4009 results about "Laser ranging" patented technology

A microprocessor circuit that is used to monitor and control a firearm. The microprocessor circuit accomplishes this by monitoring various sensor & control inputs, and acting on these inputs to execute user defined functions. The microprocessor circuit can use the sensory input to determine firearm statistics. These statistics can include the number of times the firearm has been shot, the efficiency of the firearm automatic action, range-to-target, and et cetera. The firearm system can also use a combination of sensors to fabricate a bullet chronograph whereby the muzzle velocity of a cartridge can be determined. These statistics can be date-stamped and recorded into memory. Statistics from Law Enforcement firearms can be used for courtroom evidence and police reporting. These statistics can also be used for firearm maintenance and warranty repair. The microprocessor circuit can display the statistical data to the user via simple light emitting diodes, or sophisticated liquid crystal displays. Data can also be downloaded to a computer docking station as well. The microprocessor circuit can also display the information within the optics of a riflescope. When used in conjunction with a laser range finder sensor, the microprocessor circuit can adjust the electronic cross-hairs (reticle) to compensate for the bullet trajectory.

The invention discloses an automatic-navigation crawler-type mobile fruit picking robot which comprises a mechanical execution system and a control system and is characterized in that the mechanical execution system comprises an intelligent movable platform, a fruit picking mechanical arm and a two-finger type manipulator, wherein the intelligent movable platform comprises two crawler assemblies, an experimental facility fixing rack, a supporting stand column, a cross beam, a speed reducer and the like; and the control system comprises an industrial personal computer, a motion control card, a data collecting card, an image collecting card, an encoder, a GPS (global position system), a monocular zooming camera assembly, a binocular camera, a laser ranging sensor, a control circuit and the like. The automatic-navigation crawler-type mobile fruit picking robot integrates the fruit picking mechanical arm, the two-finger type manipulator, the intelligent movable platform and the sensor system, integrates multiple key technologies such as fruit identification, motion of the picking mechanical arm, grabbing of a tail-end executer, automatic navigation and obstacle avoidance of the movable platform, and the like, and really realizes automatic and humanized fruit picking.

The invention discloses a transformer station inspection tour robot positioning navigation system and a method. Confidence obtained by a laser range finding module and a dead reckoning module is outputted to a map creation module and a pose resolving module; the map creation module creates a laser road sign map and a laser grid map which show a robot operation environment and are inputted into a map storage module for storage; the posture resolving module utilizes map data in the map storage module and output data of the dead reckoning module to perform real-time calculation on the current position and the posture of the robot and accesses the obtained posture data into a path planning module and a motion control module; the path planning module generates robot operation path data which is outputted to the motion control module; the motion control module generates motion control quantity according to the current position and posture data of the robot and the path planning data, and then is driven to execute by a motor. The transformer station inspection tour robot positioning navigation system realizes the accuracy positioning of the inspection tour robot in the transformer station.

A closed-loop LRF pointing technology to measure the range of a target satellite from a chaser satellite for rendezvous is provided that includes several component technologies: LOS angle measurements of the target satellite on a visible sensor focal plane and the angles' relationships with the relative position of the target in inertial or LVLH frame, a relative navigation Kalman filter, attitude determination of the visible sensor with gyros, star trackers and a Kalman filter, pointing and rate commands for tracking the target, and an attitude controller. An analytical, steady-state, three-axis, six-state Kalman filter is provided for attitude determination. The system and its component technologies provide improved functionality and precision for relative navigation, attitude determination, pointing, and tracking for rendezvous. Kalman filters are designed specifically for the architecture of the closed-loop system to allow for pointing the laser rangefinder to a target even if a visible sensor, a laser rangefinder, gyros and a star tracker are misaligned and the LOS angle measurements from the visible sensor are interrupted.

The invention relates to a welding track detection and control method of plate butt weld based on laser ranging, including the following steps: A. track detection is carried out; B. track identification and extraction are carried out; C. track control is carried out; D. the relative position relation between a welding gun and a welding seam is adjusted at last by performing mechanism actions. In the invention, the information of welding seam profile is obtained by transverse scanning of a laser sensor, and welding seam is rebuilt after effective wave filtering treatment to realize three-dimensional detection of the welding seam; simultaneously, the welding track curve is obtained by fit while detecting welding seam by using dynamic B spline fit algorithm, and the track control is carried out in combination with constant speed B spline track interpolation algorithm, thereby fundamentally solving the problem of track detection and control in automatic welding of plate butt weld. By using the method in the invention, the field test welding has welding profile identification precision of 0.15mm and welding track identification precision of 0.2mm, and the welding speed is more than four times of common manual welding.

The present invention is directed toward systems for conducting laser range and enabling optical communication between a plurality of entities and to the application of such systems in a secure covert combat identification system. In one embodiment, the present invention uses a novel laser system that generates high pulse rates, as required for optical communications, while concurrently generating sufficiently high power levels, as required by laser range finding operations. One application of the present invention is in enabling secure covert communications between a plurality of parties. Another application of the present invention is in tracking and identifying the movement of objects.

A portable self-standing electromagnetic (EM) field sensing locator system with attachments for finding and mapping buried objects such as utilities and with intuitive graphical user interface (GUI) displays. Accessories include a ground penetrating radar (GPR) system with a rotating Tx/Rx antenna assembly, a leak detection system, a multi-probe voltage mapping system, a man-portable laser-range finder system with embedded dipole beacon and other detachable accessory sensor systems are accepted for attachment to the locator system for simultaneous operation in cooperation with the basic locator system. The integration of the locator system with one or more additional devices, such as fault-finding, geophones and conductance sensors, facilitates the rapid detection and localization of many different types of buried objects.

The present invention relates to laser ranging and detection by sequentially emitting a plurality of beams from a vertical-cavity surface-emitting laser (VCSEL) structure, re-directing the beams through optical elements such that they are fanned out over the region of view, and detecting any beams that may be reflected by objects in the region of view. The range and bearing of such objects can be determined from the beam time-of-flight and beam angle.

An embodiment may comprise a camera based target coordinate measuring system or apparatus for use in measuring the position of objects in manner that preserves a high level of accuracy. This high level of measurement accuracy is usually only associated with more expensive laser based devices. Many different arrangements are possible. Other embodiments may comprise related methods of using a camera based target coordinate measuring method for use in measuring the position of objects. Many variations on the methods are possible. For example, a camera based coordinate measuring system for use in measuring the position of a target relative to at least one frame of reference without requiring use of a laser range finder for measuring distance may comprise at least three or more light sources located on a target wherein the light sources are located on the target at known three-dimensional coordinates relative to each other; at least one rotatable mirror rotatable on about a first axis and a second axis; a camera located to receive light emitted by the light sources that is reflected off the minor; two angular measuring devices to measure the angles of rotation of the mirror about the first and second axes; and a processor for determining up to three positional degrees of freedom and up to three rotational degrees of freedom of the target.

The invention discloses a mobile robot three-dimensional mapping and obstacle avoidance method based on a space bag of words model. The method comprises following steps: 1) collecting Kinect sensor data, and using a space bag of words model which fuses spatial relationships to describe scene image features 2) describing robot three-dimensional SLAM by means of the SDBoW2 model of the scene image to realize closed loop detection, three-dimensional point cloud registration, and graph structure optimization and therefore creating a global environmental three-dimensional point cloud density map; 3) the robot using the created global three-dimensional map and the Kinect sensor information to perform indoor real-time obstacle avoidance guiding. The method is aimed at low cost mobile robots without speedometers or laser distance measuring sensors; reliable real-time three-dimensional map creation and obstacle avoidance can be realized depending only on Kinect sensors; the method can be applied in long time mobile robot operation service at large area of indoor environment such as household places and office rooms, etc.

A laser range finder includes a circular in-sight field of view which incorporates within it a magnified "TV view" of the target area with the TV view roughly approximating the rectangular shape of a standard television picture. Also within the circular field, over and under the TV view, are a target quality indicator, a range distance display, and other indicators. Within the TV view is a targeting reticle which indicates roughly the footprint of ranging laser pulses such that a target can be selected. The target quality indicator is a bar graph which displays the number of identifiable received reflected laser pulses from a series of such pulses emitted by the range finder. By aiming the range finder at various targets via the footprint reticle, repeatedly firing the range finder and monitoring the target quality graph for each firing, a user can move the range finder to find a surface proximate the target with a reflective quality sufficient to yield an accurate target range reading. Alternatively, with a range finder equipped with Scan mode capability, the range finder can be slowly panned across multiple targets with the range to each target being displayed, in sequence, on the range display.

The invention relates to the technical field of mobile robot autonomous navigation and particularly relates to an omnidirectional mobile robot autonomous navigation apparatus and method based on a laser range finder. The omnidirectional mobile robot autonomous navigation apparatus based on the laser range finder comprises an encoder for measuring the movement distance of wheels of a mobile robot, and an inertia measurement unit for measuring the rotation angular velocity and the acceleration of the mobile robot. The encoder and the inertia measurement unit are connected with a controller. The omnidirectional mobile robot autonomous navigation apparatus also comprises the laser ranger finder which is connected with a host computer. The host computer is connected with the controller, and the controller is connected with an execution unit. The invention utilizes the laser range finder to position the mobile robot, establishes a two-dimensional planar map of the environment, carries out autonomous navigation according to a target task, and achieves autonomous obstacle avoidance in the movement.

An indoor surveying apparatus comprises a 2D range finder, means for automatically aligning 2D range finder data and computing a 2D map of the environment, a calibrated optical imaging system for capturing images of environment, and means for establishing positions and extents of walls, doors, and windows and for drawing floor plans using the computed 2D map and calibrated images where 2D range finder data is missing. It is further contemplated that the imaging system can also be part of the range finder, that the range finder can be a scanning laser range finder, that the imaging system can include a panoramic lens with 180 degree field of view, that the apparatus can further include an IMU, an electronic compass, a panoramic rotator, and means for measuring positions of points on the floor using the image data.

A compact optical payload for an unmanned aircraft includes two infrared cameras for wide and narrow field viewing, a daylight color camera, a laser pointer and a laser range finder.

The invention provides a system for a pilotless plane to automatically avoid a barrier and an avoiding method of the system. The system comprises a laser distance measuring device, a plane-mounted signal control system, a plane-mounted air route database, a plane-mounted communication system and a navigational flight control system. The system particularly has good avoiding function to small barriers such as a high-voltage cable and the like due to the designed laser fan-beam scanning device and simultaneously can emit a plurality of light beams to the barrier within a short time, thereby solving the problem that the measured data are inaccurate as single-beam laser is easily blocked by particulate matters such as mist, foam, dust and envapour in the air in the past and improving the anti-interference capacity of the laser distance measurement and making the pilotless plane with the automatic avoiding device to efficiently, and therefore, the pilotless plane provided with an automatic avoiding device can complete the flight mission in a relatively complicated geographical environment safely and quickly.

The invention discloses a three-dimension laser sensor and two-dimension laser sensor combined calibration method. Distance measuring mutation characteristics produced when two-dimension laser is used for scanning a calibration plate with clearance in the middle. Mapping relevance between a data matrix of a straight line, where the clearance is located, in a laser sensor local coordinate system and a data matrix of the straight line, where the clearance is located, in an unmanned intelligent cart coordinate system is utilized to rectify rotating gestures of laser sensors. On the basis of the rectification, point cloud data of a protruding rectangular object in a level scene is further extracted, and horizontal moving rectification is conducted according to an ICP iterative optimization algorithm. Consequently, combined calibration of a three-dimension laser distance detection sensor and a plurality of two-dimension laser distance detection sensors is achieved.

A laser distance measuring device (1) includes a laser diode (4) for emitting a high frequency intensity modulated measurement light beam (3) and connected with a signal generating unit (SGU) that generates a high frequency measurement signal (9) for high frequency signal transfer, at least one receiver photodetector (8a) for receiving a measurement light beam (3) reflected from a measurement object (5) and connected to a high frequency demodulator (13) for generating a low frequency phase delay signal (S₁) containing phase information of the reflected intensity modulated measurement light beam (3), and a microcontroller (μC) for calculating a distance (D) from the phase delay signal (S₁) and connected to the high frequency demodulator (13), with the microcontroller (μC) being connected to a control photodetector (8c) arranged in the measurement light beam (3) for low frequency transfer for determining an interference modulation component.

An apparatus for generating structural data of a structure. The apparatus includes a scanning laser range finder that produces reflectance data of the structure. The apparatus includes a memory which stores the reflectance data. The apparatus includes means for determining desired spatial relationships of the structure from the reflectance data. A method for generating structural data of a structure. The method includes the steps of producing reflectance data of the structure with a scanning laser range finder. There is the step of storing the reflectance data in a memory. There is the step of determining desired spatial relationships of the structure from the reflectance data.

The invention discloses an intelligent vehicle-mounted GPS (global positioning system) navigation anti-collision warning system which consists of a GPS navigation module, a speed computation module, a central processing unit, an early warning signal module, an environment sensing module, an infrared distance measuring module, a radar speed distance module, a laser distance measuring module, an ultrasound distance measuring module, an image collecting module, an information processing module, an image processing module, a tail warning device, an audio video system, a display screen and an early warning power amplifier, wherein the speed is detected by the GPS, and the distance is detected by the distance measuring module, dangers which can cause tailgating at the front and at the back of a vehicle can be founded in time, so that a driver can be warned to travel normally and drive safely, functions of GPS navigation and audio video are realized, and no part of a vehicle control system needs to be changed.

The invention discloses a three-dimensional environmental information collection and reconstitution system and method. The three-dimensional environmental information collection and reconstitution system comprises two-dimensional laser range finders, a panorama camera, a rotating platform, an airborne processor, a power supply, a base, a wire sliding rail, a signal collector, a motor, a speed reduction gear set, a panorama camera supporting frame and a connecting rod. The connecting rod, the airborne processor and the power supply are arranged on the base, the connecting rod is sequentially sleeved with the speed reduction gear set, the wire sliding rail and the rotating platform from bottom to top. The panorama camera supporting frame and the panorama camera are sequentially arranged on the top of the connecting rod from bottom to top. The signal collector is fixed to the lower surface of the rotating platform, one or more two-dimensional laser range finders are fixed to the upper surface of the rotating platform, the two-dimensional laser range finders are located below the panorama camera supporting frame, and the motor is arranged on the speed reduction gear set. The three-dimensional environmental information collection and reconstitution system is large in measurement view angle and long in measurement distance, and accurate and abundant in information, a generated model has a very good view angle effect, abundant original environmental information can be provided, and the cost is relatively low.

The invention discloses an indoor unknown structure identification method based on laser scanning. The method comprises the following steps of designing a data structure of laser scanning data, and determining a global map coordinate system used in the scanning process; adopting a laser rangefinder to obtain laser scanning data, calculating the distance between scanning points with adjacent angles, and performing denoising pretreatment, generating a scanning contour of the indoor structure; saving the global coordinates of various points in the scanning contour into a database, and establishing a three-dimensional environmental point cloud by combining height sensor information; and according to the scanning contour and the environmental point cloud, identifying an indoor unknown environmental structure and barrier information. The method provided by the invention is complete in structure and real-time in data processing, and has strong adaptability and expandability.

A dual-frequency laser ranging method and a device based on polarization state regulation and wavelength synthesis belong to the technical field of laser application. In absolute distance measurement and relative displacement measurement, the method adopts the same frequency stabilized laser as a measuring light source, realizes organic integration of absolute distance measurement and relative displacement dynamic measurement through the control of a polarization rotator and wavelength tuning of acoustooptic frequency shifters and simultaneously meets the requirements on extra long distance precise measurement and fast local displacement ultraprecise monitoring. The device comprises an acoustooptic frequency shifter A and an acoustooptic frequency shifter B, a reflecting mirror A and a reflecting mirror B, a frequency control unit A and a frequency control unit B, a polarization rotator, a polarization splitter B and a laser wavelength split and synthesis unit formed by partial optical splitters. The invention has the advantages of both extra long distance ultraprecise measurement capability and integral formation, etc.

The invention discloses a method and a system for monitoring paving thickness of a high-level highway pavement in real time, belonging to the field of road construction quality control. The method comprises the following steps: erecting an automatic tracking total station nearby a paving site, determining the position of an erection point through a resection survey method according to the known point coordinate, positioning and tracking a 360-degree prism according to enough short time interval by utilizing the automatic tracking total station, measuring the inclination angles of a transverse beam and a longitudinal beam of a platform trolley in the device by adopting an inclinometer, and measuring the distance from the transverse beam to the paved pavement by adopting a laser distance measuring sensor arranged on the transverse beam; calculating three-dimensional coordinates (x, y, z) of the position points of the paved pavement measured by each laser distance measuring sensor according to a spatial geometrical relation between each laser distance measuring sensor and the prism; projecting to obtain elevation z0 of the position point on a datum plane before paving; solving the difference between elevations z and elevation z0 to obtain the paving thickness; and judging whether the paving thickness at the position point accords with the control standard, otherwise, transmitting alarm information. The method is mainly applied to road construction quality control.

The invention discloses a multi-frequency synchronization phase laser ranging device and a method based on dual-acousto-optic shift frequency, relates to the technical field of laser ranging, and mainly relates to a phase laser ranging technology, solving the problem that a device and a method which can achieve both of the synchronism and stability of multiple measuring tapes are in lack in the existing phase laser ranging technology. The multi-frequency synchronization phase laser ranging device based on dual-acousto-optic shift frequency comprises a dual-longitudinal-mode stable frequency He-Ne laser, a multi-measuring-tape generating unit, a bundle expanding and collimating lens set, a light path and circuit measuring unit and a control box unit. The multi-frequency synchronization phase laser ranging method based on dual-acousto-optic comprises the following concrete steps: step one, switching on the dual-longitudinal-mode stable frequency He-Ne laser; step two, taking one beam oflaser as a reference laser beam, and taking the other beam of laser as a measurement laser; step three, taking (f'+f2)-(f+f1) as the accurate measurement tape frequency, and taking a low-frequency electric signal f1-f2 as the rough measurement tape frequency; and step four, moving a measuring cone prism to the target end. The device and the method are used for phase laser ranging.

A full-face vehicular detection method for a railway tunnel lining and a device aim to avoid collision of ground penetrating radar antennas with an overhead line system and a support of the overhead line system, the detection speed is a normal running speed of a train, the antennas in full-face detection are not interfered with each other, automatic positioning is realized during detection, only ground penetrating radar signals in a tunnel need to be acquired, and a penetrating radar signal processing and analyzing method in tunnel detection is modified. The vehicular device comprises a six-channel high-speed scanning penetrating radar, a positioning portion, a laser ranging portion and data acquisition and processing software. The pulse repetition frequency of the ground penetrating radar is 3MHz, the pulse repetition frequency of each channel is 500kHz, and the scanning rate is 976scan/s. The ground penetrating radar is provided with TEM (transverse electric and magnetic field) short-horn air coupled antennas, each group of antennas realizes a double-transmission and single-receiving function, and the center frequency of the antennas is 300MHz. The ground penetrating radar antennas are mounted outside passenger train connectors, radiation surfaces of the antennas respectively face to an arch crown, arch springing and side walls, and the full-face vehicular detection method and the device are used for automatically detecting to exam the railway tunnel lining.

The invention relates to a wide range high accuracy fast laser distance measuring method and device based on multiple frequency synchronous condenser. The multiple frequency modulating signals are taken characteristic pre-compensation weight summarizing at laser emitting unit. After compounding, the laser power is modulated to take distance measuring. Synchronous band pass filter frequency selection and phase determination method is used to taken signal process. The method could gain the distance measuring result of distance measuring frequency in multiple frequency modulating distance measuring, and gain the final distance result. The distance measuring speed and real time is ensured. It also avoids measuring error coursed by the location movement of the target.'

The invention provides a multi-probe spherical near field channel calibration device and method. The device comprises a tool, a rotary shaft, a telescopic arm, an orienting antenna, a laser range finder, a first rotary table control system and a second rotary table control system; the tool is arranged on a rotary table and is provided with the rotary shaft; the telescopic arm is arranged on the rotary shaft and is provided with the orienting antenna; the orienting antenna is provided with the laser ranger finder; the first rotary control system is arranged to be connected with the tool and is used for controlling the tool to move left and right or up and down; the second rotary table control system is connected with the rotary table and is used for controlling the rotary table. By adopting the scheme, the orienting horn antenna is adopted as the calibration antenna to precisely calibrate the multi-probe spherical near field measuring data of the antenna, and the influence to the antenna performance caused by a backward ground when an omnidirectional antenna is used is avoided.

The invention relates to an intelligent anti-collision system of a novel AGV for material handling. The system comprises a vehicle-mounted master control unit, an environment detecting unit, an action executing unit, an alarming unit and a remote control unit. The anti-collision system can achieve bidirectional multilayer protection on an AGV body. Forward protection of the AGV is achieved through a laser radar, an arc-shaped anti-collision buffer belt and a camera. Backward protection of the AGV is achieved through a laser distance measuring sensor and a U-shaped anti-collision buffer belt. A protection area of the anti-collision system is divided into a monitoring layer, a speed reduction layer and a parking layer from far to near. The detection data of the environment detecting unit are processed by the master control unit, and the AGV is controlled to execute corresponding actions, namely, normal running or speed reducing posture adjustment or parking. When a parking event occurs, the alarming unit gives an alarm, and the remote control unit is informed to carry out remote processing. The intelligent anti-collision system can effectively reduce the collision probability of the AGV, and the vehicle body is protected.

The invention relates to a multi-combination laser radar device and a scanning method thereof. The multi-combination laser radar device comprises a base, a radar installation structure, a plurality of laser ranging components, a time calculation unit, an MCU (micro-control unit) main control component and a communication interface, the radar installation structure is arranged above the base, the laser ranging components are arranged on the radar installation structure and comprise multiple groups of laser transmitters and multiple groups of laser receivers, each group of laser transmitters comprise a plurality of transmitting units on the same vertical plane, laser emergence angles respectively transmitted by the transmitting units sequentially deviate predetermined deflection angles along the vertical direction, and each group of laser receivers comprise a plurality of receiving units on the same vertical plane and are respectively used for receiving laser signals transmitted by the corresponding transmitting units. The multi-combination laser radar device is novel in structure and rich in function and can scan three-dimensional information of detected peripheral objects, peripheral environments can be conveniently monitored in real time, and actions of acquired point cloud data are sufficiently played.

An embodiment may comprise a camera based target coordinate measuring system or apparatus for use in measuring the position of objects in manner that preserves a high level of accuracy. This high level of measurement accuracy is usually only associated with more expensive laser based devices. Many different arrangements are possible. Other embodiments may comprise related methods of using a camera based target coordinate measuring method for use in measuring the position of objects. Many variations on the methods are possible. For example, an embodiment may comprise a camera based coordinate measuring system for use in measuring the position of a target relative to at least one frame of reference without requiring use of a laser range finder for measuring distance comprising: at least three or more light sources located on a target at known three-dimensional coordinates relative to each other; at least one rotatable camera rotatable on about a first axis and a second axis wherein the camera records positions of the light sources; and two angular measuring devices to measure the angles of rotation of the camera about the first and second axes; and a processor for determining up to three positional degrees of freedom and up to three rotational degrees of freedom of the target.