69results about How to "High degree of autonomy" patented technology

The invention relates to a navigation method, in particular to a GIS (geographic information system)-GPS (global position system) navigation method of an inspection robot. In order to realize autonomous navigation on an overall line, the invention introduces an advanced GIS-GPS technology. A high-voltage power transmission line information system is built based on GIS technology, the specific position of a robot and the distances from the robot to a front tower, a rear tower and a barrier can be monitored in real time by virtue of a GPS positioning system, so as to determine the inspection plan of the robot; furthermore, a visible light picking-up and infrared imaging system can be guided to carry out inspection according to autonomous inspection overall structure environmental information of the towers and lines, stored in a GIS line information system.

The invention provides a SINS / GPS / polarized light combination navigation system modeling and a dynamic pedestal initial aligning method, which relates to the dynamic pedestal initial aligning method for vehicle, ship and aviation aircraft. The invention concretely comprises the following steps: (1) establishing a SINS error equation as an initial aligning state equation; (2) according to a polarization azimuth, a GPS outputted speed and a position, establishing an initial aligning measurement equation base on the polarization azimuth error, a speed error and a position error; (3) estimating an attitude error, a speed error and a position error using a Kalman filtering; (4) correcting the feedbacks of the attitude, the speed and the position of SINS. The SINS outputs the attitude, the speed and the position information of the carrier to users. The invention has the advantages of high precision, small computational complexity and good anti-interference capability, and is used for improving the aligning precisions of vehicle, ship and aviation aircraft, with reduced initial aligning time.

The method includes steps: parsing object to be tested, picking up tested information from the object tested; displaying the picked test information, receiving test information input from user; generating test case based on the picked test information and the inputted test information; combining the test case and object to be tested creates testing target codes; running the testing target codes implements test for robustness of software product. The invention also related to device for testing robustness of software product. The invention can realizes automatic generation and automatic extraction for test information of tested object.

A coil discharging device of coiling equipment comprises inflation type coiling shafts. A bearing is arranged at the right end of each coiling shaft in a sleeved manner. An annular groove is further formed in the outer surface of the outer ring of each bearing. A clamp strip can be rotationally installed on a coiling shaft support on the right side. An annular flange is further formed at the right end of each coiling shaft. A transverse guide rail extending transversely is further arranged on the right side of a coiling shaft support located on the right side. A core pulling trolley can be transversely and movably installed on the transverse guide rail. Two tongs blocks which are matched pairwise are installed on the left side face of the core pulling trolley. A longitudinal guide rail extending longitudinally is further arranged below the coiling shafts. A carrying trolley capable of carrying film coils is installed on the longitudinal guide rail. A left shaft supporting rolling wheel capable of supporting the coiling shaft is arranged under the left end of the coiling shaft. A right shaft supporting rolling wheel capable of supporting the coiling shaft is further arranged under the right end of the coiling shaft. The invention further provides a coil discharging method of the coiling equipment. By the adoption of the coil discharging device and method of the coiling equipment, the coil discharging procedure can be automatically completed, and the automation degree is high.

The invention discloses a camera and robot hand-eye calibration method based on an ROS. According to the camera and robot hand-eye calibration method based on the ROS, through setting up of a visual system, a mechanical arm and an operation object of the mechanical arm are within the view field of the camera; then, communication mechanisms between the camera and the ROS and between the mechanicalarm and the ROS are established, on one hand, motion control over the mechanical arm is achieved, on the other hand, the images of the camera and the state of the mechanical arm are obtained, and datacollection is conducted; calibration of internal reference and external reference of the camera is conducted, and parameters of the camera are obtained; and finally, according to different installation manners of the camera, hand-eye calibration of the camera and the mechanical arm is conducted, and a hand-eye calibration matrix is obtained. By the adoption of the camera and robot hand-eye calibration method based on the ROS, automatic hand-eye calibration of the camera and the mechanical arm is achieved, manual intervention is reduced, terminal commands are just called twice in the whole calibration process, the autonomous degree is high, the limitation of the type and number of the camera is avoided, the limitation of the type of mechanical arm is avoided, the expandability is high, itis just needed to print a piece of A4 checkerboard paper in the calibration process, no mark is needed, and the camera and robot hand-eye calibration method based on the ROS is convenient to perform and practical.

The invention relates to a transformer vibration monitoring system based on a wireless sensing technology and a testing method. The transformer vibration monitoring system comprises a transformer vibration monitoring unit, a vibration data receiving device and computer equipment, wherein the vibration data receiving device and computer equipment are sequentially connected with the transformer vibration monitoring unit; the transformer vibration monitoring unit is used for collecting vibration signals of all measuring points on the surface of a transformer and the temperature of the transformer, the transformer vibration monitoring unit comprises a single chip microcomputer, a data sending device, a digital signal processor and an interface module, and the data sending device, the digital signal processor and the interface module are connected with the single chip microcomputer; the interface module is further connected with a three-axis acceleration sensor and a temperature sensor. The sensors are arranged on the surface of a transformer tank and not directly and electrically connected with the transformer, and detected transformer vibration acceleration time-domain signals can be simply analyzed in a spectral mode and finally stored in a data report mode. The system can be used for monitoring vibration of the transformer at all voltage classes under all operation conditions and is accurate and rapid and convenient to use.

The invention relates to an Arduino based carrying robot with the image recognizing function. The Arduino based carrying robot with the image recognizing function has the technical characteristics of autonomously sensing and autonomously, and being small in size, low in cost, and simple in structure. According to the technical scheme, the Arduino based carrying robot with the image recognizing function is characterized by comprising a frame, a manipulator mounted on the top part of the frame, a visual sensor module mounted on the manipulator, a moving device mounted at the bottom part of the frame, a tracking device mounted at the bottom part of the frame, and an Arduino control system mounted on the frame, wherein the manipulator, the visual sensor module, the tracking and the moving device are electrically connected to the Arduino control system and are controlled by the Arduino control system.

The invention provides a power transformer vibration monitoring system based on a wireless sensor network, which comprises a sensor monitoring device, a data receiving device and a power transformer vibration monitoring center, which are connected sequentially; the sensor monitoring device is used for collecting vibration data at each detection point on the surface of the transformer; the data receiving device is used for receiving vibration data transmitted by the sensor monitoring device and transmitting the vibration data to the power transformer vibration monitoring center. According to the system in the invention, real-time monitoring of vibration of the power transformer is realized.

The invention relates to a UKF (unscented Kalman filter) alignment method for an inertia / polarized light integrated navigation system under a large misalignment angle. According to the method, the state vectors of the initial alignment of the inertia / polarized light integrated navigation system are selected to build the nonlinear error state equation of the inertia / polarized light integrated navigation system under the large misalignment angle; a solar vector is calculated according to a polarization azimuth angle measured by a polarized light sensor, and a polarized light nonlinear measurement equation is established; a speed error measurement equation is established according to the speed output of an inertial navigation system; the unified nonlinear measurement equation of the inertia / polarized light integrated navigation system is established by using an augmentation technology; the nonlinear equation of the inertia / polarized light integrated navigation system is discretized; an unscented Kalman filter is designed to estimate the error states such as misalignment angle, speed error, gyroscopic drift and accelerometer constant bias of the inertia / polarized light integrated navigation system; feedback correction is carried out on the attitude and speed of the inertia / polarized light integrated navigation system, and the initial alignment estimation precision and speed of theinertia / polarized light integrated navigation system under the large misalignment angle are improved. The method has the advantages of high precision, high speed and high autonomy.

The invention relates to a near net-shape rotary swaging manufacturing method for a wheel rim. An aluminum alloy material prepared in advance is cast into a rough wheel rim blank. The rough wheel rim blank is provided with a wheel disc, a plurality of wheel ring arms, a wheel rim wall and an axial line. Forging is performed so that the average particle of the wheel disc and the wheel rim arms obtained after solid solution thermal treatment is smaller than 30 micrometers. At least one of recrystallization and solid solution thermal treatment is performed on the rough wheel rim blank, and spinning is performed so that a trunk portion surrounding the axial line can be formed on the wheel rim wall. At least one of size stabilization treatment and aging thermal treatment is performed on the rough wheel rim blank; and finally, an air tap hole is formed in the wheel disc, and turning and surface treatment are performed on the wheel rim arms and the wheel rim wall so that the wheel rim is formed through rotary swaging. Accordingly, the near net-shape rotary swaging manufacturing method has the beneficial effects that the manufacturing cost is greatly lowered, and the customized degree of materials is high; and the machined size is flexible so that the inventories can be reduced, and the structural strength can be improved.

The invention relates to an EKF (extended Kalman filter)-based alignment method for an inertia / polarized light integrated navigation system under a large misalignment angle. According to the method, the state vectors of the initial alignment of the inertia / polarized light integrated navigation system are selected to build the nonlinear error state equation of the inertia / polarized light integratednavigation system under the large misalignment angle; a solar vector is calculated according to a polarization azimuth angle measured by a polarized light sensor, and a polarized light nonlinear measurement equation is established; a speed error measurement equation is established according to the speed output of an inertial navigation system; the unified nonlinear measurement equation of the inertia / polarized light integrated navigation system is established by using an augmentation technology; the nonlinear equation of the inertia / polarized light integrated navigation system is discretized;an extended Kalman filter is designed to estimate the error states such as misalignment angle, speed error, gyroscopic drift and accelerometer constant bias of the inertia / polarized light integratednavigation system; feedback correction is carried out on the attitude and speed of the inertia / polarized light integrated navigation system, and the initial alignment estimation precision and speed ofthe inertia / polarized light integrated navigation system under the large misalignment angle are improved. The method has the advantages of high precision, high speed and high autonomy.

The invention discloses an autonomous fire fighting unmanned aerial vehicle system and a fire fighting method. A ground station and a fire fighting unmanned aerial vehicle are included; the ground station and the fire fighting unmanned aerial vehicle achieve transmission and sharing of a control instruction and fire behavior image information through a ground-air data transmission communication link; the ground station is used for sending a task instruction to the fire fighting unmanned aerial vehicle, monitors the state of the fire fighting unmanned aerial vehicle in real time, and further masters a fire behavior according to the fire behavior image information transmitted back by the fire fighting unmanned aerial vehicle and flying attitude information; and the fire fighting unmanned aerial vehicle is used for collecting the fire behavior image information, performing fire extinguishing, dynamically planning a fire fighting task in real time and dynamically planning a flight path, and autonomously completing flight path planning and obstacle avoiding. The unmanned aerial vehicle can still be used for autonomously responding to a fire disaster without unified command of a commandcenter.

The invention discloses an online path planning method for a fixed-wing unmanned aerial vehicle takeoff section cut-in waypoint. The method comprises: in the takeoff section, an unmanned aerial vehicle measuring the three-dimensional coordinate information of the flight attitude, speed and geographical position of the unmanned aerial vehicle through a navigation system device and a satellite receiver; comparing the information such as the three-dimensional position height and the flight speed direction of the aircraft with the information such as the three-dimensional position height and the expected flight speed direction of the expected first waypoint so as to plan climbing and turning paths; planning a feasible climbing path to the height of the first waypoint in the longitudinal direction; and planning a turning path meeting the expected direction of the first waypoint in the horizontal direction. Aimed at a take-off section of a fixed-wing unmanned aerial vehicle, the autonomous degree of the unmanned aerial vehicle is enhanced, the design is reasonable and feasible, the calculated amount is small, the flight path planning strategy of switching from the take-off point to the first waypoint is executed on line, the unmanned aerial vehicle can smoothly switch to the first preset waypoint in the height and flight direction, and the reliability and practicability of the systemare improved.

A pet feeder comprises a box, a storage barrel, a tray, a seal plate, a control unit, a conveying pipe and a trough; the storage barrel is used for accommodating feed and disposed on the box, with a discharge opening facing the box; the tray is disposed between the storage barrel and the box; the seal plate driven by a motor is disposed between the tray and the conveying pipe and driven by the motor to move along a guide rail; the control unit controls the motor to run according to input information of keys of a human-machine interface; the conveying pipe is disposed within the box and is isolated from the storage barrel through the seal plate; the trough is disposed at one end, opposite to the seal plate, of the conveying pipe outside the box. With the storage barrel for storing the feed, the trough connected with the conveying pipe and the seal plate driven by the motor and disposed between the storage barrel and the conveying pipe, the pet feeder allows pets to be normally fed by regularly and quantitatively feeding the pets and is high in automation level and simple to operate.

The invention provides a distributed multi-source information fusion system and method suitable for multi-satellite formation. The system comprises a module M1 which takes charge of completing the target detection and feature extraction of single-source information through a formation member star information processing unit as a local information processing node; and a module M2 which is used forsending the target detection and feature extraction of the single-source information to a central satellite information fusion unit by each member satellite to perform multi-source information fusionprocessing, completing the calculation load balance of each member satellite and realizing the cooperative processing in a spatial distributed environment. The system can make full use of the advantage that each member satellite of a multi-satellite system is configured with different types of sensors, adopts a multi-source data information fusion means to realize multi-source data on-orbit comprehensive processing, has the characteristics of high processing real-time performance, high autonomy degree, rich result information and the like, and is especially suitable for multi-source information fusion under multi-satellite formation.

The invention belongs to the technical field of transport devices and discloses a rope delivery device. The rope delivery device comprises a rope fixing rod, a fixing clamping seat and a clamping seat controller. The fixing clamping seat fixes the rope fixing rod to the fixing clamping seat through a locking mechanism. The clamping seat controller controls the locking mechanism to be opened or closed and controls the rope fixing rod to be released or locked. The locking mechanism comprises an electric control mechanical claw and a claw groove matched with the electric control mechanical claw. The electric control mechanical claw is fixed to the fixing clamping seat. The claw groove is formed in the rope fixing rod. Under the condition of locking operation of the rope fixing rod, the claw groove is tightly hooked by the front end of the electric control mechanical claw. Under the condition that releasing operation of the rope fixing rod is executed, the electric control mechanical claw is driven by the clamping seat controller to act, and the front end of the claw is separated from the claw groove. By the adoption of the rope delivery device, an efficient rope delivery mode is provided, and the rope delivery device is safe and convenient and quick to use.

An automatic roll-unloading and shaft-loading device comprises a winding shaft and winding supports located on the left side and the right side of the winding shaft, and is further provided with a longitudinal guide rail extending longitudinally, a carrying trolley for carrying a film roll is installed on the longitudinal guide rail, and vertical supporting arms are installed at the left end and the right end of a top panel of the carrying trolley correspondingly; each vertical supporting arm comprises a vertical sleeve and a supporting arm body, each vertical sleeve is further provided with ahorizontal short pin in a horizontal moving manner, and each supporting arm body is provided with a horizontal inserting hole; a limiting clamping block protruding out of the circumferential surfaceof the winding shaft is further arranged at the right end of the winding shaft; and the upper end of the supporting arm body on the right side is provided with a stop block used for stopping a limiting clamping block from rotating. The invention further provides an automatic coil-unloading and shaft-loading method of the device. According to the automatic coil-unloading and shaft-loading device and the automatic coil-unloading and shaft-loading method, the coil unloading procedure can be automatically completed, the shaft loading procedure can also be automatically completed, and the automation degree is high.

The invention relates to the technical field of AUV path optimization, and provides an AUV energy optimization path searching method based on distance evolution N-PSO. The AUV energy optimization pathsearching method comprises the steps of: firstly, constructing an underwater environment model and an AUV two-dimensional motion model; secondly, generating an initial path of particles in a particleswarm randomly based on N-PSO, updating a global optimal solution and an individual optimal solution according to a particle penalty function value in the k-th iteration, and constructing a distanceevolution factor and an evaluation state Evo_statek according to the average distance among the particles; when Evo_statek is equal to 1, outputting an energy optimal path and its energy consumption value if k>=K, otherwise, updating a particle velocity and particle positions and carrying out next iteration; and when Evo_statek is not equal to 1, randomly perturbing the particles and updating a global optimal solution and an individual optimal solution when penalty function values of the particles become smaller or iter>=ITER after perturbation, otherwise, carrying out next iteration. The AUVenergy optimization path searching method can optimize the AUV path from the perspective of energy optimization, and has the advantages of high optimization efficiency, good robustness, more stable optimization result and easy implementation.

A detachable medicine box comprises a hanging frame and a medicine box body, electromagnets are fixedly installed at the four corners of the bottom of the hanging frame through connecting pieces, a pair of traction horn sleeves are further fixedly installed at the bottom of the hanging frame, rotating sleeves matched with the traction horn sleeves are further arranged on the medicine box body, andspraying heads are arranged on the two sides of the medicine box body; an ejector rod and hanging buckles are fixedly installed in the traction horn sleeve respectively, matched hanging buckle grooves are formed in the inner sides of the hanging buckles, an annular area formed by the four hanging buckles is used for allowing a rotating sleeve to enter and exit, a pair of matched ejector rods arearranged on the rotating sleeve, and pointed ejector teeth are arranged at the upper ends and the lower ends of the matched ejector rods and the supporting rod is fixedly installed on medicine box. Automatic loading and unloading of the medicine box can be completed without manual lifting, the automation degree of the plant protection unmanned aerial vehicle is improved while the labor burden is relieved, the activity range of workers is widened, and then the working efficiency is improved.

The invention relates to an underwater equipment autonomous folding and unfolding system for an unmanned ship. The underwater equipment autonomous folding and unfolding system comprises an unmanned ship folding and unfolding control system, a servo execution system, an execution feedback system, a shore-based remote control system and a wireless data transmission module. The unmanned ship folding and unfolding control system, the servo execution system and the execution feedback system are installed on an unmanned ship platform body and are mutually connected and communicated with one another through data lines. The unmanned ship folding and unfolding control system achieves communication link with the shore-based remote control system through the wireless data transmission module. The invention adopts single-chip microcomputer control, is simple and practical, is low in additional cost, and can meet requirements for practical application. In real control of the unmanned ship, only simple state data addition is required. Meanwhile, the data size is small, and occupation of too many software resources is prevented. The achievement of unmanned ship underwater equipment autonomous folding and unfolding can improve the autonomation degree of the unmanned ship to a greater extent.

The invention discloses an integrated multi-axis synchronous motion control system and a synchronous control method. The control system comprises a feedback sampling module and an active module; the feedback sampling module is used for sampling the running current and the running position of a multi-axis servo motor; the main control module comprises an SoC system; and the SoC system receives a sampling result of the feedback sampling module and is used for feedback position detection and calculation and feedback current detection and calculation of the multi-axis servo motor, and achieving multi-axis synchronous current loop control, multi-axis time sequence synchronous scheduling and multi-axis response synchronous control. With the integrated multi-axis synchronous motion control system and the synchronous control method of the invention, the problems that an existing multi-axis synchronous motion control method is poor in synchronization performance, high in cost, low in autonomy degree of a core technology, poor in non-whole-process time sequence-level synchronization and response-level synchronization, seriously affected in system stability, low in universality, complex in calculation and the like can be solved.

A Personal Identity Verification System for verifying the identity of an individual (600) carrying a wireless mobile communications device (400) is proposed, comprising image data of an area of the individual's body, said image data being stored in the wireless mobile communications device (400), at least one image capture device (100) configured to capture visual data of an area of the individual's body and at least one wireless communications module (200) configured to receive the image data from the wireless mobile communications device (400). Further, an electronic circuit (300) is provided that is configured to compare the visual data with the image data and to generate positive verification information when the visual data and the image data are established to be similar within a similarity-tolerance.

Systems and methods of the present disclosure provide a control solution for a robotic actuator. The actuator can have one or two degrees of freedom of control, and can connect with a platform using an arm. The arm can have at least two degrees of freedom of control, and the platform can have at least two degrees of freedom of control. The platform can be subjected to unpredictable forces requiring a control response. The control solution can be generated using operational space control, using the degrees of freedom of the arm, platform, and actuator.

The invention relates to a bluetooth dynamic networking based lamp control method. The method comprises the steps as follows: (1) a bluetooth module is installed in each lamp; network characteristic numbers are configured in the bluetooth modules; a network is created by personal computer (PC) control terminals; and the network characteristic numbers are set at the PC control terminals; (2) the lamp which is firstly added to the network is taken as a first node and enters a networking state; the lamps and the PC control terminals are in networking connection; a plurality of lamps enter the networking state; the lamps become the nodes in the network after networking; and networking among the lamps is realized; and (3) the PC control terminals enter control ports, and the lamps in the top network are freely selected and controlled. The lamp control method provided by the invention is simple to operate, and can meet the requirements of people on intelligent home control operation experience; the autonomous degree of lamp control in the method is high; and free selection and control in the control process and realized.

A Personal Identity Verification System for verifying the identity of an individual (600) carrying a wireless mobile communications device (400) is proposed, comprising image data of an area of the individual's body, said image data being stored in the wireless mobile communications device (400), at least one image capture device (100) configured to capture visual data of an area of the individual's body and at least one wireless communications module (200) configured to receive the image data from the wireless mobile communications device (400). Further, an electronic circuit (300) is provided that is configured to compare the visual data with the image data and to generate positive verification information when the visual data and the image data are established to be similar within a similarity-tolerance.

The invention discloses an automatic weighing device for fruit and vegetable vending and pre-packaging production. The automatic weighing device comprises a workbench, belt pulley bodies and a fixingplate, the left end and the right end of the upper part of the workbench are connected with supporting plates in a welded mold, the inner sides of the supporting plates are in bearing connection withbelt pulley shafts, and the belt pulley bodies are welded to the outer sides of the belt pulley shafts. The rear ends of the belt pulley shafts are connected with the output end of a driving motor, the driving motor is fixed to the rear sides of the supporting plates through bolts, a steel plate conveying belt is arranged on the outer side of the belt wheel bodies in an attached mode, a mounting plate is fixed to the outer side of the steel plate conveying belt through bolts, and a side baffle is welded to the end of the mounting plate. According to the automatic weighing device for fruit andvegetable vending and pre-packaging production, fruits and vegetables are automatically conveyed to an automatic weighing mechanism area through an automatic conveying mechanism and then fall into theautomatic weighing mechanism area from the position between two bottom baffles which are symmetrically arranged and increase the distance, fruit and vegetable single bodies are merely weighed, and the weighing precision is higher.

The invention relates to a transformer vibration monitoring system based on a wireless sensing technology and a testing method. The transformer vibration monitoring system comprises a transformer vibration monitoring unit, a vibration data receiving device and computer equipment, wherein the vibration data receiving device and computer equipment are sequentially connected with the transformer vibration monitoring unit; the transformer vibration monitoring unit is used for collecting vibration signals of all measuring points on the surface of a transformer and the temperature of the transformer, the transformer vibration monitoring unit comprises a single chip microcomputer, a data sending device, a digital signal processor and an interface module, and the data sending device, the digital signal processor and the interface module are connected with the single chip microcomputer; the interface module is further connected with a three-axis acceleration sensor and a temperature sensor. The sensors are arranged on the surface of a transformer tank and not directly and electrically connected with the transformer, and detected transformer vibration acceleration time-domain signals can be simply analyzed in a spectral mode and finally stored in a data report mode. The system can be used for monitoring vibration of the transformer at all voltage classes under all operation conditions and is accurate and rapid and convenient to use.

The invention discloses an integrated multi-axis synchronous motion control system and a synchronous control method. The control system includes a feedback sampling module and an active module, the feedback sampling module is used to sample the operating current and operating position of the multi-axis servo motor, the main control module includes a SoC system, and the SoC system receives the feedback The sampling results of the sampling module are used for the feedback position detection and calculation of the multi-axis servo motor, the feedback current detection and calculation, and the realization of multi-axis synchronous current loop control, multi-axis timing synchronous scheduling and multi-axis response synchronous control. The invention solves the problem of poor synchronization performance, high cost, low degree of autonomy of core technology, non-whole-process timing-level synchronization, poor response-level synchronization, serious impact on system stability, low versatility, and computational complexity of existing multi-axis synchronous motion control methods. complicated issues.

The invention discloses a low-cost interception system for low-altitude low-speed small targets and an interception method. The interception system is composed of a vehicle-mounted multiple launchingsystem, a multi-target detection and position indication radar, a data transmission ground end, a ground command and control system and interceptor missiles. The interception method comprises the steps of target detection and position indication, task allocation and interceptor missile launching, interceptor missile initial guidance, interceptor missile task route updating and middle guidance, automatic target acquisition by an interceptor missile image seeker and terminal guidance, interceptor missile fuse action and warhead detonation for target damage. According to the system and the method, the multiple interception targets can be subjected to detection and position indication through the multi-target detection and position indication radar, and the interceptor missile is electricallydriven, can fold and unfold airfoils, and is carried on a strapdown image seeker and a navigation and flight control system, so that the interception cost can be greatly reduced under the condition that the interception precision is guaranteed; and meanwhile, due to the fact that the flying distance of the interceptor missile is long, and the air route middle guidance is adopted, the coming targets can be intercepted at a long distance.