3287 results about "Laser ranging" patented technology

The invention relates to a related light measuring device based on a bevel mirror and a control method, and solves the problem that the existing three-dimensional detection technology is insufficient in comprehensive adaptability and cannot meet the requirements of precision detection for stability, precision and data collaboration, and the related light measuring device comprises a laser emission head, a double-bevel mirror, a light path receiving module, a zoom camera and a circuit processing unit. The first bevel mirror is provided with a through hole for laser to directly irradiate a target; the light path receiving module receives and reflects the laser-to-electric signal; the second bevel mirror reflects the target and the light spot light to the camera to obtain visual information; and the circuit processing unit controls all the components, integrates laser and visual information, and realizes three-dimensional detection of the target. The method has the following effects: through the light path collaborative design of the double-bevel mirror, precise and synchronous acquisition of laser ranging signals and visual contour / light spot information is realized, so that high-precision three-dimensional detection of the distance, the flatness and the segment difference of a target object is efficiently completed.

The invention discloses a millimeter wave radar and range finder golf sports monitoring system and method and a medium, and relates to the field of sports monitoring, the system comprises a handheld integrated terminal, a laser ranging module, a millimeter wave radar module, a processing unit and a display unit are integrated in the handheld integrated terminal, and a first communication module is connected with the processing unit; the data interaction module is used for performing data interaction with an external mobile terminal; the mobile terminal comprises a second communication module, a trajectory prediction module and a recommendation decision module, and is used for comparing the predicted flight trajectory with a target trajectory preset by a user and generating a swing suggestion in a training mode; and in the motion mode, the central processing unit is used for planning and recommending a ball hitting strategy based on the expected drop point distance input by the user and the real-time environment data measured by the handheld integrated terminal in combination with historical training data of the user. According to the invention, accurate monitoring and dynamic analysis of the golf ball flight path are realized.

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 provides a method for automatically centering and assembling a bearing on a long-axis part, and belongs to the technical field of bearing assembly.The method comprises the steps that position information of the long-axis part and the bearing is collected in real time through a binocular camera and a laser distance measuring sensor, a central line equation is calculated through the least square method, and position deviation is determined; a centering adjustment vector is generated to control a multi-degree-of-freedom precise attitude adjustment platform to perform preliminary adjustment, a mechanical arm is matched with high-precision laser ranging to perform precise centering, the centering process is modeled into a weighted undirected graph, an optimal adjustment path is solved, optimal press fitting parameters are calculated based on a bearing press fitting physical mechanics equation, and press fitting is performed. Meanwhile, the assembling process is monitored through a force sensor and a displacement sensor, an assembling quality evaluation matrix is constructed, finally, the assembling result is detected and evaluated, and high-precision automatic assembling of the long-axis part and the bearing is achieved.

The invention provides a sandy stratum tunnel water burst risk prediction method. The method comprises the steps that a radar instantaneous energy spectrum in front of tunneling is obtained through a geological radar, a micro-seismic spectrum is obtained through a micro-seismic array, and a residual distance is obtained through laser ranging; aligning and coupling the two spectrums to obtain a water inrush risk index, inputting the water inrush risk index and the residual distance into a self-adaptive threshold comparator, and if the water inrush risk index and the residual distance exceed the limit, dynamically adjusting the rotating speed of a cutter head, propulsive force, the rotating speed of a screw conveyor and grouting pressure, and generating a risk avoidance path; and calling a water inrush risk model library constructed by LSTM-Attention, inputting a risk index sequence, a residual distance, cutterhead torque, a soil pressure gradient, a current change rate and other auxiliary variables, and outputting a future multi-step risk level. According to the method, accurate prediction and real-time avoidance of the water gushing risk of the sandy stratum tunnel can be realized, and the safety and efficiency of tunnel construction are improved.

The invention provides a marine target real-time positioning and tracking system and method based on multi-source data fusion, and belongs to the field of target positioning and tracking. The sensor portion collects raw data. The data acquisition and time synchronization module is responsible for receiving and aligning data of each sensor; the multi-stage coordinate system registration and transformation module unifies all observation data to a world coordinate system by using IMU data and preset calibration parameters; the AI visual target detection module processes the video stream to identify a target; the adaptive federated Kalman filtering fusion module receives each path of processed data and outputs optimal target state estimation; and the dynamic task and resource scheduling module performs optimal allocation on system resources according to the current tracking state to form closed-loop control. Through deep fusion of high-precision RTK positioning data, laser ranging data, photoelectric pod attitude information and an AI vision algorithm, the positioning precision, tracking robustness and system real-time performance of a sea target under a complex dynamic sea condition are improved.

The invention relates to the technical field of gang drills, in particular to a numerical control gang drill device which comprises a machine tool body, a telescopic assembly is arranged in the machine tool body, the output end of the telescopic assembly faces downwards and is connected with an extrusion block, and a storage plate is arranged at the position, below the telescopic assembly, in the machine tool body. One side of the machine tool body is connected with a gang drill plate through an air cylinder, and the side, facing the machine tool body, of the gang drill plate is evenly connected with a plurality of through drill seats. According to the device, a second clamping block and a first laser distance measuring sensor are arranged, the first laser distance measuring sensor can detect the distance value between a drill bit and an extension block at different positions of the drill bit, and the distance value between the drill bit and the extension block can be detected in the mode that the drill bit rotates; the detected distance value is uploaded to a background control system to be compared with a standard data value, and if the detected data value exceeds a standard data value interval, it is indicated that the drill bit deforms.

The invention relates to the technical field of path planning, and discloses a mountain wind power equipment transportation path planning and hoisting control method and system. The method comprises the following steps: scanning a mountain road through a laser ranging array to obtain a road cross section database, and modeling to obtain blade scanning envelope data; performing dynamic path planning by adopting a terrain adaptability predictive control algorithm, and obtaining a safe transportation path according to stress constraint verification; the sensor array monitors the blade state in real time and corrects the track; a temperature sensor collects tower drum temperature data, and the size change is predicted through a thermal deformation compensation mechanism; and the positioning system obtains hoisting reference coordinates and controls the hoisting posture in combination with the compensation parameters. The technical problems that dynamic sweeping modeling, stress constraint verification and real-time track correction are lacked in wind power equipment transportation path planning in the mountain environment, and thermal deformation compensation and multi-system collaborative optimization are lacked in hoisting control are solved. And the transportation safety and the hoisting control precision of the mountain wind power equipment are improved.

The invention discloses a pipeline flange butt joint method based on multi-sensor cooperation and a storage medium, and the method comprises the following steps: when a mechanical arm carries a movable pipeline to approach a fixed pipeline, a magnetic encoder is utilized to detect the axial relative deflection angle of the pipeline, and the mechanical arm is controlled to adjust the axial posture of the movable pipeline to realize axial alignment. Under the axial alignment condition, the mechanical arm moves horizontally, the laser distance measuring sensor measures the linear distance, and meanwhile the axial deviation is continuously corrected by combining data of the magnetic encoder. And after the linear distance meets a preset threshold value, the industrial camera collects images of the movable pipeline flange and the fixed pipeline flange, a bolt hole coordinate set is recognized through an image processing algorithm, the rotating angle of the mechanical arm is calculated, the mechanical arm is controlled to rotate, bolt holes of the two flanges are accurately aligned, and butt joint is completed. According to the method, precise positioning of the pipeline flange in the axial direction, the plane direction and the rotating direction is achieved through closed-loop cooperation of the magnetic encoder, the laser ranging device and the visual sensor, and the butt joint precision and reliability are improved.

The invention belongs to the technical field of orthopedic surgery navigation, discloses a communication and positioning integrated orthopedic surgery navigation method and system based on multi-dimensional perception, and aims to solve the problems that in an existing orthopedic navigation technology, optical navigation is prone to being shielded, multipath interference of UWB positioning is serious, and real-time performance is insufficient. Comprising the steps of obtaining measurement values including positioning data of a UWB positioning module, ranging data of a laser ranging module and an attitude angle of an IMU module; according to the method, extended Kalman filtering is adopted, positioning data of a UWB positioning module, ranging data of a laser ranging module and an attitude angle of an IMU module are taken as state vectors, dynamic adjustment of credibility is realized by adjusting a process noise matrix of a state equation and a measurement noise matrix of a measurement equation according to task characteristics, and the credibility of the UWB positioning module is improved according to data of different credibility. And resolving the pose state of the tail end of the surgical instrument. The method has the advantages of high positioning precision, high response speed, high environmental adaptability and high resource efficiency.

The invention relates to the technical field of laser ranging, in particular to a double-optical-comb hybrid ranging device which comprises a signal detection optical path system and a signal demodulation optical path system. Wherein the signal detection optical path system comprises a first optical frequency comb, a first optical isolator, a first optical collimator, a first beam splitter prism, a reference mirror, a Faraday rotator, a convergence mirror and a target reflector; the signal demodulation optical path system comprises a second optical frequency comb, a second optical isolator, a second optical collimator, a half-wave plate, a second beam splitter prism, a third beam splitter prism, a first polarization controller, a first photoelectric detector, a reflector, a polarization beam splitter prism, a second polarization controller and a second photoelectric detector. A third polarization controller; and a third photoelectric detector. According to the invention, three ranging technologies of asynchronous optical sampling ranging, multi-heterodyne interference ranging and synthetic wavelength ranging are fused, and the problem that a large ranging range and high ranging precision cannot be simultaneously considered in the ranging process is solved.

The invention relates to the technical field of laser ranging, in particular to an unmanned aerial vehicle dynamic laser ranging method based on multi-source fusion and adaptive compensation, and the method comprises the following steps: obtaining a ranging pulse of a laser ranging module, and carrying out three-axis rotation and coordinate translation in combination with an IMU angle to generate a geographic registration coordinate set; radar and ultrasonic ranging are fused to construct redundant distance compensation data, particle filtering is executed based on IMU acceleration angular velocity to generate an attitude constraint distance, SLAM weight is adjusted according to illumination and meteorological parameters, and an unmanned aerial vehicle dynamic ranging coordinate result set is generated. Spatial registration is executed by combining longitude and latitude height data, by establishing dynamic association between the ranging data and IMU attitude data, smoothness and continuity of the ranging data can be kept when attitude disturbance is severe, the weight proportion of the vision ranging data in multi-source fusion is dynamically adjusted, and the high-precision estimation capacity of the target distance in the dynamic flight state is improved.

The invention belongs to the technical field of stator slot wedge detection, and discloses a generator stator slot wedge online detection method and system based on acousto-optic monitoring fusion. The method comprises the following steps: acquiring laser ranging data, acoustic monitoring data and generator working condition parameter data of online looseness detection of a generator stator slot wedge; preprocessing the laser ranging data, the acoustic monitoring data and the generator working condition parameter data to obtain laser ranging features, acoustic features and working condition parameters; and inputting the optical ranging features, the acoustic features and the working condition parameters into a pre-trained auto-encoder for anomaly detection, and obtaining an online looseness detection result of the generator stator slot wedge. By fusing the optical ranging technology, the optical fiber acoustic monitoring technology and the unsupervised deep learning algorithm, the important technical breakthrough in the field of generator stator slot wedge looseness detection is realized, and online stator slot wedge looseness detection can be carried out.

The invention relates to the technical field of photoelectric pod target tracking, and discloses a multi-mode target automatic identification tracking method and system based on a photoelectric pod. A multi-modal data acquisition module of the system integrates visible light, infrared thermal imaging and laser ranging sensors based on a photoelectric pod, acquires target multi-modal sensing data and completes time-space synchronous calibration; the dynamic feature extraction module adopts a multi-scale convolutional neural network to process multi-modal data, generates a target multi-level feature map and performs significance region labeling; the adaptive tracking decision module deploys a recurrent neural network to predict a target motion trajectory according to a labeling result, and generates a tracking control instruction through an optimization algorithm; the execution control module drives the photoelectric pod holder mechanism and adjusts the orientation of the sensor to realize target tracking; the feedback optimization module monitors the tracking state in real time, calculates a tracking deviation index, and generates a strategy adjustment parameter to dynamically optimize the tracking strategy.

The invention relates to the technical field of image processing and traffic safety monitoring, in particular to a dynamic traffic marking inverse reflectivity intelligent monitoring system and a method thereof.According to the system, marking images are collected through a multispectral imaging technology, a precise space mapping relation is established through laser ranging, marking feature parameters are extracted from multi-band images, and the dynamic traffic marking inverse reflectivity intelligent monitoring system is obtained. A multi-dimensional feature matrix including reflection features, space geometry, time change and environmental influence is constructed, a nonlinear dynamic model of a traffic marking state is established based on the multi-dimensional feature matrix, a critical point and a bifurcation point in a degradation process are identified, and the system can calculate the change trend of the inverse reflectivity of the marking and generate multiple possible degradation paths. According to the method, the real-time dynamic monitoring of the inverse reflectivity of the traffic marking is realized, the measurement precision is improved, the prediction accuracy is enhanced, scientific decision support is provided for road maintenance, and the road traffic safety performance is remarkably improved.

The invention relates to the technical field of transformer coil detection, and discloses a detection device for a transformer coil, which comprises a base frame, the driving mechanism is installed on the base frame and used for providing linear motion in the X direction, the Y direction and the Z direction; according to the scheme, by means of the detection mode that spiral scanning motion is combined with self-adaptive contact and laser ranging, the fatal defects that manual detection is low in efficiency, high in subjectivity and prone to making mistakes and missing detection are overcome, complete three-dimensional shape data of the surface of the coil can be rapidly and accurately obtained, and the detection accuracy is improved. According to the method, local fine defects which are difficult to discover manually can be detected, the reliability and the consistency of detection results are improved, objective and quantitative data support is provided for evaluating the winding quality, the mechanical strength and the long-term operation reliability of a transformer coil, and the manufacturing quality of a transformer and the operation safety of a power grid are guaranteed.

The invention belongs to the technical field of PCB flying probe detection equipment, and particularly relates to a flying probe compensation method and system based on PCB curved surface modeling, and the method comprises the steps: obtaining the size of a PCB, and carrying out the equilateral triangle grid division; in the visual alignment process, the laser distance measuring sensor is synchronously driven to carry out rapid non-contact height measurement on the vertex of the grid; based on the vertex three-dimensional coordinates, fitting triangular patches through a space plane equation and splicing the triangular patches into a three-dimensional curved surface model; performing bilinear interpolation on an area formed by adjacent patches in the model to smooth a curved surface; and finally, selecting an interpolation function according to the position of the test point to calculate the accurate height, and generating a Z-axis displacement compensation value of the probe. According to the high-precision measurement and self-adaptive compensation of the PCB warpage, the efficiency and precision of the flying probe test are considered, and the problem of poor contact or overvoltage damage of the probe caused by the board warpage is effectively solved.

The invention is applicable to the technical field of concrete deformation measurement, and particularly relates to a non-contact concrete deformation testing system and method based on a laser ranging technology, and the system comprises a laser ranging unit which is provided with a double-frequency phase modulation laser, an optical transceiver antenna and a phase detection circuit; the environmental parameter acquisition unit comprises a temperature sensor, a humidity sensor and an air pressure sensor; and the data processing unit carries an atmospheric refractive index calculation module, a Kalman filtering algorithm and a three-level early warning module, and supports wired / wireless data transmission. The distance measurement precision is high, and the concrete micro-deformation monitoring requirement is met; non-contact characteristic: non-damage monitoring on the concrete surface is realized through a diffuse reflection target; intelligent data processing: structural deformation and environmental noise are effectively distinguished, and the early warning reliability is improved; automatic monitoring is achieved, and the manual inspection cost is greatly reduced.

The invention discloses a tunnel pipe roofing construction dynamic deviation correction method based on laser ranging and optical fiber sensing, and relates to the technical field of measurement and sensing, and the method comprises the steps: S1, collecting laser and optical fiber data, obtaining real strain through temperature coupling compensation, and calculating global pose parameters; s2, generating an eigenmode component based on the real strain and the global pose parameter, and screening and constructing an intelligent feature vector according to the contribution degree of the physical coupling feature; s3, constructing a physical information driving state estimation model in combination with pipe joint mechanical constraints, and outputting a pipe joint state estimation value in real time; s4, performing construction deviation prediction by using the pipe joint state estimation value, and generating an optimal control sequence and instruction; and S5, applying the control instruction to the construction device, and adaptively updating the key parameters of the system through a meta-optimization algorithm based on feedback. And through multi-modal data fusion and physical constraint intelligent prediction, high-precision deviation correction, closed-loop robust control and system self-adaptive optimization of the pipe joints are realized, and the intelligence and long-term precision of tunnel pipe curtain construction are improved.

The invention relates to the technical field of geological information, and discloses a precise positioning method and system based on geological mineral product three-dimensional modeling, and the method comprises the steps: deploying a laser ranging array, a micro-seismic array and a fiber grating sensing array, and synchronously collecting multi-source deformation and stress data; after space-time alignment and filtering, an improved ICP algorithm is adopted to reconstruct a millimeter-level precision three-dimensional point cloud model; a safety coefficient cloud picture is calculated by combining a geomechanical constitutive equation, and a risk area is automatically delineated according to a three-level threshold value; and closed-loop control instructions such as voice alarm, thermodynamic diagram pushing, grouting coordinates and avoiding paths are generated. The system is composed of a sensing deployment unit, a data preprocessing unit, a point cloud reconstruction unit, a mechanical analysis unit, a risk delineation unit and an instruction distribution and execution unit. Millimeter-level positioning, sub-hour-level early warning and full-automatic intervention of goaf deformation are achieved, the early warning accuracy rate exceeds 95%, the emergency response is shortened to the minute level, and mine safety and mining efficiency are improved.

The invention relates to the technical field of image quality optimization, and discloses a hunting camera imaging quality optimization method based on multimode data fusion. The method comprises the following steps: acquiring a visible light image, a thermal infrared image, a laser ranging point cloud and inertial measurement unit data, and carrying out space-time alignment and registration to form synchronous multimode data. A controllable imaging parameter set and scene context description information are separated by performing joint feature extraction on synchronous data. And for each parameter to be optimized, the system retrieves a plurality of candidate strategies from the imaging optimization knowledge base by taking the current value and the scene context as query conditions, selects an optimal strategy through fusion decision calculation, and finally generates and executes a global imaging parameter optimization instruction set to control a camera to complete image capture. According to the method, intelligent optimization of imaging parameters based on depth scene understanding is realized, and the image quality and adaptability of the hunting camera in a complex environment are improved.

The embodiment of the invention discloses a laser ranging method and device, laser ranging equipment and a storage medium. The method is based on laser ranging equipment, and the ranging equipment comprises a control unit, a laser and a sampling unit. The method comprises the following steps: performing phase delay control and delay output control on the laser through the control unit, so that the laser transmits a plurality of laser pulse signals to a measured target in sequence according to a preset delay step length after phase delay; the laser pulse signal is reflected by the measured target to form an echo signal; sampling the plurality of echo signals through the sampling unit to obtain a plurality of groups of first sampling data; each echo signal corresponds to a group of first sampling data; and through the control unit, based on the multiple groups of first sampling data, determining the detection distance of the detected target. According to the invention, the precision of laser ranging is effectively improved in a low-cost manner.

The invention provides a temperature drift compensation method, device and equipment for laser ranging in a low-temperature scene and a medium, and the method comprises the steps: building a temperature-drift model through the fine calibration of a laboratory; laser temperature measured by the double temperature sensors is obtained, the laser chip temperature is obtained through Kalman filtering, and a temperature-drift model is called to calculate the wavelength drift distance and the power drift distance at the current temperature; calculating a TEC target temperature compensation amount according to the wavelength drift amount, and calculating a driving current compensation amount according to the power drift amount; and based on the driving current compensation amount, a digital-to-analog converter is adopted to update laser driving current compensation power drift, so that the problem of low track detection precision by adopting laser ranging in a severe low-temperature environment is solved.

The invention relates to the technical field of safety rope processing, and discloses a quantitative cutting machine for safety rope processing and manufacturing, which comprises a workbench, a support shaft, a cutting mechanism, a transverse moving mechanism, an end clamping mechanism, an auxiliary blanking mechanism and a material receiving box, the support shaft is rotatably connected to the right end of the workbench, and a plurality of bosses are fixed on the support shaft; an anti-skid rubber sleeve is fixed to the outer side of the boss, the cutting mechanism is located on the left side of the supporting shaft and installed on the workbench, the end clamping mechanism is located on the left side of the cutting mechanism and connected with the transverse moving mechanism, and the transverse moving mechanism is installed on the workbench. Synchronous cutting of multiple safety ropes can be achieved through multiple bosses of the supporting shaft, multiple through grooves of the cutting mechanism and multiple positioning grooves of the end clamping mechanism, and efficiency is improved; the cutting length is accurately controlled by a laser distance measuring sensor and a PLC (Programmable Logic Controller); and after cutting, the end clamping mechanism loosens the rope, a pressing plate of the auxiliary discharging mechanism presses the rope downwards, and the rope falls into a collecting box through a discharging groove, so that materials are automatically collected, and manual operation is reduced.

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.

The invention discloses a laser sensor welding seam tracking method, and relates to the technical field of welding seam tracking, and the method comprises the following steps: S1, point position adjustment: enabling the measurement range of a laser ranging module to cover a to-be-measured welding seam area by adjusting the point position of a welding robot; and S2, measuring the Z-direction distance of the welding seam, emitting a laser pulse through a laser ranging module, receiving light reflected from the surface of the welding seam, and calculating the Z-direction distance of the welding seam based on the round-trip time of the laser pulse. A two-dimensional contour image of a welding seam is converted into a three-dimensional welding seam contour model, through an image processing and pattern recognition algorithm, the specific position and shape of the welding seam are extracted to accurately recognize the welding seam, high-precision positioning and dynamic tracking of the welding seam are achieved, it is ensured that a welding seam path is located in an optimal measurement area all the time, and the leakage detection risk is reduced.

The utility model provides a calibration device, which is used for calibrating a base of laser annealing equipment, and mainly comprises at least three laser range finders, the laser range finders are arranged above the base, the at least three laser range finders are located at the same horizontal height and are not collinear, and the laser range finders are used for measuring the vertical distance between the laser range finders and the base; the plurality of adjusters are arranged on the edge of the base, and the adjusters are used for adjusting the levelness of the base; and the controller is electrically connected with the laser range finders and the plurality of adjusters respectively, and the controller controls the plurality of adjusters to adjust the levelness of the base based on the at least three vertical distances measured by the at least three laser range finders. The levelness of the base can be monitored in real time based on the laser range finder no matter whether the laser annealing equipment is executing the laser annealing process or not, the levelness of the base is adjusted in real time through the adjuster, the adjusting time of the levelness of the base can be shortened, and the adjusting efficiency can be improved.

The invention discloses ground penetrating radar equipment based on an all-wheel-drive unmanned aerial vehicle and an underground geological three-dimensional map construction method, and relates to the technical field of three-dimensional map construction. The invention aims to solve the problems of terrain information perception distortion, difficulty in constructing a three-dimensional geologic model which is fused with terrain information and has space authenticity and the like caused by vehicle bumping and inclination in the prior art of integrating a ground penetrating radar into an intelligent unmanned vehicle platform for underground detection. According to the integrated structure design of the all-wheel-drive unmanned aerial vehicle integrated ground penetrating radar, the attitude of the whole unmanned aerial vehicle is kept stable when the unmanned aerial vehicle carries the radar for flight operation, data loss and noise introduction caused by attitude jitter of the unmanned aerial vehicle in the radar acquisition process are reduced, and a data foundation is laid for subsequent accurate three-dimensional geological map construction. According to the multi-sensor fusion method, the absolute precision of RTK, the high resolution of laser ranging and the dynamic response characteristic of an accelerometer are fully utilized, and the centimeter-level absolute position of the unmanned aerial vehicle, the height of the unmanned aerial vehicle to the ground and the absolute altitude of the ground surface below a scanning point are obtained. According to the invention, decoupling control of six degrees of freedom corresponding to the full-drive unmanned aerial vehicle is realized, so that the unmanned aerial vehicle can fly close to the rugged topography, and automatic and full-coverage scanning path flight is carried out with a constant ground clearance and a stable attitude.

The invention discloses a single-photon non-vision-field target tracking system based on an unmanned aerial vehicle platform, which belongs to the field of non-vision-field imaging and is characterized in that a laser is connected with a scanning galvanometer assembly through a first nanosecond optical path switch and an optical fiber circulator to form an emission optical path for emitting laser pulses to relay reflecting surfaces corresponding to four predetermined positioning points; the scanning galvanometer assembly is connected with the photon detector through the collimating optical fiber, the optical fiber circulator and the second nanosecond optical path switch to form a receiving optical path capable of receiving echo photons; the main control module is electrically connected with the laser, the first nanosecond light path switch, the second nanosecond light path switch, the scanning galvanometer assembly, the photon detector, the time-to-digital converter and the high-frequency inertial measurement unit respectively, and can control each component to perform laser ranging, double-window gating, single-photon detection, inertial measurement unit sampling and timing according to a unified time sequence; and the three-dimensional coordinates of the current non-vision target are calculated by using the distance measurement data through an ellipsoid intersection solution method, so that non-vision target tracking is realized.

The invention discloses an auxiliary positioning device for mounting and welding a steel structure, relates to the technical field of steel structure welding, and aims to solve the problems of deviation and low accuracy during positioning of the device. According to the technical scheme, the device is characterized in that a laser ranging module is integrated on the outer side of a clamping mechanism and comprises at least four sets of laser emitters distributed in a spatial orthogonal mode, the four sets of laser emitters form a spatial positioning matrix, the deflection angle of a component is calculated through a triangulation method, and three-dimensional space coordinates of the component and a target installation point are collected in real time; and an industrial PLC and a welding deformation prediction algorithm module are arranged in the controller, and the controller is used for receiving the three-dimensional coordinate data of the laser ranging module. The controller generates the pre-compensation amount through the welding deformation prediction algorithm module, drives the hydraulic clamping jaw to adjust the pose through PID control according to laser ranging data, monitors the clamping pressure, the positioning precision and other parameters in real time, triggers an alarm and protection mechanism when the parameters are out of tolerance, and ensures the accuracy and safety of the welding process.