and adjusts the distance between the die orifice and the screw rod by calculating the pressure deviation; the quality detection module detects the physical and visual quality of the product on line through a laser range finder and an image recognition technology, and carries out comprehensive quality evaluation; according to the invention, the problem of how to dynamically adjust the running state of the extruder according to real-time parameters such as temperature, flow, pressure and rotating speed is solved, so that the consistency of the thickness of a cable sheath layer and the product quality is ensured.

The invention discloses a crane motion track prediction method based on an RGBD image, and belongs to the technical field of crane intelligent control, and the crane motion track prediction method comprises the following steps: S1, synchronously collecting multi-modal data, deploying a binocular RGBD camera array, and obtaining an RGB image and depth point cloud data of a crane operation area in real time; s2, cross-modal feature alignment and fusion are carried out; s3, track prediction and physical constraint correction; and S4, calculating the minimum safety distance between the crane and the dynamic object in real time. According to the method, a cross-modal space-time alignment mechanism is constructed by integrating the binocular RGBD camera array, the millimeter wave radar, the laser range finder and IMU data, the deformable convolutional network is adopted to dynamically compensate sensor data offset, multi-source data conflicts are eliminated, and compared with a traditional single sensor scheme, the method has the advantages that the method is simple in structure and convenient to operate. The multi-mode cooperative mechanism effectively solves the problem of sensing failure in a sensor blind area and a severe environment.

The invention discloses an extrusion production process for an aluminum alloy multi-cavity profile. The extrusion production process comprises the following steps that S1, raw materials are prepared; s2, designing and manufacturing a mold; s3, pretreatment before extrusion; s4, extrusion forming; s5, cooling treatment; s6, straightening and finishing; s7, aging treatment; and S8, detecting and packaging. According to the invention, the friction is further reduced by adopting a special high-temperature lubricant and an ultrasonic vibration device in the pre-extrusion pretreatment, the precise control is realized by arranging real-time monitoring and feedback systems such as a laser range finder and an infrared thermometer in the extrusion forming process, and the cooling treatment is realized by automatically adjusting parameters by adding a corrosion inhibitor and arranging a sensor, so that the production efficiency is improved. The cooling quality of the profile is ensured; laser scanning and electrolytic polishing technologies are adopted for straightening and finishing, the straightening precision and the surface quality are improved, a circulating hot air system and a segmented aging mode are adopted for aging treatment, and the aging effect is improved.

The invention discloses a vehicle-road collaborative sensing and parking method and system for a shaft mine draw shaft environment, and relates to the field of unmanned driving, and the method comprises the steps: collecting roadside laser radar data, roadside camera data, roadside laser range finder data, vehicle-mounted laser radar data and vehicle-mounted camera data; respectively calculating roadside obstacle information and vehicle-mounted obstacle information; vehicle-road obstacles are matched through a Hungary algorithm, and a vehicle-road collaborative perception result is generated; performing global path planning by calculating an optimal driving path from the starting point to the unloading point by using the global map to generate a global path; performing local path planning through a path obstacle avoidance algorithm to generate a local path; and according to the global path and the local path, controlling the driving path, the vehicle speed and the parking of the unmanned vehicle. In order to solve the problems that in the prior art, an unmanned vehicle cannot comprehensively sense obstacles and cannot stop in place under the mine shaft environment, comprehensive sensing of the obstacles in the mine shaft environment and accurate parking of the vehicle are achieved.

The invention discloses a personnel trajectory low-delay accurate positioning method based on safety production monitoring, and relates to the field of industrial safety monitoring, and the method comprises the steps: obtaining signal data based on UWB anchor points, obtaining distance data through a laser range finder, and obtaining image data through a thermal imaging camera; establishing a three-dimensional geographic coordinate system based on the geographic space of the production workshop; extracting scene features of a production workshop, and constructing a virtual workshop; through timestamp alignment, consistent signal data, consistent distance data and consistent image data are obtained; calculating multi-dimensional positioning data through confidence evaluation; calculating scene feature weights; the multi-dimensional positioning data and the scene feature weight are imported into a virtual workshop, the virtual workshop performs multi-channel splicing on the multi-dimensional positioning data and the scene feature weight, and a positioning model is constructed; and obtaining positioning data. The method has the advantages that through multi-source heterogeneous data fusion and scene feature constraint, the positioning robustness in a complex industrial environment is improved.

The present invention provides an unmanned ship laser ranging optimization method and system based on dynamic environment perception, which relates to the field of navigation and obstacle avoidance technology of unmanned ships. The method includes: sensing the surrounding environment data in real time through sensors to obtain obstacle position, speed and heading information; based on the dynamic characteristics of the environment, using an adaptive algorithm to dynamically adjust the measurement frequency and angle of the laser rangefinder to optimize the measurement accuracy; combining the environmental data with the laser ranging results, using a path planning algorithm to optimize the obstacle avoidance route, and adjusting the heading in real time; adjusting the laser ranging parameters according to dynamic feedback information to ensure the stability of navigation and obstacle avoidance performance. The present invention can effectively improve the laser ranging accuracy of unmanned ships in complex dynamic environments, optimize navigation safety and obstacle avoidance capabilities, and has broad application prospects.

The invention relates to the technical field of space measurement and calibration, and discloses a laser ranging-fused vision measurement system calibration method, which comprises the following steps of: S1, establishing a system coordinate model of a vision measurement system and a laser range finder, and defining a laser ranging coordinate system, a camera coordinate system and a world coordinate system; s2, calibrating a camera, and obtaining an internal parameter matrix and an external parameter matrix of the camera; s3, acquiring image pixel coordinates of the laser points on the calibration plate; s4, converting the pixel coordinates of the laser points into three-dimensional coordinates under a camera coordinate system based on the internal reference matrix and the external reference matrix of the camera; s5, fitting a direction vector of a laser beam through the three-dimensional space distribution data of the laser points; and S6, based on the laser beam direction vector and the laser ranging value. A direction vector of a laser beam is extracted through principal component analysis, abnormal points are eliminated in combination with a random sampling consistency algorithm, a fitting result is optimized, and the calibration robustness and precision are remarkably improved.

The invention provides a double-robot collaborative welding dynamic compensation system which is characterized by comprising two welding robots slidably mounted on two ground rails, a six-axis laser welding seam locating device is mounted on each welding robot, and a machine vision assembly is arranged in each laser welding seam locating device. A stand column cantilever used for driving the welding robot to move is installed on the ground rails in a sliding mode, a rotary table position changing machine is arranged between the two ground rails, a powder concentrator rotor is placed on the rotary table position changing machine, and a control system is electrically arranged beside the welding robot. The double robots cooperatively work through the laser distance measuring sensor and the visual assembly, rapid concentric alignment of a rotor, blade angle calibration and real-time tracking of a welding seam are achieved, high-precision positioning of the laser distance measuring instrument is combined with intelligent image processing of the visual module, the accuracy of welding path planning is remarkably improved, deviation caused by manual intervention is avoided, and the working efficiency is improved. The two robots cooperate with each other, so that the welding efficiency is improved by more than 40% compared with a single-machine system.

The invention discloses a vehicle-mounted ground penetrating radar attitude compensation device and a control method, and belongs to the technical field of ground penetrating radar detection. The attitude compensation device comprises a control mechanism and a monitoring system, the control mechanism comprises a radar supporting part and a vehicle-mounted supporting part, the radar supporting part is connected with the vehicle-mounted supporting part through a buffer compensation part, the buffer compensation part comprises a mechanical telescopic structure, and the two ends of the mechanical telescopic structure are connected with the radar supporting part and the vehicle-mounted supporting part respectively; the monitoring system is arranged on the radar supporting part and comprises an IMU sensor, a laser range finder and a data processor. The IMU sensor, the laser range finder, the data processor and the like of the monitoring system are utilized, pose information is fed back in time through information monitoring, and the compensation device is controlled to carry out pose compensation by analyzing motion data, so that the platform is always located at a horizontal position with a certain distance from the ground; the detection precision and the anti-interference capability of the ground penetrating radar system are obviously improved, and different road conditions are flexibly coped with.

The invention discloses a multi-group film winding tension cooperative control system, which belongs to the technical field of plastic film production control, and comprises a plurality of groups of parallel winding devices, each winding device is provided with a motor, a winding wheel group, a belt, a speed sensor, a laser range finder, a data acquisition module, a tension calculation module, a speed adjustment module and a control execution module, the tension calculation module is used for acquiring corrected winding tension characteristics according to the film winding tension information, and the speed adjustment module is used for adjusting the winding speed according to the tension information and the historical tension information and outputting the corrected winding speed; through comprehensive consideration of multiple factors, the tension calculation accuracy is improved, cooperative control over the tension of multiple sets of films is achieved, and the purposes of dynamically adjusting the winding speed and then improving the system stability are achieved.

The invention relates to a buoyancy tank wharf real-time assembly quality control method, and belongs to the technical field of port engineering automatic construction. According to the method, aiming at the problems of large geometric positioning deviation, uneven contact surface stress and difficulty in real-time control of attitude instability in buoyancy tank assembly, laser range finders are mounted at four corners of a buoyancy tank through a geometric positioning layer to monitor horizontal deviation, and pressure sensors are arranged on a butt joint surface through a mechanical sensing layer to generate a pre-tightening force curve; the attitude monitoring layer adopts a bottom inclination angle sensor to detect inclination; according to the horizontal deviation, the curve similarity deviation and the inclination angle deviation, the real-time management and control platform triggers a hydraulic adjusting mechanism, a torque wrench and a balance weight drive to conduct adjustment; meanwhile, data are stored through a buoyancy tank number, a timestamp and a sensor type three-dimensional index, and a rechecking instruction is generated based on the difference between the current adjusting quantity and the first three mean values. According to the invention, real-time control and dynamic adjustment of the assembly process are realized, and the modular assembly precision and safety of the floating wharf are improved.

The invention discloses an unmanned aerial vehicle inspection device and method, the unmanned aerial vehicle inspection device comprises an unmanned aerial vehicle, a laser ranging camera, a holder, a telescopic device and an ultrasonic detection device, the telescopic device is installed on the unmanned aerial vehicle, and the ultrasonic detection device is connected with the telescopic device through the holder. The laser ranging camera is connected with the first end of the unmanned aerial vehicle through the holder, and the laser ranging camera and the ultrasonic detection device are both located below the unmanned aerial vehicle. The invention belongs to the technical field of unmanned aerial vehicles, and aims to solve the problem that in the prior art, iron tower inspection cannot inspect the nut loosening condition. The technical effects are that the anti-loosening condition of the nut can be reliably and accurately detected, the loosening condition of the nut can be timely detected, and the stability of an iron tower can be guaranteed.

The invention relates to the technical field of measurement and automation, in particular to a non-contact wire diameter identification method and system, and the method comprises the steps: enabling a CCD camera and a laser range finder to aim at a remote cable identification target, and obtaining a cable image and the spatial position information of the cable image; inputting the cable image into a trained cable type identification model for feature extraction and classification processing to obtain a cable type, and determining an edge detection preset parameter corresponding to the cable type; edge extraction and contour segmentation are carried out based on the cable image and edge detection preset parameters, and the pixel length of the cable diameter is obtained according to geometric characteristic estimation of the segmented contour; based on the spatial position information of the cable and the pixel length of the diameter of the cable, performing scale conversion from an image to a physical world to obtain the actual length of the diameter of the cable; and based on the actual length of the cable diameter and the cable type, searching a matching item in a preset cable model database to obtain a cable model identification result.

The invention discloses a stereoscopic warehouse with an automatic stacking function, and belongs to the field of stereoscopic wares.The stereoscopic warehouse comprises goods shelf bodies, driving mechanisms are installed on the opposite sides of every two goods shelf bodies, scraping mechanisms are installed on the surfaces of the driving mechanisms, and cleaning mechanisms are installed on one sides of the driving mechanisms; a correcting mechanism is mounted on the lower surface of the driving mechanism; through cooperative use of the devices, the straightness of the guide rail is monitored in real time based on the laser range finder, when the straight line of the guide rail deviates, the electric push rod is started to drive the scraping plate to move so that the scraping plate can be attached to the surface of the guide rail, and the scraping plate is driven to move based on the sliding base so that oil sludge on the surface of the guide rail can be removed through the scraping plate; when deviation still exists in the guide rail after the guide rail linearly cleans the oil sludge, the correction mechanism is started to correct the guide rail, and chain shutdown of the stereoscopic warehouse caused by much oil sludge or deviation of the guide rail is avoided.

The invention discloses a real-time laser coal checking system and method, and relates to the technical field of material management and inventory checking, and the system comprises the following components: a laser detection module, a data processing module, a communication module, a monitoring module and a server module. The laser detection module is adopted to perform high-frequency scanning on the coal pile to obtain the three-dimensional point cloud data of the coal pile, the crown block displacement data measured by the laser range finder and the material and density information of the material pile are combined, the volume and weight of the coal pile are calculated through an algorithm, the outer contour of the coal pile can be determined more accurately, and the accuracy of the coal pile is improved. According to the shape characteristics and the density distribution condition of the coal pile, the coal pile is divided into a plurality of small geometries for volume calculation, and compared with traditional manual measurement or simple geometric shape approximation, the method has the advantages that the measurement precision of the volume and the weight of the coal pile can be remarkably improved; and more accurate data support is provided for material management and inventory checking of enterprises.

The invention discloses a laser die cutting device for high-performance film material production, and relates to the technical field of laser die cutting, and the laser die cutting device comprises a die cutting box body, a laser cutting assembly, a position adjusting assembly, a thickness detection assembly, a dust removal assembly, a safety assembly, a monitoring assembly and a control system. The thickness and position information of the film material can be obtained in real time through the laser rangefinder and the high-definition camera for nanoscale precision measurement, the laser cutting precision is ensured, meanwhile, the position adjusting assembly adopts a self-adaptive adjusting algorithm, the position of the laser cutting assembly is automatically adjusted according to the preset cutting path and the current position, and the cutting precision is improved. Through the arrangement of a three-way valve and a gas output pump in the laser cutting assembly, non-oxidizing gas and oxygen can be switched, different cutting modes are achieved, different cutting requirements are met, and therefore it is guaranteed that the device can achieve high-precision, high-efficiency and high-adaptability laser cutting; and the safety and the flexibility of processing are also ensured.

The invention provides a door and window frame dynamic offset testing device, and relates to the technical field of door and window frame production. The device comprises a transmission assembly, and the transmission assembly is used for horizontally conveying a to-be-tested door and window frame; the data processing device is arranged on the transmission assembly, and the data processing device is used for collecting offset data and performing centralized processing to form a dynamic offset broken line graph; the adjusting assembly is arranged on the transmission assembly, the adjusting assembly comprises an adjusting part and an extending frame, the adjusting part is used for providing displacement perpendicular to the movement direction of the door and window frame, the extending frame is fixedly installed on the adjusting part, and a horizontal laser range finder and a spacing laser range finder are installed on the extending frame; and a measuring assembly. By means of the measuring assembly and the data processing device, the offset of the door and window frame in the vertical direction and the horizontal direction can be measured, and whether the door and window frame is qualified or not can be judged.

The invention belongs to the technical field of building measurement, and discloses a building distance measuring device and a use method thereof, and the method comprises the steps that a route planning module plans an optimal advancing route; automatically controlling a moving trolley distance measuring mechanism to carry out building distance measuring operation; the monitoring analysis mechanism receives environment sensor data; the image acquisition module continuously acquires building scene images; the image analysis module continuously detects whether an obstacle exists in the image; adjusting the distance measuring mechanism to a proper height and an accurate direction; the monitoring analysis mechanism obtains accurate distance data after correction calculation; during long-distance detection, data of the laser range finder and the ultrasonic range finder are combined, and an accurate distance value is obtained through fusion analysis of the comprehensive evaluation module. According to the invention, the monitoring analysis mechanism can correct and comprehensively analyze distance measurement data according to environmental parameters to obtain accurate distance data; and the comprehensive evaluation module fuses the laser ranging data and the ultrasonic ranging data, so that the long-distance detection precision is improved.

The invention relates to the technical field of perpendicularity detection, in particular to a perpendicularity detection tool for bridge pier column construction, which comprises a mounting frame and a supporting plate mounted in the front side of the mounting frame, a hoop connected with a bridge pier column is connected to the rear side of the mounting frame, and a gradienter is mounted on the upper surface of the supporting plate. The upper surface of the supporting plate is connected with a bearing plate through an electric push rod, a laser range finder used for perpendicularity detection is fixed to the middle of the upper portion of the bearing plate, an auxiliary roller is installed on the upper portion of the rear side of the bearing plate through a supporting assembly, and an upper processing plate is connected to the upper portion of the supporting assembly. And an automatic regulation and control assembly is mounted in the supporting assembly. According to the perpendicularity detection tool for bridge pier column construction, errors of inclination measurement data are reduced, the accuracy of perpendicularity detection is improved, and therefore whether the perpendicularity of a bridge pier column meets the construction requirement or not can be accurately judged.

The invention provides a water turbine vibration monitoring sensor system and method. The water turbine vibration monitoring sensor system comprises a space compensation mechanism, a stabilizing mechanism, a distance measuring sensor and a reflection target. The reflection target is fixedly arranged on a tested device and is used for transmitting vibration; the space compensation mechanism is connected with a tested device, the stabilizing mechanism is arranged on the space compensation mechanism, and the space compensation mechanism is used for compensating the influence of vibration on the stabilizing mechanism; the stabilizing mechanism is used for keeping the relative stability of the spatial position, the distance measuring sensor is arranged in the stabilizing mechanism, and the distance measuring sensor detects the distance data of the spatial component between the distance measuring sensor and the reflection target so as to obtain the low-frequency vibration data of the detected device. According to the invention, an active driving space compensation mechanism is arranged and is matched with a prediction compensation scheme based on artificial intelligence, so that the problem of sensor stability of a conventional stabilizing mechanism in a low-frequency state is solved. And the laser range finders are adopted to respectively collect the distance between the laser range finders and the reflection target, and displacement data are accurately obtained, so that accurate low-frequency vibration data are obtained.

The invention discloses an unmanned aerial vehicle photovoltaic inspection real-time path planning method and system, and relates to the technical field of control in a specific dimension. Comprising the steps of planning an initial route and setting inspection routes in different areas; an image is collected by adjusting the camera pitch angle of the second holder, and the distance is measured in real time through the laser range finder; uploading an image shot by the second pan-tilt camera, identifying the photovoltaic string, establishing a string position correction model, and calculating the three-dimensional coordinate of the center point of the string; implementing local route optimization according to the string center point coordinate data set and the initial route based on an ant colony algorithm; the unmanned aerial vehicle flies to a set waypoint along a flight route, the first pan-tilt camera shoots an image, identifies a picture center photovoltaic string, calculates a center point coordinate difference, and the unmanned aerial vehicle corrects the position and executes an inspection image acquisition task. The problems of insufficient real-time performance, poor adaptability to complex terrains and unstable image acquisition quality are solved, and the purposes of strong real-time performance, strong adaptability, high image quality, high recognition capability and high precision are achieved.

The invention discloses a municipal bridge expansion joint detection mechanism, and belongs to the technical field of expansion joint laser detection.The municipal bridge expansion joint detection mechanism comprises a main case and heat dissipation holes formed in the corners of the main case, guide columns are fixed to the side edges of the main case, and side width check blocks are arranged on the sides of the guide columns; a reference rod fixed to the side width check block is inserted into a guide column, a laser range finder is installed in the guide column, the laser range finder detects movement of the end of the reference rod through optics, and the middle of the side width check block is connected with a movable wheel through a rotating shaft. A first cleaning assembly and a second cleaning assembly are installed on the front side and the rear side of the movable wheel correspondingly. According to the municipal bridge expansion joint detection mechanism, through the arrangement of the laser range finder, the width of an expansion joint can be accurately measured conveniently, meanwhile, fixed-point or whole-line width measurement can be conveniently conducted on the expansion joint, and silt attached to the side wall of the expansion joint can be conveniently cleaned in the measurement process.

The utility model belongs to the field of measurement, particularly relates to an elevator top space measuring device, and aims to solve the problems that an existing laser range finder needs to be held by a hand to measure the distance during use and an existing device cannot well follow an elevator car to move and measure, the following scheme is provided: the elevator top space measuring device comprises a limiting base, a measuring and calculating base is fixedly installed on one side of the limiting base, a clamping buckle is rotatably installed on one side of the measuring and calculating base, a laser range finder is installed on the inner side of the clamping buckle in a clamped mode, a containing groove is formed in the limiting base, and a sliding metal block is installed on the inner wall of one side of the containing groove in a sliding mode. Two rack grooves are formed in the bottom of the limiting base. According to the utility model, working personnel can record and calculate conveniently, the stability of the laser range finder during measurement is ensured, the laser range finder can move along with the elevator car, and the space at the top of the elevator shaft can be measured and calculated more effectively.

The invention relates to the technical field of ink jet control, and discloses an intelligent ink jet control system and method, a robot and a storage medium. The method comprises the following steps: firstly, acquiring surface contour data and color information of an object to be jetted through a laser ranging device, and constructing an object surface feature vector; a target ink jet area is determined through area spray adaptability evaluation; then, semantic information of ink jet content is obtained, semantic element weights are calculated, and ink jet parameter constraints including an ink droplet size threshold value, an information level presentation rule and the like are generated in combination with a target area range; generating an intelligent ink-jet scheme according to the constraint, and controlling an ink-jet device to form a target pattern; and finally, a moving path of the moving mechanical arm is generated based on a cubic spline interpolation algorithm, and the target pattern acts on the target area. The method can adapt to complex surface forms and various materials, the ink jet process is accurately controlled, patterns are accurately presented and stably attached, and the ink jet effect and the information transmission effectiveness are improved.

The invention discloses a plastic tarpaulin thickness detection device and process, and belongs to the field of equipment for plastic tarpaulin quality detection. The invention discloses a plastic tarpaulin thickness detection device and process, and the device comprises a thickness measurement mechanism which is used for measuring the thickness of a plastic tarpaulin, the thickness measurement mechanism comprises an installation housing, the installation housing is provided with a through groove, and the upper and lower sides of the installation housing are respectively provided with a laser range finder; a placement rack; according to the conveying mechanism, two conveying rollers are installed on a first supporting frame; two adjusting rollers are mounted on the second supporting frame; a correction assembly; a chip removal assembly; and an air increasing assembly. According to the technical scheme, by arranging the adjusting roller, the upper laser range finder and the lower laser range finder, abrasion to the plastic tarpaulin in the measuring process can be greatly reduced, the quality of the plastic tarpaulin is ensured, measuring errors caused by single-side laser can be avoided, and the accuracy of measuring the thickness of the plastic tarpaulin is effectively improved.

The invention relates to the technical field of intelligent warehousing, in particular to a multi-grading granule automatic output system and a using method, a discharging port of a discharging hopper is always located at the rotating center of a second-stage climbing belt conveyor relative to a horizontal belt conveyor, and the falling material stress receiving position of the horizontal belt conveyor is not changed; a discharging hopper on a horizontal belt conveyor is positioned through a discharging hopper laser positioning instrument, and the position of equipment with walking and shoveling functions is accurately solved in cooperation with angles measured by a discharging hopper angle encoder and a traction hole angle encoder; particulate matter monitoring of the stock bin and the collecting hopper is carried out through the three-dimensional laser scanning radar, the high-position laser range finder and the low-position laser range finder, a sensor for detection does not need to be arranged on equipment with walking and shoveling functions, and the equipment with the walking and shoveling functions can be positioned without depending on the sensor arranged on the equipment; therefore, even if a large amount of dust is generated in the particle material conveying process, automatic operation of the output system cannot be hindered.

The utility model discloses a bridge ship collision prevention active protection device which comprises a laser range finder, a control assembly, a main bridge pier, a main bridge bearing platform, a separation type ship collision prevention facility structure, a polyurethane foam rotary drum and a riverbed, the laser range finder and the control assembly are arranged on the upper portion of the main bridge pier, and the main bridge bearing platform is arranged at the bottom of the main bridge pier. A plurality of separated ship collision prevention facility structures are arranged on the periphery of the main bridge bearing platform on the main bridge piers, polyurethane foam rotating cylinders are arranged on the separated ship collision prevention facility structures, and the other ends, away from the polyurethane foam rotating cylinders, of the separated ship collision prevention facility structures are used for being buried in a riverbed to be fixed. When the distance between the ship and the main bridge pier is detected to be smaller than a certain range through the optical distance measuring instrument, the control assembly controls the gas generator to inflate the gas bag to generate buoyancy, the polyurethane foam rotating drum is pulled to the water surface through the buoyancy to make contact with the ship, and the situation that the ship collides with the main bridge pier and consequently the main bridge pier is damaged is prevented.

The invention belongs to the field of trusses, and particularly discloses a truss logistics control method and device for a large five-axis gantry production line, a terminal and a medium. Executing a macro program to realize an automatic loading process and an automatic unloading process; in the automatic loading process and the automatic unloading process, a movement control subprogram is executed to control the truss trolley to move to a source position or a target position, the real-time position of the truss trolley is detected through a laser range finder in the moving process, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; in the automatic loading process and the automatic unloading process, releasing and locking of the X-axis safety positioning pin, releasing and locking of the Z-axis safety positioning pin and opening and closing of the truss mechanical arm are achieved by executing M instruction codes. The positioning accuracy of the truss trolley is improved, the logistics operation efficiency is improved, and safety accidents caused by misoperation of the mechanical arm are avoided.

The invention discloses a multi-beam parallelism calibration device and method, and belongs to the technical field of laser ranging, the multi-beam parallelism calibration device comprises three laser ranging and adjusting modules, an L-shaped adapter plate a, a ground glass screen, an angle gauge, a bottom plate a and a precise parallel guide rail of a calibration part, and a CCD camera, a bottom plate b, a signal transmission cable and an upper computer of a signal receiving and processing part; a calibration device is adopted to emit three light sources to the frosted glass screen, the positions of three light spots on the frosted glass screen are determined through an image analysis method, and if the positions of the light spots are kept unchanged when the frosted glass screen is located at different positions of the guide rail, it is considered that light beams emitted by the three laser range finders are parallel to one another; and if the position of the light spot changes before and after the frosted glass screen moves, readjusting until the position of the light spot remains unchanged before and after the frosted glass screen moves. According to the invention, whether the light beams are parallel to each other can be rapidly evaluated, the parallelism between the light beams adjusted by the device is high, and the control plane angle measurement precision is greatly improved.

The utility model relates to the technical field of dam monitoring, in particular to a movable displacement monitoring and early warning device which comprises a guide rail, a supporting plate slidably connected to the top of the guide rail, a guide trolley connected to the side face of the supporting plate and connected to the top of the guide rail in a rolling mode, and an electric telescopic rod installed on the top of the supporting plate. The top of the electric telescopic rod is connected with an L-shaped placement plate, the vertical face of the placement plate is connected with a laser range finder, a control box is installed at the top of the placement plate, a storage battery is installed in the control box, a processor and a transmission module are installed in the control box, and the processor is electrically connected with the transmission module and an alarm. The laser range finder is driven to move left and right, different positions of the dam can be measured, the vertical height of the top of the dam can be measured through the laser range finder by arranging the electric telescopic rod, and then the measurement range of the device is widened.