2531 results about "Photoelectric sensor" patented technology

The invention relates to the technical field of image processing, in particular to an image imaging method based on an anti-ambient light interference technology and image acquisition equipment thereof. According to the method, a photoelectric sensor is used for receiving a mixed optical signal reflected by a target, a tunable optical filter is used for extracting a reflected light component containing pulse coding characteristics, and an anti-interference characteristic pattern with a time dimension identifier is generated; based on the time dimension identifier of the anti-interference feature map, identifying an effective reflection region meeting a preset reflection characteristic threshold in the target scene, and marking a transient interference region generated by direct illumination of ambient light; and performing differential operation on the light intensity data of the effective reflection area and the spectral characteristics of the transient interference area, and reconstructing a target intrinsic image shielded by light. According to the invention, the imaging definition and the target identification reliability under severe illumination conditions such as backlight and strong light can be improved.

The invention discloses a full-automatic interval shifting mechanism which comprises a bottom plate. A rodless air cylinder is fixed to the bottom plate. A carrying plate is fixed to a sliding block of the rodless air cylinder. A sliding rail is fixed to one side of the carrying plate. The sliding block is inserted on the sliding rail in a sleeving manner and fixed to the bottom face of a stirring paw installation plate. A pushing air cylinder is fixed to the other side of the carrying plate. The end of a push rod of the pushing air cylinder is fixed to a connecting part of the bottom face of the stirring paw installation plate. A proximity switch is arranged on the rear part of the carrying plate and corresponds to the rear side wall of the carrying plate. A plurality of stirring paws are fixed to the top face of the stirring paw installation plate. A transverse sliding rail is fixed to the bottom plate. A transverse sliding block is fixed to the carrying plate and inserted on the transverse sliding rail in a sleeving manner. An induction piece is fixed to the bottom face of the stirring paw installation plate. Two photoelectric sensors are fixed to the parts, close to the left side and the right side, of the bottom plate and correspond to the induction piece. The full-automatic interval shifting mechanism can automatically move a product machined at one position to a station at another position to be machined, and thus the manual cost and the working intensity are lowered.

The invention discloses an inspection map construction system based on radar and photoelectricity. The system comprises a three-dimensional laser radar module, a photoelectric positioning module, a data processing module and a map reconstruction module. The three-dimensional laser radar module collects environment data, constructs a global three-dimensional point cloud map and outputs the initial pose of the robot. The photoelectric positioning module corrects parking deviation through photoelectric sensors which are arranged in a crossed manner, and obtains an axle image through an up-looking camera; after the data processing module preprocesses the map, multi-source data are fused, the optimal pose is output through Kalman filtering, and secondary pose correction is completed by combining the comparison result of the axle image and the standard template; and the map reconstruction module realizes dynamic optimization and reconstruction of an inspection map, through multi-module cooperation and hierarchical correction, the positioning precision and scene adaptability are improved, the problems of positioning drift, weak map dynamic updating capability and the like in the traditional technology are effectively solved, and the high-precision requirement of rail transit underbody inspection is met.

The invention is suitable for the technical field of toll station management, and provides an expressway toll station remote seat guarding and special situation vehicle handling system, which comprises a front-end sensing layer, a rear-end sensing layer and a control layer, the lane equipment comprises a photoelectric sensor, an infrared height limit alarm, a license plate recognition camera, an ETC antenna, an acousto-optic warning ball and a self-service equipment sensor; the network transmission layer is connected with lane equipment, a sentry box cabinet, a machine room core switch and a monitoring center through an optical fiber network; the remote control layer is composed of a remote seat center, and the remote seat center can carry out video monitoring, visual intercom and remote control; and the abnormity alarm layer is used for carrying out early warning on vehicle detention, vehicle height exceeding, ETC passing faults, toll evasion vehicles and handrail abnormity. The vehicle state can be sensed in real time, data are gathered to a remote seat center through a network transmission layer, an information island is broken, and special conditions can be automatically processed.

The invention discloses a gear coding error dynamic compensation method based on multi-sensor phase difference fusion, which belongs to the field of mechanical transmission, and comprises the following steps of: cooperatively acquiring gear phase information through a Hall sensor and a photoelectric sensor, and calculating phase difference data; constructing a rotating speed, temperature and load three-dimensional topology error space; training an error prediction model based on a seven-layer long-short-term memory network; a self-adaptive compensation strategy is executed, and when the error is larger than 0.1 degree, the driving rotating speed is increased; implementing closed-loop feedback control, and triggering model self-calibration when a difference value between an actual error and a predicted error is greater than 0.16 degree; a transfer learning mechanism is introduced, the bottom-layer feature extraction capability is reserved, and only upper-layer parameters are updated; the system state monitoring and collaborative optimization are realized, the working mode and resource allocation are dynamically adjusted, the precision and stability of the gear transmission system are remarkably improved, and the method has wide engineering application value.

Surgical robotic systems and navigation systems employ a robotic arm including a plurality of links. A link tracker assembly is located on the surface of one or more of the links to enable the link to be tracked by a localizer. The link tracker assemblies can utilize a plurality of tracker elements that can be removably coupled to the link. A photosensor assembly is located on the surface of one or more of the links to receive signals from the localizer for controlling the link tracker assembly. The robotic arm can be coupled to a base and the systems can be used in collaboration with a base tracker that is coupled to the base. The robotic arm can also include a mounting interface for receiving an end effector and the systems can be used in collaboration with an end effector tracker that is coupled to the end effector.

The utility model discloses a thickness measuring device for a surface coating of a battery cell, and belongs to the technical field of detection tools. The device comprises a thickness detection assembly and a carrying assembly which are arranged on a platform, the thickness detection assembly is provided with a height adjusting device, and the height adjusting device is provided with a photoelectric sensor used for detecting the thickness of a coating on the surface of a battery cell; the carrying assembly is in sliding connection with the platform, and the carrying assembly is used for conveying a to-be-detected battery cell to the photoelectric sensor and detecting the thickness of a surface coating of the battery cell; according to the utility model, the height adjusting device and the carrying assembly are matched with the photoelectric sensor, so that the thickness of the surface coating of the cylindrical battery cell is detected in a non-contact manner, and the production quality of the battery cell is improved.

The invention relates to a binding head device, a mounting method and die bonding equipment. The binding head device is used for picking up a chip and mounting the chip on a substrate, and comprises a force control detection module, a force control driving module and a mounting module; the force control detection module comprises a reference block, a photoelectric sensor and a signal amplifier, and the signal amplifier is in signal connection with the photoelectric sensor; the mounting module comprises a main shaft and a main shaft seat, the main shaft penetrates through the main shaft seat and can lift relative to the main shaft seat, and the working end of the main shaft is exposed out of the main shaft seat; the top end of the reference block is connected with the force control driving module; the bottom end of the reference block is connected with the transmission end of the main shaft; the photoelectric sensor is arranged on the spindle seat, one end of the photoelectric sensor emitting a light source extends into the spindle seat, the other end of the photoelectric sensor is connected to the signal amplifier, and the photoelectric sensor can emit the light source to the top end face of the reference block. And when the chip is in contact with the substrate, the signal amplifier determines the height variation of the reference block by detecting the light quantity variation reflected and received by the light source.

The invention relates to the technical field of industrial automation and robots, in particular to a forklift goods forking method and system based on tray position visual identification, and the method comprises the steps that an AGV body travels to a fan-shaped area, point cloud information is collected through a radar to be matched with tray characteristics, and the initial position of a tray is calculated; planning a retreating curve, driving to a visual identification position, and controlling the AGV body to retreat and fork after primary visual identification, error adjustment and secondary visual identification accurate positioning; the forking state is detected through a tray in-place switch and a fork tip photoelectric sensor, and the result is judged. The system comprises an AGV body, a recognizable tray and a scheduling module, and the AGV body carries a controller, a radar, a camera, an in-place switch and a photoelectric sensor. According to the scheme, SLAM accumulated errors are eliminated through laser-vision double recognition, tray deviation is adapted, recognition reliability is improved in a fan-shaped area, a narrow channel strategy widens the range, intervention is reduced, and the forking success rate and efficiency are improved.

The fancy steamed stuffed bun wrapper coating machine comprises a frame body and a PLC control device, a conveying belt is erected on the frame body, a wrapper feeding machine is arranged on one side of the conveying belt, and a material taking mechanical arm is arranged between the wrapper feeding machine and the conveying belt; the PLC control device receives the starting signal and then outputs a first control instruction to the leather feeder; the photoelectric sensor detects passing of the to-be-processed product and outputs a signal indicating that the to-be-processed product passes to the PLC control device, a second control instruction is output to the material taking manipulator to take the wrapper based on the output signal of the photoelectric sensor, and the wrapper is placed and attached to the to-be-processed product; and the PLC control device detects whether the material taking manipulator completes the placing action or not, if yes, a first control instruction is output to the leather supplying machine on the upper station and the lower station in the advancing direction of the conveying belt, the steps are repeated, and the to-be-machined product is coated with leather for many times. The device has the effect of improving the automation degree and the production efficiency.

The invention provides an automatic photoelectric test and defect detection method and system for a MicroLED display. Belongs to the technical field of display detection. Belongs to the technical field of display detection. The method comprises the following steps: carrying out comprehensive scanning on the MicroLED display by utilizing a high-precision photoelectric sensor array, and collecting initial photoelectric signal data of the display; preprocessing the collected initial photoelectric signal data; standard photoelectric signal data are obtained, pixel point positioning is carried out on the obtained standard photoelectric signal data based on the layout and resolution information of the display, and the position coordinate of each pixel point is determined; and dividing the display into a plurality of sub-regions according to the display region characteristics of the display. The MicroLED display is comprehensively scanned through the high-precision photoelectric sensor array, and the automatic data acquisition and processing flow is combined, so that the precision and efficiency of the photoelectric test are remarkably improved, the manual intervention is reduced, and the consistency and reliability of the detection are improved.

The utility model discloses a device used for detecting parameters of a mowing robot, comprising a workbench and a mowing robot, the workbench is provided with a test platform, the mowing robot is installed on the test platform, the device also comprises three-axis electrical parameter modules, the two sides of the test platform are both provided with the three-axis electrical parameter modules, and the three-axis electrical parameter modules are connected with the test platform. The three-axis electrical parameter module is used for detecting information of a wheel set and a cutter head of the mowing robot. The wheel set information of the mowing robot can be collected through the self-resetting wheel speed measurement module, the cutter information of the mowing robot can be collected through the photoelectric sensor, and the information can be collected through the PCB main control board.

The invention provides an infrared and photoelectric combined hidden camera detection system and method, and the method comprises the steps: obtaining environment temperature and light intensity distribution reference data through an infrared thermal imaging sensor and a photoelectric sensor, and building a feature reference library; exciting light with different wavelengths is emitted, and the light supplementing intensity is adjusted according to the reference library; at each light supplementing time node, collecting a temperature distribution image, calculating a temperature change rate matrix, and identifying a response time constant abnormal region; a reflected light intensity matrix is collected, a reflected light intensity change rate matrix is calculated, and a reflectivity abnormal area is identified; generating a fusion feature matrix according to the temperature and the reflected light intensity change rate matrix; the similarity between thermal response and a photoelectric reflection distribution mode in a neighborhood is evaluated by constructing a feature fusion judgment function and calculating a spatial correlation coefficient, when a preset threshold condition is met, it is judged that a camera hiding suspicion exists at the position, and a candidate position coordinate set P is recorded. The detection precision can be improved, and the false alarm rate can be reduced.

The utility model relates to the technical field of photoelectric sensors, and discloses a photoelectric conversion device and electronic equipment, and the photoelectric conversion device comprises an SPAD device, a quenching module, a counting module, a time analog conversion module and a data processing module. When the count value is not greater than the preset value, the data processing module uses the count value to represent the ambient light intensity; and when the count value is greater than the preset value, calculating the average voltage corresponding to the average value of the pulse widths of the electric signals in the whole exposure period according to the accumulated value of the analog voltage, and representing the ambient light intensity by using the average voltage. According to the utility model, the counting module is firstly used for counting the number of photons received by the SPAD device, and when the counting value reaches a set value, the time analog conversion module is switched to represent the ambient light intensity, so that the dynamic range of photon detection is expanded without increasing the power consumption, the photons can be detected when the light intensity is relatively low or relatively high, and the detection efficiency is improved. And the condition of inaccurate counting caused by saturation of the counter due to increase of the light intensity is avoided.

The invention relates to the technical field of automobile lamp communication, in particular to an automobile headlamp free optical communication system and method based on stroboscopic modulation. The vehicle-mounted computer receives road condition information and converts the road condition information into an original bit stream, the anti-interference encoder generates an intermediate signal with a check code, the time-frequency interleaver carries out interleaving, the driving circuit modulates the interleaved intermediate signal, and the vehicle lamp receives the modulated signal and sends out an optical signal in a stroboscopic mode; a photoelectric sensor at a receiving end captures an optical signal emitted by a vehicle lamp, a noise reduction filtering module carries out wavelet noise reduction and filtering processing, a judgment decoding module carries out frame positioning, demodulation and verification on the processed optical signal to generate a restoration bit stream, and a vehicle-mounted computer restores the restoration bit stream into road condition information. And the voice broadcast module carries out voice broadcast on the road condition information. According to the invention, stable communication requirements between vehicles and between the vehicle and the sensing equipment in a closed or semi-closed environment in which electromagnetic signals are seriously disturbed can be met.

The invention provides a medication monitoring device and a medication monitoring method, relates to the field of medical apparatuses and instruments, and solves the technical problem that whether a capsule rotates to release medicines or not is difficult to monitor in a capsule type dry powder inhalation used in a transversely placed inhaler. The medication monitoring device comprises a shell and a photoelectric sensor, the photoelectric sensor is arranged on the shell, and a light path of the photoelectric sensor is configured to penetrate through the air inlet of the inhaler and the medicine bin, so that the rotation state of the capsule in the medicine bin is judged by detecting the change of the light path; the photoelectric sensor and the air inlet of the inhaler are arranged in a spaced mode in space so as to allow the inlet air flow to pass through. The rotation state of the capsule in the medicine bin is judged by detecting the change of the light path, whether the capsule rotates or not can be directly monitored, the problems that in the prior art, whether the capsule rotates or not cannot be known, and medicine taking failure caused by improper posture of the capsule cannot be judged are solved, effectiveness of medicine taking monitoring is ensured, and medicine taking guidance is facilitated.

The utility model provides an automatic medicine plate discharging mechanism. The side wall of the blanking bin is defined by four movable panels and a base, and a hollowed-out groove is formed in the side wall of the blanking bin; the upstream conveying device is used for conveying medicine plates to the blanking bin; the automatic discharging device is used for putting the medicine plates into a guide groove of the downstream conveying device from the discharging bin; and the first photoelectric sensor is mounted on the outer side of the discharging bin and is used for detecting the positions and the number of the medicine plates in the discharging bin through a hollow-out groove of the discharging bin. According to the automatic discharging mechanism, a transparent wall plate is arranged on a hollowed-out groove of a discharging bin, medicine plates are guided to enter the discharging bin from an upstream conveying device and are stacked on the automatic discharging device in order, and therefore the risk that the medicine plates are stuck in the discharging bin and shut down can be reduced, the medicine plates can be effectively isolated from a first photoelectric sensor, and the automatic discharging mechanism is high in practicability. And the risk that the sensitivity of the first photoelectric sensor is reduced and the control fails due to the fact that dust generated in the medicine plate discharging process covers the first photoelectric sensor is reduced.

The invention discloses an easy-open lid accurate counting device and method, the device comprises a chute, a photoelectric sensor and a gland assembly, and the gland assembly comprises a gland block, an optical axis, a spring and a pulse air source assembly; a directional separation spraying hole is formed in the bottom of the cover pressing block, when high-pressure gas conveyed by the pulse gas source assembly is sprayed out from the directional separation spraying hole, thrust towards the photoelectric sensor is applied to the to-be-counted easy-to-pull covers, and the easy-to-pull covers are pushed to enter a counting area one by one for counting; and the counter-acting force generated by gas injection drives the cover pressing block to move upwards along the optical axis, the spring is compressed, and therefore the adjacent clamped easy-to-pull covers are separated through the knocking force. According to the technical scheme, the directional separation spraying holes are matched with the pulse air source, the functions of air injection cover pushing and counter-acting force knocking separation are achieved at the same time, the clamping problem of the adjacent easy-to-pull covers is effectively solved, it is ensured that the easy-to-pull covers pass through the counting area one by one, and the counting precision is remarkably improved.

The utility model relates to the technical field of aluminum extruders, and discloses an aluminum extruder cake-free extrusion prevention recognition device which comprises a base, a fixing disc is fixedly connected to the top of the right side of the base, a hydraulic cylinder is fixedly connected to the left side of the fixing disc, and the output end of the hydraulic cylinder is rotationally connected with a pushing column. Fixing plates are fixedly connected to the front end and the rear end of the top of the base, supporting rods are fixedly connected to the tops of the fixing plates, rolling shafts are fixedly connected to the tops of the supporting rods, the fixing plates are fixedly connected to the front ends of the rolling shafts at the front ends, and photoelectric sensors are fixedly connected to the rear ends of the fixing plates. According to the aluminum cake clamping device, the pushing column, the driven gear, the driving gear and other components move, finally, the clamping plate at one end of the movable plate is used for clamping an aluminum cake, the aluminum cake is accurately positioned and reliably clamped, it is guaranteed that the aluminum cake can be kept in a stable position state in the subsequent operation processes of pushing, machining and the like, and machining efficiency is improved. And the situation that the machining precision is affected by deviation, shaking and the like is avoided, and the machining quality can be improved.

The invention belongs to the technical field of high-precision liquid level detection, and particularly relates to a high-precision liquid level detection method which comprises an installation preparation module, an installation position determination module, a comprehensive consideration module and a special installation method module. And the liquid level detection precision can be obviously improved. The photoelectric sensor is sensitive to light change and suitable for directly detecting the liquid surface; the ultrasonic sensor determines the distance by measuring the propagation time of sound waves, and is relatively insensitive to the change of liquid properties. The combination of the two can complement deficiencies and reduce errors.

The invention relates to the field of virtual debugging, and particularly discloses a control program and a virtual debugging method of a cold roll forming machine shearing system, and the method comprises the steps: S1, building a virtual model comprising a feeding mechanism, a shearing mechanism, a servo driver and a photoelectric sensor in an NX MCD environment, outputting an accumulated feeding length and a sensor signal by the model, and receiving the position setting of a cutter; s2, a trimming procedure is written for an S7-1200 PLC (programmable logic controller) in a TIA Portal (TIA Portal); s3, two-way communication between the NX MCD and the PLC is established through OPC, the accumulated feeding length and a sensor signal are mapped into PLC input, and the cutter position set output by the PLC is mapped into NX MCD servo input; and S4, the two are simulated synchronously, control logic and parameters are optimized based on model feedback, and the target is to minimize fixed length error and motion instability. According to the invention, the problems of long field debugging period, high cost, inaccurate shearing triggering and unstable return in the prior art are solved, and the shearing precision and the operation reliability are improved.

The utility model relates to the technical field of agaric hanging bag cultivation, and discloses an agaric fungus bag circulating hanging cultivation device which comprises a tensioning assembly, a power assembly and a moving assembly. One side of the tensioning assembly is provided with a moving assembly, and one side of the moving assembly is provided with a hook used for hanging a cultivated agaric fungus bag; a power assembly used for providing a power source for the moving assembly is arranged on one side of the tensioning assembly. The tensioning assembly comprises a first rail and a limiting frame, a fixed pulley is rotationally connected to one side of the bottom of the limiting frame, a rope body is wound around the outer side of the fixed pulley, the position of the hook is detected through a photoelectric sensor, a signal is transmitted to a PLC in real time, and accurate control over rotation of a servo motor is achieved; the hook can stop moving according to a preset instruction through automatic control, so that the efficiency of agaric fungus bag hanging or picking operation is greatly improved, workers do not need to manually control stopping and starting of the hook, manual intervention is reduced, and the smoothness and speed of the whole operation process are improved.

The invention provides an automatic train washing robot and a process thereof, and relates to the field of bullet train cleaning. The automatic train washing robot comprises a shell, bases are fixedly connected to the front end and the rear end of the lower surface of the shell, a robot mechanism is arranged in the middle of the upper surface of each base and comprises a linear guide rail, and a plurality of guide rail sliding blocks are slidably connected to the upper surface of each linear guide rail; the front ends of the inner walls of the two sides of the guide rail sliding block are fixedly connected with photoelectric sensor modules. According to the cleaning robot, the four photoelectric sensor modules for cleaning are arranged on the robot mechanism, the car door of each bullet train carriage can be cleaned in sequence, and therefore the robot can continuously clean the multiple car doors at the same time, the waiting time and the multiple parking time are saved, the whole operation process is smoother, and the cleaning efficiency is improved. Therefore, after each carriage is checked and washed, the next carriage is operated, idling and stagnation are reduced, and the overall operation efficiency is improved.

The invention provides a pipettor automatic calibration positioning and accuracy evaluation method based on photoelectric sensing, and relates to the technical field of pipettor calibration, and the method comprises the following steps: arranging an annular photoelectric sensor array to collect interference fringe phase difference, liquid level reflection light signals and surface acoustic wave signals, and adopting a five-step phase shift method to obtain a three-dimensional displacement vector; dynamic calibration is achieved through liquid level morphological parameter analysis in combination with adaptive Kalman filtering, numerical simulation is conducted on the liquid drop forming process through time-frequency analysis and a fluid mechanics model, and finally the accuracy is evaluated through adaptive fuzzy reasoning and Bayesian estimation. According to the invention, high-accuracy automatic calibration and evaluation of the pipettor are realized.

A pattern inspection apparatus includes an illumination optical system to illuminate an inspection substrate on which a pattern is formed, an offset calculation circuit to calculate an offset amount which depends on an image accumulation time of each of a plurality of photo sensor elements arrayed two-dimensionally, a time delay integration (TDI) sensor to include the plurality of photo sensor elements, to acquire an image of the inspection substrate by receiving a transmitted light or a reflected light from the inspection substrate by the plurality of photo sensor elements, to correct, using the offset amount, a pixel value of optical image data of an acquired image, and to output the optical image data having been corrected, and a comparison circuit to compare an optical image formed by the optical image data output from the TDI sensor with a reference image.

The invention discloses a method and system for detecting the insulation state of power transmission and transformation equipment based on photoelectric sensing, and relates to the technical field of insulation state detection, and the method comprises the steps: continuously monitoring a baseline optical signal and a baseline electrical signal of the power transmission and transformation equipment through a photoelectric sensor which is arranged in a wide area; starting a targeted signal acquisition mode, and obtaining a high-precision optical signal and a high-precision electrical signal of the target area; performing logic correlation analysis, evaluating the matching degree of the optical features and the electrical features, and generating a fusion diagnosis result and a confidence level thereof; and matching and determining an insulation state detection result from a preset equipment aging state mapping table. The technical problems that in the prior art, power transmission and transformation equipment insulation state detection is insufficient in accuracy, low in efficiency and difficult to comprehensively and accurately judge the equipment insulation state are solved, and the technical effects of achieving accurate and efficient detection of the power transmission and transformation equipment insulation state and improving the detection reliability are achieved.

The invention belongs to the technical field of biological signal processing and monitoring, and particularly relates to a multi-mode-based non-contact heart rate intelligent monitoring method which comprises the steps that a ballistocardiogram signal of a user is collected through a piezoelectric film sensor, meanwhile, a photoelectric volume pulse wave signal of the user is collected through a photoelectric sensor, and a multi-mode physiological signal is formed; performing space-time alignment processing on the multi-modal physiological signal, eliminating low-frequency breathing interference and motion noise by adopting an adaptive filtering algorithm, and outputting a pre-processed signal; inputting the preprocessed signal into a space-time coupling feature analysis engine, extracting time sequence features through a bidirectional long-short-term memory network, and extracting spatial features through a full convolutional network; adopting a multi-head self-attention mechanism to carry out dynamic weight fusion on the time sequence features and the spatial features to obtain fusion features; and calculating a real-time heart rate value based on the fused features, and judging a heart rate abnormal state. The problem that the heart rate monitoring difficulty is large is well solved.

The invention belongs to the technical field of intelligent robots, and discloses a robot follow-up grabbing method based on proximity sensing and related equipment thereof. The method comprises the following steps: acquiring an approaching sensing signal between a target object and a clamping jaw in real time through a photoelectric sensor array deployed on the inner side of the clamping jaw at the tail end of the robot; performing filtering and noise reduction processing on the proximity sensing signal to obtain a preprocessed proximity sensing signal; the preprocessed proximity sensing signals are processed through the trained dynamic feature coding convolutional neural network, and 5D pose parameters of the target object under the clamping jaw coordinate system are output; the 5D pose parameters are converted into a target pose under a robot base coordinate system through coordinate conversion nodes of an ROS distributed architecture, and a joint angle control instruction is generated through inverse kinematics solution; and a joint angle control instruction is dynamically adjusted based on the real-time pose deviation, and the robot is driven to complete follow-up grabbing operation. Based on the method, high-precision follow-up grabbing operation is achieved.

The utility model relates to the field of building safety, in particular to a building fire alarm device which comprises a base, a shell and a protective cover, a controller is installed at the bottom of the base, a photoelectric sensor is installed on one side of the front face of the controller, and a networking module is installed on the other side of the front face of the controller; the base is provided with a photoelectric sensor and a controller, the front surface of the controller is provided with an ion type sensor, the bottom of the base is provided with an ionization chamber through the controller, the ionization chamber is covered with a shell, and the bottom of the shell is provided with a protective cover. The detection sensitivity and accuracy are improved, the false alarm rate is reduced, the built-in networking module supports multiple communication protocols, butt joint with various fire control systems and safety management systems is facilitated, remote monitoring and instant alarm are achieved, and the fire prevention and control efficiency and response speed are improved.

The utility model provides a light source positioning device for a photovoltaic light following system, which belongs to the field of photovoltaic power generation equipment and comprises a substrate, a positioning cover mounted on the substrate and a sensor array arranged on the substrate. The sectional area of the bottom surface, close to the substrate, of the positioning cover is larger than that of the bottom surface, far away from the substrate, of the positioning cover, and the axis of the positioning cover is perpendicular to the plane where the substrate is connected with the positioning cover; the light source positioning device for the photovoltaic light following system has the characteristics of high precision and high dynamic response, and the detection precision is high through the 4 * 4 photoelectric sensor array; the photosensitive resistor sensor is large in photosensitive angle and high in dynamic response.