1612 results about "Laser sensor" patented technology

Aspects of the present disclosure are presented for a surgical instrument having one or more sensors at or a near an end effector and configured to aide in the detection of tissues and other materials and structures at a surgical site. The detections may then be used to aide in the placement of the end effector and to confirm which objects to operate on, or alternatively, to avoid. Examples of sensors include laser sensors used to employ Doppler shift principles to detect movement of objects at the surgical site, such as blood cells; resistance sensors to detect the presence of metal; monochromatic light sources that allow for different levels of absorption from different types of substances present at the surgical site, and near infrared spectrometers with small form factors.

A multi-ladar sensor system is proposed for operating in dense environments where many ladar sensors are transmitting and receiving burst mode light in the same space, as may be typical of an automotive application. The system makes use of several techniques to reduce mutual interference between independently operating ladar sensors. In one embodiment, the individual ladar sensors are each assigned a wavelength of operation, and an optical receive filter for blocking the light transmitted at other wavelengths, an example of wavelength division multiplexing (WDM). Each ladar sensor, or platform, may also be assigned a pulse width selected from a list, and may use a pulse width discriminator circuit to separate pulses of interest from the clutter of other transmitters. Higher level coding, involving pulse sequences and code sequence correlation, may be implemented in a system of code division multiplexing, CDM. A digital processor optimized to execute mathematical operations is described which has a hardware implemented floating point divider, allowing for real time processing of received ladar pulses, and sequences of pulses.

A vehicle sensor system consisting of video, radar, ultrasonic or laser sensors, oriented to obtain a 360 degree view around the vehicle for the purpose of developing a situation or scene awareness. The sensors may or may not have overlapping field of views, or support the same applications, but data will be shared by all. Orientation of the sensor to the vehicle body coordinates is critical in order to accurately assess threat and respond. This system describes methods based on measuring force and rotation on each sensor and computing a dynamic alignment to first each other, then second to the vehicle.

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 invention relates to a DFB fiber laser sensor (1). A measurement quantity makes it possible to induce a linear birefringence between mode pairs of the laser-amplifying fiber (2) and to measure an associated beat frequency (Δν₁, Δν₂, Δν₃). According to the invention, the laser-amplifying fiber (2) has a nonrotationally symmetrical structure, so that it is possible to detect isotropic pressures p, acoustic waves or chemical substances that can be added radially to the laser-amplifying fiber (2). In a second aspect of the invention, an emission wavelength range and parameters (a, b, ΔN) of the laser-amplifying fiber (2) and also a grating period L of the fiber Bragg grating resonator (3) are coordinated with one another such that at least two different spatial modes (LP₀₁, LP₁₁^even, LP₁₁^odd, LP₂₁^even) are propagatable and it is possible to measure beat frequencies (Δν₁, Δν₂, Δν₃) between oscillatory longitudinal laser modes assigned to them. Exemplary embodiments relate to: rotationally asymmetrical fiber types, a choice of special spatial modes (LP₁₁^odd, LP₂₁^even) and/or multiple fiber Bragg gratings (3) for reducing the beat frequencies (Δν₁, Δν₂, Δν₃) below 100 GHz; and elimination of temperature influences e.g. by the detection of a plurality of beat frequencies (Δν_a, Δν_b, Δν_c, Δν_d) between different pairs of spatial modes (LP₀₁, LP₁₁^even, LP₁₁^odd, LP₂₁^even) and/or polarization modes (X, Y).

A rail sensing and analysis system utilizes a laser sensor 105, 107 to detect displacement of a rail 102, 104 resulting from loads imposed by a passing rail vehicle. Vertical and/or lateral displacements/loads may be sensed. Signatures in the resulting signals are indicative of useful information about the rail vehicle; such as wheel condition, bearing condition, truck condition, degree of bogie hunting, total load, load distribution, etc. The ratio of Lateral over Vertical force (L/V) may be used as an evaluation criterion.

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.

The invention discloses an automatic stacking and truck-loading system. According to the technical scheme of the automatic stacking and truck-loading system, goods (7) are loaded onto and unloaded from a transportation truck (2) through a robot, and the robot is a four-axis gantry type robot (5); a sucking disc device (6) used for delivering the goods (7) is arranged on the four-axis gantry type robot (5); and the four-axis gantry type robot (5) is further provided with a laser sensor (1). The invention further discloses a truck-loading method of the truck-loading system. By means of the automatic stacking and truck-loading system and the truck-loading method thereof, the goods stacking and truck-loading technology based on the laser sensor is adopted; real full automatization of the whole process including positioning inspection of the transportation truck and goods stacking and truck-loading is achieved; intelligentized positioning of a compartment of the truck is achieved, and scientific planning can be conducted on the stacking process; human cost and labor intensity of operators are lowered, and safety and reliability of truck-loading operation are enhanced; and meanwhile, equipment cost is lowered.

The invention discloses an intelligent vehicle laser sensor and an online camera calibration method. Laser data and image data are accurately calibrated via the steps of camera calibration, offline calibration of a three-dimensional laser sensor and an image sensor, time alignment of laser data and image data, and online alignment of the laser sensor and the image sensor. The calibration system can be applied to multiple different road conditions and scene, to achieve online high precision calibration of laser and an image. After the laser and the image are calibrated, the information of the two sensors can be used for comprehensively analyzing a barrier and making an accurate decision, so that the method has is significant in sensing technology of an intelligent vehicle. Therefore, the technology can be widely applied to the fields of driverless vehicle visual navigation and intelligent vehicle visual assistance driving.

A device for inspecting the inside of an underground pipe line which makes it possible to search for cavities on the outside of the underground pipe over the entire internal peripheral surface of the underground pipe, that is, not only upward of the underground pipe, but also toward both sides and downward thereof, to obtain detailed images of the inner peripheral surface of the pipe line without using a complex mechanism, and to display patterns of cracks and irregularities on the inner peripheral surface of the underground pipe by three-dimensional convergence images. The device comprises a pipe line internal self-propelled vehicle and an on-ground control unit, and the pipe line internal self-propelled vehicle is provided with a radar antenna, a camera equipped with a fisheye lens, a gyro, a laser sensor, and an infrared encoder.

The invention discloses a non-contact image measuring system, which comprises a worktable, a three-dimensionally movable camera, a laser displacement sensor and a triaxial grating bar and grating data acquisition card, wherein the camera and the laser sensor are connected with a Z-axis guide rail via a connection beam and vertically correspond to the worktable; and a servo motor can drive a slide block to move so as to enable the camera to vertically move up and down. The invention acquires images in the XY plane via the camera for plane survey, the height of each positioning point near the measured pixel is measured via the laser displacement sensor in the Z direction to work out the average value, and the distance of the camera needing to be moved when being focused is determined according to the average value, so the system can simply and quickly detect complex workpieces, increases the measurement efficiency, expands the scope of measurement and meets the measurement requirements on the images.

This invention relates to a welding carriage operable to drive across a surface of a work piece having a joint to be welded. The welding carriage comprises a number of wheels, where each wheel is pivotal around an axle and where each wheel is a magnetic wheel; the welding carriage further comprises means for supporting a welding device wherein at least one of the wheels can be flexed inwardly or outwardly so that the welding carriage can travel over curved surfaces. The welding carriage can travel over magnetizable surfaces having any direction, e.g. orientation in space. The welding carriage can carry a laser sensor arrangement arranged to detect the position as well as the direction of a joint to be welded, so that the welding carriage is applicable for performing fully automated welding.

The invention discloses a laser vision guided automatic welding track tracking system which comprises an embedded type industrial personal computer with an image processing device, a laser vision sensor, a welding robot, matched welding equipment and a workpiece clamping workbench; the laser vision sensor is installed on a welding gun in an advanced parallel manner in the welding direction through a laser sensor fixing element; the welding gun is installed on a tail end flange disc of the welding robot through a welding gun fixing element; and the embedded type industrial personal computer is connected with the laser vision sensor through a circuit. The invention also discloses a laser vision guided automatic welding track tracking method. With adoption of the laser vision guided automatic welding track tracking system and method, without the process of teaching in advance, the welding production efficiency and the adaptive ability are improved through real-time detection and tracking; and meanwhile, the problem of tracking lag caused by advanced detection is prevented, and the problem that when a sensor is too near the welding gun, large noise of coupling feature images is caused by factors including strong arc light irradiation, high temperature and smoke dusts, thus the real time and the tracking accuracy of the system are restricted is solved.

An integrated system and method of integrating fluid dispensing technologies (e.g., direct-write (DW)) with rapid prototyping (RP) technologies (e.g., stereolithography (SL)) without part registration comprising: an SL apparatus and a fluid dispensing apparatus further comprising a translation mechanism adapted to translate the fluid dispensing apparatus along the Z-, Y- and Z-axes. The fluid dispensing apparatus comprises: a pressurized fluid container; a valve mechanism adapted to control the flow of fluid from the pressurized fluid container; and a dispensing nozzle adapted to deposit the fluid in a desired location. To aid in calibration, the integrated system includes a laser sensor and a mechanical switch. The method further comprises building a second part layer on top of the fluid deposits and optionally accommodating multi-layered circuitry by incorporating a connector trace. Thus, the present invention is capable of efficiently building single and multi-material SL fabricated parts embedded with complex three-dimensional circuitry using DW.

This invention relates to one food storage volume measurement method, which comprises the following steps: using laser sensor to measure its volume and starting cameral head for shot stored into PC database; correcting according to the volume by laser sensor; measuring food storage intensity by use of pressure sensor to weight sensor above column weight and measuring sensor food column height through laser sensor; computing food column intensity according to the weight, height and pressure area; computing food storage total weight according to the intensity and volume.

The invention discloses a laser navigation system applicable to an intelligent inspection robot of a transformer substation, overcoming the problem in the prior art that navigation control positioning precision of the robot still needs to be improved. The laser navigation system comprises the following steps: step 1, configuring the robot; step 2, establishing an environment map; step 3, carrying out a laser navigation positioning test; and step 4, executing tasks at stopping points. In the step 3, a move_base packet in the laser navigation positioning test is used for doing a path plan on the map by utilizing robot position information and real-time obstacle information sensed by a laser sensor, and issuing planning speed information to a movement controller on the bottom layer, so that the robot safely arrives at an appointed target position. The invention provides the laser navigation type intelligent inspection robot of the transformer substation, which is not interfered by a strong electromagnetic field in a transformer substation environment, and is reliable to operate, accurate in navigation positioning, easy to realize and low in development cost.

The invention relates to an overhead traveling crane positioning system and a positioning method, which adopts an industrial control computer as the core, organically integrates the industrial control computer, data collection cards, a lower computer PLC and a sensor and fully displays the advantages of all the parts. Without changing the design and the control scheme of the original overhead traveling crane, the invention adopts a high-precision laser sensor and an encoder to measure and obtain the distances in the x, y and z directions of the overhead traveling crane, sends the distances into the CPU of the industrial control computer by different types of data collection cards, meanwhile, adopts the OPC technology to read the running status of the overhead traveling crane from the lower computer PLC to an upper computer: the industrial control computer through a CAN-bus, and then composes the data processing and interface display programs in Visual Basic and other high-level languages in the industrial control computer, to real time display the running position and status of the overhead traveling crane, so as to provide precise running data of the overhead traveling crane for the operator and lay a solid research foundation for the overhead traveling crane to be driven without a driver with high precision.

The invention discloses a robot positioning method and device, and is used for removing point cloud data obtained by a laser sensor according to changes in the current environment of the robot, removing the impact of dynamic obstacles in the environment, and improving the accuracy of the map created and the positioning accuracy of the robot. The method comprises the following steps of acquiring laser point cloud data, and estimating the current pose in combination with odometer information; removing the newly added laser point cloud data from the laser point cloud data when determining that there are new laser point cloud data based on the acquired laser point cloud data and the currently occupied grid map to obtain effective laser point cloud data, wherein the newly added laser point cloud data are laser point cloud data generated by objects other than obstacles marked on the currently occupied grid map, and the occupied grid map is used to mark whether there is an obstacle at the grid position corresponding to the current environment; and correcting the current pose based on the currently occupied grid map by using the effective laser point cloud data.

A sensor module (1) for measuring the distance to a target and/or the velocity of the target (50), the sensor module (1) comprising at least one laser source (100), at least one detector (200) being adapted to detect modulated laser light and at least one control element the control element (400) being adapted to vary the focus point of the laser light and/or the intensity of the laser light and/or the direction of the laser light. The control of the laser light emitted by the laser source (100) either by active optical devices as variable focus lenses or controllable attenuators or passive optical elements in combination with arrays of laser sources (100) and detectors (200) enable flexible and robust sensor modules.

The invention relates to a sea target size detection method based on vision and laser sensor data fusion Firstly joint calibration is performed on the laser radar and the camera; then recognition training is performed on the sea target by using the visual SSD detection algorithm so that the camera can accurately select the obstacles at sea; the laser point cloud data detected by the laser are projected onto a two-dimensional raster map and the point cloud in the raster map is clustered so as to obtain the total number n of the obstacles on the sea surface detected by the laser; as for the obstacles with a distance less than 80 meters, the obstacle information detected by the laser radar counts; and as for the obstacles with a distance greater than 80 meters, the information of laser and vision fusion detection is used as the final detection result. According to the method, the approximate size information of the obstacles within the range of 200 meters and the distance from the obstacle to the unmanned ship can be obtained so as to greatly make up the defect of single sensor and improve the stability and the accuracy of target detection.

The invention discloses a laser visual tracking system, which mainly comprises an industrial personal computer, wherein a COM 1 (Component Object Model) port of the industrial personal computer is connected with an X axis motor and a Z axis motor through a motor control and drive circuit; output ends of the X-axis motor and the Z-axis motor are connected with a welding torque; the controller of the welding torque and a welding machine control circuit are connected with the industrial personal computer; the industrial personal computer is also connected with a laser sensor for acquiring information on the welding torque and a workpiece in real time and delivering the acquired information to the industrial personal computer; the laser sensor is a visual sensing module and mainly comprises a camera and a laser diode; the camera is vertically aligned with the workpiece; a laser is slantwise arranged and forms an angle of 30 degrees with the laser; laser emitted by the laser irradiates the workpiece to form a narrow light strip; after the light strip is reflected or refracted by the workpiece, the light strip enters the camera to image, and the image is transferred to the industrial personal computer for processing; after the image is analyzed and processed by the industrial personal computer, an action command is emitted to the welding torque, the X-axis motor and the Z-axis motor.

The application discloses an unmanned vehicle lane dynamic obstacle detection method. The method comprises the steps of analyzing and processing the 64-wire laser data to detect and track the dynamic obstacles surrounding an unmanned vehicle; for a sector area in front of the unmanned vehicle having a higher accuracy, fusing a confidence distance theory with the 64-line laser data processing information and the motion state information outputted by the four-wire laser sensors to improve the detection accuracy of the obstacle motion states greatly; and then carrying out the time delay correction on the positions of the motion obstacles according to the fusion result; and finally, distinctively marking the positions occupied by the dynamic obstacles and the positions occupied by the static obstacles on an obstacle occupation grid map. According to the method, not only the obstacle motion information in an outdoor environment can be detected accurately, but also the dynamic obstacle position deviation brought by the sensor data processing time delay can be eliminated.

The invention discloses an automatic feeding device of a plunger piston core of an automobile fuel injection pump. The device comprises a base, a circular disc type electromagnetic vibration hopper, a linear electromagnetic vibration hopper, a plunger piston core direction adjusting mechanical arm, and a sensing and detection device, wherein the circular disc type electromagnetic vibration hopper, the linear electromagnetic vibration hopper and the plunger piston core direction adjusting mechanical arm are arranged on the base; the sensing and detection device is arranged on the linear electromagnetic vibration hopper. The circular disc type electromagnetic vibration hopper comprises a circular electromagnetic vibration hopper base and a spiral material disc connected with the vibration base; the linear electromagnetic vibration hopper comprises a linear vibration base, a linear material groove connected onto the base, and a workpiece movement pneumatic assisting device mounted on the material groove; an outlet end of the spiral material disc is in butt joint with an inlet end of the linear material groove. The direction adjusting mechanical arm is adsorbed on the base by a strong magnetic gauge stand; the sensing and detection device comprises a plunger piston core direction judging optical fiber sensor, and a workpiece in-place and displacement laser sensor. According to the automatic feeding device, the automatic oriented arrangement and transmission of the automobile fuel injection pump can be realized.

The invention discloses a dynamic signal demodulation method for a fiber laser sensor. A sensing system is established, and comprises a beat frequency signal generation part and a signal demodulation part. The beat frequency signal generation part generates a beat frequency signal and receives a dynamic signal through a sensing probe; the original beat frequency signal is demodulated into a frequency modulation (FM) signal by the dynamic signal; the FM signal is input into the signal demodulation part and demodulated by an FM demodulator to form a modulation signal, namely, the dynamic signal; and the modulation signal is subject to analogue-digital (AD) conversion through an AD data acquisition card and then processed by a digital processing circuit to obtain the frequency and acceleration parameters of the dynamic signal. Through the invention, the dynamic signal demodulation method is free from influence of light-intensity variation, electromagnetic interference and the like; and compared with the known fiber dynamic demodulation method, the dynamic signal demodulation method is easy to implement and ensures stable and reliable operation and low cost.

The invention discloses a raster map building method based on local map splicing.The method comprises the following steps that 1, a robot scans and records environment information; 2, scanning data points are filtered to remove useless points; 3, local raster maps are calculated based on the filtered data through a ray tracking method; 4, sift feature points and corresponding feature descriptors of the local raster maps under two adjacent poses are calculated; 5, according to relevancy of the feature descriptors, the feature points are ranked, and feature points with small feather feature descriptors are filtered away; 6, the two local maps are subjected to iterative closest point algorithm ICP, and a transformation matrix of the two local maps is calculated; 7, the steps 1-6 are repeated, a transformation matrix of the whole path is recorded and completed, and finally data is merged to obtain a global raster map.The map is built through one-time laser data, so that the estimation error of the map is mainly the observation error of a laser sensor, and no estimation error exits.

The invention discloses a method for creating a 3D map based on a 3D laser, and belongs to the technical field of data processing. The method comprises the steps of performing rich information processing on point cloud data obtained by a 3D laser sensor to obtain an ordered laser point cloud data frame; performing feature extraction on the point cloud data frame to obtain feature points of the point cloud data frame; optimizing a transformation matrix according to an LM algorithm, and enabling the transformation matrix capable of enabling the sum of squares of distance errors of the matching of all feature points to be the minimum to serve the pose of radar; transforming each frame of the point cloud data into a point cloud map under a global coordinate system according to the pose of theradar, and transforming the point cloud map into a map expressed by voxels. According to the invention, rich information processing is performed on the original laser data, thereby providing a data basis for the creation of the 3D map. The method avoids a problem that it is inconvenient to perform filtering and denoising by adopting a point cloud map through adopting an expression mode of the voxel map, and the definition of the 3D map is improved.

The invention relates to an intelligent moving mechanical arm control system. A traditional control system has poor hierarchy, structural property and remote operability. A portable computer in the invention is in signal connection with an embedded industrial computer; a laser sensor, a global positioning system, a three-dimensional digital compass, a USB/CAN bus, an image acquisition card, a wireless video camera and a network switch are in signal connection with the embedded industrial computer respectively; a pan-tilt-zoom (PTZ) camera is in signal connection with the image acquisition card; a wireless access node is in signal connection with the network switch; an independent navigation trolley controller, an arm region controller and an arm joint module are in signal connection with the USB/CAN bus respectively; and a gyroscope, an ultrasonic sensor, a collision switch and left and right wheel motor servo drivers are in signal connection with the independent navigation trolley controller respectively. The system can perform remote control on the independent moving trolley and the modularized mechanical arm respectively, has distinct hierarchy and reduces the expenditure of an upper computer.

The invention relates to an end effector for forming holes for aircraft assembly, wherein the end effector is combined with an industrial mechanical arm. The end effector comprises a spindle-feeding module, a dual-eccentric-disk posture adjusting module, a scrap sucking and pressing module, a normal detection module and a visual detection module. The spindle-feeding module comprises a spindle motor, a feeding motor, a ball screw, a drill and the like and achieves the hole drilling function. The dual-eccentric-disk posture adjusting module comprises a posture adjusting motor, a large eccentric disk, a small eccentric disk and the like and achieves the drill posture adjusting function. The scrap sucking and pressing module comprises a pressing air cylinder, a pressing head and the like and achieves the workpiece pressing function and the drilling and cutting scrap sucking function. The normal detection module comprises a laser sensor and the like and achieves the function of calculating the normal direction of a hole forming point. The visual detection module comprises an industrial camera and the like and achieves the function of displaying the hole forming effect in real time. After the end effector is combined with the industrial mechanical arm, the error of perpendicularity of a hole in the hole forming process can be smaller than 0.5 degree, and according to the hole forming efficiency, five to six holes can be formed per minute. Not only is the hole forming quality for aircraft assembly improved, but also labor force is greatly reduced.

The present invention relates to the aerial spray technology field, in particular to an unmanned gyroplane wind field electrostatic spraying device. The unmanned gyroplane wind field electrostatic spraying device comprises an unmanned gyroplane, an ultrasonic sensor arranged on the unmanned gyroplane and used for detecting the position data of crops, a laser sensor used for detecting the topographic data, a wind speed sensor used for measuring the wind field data under the unmanned gyroplane, an electrostatic sprayer used for carrying out the electrostatic spraying, and a controller used for receiving a signal and controlling the unmanned gyroplane. According to the present invention, the height of an airplane can be adjusted flexibly according to the topography, the relative distance with the crop canopy does not change, the spraying pressure and the droplet size are adjusted according to the wind field under the gyroplane, and the working precision of the aerial spray is improved effectively.

A system for detecting the trajectory of a projectile includes at least one pulsed laser transmitter configured to transmit pulsed laser light beams over a three dimensional area. At least one sensor is configured to sense the pulsed laser light beams reflected off of the projectile. A microprocessor is coupled to the laser transmitter and laser sensor to calculate a first position of the projectile at a first time based upon the first pulsed laser light beam reflected off the projectile and sensed by the laser sensor. A microprocessor calculates a second position of the projectile at a second time based upon a second pulsed laser light beam reflected off the projectile and sensed by a laser sensor. A microprocessor calculates the trajectory of the projectile based upon the first projectile position and the second projectile position and the time differences between these positions.