62results about How to "Avoid missed scans" patented technology

The invention discloses an obstacle processing method for a robot. The robot performs X-axis or Y-axis scanning cleaning in a cleaning area for the first time, and records a non-cleaned area behind an obstacle; after finishing performing the X-axis or Y-axis scanning cleaning for the first time, the robot returns to the non-cleaned area behind the obstacle, and performs X-axis or Y-axis scanning cleaning for the second time; and the robot records X-axis coordinates and Y-axis coordinates when touching the obstacle and detecting that the obstacle disappears to adjust a walking route. According to the obstacle processing method, the number of walking routes is small during identification of obstacles; the obstacles can be judged accurately; and an effect of automatically cleaning by a dust remover is achieved.

The invention relates to a cleaning robot control method. The method comprises the steps that information of an environment where a cleaning robot is located is detected, and a cleaning environment map is generated, wherein the cleaning environment map comprises obstacle information and an obstacle-free region; the cleaning environment map is subjected to meshing to generate multiple cleaning subregions; cleaning paths in the corresponding cleaning subregions are generated according to the obstacle information and the obstacle-free region in the cleaning subregions, and the cleaning robot is controlled to clean the cleaning subregions one by one according to the cleaning paths in the cleaning subregions. According to the method, the cleaning coverage degree of the cleaning robot can be larger, and the cleaning efficiency of the cleaning robot can be higher.

The invention discloses an airborne dual-band photoelectric wide-area reconnaissance and tracking device. The device comprises a photoelectric turret (1); the photoelectric turret (1) comprises a visible light television (3), an infrared thermal imager (4), a gyro assembly (5), a servo module (6), an angle measuring module (9), a control management module (10), an image processing and tracking module (11) and a communication interface module (12); the servo module (6) is used for driving the line of sight of the photoelectric turret (1) to search or track a target; the angle measuring module (9) is used for measuring the angular position of the servo module (6), determining the real-time pointing direction of the line of sight; and the control management module (10) is used for controllingthe photoelectric turret (1) to be switched between a wide area search mode and a tracking monitoring mode, receiving the data of the image processing and tracking module (11) and the angle measuringmodule (9), performing data processing and sending processing results to the servo module (6) and the image processing and tracking module (11).

The invention relates to a robot traversal control method, a chip and a cleaning robot. The robot traversal control method comprises the following steps: the robot delineates a region to be traversedby combining the positioning edge with the edge; after traversing the region, the robot delineates the next region to be traversed in the same way; then traversing is continued; and the traversal of all the regions is completed in the same way. According to these traversal modes, the region to be cleaned is divided into multiple small regions with the starting point of the robot as the center of the circle and traversal is performed with the small regions acting as the unit. The method is suitable for traversal of a single interval and can improve the traversal efficiency and the user experience of the robot. In addition, the robot can avoid skipping some regions with smaller entrances in this way.

The embodiment of the invention provides an obstacle avoidance method and device for a self-walking robot, the robot and a storage medium. The method comprises the following steps: acquiring and recording the information of obstacles in a walking process, wherein the information of the obstacles comprises type information and position information of the obstacles; and receiving an operation instruction for a specified obstacle, wherein the operation instruction enables obstacle avoidance operation not to be performed on the obstacle of the same type when the obstacle of the same type as the specified obstacle is detected again in the area range marked with the specified obstacle. According to embodiments of the invention, missing scanning of a cleaning area caused by blind obstacle avoidance is avoided, cleaning accuracy is improved, and user experience is improved.

The invention provides a method and system for improving a cleaning coverage rate on the basis of a cleaning robot. The method comprises the steps that the robot determines a closed clean region; andthe robot determines whether a moving obstacle exists in the closed clean region. The system comprises a radar detection module and an execution module; the radar detection module is used for detecting the closed clean region and determining the obstacle with the changed position; and the execution module is used for driving the robot to enter a new to-be-cleaned region and carrying out cleaning on the new to-be-cleaned region. According to the method and system for improving the cleaning coverage rate on the basis of the cleaning robot, the dynamic obstacle in a scene where the mobile robot is positioned can be efficiently identified and detected out, and the new to-be-cleaned region formed after the dynamic obstacle moves is cleaned, so that cleaning omission is prevented, and the cleaning coverage rate is improved.

The invention discloses a frequency sweeping method and device for a small bandwidth communication system. A to-be-swept band is divided into a plurality of subbands according to system performance; frequency points in each subband are determined according to the minimum bandwidth of a system; FFT operation, slide accumulation operation and grid deviation accumulation operation are carried out ontime domain signals according to fixed gain; and after power distribution of all frequency points on the to-be-swept band are obtained, whether to adjust gain values to recalculate the power of each frequency point is decided according to a threshold demand. All frequency points of which power satisfying the threshold demand are screened according to the method, namely, all resident frequency points are obtained. According to the method and the device, the collected time domain signals are processed according to the fixed gain; the AGC (Automatic Gain Compensative) convergence time does not need to be reserved; and the integrated data processing time is greatly reduced. According to the method and the device, the frequency point distribution in each subband is determined according to the minimum bandwidth of the system and the power of each real frequency point is directly calculated in an bandwidth mode, so the sweeping omission condition resulting from the fact that calculated central frequency points are not the real frequency points is avoided.

The invention discloses an intelligent packaging and account-settlement shopping basket, an intelligent packaging and account-settlement shopping system and a use method of the system. The intelligentpackaging and account-settlement shopping basket comprises a basket cover, a basket body and a basket seat, wherein the basket body is connected to the basket cover and the basket seat through a weighing sensor, the upper portion of the basket body is provided with a handle storage lower box, the top portion of the basket body is provided with a top opening, the top opening is provided with a fixing table, the fixing table is provided with a handle handing member used for hanging a shopping bag and provided with a hook, an identifier for identifying item information, an electronic fence for monitoring the shopping basket, a wireless module and a transmission mechanism, and the transmission mechanism is connected to and drives a bag changing assembly to move back and forth so as to complete the unfolding of the shopping bag handle and the shopping bag. The invention further discloses the intelligent packaging and account-settlement shopping system and the use method thereof, wherein the system integrates self-account-settlement, automatic bag changing and packaging and intelligent loss prevention, such that the problem that the queuing account-settlement and the manual packaging are required during the shopping so as to cause time consuming and labor consuming can be solved so as to provide the rapid shopping experience.

The invention provides a cleaning robot, which comprises an obstacle sensing unit for sensing an obstacle, a driving unit for driving the cleaning robot to travel on the surface, and a control unit. The control unit comprises a zigzag program module, an obstacle bypassing program module, a sweeping continuing program module and a supplementary sweeping program module. According to the cleaning robot with the structure and / or the program module, the repeated walking path of the cleaning robot in the cleaning process is reduced, and moreover, the cleaning robot can be just located on the boundary of a target area when just traversing the whole target area, so that the cleaning robot can enter the next area conveniently to clean the next area.

The invention discloses a block selection method for a sweeping robot. The method comprises the steps that the sweeping robot acquires characteristic information of a target block from an environmentmap when executing a sweeping task, wherein the environment map is stored in the sweeping robot, characteristic information of multiple blocks is stored in the environment map, and the target block belongs to the blocks; based on the characteristic information of the target block, whether or not the target block needs to be swept is judged; if yes, the sweeping robot is controlled to enter the target block from an entrance of the target block and sweep the target block. The block selection method has the advantages that the sweeping efficiency is improved, and missing sweeping is avoided. Meanwhile, the invention discloses a block selection device for the sweeping robot.

The present invention discloses a face recognition-based self-service cash register and belongs to the technical field of autonomous cash registration. The face recognition-based self-service cash register comprises a base and a cabinet arranged at the top end of the base; a supporting plate is arranged at one side of the top end of the cabinet; the bottom of the outer wall of one side of the supporting plate is provided with an operating platform; a display screen is embedded in the side wall of the supporting plate; an electric control sliding rail is arranged at one side of the side wall ofthe supporting plate; a sliding block is connected into the electric control sliding rail in a sliding manner; and the side wall of the sliding block is provided with a camera and a light supplementation lamp. According to the self-service cash register, the electric sliding rail is adopted; the lifting of the camera can be controlled through the electric control sliding rail, so that the faces of people with different heights can be photographed from the front sides of the people, and therefore, a phenomenon that the faces cannot be scanned can be avoided; the light supplementation lamp is adopted, and can be used to supplement light for scanning, and therefore, fuzzy scanning phenomena can be avoided; a monitor is adopted, and the monitor can photograph the payment operation actions ofcustomers in real time, and therefore, a condition that articles are not subjected to code scanning and are not paid can be avoided; and the safety of autonomous cash registration can be improved.

The invention provides a cleaning method of a cleaning robot, the cleaning robot and a computer storage medium. The cleaning method comprises the steps that by measuring first ground inspection data of a current position of the cleaning robot, a first reference value is obtained, then a first parameter range is set, and a first condition is generated according to the first parameter range, whether a first real-time ground detection signal value meets the first condition or not is determined, and the advancing direction of the cleaning robot is controlled according to the determination result. By detecting a reflection intensity value of the ground, the cleaning robot performs cleaning in a designated area, the boundary of the designated area is judged for a plurality of times, the advancing direction of the cleaning robot is controlled according to the judgment result, on the one hand, the cleaning robot is prevented from missing sweeping, on the other hand, the cleaning robot is prevented from crossing the boundary, the cleaning effect and the work efficiency of the cleaning robot are improved, and the experience of a user is improved.

The invention discloses an obstacle avoidance method and an obstacle avoidance device based on line laser. The obstacle avoidance method comprises the steps of: emitting two beams of crossed line laser to a target region; acquiring a target region image; calculating bright spot coordinates formed by the line laser in the target region image; judging whether an obstacle exists in the target regionor not according to the bright spot coordinates; if the obstacle exists and the height of the obstacle exceeds a preset obstacle crossing range, enabling a sweeper to avoid the obstacle; and if the obstacle does not exist or the height of the obstacle does not exceed the preset obstacle crossing range, enabling the sweeper to pass through the target region. According to the obstacle avoidance method and the obstacle avoidance device, the laser is shot by a camera after being reflected, and after the camera shoots a laser picture, coordinate analysis is carried out on bright spots in the picture, so that obstacles such as a power line are recognized, and winding and collision are prevented; a cliff and an overhigh lower step can further be recognized, and falling is prevented; in addition,an upper step within the obstacle crossing capacity can be recognized, missed sweeping is prevented, and therefore active obstacle avoidance is achieved, and the working efficiency of the sweeper is improved.

The invention relates to network security technology and discloses a network security vulnerability scanning system and method to solve a problem that risks caused by vulnerability can not be scanned when a service port changes in vulnerability scanning technology in prior art. The network security vulnerability scanning system comprises a port scanning module used for invoking a port scanning tool to scan network ports, an information extraction module used for extracting ports and corresponding service fingerprint information in returned data, a jointing module used for jointing ip addresses and service ports, and a service vulnerability scanning module used for invoking relative service vulnerability scanning plug-ins to scan vulnerability of port service. The system and method are suitable for network security vulnerability detection.

The invention discloses a method and a device for acquiring standard images of non-uniform velocity moving objects. In a region in which the photographing position, as a start position, of a three-line array CCD camera extends toward one side by a distance, laser sensors which are arranged at equal intervals are used for dividing the region into a plurality of equal intervals; the distance between the three-line array CCD camera and the surface of an object passing through the region is adjusted according to the intervals of the laser sensors and the focal length of the three-line array CCD camera, so that the imaging range of the three-line array CCD camera is equal to the intervals among the laser sensors; the three-line array CCD camera is controlled by signals generated by a moving object passing the region by sequentially blocking the laser sensors to intermittently acquire images of the moving object, and image data are transmitted to a computer to form continuous and uninterrupted standard images. The device is easy to operate; the laser sensors are utilized for directly triggering the three-line array camera to photograph without adjusting the photographing frequency of the camera, so that the scanning leakage phenomenon can be prevented effectively.

The invention discloses a radio-frequency recognition dynamic scanning device, which comprises two vertical columns in vertical parallel arrangement. A supporting frame is transversely fixed to upperends of the two vertical columns, a first driving motor is arranged on the side wall of the lower end of one of the vertical columns, the side wall of the other vertical column is in rotational connection with a rotating shaft matched with an output shaft of the first driving motor through a rotating part, and a conveying belt sleeves the side wall of the rotating shaft. The vertical columns are in hollow structures, vertical plates are vertically arranged in the vertical columns, second driving motors are fixed to the vertical plates and rotationally connected with gears matched with the second driving motors, the gears are positioned in rectangular frames arranged in the vertical columns, the side wall of each rectangular frame is provided with two racks matched with the corresponding gear, and the two racks are positioned on two sides of the corresponding gear. The radio-frequency recognition dynamic scanning device has the advantage that goods at different heights can be scanned toprevent scanning omission.

The invention discloses an automatic code scanning system which comprises a programmable logic controller (PLC), a data collector and a mark bar code. The PLC has a logic function, a program editor function and the like, is provided with a central processing unit (CPU) and can enable a set program to run, for example analysis of an image and the like. The data collector is a detecting device for achieving image collecting and can shoot the mark bar code attached on an article to generate image information which is sent to the PLC. The PLC analyzes and identifies the image information and then stores data. According to the automatic code scanning system, a camera is used for scanning the bar code, automatic processing on bar code scanning can be achieved first, labor force is liberated, working efficiency is improved, secondly, due to the fact that the camera is used for scanning in the whole process, the problem that the bar code is not scanned is completely avoided, and using reliability of the system is greatly improved.

The embodiment of the invention provides a method for a robot to avoid a charging base and the robot. The method comprises the steps that when a near-field signal is detected, position information ofa robot and a charging base is determined; wherein the near-field signal is sent out by the charging base; and determining the walking distance between the robot and the charging base according to theposition information. According to the method, the near-field signal is detected in real time; when a near-field signal is detected. Therefore, it can be determined that the robot is close to the charging base. Further, the robot starts to determine the position information of the charging base; and the walking distance between the robot and the charging base is determined according to the obtained position information, so that the robot accurately judges the position of the charging base, then accurate avoidance action is adopted, the walking distance between the robot and the charging baseis controlled, missing scanning of the area near the charging base is avoided, and the cleaning rate is increased.

The invention discloses an intelligent dust removal robot. A cleaning marching program is built-in a control module of the intelligent dust removal robot, the robot enters in the program from the first point, then turns around when marching a distance and reaching the second point, marches to the third point, turns around at the third point and marches to the fourth point, the robot turns around at the fourth point and then marches to the fifth point and turns around, the program is repeated till the intelligent dust removal robot forms a zigzag marching cleaning route. The robot turns 180 degrees after reaching the N point by repeating the program for multiple times, the cleaning marching program is repeated for multiple times, and finally the intelligent dust removal robot forms the crossing zigzag grid-shaped cleaning marching route. The intelligent dust removal robot with the program being built-in avoids cleaning missing, all areas can be cleaned at least twice, the cleaning effect is thorough, the cleaning efficiency is greatly improved, and the energy is saved.

The invention discloses a supermarket self-service settlement goods taking system capable of automatically classifying and packaging, and the system mainly comprises a server which comprises commodityinformation and customer information; self-service settlement terminal, the system at least comprises a code scanner, an identity recognition device, an automatic commodity conveying device and a commodity transfer package, the automatic commodity conveying device comprises a first conveying belt, the conveying belt is divided into at least four conveying paths according to commodity categories,the automatic commodity conveying device further comprises automatic packaging devices corresponding to the conveying paths, and commodities sequentially enter the corresponding conveying paths, the automatic packaging devices and the commodity transfer packages after code scanning succeeds. The commodity transfer system at least comprises a commodity package transfer channel and a commodity outlet cabinet, and the confirmed commodity transfer packages enter the commodity outlet cabinet through the commodity transfer channel; the settlement module is used for settling the scanned commodity andsending a pickup code after the customer completes payment; and in the customer channel, the customer passes through the detection port and then arrives at the delivery cabinet to extract the corresponding commodity transfer package through the extraction code.

The invention discloses a self-service cashier system. The system comprises a cashier device, Internet, a payment device, a background center and a control device. The cashier device comprises a box body. The box body is provided with an operation interface, a commodity inlet and a commodity taking port. A transmission mechanism, identification equipment used for identifying a commodity attributeof a commodity, the operation interface and a connection control device are arranged in the box body. The control device is connected to the payment device and the background center through the Internet. The transmission mechanism and the identification equipment are connected to the control device. The transmission mechanism is used for transmitting the commodity to a position corresponding to the commodity taking port after the identification equipment identifies the commodity attribute. In the invention, the identification equipment is used to carry out intelligent identification on the commodity, each commodity which is put into the box body is effectively identified and transmitted, after payment, a client can take the commodity through the commodity taking port, and a condition of forgetting scanning can be effectively avoided.

The invention relates to a method for removing a paint layer on an inner wall surface of a cylindrical component. The method comprises the following steps that working parameters of a laser generatorare set, and the laser generator is driven to stretch into the cylindrical component by means of an actuating mechanism; the laser generator is controlled to output indication light, and a posture ofthe laser generator is adjusted, so that the indication light can be aligned with a preset cleaning starting point; and the actuating mechanism is started and the laser generator is driven to move, the laser generator is controlled to output laser, and laser scanning is performed on the paint layer on the inner wall surface of the cylindrical component to complete removal of the paint layer on theinner wall surface of the cylindrical component. The method can solve the problem that white paint is low in light absorptivity and thus difficult to remove, a coating on the inner wall surface is accurately removed, a process is simple and easy to operate, an environment cannot be polluted, meanwhile, automatic operation is convenient to achieve, only the coating on the inner wall surface of thecylindrical component is removed, a metal part of the cylindrical component cannot be damaged, an cleaning effect is good, and no coating is left.

The invention provides a robot obstacle avoidance method, a robot and a storage medium. The method comprises the steps of outwards expanding a current boundary of a target obstacle for a second presetdistance to form a target region when the distance between the robot and the target obstacle is determined to be equal to a first preset distance, and pausing the movement for a preset duration, whenthe preset duration is over, judging whether the distance between the robot and the target obstacle is smaller than or equal to a first preset distance or not, if the preset duration is over and thedistance between the robot and the target obstacle is smaller than or equal to a first preset distance, enabling the robot to walk according to a first route, and if the preset duration is over and the distance between the robot and the target obstacle is larger than the preset distance, enabling the robot to walk according to the second route. The first route is different from the second route. By pausing the motion, the robot can be prevented from bypassing the target obstacle by adopting the same path, and the possibility of collision is reduced.

The invention relates to the technical field of robots, and discloses a robot cleaning method and a robot. The method comprises: firstly, establishing an environment map of a to-be-swept area, and theenvironment map at least comprising a boundary area; secondly, determining an extracted cleanable area in the environment map according to the boundary area, and the cleanable area comprising at least one cleanable subarea; thirdly, determining the optimal cleaning direction of the target cleaning subarea capable of being cleaned to the maximum extent, and the target cleaning subarea being any one cleanable subarea in the at least one cleanable subarea; and then, controlling the robot to clean the target cleaning subarea according to the optimal cleaning direction. Therefore, according to themethod, the target sweeping subarea is swept to the maximum extent by adopting the optimal sweeping direction, so that the sweeping missing phenomenon is avoided as much as possible, and the sweepingefficiency is improved.

The invention discloses a method for judging ending of an edge-walking behavior of a robot, a chip and the robot. The judgment method comprises the following steps: controlling the robot to walk alongthe edge from a preset edge starting point in the working area; when the position relation of the current position of the robot relative to the preset edge starting point meets the position posture coincidence condition, if it is judged that the length of the robot edge walking path relative to the perimeter of the edge covering rectangle framed in real time meets the path repetition condition, and it is judged that the area of the area occupied by the robot edge walking path relative to the area of the edge covering rectangle framed in real time meets the area covering condition, determiningthat the robot edge-walking behavior is ended. Compared with a single judgment condition in the prior art, the accuracy in judging wall-following ending is improved, and subsequent missing sweeping or repeated sweeping can be avoided.

The invention discloses an accuracy judgment test method based on vulnerability scanning. Parallel scanning of multiple types of open source software is performed, the vulnerability scanning product is independently researched and developed, and secondary scanning is performed by unifying the vulnerability name. Multiple times of detection is performed on the same vulnerability due to scanning of multiple scanners so that leak scanning can be effectively avoided; and the same vulnerability name is used as the mark for judgment, secondary scanning is performed from different characteristics of the vulnerability and the vulnerability probability is given so that false alarm can be greatly solved, the name of the detectable third-party tool is also friendly provided and thus the workload of the penetration test personnel can be reduced and the targeted performance is higher.

The invention discloses an article warehousing code scanning assembly based on a database system, and relates to the technical field of information input and related equipment thereof. The article warehousing code scanning assembly based on the database system comprises a conveying frame, wherein a motor A is installed on one side of the front of the conveying frame; an adjusting assembly A and an adjusting assembly B are arranged in the center of the front of the conveying frame; the adjusting assembly A comprises an electric telescopic rod C and an electric telescopic rod D; the adjusting assembly B comprises a supporting rod A and a supporting rod B; a preset assembly comprises a moving plate A and a motor D; and a blocking assembly comprises an electric telescopic rod J and an electric telescopic rod K. According to the article warehousing code scanning assembly based on the database system provided by the invention, the position of a data code on an article is confirmed through the preset assembly, and code pre-scanning is carried out, so that the code scanning accuracy is improved; meanwhile, the adjusting assembly A and the adjusting assembly B are used for overturning the data code of the article to the top, so that the labor amount of workers can be reduced, and the situation of missing scanning is avoided; and rear articles are blocked through the blocking assembly, so that article blocking caused by the fact that all the articles are stacked at the pre-code-scanning position is avoided.

The invention provides a data terminal and a data acquisition method, and the data terminal is characterized in that the data terminal comprises a trigger which is used for triggering to generate a triggering signal and generating a triggering end signal when the triggering is finished; the data collector is used for collecting data; the memory is used for providing a storage space; the processoris used for sequentially storing the trigger signal and the trigger ending signal into a signal queue in real time, calling the signal in the signal queue, and triggering decoding of the data acquiredby the data acquirer when the signal is the trigger signal; when the signal is a trigger ending signal, decoding is ended; wherein the processor preferentially judges the decoding process before calling a signal in a signal queue or judging whether the signal is a trigger ending signal each time, so that the processor continues to call the signal in the signal queue when judging that the signal is not decoded; when decoding is carried out, whether the decoding time reaches a preset threshold value is judged firstly, and then the signals in the signal queue are called continuously.