45results about How to "The amount of calculation is not large" patented technology

The invention discloses an indoor robot SLAM method. The method comprises the following steps: obtaining image data through a camera, wherein the image data comprises RGB images and depth images; using a corner detection algorithm, an LK characteristic point tracing algorithm, and a RANSAC algorithm to process the RGB images and depth images to adjust the position and angle of the camera so as to obtain the RGB image data information under a robot operation system; converting the depth images in a world coordinate system to a ground coordinate, traversing the depth images that are projected on the ground coordinate, setting the gray value of the grid where a barrier stays as a first characteristic value, carrying out traversing to obtain a 2D barrier grid map; through a single line laser radar scanning mode, searching the 2D barrier grid map, when the grid with a grey value equal to the first characteristic value is found, feeding back the distance between the grid and the camera to obtain the distance between a robot and the barrier, obtaining the depth images under a robot operation system, and obtaining an environment 2D map.

The invention discloses a method for providing augmented reality. The method comprises the following steps: acquiring an on-site scene image through a terminal by using a camera, and displaying the image on a terminal screen; continuously detecting a bar code in the on-site scene image when a target mark is detected in the on-site scene image; analyzing the detected bar code, and acquiring data information in the bar code, wherein the data information comprises marks of corresponding virtual contents; acquiring relevant virtual contents according to the data information of the bar code; overlapping the virtual contents onto a scene displayed on the terminal screen. The invention discloses a system and a terminal for providing augmented reality. Due to adoption of the method, the system and the terminal, more virtual contents can be provided under the condition of limited numbers of augmented reality marks.

The invention discloses an indoor robot positioning method by combining a visual odometer and a physical odometer. The method is characterized in that by collecting the images, ORB characteristics are extracted for image coupling, camera position and pose estimation, and closed loop detection to accurately position the robot. The visual odometer is added in a known environment for closed loop detection on the robot, the accumulated error of the physical odometer based on particle filter is eliminated, the global error of the odometer is changed to staggered accumulation, and an closed is established based on the above process. The visual odometer is combined for effectively solving the problem of error accumulation of the physical odometer, and realizes automatic positioning and accurate re-positioning of the robot in the known environment, the increased computation burden is not large, efficiency and real-time performance are guaranteed, indoor navigation requirement can be preciously satisfied, and the indoor robot positioning method is effective for solving the problem of inaccurate positioning of the robot under large environment in the prior art.

The invention discloses a synchronization method for orthogonal frequency division multiplexing system, including: the launcher firstly constructs the originated / synchronous sequence that is sent out with OFDM data symbols together. Based on the correlation of CP effective length in OFDM symbols form the receiving end, the correlation result conducts a time domain processing to the correlation sequence energy to get the best synchronization points set after one synchronization. Based on the originated sequence and CP, the departure estimation and departure compensation of fractional part DF several times are processed. During a range of synchronization points set output at once, the long pre-symbol received after the compensation is made time-domain correlation with the symbol to find the second time synchronization point. Then after time-domain of the short pre-symbol and the received pre-sequence is made frequency departure compensation, time-domain-related operations is conduct to get the DF departure estimation of integer times, and departure compensation is conduct.

The invention discloses a photovoltaic transmission line fault phase selection method based on an IMF energy entropy. The method comprises steps that a three-phase fault component voltage and a zero sequence fault component voltage of a photovoltaic power station transmission line are acquired; EMD of the three-phase fault component voltage and the zero sequence fault component voltage is respectively carried out, IMF components under each frequency band are adaptively acquired; a correlation coefficient sequence between each IMF component and an original signal is solved, and effective IMF components are screened through a set threshold; energy entropy fault characteristic parameters are calculated according to the effective IMF components, in combination with short circuit fault characteristics and different characteristics of the characteristic parameters, phase selection criteria are constructed, and fault phase selection is realized. The method is advantaged in that the EMD methodis combined with the energy entropy concept, the method is suitable for photovoltaic power station transmission line photovoltaic side fault phase selection, accurate motion can be carried out at thephotovoltaic side, characteristics which are not influenced by the fault position, transition resistance and a fault initial angle are realized, and accuracy of photovoltaic transmission line fault phase selection is improved.

The invention provides a non-peer image encryption method based on saliency detection, and the method comprises the steps: obtaining an original image, and generating a saliency image according to thesignificance mapping combination of preset features of the original image; dividing the original image into an important region and a non-important region according to the saliency map; encrypting the important region by adopting a DNA encryption algorithm to obtain a first encrypted image; performing compressed sensing encryption on the non-important area to obtain a second encrypted image; andrecombining the first encrypted image and the second encrypted image to obtain a final encrypted image. According to the method provided by the invention, the security of the image can be ensured, thecalculation amount of image encryption operation can be reduced, and the data volume of image transmission and storage is reduced.

The invention provides a secondary radar answer code extracting and confidence interval marking algorithm, synthetically using position of answer pulse, sigma and Delta information and adjacent answer information, adopting an idea of establishing a pulse information list for each answer pulse, convenient to implement software programming. It has the characters of high processing efficiency, strong self-adapting ability, convenience for real-time implementation, etc. It can be used in processing answer signals for secondary radar, enemy-self identifier, and civil aviation management system.

The invention discloses a three-dimensional reconstruction method of a scanning electron microscope image. The method comprises the following steps that a threshold value of the number of images is set; a template area is selected for the first frame of the image captured by the SEM; the predefined step size is used to move the sample platform to obtain the real-time image, and the template regionof the first frame is used for template matching; the matched image is added into the matched image sequence; for the matching image sequence, the region of interest is selected and the modified Laplace transform is used to compute the focus measurement of each pixel; Gaussian interpolation is used to calculate the maximum focus measurement value of each pixel, and the height of the correspondingpoint is calculated according to the maximum focus measurement value to obtain the three-dimensional point cloud; according to the three-dimensional point cloud, the interpolation fitting is carriedout on the three-dimensional graphics to achieve the three-dimensional reconstruction.

The invention provides a wireless communication receiver, an interference elimination method and device thereof and a signal demodulation method. The wireless communication receiver at least comprises two receiving antennas. The interference elimination method comprises the following steps: carrying out channel estimation on an interference cell based on received signals; calculating correlation of interference cell emission signals on each receiving antenna through the channel estimation result of the interference cell; and carrying out interference elimination operation on signals received by the receiving antennas according to the correlation of interference cell emission signals on each receiving antenna. According to the technical scheme, the interference elimination is performed on the received signals through the wireless communication receiver under the condition of not increasing too much operation; the wireless communication receiver is allowed to have a certain interference inhibition capability; and thus the reception performance is improved under the condition of same frequency interference.

The invention discloses a synchronous phase detection method for a static frequency converter with direct voltage compensation. The method comprise: (1) measuring the AC-side three-phase line voltage of the converter in real time, and eliminating the waveform distortion of the AC-side three-phase line voltage in a commutation area by directly pre-estimating and compensating the waveform of actual frequency conversion line voltage so as to obtain a sine estimated amount; (2) using a software phase-locked loop to perform real-time phase locking on the estimated amount to achieve robust synchronous phase detection of the static frequency converter. The method uses only a single PT to realize the accurate tracking of the synchronous phase of the static frequency converter under the variable frequency conditions, so as to ensure that the a converter bridge does not generate commutation failure, to ensure the safe equipment operation, and to improve the power factor on the output side of the static frequency converter. The algorithm does not depend on a complex hardware filter circuit, and is small in software calculation amount, and is low in cost.

The invention relates to a harmonic source identification method based on data association analysis, which comprises the following steps: acquiring harmonic voltage of a point of common coupling (PCC)and harmonic current data of each feeder within a period of time, generating a waveform, and carrying out preliminary positioning on a harmonic source; carrying out segmented clustering analysis on the harmonic voltage and the harmonic current, and outputting clustering analysis results; comparing the harmonic voltage with the clustering result of each section of each group of harmonic current, judging the similarity degree of each feeder harmonic current and the harmonic voltage on the whole, and selecting the harmonic current with the highest similarity degree as a judged harmonic source; and comparing whether the judged harmonic source is consistent with the preliminarily positioned harmonic source or not, and if so, indicating that the harmonic source is successfully positioned. The method does not depend on power grid parameters and models, is not affected by other conditions, is simpler in calculation process, is less in calculation amount, is higher in speed, and can achieve the quick recognition of the harmonic source.

The invention discloses a phase modifier excitation loss protection method and device based on a break variable criterion. The method is characterized by comprising the following steps of collecting stator voltage and current of the phase modifier and rotor voltage, calculating stator voltage, reactive power, rotor voltage value and break variable amount of the phase modifier, according to the stator voltage, the reactive power value, the rotor voltage and the amplitude and the direction of the variation of the phase modifier, comprehensively judging an excitation loss fault of the phase modifier, and performing alarm or tripping after short-time delay protection, thereby improving the protection sensitivity of the excitation loss fault of the phase modifier and the reliability under otherabnormal operation or faults.

The invention discloses a method for extracting systematic frequency fluctuation signals. The method includes steps of calculating a positive sequence voltage in a real-time sampling mode, carrying out lowpass filtering on the positive sequence voltage; adopting a zero-passage method to calculate frequency of the filtered positive sequence voltage, and obtaining frequency signals with a large number of noises; and processing the obtained frequency signals through a digital filter, and obtaining smooth frequency fluctuation signals. The method can reduce a complex transfer function design step with a current/power as damping signals, greatly improves sensitivity with frequency as damping signals, and improves a damped oscillation function of a dynamic reactive power compensation device in a complex power grid.

A mass amount adjusting mediation decoupling control method suitable for a pitch peak heating station, and belongs to the technical field of controlling of heating stations. The mass amount adjusting mediation decoupling control method suitable for the pitch peak heating station mainly solves the problem that an existing heat supply process control method is not suitable for controlling a pitch peak heating station which is of nonlinear multivariable coupling system control. The mass amount adjusting mediation decoupling control method suitable for the pitch peak heating station comprises the following steps: modeling a pitch peak heating station heat supply coupling system; utilizing the method combing typical signal response with least squares to build heat supply mass amount adjusting main adjusting channel models G11, G12 and G13; carrying out discretization of an obtained main channel modular form (2), and utilizing a proportion integral derivative (DIP) neural network to learn and obtain the non-linear relationship G13, G21 and G22 combining with the discretized main channel model; and utilizing the PID neural network to carry out decoupling control of the mass adjustment and quality adjustment of the pitch peak heating station. The mass amount adjusting mediation decoupling control method suitable for the pitch peak heating station utilizes the advantages of solving the problems of nonlinearity, strong coupling and multiple variables of the PID neural network to carry out multivariable decoupling control of a quality adjusting circuit and a mass adjusting circuit, and the mass amount adjusting mediation decoupling control method suitable for the pitch peak heating station is applied to pitch peak heating stations.

The invention discloses a generator low-frequency starting process protection method and device. The method comprises the steps of collecting the generator end side voltage of a generator; calculatingthe machine end side voltage frequency of the generator; when the calculated machine end side voltage frequency value is higher than a frequency braking low-frequency input constant value, keeping the original protection constant value of each protection unchanged; and when the calculated machine end side voltage frequency value is lower than the frequency braking low-frequency input constant value, increasing the original protection constant value by a corresponding multiple, wherein the corresponding multiple calculation mode is that a frequency deviation value is multiplied by a ratio braking coefficient constant value. By improving the protection constant value of the low-frequency starting process protection, the reliability of the initial extremely-low frequency stage protection inthe variable-frequency starting process of the generator can be improved, and when the frequency of the generator is higher than the set value, the protection can take a sensitive constant value to ensure the sensitivity of the protection.