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Unmanned aerial vehicle autonomous obstacle detection system and method based on binocular vision

InactiveCN105222760ARealize the function of effective obstacle avoidanceRealize the function of obstacle avoidanceTransmission systemsPicture taking arrangementsUncrewed vehicleObstacle avoidance
The invention relates to an unmanned aerial vehicle autonomous obstacle detection system and method based on binocular vision. The unmanned aerial vehicle autonomous obstacle detection system and method based on the binocular vision are characterized in that the system comprises a binocular visual system, other sensor modules and a flight control system which are mounted on an unmanned aerial vehicle; the method comprises the steps that the binocular visual system acquires visual information of the flight environment of the unmanned aerial vehicle, and obstacle information is obtained through processing; other sensor units acquire state information of the unmanned aerial vehicle; the flight control system receives the obstacle information and the state information of the unmanned aerial vehicle, establishes a flight path and generates a flight control instruction to send to the unmanned aerial vehicle; the unmanned aerial vehicle flies by avoiding obstacles according to the flight control instruction. According to the unmanned aerial vehicle autonomous obstacle detection system and method based on the binocular vision, the vision information is fused with other sensor information, the flight environment information is perceived, flight path control and path planning are conducted to avoid the obstacles, the problem of vision obstacle avoidance of the unmanned aerial vehicle is effectively solved, and the capacity of completing vision obstacle avoidance by means of a vehicle-mounted camera is achieved.
Owner:一飞智控(天津)科技有限公司

A method of 3D contour measurement of a workpiece on a conveyor belt based on line laser scanning

The invention discloses a method of 3D contour measurement of a workpiece on a conveyor belt based on line laser scanning. The method comprises the following steps of obtaining camera internal and external parameters through camera calibration, carrying out filtering and laser light strip center position initial extraction through an image preprocessing step, carrying out sub-pixel precision refinement on the center coordinates of a light bar, obtaining a light plane equation through the laser light plane calibration and finally carrying out reconstruction and measurement of the three-dimensional contour information of a workpiece to be measured. The workpiece 3D contour measurement brought forward by the invention has the following advantages: a high measurement precision which means thethree-dimensional contour information of the workpiece to be measured can be accurately obtained through the laser light bar extraction with sub-pixel precision and 3D reconstruction; a fast measurement speed which means real-time measurement of 3D contour information of the workpiece to be tested can be realized to improve the efficiency of industrial production site operations; and low hardwarecosts which is realized in a hardware implementation mode in which laser is combined with a monocular camera. Accordingly, the technical method of the application has advantages such as being in a non-contact mode, high in measurement precision, fast in speed and low in cost, and can be applied to an industrial automation production process to realize accurate measurement of the 3D contour information of the workpiece on the conveyor belt.
Owner:CHANGSHA XIANGJI HAIDUN TECH CO LTD

Unconventional oil and gas reservoir horizontal well section full-fracture-length fracturing parameter analog method and device

InactiveCN103256046ASolve the problem that interwell information cannot be obtainedEasy accessBorehole/well accessoriesThree-dimensional spaceYoung's modulus
The invention provides an unconventional oil and gas reservoir horizontal well section full-fracture-length fracturing parameter analog method and device. The method includes the steps of determining an unconventional oil and gas reservoir horizontal well section object region; obtaining three-dimensional earthquake prestack gathered data in the object region, conducting elastic parametric inversion and obtaining a three-dimensional space elastic parameter data body, wherein the three-dimensional space elastic parameter data body comprises a rock mass poisson ratio and Young modulus; calculating a rock mass brittleness index according to the rock mass poisson ratio and the Young modulus; establishing a rock mass mechanical parameter model based on three-dimensional grid nodes according to the three-dimensional space elastic parameter data body and the rock mass brittleness index; calculating stress information on the three-dimensional grid nodes, and generating a three-dimensional stress field distribution model; conducting full- fracture-length three-dimensional numerical simulation of fractures in the fracturing process according to the rock mass mechanical parameter model and the three-dimensional stress field distribution model. The unconventional oil and gas reservoir horizontal well section full-length-fracture fracturing parameter analog method and device can improve effectiveness and accuracy of unconventional oil and gas reservoir horizontal well section full-fracture-length fracturing parameter analog, and improve the reserve utilization degree of a reservoir stratum.
Owner:PEKING UNIV

Nondestructive detection device and method for facility crop growth information

The invention discloses a nondestructive detection device and a nondestructive detection method for facility crop growth information, and belongs to the technical field of monitoring of facility crops. The device comprises a growth information sensing system, an electric control mechanical rocker arm and a control computer; the control computer drives the electric control mechanical rocker arm to be positioned at a detection position, and controls the growth information sensing system; reflection spectrums of nitrogen, phosphorus, potassium and moisture of crops, multispectral images, canopy temperature characteristic, multispectral morphological characteristics of canopies, stalks, plants and fruits, fruit quality information, and information of environmental illumination, temperature and humidity are acquired by using a multispectral imager and sensors of infrared temperature, irradiance, environmental temperature and humidity and load; nutrient and moisture characteristic spaces are acquired by optimizing and compensating the nutrient and moisture characteristics of the crops; and growth vigor information of canopy area, stalk thickness, fruit quality, plant height and the like is acquired by extracting the multispectral morphological characteristics of the crops, and comprehensive acquisition and nondestructive detection of the growth information of the crops are realized by combining nutrient, moisture and growth vigor characteristics.
Owner:JIANGSU UNIV

Method for improving earth surface shape change monitoring precision of InSAR (Interferometric Synthetic Aperture Radar) technology based on high-precision DEM (Digital Elevation Model)

The invention discloses a method for improving earth surface shape change monitoring precision of an InSAR (Interferometric Synthetic Aperture Radar) technology based on a high-precision DEM (Digital Elevation Model). The method comprises five steps below: step 1, generating an interferogram by using radar data; step 2, generating a differential interference phase diagram; step 3, establishing error phases and performing feature analysis; step 4, establishing an error phase optimal function calibration model; step 5, recovering earth surface shape change information of a monitoring region based on results of steps 2 and 4. According to the invention, the error phases and elevation values or the error phases, the elevations and coordinate values along a distance/azimuth of different regions of a research region are extracted, the optimal function calibration models of the error phases of corresponding regions are established respectively based on a least square method, and a simulative error phase is finally removed from the differential interference phase diagram to further recover shape change information along a direction of a sight line of a radar in the monitoring region. The method for improving the earth surface shape change monitoring precision of the InSAR technology based on the high-precision DEM has practical value and wide application foreground in the application field of a satellite borne synthetic aperture radar monitoring technology for earth surface shape change.
Owner:CHINA AERO GEOPHYSICAL SURVEY & REMOTE SENSING CENT FOR LAND & RESOURCES

Dynamic characteristic parameter test device and method of sliding guide rail junction surface

The invention relates to a dynamic characteristic parameter test device of a sliding guide rail junction surface, which can be simplified into a single degree of freedom system. The device comprises a base, an installation platform, a fixed guide rail, a wedge-shaped block, an inlaid strip, a sliding block, a plurality of piezoelectric type acceleration sensors, a vibration exciter, an elastic rope, an impedance head, a stand, a normal force applying bolt, a rubber ring, a charge amplifier, a data acquisition unit, a power amplifier and an electronic computer. Compared with the prior art, thedynamic characteristic parameter test device has the advantages that: the structure is compact, the test principle is distinct, dynamic characteristic parameters of the junction surface under different load states can be measured by adjusting the pretightening force of a normal force applying bolt, the vibration exciting force direction passes through the gravity of the sliding block during measurement so that vibration signals of the sliding block and the base can be measured simultaneously, the influence of the vibration signals of the base is eliminated when a frequency response function of a system is calculated, and the characteristics of high efficiency, high stability and high precision are achieved.
Owner:NANJING UNIV OF SCI & TECH

Decentralized public key management method and system based on trusted network

The invention mainly belongs to the technical field of information security, and specifically relates to a novel decentralized public key management method and a trusted model. The method is constructed on distributed data network platforms such as a block chain and P2P (Peer to Peer) in order to ensure that all nodes in the platforms can participate in maintenance of whole-life-cycle management of public keys of users, and the changes of the public keys of the users in various states in a life cycle are recorded in a bill form. Through the method, public keys passing verification can be recorded and added into a consistent public key storage structure of a platform to be saved; a public key log chain is generated for all public key records of the same user according to a time sequence, and an authentication chain and a trusted network are formed on the basis of a referrer signature; and efficient search of the public keys can be realized on the basis of user identifiers. Through adoption of the method, the public keys of the users can be issued and acquired conveniently and accurately, and the effectiveness, correctness, consistency and non-fraudulence of acquired public keys are ensured. The method can be taken as an infrastructure supporting authentication, encryption, integrity and accountability services.
Owner:UNIV OF SCI & TECH BEIJING

Location method and system and locatable portable device

InactiveUS20090322597A1Reduce battery consumptionAutonomy of the device increasesPosition fixationBeacon systemsGps positioningWireless
Location method for locating a portable device (1) from a server (2) configured to communicate with said portable device (1) through a wireless communications network (3), in which said portable device (1) comprises a transmission / receiving module (12), an A-GPS positioning module (11) and a microprocessor (15) configured to manage said modules (11, 12), in which the method comprises the steps of: sending GPS assistance information from the server (2) to the portable device (1) through said wireless communications network (3); obtaining in an A-GPS positioning module (11) of the portable device (1) a GPS signal (4) from a satellite system (8); calculating in said portable device (1) a location of the device (1) itself from said GPS signal (4) and from the GPS assistance information sent by the server (2); sending said location to the server (2) from the transmission / receiving module (12) through said wireless communications network (3). It also comprises the steps of: when the portable device is stopped, hibernating the A-GPS positioning module and the microprocessor, maintaining the transmission / receiving module turned on; and when the portable device is in an area in which it is receiving service from said wireless communications network from a cell recognized by said device and stored in a memory thereof, turning off the A-GPS positioning module, such that the server can provide position information associated to said area without having to interrogate the device, thus saving the battery and increasing the autonomy of the portable device.
Owner:NAVENTO TECH

Vibration and audio signal-based high-speed train track defect detecting method

The invention discloses a vibration and audio signal-based high-speed train track damage detecting method, belongs to the field of signal detection and processing as well as safety monitoring, and solves the problems of low detection speed and single detection method in the conventional train track damage detection. The method comprises the following steps: 1, acquiring vibration signals and audio signals of a train track through sensors arranged at train track detection points; 2, respectively extracting information characteristics included in the vibration signals and the audio signals; 3, respectively obtaining a nonlinear correlation curve of the vibration signals and a nonlinear correlation curve of the audio signals by using a nonlinear correlation analysis method; 4, respectively analyzing the information of the two nonlinear correlation curves obtained in the step 3 so as to respectively obtain minimum values of the two nonlinear correlation curves; and 5, carrying out data fusion on the two minimum values and corresponding information thereof so as to obtain a damage coefficient, and looking up a table to obtain the damage degree according to the coefficient. The method is suitable for detecting the damage on railway train tracks and monitoring the safety operation of trains.
Owner:哈尔滨工业大学高新技术开发总公司
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