Abstract: The present disclosure provides a method and an apparatus for identifying a falling object based on a LiDAR system. The method includes obtaining a point cloud data set of a LiDAR system; identifying a dynamic point cloud cluster set based on the point cloud data at a first moment and a second moment, where the dynamic point cloud cluster set includes at least one dynamic point cloud cluster; and enabling a tracking and determination process in response to identifying the dynamic point cloud cluster set where, for each dynamic point cloud cluster, a data set of a dynamic point cloud cluster at each current moment following the second moment is updated in real time, and it is determined that an object represented by the dynamic point cloud cluster is a falling object in response to determining that the data meets a law of free fall.

Abstract: The present invention relates to a novel catalyst combination and a novel ocess for the synthesis of methanol and methyl formate (MF), and more specifically to the production of methanol and MF by contacting syngas under relatively mild conditions in a slurry phase with the novel catalyst combination comprising unreduced copper chromite prepared using specifical method, alkali alcoholates, a nonionics and a non-polar solvent. The nonionics, for example, C.sub.8 H.sub.17 --(C.sub.6 H.sub.4)--O--(C.sub.2 H.sub.4 O).sub.n H (where n is between 4 and 60) is used in the amount that is at least 5 vol. % of the slurry (liquid reaction medium). And the non-polar solvent having a dielectricity constant between 2 and 3 at 20.degree. C. is used in the amount that is at least 50 vol. % of the slurry. The present invention allows the synthesis of methanol and MF to occur in the temperature range of approximately 100-150.degree. C., and the pressure range of 3-8 MPa.