1131 results about "Laser sensor" patented technology

The invention relates to a method and device for measuring pitch deviation based on a line laser sensor, and the method comprises the following steps: S1, calibrating the position of the line laser sensor, and obtaining the coordinate value of a coordinate system of the line laser sensor in a measurement coordinate system; s2, installing a tested gear; s3, adjusting the relative position of the line laser sensor and the measured gear; selecting a measured position in the tooth surface area of the gear teeth of the measured gear, adjusting the position of the line laser sensor, and recording the sum of the offset of the adjusted line laser sensor relative to the center of the measured gear along the x axis and the y axis in the effective measurement range of the line laser sensor at the measured position; s4, performing zero returning operation on the angle sensor of the rotating shaft of the tested gear; and S5, controlling the detected gear to rotate along the center line of the detected gear. According to the method and the device, the pitch deviation can be measured in a non-contact mode, excessive calibration and leveling are not needed before detection, and the measurement efficiency and the measurement precision are both improved.

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 invention relates to the technical field of lithium battery processing, in particular to a semi-solid lithium ion battery core lamination correction device which comprises a rack, a pole piece correction mechanism, a negative pressure adsorption mechanism and a manipulator. During working, the manipulator places a pole piece on the correction platform, and the sensor detects the position deviation of the pole piece; then, a first alignment module and a second alignment module of the pole piece correction mechanism alternately move in the diagonal direction of the correction platform, force is sequentially applied to the two adjacent sides of the pole piece, and the pole piece is gradually corrected to the reference position. After correction, the surface state of the pole piece is detected through a laser sensor or a CCD, and if warping exists, the negative pressure adsorption mechanism applies uniform adsorption force through the negative pressure holes in the correction platform, so that the pole piece is flatly attached to the table top. According to the device, position correction and surface leveling are carried out step by step, action interference is prevented, the control precision and reliability are improved, meanwhile, metal scraps on the surfaces of pole pieces can be removed through negative pressure adsorption, the uniformity of the internal structure of a laminated battery cell is effectively improved, and the performance and the service life of the battery are improved.

The invention discloses a method for detecting gluing defects and a storage medium thereof, and relates to the technical field of gluing detection.The method comprises the following steps that S10, a line laser sensor scans a gluing workpiece to obtain a gluing workpiece point cloud, and scans an unglued standard workpiece to obtain a standard template workpiece point cloud; s20, fitting to obtain a reference plane of a workpiece point cloud of a gluing workpiece point cloud standard template, and intercepting a gluing to-be-detected area point cloud and a template to-be-detected area point cloud; s30, point cloud registration is carried out on the point cloud of the gluing to-be-detected area and the point cloud of the template to-be-detected area; s40, performing point distance threshold judgment on the point cloud of the to-be-detected gluing area after registration, and performing separation to obtain a pure colloid point cloud; and S50, judging that the point cloud of the pure colloid in the region is unqualified according to the fact that the cross section width and the cross section area of the point cloud of the pure colloid are smaller than a preset threshold value. According to the invention, the gluing defect can be detected more accurately, and the efficiency is high.

The invention discloses a magnesia carbon brick automatic detection method based on a laser sensor, and the method comprises the following steps: A1, carrying out the multi-angle scanning of the surface of a magnesia carbon brick through a line laser scanner, and generating high-precision three-dimensional point cloud data; a2, inhibiting graphite reflection interference on the surface of the magnesia carbon brick by adopting a polarization filtering system, and compensating a temperature drift error in real time by fusing an infrared thermometer; and step A3, preprocessing the point cloud data through GPU accelerated parallel computing. The invention relates to the technical field of magnesia carbon brick detection. According to the magnesia carbon brick automatic detection method based on the laser sensor, a polarization extinction technology and a multi-source interference compensation mechanism are fused, the problem of high-reflection surface data acquisition distortion is solved, the point cloud integrity is ensured, interference factors such as production line vibration and dust are actively inhibited, and the detection stability is ensured.

The invention relates to the technical field of path planning, and discloses a multi-sensor dynamic path planning method and system for a teaching-free welding robot of a large iron tower component, and the method comprises the steps: collecting multi-sensor synchronous data through a laser sensor, a visual sensor and an arc sensor, and solving segmented calibration parameters; calculating three-dimensional position data of the welding seam by combining the segmented calibration parameters and the synchronous data of the multiple sensors; performing error compensation on the three-dimensional position data of the welding seam at the segmented switching point to obtain a welding seam track position; according to the method, error prediction and real-time correction are carried out at the segmented switching points, accumulated positioning deviation is effectively restrained, high-precision teaching-free welding of the long-distance welding seam of the large iron tower component is achieved, and the welding quality of the long-distance welding seam of the large iron tower component is improved. The technical problems that a traditional method is low in precision and poor in efficiency are solved.

The invention relates to the technical field of industrial measurement, and discloses a cylinder inner wall detection method and system based on a standard jig. The method comprises the following steps: acquiring scanning point cloud data of a standard circular tube jig; a radial deviation sequence is calculated based on the known inner diameter, cosine function fitting is carried out, and an eccentric parameter is calculated to carry out XY-axis iterative correction; calculating a laser inclination angle based on the corrected jig point cloud; obtaining the mixed point cloud, and segmenting the mixed point cloud into a jig point cloud set and a workpiece point cloud set based on the radial distance; calculating a mapping coefficient and performing coordinate conversion on the workpiece point cloud; and performing circular ring fitting by using a least square algorithm to output an inner diameter detection result. The problem of an inner wall imaging blind area is solved by obliquely installing the line laser sensor, and relative measurement is achieved through the standard jig to eliminate system errors.

Exemplary embodiments of the present disclosure are directed towards a method for detecting and identifying container number in real-time. Monitoring vehicle carrying containers and triggering first camera, second camera, third camera, fourth camera, fifth camera, and laser sensors to capture container views by pre-processing module. Transmitting containers image data to computing device by the pre-processing module. Detecting container number region in container image frames by visual object detection module. Cropping container number region by visual object detection module. Applying two-dimensional Fast Fourier Transform on cropped container number region. Segmenting each character situated in container number region by segmentation and character classification module. Classifying each character situated in container number region by segmentation and character classification module. Arranging characters in order based on relative positions of characters to obtain container number information by segmentation and character classification module. Aggregating container image frames and generating container number by post-processing module.

The invention relates to the technical field of weak signal conditioning circuits, and discloses a multi-light-source spurious noise suppression circuit based on a laser sensor and a signal conditioning method, and the circuit comprises a photoelectric conversion module which is used for converting a received optical signal into a current signal; the transimpedance conversion module is connected with the photoelectric conversion module, converts the current signal into a first voltage signal and suppresses common-mode noise; the first-stage amplification module is used for carrying out linear amplification on the first voltage signal and outputting a second voltage signal; the programmable filtering module is used for carrying out high-frequency noise suppression on the second voltage signal; the reverse phase adjusting module is used for adjusting the phase and the amplitude of the filtered signal so as to adapt to a post-stage load; and the feedback control module analyzes the frequency spectrum of the output signal in real time and dynamically adjusts the cut-off frequency of the programmable filtering module. The invention aims to solve the problems that in the prior art, a laser sensor circuit is poor in anti-interference performance in a multi-light-source environment, and measurement is inaccurate due to spurious noise.

The invention discloses a large-scale rotary equipment blade three-dimensional profile measurement and point cloud splicing method and system based on line laser, and belongs to the technical field of precision measurement and computer image processing. Reading a CAD model of a to-be-measured blade, extracting geometric features of the blade by a system, and analyzing the geometric features to generate a plurality of measurement path candidate sets; a measured blade is fixed on a rotary table, a multi-dimensional measurement movement mechanism is adopted to carry a line laser sensor to scan the surface of the blade step by step according to a planned final path, and accurate three-dimensional point cloud data is obtained; the method comprises the following steps: after acquiring point cloud data of a blade, initially aligning the scanned point cloud data in combination with position information of equipment; the optimized ICP algorithm is used, a transformation matrix between the point clouds is continuously adjusted through an iteration mode, the distance between the point clouds is minimized, mismatching and noise influences are further reduced, and therefore accurate registration is achieved. The invention aims to solve the problems of low precision and poor efficiency of aero-engine blade three-dimensional profile measurement.

The invention discloses a welding robot welding seam tracking and self-adaptive control method, which belongs to the technical field of welding robots, and comprises the following steps: S1, initial parameter setting: presetting initial welding parameters of a welding robot according to the material, thickness and welding process requirements of a to-be-welded workpiece; s2, welding seam initial positioning, wherein a visual sensor or a laser sensor is used for positioning a welding starting point; s3, welding seam feature extraction, wherein an image or a laser reflection signal of a welding seam area is collected in real time through a sensor; s4, welding seam tracking control, wherein the extracted welding seam geometric features are compared with a preset welding seam model; and S5, self-adaptive control: analyzing the cause of deviation. The welding robot welding seam tracking and self-adaptive control method has the advantages that welding seam tracking precision and stability are improved, welding parameter self-adaptive adjustment is achieved, the image processing and feature extraction process is optimized, an incremental parameter adjustment mode is adopted, and the welding robot welding seam tracking and self-adaptive control method has the welding quality detection and repair welding functions and the like.

The invention discloses an intelligent illegal behavior identification method and system based on multi-algorithm fusion, and relates to the technical field of image analysis. The method comprises the steps of collecting a region image sequence, identifying real-time personnel density information, adjusting the scale of a laser curtain wall region based on the personnel density information, forming a self-adaptive monitoring boundary, when a laser sensor detects an intrusion event, recording the intrusion moment and intrusion characteristics, calling an intrusion region image set, and obtaining the intrusion region image sequence; and analyzing the intrusion area image set by adopting an ensemble learning-based violation behavior recognition network group to obtain an interactive violation behavior recognition result, fusing the interactive violation behavior recognition result with the intrusion characteristics, introducing personnel density information to carry out environment adaptive compensation calculation, and outputting a final violation behavior recognition result. According to the invention, through fusion of image analysis, laser triggering and environment perception, high-robustness and high-accuracy intelligent identification of illegal behaviors in scenes such as subway security check is realized.

The invention relates to the technical field of stacking systems, in particular to a flexible stacking system for multi-variety bent finished products, which comprises a visual identification module configured to scan plates to be stacked through a 3D laser sensor, generate point cloud data and extract the following parameters: a size set of planar plates, including length, width and thickness; curvature distribution and barycentric coordinates of the bending piece; and the dynamic stack type planning module is connected with the visual identification module and is configured to calculate interlayer offset based on pyramid stacking constraint, and the interlayer offset is the current height, is a safe inclination angle and is smaller than or equal to 15 degrees. The plate combination is calculated in real time based on the greedy backtracking algorithm, the space utilization rate is increased to 92% (the traditional system is smaller than or equal to 75%), the small plate filling response time is smaller than or equal to 0.5 second through a temporary storage area scheduling mechanism, and gap waste is reduced.

The invention provides automatic welding equipment and a welding method thereof. The automatic welding equipment comprises a line laser sensor, a contact sensor, an electric arc sensor, a control system and automatic welding equipment, the welding instruction generation method comprises the following steps that a to-be-welded groove is scanned through the laser sensor to obtain a groove interface contour of the groove; the welding instruction is generated according to the groove interface contour; scanning the groove to be welded through the laser sensor to obtain a groove interface contour of the groove; and the welding instruction is generated according to the groove interface contour, and the technical problem that multi-layer and multi-pass welding equipment and a welding method are in a blank is solved.

The invention discloses handheld steel fireproof door fireproof performance in-situ nondestructive testing equipment and a use method, and belongs to the technical field of fireproof door fireproof performance determination. In order to solve the problems that an existing method lacks an effective in-situ nondestructive testing means and the actual fire resistance of a fireproof door in use cannot be accurately judged, handheld in-situ nondestructive testing equipment for the fire resistance of the steel fireproof door is designed, during testing, electric suction cups on the two sides of the equipment are adsorbed to the fireproof door, and a laser sensor rapidly measures the thickness of the fireproof door; the ultrasonic eddy-current sensor is used for measuring fireproof door steel plate thickness; the X-ray sensor is used for measuring the compactness of the fireproof door filling material by using the X-ray propagation time; and comparing the measured data with a qualified fireproof door to obtain the fireproof performance of the measured fireproof door. Compared with the original fireproof door sampling detection equipment and method, the equipment and method can realize portable in-situ nondestructive detection, quickly judge the performance of the fireproof door, prevent inferior products from entering the market and protect the property and life safety of people.

The application discloses a robot area traversal method and belongs to the field of intelligent robots. The method first judges whether a feedback signal of a laser sensor is received when the robot receives a start signal for starting traversal, and when the feedback signal of the laser sensor is not received, the robot can rely on sensors such as a photosensitive sensor, a gyroscope and an odometer to perform area traversal in a non-laser navigation mode, so as to clean the bottom area of furniture with a relatively low bottom space, thereby improving the application range of the robot and remarkably improving practicability.

A calibration tool for a beam profiler is disclosed. The calibration tool includes an integrating sphere configured to receive laser light emitted from a laser and generate diffuse laser light. A sensor system is configured to output an expected intensity value of the diffuse laser light. An interface is configured to align a beam profiler with the integrating sphere to direct the diffuse laser light to be incident on an array of pixels of a beam sensor of the beam profiler. The array of pixels of the beam sensor is configured to output a plurality of native intensity values of the diffuse laser light. A computing system is configured to calibrate the beam profiler based at least on differences between the plurality of native intensity values of the diffuse laser light and the expected intensity value of the diffuse laser light.

The utility model discloses an on-line thickness measurement identification device for laser welding materials, which relates to the technical field of laser ranging and comprises a conveying line, fixing frames are fixedly mounted on two sides of the conveying line, adjusting columns are symmetrically mounted on the surfaces of the fixing frames, a vertical positioning rod is mounted on the adjusting column on one side, and a vertical lead screw is mounted on the adjusting column on the other side. The periphery of the lead screw is in threaded connection with an adjusting frame, the side, away from the lead screw, of the adjusting frame is slidably connected with the periphery of the positioning rod, and air cylinders are symmetrically installed at the bottom of the adjusting frame and connected with laser sensors. According to the device, the laser sensor is adopted to automatically measure the thickness of the plate, traditional manual measurement is replaced, the measurement precision and the measurement efficiency are effectively improved, the plate is compacted and flattened in cooperation with the pressing wheel, the influence of plate warping on the measurement precision is eliminated, and the measurement precision is improved.

The invention discloses a quartz sand proppant turbidity online detection method based on laser scattering, and relates to the technical field of industrial online detection. The high-precision laser sensor is used for collecting scattering signals, and a wavelet threshold denoising algorithm is combined, so that impurity noise and particle size heterogeneity interference are effectively removed, real-time online detection of the turbidity of the quartz sand suspension is realized, and the production efficiency and the timeliness of product quality control are remarkably improved; a particle swarm optimization algorithm is utilized to dynamically adjust detection parameters, an environmental influence model is established to quantify the influence of temperature and flow velocity changes on scattering signals, and a least square method is adopted to fit residual errors for correction, so that the detection precision and stability are further improved, and the reliability of a detection result under a complex working condition is ensured; the online turbidity value is monitored in real time, a feedback mechanism is triggered to automatically adjust production line parameters, and intelligent quality control is achieved.

The utility model discloses a novel skin tension length detection device for passenger car side skin tension equipment, which relates to the technical field of automobile production and comprises an air cylinder and a PLC (programmable logic controller), a laser sensor is arranged outside the air cylinder and electrically connected with the PLC, and the PLC is electrically connected with the air cylinder. And a reflecting plate is arranged on a piston rod of the cylinder in a position corresponding to the laser sensor. According to the utility model, the tensioning process of the welding skin tensioning equipment can be digitally displayed and the production flow can be automatically controlled, the laser sensor can accurately detect the tensioning length, and the tensioning amount can be displayed in real time through the human-computer interaction interface, so that the purpose of accurate detection is realized, the stability and safety of detection data are effectively ensured, and the production efficiency is improved. Meanwhile, the maximum tensioning value of the skin of each trolley can be automatically stored and recorded, automatic control over traditional equipment operated according to experience is achieved, and the qualified rate of the skin tensioning quality and the traceability of production data are improved.

The invention relates to the technical field of tunnel settlement data acquisition and analysis, in particular to a tunnel settlement data acquisition method and system based on laser ranging, and the method comprises the following steps: S1, equipment is a monitoring device comprising a holder and two laser ranging sensors with a fixed included angle, the first sensor horizontally points to the side wall of a tunnel, and the second sensor horizontally points to the side wall of the tunnel; the second sensor points to the tunnel vault at an included angle theta; s2, point distribution and base point selection, wherein monitoring points are distributed in the tunnel according to a preset rule, and a zero reference point is arranged in a stable area of a tunnel portal; in the scheme, through integration of the double laser sensors and automatic holder scanning, high-density and high-precision automatic continuous data acquisition of the tunnel section is realized, and the defects of low efficiency and insufficient coverage of a traditional method are overcome; meanwhile, by means of intelligent coordinate transformation, a deformation calculation model and a multi-stage early warning mechanism, real-time calculation, trend prediction and graded automatic alarm of settlement and convergence parameters are achieved.

The invention discloses an unbalanced point position angle detection device for a spindle of a magnetic suspension molecular pump, and mainly relates to the technical field of dynamic balance detection. Comprising a laser sensor, a plurality of first grooves are formed in one side of a shaft peak, fixed magnets are arranged in the first grooves, movable magnets attracted with the fixed magnets are further included, a movable seat and a sliding plate are symmetrically arranged on the two sides of a base in a sliding mode, and a first arc face making contact with the side face of a main shaft is arranged on the movable seat. The sliding plate is provided with a first vibration sensor making contact with the movable base, the first vibration sensor is electrically connected with the laser sensor, and the device further comprises a driving motor driving the main shaft to rotate on the movable base. The beneficial effects of the invention are that the laser sensor is matched with the vibration sensor to measure the relative angle of the unbalanced point, the problem that the searching of the dynamic balance point of the main shaft is not visual enough is solved, the frequency of searching and adjusting the unbalanced point is reduced, and the efficiency of detecting the dynamic balance of the main shaft of the magnetic suspension molecular pump is improved.

The invention discloses a mechanical arm driven gear clamping and measuring system and method. The mechanical arm driven gear clamping and measuring system comprises a PC end, a data collecting and processing unit, a measuring fixing platform, a clamping and measuring integrated mechanical arm and a transmission gear platform. The PC end is electrically connected with the data collecting and processing unit, the data collecting and processing unit is electrically connected with the clamping and measuring integrated mechanical arm, and the measuring fixing platform and the transmission gear platform are arranged on one side of the clamping and measuring integrated mechanical arm; a turntable is rotatably mounted on a chassis of the clamping and measuring integrated mechanical arm, a mechanical lower arm is rotatably mounted on the turntable, a mechanical upper arm is rotatably mounted on the mechanical lower arm, a mechanical tail end arm is rotatably mounted on the mechanical upper arm, and a spherical switching structure is rotatably mounted at the tail end of the mechanical tail end arm. And a clamping jaw and a three-dimensional laser sensor are rotationally mounted on the spherical switching structure. The device is compact and reasonable in overall structure and has high automation and environment adaptability, and the online measurement efficiency and the quality control level of a gear production line are improved.

The invention is suitable for the field of safety net production, and provides a safety net warp knitting machine which comprises a warp knitting machine body, a body integrated controller, a tension detection unit, a needle bed execution unit, a knit defect monitoring unit and an execution driving unit. The core is that an intelligent tension dynamic adjusting module, a mesh specification parameterization adaptation module and a multi-mode knit defect early warning and self-repairing module are arranged in the controller; according to the invention, the intelligent tension dynamic adjustment module corrects control parameters in real time through a self-adaptive PID algorithm, and tension fluctuation is controlled within + / -0.5 N; the mesh specification parameterization adaptation module and a needle bed are subjected to closed-loop positioning through a pre-stored parameter library, and the specification switching time is smaller than or equal to 5 minutes; according to the multi-mode knit fault early warning and self-repairing module, through image + laser sensor multi-source fusion, the knit fault detection rate reaches 100%, and the slight knit fault self-repairing success rate is larger than or equal to 90%. The three-level module cooperates with hardware, safety net weaving precision, production flexibility and intelligent level are remarkably improved, and the system is suitable for efficient batch production of safety nets of multiple specifications.

The invention discloses an intelligent test system and method for dust wettability by a natural sedimentation method, and relates to the technical field of dust wettability testing, the system comprises a liquid storage and preparation subsystem, a dust loading and sedimentation subsystem, a liquid circulation and waste liquid treatment subsystem, and a data acquisition and environmental parameter regulation and control feedback subsystem; inputting the prepared target solution into a settling chamber, selecting a spray dust falling or dust infiltration settling mode, testing the wettability of the dust under different temperature, concentration and pH conditions, naturally putting the dust into the settling chamber by adopting an air compression pump and a porous plate, capturing the settling state of the dust at any time through a laser sensor and a high-speed camera lens, and finishing settling to obtain the target solution. And the waste liquid is filtered. The system provides a full-automatic and high-precision solution for dust wettability testing, integrates the functions of environmental parameter regulation and control, dynamic monitoring and waste liquid treatment, is suitable for dust suppressant performance evaluation and dust wetting mechanism research in the fields of mines, environmental protection and the like, and realizes precise regulation and control of dust suppressant preparation.

The invention discloses a robot in-situ line laser measurement system and a calibration method, a six-degree-of-freedom robot is adopted to carry a line laser sensor, a human-computer interaction interface is developed, and the measurement efficiency and reliability are improved; besides, in order to improve the measurement precision, a neural network optimized by an intelligent algorithm is adopted to compensate the positioning error of the tail end of the robot, a calibration model is constructed by measuring a standard cylinder, and solving is carried out through a penalty function method, so that the measurement attitude of the laser sensor is obtained, and the three-dimensional coordinates of a measurement point are analyzed. According to the invention, the measurement efficiency can be improved, and the measurement precision and reliability can be ensured, so that the adaptive capacity for the measurement requirements of aerospace large complex components is enhanced.

The invention relates to the technical field of state monitoring of rail transit equipment, and discloses a rack rail train gear online detection system and method, and the system comprises a laser sensor array module; a visual perception assembly module; a trigger module; and a data processing module. The method comprises the following steps: synchronously acquiring vertical distance data and an image sequence; applying an optical flow algorithm to track an image sequence to calculate a gear rotation angle; installing errors and vehicle vibration are separated through cross-correlation and low-pass filtering, and distance data are corrected; reconstructing the full-circle geometric contour of the gear according to the rotation angle; and finally, geometric deviation and surface damage are judged based on contour and image analysis. According to the invention, through multi-modal data fusion and error decoupling, high-precision automatic on-line detection of the gear of the rack rail railway vehicle under the dynamic passing working condition of the vehicle is realized, and the problems that the traditional off-line dismounting detection efficiency is low and early damage cannot be found in time are solved.

The invention relates to the technical field of metal shell production equipment, and discloses a three-roller plate bending machine metal shell automatic production line which comprises a side frame and a control table arranged on one side of the side frame and further comprises a conveying assembly, a positioning assembly, a dynamic grinding assembly, an electric welding assembly, a feeding assembly and a plate bending machine assembly. According to the automatic production line for the metal shell of the three-roller plate bending machine, through a screw rod of the plate bending unit and an automatic discharging structure of a discharging push plate, the traditional operation that the three-roller plate bending machine is manually carried and withdrawn is replaced, the problems that the efficiency is low and the shell is prone to collision deformation caused by manual transfer are solved, meanwhile, a laser sensor automatically positions the position of a welding seam, and the production efficiency is improved. And in cooperation with automatic feeding driven by a servo motor, feeding of an electric welding head controlled by an electric telescopic rod and movement of a polishing head controlled by a rotating motor, automatic connection of the whole process of feeding, plate rolling, welding and polishing is achieved, and the production period is greatly shortened.

The invention provides a manipulator AWC calibration method and system based on delay compensation, and belongs to the technical field of semiconductor manufacturing equipment automation. The method comprises the steps that when the operation speed of a manipulator is low, the position of a sensor in a robot basic coordinate system is calculated; when the operation speed of the manipulator is full speed, inversely solving the radius of the wafer according to the position of the sensor in the robot basic coordinate system and the position of the manipulator when the sensor is triggered; in the process of inversely solving the radius of the wafer, constructing a delay compensation model; and delay verification is conducted on the constructed delay compensation model, when the verification result is that calibration succeeds, the high-speed control mechanical arm stretches out of the station, and the delay compensation model is adopted for deviation correction. The problem that AWC calibration precision is reduced due to signal transmission delay under the high-speed working condition is solved, and laser sensor base coordinate calibration and wafer circle center positioning errors under high-speed movement are reduced.

The invention relates to the field of machinery, in particular to a drum type rotary filter screen driving device. According to the device, a power output gear is meshed with a first transmission gear and a second transmission gear at the same time; the first transmission gear, the second transmission gear and the power output gear are all installed on the gear disc. The chain disc is connected with the replacement control gear through a transmission chain; the replacement control gear drives the gear disc to rotate; the laser sensor monitors the states of the first transmission gear and the second transmission gear; the water pipe is erected above the drum-shaped filter screen rack; a high-pressure nozzle is arranged at the end of the water pipe; an angle adjusting unit is arranged at the joint of the high-pressure nozzle and the water pipe; the lubricating oil nozzle is arranged in a gap between the first transmission gear and the power output gear; and the control unit is used for receiving the gear abrasion loss information of the laser sensor and starting water filling, transmission gear replacement or lubricating oil adding of the lubricating module. According to the invention, the service cycle is prolonged, the drum net out-of-service time is reduced, and the reliability of equipment is ensured.