3164 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).

The invention provides a method for collaborative mapping and locating of multiple robots for a large-scale environment. The method comprises a single-robot laser SLAM algorithm based on a visual detection closed loop, a multi-robot pose constraint estimation algorithm and a multi-robot map fusion algorithm, wherein according to the single-robot laser SLAM algorithm based on the visual detection closed loop, a visual sensor is adopted for assisting a laser sensor in achieving the SLAM algorithm with the more stable roughness. Simultaneous locating and mapping of the multiple robots are achieved through the laser sensor and the visual sensor. The closed loop is detected by obtaining the visual characteristic of the roughness through a camera, and the problem about closed loop detection caused by the robot motion accelerative error is solved effectively; meanwhile through a multi-robot system, simultaneous locating and mapping in the large regional environment are completed efficiently, and the defect that the efficiency is low by means of a single robot is overcome. By the adoption of the method, the precise robot location and map creation of the environment are achieved in the large-scale environment, and the method is also suitable for small-scale environments.

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 embodiment of the invention discloses a laser-point-cloud-based urban road identification method and apparatus. The method comprises: a corresponding road edge model is constructed according to laser point clouds collected by a laser sensor; a height of a mobile carrier with the laser sensor is determined and a corresponding road surface model is constructed based on the height and the laser point; and according to the road edge model and the road surface model, a road surface point cloud and a road edge point cloud in the laser point cloud are eliminated, the rest of laser point clouds are segmented by using a point cloud segmentation algorithm, and an object corresponding to the a segmentation result is identified. The height of the mobile carrier is estimated based on the laser point cloud and the road surface model corresponding to the laser point cloud is constructed by using the height, so that the construction efficiency and accuracy of the road surface model are improved. Therefore, the identification efficiency and accuracy of the corresponding object are improved.

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 provides a movable laser cladding and repairing system in the field of laser cladding and repairing. The movable laser cladding and repairing system comprises a movable platform, wherein a laser, a robot, a position changing machine, a powder feeder, an image processing system, a control system (comprises a PLC (programmable logic controller) main control system, a PC (personal computer) computing workstation), a video camera, a three-dimensional laser scanning sensor, a laser processing head and a coaxial powder feeding head are fixedly arranged on the movable platform. The movable laser cladding and repairing system takes the robot as a moving body, controls the clad pool size, the temperature and other information by using an image acquiring and processing system, and scans a workpiece to slice, stratify and automatically clad a three-dimensional workpiece model based on the three-dimensional laser sensor; the movable laser cladding and repairing system is convenient and flexible, simplifies a repairing process, achieves precision and self-adaptive control of a cladding process, effectively improves the cladding quality, and facilitates field application of a large component through the movable platform.

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.