2079 results about "Laser sensor" patented technology

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

The invention relates to the technical field of semiconductor manufacturing, in particular to an accurate detection method and system for a flat-edge sheet wafer placement rotary chuck, and the method comprises the steps: when a wafer is placed on the rotary chuck, scanning the lap joint condition of a wafer edge and a chuck contact area through a laser sensor, and obtaining the real-time distribution data of an edge lap joint sheet; flat edge position information is extracted from the edge lap joint distribution data, an image matching algorithm is adopted to compare a preset orientation reference, and a specific angle value of orientation deviation is determined; according to the orientation deviation angle value and the edge lapping piece distribution data, the rotating speed and the angle of the rotating chuck are adjusted through a cooperative control algorithm, and a final positioning result of the wafer on the chuck is obtained; after a final positioning result is obtained, the in-place state of the wafer is classified and judged through a deep learning model, and whether the residual deviation or wafer lapping phenomenon exists or not is determined; and extracting abnormal data from a classification judgment result, and adjusting collaborative parameters of carrying and placing according to the abnormal data to obtain an optimized process control scheme.

The invention relates to the technical field of motor shaft size detection, in particular to motor shaft size detection equipment which comprises a detection table, a fixing mechanism, a length detection mechanism, a diameter detection mechanism and a cleaning mechanism. The length detection mechanism comprises a top plate, a detection plate, a first laser distance measuring sensor and a moving assembly, the cleaning mechanism comprises a transverse plate, an electromagnet, a sponge eraser, a telescopic assembly, a rotating assembly and a transmission assembly, and the diameter detection mechanism comprises a sliding frame, a sliding assembly and two second laser sensors. The length of the motor shaft can be detected, the diameter of the motor shaft can be obtained by arranging the two second laser sensors, the length and the diameter of the motor shaft can be synchronously detected by using one detection device, and the size detection efficiency of the motor shaft can be improved.

The invention proposes an underwater target intelligent recognition system based on multi-sensor fusion, and relates to the technical field of underwater target recognition, and the system comprises an underwater robot which is provided with an optical sensor, an acoustic sensor, a three-dimensional laser sensor, and a water quality environment sensor; the data acquisition module is used for synchronously acquiring original multi-modal data and water quality parameters from the underwater robot; the data preprocessing module is used for generating preprocessed multi-modal data; the multi-modal feature fusion module is used for extracting each modal feature from the preprocessed multi-modal data and generating a fusion feature; the target recognition and positioning module is used for processing the fusion features by adopting a target detection network and outputting the category, the position and the confidence of the underwater target; and the intelligent analysis output module is used for comprehensively analyzing the information of the underwater target and generating an analysis result and visual data. According to the invention, the limitation of a single sensor can be overcome, and the underwater target can be accurately and stably identified by combining an intelligent algorithm.

The invention relates to the technical field of fire coal control, and discloses a thermal power plant fly ash floating black online detection control method and system, and the method comprises the steps: 1, employing microwave, infrared and laser sensors for cooperative work, detecting carbon dielectric characteristics through microwave dust interference resistance, identifying thermal radiation difference through infrared, and analyzing particle distribution through laser; 2, on the basis of the detection requirements in the step 1, triple protection of air curtain barrier, ultrasonic cleaning and hydrophobic coating is designed, dust condensation is blocked, and it is ensured that the light transmittance of the sensor is larger than 90%; the invention provides a multi-mode sensing fusion-anti-interference current stabilization-closed loop optimization full-link solution for the industrial problem of signal distortion caused by optical window dew formation and dust deposition, airflow disturbance and environmental interference in fly ash floating black online detection. The light transmittance of the optical window is greater than 93% by combining triple protection of air curtain barrier, ultrasonic cavitation stripping and nano hydrophobic coating.

The invention relates to the technical field of gear shaft bending amount detection, in particular to a detection device for measuring gear shaft gear reference circle bending amount, which comprises a workbench, and a floating support block and a fixed support block for horizontally supporting a gear shaft are mounted on the workbench. A driven center seat assembly and a driving center seat assembly which are used for axially fixing and rotationally driving the gear shaft are further mounted, and meanwhile, a laser sensor assembly and a plurality of displacement sensor assemblies are further mounted, and the displacement sensor assemblies are located on the outer side of the optical axis of the gear shaft and the round end faces of ejector pin heads at the two ends; the laser sensor assembly is located on the outer side of a gear of the gear shaft and used for measuring the bending amount and the bending angle of the gear shaft. The device can solve the problem that it is difficult to detect internal points of the gear on the gear shaft to reflect the bending amount of the gear at present, and compared with a previous shaft part detection device, the device has the advantages of being high in detection precision, capable of achieving automatic detection, quite suitable for the transportation rhythm of a shaft part production line, safe, reliable and the like.

The invention discloses a cable eccentricity online monitoring method based on multi-point laser ranging, and relates to the technical field of cable manufacturing and detection, and the method comprises the following steps: twelve laser displacement sensors are uniformly arranged at the periphery of a cable core to be detected, the sensors are arranged at fixed intervals of 30 degrees, and a closed annular monitoring array is formed; the method is used for synchronously acquiring radial distance data from the surface of the cable core to the inner wall of the insulating layer at each measuring point. Full-circumferential real-time monitoring is achieved through the high-density laser sensor array, the measurement precision is guaranteed through multi-algorithm fusion and temperature compensation, a closed-loop feedback control mechanism is formed in combination with production equipment, the problems of eccentricity detection blind areas, error interference and manual lag are effectively solved, and the quality consistency and production efficiency of cable manufacturing are improved.

The utility model relates to the technical field of sewage treatment, and discloses an intelligent dosing device which comprises an intelligent dosing box body, a liquid outlet pipe and an automatic valve, one end of the liquid outlet pipe communicates with the bottom of the intelligent dosing box body, the automatic valve is arranged at the other end of the liquid outlet pipe, and a mixing mechanism is arranged in the intelligent dosing box body. A dosing mechanism is arranged at the top of the intelligent dosing box body, and the mixing mechanism comprises a liquid level laser sensor, an electric cylinder, a connecting rod, a supporting frame I, a filter screen I, a supporting frame II and a filter screen II. According to the intelligent medicine adding device, by adjusting the height of a first supporting frame, when the first supporting frame drives a first filter screen to move downwards, the first filter screen extrudes medicine powder dough to the top of a second filter screen, the first filter screen and the second filter screen crush the medicine powder dough, medicine can be fully mixed, and the concentration of a medicine solution is closer to the preset concentration; therefore, the quality of medicament concentration is improved.

The invention discloses a crane boom deflection measuring device, and relates to the technical field of crane auxiliary equipment.The crane boom deflection measuring device comprises a base and a remote control end, a first stand column is connected to the upper portion of the base through a bearing, a second stand column is fixedly connected to the upper portion of the first stand column, and a connecting table is welded to the top of the second stand column; a connecting support is welded to the upper portion of the connecting table, a driving machine is installed in the middle of the connecting support, an arm frame is riveted to one side of the connecting support, a compensation mechanism is installed at the bottom of the arm frame, a hanging ring is fixedly connected to the bottom of the compensation mechanism, and an electric hoist is arranged on the hanging ring. A first laser sensor, a second laser sensor and a third laser sensor are installed on the bottom face of the arm support, the compensation mechanism comprises a disc, a first sliding groove and a second sliding groove are formed in the disc, and a sliding rod is installed below the first sliding groove. And the stability of the arm support is improved.

A servomotor cylinder inner wall scratch robot self-adaptive additive and subtractive material repairing method based on three-dimensional measurement is characterized in that a six-axis mechanical arm is integrated with a line laser sensor and milling, laser cladding and constant-force grinding and polishing tools, and automatic repairing is achieved. A regular groove body is milled through a slicing method and a rectangular-ambulatory-plane strategy; a workpiece coordinate system is built at the bottom of the groove, a bow-shaped layered alternate path is adopted for filling materials, and the laser power and the powder feeding rate are adjusted by measuring, matching and correcting the path according to the characteristics of the groove; and finally, a surplus height boundary is scanned and extracted, a rough grinding path is generated with the scratch trend as the benchmark, fine polishing is conducted through a reciprocating zigzag strategy, parameters are dynamically adjusted in combination with closed-loop feedback, and smooth transition between a cladding layer and the original surface is achieved. The method solves the problems of long construction period and low precision of traditional repair, integrates multiple processes and high-precision measurement, improves the repair efficiency and quality, and is suitable for on-site rapid maintenance of hydroelectric equipment.

The invention relates to the technical field of laser ranging, in particular to a laser ranging method and a laser ranging sensor, and the method comprises the steps: obtaining a laser pulse signal transmitted by the laser sensor and a received echo signal; obtaining a spectrogram of the echo signal, and extracting candidate peak points and peak intervals thereof; judging whether each candidate peak point is a peak point or not; converting the frequency domain signal in the peak interval of each peak point to obtain a characteristic echo signal; obtaining an interfered index of the characteristic echo signal corresponding to each peak point; obtaining a local signal change degree of each characteristic echo signal in each filtering window; obtaining an optimal filtering window by combining the endpoint difference of the peak interval between the peak points; and filtering the characteristic echo signal of each peak point, and calculating distance data according to the phase difference between the laser pulse signal and the filtered characteristic echo signal. The invention aims to improve the ranging precision and efficiency of the laser ranging sensor.

The invention belongs to the technical field of insulator dip-coating equipment, and discloses a suspension insulator dip-coating device which is characterized in that a workpiece loading and unloading assembly and a trough moving assembly electrically slide on a ground rail, and at least two dip-coating machine head assemblies which are sequentially arranged in the length direction of the ground rail are arranged between a workpiece height measuring assembly and the trough moving assembly; the workpiece loading and unloading assembly is provided with at least two workpiece chucks arranged in the width direction of the ground rail. The dip-coating machine head assembly is provided with at least two electric clamping mechanisms arranged in the width direction of the ground rail. The lower end of each workpiece chuck is connected with a chuck jacking mechanism; a first ranging laser sensor is arranged on one side of each workpiece chuck; the workpiece height measuring assembly is provided with at least two second distance measuring laser sensors arranged in the width direction of the ground rail. According to the insulator dip-coating machine, alternate hanging of a plurality of insulators on different dip-coating machine head assemblies and alternate coating of the different dip-coating machine head assemblies in the trough moving assembly are conveniently achieved, and the production efficiency is improved.

The invention provides an anti-falling detection unit, a photovoltaic panel cleaning robot and an anti-falling detection method.The anti-falling detection unit comprises a substrate, an ultrasonic sensor and at least one laser sensor, the ultrasonic sensor is arranged on the substrate, and each laser sensor is arranged on the substrate; the at least one laser sensor and the ultrasonic sensor are arranged at intervals in the first direction. According to the anti-falling detection unit, the ultrasonic sensor and the laser sensor are used at the same time, the ultrasonic detection mode and the light wave detection mode are combined, comprehensive detection of the edge and the gap of the photovoltaic panel is achieved, the accuracy and the reliability of signals are improved, the problem of false alarm possibly caused by a single sensor is effectively avoided, and the detection efficiency is improved. The photovoltaic panel cleaning robot is simple in structure and convenient to operate, work interruption caused by signal abnormity can be reduced, the photovoltaic panel cleaning robot can be prevented from falling off and can cross gaps between different photovoltaic panels to complete cleaning work of the multiple photovoltaic panels, and the work efficiency of the photovoltaic panel cleaning robot is improved.

The invention relates to the technical field of pipeline welding, in particular to an automatic truck pipeline welding device which comprises two sets of pipe end clamping assemblies and a pipe end connecting assembly, each set of pipe end clamping assembly comprises a first translation seat and a three-jaw chuck, and the pipe end connecting assembly comprises a positioning table, a double-shaft translation mechanism and two combined clamping mechanisms. The double-shaft translation mechanism comprises a second translation seat and two groups of sliding seats, each group of parallel clamping mechanism comprises a semicircular connecting plate and two groups of semicircular shells, a semicircular bearing is arranged in each group of semicircular shells, an arc-shaped groove is formed in the top of each semicircular connecting plate, a grinding mechanism is arranged at the bottom of one semicircular connecting plate, and a grinding mechanism is arranged at the bottom of the other semicircular connecting plate. A laser sensor is arranged on the outer wall of the other semicircular connecting plate, a positioning mechanism is arranged on the double-shaft translation mechanism, the pipe end connection assembly is used for connecting the abutting outer ends of the two pipelines, and the two combining and clamping mechanisms clamp the two pipelines during connection, so that it is guaranteed that the two pipelines can be in the coaxial state all the time.

The invention provides a track direction and height detection method and a track detection device.The track direction and height detection method comprises the steps of data acquisition, device track acquisition, compensation value acquisition, real track acquisition and track direction and height data acquisition, angular velocity data is acquired through a gyroscope, angle data is acquired through an inclinometer, and the angular velocity data is acquired through an angle sensor; the contour data of the two steel rails are collected through the line laser sensor, and the mileage data are collected through the mileage detector, so that the three-dimensional track coordinates of the track detection device can be obtained based on the angular velocity data, the angle data and the mileage data; then, based on the high-precision line laser contour data, obtaining a feature point coordinate at a specified position on the inner side of the steel rail as a rail direction compensation value, and compensating a three-dimensional track coordinate of the device by using the feature point coordinate, so as to obtain a real track coordinate at the specified position on the inner side of the steel rail along the x direction and the top surface of the steel rail along the z direction; and accurate rail direction and height data can be calculated.

The invention provides a guardrail region critical dimension detection method, which comprises a three-dimensional point cloud acquisition step, a profile positioning and extraction step and a width value acquisition step, and in the method, a three-dimensional point cloud of a guardrail region is generated through profile data acquired by a high-precision line laser sensor and corresponding mileage data, and then the three-dimensional point cloud is converted into a two-dimensional image; based on the two-dimensional image and the structural features of the guardrail, the starting point and the ending point of the guardrail are recognized, the mileage values of the guardrail are obtained, and then the mileage values of the preset detection positions can be obtained according to the mileage values of the starting point and the ending point of the guardrail and the preset standard distances between the starting point and the ending point of the guardrail and the preset detection positions. Therefore, the contour data of the predetermined detection position is extracted, and high-precision automatic detection of multiple key dimensions of the guardrail area is realized. According to the method, the two-dimensional image is used as an index to carry out positioning and contour data frame extraction, positioning is accurate, the calculation amount is small, and a result can be rapidly obtained on a track detection site.

The invention discloses a bolt fastening device and positioning method for a wind power tower. The device comprises a rack, a power unit, a positioning unit and a fastening unit, wherein the power unit, the positioning unit and the fastening unit are arranged on the rack; the power unit comprises a magnetic wheel and a driver, and the driver can drive the magnetic wheel to rotate; the positioning unit comprises a laser sensor, and the laser sensor can position the bolt position and the nut angle; the fastening unit comprises a lifting assembly and a rotating assembly, the lifting assembly comprises a sliding block and a second driver, and the second driver can drive the sliding block to ascend or descend; the rotating assembly comprises a base, a sleeve, a hydraulic wrench and a third driver, the base is fixedly connected with the sliding block, the sleeve is rotatably arranged on the base, and the third driver can drive the sleeve to rotate. According to the wind power tower drum, after the position of the bolt and the angle of the nut are recognized through the sensor, the actions such as automatic alignment and screwing of the sleeve can be achieved, the action precision is high, the labor cost is greatly reduced, and the working efficiency is improved.

The invention belongs to the technical field of circuit breakers, particularly relates to a vacuum arc extinguish chamber replacement mechanism and a calibration structure of a primary and secondary fusion pole-mounted circuit breaker, and provides the following scheme aiming at the problems that an existing vacuum arc extinguish chamber is relatively tedious to mount and dismount and the moving stroke calibration efficiency of a moving contact is low: the vacuum arc extinguish chamber replacement mechanism comprises a circuit breaker body; a plurality of shells are fixed at the top of the circuit breaker body, arc extinguish chambers are placed in the shells, and a plurality of movable conducting rods extending into the shells penetrate through the top of the circuit breaker body in a sliding manner; according to the invention, the lifting of the lifting rods is controlled through the cover plate, so that the installation and disassembly of the arc extinguish chamber can be completed synchronously, the operation is simple, and the connection stability of the moving contact and the static contact at the two ends of the arc extinguish chamber can be ensured in the installation process. The lifting touch panel is controlled to ascend and descend through cooperation of the rotating rod and the lead screw, and the lifting distance of the lifting touch panel is controlled in real time through cooperation of the laser sensor.

A quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant, characterized in that it comprises: a control module, a power module, a robot arm module, a power supply module, a sensor module, a heat sink, an audio module and a housing structure, wherein the control module, the power module, the robot arm module, the power supply module, the sensor module, the heat sink and the audio module are mounted on the housing structure, wherein the control module is respectively connected to the individual modules, iethe power module, the robot arm module, the power supply module, the sensor module, the heat sink and the audio module to control and communicate with the robot, wherein the sensor module comprises a depth camera, a laser sensor, a mobile phone recognition device, an infrared sensor, an ultrasonic sensor and a radiation dose chip, wherein the power module consists of a motor and an electronic speed controller and is thus responsible for the movement of the robot, wherein the robot arm module comprises a motor and a robot arm controller as well as an integrated NFC module on the robot arm, and wherein the power supply module comprises a battery, a power supply manager and a power supply display screen, while the audio module provides remote voice interaction.

The invention discloses a precision compensation method of a welding turntable for a welding robot, which comprises the following steps of: mounting a laser sensor on the rear side of an over-travel limiting block of the welding turntable, moving the welding turntable to an original point correction position, carrying out zero calibration on the laser sensor, outputting the original point position and the actual detection data of the welding turntable in real time by the laser sensor, the PLC performs deviation calculation on original point calibration data of the laser sensor, and a compensation value is transmitted to an internal variable of the welding robot in real time through a profinet network; the welding robot transmits the rotation angle to a variable, compensation is achieved by modifying an external shaft compensation value, and the welding robot resets the original point of the welding rotary table; and the laser sensor automatically detects the position of the welding rotary table, the PLC performs original point checking after receiving original point reset of the welding robot, a checking result is output, and the welding robot completes correction. The actual positioning precision of the rotary table can be monitored in real time, the maintenance difficulty is reduced, and visual control over the precision of the welding rotary table is achieved.

The present invention belongs to the technical field of circuit breakers, especially the vacuum arc extinguishing chamber replacement mechanism and calibration structure of the primary-secondary integrated pole-mounted circuit breaker. Aiming at the problems of the cumbersome installation and disassembly of the existing vacuum arc extinguishing chamber and the low calibration efficiency of the moving stroke of the moving contact, the following scheme is proposed. It includes a circuit breaker body, and a plurality of shells are fixed on the top of the circuit breaker body. The inside of the shell is used to place the arc extinguishing chamber. A plurality of moving conductive rods that slide through the top of the circuit breaker body and extend into the shell are provided; it also includes two lifting rods that slide on the inner walls of the two sides of the shell away from each other. In the present invention, by controlling the lifting of the lifting rods through the cover plate, the installation and disassembly of the arc extinguishing chamber can be completed synchronously. The operation is simple, and the connection stability of the moving and static contacts at both ends of the arc extinguishing chamber can be ensured during the installation process. In addition, by the cooperation of the rotating rod and the lead screw, the lifting touch plate is controlled to lift, and the lifting distance of the lifting touch plate is grasped in real time with the cooperation of the laser sensor.

A laser beam scanning system comprises a lidar system in an aircraft and a controller. The lidar system is configured to emit a laser beam into an atmosphere during flight of the aircraft; receive backscatter light generated in response to emitting the laser beam; and generate backscatter data using the backscatter light. The controller is configured to control the lidar system to move the laser beam to scan an area using a pattern that is based on a sequence of locations in the pattern being nearest to a center of the area. The controller is configured to control the lidar system to generate measurements of the area using the backscatter data generated from scanning the area.

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 relates to an automatic press-fitting system for a rotor and a spline shaft, which is characterized in that a laser sensor is used for detecting the reflected light intensity difference of a tooth crest and a tooth groove, and a PLC (Programmable Logic Controller) calculates the angular deviation of the spline shaft in real time based on a difference signal and generates a rotation instruction; after receiving the instruction, the servo motor drives the spline shaft to adjust at a certain increment angle; the suction cup tool sucks the rotor end face through a vacuum suction cup and moves to the position coaxial with the spline shaft; and the servo press drives the rotor to press with constant pressure, the PLC synchronously analyzes the press-in force and displacement, when the displacement reaches a preset range, it is judged that meshing succeeds, and when the displacement does not reach the preset range, it is judged that tooth crest interference occurs, and a reverse rotation correction process is triggered. The system can realize high-precision angle detection and dynamic correction, improves the one-time success rate of engagement of the spline shaft and the rotor, is suitable for precision assembly scenes such as a new energy automobile electric drive system and an industrial speed reducer, effectively reduces the manual intervention cost, and improves the production takt time stability.

The invention discloses a novel device and method for intelligently disassembling a waste photovoltaic silicon cell panel. The device comprises two layers of transmission rollers and a conveying belt penetrating through the two layers of transmission rollers. The main control board is integrated with a fuzzy controller and a PID (Proportion Integration Differentiation) controller, a hierarchical decision algorithm and a BP (Back Propagation) neural network are deployed on the main control board, the PID controller is connected with the fuzzy controller, and the BP neural network is used for dynamically adjusting PID parameters of the PID controller; the support is fixedly provided with a six-axis servo motor, a back plate collecting bin, an air cooling fan and a copper solder strip absorbing device, the six-axis servo motor is fixedly connected with a vacuum suction cup array, the air cooling fan is fixedly provided with an infrared imager, and the support is provided with a double-layer heat cutter head. A resistance heating module and an electromagnetic induction heating module are nested on the outer surface of the double-layer hot cutter head, and a pressure sensor, a laser sensor and a temperature sensor which are fixedly connected with the main control board are fixedly arranged on the outer surface of the double-layer hot cutter head. According to the invention, the waste photovoltaic silicon cell panel can be intelligently and accurately segmented, the dependence on manpower is reduced, and high-quality recovery of the silicon cell panel is realized.

The invention relates to the technical field of robot positioning, in particular to a BIM (Building Information Modeling)-based mobile robot positioning method, which comprises the following steps of: S1, determining an initial pose of a mobile robot in a building room at an initial moment; s2, obtaining a BIM generation type point cloud map of the building according to the three-dimensional BIM model of the building; s3, segmenting the point cloud data of the BIM generated point cloud map to obtain a plurality of voxels with the same size, recording a point cloud set in each voxel as a point cloud set X, and calculating a point cloud number mean value q and a covariance matrix C in the point cloud set X; s4, collecting an indoor LiDAR point cloud data set of the building at the current moment by using a laser sensor on the mobile robot, and carrying out downsampling processing on the LiDAR point cloud data set to obtain a downsampling point cloud set; and S5, according to the initial pose of the mobile robot, carrying out point cloud matching on the descending sampling point cloud set and the BIM generation type point cloud map through a 3D-NDT algorithm to obtain an optimal pose transformation parameter P of the descending sampling point cloud set relative to the BIM generation type point cloud map, and according to the initial pose and the optimal pose transformation parameter P, carrying out point cloud matching on the descending sampling point cloud set and the BIM generation type point cloud map. And calculating to obtain the indoor pose of the mobile robot in the building at the current moment. According to the positioning method, the mobile robot can be quickly and accurately positioned.

The invention provides a ship loader sliding barrel grounding prevention system, a ship loader and a grounding prevention method, relates to the technical field of conveying equipment, and is used for realizing grounding prevention of a sliding barrel and avoiding error detection of a laser sensor. The ship loader sliding barrel grounding prevention system comprises a sliding barrel and a telescopic mechanism. The telescopic mechanism comprises a lifting module, a telescopic piece and a trigger. The lifting module is installed on the chute tube, the telescopic piece is connected with the lifting module, the lifting module can drive the telescopic piece to stretch out and draw back, and the detection end of the telescopic piece is located below the bottom of the chute tube. The trigger is connected with the connecting end of the telescopic piece, when the trigger receives the first signal, the chute tube stops descending and the telescopic piece retracts, and when the trigger receives the second signal, the telescopic piece retracts to the position above the tube bottom of the chute tube.

The invention discloses a methane laser sensor device which comprises a laser device, the laser device comprises a laser emitting unit and a sealing cap, a closed cavity is formed between the laser emitting unit and the sealing cap, and the closed cavity is filled with methane gas with preset concentration; laser emitted by the laser emitting unit is emitted after passing through methane gas in the closed chamber; the first photoelectric sensor receives laser emitted by the laser and outputs a first electric signal; the control module acquires a first electric signal output by the first photoelectric sensor; according to the first electric signal, the position offset of the methane absorption peak in a laser wave band emitted by the laser is determined or the range of driving current output to the laser is increased, and then the position offset of the methane absorption peak is calculated; driving current output to the laser is adjusted according to the position offset, so that the methane absorption peak is located in the central wave band of laser emitted by the laser. The detection failure of the laser methane sensor is avoided, and the detection precision of the laser methane sensor is improved.

The invention relates to the technical field of image processing, and discloses an optical image noise reduction method and system of a composite imaging assembly. The method comprises the following steps: carrying out geometric correction on visible light, infrared and laser sensor data through a multi-sensor time synchronization mechanism to obtain a noise coupling matrix; generating annular and checkerboard type mask modes based on the noise coupling matrix; performing cross-band feature interaction through the conditional mask convolution block to obtain a multi-scale dense connection feature map; a double-blind-spot self-supervised learning algorithm is adopted to optimize cross-band coordination loss, and a noise reduction prediction result is obtained; and finally, edge protection processing is carried out through a block-based Wiener filter, and a final noise reduction image is obtained. The problem of noise reduction failure caused by multi-sensor noise coupling and pixel strong correlation in the composite imaging assembly is solved, and the imaging quality and target recognition precision of the composite imaging assembly in a complex environment are improved.

The invention discloses a cruise path planning system and method for an intelligent shifting vehicle, and the method comprises the steps: collecting static and dynamic obstacle information in real time through a laser sensor, a monocular camera and a depth camera, and carrying out the processing through Kalman filtering, thereby obtaining precise obstacle information; a static path planning algorithm is adopted on a known map, and an initial path is found; historical pedestrian flow information in different time periods and seasons is collected, and the predicted pedestrian density on a specific route in a future period of time is analyzed by using a convolutional neural model; and optimizing path planning according to the predicted pedestrian density and the accurate obstacle information. Static and dynamic obstacle information in the environment is collected in real time through multiple sensors, Kalman filtering is used for data fusion and processing, historical pedestrian flow information is collected, deep learning analysis is carried out through a convolutional neural network, path planning is made to be based on current obstacle information, the pedestrian high density is predicted, and path planning precision is improved. Congested road sections are avoided in advance, and the perspectiveness and rationality of path planning are improved.