195 results about "Sonar sensor" patented technology

A system and method for signal distribution within a sensor array uses a coaxial transmission line. Taps are affixed to the outer conductor of the coaxial transmission line and include field coupling portions extending into the internal field region of the coaxial transmission line. Electromagnetic energy propagating within the transmission line can be extracted to power the sensors. Sensor signals can be modulated onto radio frequency signals and propagated along the transmission line to distribute the sensor signals.

A 3-dimensional sonar system having a fixed frame of reference including a transmitter and receiver array. The system may include a single ping processor for processing received echoes from a single transmission including methods to match filter sonar sensor data, to optionally compensate for self Doppler, beamform sonar sensor data, to extract bottom targets from beamformed data and to extract in-water targets from the beamformed data. The system may also include a multi ping processor to operate on the outputs of multiple pings from the single ping processor including methods to detect tracks from in-water targets.

The invention provides a building method of a grid map by a mobile robot based on real-time data fusion. The method comprises the following steps: artificially dividing an environment into a plurality of grids with the same size, and obtaining the distance information by sonar sensors arranged on the front end of the mobile robot; extracting measured values of three sonar sensors which are closest to a currently computed grid unit at the same time, respectively explaining a single sonar data by a fuzzy logic and a probability theory so as to obtain a group of characteristic vectors which are subject to the data fusion as input vectors of a neural network, wherein, output values of the neural network comprises idle state, busy state and undefined state of the grid; finally updating the state of the grid by the Bayes rule. The mobile robot of the invention obtains the environmental information by sonar ranging finders and completes the environmental modeling, thus providing reliable basis for the subsequent autonomous navigation of the mobile robot.

Methods and apparatus determine if an intruder passes into a security zone that is associated with a waterfront asset. An embodiment of the invention provides a harbor fence system that is designed to be deployed in water around ships or other waterfront assets to serve as a line-of-demarcation in order to provide protection. The harbor fence system comprises a series of spars that protrude above the water surface and that communicate with a computer with a telemetry subsystem. Each spar contains electronic sensors, e.g. water immersion sensors and accelerometers, and circuitry to detect an intrusion and to communicate the location of the intrusion to a computer control station. Spars may communicate wirelessly and may also be solar powered. Additionally, the embodiment may also determine whether an underwater intruder is passing under a protective boundary, in which the harbor fence system interfaces to an underwater sonar sensor subsystem.

The invention discloses a motion planning and controlling method for a tractor-trailer mobile robot in a complex environment. The method includes the steps: a) defining initial and terminal configurations; b) detecting obstacles obs<k>(x<k>, y<k>, cer<k>) by a sonar sensor; c) rejecting the obstacles with confidence coefficient cer<k> smaller than delta; d) defining an obstacle space OBS; e) generating a region Rgn<1>=(obs<k>); f) judging whether the obstacles belong to the space Rgn<j>, j=1, 2, ...n; g) judging whether the obstacle space is built or not; h) building bidirectional search random trees Tree_H and Tree_G; i) randomly generating a configuration X<rand>; j) acquiring new configurations X<new_H> and X<new_G>; k) judging whether the trees Tree_H and Tree_G are connected or not; l) fitting straight paths; m) controlling motion; n) judging whether new obstacles exist or not. The motion path planning and controlling method for the tractor-trailer mobile robot in the complex environment is scientific, reasonable and complete, and lays a theoretical foundation for researching running of the unmanned tractor-trailer mobile robot in the environment with the obstacles.

Cooking apparatus having first and second platens with product recognition. A positioning mechanism moves the second platen toward the first. A detector senses the second platen making contact with a food product disposed on the first platen and provides a signal. A controller uses the signal to measure the travel distance of the second platen. The product thickness is a function of the travel distance, which is used to select a cooking procedure for the food product. The controller then executes the selected cooking procedure to cook the food product. The detector can include a micro switch, proximity sensor, touch sensor, strain sensor, thermal sensor, optical sensor, sonar sensor or positioning load change sensor.

Cooking apparatus having first and second platens with product recognition. A positioning mechanism moves the second platen toward the first. A detector senses the second platen making contact with a food product disposed on the first platen and provides a signal. A controller uses the signal to measure the travel distance of the second platen. The product thickness is a function of the travel distance, which is used to select a cooking procedure for the food product. The controller then executes the selected cooking procedure to cook the food product. The detector can include a micro switch, proximity sensor, touch sensor, strain sensor, thermal sensor, optical sensor, sonar sensor or positioning load change sensor.

The invention discloses a robot indoor positioning and navigation method based on single vision. The robot indoor positioning and navigation method specifically comprises the following steps of S1, for first-time use, creating an indoor map of a room by the following specific steps of (A), setting three identifiable marking points at the indoor roof, enabling a robot to use an indoor charging point as an original point to create an indoor coordinate system, calibrating the information of coordinates and directions of the three marking points, and calibrating the direction of an electronic compass; (B) establishing a right-angle coordinate system of a camera; (C) controlling the robot to move in the room, detecting the edge of the room via a sonar sensor, and generating the indoor map of the room; S2: for indoor positioning, when the robot is set at any point of the room, enabling a single-eye camera to measure the three marking points, and combining with the right-angle coordinate system of the camera and the indoor coordinate system to calculate the data of positions and directions of the robot; for autonomous navigation: setting a target point of the robot as M2, and enabling the robot to perform the autonomous navigation via the indoor positioning and target point positioning.

The invention relates to the growth, the structures and the properties of novel ferroelectric single-crystal lead ytterbium niobate-lead magnesium niobate-lead titanate. The crystal belongs to a perovskite structure, has an MPB region and has a chemical formula of (1-x-y)Pb(Yb1 / 2Nb1 / 2)O3-xPb(Mg1 / 3Nb2 / 3)O3-yPbTiO3 which is short for PYMNT or PYN-PMN-PT. By adopting a top crystal-seeded method, the crystal with large size and high quality can grow under the conditions that the growth temperature of the crystal is 950-1100 DEG C, the crystal rotation speed is 5-30rpm, and the cooling speed is 0.2-5 DEG C / day, and the grown crystal exposes a 001 natural growth surface. Through X-ray powder diffraction, the system is confirmed as the perovskite structure; and through ferroelectric, dielectric and piezoelectric measurement, the ferroelectricity, the dielectric property and the piezoelectricity of the crystal are analyzed. The crystal has high Curie temperature and trigonal-tetragonal phase transition temperature, large piezoelectric constant and electromechanical coupling factor, high dielectric constant and low dielectric loss and better heat stability. The crystal can be widely applied to devices in the piezoelectric fields of ultrasonically medical imaging, sonar probes, actuators, ultrasonic motors, and the like.

The invention discloses a condenser intelligent moving and cleaning robot, which can be used in the field of large scale cleaning equipment and comprises a track running mechanism, a cleaning mechanism, and an electric control mechanism. A spray gun is connected on a spray gun running rest of a cleaning arm. The spray gun is provided with a underwater TV camera and connected with a cleaning media source by a communicating tube. The cleaning arm is connected with a cleaning arm running bracket component by a drive shaft. The drive shaft of the cleaning arm is connected with an electric push rod. The cleaning arm running bracket component is arranged on a pivoting support which is arranged on the track running mechanism by the running bracket component. The right front end of the top of the spray gun, the front end and the back end of a mounting plate of the pivoting support and the front position and the back position of a track support are provided with sonar sensors. The robot has few joints, simple structure, convenient processing and assembling, can automatically move in a water chamber of the condenser to finish the precise position and efficient cleaning of copper pipes of the condenser, has wide application range and high degree of automation.

A monitoring method and a monitoring system for detecting a processing state of a grinding machine are disclosed. A sonar sensor is employed to receive a sonar signal which is sent by a numerical control grinding machine during the processing of a work piece, and then to convert the sonar signal into an electric signal; an acoustic emission detection system is employed to convert the detected electric signal which is output by the sonar sensor into an RS232 communication protocol signal and a PROFIBUS communication protocol signal, respectively; the RS232 communication protocol signal is transmitted to a numerical control system on the grinding machine, and then the numerical control system displays the received RS232 protocol signal on a screen in the form of dynamic waveform, thereby realizing visualization of the grinding process; and the PROFIBUS communication protocol signal is transmitted to a PLC (Programmable Logic Control) system for PLC logic programming, and a collision signal and a contact signal of the grinding machine and the work piece which are output by the PLC system are transmitted to the part program of the numerical control system, thereby realizing collision prevention and idle running elimination. The monitoring method and the monitoring system of the invention are capable of monitoring the whole processing of the numerical control grinding machine, so that the grinding process can be optimized; and the grinding quality and efficiency are improved.

Cooking apparatus having first and second platens with product recognition. A positioning mechanism moves the second platen toward the first. A detector senses the second platen making contact with a food product disposed on the first platen and provides a signal. A controller uses the signal to measure the travel distance of the second platen. The product thickness is a function of the travel distance, which is used to select a cooking procedure for the food product. The controller then executes the selected cooking procedure to cook the food product. The detector can include a micro switch, proximity sensor, touch sensor, strain sensor, thermal sensor, optical sensor, sonar sensor or positioning load change sensor.

The invention provides an underwater target identification method based on a semi-tensor product neural network, and the method comprises the steps: receiving an underwater sound signal through an underwater sonar sensor, and enabling the time domain and frequency domain information of the sound signal to be presented in a LOFAR map through short-time Fourier transform; constructing a data sample semi-tensor product neural network by taking a LOFAR map sample as an input characteristic matrix; dividing the received underwater acoustic signals into a training set and a verification set, and inputting the training set and the verification set into a semi-tensor product neural network for training and verification; selecting different hyper-parameters, carrying out model training on a semi-tensor product neural network by using a training set, comparing test effects of a verification set, and determining hyper-parameters with high test accuracy; and finally inputting the currently acquired sound signal of the underwater target into the trained semi-tensor product neural network after model, and giving a judgment result. The underwater target recognition rate can be improved, the application scene is expanded, and the method is suitable for recognizing the underwater target in complex marine environment noise.

There is provided a system for detecting a drowning person within a water body, the system comprising (i) sonar sensors for forming a three dimensional grid of sonar waves within the water body, the grid having three dimensional grid cells; (ii) a movement path tracing unit adapted to be connected to the sonar sensors for tracing a movement path of a person within the water body by determining a sequence of successive grid cells crossed by the person within the grid in the course of said movement path, the determination of the successive grid cells being made based on detected propagation delays of the sonar waves forming the grid; and (iii) a drowning detection unit adapted to be connected to the movement path tracing unit for analysing the movement path of the person and issuing an alarm when the movement path of the person is indicative of a drowning person movement path. There is also provided a kit and method for detecting a drowning person within a water body.

The invention discloses a measurement system and method for detecting the orientation and the size of an underwater target on the basis of a laser sound source. According to the measurement system and method, the sound source is generated through lasers, laser energy is converted into sound wave energy, an acousto-optical coupling interference type optical fiber hydrophone array serves as a receiving sensor, the defects that in the optical measurement process, optical waves which are used are large in attenuation and the measuring distance is short are overcome, the defects of a sonar sensor in traditional acoustics detection are overcome, and the advantages that mobility and flexibility are high are achieved. Meanwhile, a sound source signal is generated through a laser-induced sound system, and generated sound signals have the advantages of being high in sound pressure level, wide in frequency spectrum, capable of conducting non-contact type control, and the like. An acousto-optical coupling interference type optical fiber hydrophone is used as the acoustic signal sensor, and the acoustic signal sensor has the advantages of being capable of detecting underwater acoustic signals in the non-contact mode, high in mobility, small in size, flexible in structural design, and the like.

An underwater scouting camera comprising: an outer cover, a door, a memory storage, a battery, and an internal housing which includes a flash, a shutter, a display frame, and a sonar sensor. When the sonar sensor emits a pulse in order to detect any fish, upon detection the flash and the shutter trigger to take a digital picture that may be saved on a memory device. After the picture is taken, the date and time appear on the display frame, and a notification is transmitted to a personal handheld device. The scouting camera allows a user to remotely track fish without having to continuously monitor the underwater scouting camera.

The invention discloses a comprehensive detecting device for detecting internal defects of a drainage pipeline. The comprehensive detecting device comprises an equipment carrier capable of floating on water, wherein a camera capable of detecting the part above the pipeline water is arranged on a water part of the equipment carrier, and a camera illuminating lamp is arranged; a sonar sensor capable of detecting the pipeline underwater part is arranged on an underwater part of the equipment carrier; and controlling and receiving signals of the camera and the controlling and receiving signals of the sonar sensor are respectively connected with a controller by virtue of a cable. The comprehensive detecting device disclosed by the invention has the characteristics of complete functions, wide detecting range, safe and reliable work, and the like, and can be used for comprehensively detecting the internal conditions of the drainage pipeline.

The invention discloses a magnetostrictive metal substrate-based magnetic sonar sensor, and belongs to the technical field of magnetic acoustic detection. The magnetostrictive metal substrate-based magnetic sonar sensor comprises a magnetic field detection part composed of two magnetic acoustic surface wave resonator units and an acoustic pressure detection part composed of 2xN arrayed piezoelectric ultrasonic transducer units; the magnetic acoustic surface wave resonator units and the piezoelectric ultrasonic transducer units share magnetostrictive substrates, metal buffer layers, piezoelectric thin films and protective layers; and the thicknesses of the piezoelectric thin films in the two magnetic acoustic surface wave resonator units are different. The magnetostrictive metal substrate-based magnetic sonar sensor integrates magnetic acoustic surface wave resonators and piezoelectric ultrasonic transducers to realize magnetic field detection and acoustic pressure detection of an underground target such as a ship, a submarine and a UUV (Unmanned Underwater Vehicle), and has the advantages of simple structure, easiness in machining, low cost, high integration degree, high detectionsensitivity, low loss, high response speed and the like.

The invention provides a deep-reinforcement-learning-based indoor robot scene active recognition method, and belongs to field of machine learning and the technical field of robots. The method comprises the steps that a classification neural network NL capable of recognizing sonar information binaryzation contour figure ring projecting vectors is trained; a reinforcement learning training phase isentered, wherein scene recognition testing is conducted on a robot in a scene multiple times, and in the testing process, a reinforcement learning neural network NQ is trained and subjected to fittingto obtain a function approximator; when reinforcement learning neural network NQ finishes training, an execution phase is entered, wherein the robot indoor scene active recognition function is testedaccording to scene contour information collected by a sonar sensor. According to the method, on the basis of an extreme learning machine algorithm, the calculation efficiency is improved; on the basis of a reinforcement learning algorithm, the scene recognition accuracy rate is increased. The method can adapt to different scene recognition tasks, people does not need to be involved, the robot learns actively, and the scene recognition accuracy rate is increased automatically.

A drive support apparatus is disclosed, which includes a sonar sensor that transmits an ultrasonic wave to an object outside of a vehicle to obtain, based on a reflected wave thereof, object information related to a distance to the object; a controller that permits a first drive force limitation control when the distance to the object is longer than or equal to a predetermined distance, and permits at least one of a second drive force limitation control and an intervention brake control when the distance to the object is shorter than the predetermined distance, wherein a limitation level in the second drive force limitation control is higher than that in the first drive force limitation control.

A self cleaning toilet is constructed such that the water of the water closet is the power source and main element for the cleaning, drying, disinfecting and sanitizing of the toilet seat and toilet bowl (upper edge included). The toilet uses its cover lid and seat as its primary tools to accomplish all the operations described above. The optional self flushing system uses pH sensors working in conjunction with motion sensors to automatically activate the operations described above. The sonar sensors determine whether or not there is any solid waste inside the toilet bowl.

The invention discloses an active three-dimensional omnidirectional vision-based river width measuring device, which comprises a GPS sensor, a sonarprobe, an ominidirectional vision sensor with a fixed and single viewpoint, a full-view color body structure optical generator with fixed and single transmitting central point, and a microprocessor used for carrying out three-dimensional photographic measurement on the river width, acquiring river map data and fusing river depth data; the viewpoint of the omnidirectional vision sensor and the transmitting central point of the full-view color body structure optical generator are configured in the same axis line; and the omnidirectional vision sensor, the full-view color body structure optical generator, the GPS sensor and the sonarprobe are fixed in the extended line of the same upright post. The active three-dimensional omnidirectional vision-based river width measuring device has the advantages of quick measurement, good real-time, strong practicability and high robustness.

The invention discloses an AUV (Autonomous Underwater Vehicle) target searching method. The AUV target searching method comprises the steps of establishing a sonar detection model, establishing an environment sensing map and searching a target based on an improved attraction source. According to the invention, surrounding environment information is detected in real time through the sonar sensor inan unknown underwater environment without prior information; various environment sensing maps are created and updated; a pheromone release mechanism is improved; therefore, the AUV can perform returnvisit on the area with lower target existence probability under the condition of higher coverage rate of the search area; the target omission caused by the detection probability problem is avoided; the AUV is prevented from repeatedly searching in the searched area; according to the method, to-be-activated attraction sources are arranged at opposite corners of a search area, targets at corners can be searched more easily by activating the to-be-activated attraction sources, updating formulas and search income functions of all environment perception maps are formulated, an AUV is made to makea maximum income movement decision, and the search efficiency is improved while the search reliability and stability are guaranteed.

The invention discloses a swing type underwater detector and a display method thereof. The detector comprises a casing, a battery, a circuit board and a sonar sensor, wherein the sonar sensor is arranged under the circuit board, and the circuit board is provided with a control circuit and a wireless communication circuit connected with the control circuit. The detector further comprises a swing frame, a swing mechanism and an angle detection circuit, the sonar sensor is fixed under the swing frame, the swing mechanism drives the swing frame to swing, and is electrically connected with the control circuit of the circuit board, and the angle detection circuit detects the deflection angle of the swing frame and is connected with the control circuit of the circuit board. The detector uses the swing mechanism to realize left and right swing of the swing frame, so that the detection range of the sonar sensor is widened, and a user can detect underwater state in a wider range. The swing mechanism with a permanent magnet and an electromagnet is simple in structure and low in cost. A three-dimensional axonometric drawing display method can be used to see the underwater state very visually.

A system for managing stratified liquids in a storage tank includes a variable height, in-tank sonar transducer, configured to identify liquid layers of differing densities and to indicate an elevation of the liquid layers, a motorized drive unit for adjusting an orifice to intercept a selected layer, wireless data transmission technology, and software to facilitate remote operation of the system.

An object of the invention is to provide an occupant protection system for a vehicle, in which an erroneous determination for a rear crash can be avoided. An output signal from an acceleration sensor for a front crash as well as an output signal from a back sonar sensor is also inputted to an electronic control unit (ECU), in addition to an output signal from a main rear crash sensor. Then, the ECU finally determines that a rear crash has occurred, only when the ECU respectively determines the rear crash from each of output signals from the main rear crash sensor, the front crash acceleration sensor and the back sonar sensor.

The invention relates to a self-localization method of an intelligent wheelchair in corner areas. The wheelchair comprises a camera, sonar sensors, a first Kalman filter, and a second Kalman filter. Environmental information is collected by the sensors. The information is processed through two times of Kalman estimation, such that corresponding weight values of the sensors are obtained. Then a corner position is monitored, and an accurate distance between the wheelchair and the corner is obtained through calculation, such that self-localization is achieved.

The invention relates to a sensor fusion and improved Q learning algorithm based dynamic barrier avoidance method. The method comprises the steps that S1) the safe distance to a barrier and target coordinate position information and scope during movement of a robot are set; S2) a present pose of the robot is determined, a navigation path is planned, and forwarding is started; S3) in the navigationprocess, environment data detected by a sonar sensor and environment data detected by a laser sensor are preprocessed and characterized and then fused to obtain environment data; S4) whether dynamicbarrier avoidance is needed for the present robot state is determined according to the fused environment data, if YES, a step S5) is carried out, and otherwise, a step S6) is carried out; S5) an improved Q learning dynamic barrier avoidance method is used to obtain the next motion state (a, theta); and S6) whether the robot reaches a target point is determined, if NO, the step S2) is returned to continue navigation, and otherwise, navigation is ended. The method can be used to overcome defects of the single sensor effectively, and improve the barrier avoidance efficiency in the dynamic environment.

The invention provides a high-precision mobile robot two-dimensional map data fusion method, which is applied to relative fields including a robot, automatic industry control, unmanned driving of automobiles and the like. The technology mainly solves the problem in a positioning and navigating technology that peripheral obstacle distance information of a mobile robot in a two-dimensional map cannot be rapidly and accurately obtained. Linear difference value compensation treatment is carried out on laser data and the data are received and sent in turns so as to avoid cross interference of a plurality of sonar sensors. Laser distance information is revised according to a weight of sonar distance data, and laser data and the sonar data are fused into a group of data. According to the method disclosed by the invention, an error generated by various factors in a system is gradually reduced and the precision of an obstacle distance in the two-dimensional map is improved. The high-precision mobile robot two-dimensional map data fusion method can be effectively used for the mobile robot and an automobile unmanned driving system.