634 results about "Light scan" patented technology

The invention relates to the technical field of building information modeling (BIM), in particular to a three-dimensional modeling method and system of a high-altitude curtain wall, multispectral data, structured light scanning data and thermal imaging data are collected through an unmanned aerial vehicle, the data are subjected to multidimensional analysis and fusion, three-dimensional modeling is performed through a multi-modal feature fusion algorithm, and the three-dimensional modeling method and system of the high-altitude curtain wall are obtained. And carrying out global and local geometric correction, material feature optimization and thermal feature correction on the model by utilizing a dynamic feedback and recursive optimization mechanism. And finally, generating high-precision three-dimensional model data through a multi-channel fusion algorithm. The method effectively solves the problems of insufficient geometric precision, limited material processing and neglect of thermal characteristics in the prior art, remarkably improves the precision and reality of the model, and is suitable for the fields of building design, structural analysis, energy consumption evaluation and the like.

The present invention relates to the field of dam area deformation early warning technology, and proposes a dam area deformation early warning method and system based on a laser scanner, which includes the following steps: selecting a drone, equipping the drone with a laser scanner and a Beidou positioning system; planning the monitoring flight path of the drone, continuously emitting lasers and receiving reflected signals through the laser scanner, and using the Beidou positioning system to record the scanning position information of the laser scanner in real time to obtain original three-dimensional point cloud data; integrating the three-dimensional point cloud data obtained by multiple scans of the laser scanner into a unified coordinate system through a registration algorithm to obtain a three-dimensional model of the dam area; using a statistical method and a preset threshold to perform a data consistency check on the original deformation data set, screening out abnormal values ​​in the original deformation data set, and obtaining a deformation data set; identifying the deformation data set through a dam area deformation risk assessment model, obtaining a dam area deformation risk level, and taking corresponding early warning measures based on different dam area deformation risk levels. The present invention improves the accuracy of deformation data, realizes accurate judgment of deformation risk levels, and takes corresponding early warning measures according to different risk levels, thereby enhancing the safety of the dam area.

The invention discloses a computer vision structure deformation monitoring system combined with laser scanning. The system comprises a laser scanning module, a computer vision module, an image processing module, a data fusion module, a data analysis and processing module, a communication module and a power supply module. The laser scanning module adopts a pulse type laser scanner to scan the surface of the rock-soil structure; the computer vision module adopts a wide-angle lens to obtain a two-dimensional image sequence of the rock-soil structure; the image processing module processes the two-dimensional image sequence to obtain two-dimensional displacement information of the feature points; the data fusion module fuses the point cloud data and the image feature point displacement information; and the data analysis and processing module analyzes the fused model, models historical deformation data, and predicts a future deformation trend. The system has the advantages of high precision, real-time performance, intelligence and strong anti-interference capability, can effectively guarantee the safe and stable operation of the power tunnel, and is of great significance to the construction, operation and maintenance of geotechnical engineering of the power tunnel.

The invention discloses a multi-element historic building maintenance and restoration method based on three-dimensional laser scanning, and relates to the technical field of computer processing, and the method comprises the following steps: S01, obtaining the three-dimensional point cloud data of a historic building foundation through a ground laser scanner, the basic three-dimensional point cloud data comprises geometric information of a building facade, a ground structure and a near-ground decoration component; s02, an unmanned aerial vehicle carries a multi-line laser scanning device to scan the top and the high-altitude structure of the building, supplementary point cloud data is generated, and the millimeter-level precision three-dimensional coordinates of the pitched roof, the tower eave and the cornice bracket are covered with the supplementary point cloud data; and S03, synchronously acquiring surface texture data of the historic building by adopting multispectral imaging equipment. According to the method, the millimeter-level precision of three-dimensional reconstruction of the historic building is realized through multi-source data fusion and a hierarchical optimization algorithm, and the maintenance decision efficiency is improved by combining automatic disease recognition and a multi-modal analysis technology.

The invention discloses a shield muck volume estimation method and system based on image processing, and particularly relates to the technical field of tunnel engineering monitoring, and the method comprises the steps: obtaining muck RGB and depth images through an image collection device, generating high-precision three-dimensional point cloud data through the combination of laser scanning and a multispectral technology, and calculating the muck volume through a slicing method. And fusing the mass flow and water content data of the belt weigher, dynamically generating a calibration factor, and correcting a volume estimation result in real time. The system comprises an image acquisition module, a point cloud processing module, a volume calculation module and a dynamic calibration module, has the characteristics of automation, high precision, real-time feedback and the like, effectively solves the problems of large error and slow response of a traditional manual metering and single weighing mode, and is suitable for continuous and accurate monitoring of the volume of muck in the shield construction process.

The invention discloses a laser scanning detection method for gear tooth form errors of gear motors, and belongs to the technical field of industrial optical detection. The method comprises the following steps of: firstly, comprehensively acquiring high-density three-dimensional point cloud data of a pinwheel tooth profile by combining laser scanning and precise rotating motion; secondly, preprocessing the original point cloud, and performing high-precision automatic registration on the actually measured point cloud and the standard three-dimensional CAD theoretical model by using algorithms such as an iterative nearest point; and finally, generating a visual tooth profile error map by calculating the normal deviation between the measured data and the theoretical model point by point, and quantitatively evaluating error parameters. According to the scheme, high-efficiency, high-precision and all-shape nondestructive testing of the gear tooth error is realized, physical contact damage is avoided, and the quality control level and the production efficiency of the core part of the speed reducer are remarkably improved.

The invention relates to the field of oral medical diagnosis, and discloses an intraoral image-based AI enhanced real-time occlusion detection system, which comprises a multi-source intraoral image acquisition module for acquiring dynamic oral image data through a high-definition oral endoscope and recording a three-dimensional structure of a tooth surface by combining a laser scanning device, meanwhile, force distribution of an occlusion contact point is collected through a pressure sensor array; the multi-source intraoral image acquisition module comprises a timestamp synchronization unit and is used for performing multi-source synchronization on an oral image frame sequence and occlusal force distribution data by utilizing a unified timestamp; through the multi-source in-port image acquisition module, synchronous acquisition of dynamic images, three-dimensional structure data and bite force distribution is realized, and time sequence consistency of the data is ensured through timestamp marking. Compared with a traditional single data source collection mode, the multi-source collection can comprehensively record dynamic characteristics in the occlusion process, rich and accurate input is provided for subsequent AI analysis, and data missing or collection deviation is avoided.

The invention discloses a rigid-flex circuit board slotting process based on a laser depth control technology. The rigid-flex circuit board slotting process comprises the steps that the surface of a rigid layer of a rigid-flex circuit board is pretreated, and a laser sensitive layer is sprayed; cNC depth-controlled milling is adopted to form a grooved rough blank structure on the surface of the pretreated rigid layer; positioning laser is used for scanning, a three-dimensional model is established through collected reflected signals, then layered depth-controlled ablation is conducted, second-power laser is sequentially adopted for fine cutting, third-power laser is sequentially adopted for depth calibration, and a groove body structure is formed; cleaning an interface, scanning a groove bottom area and synchronously introducing low-temperature gas; performing morphology repairing treatment, and generating a periodic micro-nano structure on the groove wall by adopting short pulse laser to form a stress concentration resistant surface; depositing an insulating medium layer, and forming a continuous packaging protection layer on the groove wall and the bottom through a vacuum coating process; the high-precision depth-controlled slotting of the rigid-flex circuit board is realized, and meanwhile, the ultra-low thermal damage and anti-fatigue structure and long-acting environmental stability are realized.

The invention discloses a three-dimensional detection system and detection method for mine safety, and relates to the technical field of mine safety. The unmanned aerial vehicle platform comprises an unmanned aerial vehicle and an unmanned aerial vehicle controller. The three-dimensional acquisition device is mounted on the unmanned aerial vehicle, and the three-dimensional acquisition device comprises a high-resolution camera, an infrared sensor and a laser scanner; the data transmission and processing module is used for receiving the point cloud data transmitted by the three-dimensional acquisition device, processing the data through a professional three-dimensional reconstruction algorithm and generating a three-dimensional model of the mine environment; the three-dimensional image rendering module is used for rendering the three-dimensional model to realize visualization of the mine environment; and the safety deduction analysis module is used for carrying out classification and early warning on potential hidden dangers based on the three-dimensional model and through a preset safety evaluation standard. By combining the high-resolution camera, the infrared sensor and the laser scanner, three-dimensional data of the mine environment can be quickly obtained, and an accurate three-dimensional model is generated through a professional algorithm.

The invention provides a prefabricated bridge pier column installation quality automatic evaluation method based on a three-dimensional laser point cloud. The prefabricated bridge pier column installation quality automatic evaluation method is used for measuring the perpendicularity of a high pier and the distance between pier columns. The method comprises the following steps: an unmanned aerial vehicle laser scanning system collects pier point cloud data according to an optimized flight path, and pre-processes the pier point cloud data to improve data quality; quickly segmenting the point cloud by using an improved adaptive octree and a machine learning algorithm, and extracting a pier point cloud; and based on the finely segmented point cloud, calculating the included angle between the center axis of the bridge pier and the plane normal of the capping beam and the coordinate of the center point of the top surface of the bridge pier to realize accurate evaluation of the perpendicularity of the bridge pier and the distance between adjacent bridge piers. The optimization of the flight path of the unmanned aerial vehicle is combined with the point cloud data preprocessing, so that the data quality can be effectively improved, and the data volume is reduced. Meanwhile, point cloud segmentation is performed by fusing an improved adaptive octree and a machine learning algorithm, so that piers, capping beams and backgrounds can be accurately distinguished, and geometric features of pier studs are completely extracted.

According to the panorama camera and 3D laser scanner mobile measurement matching method, distortion correction, camera calibration and multi-lens relative orientation matching of the panorama camera are carried out based on the characteristics of the panorama camera for a monocular camera and the panorama camera; establishing collaborative matching between the laser data and the image data and a matching and fusion basis between the laser data and the image data; based on a pinhole imaging model, all parameters of camera calibration are introduced to complete camera calibration, and the relative orientation relation between the laser scanner and the panoramic camera is deduced according to a cylindrical or spherical projection method; a cooperative calibration method based on plane constraint is adopted, initial values of rotation and translation vectors between a checkerboard plane and a distance are solved by utilizing a constraint relation between the normal vector and the distance of the checkerboard plane in a laser and camera coordinate system, and finally a global optimal solution is obtained by iteratively optimizing a target equation. The method is simpler to operate and does not need too much manual intervention. And the matching precision is high, the speed is high, and the robustness is good.

The invention discloses an image measurement method for precise size measurement. The method comprises the following steps: step 1, selecting a laser scanner and an optical image measurement instrument to form a measurement array according to geometrical characteristics of a workpiece; 2, calibrating and verifying the measurement array, obtaining a basic error curve of the equipment through a standard gauge block, and collecting real-time environmental parameters after verification is passed; 3, calculating an environment interference coefficient Kenv, and starting measurement at the moment; 4, monitoring equipment acceleration sensor data in real time, and generating an equipment stability index Si; 5, when Si is larger than S < safety >, measurement is executed, and a result is output; and step 6, carrying out consistency analysis on multi-device results, if the results are consistent, outputting a final value, otherwise, triggering dynamic re-calibration. According to the invention, multi-dimensional cooperative control can be realized, the precision bottleneck of traditional image measurement in a dynamic environment is broken through, and the method is suitable for precision manufacturing scenes with high requirements on measurement stability and reliability.

The invention discloses a laser drilling method and system for a heterogeneous laminated material. The laser drilling method comprises the steps that a first acoustic emission sensor and a second acoustic emission sensor are arranged; in the blind hole forming process, the depth of the blind hole is obtained through a second acoustic emission sensor; determining the laying angle of the carbon fiber prepreg cloth according to the depth of the blind hole, calling a first acoustic emission sensor, and collecting an acoustic emission signal; judging whether the metal layer is exposed or not according to an acoustic emission signal acquired by a first acoustic emission sensor, and if the metal layer is considered to be exposed, acquiring a spectral signal in real time through a laser-induced breakdown spectroscopy detection system; and outputting the laser beam again, and controlling the laser beam to perform layer-by-layer scanning. The position of the metal layer in the blind hole machining process is preliminarily positioned based on the acoustic emission sensor system, then LIBS is used for accurately positioning distribution of the metal layer, laser process parameters are fed back and adjusted, and the spiral track during laser scanning is adjusted, so that the blind hole machining quality is improved.

The invention relates to the technical field of laser image detection, and particularly discloses a belt tearing laser scanning detection device and a belt longitudinal tearing laser detection method. The belt tearing laser scanning detection device comprises an ellipsoidal carrier roller, laser equipment and visual equipment, the outer surface of the ellipsoidal carrier roller is an arc-shaped surface, a belt is tensioned and wound around the arc-shaped surface, and the laser equipment is fixedly arranged in the mode that laser faces the ellipsoidal carrier roller and can irradiate the belt. The visual equipment is fixedly arranged in the mode that the visual field faces the ellipsoid carrier roller and the belt is in the visual field, the structural arrangement can reconstruct the carrying working state of the belt, the tearing characteristic of the belt in the carrying state is highlighted, and the belt longitudinal tearing laser detection method is more suitable for long-distance conveying belt longitudinal tearing detection; and the method has higher detection accuracy.

The invention discloses a size measuring device for glass reinforced plastic pipe processing, relates to the technical field of glass reinforced plastic pipe size measurement, and solves the problems that the existing device can only measure the size and the supporting force is difficult to control by a mechanical centering method.The device comprises a measuring device base, an annular laser scanner is arranged on the top of the measuring device base, and a scanner centering assembly is arranged on the side of the measuring device base; a supporting and centering assembly is arranged in the pipeline in a sleeved mode and drives a conical pushing and extruding block through a servo motor, a threaded rod and the like, so that four sets of positioning and supporting rods synchronously abut against the inner wall of the pipeline to achieve centering, force is uniform, and deformation and slipping are prevented; the external trumpet-shaped alignment sleeve is matched with the rotating alignment ring to drive the laser scanning ring to be automatically aligned, defects of a visual alignment method are avoided, in addition, the supporting alignment assembly drives the pipeline to rotate, axial defects can be captured by laser, defect recognition is achieved, the precision is improved through double alignment, the size measurement and defect detection functions are achieved, and the application range of equipment is widened.

The invention relates to the field of robot navigation, and discloses a logistics robot navigation method based on vision and laser fusion navigation, which is used for solving the problem of echo energy attenuation or signal loss during robot navigation, and comprises the following steps: acquiring information reliability parameters of each space sub-region in a current laser scanning period; a reflection attenuation index is obtained through evaluation according to the information reliability parameter, whether signal attenuation occurs in the space sub-region or not is judged, if it is judged that signal attenuation occurs in a certain space sub-region, the space sub-region is marked as a low-confidence region, the initial depth information is corrected according to the corresponding reflection attenuation index, and actual depth information is obtained; the corrected environment model is obtained according to the actual environment depth information, the geometric structure of the corrected environment model is optimized and adjusted according to the reflection attenuation index change rate and the depth correction residual error of each space subarea, and the navigation precision and the operation safety of the robot in the storage environment are effectively improved.

The invention relates to the technical field of geological disaster prevention and control, and discloses an early warning method for loess slope geological disaster prevention and control, which comprises the following steps: arranging stress sensors and pore water pressure gauges at different depths of a loess slope, and collecting and preprocessing ground stress and pore water pressure data; constructing a ground stress change gradient index and a pore water pressure index of the loess slope; scanning the loess slope by using a laser scanner, generating a three-dimensional point cloud, performing point cloud registration, and then calculating a point cloud gradient to obtain a vegetation point cloud of the loess slope; a Kriging interpolation method is adopted to carry out interpolation calculation on the elevation value of the vegetation point cloud, and the average value, the maximum value and the difference value of the elevation difference are utilized to carry out local correction on the interpolation process to obtain the elevation value of the vegetation point cloud after elevation difference correction so as to construct a vegetation elevation variation coefficient index; and finally, constructing a comprehensive early warning model for geological disaster prevention and control of the loess slope to carry out geological disaster early warning. According to the method, the accuracy of early warning of the loess slope geological disasters is improved.

The invention discloses a power transmission line reconstruction method combined with multi-parallel-line laser, and belongs to the field of power transmission line modeling, and the method comprises the steps: determining a target power transmission line region, and carrying out the three-dimensional scanning of a multi-parallel-line laser scanner, and obtaining the point cloud data of the region; shooting a plurality of groups of binocular stereo images by using a binocular camera to obtain regional image data; establishing a registration coordinate system, and registering the point cloud and the image data to obtain an initial three-dimensional model of the power transmission line; constructing a key component set, and carrying out geometric recognition and segmentation on the models to obtain a plurality of key component models; and optimizing the plurality of key component models to obtain a plurality of optimized component models, and performing model optimization on the initial three-dimensional model of the power transmission line to obtain an accurate three-dimensional model of the power transmission line. The technical problems of low precision and poor efficiency of three-dimensional model reconstruction of the power transmission line in the prior art are solved, and the technical effects of improving the three-dimensional model reconstruction precision of the power transmission line and realizing efficient and accurate three-dimensional reconstruction of the power transmission line are achieved.

The invention relates to the technical field of digital twinborn simulation, in particular to a digital twinborn simulation system for a sleeper maintenance period, which comprises a multi-source data integration module for integrating point cloud data of a laser scanner and a photogrammetric image sequence of an unmanned aerial vehicle, extracting steel rail profile point position coordinates and sleeper position geometric parameters of a sleeper, and generating a digital twinborn simulation result; and generating an integrated structure attribute set. According to the invention, by integrating the point cloud data of the laser scanner and the photogrammetric image sequence of the unmanned aerial vehicle, the space coordinates of the steel rail profile and the geometric parameters of the sleeper are obtained, and a unified space coordinate system is constructed, so that the accuracy and stability of data matching are improved; and the displacement vector and attitude difference between the actually measured data and the digital model are taken as an adjustment basis, so that the adjustment operation of the steel rail node coordinate and the sleeper rotation matrix is more in line with the actual track facility state, the consistency of the simulation geometric structure and the actual track structure is realized, and the credibility of model simulation analysis is improved.

The invention relates to the technical field of vegetation root system nondestructive testing, in particular to a multispectral vegetation root system identification system and method based on a differentiable physical engine, and the system comprises a multispectral LiDAR module which is used for transmitting near-infrared laser and short-wave infrared laser, scanning a target area, obtaining dual-wavelength reflectivity data, and determining the vegetation root system according to the dual-wavelength reflectivity data; generating a reflectivity ratio matrix by adopting a reflectivity ratio classification model; the differentiable physical engine is used for quantizing the dynamic relationship between the vegetation root growth rate and the soil resistance by adopting a coupling model according to the reflectivity ratio matrix, generating a physical model and updating the physical model at a preset time interval; and the data processing and three-dimensional modeling module is used for generating a three-dimensional root system model and a health assessment result according to the reflectivity ratio matrix and the physical model, and outputting the three-dimensional root system model and the health assessment result. According to the scheme, soil penetration and root system and foreign matter distinguishing can be carried out, the vegetation native environment is not damaged, dynamic monitoring analysis is carried out, and the accuracy of recognition analysis is improved.

The invention belongs to the technical field of optical measurement, and particularly relates to intelligent laser scanning equipment for building structure surveying and mapping, which comprises a bracket, a platform is fixed at the upper end of the bracket, an annular guide rail is fixed on the outer wall of the platform, and an electric sliding block is sleeved on the annular guide rail; the lower side wall of the electric sliding block is connected with a laser scanner through a swing assembly, a notch is formed in a shell of the laser scanner, a heat dissipation assembly is installed in the notch, and the heat dissipation assembly comprises a box body. According to the laser scanner, cleaning of the annular guide rail is achieved through rotation of the rotating rod, meanwhile, water can intermittently flow out to adsorb heat on the heat conduction pipe, the heat conduction pipe can continuously adsorb heat in the laser scanner, rapid cooling of the laser scanner is completed, and meanwhile the water can be automatically cooled after flowing along the first slope; after the water body is gathered, the rotation of the scraper blade can be completed to complete the automatic cleaning of the filter screen I, so that the air flow can smoothly enter the air inlet pipe to cool the heat conduction pipe.

The invention relates to the technical field of road and bridge laser scanning monitoring, in particular to a road and bridge risk monitoring laser scanning device which comprises a main barrel, a supporting barrel, wheels, a handle, a tri-color lamp, a camera assembly, an extension assembly, an adjusting assembly and a rotating assembly, the main barrel is arranged on the upper surface of a base, and the supporting barrel is arranged on the lower surface of the main barrel; the wheels are arranged on the supporting barrel, the handle is arranged on the supporting barrel, the three-color lamp is arranged on the upper surface of the main barrel, an operator turns on a third driving motor in the adjusting assembly, the third driving motor rotates to drive a first rotating ring to rotate, the first rotating ring rotates to drive a laser scanner to move, and a top plate moves to drive a magnifying lens to move. Under extreme weather conditions, laser beams emitted by the laser scanner can be more focused at the focus point by adjusting the angle of the magnifying lens, and the energy density and penetrating power of the laser are improved.

The invention relates to the technical field of PCB drilling positioning, and particularly provides a PCB drilling positioning method and system.The method comprises the steps that structured light pattern images corresponding to different reference mark points are obtained, and the structured light pattern images comprise preset structured light patterns with projection areas covering the reference mark points; for each reference mark point, actual Z-axis height information is obtained according to the structured light pattern image, and then the focusing depth of the laser scanning system is adjusted according to the actual Z-axis height information; for each reference mark point, acquiring original two-dimensional coordinate information of the reference mark point by using a laser scanning system, and then correcting the original two-dimensional coordinate information according to the actual Z-axis height information and preset optical geometric parameters of the laser scanning system to obtain corrected two-dimensional coordinate information; correcting a preset drilling target point position according to all the corrected two-dimensional coordinate information to obtain a final drilling position of the drilling target point; according to the method, the problems of defocusing and projection errors caused by unevenness of the PCB can be effectively solved.

The invention provides a high-precision urban live-action three-dimensional model generation method and system and a storage medium. The method comprises the following steps: arranging photo control points in a target area and performing measurement; acquiring inclined image data of the target area by using the unmanned aerial vehicle; acquiring original point cloud data of the target area by using a laser scanner; performing aerial triangulation calculation on the inclined image data in combination with ground control point data to obtain aerial triangulation encrypted data; registering the original point cloud data in combination with the ground control point data, and then preprocessing the original point cloud data to obtain laser point cloud data; carrying out fusion reconstruction on the aerial triangulation encryption data and the laser point cloud data to generate an initial three-dimensional model; performing fine processing on the initial three-dimensional model to generate a high-precision three-dimensional model; according to the method, water surface cavities can be automatically repaired and efficient and intelligent color homogenization can be realized when the live-action three-dimensional model is constructed, so that the geometric accuracy and visual quality of the model are effectively improved, and engineering-level application requirements are met.

The invention discloses a three-dimensional reconstruction method and a laser scanner, and belongs to the field of laser scanning. The three-dimensional reconstruction method comprises the following steps: constructing three-dimensional point cloud data corresponding to a single image frame based on the image frame of a to-be-reconstructed object collected by a binocular camera in a laser scanner; the three-dimensional point cloud data comprises a plurality of reconstruction points and three-dimensional coordinates of the reconstruction points; the reconstruction points are space coordinate points obtained by performing three-dimensional reconstruction on pixel points in the image frame; and performing interpolation processing on at least part of reconstruction points in the three-dimensional point cloud data to obtain three-dimensional coordinates of a target interpolation point. According to the three-dimensional reconstruction method provided by the invention, the point cloud data far exceeding the resolution of the camera can be obtained, and the point output quantity of a single-frame image frame is improved, so that the scanning efficiency is improved; and the three-dimensional coordinates corresponding to the reconstructed target interpolation point accord with the surface change trend of the object to be reconstructed, so that the sampling precision and accuracy are relatively high, and the user experience is improved.

The invention relates to a robot grinding and polishing self-adaptive compensation method based on multi-line laser, and relates to the field of robot positioning precision. According to the technical scheme, online high-resolution measurement of the workpiece is achieved through the multi-line laser scanning sensor, hand-eye parameters are dynamically updated in combination with multi-view calibration and data fusion, the tail end pose of the robot is corrected in real time through the mixed error model fusing MDH kinematics and machine learning, and the grinding and polishing precision and consistency are guaranteed. Wherein the MDH model is responsible for coarse positioning to guarantee interpretability of a kinematic structure, the machine learning model captures nonlinear dynamic errors such as thermal expansion and abrasion, and the MDH model and the machine learning model are combined to achieve self-adaptive real-time compensation of a complex error source. The error compensation precision is improved from the millimeter level to the submillimeter level, the cost of the line laser measurement system is only tens of thousands of yuan, the size is small, installation is easy, and compared with a laser tracker, the cost and the installation difficulty are greatly reduced.

The invention discloses an automatic calculation and compensation method and system for dynamic strike delay of a laser weeding robot, and belongs to the technical field of agricultural intelligent equipment.The method is achieved through the following steps that in the static calibration stage, a laser galvanometer, a camera and collaborative parameters of the laser galvanometer and the camera of a robot system are corrected; laser scanning nonlinear errors, camera imaging distortion errors and pose and mapping errors between a galvanometer coordinate system and a camera coordinate system are eliminated; in the dynamic testing stage, the robot advances at a constant speed, laser striking is conducted on the wood chips with preset marks, and the position deviation between an actual striking point and a theoretical target point is obtained through the image recognition technology; reversely deducing system delay time based on the deviation and the speed of the robot, and iteratively updating compensation parameters; finally, after the iterative optimization strike deviation is smaller than the set precision, the compensation parameters are solidified to a control system; the method is suitable for a laser weeding robot and other dynamic visual striking systems.

The invention discloses a sapphire window-based nuclear magnetic resonance device and a coal seam free gas volume correction method, the sapphire window-based nuclear magnetic resonance device comprises a computer, a gas cylinder assembly, a nuclear magnetic bearing platform, a coal sample holder, a stable displacement pump and a laser emitter, the gas cylinder assembly is connected with a left end inlet of the coal sample holder, and the coal sample holder is arranged on the nuclear magnetic bearing platform; a sapphire window is arranged on the coal sample holder, laser emitted by the laser emitter faces the sapphire window to observe a cylindrical coal sample in the coal sample holder, an outlet at the right end of the coal sample holder is connected with a test pipeline, and the coal sample holder is connected with a confining pressure control pipeline. Advanced technologies such as nuclear magnetic resonance and laser scanning are applied to the free gas content simulation experiment of the coal bed gas reservoir, and the tested data are more accurate. The device can also be used for permeability testing, methane adsorption experiments, displacement experiments and the like, test results are used for evaluating distribution characteristics of free gas in geological media such as coal seams and shale, and theoretical data support is provided for energy development in China.

The invention provides a laser radar system and a carrier system, the laser radar system comprises a transmitting module, a scanning module and a receiving module, the transmitting module is used for transmitting probe light, the probe light is reflected by a to-be-detected target to form echo light, the receiving module is used for receiving the echo light, and the scanning module comprises a rotating mirror and a galvanometer. The rotating mirror and the galvanometer are both used for guiding the detection light and the echo light, the rotating mirror is used for scanning in a first direction of the laser radar system, the galvanometer is used for scanning in a second direction different from the first direction of the laser radar system, and the galvanometer and the rotating mirror are at least partially located in the same plane, so that the occupied space of the galvanometer and the rotating mirror is reduced; therefore, the occupied space of the laser radar system is reduced, and the laser radar system gives consideration to structural size and performance.

The present invention relates to a hydraulic support follow-up self-compensation coal discharge laser scanning device and method, which is suitable for use in coal mines. It includes an inclination sensor, a power box, a laser scanning device, an industrial computer, a display, and a chute main control computer, wherein the laser scanning device is provided with a laser radar, a stepper motor driver, a stepper motor, and an inclination sensor b, the power box is connected to the laser scanning device, the industrial computer, and the display to provide power for them, and the industrial computer is respectively connected to the display, the laser scanning device, and the inclination sensor a line. It can obtain coal quantity characteristics from the collected laser point cloud data, establish a digital terrain model in combination with the speed of the scraper conveyor for grid division, obtain the coal flow volume, and provide data support for the closing of the coal discharge port. At the same time, based on the posture transformation characteristics of the hydraulic support and the angle change of the rear connecting rod of the hydraulic support, the laser scanning device is adjusted for angle self-compensation, so as to achieve uninterrupted and precise coal quantity measurement without manual intervention.