235results about How to "Solve the rotation problem" patented technology

The invention discloses a satellite autonomous navigation system and a satellite autonomous navigation method integrating a pulsar radiation vector and timing observation. The system obtains pulse arrival time and accurately obtains a pulsar radiation direction vector by using a time distinguishing detector and a collimator, and obtains a geocentric direction vector by using an infrared or ultraviolet horizon sensor; a navigation computer respectively completes a pulsar timing observation navigation algorithm under a geocentric coordinate system, a pulsar positioning algorithm based on angular distance measurement and a geometric orientation algorithm based on angular distance measurement by using the pulsar pulse arrival time, the radiation direction vector and the geocentric direction vector, and obtains the position, the speed, the attitude and the on-track movement direction of a spacecraft through integration of several algorithms, so as to complete the autonomous navigation of an orbiting satellite, and output high-precision position, attitude and speed information. The system is suitable for autonomous operation control of orbiting satellites or constellations of the earth or other planets.

The invention discloses a throat swab double-arm sampling robot and sampling method based on machine vision guidance. A robot system utilizes an industrial depth camera for acquiring cloud informationof an RGB-D depth point, oral space environment is recognized and processed, a deep learning algorithm is adopted, three-dimensional coordinates of a tongue tip and a throat deep part are determinedto serve as expected coordinates of two arms, collaborative motion planning of moving of the two arms is completed on the basis of a moveit function package, a robot control system performs wireless communication with ROS on the basis of ROS system development through human-computer interaction control, and remote control and real-time monitoring functions are realized. According to the robot, medical staff can be prevented from making direct contact with infectious substances in a body of a patient, completion of a complex throat swab sampling process by the double-arm robot is monitored, high execution precision and success rate are guaranteed, and accidental risks such as an injury occurring in the sampling process of the patient are avoided.

The invention belongs to the technical field of low-temperature plasma application, and relates to an electric discharging device of a rotation electrode. The device comprises an impeller, a rotation electrode, a fixed electrode, and an electric motor, wherein the rotation electrode is arranged between the electric motor and the fixed electrode, and is fixedly arranged on the impeller or a shaft of the electric motor. The electric motor drives the impeller and the rotation electrode to move. High voltage is applied between the rotation electrode and the fixed electrode, and corona discharging is generated between the two electrodes. Since the electric motor drives the rotation electrode to move, corona rotates with the movement to draw a large-volume plasma area. Plasma is uniformly dispersed in a whole airflow channel between the two electrodes. Therefore, the electric discharging device can be applied to an air purifier and allows no dead corner to be left during purification. Moreover, the rotation electrode can greatly reduce the ozone yield, and prolongs the service life of asymmetric electrodes.

The invention relates to a multi-sample high-temperature rotary roasting device which comprises a roasting furnace, a sample cup, a rotary driver, a temperature controller, and the like. The invention can simultaneously carry out the water heat treatment (aging) of 2 to 24 samples, improve the test efficiency, eliminate the difference of aging conditions among different samples at the same time, and improve the quality of aging tests. The aging condition is from 300 DEG C to 850 DEG C, the partial pressure of water vapor is from 0.1 MPa to 0.5 MPa (absolute), and the aging time is from 1 hour to 30 hours.

The application discloses a method and device for avoiding dynamic obstacles by a robot. The method comprises the following steps: determining a first global path according to the travel destination of the robot and obstacles in the environment; periodically acquiring a local map of the robot in the moving direction; obtaining the positions of the dynamic obstacles when the dynamic obstacles aredetermined to exist according to the local map, wherein the dynamic obstacles are moving obstacles; determining whether the first global path is interfered with the dynamic obstacles or not accordingto the first global path and the positions of the dynamic obstacles; after the interference is determined, replanning a global path to obtain a new global path, and otherwise, moving according to thefirst global path. Compared with a method for detecting information in the local map in real time, and bypassing the moving obstacles, the monitoring method has the advantages that fewer resources areconsumed and the speed is higher at the same time because the generation frequency of the global path is relatively low.

The invention discloses an image registration method based on SIFT features. The method includes the following steps: S1. scale-space extremum detection: determining the position and scale of feature points; S2. key point accurate positioning: obtaining accurate positions, scales and ratios of curvatures through conducting data fitting on peripheral data of determined feature point candidate points; S3. main direction resolution: determining designated direction parameter of each key point in accordance to the distribution features in the gradient direction of neighboring pixels of key points; S4. description of generation f vectors: imparting different weights to each sample points with the Gaussian weighting function; S5. feature matching: conducting matching on SIFT features, and determining corresponding relationship of features among images: S6. feature searching: using the BBF searching method to obtain the result of feature matching; S7. the use of improved RANSAC algorithm to remove noise points. According to the invention, the method increases the efficiency of searching, uses the improved RANSAC purifying algorithm to substantially lower the noise proportion of data, increases the reliability of the RANSAC result and data purity, and is conducive to the precision and efficiency of parameter resolution.

The invention provides an ultrasonic metal surface processing device used for processing a plane on a milling machine or a boring machine. The ultrasonic metal surface processing device comprises a taper shank, a clamping chuck, a shell body, a transducer amplitude transformer, a tool bit and a rotating circuit device, wherein the clamping chuck is connected to one end of the taper shank; the shell body is sleeved on the clamping chuck; an acting force stabilizing device and a position-limit mechanism are arranged between the shell body and the clamping chuck; the transducer amplitude transformer is arranged in an inner hole of the shell body and is fixed on the shell body through a taper sleeve; the tool bit is arranged on the taper sleeve; and the outer side of the shell body is provided with the rotating circuit device. The ultrasonic metal surface processing device realizes the processing of part planes on the milling machine or the boring machine, can counteract the acting force in processing, maintains the acting force stable on workpieces in processing, and simultaneously plays a role in buffering to ensure that the processing effect is optimal; besides, the ultrasonic metal surface processing device has the characteristics of simple structure and high production efficiency.

The invention discloses a rotation invariant submarine topography two-dimensional matching aided navigation method which comprises the following steps: 1) a real-time stripe sweeping survey depth value matrix array is obtained by a multi-beam sounding system, height array values are converted into gray values to obtain a template grayscale map; topography two-dimensional height array values in a region in the main navigation system error range are read, and then are converted into gray values to obtain a background grayscale map; 2) a rotation invariant image moment function is used as a characteristic feature, a region in the background grayscale map, matched with the characteristic feature of the template grayscale map can be searched, and the position of the multi-beam sounding system in real-time sweeping survey can be obtained. Compared with matching algorithms (such as TERCOM matching algorithm and SITAN matching algorithm) in the prior art which are performed by topography one-dimensional matching, the rotation invariant submarine topography two-dimensional matching aided navigation method overcomes the defects that the one-dimensional matching is low in accuracy and the restricted by topography, increases the richness of topography features description, and has higher accuracy and adaptability.

The invention relates to an oil-nozzle automatic welding positioner. The oil-nozzle automatic welding positioner comprises a headstock positioner, a tailstock positioner, an oil cylinder abutting device, an oil cylinder supporting device, two oil-nozzle positioning devices and an oil-nozzle rotation-preventing positioning mechanism, wherein the oil cylinder abutting device is installed between the headstock positioner and the tailstock positioner, the oil cylinder supporting device is installed between the headstock positioner and the tailstock positioner, the two oil-nozzle positioning devices are respectively installed on the headstock positioner and the tailstock positioner, and the oil-nozzle rotation-preventing positioning mechanism used for positioning an oil-nozzle hole is installed on the headstock positioner or the tailstock positioner. The oil-nozzle rotation-preventing positioning mechanism comprises a mounting rack, a connection assembly and a positioning pin, wherein the mounting rack is connected with the headstock positioner or the tailstock positioner, one end of the connection assembly is connected with the mounting rack and can rotate in the vertical plane and the horizontal plane, and the positioning pin is installed at the other end of the connection assembly and is matched with the oil-nozzle hole. The oil-nozzle automatic welding positioner can clamp an oil cylinder, can position the oil cylinder through the oil-nozzle hole, prevents the oil cylinder from rotating after the oil cylinder is clamped, and is suitable for oil cylinders in different specifications and wide in application range.

The invention provides a non-contact method for extracting a region of interest of a finger vein sample. The method is characterized by carrying out threshold segmentation on a finger vein image column by column by using a maximum variance method, and denoising through the connected domain area and a method of searching the fingertip; fitting a finger centerline by using up and down contour points of a finger, and using the slope of the finger centerline as the basis for rotation and correction; acquiring an effective contour point set of a circular arc by using the characteristic that the fingertip contour approximates a circle, fitting a fingertip circle by using effective contour points to acquire the diameter of the fingertip circle so as to carry out positioning on the region of interest, wherein the transverse width of the region of interest is the fixed width, and the longitudinal width is determined by upper and lower edge inner tangent lines of the finger contour; and finally carrying out dimension normalization on the acquired region of interest. The method provided by the invention gives sufficient consideration to the non-contact finger vein acquisition process and image characteristics, provides a new solution for extracting the region of interest of the finger vein, carries out rotation and correction by using the finger centerline, carries out positioning by using the fingertip circle, and has strong rotation resistance and translation resistance.

The invention provides an infrared corncob drying machine of a limiting sleeve. The infrared corncob drying machine is characterized in that a box body is internally provided with a plurality of conveying devices driven by a transmission device to run; one end of a stud is screwed into a screw hole of an inner side chain section of a chain; the two ends of material pulling rods are hollowly sleeved in the middle of the stud; a limiting sleeve provided with a spring and steel balls in a blind hole is fixed in the middle of the stud so that the two steel balls fall into spherical concave pits of the material pulling rods; parts of each conveying device, which correspond to upper and lower sections of a horizontal section of a chain, are respectively provided with material conveying grooves; material guide grooves are arranged below the material conveying grooves; radiation devices which downwards radiate infrared rays in a single direction are arranged above the material conveying grooves; circular-arc-shaped limiting rods I and II are respectively arranged at the two ends of each conveying device so that when each material pulling rod is operated to the chain to change the direction, on one hand, the material pulling rods rotate along chain wheels, and on the other hand, the material pulling rods do reversed autorotation with the same co-rotation angle speed around the stud; and a feeding opening is arranged on the top of the box body, and a discharging opening is formed at the bottom of the box body. The infrared corncob drying machine disclosed by the invention has the advantages of high heat transferring efficiency, low energy consumption, accurate position and reliable work.

The invention relates to a deep laser hole linearity detecting device having a rotation preventing mechanism. On the basis of the laser alignment principle, a linearity error of an axis of a workpiece hole of a deep hole is measured by using a PSD sensor. A measured workpiece is placed at V-shaped blocks fixed at a detection rack. The PSD sensor is fixed at a measuring head; the measuring head is pulled by a measuring rod to move the PSD sensor from one end of the deep hole to the other end of the deep hole. The measuring rod is a rigid part and multiple segments of the measuring rod are connected to connect the measuring head. In order to prevent rotation of the measuring head around the axis of the deep hole, the measuring rod has a non-circular cross section to realize cooperation with a hole or groove of the detection rack. The measuring rod is connected with the measuring head by a cardan joint to have three translation freedom degrees and have no rotation freedom degree. Detection information is transmitted to the outside of the deep hole by an antenna and the transmitted information is received by a computer. The detecting device has small occupation space; a detection error caused by rotation of the measuring head is eliminated; the antenna extends out of the hole to avoid signal shielding; and the detection precision is high.

The invention discloses a face detection tracking method and device. The method comprises: acquiring a to-be-detected image and a target face image; detecting and describing feature points in the to-be-detected image and the target face image; matching feature points in the to-be-detected image and the target face image according to detection and description results; and performing face detectionand tracking according to a matching result. According to the method, the problem of accumulation during feature point extraction and the problem of noise during feature point description in an existing face detection tracking method are solved, and the face detection tracking accuracy is improved.

The invention relates to an electric connector component, a plug thereof and a socket thereof. The electric connector component comprises the plug and the socket. The plug is provided with a plug shell, the socket is provided with a socket shell, an anti-off coupling nut is sleeved on the plug shell in a coaxially rotatable manner, the socket shell is provided with an external thread section corresponding to the coupling nut, and a plugging end of one of the plug shell and the socket shell is provided with an opening while the other of the plug shell and the socket shell is provided with a protrusion for being clamped into the opening in a rotation stop manner when the plug shell is plugged into the socket shell. When the electric connector component is used, the plug shell is matched with the socket shell in a rotation manner by the aid of the opening and the protrusion while the plug is plugged into the socket and fixedly locked by the coupling nut, so that relative rotation of the plug is avoided after the plug is plugged into the socket and tightly locked by the coupling nut, and the problem that an existing plug rotates relative to a socket after the plug fixedly connected with the socket by the coupling nut is plugged into the socket is effectively solved.

The invention discloses an insulating supporting bar for a high-voltage electrical appliance and a production method thereof. The insulating supporting rod for the high-voltage electrical appliance comprises an epoxy resin rod body and two metal inserts, wherein the two metal inserts are respectively embedded in two ends of the epoxy resin rod body; the upper end surface and the lower end surface of the epoxy resin rod body are parallel; an included angle between the central connecting line of the upper end surface and the lower end surface and the vertical line of the end surfaces is 0-15 degrees; and internal threads are arranged on the metal inserts. The production method of the insulating supporting rod comprises the following steps: a. coating a semi-conductive rubber layer outside the two metal inserts; b. fixing the two metal inserts in a mould; c. vacuum-pouring epoxy resin; and d. demoulding. The epoxy resin rod body can be installed and used in a tiny space, and has high structural strength; and the supporting rod produced by the invention has high structural strength and good insulating property.

The invention discloses an extended target stable tracking point extraction method based on local and global coupling. According to the method, preprocessing such as denoising and enhancement is performed on an image to be processed; a GMS (Grid-based motion statistics) algorithm is used to perform feature point matching on two adjacent frames of images; generalized Hough transformation is performed on matched feature points, and features that contribute to the peak points of an accumulator are obtained and are adopted as basic feature points; the homography mapping matrix of the feature points of the two adjacent frames of images is obtained by using the basic feature points; and a feature point of sub-pixel precision of a current frame of image which is obtained by means of mapping on the basis of a tracking point of a previous frame of image is calculated through using the homography mapping matrix, and the feature point is adopted as the tracking point of the current frame of image. The tracking point obtained by using the method of the invention is a virtual global feature point which is obtained by means of mapping on the basis of a plurality of local matched feature points on a target; and a condition that the target always has stable and obvious features is not required. The method has high robustness to the translation, scale, illumination, blur, attitude and self-occlusion of the target, and even changes such as the escape of a part of the region of the target from a field of view.

The invention discloses an approximate repeated video retrieval method incorporating global R features. The method comprises the steps of firstly implementing the extraction of local SIFT features of videos in a databases, based on the coordinate information of the local SIFT features, establishing a global R feature, using descriptor information of the local SIFT features to establish a BOF retrieval model, based on the BOF model, establishing a voting retrieval model, finally implementing an application information fusion strategy to fuse global geometric distribution information into the BOF model, and accurately retrieving approximate repeated video in large-scale data. The approximate repeated video retrieval method incorporating global R features fuses the global R feature can fuse the global geometric distribution information into the BOF model based on the information fusion strategy, and achieve accurate retrieval of the approximate repeated video in large-scale data.

The invention provides a method of orthogonal frequency division multiplexing (OFDM) frame timing synchronization based on Institute of Electrical and Electronic Engineers (IEEE) 802.11a, belonging to a wireless digital communication technology. The method comprises the following steps: receiving data signals by a receiver, and realizing crude frame timing synchronization by using an delay and correlation algorithm so as to obtain thick frame timing synchronization signals; processing the data signals by a thick frequency offset module and a thin frame timing module in sequence, and realizingthin frame timing synchronization by a cross-correlation algorithm so as to obtain thin frame timing synchronization signals; generating valid data beginning signals payload and data arriving counting signals count by combination control of control signals; controlling removing-cyclic prefixes by the valid data beginning signals payload to carry out fast Fourier transform (FFT) algorithm and channel estimation on the data, and controlling the calculation of carrier frequency offsets by the data arriving counting signals count; and controlling removing-cyclic prefixes (cp) by the valid data beginning signals to carry out the FFT algorithm and the channel estimation on the data. The method is used to reduce the complexity, improve the accuracy, and solve the problem of dispersing and revolving data constellation diagrams.

The invention discloses a traffic sign detection and identification method under the complex environment. According to the method, employing a color segmentation method of a normalization RGB space can reduce the image processing time, and algorithm timeliness can be guaranteed; employing a convex hull processing method can solve a problem that a traffic sign is partially shielded; contour analysis is carried out by employing a method extracting contour Fourier descriptors, and a problem that the traffic sign generates rotation, translation and scale change can be solved. Through adding the contour data with projection distortion to a standard database, a problem that the traffic sign generates projection distortion can be solved. Compared with the traditional method, the method has advantages of high robustness and good timeliness, and the method can be applied to intelligent automobiles or pilotless automobiles.

The invention discloses a surrounding type blowing dust removal device. The surrounding type blowing dust removal device comprises a blowing gas delivery pipe, a control valve, a rotating joint and a blowing pipe, wherein a plurality of nozzles are arranged on the blowing pipe; the control valve is arranged at the lower part of a filter element of a dust collector through the rotating joint. The heat-expansion and cold-contraction characteristic of metal is utilized, dusty gas is taken as gas for dust removal, and gas back spraying rotation is adopted, so that dust removing is well realized, the cost is low, the equipment is safe and reliable and long in operation cycle, the dust removal efficiency of the filter element is improved by more than 5%, and the operating cost is reduced by 10%; the surrounding type blowing dust removal device has excellent economic benefit, develops a new way in the aspect of dust removal for the filter element, and has excellent popularization and application value.

The invention discloses a textile trolley which is easy to move, which comprises a protective box, motors are fixedly connected to both sides of the top of the inner chamber of the protective box, the output end of the motor is fixedly connected to a first bevel gear, and the first bevel gear is fixedly connected to the output end of the motor. One end of a bevel gear away from the motor is meshed with a second bevel gear, and the inner cavity of the second bevel gear is provided with a threaded rod, and the side of the threaded rod close to the inner wall of the protection box is fixed to the inner wall of the protection box connected, one side of the threaded rod is movably connected with both sides of the inner cavity of the protection box through a movable base. The present invention solves the problem of using the existing textile trolley by setting the connecting block, the supporting plate, the threaded rod, the first bevel gear, the second bevel gear, the slider, the tooth plate, the gear, the rotating shaft and the chute. At the same time, due to the lack of fixing devices for the wheels, the problem of wheel rotation may be caused, which facilitates the use of users and improves the practicability of the existing textile handcarts.

The invention provides an infrared corn cob drying machine with shifting mechanisms, which is characterized in that a box is internally provided with a plurality of conveying devices driven to run by a drive device I, one end of a stud is screwed into a screw hole in a chain link on the inner side of a chain, two ends of a shifting lever are idly arranged in the middle of the stud in a sleeving manner, a blind hole is internally provided with a spring and a steel ball stop collar which are fixed in the middle of the stud, two steel balls fall into a spherical pit of the shifting lever, each conveying device is provided with chute feeders respectively corresponding to an upper horizontal section and a lower horizontal section of the chain, a guide chute is arranged below the tail end of the chute feeder, a radiation appliance is arranged above the chute feeder, two ends of each conveying device are respectively provided with a limiting rod I and a limiting rod II, and a shifting mechanism is arranged at each chain wheel below a feed opening, so as to force each shifting lever to do reverse autorotation with speed equal to that of a corotation angle around the stud while corotating along with the chain wheel when travelling to the chain wheel for reversing; the feed opening is formed in the top of the box, and a discharge opening is formed in the bottom of the box. The infrared corn cob drying machine is high in heat transfer efficiency, low in energy consumption, reasonable in structure and reliable to work.

The invention relates to a mobile phone with a camera, in particular to a mobile phone with a camera controlled by a caller. The mobile phone solves the problems that the caller can not control the zooming, rotation or inclination of the camera when the mobile phone is in a call, and the mobile phone improves the calling experience of the user. The invention also provides a method for zooming, rotating and inclining the camera during the calling process of the mobile phone, comprising the steps as follows: the mobile phone in the call receives a signal sent by the mobile phone of the caller by a mobile communication network and does the operations of zooming, rotating and inclining on the camera according to the signal.

The invention relates to a framework method allowing a display controller and a two-dimensional graphic processor to have access to an internal storage through the same internal storage controller. The method comprises the first step of creating a framework having access to the internal storage, wherein the framework having access to the internal storage arranged in an SOC general framework comprises the internal storage controller, the two-dimensional graphic processor, a data register, a data selector, a data selection controller and the display controller; the second step of having access to the framework of the internal storage, and giving out flow in and flow out of data according to whether overlaid and mixed multi-layer source images are updated or not, wherein when the multi-layer source images are updated, the data selector enables the two-dimensional graphic processor to be connected with the display controller, and when the multi-layer source images are not updated, the data selector enables the internal storage controller to be connected with the display controller. The framework method allowing the display controller and the two-dimensional graphic processor to have access to the internal storage through the same internal storage controller has the advantages that for the solution of the problem that bandwidth is limited when multiple layers of graphic images are overlapped and mixed in an existing SOC system, the purpose that under the condition that user experience is guaranteed, the system bandwidth and the power consumption can be consumed to the minimum degree in all application scenarios is achieved.

The invention discloses a construction method for a nonstandard diaphragm wall and belongs to the technical field of the construction technology. Construction tools are improved, and the method includes excavating a guide wall groove, producing a guide wall, grooving through a hydraulic grab, placing an special-shaped locked port pipe, a reinforcement cage and the like, arranging a conduit to pour concrete, and repeating the operation to obtain the nonstandard diaphragm wall which is used for retaining soil and water and the like during building pit construction. The construction method is simple in process and convenient to operate, high in working efficiency and low in cost; the obtained nonstandard diaphragm wall is smooth in surface and good in water retaining effect; the used equipment is low in cost and little in improvement time; compared with the existing method in which the locked port pipe is reprocessed, the cost is reduced from one million to below 30 thousands, the time is reduced from one month to three days, and therefore the nonstandard diaphragm wall is low in construction cost, convenient to construct, attractive in appearance and easy to popularize and apply.

The invention discloses an intelligent identification device of yellow rice wine age based on near-infrared spectra, which is characterized by the following: placing the photoelectric sensor and detecting platform with detecting clamp in the incubator; setting the light source and filter piece of near-infrared luminescent diode on the left side of detecting clamp at the neck position; placing the optical lens at the right side of detecting clamp; opposing the exit face of optical lens to the receiving face of optical fiber; connecting the exit end of optical fiber with the input end of photoelectric senor; setting the exit face of filter piece to oppose the receiving face of optical lens at the same axle through the detecting clamp; loading the temperature sensor and workpiece detector on the side of detecting clamp from the bottom of optical lens sequently. The invention solves the problem of inaccurate wine age identification result when the light splitter rotates in different temperature conditions.

The invention discloses a test tube uncapping machine and an uncapping method thereof. The test tube uncapping machine comprises a rotary disc device, a clamping device, a lifting device and an uncapping device; the rotary disc device comprises a rotary disc and a plurality of test tube seats, and the test tube seats are arranged on the rotary disc; the clamping device comprises an elastic block and a lead screw module, and the elastic block is fixed to a movable assembly of the lead screw module; the uncapping device comprises a clamping mechanism and a rotating mechanism, wherein the clamping mechanism is arranged on the rotating mechanism, and the rotating mechanism is used for driving the clamping mechanism to rotate; and the axis of the rotary disc is parallel to the length directionof the test tube, the elastic block is used for fixing the test tube to the test tube seat, the clamping mechanism is located at the end, provided with the end cap, of each test tube, the clamping mechanism is used for clamping the end cap of the test tube, and the uncapping device is arranged on the lifting device.

The invention discloses a conditional generative adversarial network-based heterologous remote sensing image registration method and device based on image segmentation, and the method comprises the steps: obtaining a training sample according to two groups of heterologous remote sensing image data; Performing image segmentation on the input image to obtain a segmented image; Constructing a conditional expression generative adversarial network based on image segmentation; Constructing a generative adversarial network of the image blocks; Training the two generative adversarial networks; And performing homologous image registration on the generated image and the to-be-registered image. According to the method, the spatial information consistency of the generative adversarial network generated images can be constrained, an image conversion solution with full-size spatial information consistency is provided, a heterologous image registration problem is simplified into a homologous image registration problem, and a unified heterologous remote sensing image registration framework is constructed.

The alarm device for servo pressure-preventing rake in thickener includes two parts, one servo thickener rake speed measuring mechanism and one controlling alarm. The thickener rake speed measuring mechanism includes mainly one connecting board, one n-shaped shaft coupler, one servo wheel, one coder connecting part, one coder, one blossom shaped shaft coupler, one driving shaft, one bearing cover, one U-shaped connecting frame plug and one spring. The controlling alarm includes one signal converting controller, one radio transmission station and one industrial control computer. The present invention detects the speed of thickener rake, and has accurate warning, information management and in-line detection, and is suitable for use in thickener tank of coal separation plant.