74 results about "Laser target" patented technology

The invention discloses a deviation rectification control method and system for simulating shield excavation, and relates to the technical field of shield control. The deviation rectification control method and system for simulating shield excavation comprise the steps that S1, shield deviation rectification data are collected in real time, and the shield deviation rectification data are preprocessed; s2, extracting an attitude deviation component, comprehensively evaluating environmental drift and optical distortion influence of attitude deviation, and generating each calibrated attitude angle; s3, all the calibrated attitude angles are read, attitude correction required values in all directions are calculated in combination with the laser target deviation value, the dynamic fluctuation degree of the execution process is quantified, and the target stroke of the deviation correction oil cylinder is obtained; and S4, the target speed is calculated, a deviation rectification control instruction is generated and issued for execution, a deviation rectification execution data set is formed, and a deviation rectification control closed loop is completed. The problems that an existing system lacks an automatic calibration and anomaly recognition mechanism, sensing data distortion still participates in deviation correction control, PLC attitude calculation errors are accumulated, and false deviation correction is generated are solved.

A laser target localization method and an implementation apparatus therefor, and a tunnel deformation monitoring method. The laser target localization method comprises: providing in a spaced manner a laser ranging module (31) and a target on an object to be subjected to detection (S1); the laser ranging module (31) projecting an emergent laser onto the target (S2); establishing a sampling point coordinate system by using a projection point of the emergent laser as the coordinate origin (S3); making the projection point of the emergent laser move in a spiral line around the coordinate origin in the sampling point coordinate system, and collecting real-time coordinate values of all sampling points (100) in the sampling point coordinate system, and real-time intensity values of reflected light of the emergent laser at the positions of all the sampling points (100) (S4); and after the spiral-line movement ends, determining the region of the target on the basis of the real-time intensity values of the reflected light at the positions of all the sampling points (100), and on the basis of the coordinate values of all the sampling points (100) in the region of the target, determining the central point of the target (S5).

The invention discloses an immersed tube butt joint installation method and system based on laser ranging and visual recognition, and belongs to the technical field of ocean engineering. The method comprises the steps that a laser target set is installed on the butt joint end face of an installed pipe joint, and a laser positioning set and a laser projector are installed on the butt joint end face of a to-be-installed pipe joint; after the to-be-installed pipe joint sinks, the laser positioning group is started to measure the distance to the target group in real time, meanwhile, parallel light beams are emitted to the other end face of the to-be-installed pipe joint through the laser projector, and the position of a light spot is collected through visual recognition to obtain posture deviation; the distance and deviation data are fused, the optimal pose of the pipe joint to be installed is calculated through an optimization algorithm, and then the offset of the end face center and the axis deflection angle are obtained; and according to the parameters, a regulation and control instruction is generated, and the ballast water system and the winch system are controlled to adjust the posture of the to-be-installed pipe joint till accurate butt joint is achieved. According to the invention, full-underwater, high-precision and automatic immersed tube butt joint is realized, and the dependence on an overwater measuring tower and a GPS (Global Positioning System) is eliminated.

The invention relates to the technical field of laser measurement and photoelectric detection, and discloses a laser boresight equipment high-precision calibration method and system based on region segmentation mapping, and the method comprises the steps: firstly collecting a standard grid frosted glass target plate image, extracting grid intersection point pixel coordinates through employing an SURF algorithm, and building a data set corresponding to physical coordinates; dividing the field of view into a plurality of sub-regions, and respectively resolving a perspective transformation matrix mapped from a pixel coordinate system to a physical coordinate system; secondly, collecting a light spot image, performing initial positioning by using a Canny operator and a least square method, fitting a sampling sequence through a Sigmoid function, and extracting edge sub-pixel coordinates in combination with a central difference method; and finally, calling a corresponding transformation matrix according to the sub-region where the light spot is located to obtain physical coordinates, and calculating the light spot jerk value, the maximum diameter and the included angle between the optical axis and the mechanical axis. According to the invention, image distortion is compensated through view field partition mapping, and the calibration precision and detection efficiency of the laser boresight equipment are improved in combination with a sub-pixel positioning technology.

The invention discloses a shield tunneling machine attitude deviation measurement method based on laser-vision deep learning heterogeneous fusion, and the method comprises the steps: employing double sensors of a laser target and a vision camera, carrying out the deployment of the sensors, and collecting data, which comprises laser data and vision data; preprocessing the data, wherein the preprocessing comprises laser data preprocessing and visual data preprocessing; the laser data preprocessing comprises laser data coordinate conversion, laser target attitude deviation calculation and noise filtering; the visual data preprocessing comprises image preprocessing, mark point detection, camera calibration and world coordinate calculation, and visual measurement attitude deviation calculation; a deep learning heterogeneous fusion model is constructed, the deep learning heterogeneous fusion model comprises a laser absolute feature branch, a visual spatial-temporal feature branch, an attention fusion layer and an output layer, and the model is trained; and inputting the preprocessed real-time data into the trained deep learning heterogeneous fusion model, and carrying out dynamic calibration on an output result.

The utility model discloses a laser axis determination instrument structure, which belongs to the technical field of laser boresighting, is used for receiving laser beams emitted by a laser boresighting mirror, and comprises a laser receiving assembly, a top shooting assembly and a tail shooting assembly, two vertical plates are symmetrically mounted on two sides of the bottom plate, and a spectroscope is fixed in a space formed by the base and the vertical plates; the spectroscope divides a laser beam emitted by the laser borescope into two light beams which are perpendicular to each other, and the two light beams are transmitted to the top shooting assembly and the tail shooting assembly respectively. Compared with the prior art, the device comprises the two groups of shooting assemblies which are perpendicular to each other, and can obtain a light spot image with a clear outline and a proper size by using optical glass and a CCD camera group, so that the deviation distance and the deviation angle can be conveniently calculated in the later period. In addition, the structure adopts a modular and combined design, and the joints are connected by flanges or threads, so that components with different specifications can be flexibly replaced, and later maintenance is also facilitated.

The utility model belongs to the technical field of optical imaging equipment, and relates to a portable laser target simulator which comprises an installation shell, a laser target simulator body and a Picatinny guide rail, movable openings are symmetrically formed in the bottom of the installation shell, a rectangular plate is connected between the inner walls of the two sides of the two movable openings in a sliding mode, and the top of the rectangular plate extends into the installation shell. The bottom of the rectangular plate extends to the position below the mounting shell and is fixedly connected with clamping plates, the clamping plates are arranged in an L shape, and the picatinny guide rail is located between the two clamping plates. Through mutual cooperation of the mounting shell, the rectangular plate, the movable opening, the clamping plates, the multi-direction screw and the like, the multi-direction screw can be rotated, so that the two clamping plates clamp an imitation gun, and the imitation gun can be clamped through the picatinny guide rail; the purpose that the mounting shell and the laser target simulator body are mounted on the simulation gun is achieved, the laser target simulator body can be conveniently mounted and dismounted through clamping, and the problem that the laser target simulator and the simulation gun are integrated and inconvenient to carry can be effectively solved.

The invention relates to a positioning device (3) for positioning metal profiles (2) to be attached to a support structure (1) for drywall construction, comprising a base body (4) with an end plate (5) having an end surface (6) designed to establish a magnetic connection to the metal profile (2), wherein a first scale (9, 10, 11 / 11', 12) is arranged on a broad side surface (8) of a broad side plate (7) of the base body (4) arranged perpendicular to the end plate (5). According to the invention, at least one narrow plate (13, 13') is provided, arranged perpendicular to the broad side plate (7) and perpendicular to the end plate (5), each with at least one broad side surface (14) having a second scale (15).

The invention relates to a positioning device (3) for positioning metal profiles (2) to be fastened to a support structure (1) for drywall construction, comprising a main body (4) with an end plate (5), which has an end face (6), which is designed to produce a magnetic connection to the metal profile (2), wherein a first scale (9, 10, 11 / 11', 12) is arranged on a broad-side face (8) of a broad-side plate (7) of the main body (4), which broad-side plate is arranged at a right angle to the end plate (5). According to the invention, at least one narrow plate (13, 13') is provided which is arranged perpendicular to the broad-side plate (7) and perpendicular to the end plate (5) and has a respective at least one broad-side surface (14) having a second scale (15).

The application discloses a kind of laser semi-active seeker testing system and method, system includes: optical platform, laser target simulation unit, seeker fixed seat, three-axis turntable and stepper motor etc.Modular.The laser target simulation unit is used to simulate the real echo signal generated after laser irradiation to target;The seeker fixed seat is installed on three-axis turntable, three-axis turntable is installed on optical platform and is driven by stepper motor.Laser target simulation unit, laser semi-active seeker and stepper motor are respectively connected with host computer communication.The application is applicable to miniature laser semi-active seeker, and can test the working distance, field angle, responsivity and multiple performance parameters of miniature laser semi-active seeker synchronously.

This utility model discloses a laser target thickness measuring instrument, including a main unit. An industrial control computer is located on one side of the main unit, and a target positioning and adjustment bracket and a target blank are located on the top side of the main unit. A gantry-type movable bracket is longitudinally movable on the top of the main unit, and a measuring device is driven by the gantry-type movable bracket. The measuring device includes a laser displacement rangefinder, a laser rangefinder transmitter, a laser rangefinder receiver, and a laser beam emitting device. The advantages of this utility model compared to existing technologies are: this device can measure the overall target thickness using laser. By setting a range through software, areas exceeding the set value are marked with laser marking, which clearly identifies the location of target distortion and deformation, saving manpower, improving work efficiency, and reducing scrap rate.

An extreme ultraviolet light generation apparatus includes a chamber in which a target substance supplied to a plasma generation region is irradiated with laser light to generate extreme ultraviolet light, a laser device generating the laser light, a target supply unit supplying a droplet of the target substance toward the plasma generation region, a target collection unit collecting the target substance which has not been irradiated with the laser light, a first gas supply unit supplying a buffer gas into the chamber, and a processor controlling the first gas supply unit so that, in a period of the droplet being output, a first flow rate of the buffer gas to be supplied from the first gas supply unit in at least a part of a first period is smaller than a second flow rate of the buffer gas to be supplied from the first gas supply unit in a second period.

An air-based counter-countermeasure (CCM) system includes an autonomous or semi-autonomous unmanned aircraft capable of deployment to an area of a countermeasure system having (1) a laser detector to receive and identify an incident laser signal as a target designator signal and (2) one or more countermeasure subsystems operative in response to an output of the laser detector to deploy corresponding countermeasures against a laser target designator. The CCM system further includes a laser-based CCM subsystem carried by the aircraft, the CCM subsystem being configured and operative, during the deployment of the aircraft, to direct a simulated target designator laser signal to the laser detector of the countermeasure system to trigger one or more of the countermeasures and thereby reduce protective ability of the countermeasure system against subsequent laser-guided attack.

This invention discloses a high-precision local mapping measurement system and method for surface damage density of optical components, aiming to solve the problem of non-uniform distribution of the laser spot affecting the measurement accuracy in existing technologies. This application establishes a coordinate mapping transformation relationship between the laser target irradiation spot and the optical component, realizing the spatial mapping between the optical component damage points and the local laser target spot. It then calculates and records the local flux, the number of damage points, and the number of pixels contained in each local region, and calculates the damage density for each flux interval. Innovatively, this application replaces the "average flux of the entire laser spot" in the prior art with the "local flux of the optical component damage points," achieving spatial mapping between the optical component damage points and the local laser target spot, effectively mitigating the impact of non-uniform laser spot distribution on the measurement accuracy of surface damage density.

The application discloses a kind of multi-channel wide spectrum scattered light energy simultaneous measurement device and method, wherein multi-channel wide spectrum scattered light energy simultaneous measurement device mainly includes target chamber, spectrometer, gate camera and multiple scattered light imaging light paths.The present multi-channel wide spectrum scattered light energy simultaneous measurement device and method are used, by setting multiple scattered light imaging light paths, realize multi-channel measurement capability, can accurately give the energy of different wavelengths and total energy, realize the simultaneous measurement of stimulated brillouin scattering and stimulated raman scattering scattered light, provide more reliable diagnostic techniques for the scattered light generated by laser target shooting;At the same time, the present measurement method greatly reduces the use of energy probe, not only saves cost, but also improves diagnostic efficiency;And, the present measurement method can be used not only for high-energy scattered light measurement, but also for other light source intensity analysis and comparison.

The invention relates to the technical field of laser frequency locking, and provides a method and system for laser frequency locking, the system comprises an MCU, a high voltage amplification module, a PZT cavity length adjusting module, a laser and a PD monitoring module, the MCU is used for outputting a triangular wave scanning signal, and collecting an error signal and a transmission spectrum signal through two ADC channels; the high-voltage amplification module is used for receiving the triangular wave scanning signal and outputting a high-voltage signal; the PZT cavity length adjusting module is used for receiving the high-voltage signal and changing the cavity length; the laser is used for generating a transmission spectrum signal and an error signal according to cavity length change; the PD monitoring module is used for collecting a transmission spectrum signal and an error signal generated by the laser and outputting the signals to the MCU. According to the invention, the automation degree and stability of frequency locking control of the laser are improved, and high-efficiency target band output of the laser is realized.

The invention discloses a core tube surveying and setting-out method suitable for local non-floor slabs, and belongs to the technical field of building construction. The method specifically comprises the following steps that after formwork removal is conducted on a core tube wall of an operation layer, a set of telescopic leveling assemblies is installed; a laser plumb aligner is placed on the lower layer, laser is made to penetrate through supporting plate pay-off holes in the adjustable supporting plate and the sliding supporting plate, and then the angle of the adjustable supporting plate is adjusted; a laser target is placed on a supporting plate pay-off hole of an adjustable supporting plate, laser of a laser plumb aligner placed on the lower layer is irradiated to the center of the laser target, a total station is erected at a floor pay-off hole in a floor area, and pay-off operation can be normally carried out. One group of telescopic leveling assemblies is changed into two groups of telescopic leveling assemblies which are vertically arranged, a laser target is placed on a lower adjustable supporting plate, and the position of a light spot transmitted from a lower-layer reference point is marked and fixed; a laser plumb aligner is placed on the upper adjustable supporting plate, and laser of the laser plumb aligner is used for plumbing upwards. The technical scheme is used for solving the problem that the layout of a pay-off hole plane is limited under the condition that a core tube floor slab is missing.

This invention relates to the field of intelligent detection technology for fully mechanized coal mining faces, and discloses a method and electronic equipment for linear fusion of the entire working face based on laser target inertial navigation radar. The method includes the following steps: establishing a physical benchmark using a mechanical limiting device at the end of the working face and simultaneously collecting multi-dimensional data such as the coordinates of the connection point, radar point cloud, and inertial navigation attitude; calculating the rotational deviation using the relative tilt angle fitted by the radar point cloud and the absolute pitch angle of the inertial navigation, and combining real-time temperature correction translation parameters to unify the data in the end area to the absolute coordinate system of the inertial navigation; dividing the fusion area according to the distance from the connection point, and performing differentiated weighted fusion and smoothing processing on the converted data and the measured data of the inertial navigation; generating a complete curve for the entire working face using piecewise fitting and calculating the maximum straightness deviation. This invention solves the problem of coordinate alignment of multiple source sensors underground through a physical limiting and dynamic-static combined calibration mechanism, achieving high-precision full-area monitoring of the straightness of the scraper conveyor.

The invention discloses a method for measuring cable force of a cable-stayed bridge by a visual sag method based on a laser target spot, and belongs to the technical field of bridge detection. According to the method, laser target spots are arranged on the plane of an inhaul cable, a static image is shot, geometric distortion is corrected through perspective transformation, the outline of the inhaul cable is extracted through an improved edge detection algorithm, the shape of the inhaul cable is fitted, the sag is calculated, the coordinate conversion pixel rate of the laser target spots is combined, and finally the cable force is calculated based on the parabola theory. The device realizes non-contact, high-efficiency and low-cost cable force measurement, is suitable for single detection and long-term monitoring of stay cable structures such as a cable-stayed bridge and an arch bridge, and has the advantages of simple equipment, convenience in operation, high precision and the like.

The utility model belongs to the technical field of electronic targets, and particularly relates to a combined type laser target which comprises an operation table and a supporting table, one side of the surface of the operation table is fixedly connected with a fixing block, one side of the fixing block is connected with a third rotating shaft, one end of the third rotating shaft is connected with a supporting column, and the top of the supporting column is fixedly connected with a laser target plate. A laser target ring is arranged on the surface of the laser target plate, a sliding rail is fixedly connected to the surface of the supporting table, and a first connecting block is fixedly connected to one side of the lower surface of the operation table. Through mutual cooperation of five groups of correspondingly installed laser target plates, laser target rings, scoring devices and a total scoring device, when a shooter shoots a laser target, the scoring devices can synchronously transmit scores to the total scoring device when displaying the scores, the total integrator can add all the scores and display the scores, scores of multiple times of shooting can be recorded at a time, and the shooting efficiency is improved. And a plurality of groups of shooting modes are matched with one another, so that the interestingness of the laser target is improved.

The application discloses a pipe jacking machine pose analysis method, system, device and storage medium. Its features include: collecting a first position coordinate set of a first target device and a second position coordinate set of a second target device; calculating the coordinate relationship of the geodetic coordinate system and the laser target coordinate system according to the first position coordinate set and the second position coordinate set, and determining the coordinate system conversion parameter; performing coordinate conversion on a third coordinate set of a target pipe jacking machine collected in advance according to the coordinate system conversion parameter, and determining a real-time attitude data set of the target pipe jacking machine; and determining the real-time pose of the target pipe jacking machine in the ground based on a preset design line and the real-time attitude data set. The application can accurately identify the real-time position and real-time pose of the pipe jacking machine in the ground based on the position information of the target device, improve the accuracy of pipe jacking machine trajectory identification, and further analyze the error between the existing trajectory of the pipe jacking machine and the construction planning trajectory, thereby improving the efficiency and accuracy of underground construction.

The utility model discloses an intelligent top-pulling drilling machine based on laser and electromagnetism collaborative guiding, which comprises a top-pulling drilling machine, a rotating joint assembly is arranged on a power box main shaft of the top-pulling drilling machine, the rotating joint assembly is connected with a transition joint, the transition joint is connected with a double-wall drilling rod, the double-wall drilling rod is connected with a guiding drill bit, and the guiding drill bit is connected with a laser light source. The guide drill bit comprises a target seat, the target seat is connected with an electromagnetic guide shaft, and the electromagnetic guide shaft is connected with a drill bit; a laser target is arranged in the target seat, and a laser transmitter and a synchronous display are arranged on the outer side of the top-pulling drilling machine; a detection rod is mounted on the electromagnetic guide shaft, and an electromagnetic guide instrument and a synchronous display II are arranged on the outer side of the drilling machine; by means of the mode of combining laser guiding and electromagnetic guiding, the defects of the single guiding technology are overcome, high-precision control over the drilling track is achieved, the construction efficiency and the engineering quality are improved, and the construction requirement under the complex working condition is met.

The application provides a laser target shooting and judging method, system and artificial intelligence camera suitable for a complex background, the method comprising: acquiring a first target surface image without a pulse light spot and a second target surface image with a pulse light spot; pre-processing the two target surface images to obtain a background grayscale image and a target grayscale image; extracting a target ring center coordinate and the radii of multiple target rings from the background grayscale image based on a real target diameter, a camera focal length and a distance from the camera to the real target surface; comparing the target grayscale image with the background grayscale image pixel by pixel to obtain a binary difference image; extracting a light spot region in the binary difference image, calculating the center coordinate of the light spot region based on the grayscale values of each pixel in the light spot region as the light spot center coordinate; and determining a hit ring value according to the target ring center coordinate, the radii of each target ring and the light spot center coordinate. The application realizes sub-pixel level light spot positioning and adaptive target judging in a complex background, and improves the target judging precision and adaptability.

This application belongs to the field of visual inspection technology, specifically disclosing a large component measurement system and its calibration method based on a six-dimensional sensor. The measurement system of this application uses a laser tracker and a six-dimensional sensor as external tracking devices, which has advantages such as high measurement accuracy and high measurement efficiency compared to external tracking devices based on laser target spheres. Furthermore, the measurement system of this application obtains the relative pose of two adjacent scans of the scanner by rigidly matching the centers of the spheres obtained from two adjacent measurements of the calibration sphere array, and constructs a relationship between the calibration parameters to be solved and the relative pose. The calibration parameters in the relationship are solved using the total least squares method based on the Kronecker product. The calibration results of the calibration method of this application are more accurate.

The application relates to a mounting structure and a precise mounting method of a long-distance laser target tracking and ranging optical path, which are used for high-precision mounting of the laser emission direction of a space target tracking and ranging optical path, the optical path comprising three reflecting mirrors, and the deviation between the laser emission direction reflected by the three reflecting mirrors and the rotation angle of a rotating table during the oscillation of an azimuth axis and a pitch axis is required to be minimized. First, a collimator is used to lead the azimuth axis and the pitch axis to a plane mirror; second, the second reflecting mirror and the first reflecting mirror are mounted and adjusted through the mounting mode of a spacer and a fastening screw, the grinding amount of the spacer is calculated according to the image movement track of the collimator or the laser imaging point movement track in a measuring camera, and the spacer is ground based on the grinding amount, so that the purpose of high-precision mounting is achieved; third, the mounting system of the third reflecting mirror is built through visible light camera zero-point calibration and the measuring camera and an angle reflector, so that the mounting of the third reflecting mirror is realized; and finally, the spacer and the fastening screw are reinforced through epoxy glue, so that the mechanical performance of the optical path is ensured.

The invention discloses an assembly type building vertical PC component perpendicularity adjusting device, and relates to the technical field of building engineering, the assembly type building vertical PC component perpendicularity adjusting device comprises an adjustable support frame connected with a component, the side wall of the component is provided with a laser emission system and a laser target, and the laser emission system and the laser target are connected with the component through a connecting assembly. The perpendicularity of the component is accurately detected through cooperation of the laser emitting system and the laser target, and the position of the component is adjusted through the adjustable supporting frame after perpendicularity detection, so that the component can be accurately installed, the installation process is simplified, and the construction efficiency is improved. The position and angle of the component can be flexibly adjusted to adapt to different construction scenes, the manual operation difficulty is reduced, the installation error is reduced, the construction quality is guaranteed, and the construction time and cost are saved.

The application provides an underwater immersed tube positioning monitoring method, a docking monitoring method and related equipment. A black and white checkerboard is preset on the immersed tube, and an underwater robot carrying a binocular camera is used to shoot and identify the checkerboard, so that the position and attitude of the immersed tube can be reliably calculated in a complex underwater environment. Compared with the existing active laser target assisted positioning method, the black and white checkerboard is used as a passive visual mark, which has the advantages of simple structure, low manufacturing cost, convenient layout and no need to recover, can effectively reduce the investment of underwater construction auxiliary equipment and operation process, combined with underwater robot operation, can also reduce the risk of manual underwater operation, improve the safety, practicality and engineering economy of immersed tube positioning monitoring.

The invention relates to the field of detection devices, and discloses a laser target image detection device and application, the laser target image detection device comprises a horizontal frame, one end of the horizontal frame is provided with a first end target assembly, the horizontal frame is provided with a second end target assembly, the horizontal frame is internally provided with a movable driving assembly, the first end target assembly comprises a fixed target device, and the second end target assembly comprises a second target device. The second end target assembly comprises a fixed target device, the fixed target device is installed on a fixed frame through a bolt, the fixed frame is connected with a horizontal frame through a bolt, the second end target assembly comprises a movable target device, the movable target device is installed on an installation frame through a bolt, a connecting plate is fixedly installed at the end, close to the horizontal frame, of the installation frame, and teeth are arranged on the outer side of the connecting plate at equal angles. The width of a narrow target can be detected by driving the movable target device to move away from one side of the fixed target device, and the width of the narrow target can be detected by driving the movable target device to rotate away from one side of the fixed target device, so that the movable target device can perform target positioning on a relatively far position and can detect the length of a long target.

The invention relates to the technical field of coal mine fully mechanized coal mining face intelligent detection, and discloses a laser target inertial navigation radar-based full-face straight line fusion method and electronic equipment, and the method comprises the following steps: determining a physical reference by using an end mechanical limiting device, and synchronously collecting multi-dimensional data such as a combination point coordinate, a radar point cloud and an inertial navigation attitude; calculating a rotation deviation by using a relative inclination angle fitted by a radar point cloud and an inertial navigation absolute pitch angle, correcting a translation parameter in combination with a real-time temperature, and unifying end region data to an inertial navigation absolute coordinate system; dividing a fusion region according to the distance of a distance combination point, and performing differential weighted fusion and smoothing processing on converted data and inertial navigation measured data; and generating a complete curve of the whole working face by utilizing segmentation fitting, and calculating the maximum deviation of straightness. Through a physical limiting and dynamic and static combined calibration mechanism, the problem of coordinate alignment of the underground multi-source sensor is solved, and high-precision global monitoring of the straightness of the scraper conveyor is realized.