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The invention relates to the technical field of image processing and particularly discloses an image acquisition-analysis method. The image acquisition-analysis method includes the steps as follows: step 1. making a plurality of rulers and putting the rulers on every row of supermarket shelf, wherein each ruler is provided with multiple groups of codes; step 2. acquiring images of the shelves on which the rulers are put on; step 3. separating color channels on the collected images and detecting the codes of rulers on the separated channels; step 4. correcting the images according to the detection result of the codes; step 5. dividing out zones including goods in the corrected images according to the detection result on the codes; and step 6. classifying the goods on the zones by utilizingcolor characteristics and local textural characteristics, thus obtaining relevant information of goods arrangement. With the image acquisition-analysis method, the information of the arrangement place, the quantity and the like of the goods on the shelves can be efficiently and correctly obtained. The image acquisition-analysis method is simple, convenient and feasible and saves large amount of manpower and material resources.

The invention discloses a sigmoid function fitting hardware circuit based on a Remez approximating algorithm. A sigmoid function fitting method is characterized by including the following steps that (1), the order of a fitting polynomial is determined; (2), a fitting interval of a sigmoid function is obtained; (3), a piecewise interval is obtained; (4), the fitting polynomial is obtained; (5), a coefficient storing module is designed; (6), a polynomial calculation module is designed; (7), a judgment module is designed; (8), the fitting hardware circuit is obtained; (9), a fitting execution interval where operands are located is judged; (10), a coefficient of the fitting polynomial is read; (11), fitting calculation is carried out in the polynomial calculation module. On the basis of reducing hardware resource consumption, the calculation accuracy is improved, the calculation speed is increased, and the flexibility of a calculation structure is promoted.

The invention provides a novel intelligent type traffic light control system, mainly comprising a camera module, a recognizer, a server and a traffic light controller in-order cascade connection, wherein the recognizer comprises a vehicle detecting module, a flowrate detecting module, a vehicle snapshortting module, a vehicle nameplate recognition module and a vehicle model recognition module; the recognizer counts passing cars by adopting the video virtual coil technology, calculates the vehicle flow rate, recognizes the vehicle model and nameplate based on snapshortted photos and sends other information formed by the vehicle flow rate, the vehicle model and the vehicle nameplate to traffic light time operation module. The invention has the advantages of accurately counting cars, greatly increasing the amount of information acquired, being capable of working out the average waiting time of vehicle and the shortest traffic light time and saving road traffic resources.

The invention discloses a sound source positioning and human face detection-based human body positioning method and system. The method includes the following steps that: the distance between a sound source and the positioning system and an included angle beta between the connecting line of the sound source and the positioning system and the current positive direction of the positioning system are obtained; when the wide angle alpha of a color camera and the included angle beta satisfy a relational expression that beta<(alpha/2-theta), wherein theta is a threshold value when the sound source is entirely located within the visual field of the color camera, and the holder of the positioning system keeps motionless; when the wide angle alpha of the color camera and the included angle beta satisfy a relational expression that beta>(alpha/2-theta), the rotation angle of the holder of the positioning system is beta, so that the sound source is located at the center of the visual field of the color camera; the color camera acquires images; and whether faces exist in acquired images is analyzed, if faces exist in the acquired images, the sound source is determined as a man-made sound source, and the position information of a human body is determined according to the man-made sound source. With the method and system provided by the technical scheme of the invention adopted, the position information of a positioned person can be obtained fast and accurately, and operation is simple and convenient.

The invention provides a calibrating method for randomly placing a fringe projection three-dimensional measuring system. The calibrating method comprises the following steps of: 1, designing a calibrating plate, wherein the calibrating plate is a chessboard pattern with equal intervals; 2, placing the calibrating plate into a measuring system view field for CCD (Charge Coupled Device) camera calibration; 3, placing the chessboard pattern on any different positions in a measurement field, projecting a phase shifting sine fringe pattern to the surface of the chessboard pattern on each placement position, and then collecting images and calculating the distribution phi of an unwrapped phase of each pixel point positioned on the surface of the chessboard pattern and the distance h from the unwrapped phase to a reference surface; 4 establishing three polynomials to express the relationship between the unwrapped phase phi and a height h, between the height h and a horizontal coordinate X and between the height h and a horizontal coordinate Y; 5 converting the horizontal coordinates (X, Y) which are from the unwrapped phase to actual height data and correspond to the height data by utilizing calibrated polynomial coefficient to complete the calibration of the three-dimensional measuring system.

The present invention belongs to the field of robot structural parameter calibration, and discloses a method for calibrating structural parameters of a robot using a double-ball-bar. The method comprises the following steps: (a) mounting a calibration rod and a tool cup, and fixing a calibration baseplate and three central seats; (b) calibrating a tool coordinate system and a user coordinate system, and measuring the lengths of the sides of a triangle BCD using the double-ball-bar; (c) presetting a point A in space to form a spatial tetrahedron with the BCD, and obtaining the coordinates of point A under the user coordinate system according to the lengths of the sides of the tetrahedron; (d) obtaining vector <base>O'6-CO6-Ai through conversion of coordinates of robot joints to base coordinates; (e) measuring the lengths of the lateral sides of the tetrahedron using the double-ball-bar, and obtaining vector <base>aAi*c according to conversion of user coordinates to base coordinates; and (f) obtaining the structural parameters of the robot according to the parallelogram principle. According to the present invention, the calibration of the structural parameters of a six-degree-of-freedom articulated robot using the double-ball-bar is achieved simply and quickly, and the calibration result has high accuracy.

The invention provides a specific analysis method of Internet public sentiment. The specific analysis method comprises the steps of: acquiring an Internet public sentiment file; matching the Internet public sentiment file by adopting a preset specific rule; and generating a specific for the successfully matched Internet public sentiment file. The invention also provides a specific analysis device of the Internet public sentiment. The specific analysis device comprises an acquiring module used for acquiring the Internet public sentiment file, a matching module used for matching the Internet public sentiment file by adopting the preset specific rule, and a generating module used for generating the specific for the successfully matched Internet public sentiment file. According to the specific analysis method and device of the Internet public sentiment, the specific is accurately and immediately obtained in massive public sentiment data.

An invention regarding traffic flow management “Fast Lane On Warning” (FLOW) is disclosed whereby individual vehicles are informed and told what speed to go in order to pass through a traffic signal while the light is green. A FLOW (“fast lane on warning”) director sequencer works in conjunction with a traffic signal sequencer (commonly known in the art), both of which have the same service cycle period Pi. The (RGY) type phases and FLOW readout phases are set for each unique particular intersection. While the traffic sequencer controls repeating RGY cycles, the flow director sequencer instructs, generates, transmits repeating cycles of changeable readouts on one or more roadside unit (RSU) emplacements positioned up the road from the traffic signal for one or more lanes in one or more directions. These changing speed assignments or readouts, individually perceived by motorists, guide in motorists such that by the time they pass through the intersection, they will do so while the traffic signal is green, regardless of any random pattern of traffic individual motorists may have been in as they approached the emplacements.

The invention relates to an augmented reality method based on topocentric coordinate system and perspective projection. The augmented reality method based on the topocentric coordinate system and perspective projection includes that (1) coordinate transformation, to be specific, converting geodetic coordinates of mobile equipment and an interest point into geocentric coordinates to obtain the coordinates of the interest point in the topocentric coordinate system to obtain the perspective coordinates of the interest point; (2) perspective projection, to be specific, perspectively projecting the topocentric coordinates of the interest point relative to the current position of a user to a display screen of the mobile equipment, using a mobile equipment camera to perform location shooting, and overlapping the relevant information of the interest point to the position of the interest point in the scenery shot by the camera of the mobile equipment according to different orientations of the mobile equipment. The augmented reality method based on the topocentric coordinate system and perspective projection overcomes the disadvantage that the traditional map and navigation application are not intuitive; the augmented reality method based on the topocentric coordinate system and perspective projection quickly finds the interest point, and the relevant information of the interest point is timely overlapped to the interest point in the shot image to present the intuitive effect; the augmented reality method based on the topocentric coordinate system and perspective projection automatically prompts the current direction of the user and quickly and precisely obtains the direction and position of the interest point relative to the current position of the user.

The invention provides a lithium battery SOC and SOP estimation method based on a second-order RC model, and the method comprises the following steps: S1, selecting the type and model of a lithium battery, obtaining corresponding technical parameters, and building a battery equivalent circuit model; S2, performing an HPPC experiment on the battery at a specific temperature, obtaining battery characteristic parameters, establishing a relationship between battery open-circuit voltage and SOC, performing parameter identification by combining an optimization method, and feeding back the obtained parameters to the model; S3, carrying out SOC closed-loop estimation by combining an EKF algorithm; and S4, estimating the instantaneous power and the limited power of the battery according to P = U *I. The method is characterized in that an original battery model with current as input and voltage as output is improved into a model with voltage as input and current as output. As for SOP estimation, a known voltage and current calculation model is more suitable, and the problems of tedious steps and large calculation amount of an existing method can be solved.

The invention provides a real-time crop growth condition monitoring method based on spectrum images. The method comprises steps as follows: determining initial monitoring parameters; screening sensitive wavelengths which have guiding significance in crop growth condition; acquiring crop images F of to-be-monitored crops exposured to the sensitive lengths; analyzing the crop images F to obtain a real-time crop growth condition monitoring model; monitoring the crop growth condition in real time on the basis of the real-time crop growth condition monitoring model. The method has the advantages as follows: images under crop sensitive wave bands are acquired on the basis of a spectrum and image fusion technology, so that the smallest amount of information is provided on the premise that the crop images contain crop growth condition information, follow-up image analysis and processing efficiency is improved, the crop growth condition information can be acquired quickly and accurately, and the crop growth condition monitoring timeliness is improved.

The invention discloses an iteration-adaptive-algorithm-based method for detecting a coherent MIMO radar target. First, a relation model among a first echo signal, a transmitting signal reflection coefficients and noise interference of the target is confirmed, wherein the relation model is observed on the n observation point, secondly, the relation model is linearized, further the reflection coefficients of the target are initialized through a delayed superposition DAS algorithm, and finally, a bayesian model order selecting tool is used for optimizing the reflection coefficients of the target. An iteration adaptive algorithm can effectively solve existing encountered problems of moving target parameter detection and greatly improves accuracy of detecting of the coherent MIMO radar moving target.

The invention relates to a method of detecting glass defects based on a phase image processing. The method utilizes a glass defect detection system based on the phase image processing; and comprises that light emitted from a light source passes through a raster and forms moire showing a cosine distribution of light intensity on surfaces of to-be-detected glasses, a high-speed linear-array camera collects the moire patterns on the surfaces of the glasses which are then transmitted to an industrial control computer through an image acquisition card, and a defect detection and processing software installed on the industrial control computer timely processes the moire patterns to obtain binary defect images. The method is characterized by firstly subtracting corresponding points of main value images of reference phases respectively containing glass defects and being free of defects, eliminating hopping in the subtraction results by using a hopping error correction algorithm, segmenting into binary images for the glass defects through a mathematical morphology and a segmentation algorithm of combined high and low thresholds, and finally determining the glass defects according to data of the binary images. The method can greatly reduce influences of system noises, improve an operation speed and realize rapid and accurate detection for the glass defects.

A tactile sensor for detecting a variation in pressing real-time. The tactile sensor is simple in structure, detects a variation in pressing by using reduced wires, has increased reliability and reduced cost, and can obtain information accurately. A sheet has, along its surface, resistors arranged in an X direction and Y direction, has a resistor in Z direction corresponding to the thickness direction of the sheet, and has a pressure sensitive resistor sheet (4) whose resistance in the Z direction varies according to pressing in the thickness direction. At least a pair of electrodes (9, 10, 11, 12) is placed in the periphery of the pressure sensitive sheet (4), and the electrodes conduct a current to at least either of the resistor in the X direction or the resistor in the Y direction.; Also, at least a pair of conductors (5, 6) for conducting a current to the resistor in the Z direction is provided on the surface of the pressure sensitive sheet (4).

The invention relates to a scanning and transceiving integrated remote sensing measuring device and method for motor vehicle exhaust based on TDLAS-based (tunable diode laser absorption spectroscopy-based). Emergence wavelength of lasers covers target absorbing peaks of gas under test through temperature and current control of the lasers; a free light output multi-wavelength coupling unit provideshigh coaxiality or superposition of multiple beams; the coupled beam gains transceiving integration and beam scanning through an off-axis parabolic mirror and a rotating hexahedral reflector; the rotating hexahedral reflector enables the coupled beam to scan exhaust emission plumes and reach strip reflecting stickers on a ground; the transceiving integrated structure focuses light, reflected by the reflecting stickers, to a detector; a detector signal is received and processed by an acquisition processing unit so as to exhaust emission information; the device also includes a wavelength locking unit that locks wavelength of each laser in real time; frequently calibrating a system is not required. The device has high sensitivity and high spectral definition, and is suitable for real-time efficient measurement of exhaust emission.