559 results about "Mobile carrier" patented technology

The invention relates to the technical field of terrain reconstruction and path planning, and particularly provides a night terrain reconstruction and path planning method and system based on multi-sensor collaboration, and the method comprises the steps: obtaining the multi-source sensing data of a night environment through a data collection module; performing multi-source data fusion processing on the multi-source sensing data to generate a night environment reconstruction model fusing multi-dimensional features; performing obstacle semantic analysis on the night environment reconstruction model, extracting static obstacle distribution information and a dynamic obstacle movement track, and constructing a composite environment map; according to the composite environment map, a passable path is generated through a dynamic optimization algorithm in combination with terrain passability parameters and kinematics constraint conditions of a mobile carrier, and path parameters are dynamically adjusted based on real-time update data of a night environment reconstruction model; when it is detected that the obstacle distance or the motion state exceeds a safety threshold value, path real-time correction and graded obstacle avoidance instruction output are triggered through multi-sensor confidence evaluation and path collision risk prediction.

The invention provides a surveying device and method for an internal structure of a coating, and relates to the technical field of surveying. The surveying device comprises an acquisition system used for acquiring coordinate information of muons, and the coordinate information comprises intersection point coordinates of the muons and the acquisition system; the positioning time service system is connected with the acquisition system and is used for recording the position information of the acquisition system; the control system is respectively connected with the acquisition system and the positioning time service system, and is used for obtaining a structure image of the internal structure of the to-be-detected coating according to the coordinate information and the position information, and judging the condition of the internal structure of the to-be-detected coating according to the structure image; wherein the to-be-detected coating is located at the upper part of the underground space; and the mobile carrier can move in the underground space, and the acquisition system, the positioning time service system and the control system are fixed on the mobile carrier. The surveying device can efficiently detect the condition of the internal structure of the to-be-detected coating in real time in a non-invasive mode, and the safety of the operation period and the construction period of the underground space is guaranteed.

The invention relates to the technical field of laser processing, in particular to a laser light path rapid switching method and related equipment. The laser light path fast switching method comprises the steps that a single laser emits original laser, the original laser passes through a laser collimator or directly enters a multi-channel reflecting mirror set to adjust a transmission path, a beam expander is selectively started for beam expanding according to the machining requirement, a preliminary shaping light beam is formed, and a basic light path matched with a follow-up optical device is constructed. According to the invention, through the integrated driving mechanism and grating ruler full-closed-loop control rapid switching device, the mobile carrier pre-installed with multiple DOEs is driven to realize accurate cutting-in of a target light spot element in a light path, and the problem of rapid adaptation of multiple light spot patterns in a single laser system is solved.

The invention provides a tunnel contour line forming device based on hydraulic cutting, which comprises a hanging frame and an inserting rod device on the hanging frame, one end of the inserting rod device is inserted into a slag discharging hole, a swing arm frame capable of swinging is arranged at one end of the hanging frame, a water jet cutting assembly capable of moving along the length direction of the swing arm frame is arranged on the swing arm frame, and the water jet cutting assembly is provided with a water jet nozzle. The problems that in the drilling and blasting method construction, instability and collapse of a tunnel face and over-excavation and under-excavation are likely to be induced are solved, automatic operation can be achieved after the mobile carrier is used for assisting in parking in the installation process, the beneficial effects of being convenient to assemble and disassemble and flexible in operation are achieved, and multi-machine-position cluster operation can be achieved.

The invention discloses a fuel cell heat and humidity integrated management system and an evaporation phase change cooling method thereof, and belongs to the technical field of fuel cell heat management. The system comprises an air cooling and humidifying module, a heat dissipation, evaporation and phase change module and a water recovery and distribution module. The air cooling and humidifying module distributes compressed air to an ultrasonic atomizing nozzle to be mixed with atomized water, and cooling and humidifying of main path air are achieved. The heat dissipation evaporation phase change module sprays atomized water to the surfaces of ATS radiator fins, and heat dissipation is enhanced through evaporation phase change. And the water recovery and distribution module recovers moisture in wet air at an electric pile outlet through condensation and intelligently distributes the moisture to the two atomization systems. A traditional intercooler and a traditional membrane humidifier are omitted, the air flow resistance is reduced by 15-20%, the heat dissipation efficiency is improved by 10% or above, the weight of the system is reduced by 8%, closed-loop utilization of reaction water is achieved, and the system is particularly suitable for fuel cell systems of mobile carriers such as vehicles and unmanned aerial vehicles.

The invention relates to the technical field of road defect detection, in particular to a road defect detection method and system based on three-dimensional perception, and the method comprises the steps: synchronously collecting two-dimensional image data and three-dimensional point cloud data of a target road surface on a mobile carrier through an integrated detection system; fusing the position information of the GNSS integrated by the detection system and the attitude information of the inertial measurement unit, calculating the time sequence pose data of the detection system in the acquisition process, and generating a target pavement three-dimensional point cloud model with absolute space coordinates; and performing spatial registration on the two-dimensional image data and the three-dimensional point cloud model of the target pavement, and based on the fused two-dimensional and three-dimensional data, identifying and quantifying geometric and texture information of pavement diseases, and generating a disease distribution diagram containing disease positions, types and size parameters. According to the invention, through deep fusion of two-dimensional and three-dimensional data, accurate identification and quantification of pavement diseases are realized, and a CAD-format disease distribution diagram which can be directly delivered can be automatically generated.

An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a base structure of a carrier on which an object may be supported, and at least two wheels mounted to at least two motors to provide at least two wheel assemblies, the at least two wheel assemblies being pivotally supported on the base structure for pivoting movement from a first position to a second position to effect a change in direction of movement of the carrier.

The invention relates to a liquid crystal phased array dynamic star finding control method based on holographic phase coding. The method comprises the following steps: acquiring an expected beam pointing angle of a target satellite relative to an antenna array; generating a two-dimensional phase matrix suitable for a liquid crystal phased array based on the expected beam directional angle; performing temperature compensation on the two-dimensional phase matrix, converting the two-dimensional phase matrix into a digital driving level, and loading the digital driving level to a liquid crystal driving circuit; a radio frequency beam pointing to the expected beam pointing angle is formed through radiation of the liquid crystal phased array antenna panel; and beam pointing errors are detected in real time according to downlink signal characteristics and are compensated. The liquid crystal phased array dynamic star finding control method based on holographic phase coding shows remarkable technical progress and practical advantages in multiple aspects; according to the method, a high-performance and high-reliability dynamic beam pointing system is constructed through key technologies such as holographic phase coding, real-time temperature compensation, high-speed calculation and closed-loop feedback, and the method is particularly suitable for high-dynamic scenes such as high-speed mobile carriers and low-orbit satellite communication.

The invention discloses a soil quality detection sampling device and a sampling method thereof, and relates to the technical field of soil sampling detection. According to the soil quality detection sampling device and the sampling method thereof, the height adjusting mechanism, the stripping mechanism, the pre-bearing pressing mechanism and the end part separation mechanism are arranged in the mounting frame, so that in the sampling process of the device, the height adjusting mechanism, the stripping mechanism, the pre-bearing pressing mechanism and the end part separation mechanism are coordinated and matched, and the sampling efficiency is improved; and when the compacted sample column is reset and ascends along with the device, the compacted sample column can be automatically pressed and supported, a plurality of arc-shaped material taking plates are automatically and orderly separated from the compacted sample column, on the basis of automatic material stripping, the completeness of the outer wall of the sample column is relatively guaranteed, and a fitting end column is synchronously separated from the top end of the sample, so that the sample column is automatically separated from the top end of the sample. The adhesive force of the top end of the sample column is reduced and subsequent manual material taking is facilitated.

The invention belongs to the technical field of roadway navigation, and particularly relates to an integrated navigation method and device based on inertial navigation and laser radar and a medium, and the method comprises the following steps: scanning by using the laser radar to obtain point cloud data, and calculating the position of a carrier based on the point cloud data; establishing a kinematic model of the mobile carrier, and calculating a distortion error of the mobile carrier; measuring motion information of the mobile carrier by adopting inertial navigation; and compensating the point cloud data based on the motion information of the mobile carrier, and completing navigation calculation based on the compensated point cloud data. The point cloud data acquired by the laser radar are compensated through the inertial navigation data, point cloud distortion is compensated in real time, and the geometric quality and the positioning precision of the point cloud are improved.

The invention relates to a visual obstacle avoidance method and device, and the method comprises the steps: S1, arranging a monocular camera on a moving carrier, and enabling an image collected by the monocular camera to comprise a preset range at the front lower part of the moving carrier; s2, collecting a sample image through the monocular camera and calibrating the sample image to obtain a relational expression of the distance between a target in the image and the mobile carrier; s3, acquiring a formal image through the monocular camera, and identifying an obstacle in the formal image; and S4, determining the distance between the obstacle and the mobile carrier through the relational expression. According to the invention, the monocular camera is arranged on the mobile carrier and only collects the image in the limited range of the front lower part, and the distance information with the target obstacle can be obtained from the collected image, so that the obstacle avoidance judgment is realized, and compared with the existing monocular vision that the depth-of-field information cannot be obtained, so that the obstacle distance cannot be accurately judged, and the obstacle avoidance accuracy is improved. Good application prospects are realized.

The invention discloses a three-dimensional reconstruction method and system for a laser radar and a shooting device, a mobile carrier, a storage medium and a computer program product, and relates to the technical field of three-dimensional reconstruction. The method comprises the following steps: synchronously recording a target point cloud frame set of a target area scanned by a laser radar and a rotation angle data set of a rotation base in a laser radar scanning process; recording a target picture frame set obtained by synchronously shooting the target area by the shooting device and the laser radar; projecting the target point cloud frame and the corner data to a target picture frame according to a spatial offset matrix between the laser radar and the shooting device to realize three-dimensional reconstruction; the spatial offset matrix comprises a first spatial offset matrix between the laser radar and the rotating base, a second spatial offset matrix between the laser radar and the inertial sensor, and a third offset matrix between the shooting device and the inertial sensor. According to the method, the technical effects of reducing hardware cost and increasing hardware custom and practicability can be achieved.

The invention discloses novel wind-gathering wind power generation equipment, relates to the technical field of wind power generation, and solves the technical problems of low wind energy utilization efficiency, huge structure and limited application scene in the existing technical scheme. The novel wind-gathering wind power generation equipment comprises a main base, a stand column is arranged on the upper wall surface of the main base, and a wind gathering barrel is arranged on the stand column; according to the wind power generation device, the wind gathering cover and the wind gathering barrel with the input end area far larger than the output end area are arranged, incoming flow air can be effectively gathered and accelerated, the wind speed acting on the wind power fan blades is remarkably increased, and the wind power generation device has the advantages that the wind power generation device is high in wind power generation efficiency; the utilization rate of wind energy resources is greatly improved; the whole structure is very compact, the occupied area is small, the device can be flexibly applied to a mobile carrier with limited space, for example, the device is installed on a vehicle roof to generate power through driving wind or installed on a ship deck to provide auxiliary power, and a brand new application field of mobile energy regeneration is developed.

Embodiments of this application provide a display method, an apparatus, and a mobile carrier. The method includes: when it is detected that a first user is located in a first area in a mobile carrier, displaying a first interface element in a first display area, where the first interface element includes an interface element associated with the first user, and there is a correspondence between the first area and the first display area. Embodiments of this application may be applied to an intelligent vehicle or an electric vehicle, to help improve a degree of intelligence of the vehicle and also help improve user experience.

The invention relates to the technical field of underground space detection, and discloses a high-resolution three-dimensional imaging GNSS (Global Navigation Satellite System) positioning type shallow cavity detection system which comprises a mobile carrier platform, a step frequency continuous wave radar subsystem, a high-precision positioning and attitude sensing subsystem, a central control and edge calculation subsystem and a wireless communication module. According to the system, radar acquisition and hardware-level synchronization of positioning data are realized by using GNSS pulse per second; the central control subsystem dynamically modulates the radar frequency step number and the residence time according to the instantaneous velocity of the carrier to ensure that the space sampling interval is constant; and signal enhancement is carried out in combination with geographic semantic prior, three-dimensional deduction reconstruction is carried out on sparse survey line data by using a conditional generative adversarial network, and active supplementary collection of a reverse-driven low-confidence region is evaluated through confidence. According to the method, high-precision positioning, self-adaptive efficient acquisition and full-process closed-loop detection of the underground cavity are realized, and the reliability of detection data and the engineering application value are improved.

The invention belongs to the technical field of concrete detection, and particularly relates to an intelligent automatic comprehensive tunnel detection trolley which comprises a movable carrier and a first mechanical arm installed on the movable carrier, and the execution end of the first mechanical arm is fixedly connected with a detection device. The detection device comprises an external main body, an elastic rod, a signal processing unit, a camera I, a distance sensor and a pressure sensor, the elastic rod is slidably connected to the inner side of the external main body, and the pressure sensor triggered by the bottom of the elastic rod is mounted at the inner bottom of the external main body; the elastic striking rod impacts the concrete surface through gas driving, the elastic striking rod returns through gas driving when returning, the gas pressure of the elastic striking rod impacting the concrete surface is adjusted according to the pressure value of the pressure sensor, and the first mechanical arm controls the detection device to move to the target position. The moving carrier can drive the first mechanical arm so as to drive the detection device to work in different areas, and therefore the high labor intensity of manual knocking work and the risk of slipping out of the hand are avoided.

A high-stability satellite communication device disclosed by the present invention comprises a mounting base, the top of the mounting base is provided with a mounting groove, the mounting groove is connected with a mounting plate through a vibration damping device, the upper side of the mounting plate is rotatably connected with a rotating column, and the side wall of the rotating column is fixedly connected with a second gear. The side wall of the second gear is in meshed connection with a first gear, the upper side wall of the mounting plate is fixedly connected with a first motor, an output shaft of the first motor is fixedly connected to the bottom side wall of the first gear, and the upper end of the rotating column is connected with a satellite receiving disc through a pitching adjusting device. The system further comprises a central controller, and a damping regulation and control unit and a dynamic tracking unit are arranged in the central controller. According to the invention, the satellite receiving disc can still keep high-precision pointing under the conditions of high-frequency vibration and attitude change of the mobile carrier, and the signal stability is improved.

The invention discloses a least square covariance dynamic weighting satellite inertial navigation combined attitude determination method, which belongs to the technical field of combined navigation and mobile carrier attitude determination, is used for satellite inertial navigation combined attitude determination, and comprises the following steps: obtaining and preprocessing original data, constructing a nonlinear observation model, linearizing by using a Gauss-Newton iterative algorithm, and solving; performing time updating of an error state vector and a state covariance based on inertial navigation system mechanical arrangement; and reconstructing a measurement noise covariance matrix of extended Kalman filtering, constructing a measurement information vector, calculating Kalman gain, performing state updating, and outputting an attitude determination result. According to the method, the current epoch least square posterior covariance is introduced for dynamic weighting, so that instantaneous delay-free adaptive fusion is realized, the short baseline noise amplification effect is remarkably inhibited, and the attitude estimation precision, the statistical consistency and the real-time observation quality self-diagnosis capability under the complex sea condition are improved.

The invention discloses a visible light positioning method based on a single light source base station and double photosensitive position detectors. The method comprises: constructing a visible light positioning system; defining a world coordinate system, a PSD coordinate system and a PSD imaging coordinate system; calibrating two PSD internal parameters in the visible light positioning system by using a Zhang Zhengyou calibration method and an asymmetric dot calibration plate; the world coordinates of the LED light source and the external parameters of the PSD are calibrated; and determining the real-time coordinates of the mobile carrier in the world coordinate system. The method has the advantages that the double PSD receivers and the single light source base station are used for positioning the mobile carrier, positioning coordinate calculation can be carried out as long as the mobile carrier loaded with the double PSD receivers is located in the coverage area of one light source base station, operation is safe, easy and convenient, the degree of dependence on the light source density is reduced, and the applicability of the visible light positioning technology is enhanced.

The invention relates to a flight flow measuring device, which comprises a flight platform, a flow measuring sensor module, an environment sensing module, an airborne calculation and control unit and a communication module, and is characterized in that the flight platform is used as an air moving carrier of the device, the flow measuring sensor module is carried on the flight platform, and the environment sensing module is carried on the flight platform; the airborne calculation and control unit is integrated in the flight platform, the airborne calculation and control unit is electrically connected with the flow measurement sensor module and the environment sensing module, and the airborne calculation and control unit is used for processing and fusing data and generating a flight control instruction. According to the method, the whole-process autonomous operation from takeoff to return flight is realized, the dependence on manpower and subjective experience is greatly reduced, and the method has the advantages of high safety, high environmental adaptability, high data detection precision, high autonomy degree, high task execution efficiency and remarkable reduction of economic cost.

The invention provides a CTG neural network aided navigation method in a GNSS weak signal scene, which comprises the following steps: synchronously acquiring inertial measurement unit IMU original data and GNSS satellite positioning data of a mobile carrier in a GNSS signal stable scene, and constructing a spatial-temporal characteristic data set containing dynamic acceleration, angular velocity and position increment; constructing a CTG network based on the data set, wherein the CTG network comprises an input layer, a feature extraction layer, a coding layer and a decoding layer which are connected in sequence; performing off-line training on the CTG network by using the spatio-temporal feature data set to obtain an optimal network weight and a model structure; iMU data are acquired in real time in a GNSS weak signal scene, and motion state implicit features are extracted through the trained CTG network and pseudo position measurement information is generated; and carrying out fusion positioning on the pseudo position measurement information and inertial navigation system (INS) data through a Kalman filter, dynamically correcting an accumulated error of inertial navigation, and outputting a continuous and smooth positioning result.

The present disclosure concerns a coupling mechanism for detachably attaching two or more utility modules to one another, utility assembles, mobile carriers and other attachable modules and articles.

The present invention discloses an airborne laser de-icing device for large objects, which can solve the problems of low intelligence level, large design difficulty and easy adverse impact on the environment in the existing de-icing methods for large objects. The device includes: a mobile carrier, on which a drone and a laser emission module are carried, and the laser emission module is used for emitting laser; the drone is used for flying according to flight parameters; a laser processing head, carried on the drone and connected to the laser emission module through an optical fiber, and is used for providing laser to the surface of the object to be de-iced; an inclination detection module, carried on the drone and used for detecting the inclination angle of the drone in real time; and a control module, used for controlling the operation of the drone and controlling the laser emission module to turn off when the inclination angle exceeds a preset angle. The present invention can be used for de-icing large objects such as the fan blades of a wind power station and the pantograph lines of high-speed trains.

The invention provides tunnel lining disease AI detection and positioning equipment, which relates to the technical field of tunnel engineering detection and comprises a data acquisition module, an edge calculation module and a cloud analysis module. According to the invention, the appearance image data, the three-dimensional point cloud data and the thermal imaging data of the tunnel lining are synchronously acquired through the multi-sensor array carried on the mobile carrier, unmanned continuous automatic detection can be realized, manual processing of subsequent mass data is avoided, then an end-side-cloud collaborative architecture is introduced, and the real-time performance of the tunnel lining is improved. The edge calculation module is responsible for real-time identification and preliminary positioning to ensure the detection efficiency, and the cloud analysis module maps two-dimensional disease information to a three-dimensional space through a multi-source data registration and fusion algorithm to accurately calculate the geometric dimension and absolute coordinates of the disease information. Meanwhile, in combination with thermal imaging data analysis, recessive diseases which cannot be found by a traditional method are effectively identified. According to the method, human eye interpretation is replaced by the artificial intelligence model, so that the objectivity and consistency of results are ensured.

A method of providing transfer between a remotely actuatable carrier and a container support structure is disclosed, the method including providing a remotely actuatable carrier including a plurality of support ridges proximate the support structure and providing sensor output information regarding alignment of the remotely actuatable carrier and the container support structure, the container support structure including a plurality of support structure protrusions; and passing the plurality of support ridges of the remotely actuatable carrier between the plurality of support structure protrusions responsive to the sensor output information.

The invention discloses a method and a device for generating reciprocating mechanical energy by utilizing fluid kinetic energy, which are characterized in that a vortex street generator generates periodically falling vortexes in a flow field to drive a flexible vibrating body to do reciprocating motion, and the mechanical energy is converted into electric energy. The device has the advantages of being small in occupied space, high in adaptability, high in energy conversion efficiency, free of torque overflow and the like, and is particularly suitable for recycling airflow kinetic energy of a moving carrier (such as a running vehicle).

A disclosed method may include identifying, by a mobile operator with clients for which an independent mobile telecommunication enhancement operation provides a mobile telecommunication enhancement, a mapper file that specifies how to customize outbound communication messages based on a data serialization language specification file for the independent mobile telecommunication enhancement operation.

The invention belongs to the technical field of clean plate installation, and particularly relates to hoisting equipment for clean plate installation construction, which comprises an operation driving assembly and a clamping external expansion assembly, and the clamping external expansion assembly is installed at the execution end of a multi-axis manipulator through the operation driving assembly. The number of the multi-axis mechanical arms is two, and bases of the multi-axis mechanical arms are jointly installed on a moving carrier. The operation driving assembly can drive the clamping external expansion assembly and the cleaning plate component clamped by the clamping external expansion assembly to conduct lifting or vertical overturning or horizontal overturning operation, the cleaning plate component comprises a cleaning plate body, a dovetail-shaped self-locking protruding block is arranged at one end of the cleaning plate body, and a dovetail-shaped self-locking groove matched with the dovetail-shaped self-locking protruding block is formed in the other end of the cleaning plate body. The clamping external expansion assembly can clamp the cleaning plate component and perform external expansion operation on a dovetail-shaped self-locking groove of the cleaning plate component when clamping and self-locking are needed. The equipment is reasonable in design, and the cleaning plate components do not need to be staggered and can be directly clamped and assembled.

The application discloses a kind of vehicle-mounted tunnel lighting index measurement system, method, electronic equipment and medium, belong to highway tunnel lighting measurement technical field, comprising: mobile carrier, luminance acquisition module, for collecting luminance information in tunnel is set to the upper end of mobile carrier;Real-time calibration module is set to mobile carrier, and with the luminance acquisition module communication connection, for the real-time calibration of collected image luminance information;Tunnel positioning module is set to mobile carrier, for constructing the 3D point cloud of tunnel environment, carries out equidistance luminance dot distribution analysis to tunnel pavement;Visual display module is set to mobile carrier, and with the luminance acquisition module, real-time calibration module and tunnel positioning module communication connection, for showing equidistance luminance dot distribution and analysis result.The application effectively reduces the time cost, manpower cost and field layout cost of traditional lighting detection, realizes tunnel lighting index full-line automatic detection.

The application discloses a heating furnace roller bed polishing device and a polishing method, and belongs to the field of heating furnace roller bed polishing devices. The device comprises a mobile carrier, a lifting mechanism, a transverse moving mechanism, a polishing unit, an electric control unit, a cable drum and a counterweight assembly. The mobile carrier is suitable for being hoisted to the heating furnace roller bed and moving along the extension direction of the roller bed. The lifting mechanism is arranged on the mobile carrier. The transverse moving mechanism is arranged on the lifting mechanism. The polishing unit is arranged on the transverse moving mechanism and located on one side of the mobile carrier. The polishing unit comprises a driving wheel, a driven wheel, a sand belt, a driven wheel supporting arm and an elastic tensioning assembly. The lifting mechanism can drive the polishing unit to descend towards the roller bed. The transverse moving mechanism can drive the polishing unit to move along the axial direction of the roller bed. The electric control unit is used for controlling the mobile carrier to automatically change positions at a preset roller bed interval. The application can realize automatic polishing of the roller bed in the semi-closed, high-temperature and high-dust environment of the heating furnace, reduces manual work in the furnace, improves polishing efficiency and reduces operation risks.