118results about How to "Solve the problem of blind spots" patented technology

The invention discloses a barrier-avoidance control method combining a depth camera and supersonic wave for robot and a system thereof. The system comprises the depth camera and an ultrasonic ranging module installed on the robot, a control module which is installed in the robot for processing barrier information of inner and outer barriers, and a display screen for displaying obstacle information, wherein the depth data camera and the ultrasonic ranging module are electrically and respectively connected with the input end of the control module, and the output end of the control module is electrically connected with the display screen. The depth data camera shoots depth images with current posture of 0.3-4m and shooting angle of 60 degrees on a real-time basis and determines the existence of outer barriers. The ultrasonic ranging module determines the existence of inner barriers within 0-0.3m body posture of the robot. Non-blind area detection for environment by a robot is realized, so that the robot can effectively avoid barriers during walking.

The invention provides a Dubins path based obstacle avoidance control device and method for a driverless car. The device comprises a camera arranged outside the left A pillar of the driverless car, acamera arranged outside the right A pillar of the driverless car as well as a laser radar arranged on the roof of the driverless car. The method comprises the following steps: the radar performs positioning and speed measurement on obstacles entering a camera monitoring range; a sequence of an obstacle to collide with the smart car is determined with an obstacle avoidance algorithm; the smart carreplans the current obstacle avoidance path according to the new obstacle sequence to finish the obstacle avoidance operation. By arranging the cameras in the middles of the two A pillars of the driverless car, the problem about bind area of the driverless car is solved effectively, and perfect and accurate degree of information acquisition is increased; different obstacle avoidance judgment algorithms are adopted for different obstacles in driverless operation, and obstacle avoidance accuracy and precision of the driverless car are improved.

The invention discloses a networking navigation radar target tracking system based on data fusion. The system comprises at least one radar front end, at least one radar terminal and an Ethernet. The radar front end and the radar terminal are in bidirectional data transmission through the Ethernet. The radar front end comprises an antenna, a transceiver, a data acquisition module, a signal preprocessor module and a control command processing module. The radar terminal comprises a display unit, a signal processing unit and a control unit. The transceiver generates radio-frequency pulses which are radiated to the space through an antenna. The system belongs to a trace point serial processing centralized data fusion structure, has the features of high fusion precision and small system time delay, and meanwhile, has the advantages of eliminating detection blind areas, improving detection probability and improving tracking performance. After the terminal carries out data fusion and comprehensive optimization processing on the data of the plurality of front ends, the problem of blind area of the single radar due to antenna erection location can be effectively solved, marine target detection and tracking accuracy performance is improved, and navigation safety is guaranteed.

The invention relates to an island detection method based on the wavelet packet energy spectrum. In the method, the wavelet theory is applied to decompose the signal into different frequency components, so that the fault information can be obviously displayed. The method is characterized by comprising the stages of signal processing and island identification and comprising the following specific steps: 1) directly measuring the voltage signal at the point of common coupling (PCC) and carrying out wavelet packet decomposition on the detected voltage signal; 2) reconfiguring the wavelet packet decomposition coefficient and extracting the signals in the frequency band ranges; 3) computing the energy characteristic value of each frequency band signal according to the energy expression shown in the specification; 4) constructing the fault characteristic vector T with number of dimensions being 2<j> by adopting the energy of the frequency band signals as the elements; 5) establishing a sample model and then determining the fault characteristic vector P according to the statistical average of the sample space; and 6) establishing mapping relationships between the energy characteristic vectors and the fault conditions, making a fault query table with the congruent relationships between the fault conditions and the parameter variation and storing the fault query table, identifying the faults based on the fault query table and simultaneously displaying the diagnosis results.

The invention discloses a multi-ocular stereoscopic vision three-dimensional scanning method and system. The method comprises the steps that S1: light band image groups are acquired by at least threegroups of vision components arranged around an object to be scanned and positioned at the same horizontal height, and each light band image group includes a left light band image and a right light band image; S2: the light band center of the left light band image and the right light band image is extracted; S3: the light band center is converted to the intra-group three-dimensional coordinate data; S4: joint calibration is performed and all the intra-group three-dimensional coordinate data are converted to the same coordinate system so as to obtain the world coordinate system data; and S5: point cloud integration is performed through combination of the world coordinate system data of all the horizontal weight so as to obtain the three-dimensional point cloud data of the object to be scanned. According to the multi-ocular stereoscopic vision three-dimensional scanning method and system, omnibearing transverse scanning is performed on the surface of the object to be scanned from different perspectives by at least three groups of vision components so that the blind area problem of scanning can be effectively solved, and the scanning efficiency and the scanning accuracy of the system can be enhanced.

The application discloses a shelf monitoring method and system and a shelf. The system comprises an image collection unit, a control unit, a driving unit and a communication unit. The image collectionunit comprises a slide rail mounted on a shelf, and a camera mounted on the slide rail and capable of sliding along the slide rail. The image collection unit is used for collecting an image of goodson the shelf and sending the goods image to the control unit. The driving unit is installed at one end of the slide rail, and is used for driving the camera to slide along the slide rail. The controlunit is used for controlling the driving unit, identifying the goods image sent by the camera, and sending the identification result to a background server through the communication unit when there isa lack of goods and / or the goods is wrongly placed. Through the scheme, the problem that there may be blind areas in image collection of goods by the camera can be solved, and the precision of detection on whether there is a lack of goods or the goods is wrongly placed is improved.

The invention provides a panoramic vision system with a synchronous shot parameter adjusting function. The panoramic vision system with the synchronous shot parameter adjusting function comprises a camera, an installing disc, a rotating device and an upholder, the camera and the rotating device are installed on the installing disc, the upholder is connected with the rotating device, the rotating device controls the installing disc to rotate relative to the upholder, the installing disc is provided with a synchronous focus adjusting gear ring, a synchronous focal length adjusting gear ring and a synchronous aperture adjusting gear ring, the synchronous focus adjusting gear ring, the synchronous focal length adjusting gear ring and the synchronous aperture adjusting gear ring can rotate on the installing disc in a sliding mode, the camera is provided with a focus gear, a focal length gear and a aperture gear, and the synchronous focus adjusting gear ring of the installing disc, the synchronous focal length adjusting gear ring of the installing disc and the synchronous aperture adjusting gear ring of the installing disc respectively mesh with the focus gear of the camera, the focal length gear of the camera and the aperture gear of the camera. The panoramic vision system with the synchronous shot parameter adjusting function overcomes error accumulation caused by independent control of a camera parameter and guarantees that parameter errors of all cameras are within an acceptable range.

The invention discloses a dual directional antenna self-adaptive alignment communication method, which comprises the steps of: step 1), zeroing an azimuth angle and a pitch angle of a ground directional antenna; step 2), zeroing an azimuth angle of an airborne antenna; step 3), calculating a target angle theta 2a of the azimuth angle of the airborne antenna according to GPS position information of the airborne antenna and the ground directional antenna by means of an airborne antenna control module, and calculating a target angle phi 2a of the azimuth angle of the ground directional antenna and a target angle phi 2p of the pitch angle of the ground directional antenna according to the GPS position information of the airborne antenna and the ground directional antenna by means of a ground antenna control module; step 4), and rotating the airborne antenna by means of an airborne antenna servo module, rotating the ground directional antenna by means of a ground antenna servo module, and completing real-time alignment. The dual directional antenna self-adaptive alignment communication method adopts a precise and convenient calibration mode, improves the tedious and complicated calibration mode of the traditional system, and improves the competitiveness of products from the viewpoints of reliability and cost.

The invention discloses a vehicle-mounted grid map generation method based on laser radar and look-around camera fusion, and a plurality of laser radars and look-around cameras are arranged to sense the surrounding environment of a vehicle. The method comprises the following steps: obtaining an image acquired by the look-around cameras at the moment t1, extracting a drivable area from the image, and carrying out binarization to obtain a binarized drivable area; projecting the binarized drivable area corresponding to each look-around camera to a vehicle coordinate system to obtain a vehicle aerial view; rasterizing a preset range around the aerial view vehicle to obtain MapCam and Maskcam, and converting the MapCam and Maskcam into a world coordinate system; obtaining laser point cloud datacollected by a laser radar at the moment t2, performing external parameter normalization on the data to a vehicle coordinate system, and obtaining point cloud data around the vehicle; rasterizing thepoint cloud data in the preset range, and removing ground point cloud to obtain obstacle point cloud; obtaining Maplidar and Masklidar based on the obstacle point cloud, and converting the Maplidar and the Masklidar into a world coordinate system; and obtaining a fused raster map Mapfusion according to the obtained raster map Mapfusion.

The invention discloses an abnormal sound event identification method based on MFCC+MP fusion characteristics, which is characterized by comprising the following steps of: 1) pre-processing the soundfor the first time; 2) extracting the sound characteristic for the first time; 3) training a classifier; 4) inputting actual measurement sound; 5) pre-processing the sound for the second time; 6) extracting the characteristics for the second time; 7) applying a classifier; and 8) outputting a detection result. The method has good robustness to noise, can effectively detect abnormal sound existingin a sound signal under a low signal-to-noise ratio environment, solves the problem that blind areas exist in video monitoring, and provides beneficial help for security work.

The invention provides a laser-scanning distance measuring device.The device comprises a laser transmitting-receiving device, a receiving plate, a coil, a rotating platform, a fixed platform, a transmitting plate, a top cover, a magnetic pole, a stator and a bottom shell.The laser transmitting-receiving device, the receiving plate and the magnetic poles are mounted on the rotating platform, and the transmitting plate and the stator are mounted on the fixed platform.The stator is coupled to the magnetic pole through a magnetic field generated by electromagnetic induction to form torque force so that the rotating platform can be driven to rotate.An inclined angle is formed by laser emitted out of the laser transmitting-receiving device and the horizontal plane, and the inclined angle is greater than zero degree.Compared with the prior art, according to the laser-scanning distance measuring device, the landform of each edge of a round area below a conical 360-degree scanning robot body is recorded in the moving process of a robot, and thereby the dead zone problem caused when an existing scanning radar is applied to the robot is solved.In addition, the wireless power supply and wireless full duplex data transmission modes are adopted for the laser-scanning distance measuring device, and the defect that the service life is short when a slip ring is adopted for power supply and communication or in other situations is avoided.

The invention provides a signal relay system for 5G communication. The system comprises a downlink signal enhancement subsystem and an uplink signal enhancement subsystem. The downlink signal enhancement subsystem comprises a first receiving antenna, a first low noise amplifier module and a first transmitting antenna. The uplink signal enhancement subsystem comprises a second receiving antenna, a second low noise amplifier module and a second transmitting antenna. The signal relay system for 5G communication provided by the invention is simple in design, is easy to realize and supports signal through-wall or through-glass. According to the system, a 5G signal sent by a base station can be effectively amplified and transmitted to an indoor wireless terminal, moreover, a signal of the indoor wireless terminal can be amplified and uploaded to the base station, the reliability of a wireless communication system is improved, the problem that a signal shade and a blind area exist in a building is solved, and various indoor wireless terminal devices can carry out communication normally.

The invention provides a robot applied to a tunnel. The robot comprises a driving structure, a main body frame, an information acquisition system, a communication module and a signal indicating lamp,wherein the driving structure is used for suspending the robot on a suspended track and driving the robot to move along the track, the main body frame is connected with the driving structure, the information acquisition system is connected with the main body frame, the information acquisition system comprises an illuminating lamp and a camera, the communication module is arranged in the main bodyframe, electrically connected with the information acquisition system and used for transmitting information acquired by the information acquisition system to remote control equipment, and the signal indicator lamp is connected with the main body frame and used for indicating the working states of the robot.

The invention discloses an ultrasonic positioning control system of an indoor ground transport cart and a control method of the system. The system includes an AGV control system and an upper computersystem. The upper compute system includes a man-machine interface and a processing module. The AGV system sets an integral environment map of an AGV and then an upper computer obtains an integral pathplanning through processing. The integral path planning is transmitted to the AGV control system through a communication system. Through integral coordination of an ultrasonic positioning system andan obstacle avoidance system, a main control single-chip microprocessor obtains a result through processing. The result is transmitted to a driver in a motor control system and the driver controls omnidirectional wheel to rotate. Therefore, safe operation of the AGV from one location to another location indoor is realized. With the omnibearing tracking ultrasonic positioning system, tracking and alignment of an ultrasonic emitter by a receiving device can be realized, positioning errors caused by wave drop can be solved and the positioning precision can be improved. Besides, omnibearing ultrasonic positioning and tracking can be realized, so that a problem of overlarge blind zones of traditional ultrasonic positioning systems are solved.

The invention relates to a novel surge protection device. The novel surge protection device mainly comprises a current sensor, a relay, a current blocker, a linkage mechanism, a lightning protection element and a breaking switch. The lightning protection element is connected with the breaking switch in series, the current blocker works in cooperation with the current sensor and the relay, the breaking switch is controlled through a bypass, lightning surges can be discharged normally, power frequency currents of more than 3A can be switched off, and the novel surge protection device is safe and reliable. The novel surge protection device is convenient to mount, the dead zone of an existing SPD overcurrent protection mode is avoided, and high reliability is achieved.

The invention provides a steel rail surface defect identification and classification method, which is based on unmanned aerial vehicle monitoring image and depth forest model analysis, and comprises the following steps of: firstly, preprocessing an unmanned aerial vehicle monitoring image; secondly, extracting steel rail surface defects based on a proportional reinforcement maximum entropy threshold algorithm; and finally, realizing small sample defect data classification by utilizing a depth forest method. The steel rail surface defect identification and classification method provided by theinvention has the advantages and positive effects that the blind zone problem of a traditional detection mode in the field of steel rail surface defect detection is solved, the improved method for processing the unmanned aerial vehicle image is provided, and a certain promotion effect is achieved on track defect detection by utilizing the unmanned aerial vehicle; and the defect classification method suitable for the small samples is provided, and the problem of insufficient sample data volume at present can be solved on the basis of ensuring the accuracy.

The invention relates to the technical field of magnetic powder inspection and discloses a method and a device for magnetic powder inspection on an annular workpiece. 8-station flow process layout is adopted so that the whole inspection process frequency only depends on magnetic powder inspection observation time and thus magnetic powder inspection efficiency is maximumly improved and magnetic powder inspection requirements on various batch annular workpieces are satisfied. An annular workpiece is horizontally and firmly placed on a workpiece tray without an assistant clamping device, the workpiece tray is provided with three strip peak-shaped support frames which are arranged in angle of 120 degrees, the end surface of the bottom of the annular workpiece contacts with only three peak lines of the support frames so that a dead zone caused by a support surface is maximumly avoided, and the annular chassis of the workpiece tray is provided with an open structure so that the interference produced by a ring induced current on detection sensitivity and an electric energy loss are effectively prevented.

The invention provides a swimming pool anti-drowning identification method based on machine learning. The method comprises an above-water surface identification method and an under-water surface identification method. Cameras are installed on a bank side and the wall of a swimming pool. Whether drowning occurs is judged by processing a video stream; the problem of a visual field blind area existing in the swimming pool is solved; a lifeguard can check the safety condition of the swimming pool at any time; a real-time video in the swimming pool is analyzed by using a machine learning technology, and if the drowning situation is judged to occur through an algorithm, the drowning information can be sent to the lifeguard in time, so that the problem that the lifeguard cannot focus all the timeis solved; the lifeguard labor deployment can be reduced, and the swimming pool operation pressure is reduced; moreover, the method does not need any auxiliary equipment worn by the swimmer, and doesnot affect the swimming experience.

The invention belongs to the technical field of weather radar system, and particularly relates to a pitching electric scanning weather radar system and a working method thereof. The pitching electricscanning weather radar system includes a transceiver component module, a power dividing / combining network, a beam control board, a switch amplification and attenuation component, a receiver module, asignal processor, and a turntable module. The weather radar system can effectively suppress the crosstalk between pulses and make the splicing points for blind compensation smoother. The efficiency ofthe transceiver component can be maximized, and the repetition frequency can be effectively utilized. The blind area problem of all-solid radar is solved. A high-density scanning area can be monitored quickly and efficiently. The fine structure of a cloud and rain target can be obtained.

The invention provides a cell self-healing compensation method and a compensation device. The method comprises steps: a compensation cell for a fault cell is determined; and a message is sent to a base station where the compensation cell is, wherein the message is used for indicating to use the compensation cell to compensate the fault cell. Thus, the problem that a blind area appears in a cell coverage area caused by cell fault or fault recovery failure in a related technology can be solved, the technical effect of improving the experience feeling of the user is thus achieved.

The invention discloses a three-degree-of-freedom photoelectric pod driven by orthogonal decoupling torque, the pod at least comprises the following structures: a ball joint support, an orthogonal decoupling driving group, a relative attitude detection module and a driving control system, and under the constraint of a ball joint, only displacement degree-of-freedom constraint exists between a stabilized platform and a carrier; and the rotational degrees of freedom in three directions are driven by orthogonal decoupling driving groups distributed on the carrier stator and the stabilization platform rotor. The attitude of the stabilized platform relative to a carrier is measured through an inertia attitude measurement unit in a contact or non-contact measurement mode, target absolute attitude deviation obtained through photoelectric load measurement is combined and fed into a drive control system, control current is calculated and loaded into a spherical drive set, and the stable tracking function on an optical axis is achieved. Due to the fact that the driving torques in all directions are perpendicular to one another in orthogonal decoupling driving, the current driving conversionefficiency of the system is high, the driving torque error is low, and the control precision of the stabilized platform can be improved.

The invention provides an optical touch system and a positioning method thereof. The optical touch system is used for positioning an object in a touch area and comprises at least one reflection element, at least one light guide module, an image sensor, a plurality of first light detectors and a processor, wherein the reflection elements are arranged on a side of the touch area, the light guide modules are arranged in the touch area and on one side adjacent to or opposite to the reflection elements and are used for generating light, the image sensor is used for capturing an image of the object, the first light detectors are arranged in the touch area and on one side adjacent to the image sensor and used for detecting the object to obtain first shading information, and the processor is used for computing a coordinate of the object according to the image of the object and the first shading information.

The invention discloses a local path planning method based on path point offset. The local path planning method comprises the following steps: S1, acquiring expected path information, a current vehicle pose and obstacle information; S2, according to the information obtained in the step S1, performing initial expected path point offset to bypass an obstacle; S3, calculating course angle increment and azimuth angle increment of the offset path point according to the offset point in S2; S4, the vehicle tracks the course angle and the azimuth angle calculated by the initial expected path, and thecourse angle increment and the azimuth angle increment in S3 are added on the basis; and S5, outputting the course angle and the azimuth angle of the S4 to a control layer to control the vehicle. Thepath planning method is small in calculation amount, short in research and development period and convenient for later maintenance, in the obstacle avoidance process, the transverse distance of the obstacle is detected in real time to avoid the obstacle, real-time obstacle avoidance can be performed even if the length of the obstacle cannot be obtained, and the applicability of the path planning method is improved.