189results about How to "Accurate ranging" patented technology

A three dimensional imaging device is presented which uses single pulse from a pulsed light source for detecting objects enveloped by a light-transmitting medium such as the earth's atmosphere or free space. By means of switching off a ramping voltage, individually for each object pixel, the time of arrival of the reflected pulse is recorded. This time is related to the third object dimension. The device consists of the pulsed light source, optics for collecting the reflected light, a sensor for detecting the light, drive and output electronics for timing and signal conditioning of data generated by the sensors and a computer for processing the sensor data and converting it to a three dimensional image. The sensor collects and processes the light data in a unique manner, using a hybrid. The hybrid is actually a two dimensional array of collectors or detectors combined in very close proximity with their own processing electronics. In general, the hybrid is composed of two integrated circuit chips mated together. The two dimensional array defines two dimensions of the image. The processing electronics individually and independently switch off, at high-speed, a time varying voltage when the light pulse, reflected from the object, arrives at the sensor. The final voltages are stored and can be mathematically transformed to the third object dimension. The sensor also records peak light pulse information which can be used to obtain higher resolution in the third dimension.

The invention discloses a three-dimensional object recognition system and method based on laser radar and monocular vision. The method comprises the following steps: projecting point cloud onto a two-dimensional image, extracting and matching features of the projected image and a monocular image, and calculating a projective transformation relationship between the projected image and the monocularimage; carrying out object recognition through rich color information of the monocular image and extracting an object area of interest; inversely calculating corresponding point cloud blocks of the object in laser radar point cloud through a transformation relationship between laser radar and a monocular, and finally outputting space position information of the point cloud blocks. The three-dimensional object recognition system and method overcome the disadvantages of difficult recognition of a three-dimensional point cloud object, and achieve recognition and positioning of an object in a three-dimensional scene by means of the mature technique of two-dimensional image object recognition and the high-precision ranging performance of laser radar.

A power distribution network one-phase grounding fault location method based on a zero sequence voltage belongs to a power distribution network grounding fault location method. The fault location method starts from an overall zero sequence parameter of a single-end radial medium voltage power distribution network, analyzes a one-phase grounding fault while taking a distributed parameter model influence into consideration, measures a steady-state zero sequence voltage value and a zero sequence current of each feeder line at a bus position and at a tail end of each outlet line, and finds zero sequence voltage variation characteristics of a fault feeder line and non-fault feeder line. According to the invention, a large number of existing devices are used, the data sampling requirement is low in terms of being real-time, and the method of the invention is easy to realize; the simulation model analysis is established according to the actual parameters, so that the fault location can be realized in the system in which the neutral point is not grounded or the neutral point is grounded through an arc suppression coil; the precision is quite high; and the location method of the invention can be applied to the medium and low voltage power distribution network.

The invention discloses an autonomous humanoid double-arm robot. The autonomous humanoid double-arm robot comprises a head, a double-wheel differential driving mobile platform, two seven-degree-of-freedom humanoid arms, a moving target simulation platform and a PTZ camera system; and a speedometer, a two-dimensional laser radar system, an ultrasonic obstacle avoidance sensor system, a binocular vision measurement system and the PTZ camera system are arranged in the double-wheel differential driving mobile platform. The autonomous humanoid double-arm robot has the advantages that the double-wheel differential driving mobile platform and the high-redundancy humanoid double-arm robot are utilized to form one high-redundancy humanoid double-arm mobile service robot system based on an ROS operating system; an advanced method for performing integral motion planning on the high-redundancy humanoid double-arm mobile service robot on the basis of an integral speed decomposition control algorithm is provided; a multi-modal information fusion target acquiring and identifying and capturing system based on a PTZ vision system and a laser sensor system is established; and a path planning methodbased on a three-dimensional C space enhanced type probability map improved A* algorithm is provided.

The invention relates to the field of bluetooth communication, particularly to a method and system for distance measurement by bluetooth. Signal strength values of a bluetooth device B are collected through a bluetooth device A, a distance is obtained according to the signal strength values and a model of the distance between the bluetooth device A and the bluetooth device B, and the sum of the obtained distance and the step length is the actual distance, so that the distance measurement between the bluetooth devices is realized. According to the technical scheme, the Bluetooth device A is used for sampling the signal strength values of the bluetooth device B within a preset time, and the greatest signal strength value in the sampled signal strength values is selected as the optimal signal strength value. Because environmental interference is unpredictable, the interference can be stronger within one period, and no interference exists within one period basically, so that the signal fluctuation caused by the environmental interference can be eliminated; by adopting the technical scheme, the fluctuation of the signal values caused by various interference is corrected through the step length, so that the distance measurement is more accurate.

The invention relates to a laser ranging device and method. The device comprises a main control module, an energy discrimination module, a distance measuring module and a timing discrimination module, the energy discrimination module is connected to the main control module and comprises a first laser transmitting unit and a first laser receiving unit, the distance measuring module is connected with the main control module and comprises a second laser transmitting unit and a second laser receiving unit, and the timing discrimination module is connected with the distance measuring module and the main control module. According to the laser ranging device, laser transmitting power, a photoelectric conversion coefficient and the like in the distance measuring module can be adjusted according to reflectance of measured objects, accurate ranging can be achieved no matter when the reflectivity of measured objects is high or low, so that ranging accuracy is improved.

The invention belongs to the technical field of early warning equipment, and in particular relates to a power transmission line warning ball. The warning ball is made into a spherical shape so as to improve wind proofing capacity thereof, is fixed on a power transmission line and acquires working power supply from the power transmission line to automatically start an LED lamp when the ambient illumination is less than a threshold; an super-bright LED which has high brightness and long service life is adopted; an ultrasonic distance measurement triggering module and a buzzer are arranged in the warning ball; when an object approaches the power transmission line, the warning ball can measure the distance between the object and the wire, send out a sound warning signal within a warning distance and automatically stop when the object gets away from the dangerous region; and the warning ball can realize butt joint with a robot and be installed by using the robot. The warning ball has the advantages of good rain proofing function, good early warning effect, simple structure, convenient installation and long service life.

Control device (10, 50) for controlling the position of an instrumented cable towed in water, such as a marine seismic streamer, and / or an instrumented towed cable array (streamer array) with the possibility of controlling the individual instrumented cables both with in shape and position in relation to other instrumented cables and by that counteract cross currents and / or other dynamic forces which affect a towed array behind a seismic survey vessel, which control device (10, 50) is provided with one or more acoustic means, such as acoustic transmitter / receiver elements (40), arranged to or integrated in the wings (11, 52), main body (12, 53) or motor and drive gear housings (51) of the control device for determination of position and distance.

The invention discloses a double-circuit on the same tower double-circuit line fault distance measurement method which includes the following steps: (S1) using double-circuit three-phase transient currents which are obtained by sampling as original current signals for denoising; (S2) conducting six-phase phase-mode transformation to denoised current processing signals and extracting one mode of components to be used as fault analysis signals; (S3) conducting matching pursuit to the fault analysis signals which are obtained by applying a matching pursuit algorithm by using pulse signal atoms, comparing peak time of three optimum matching pulse atom signals with the largest energy, and taking the time which reaches a peak value at the earliest to be used as the time when a traveling-wave head reaches a measurement point; and (4) calculating and obtaining the distances respectively from measurement points at two ends and a fault point according to the obtained time during which the traveling-wave head can reach the measurement points at the two ends. By means of the double-circuit on the same tower double-circuit line fault distance measurement method, the characteristics of the traveling-wave head can be extracted accurately and reliably, and precision and reliability are achieved in the double-circuit on the same tower double-circuit line fault distance measurement.

The invention relates to a double-end range finding method for a single-phase earth fault of an overhead-cable mixed line. The method comprises: according to positive-sequence components of three-phase voltages and currents of a front end and a tail end in a normal condition of an overhead-cable mixed line, non-synchronized angles delta of currents at the two ends of the overhead-cable mixed line are calculated; power frequency components of the three-phase voltages and currents at the front end and the tail end of the overhead-cable mixed line after a single-phase earth fault are extracted by using a differential fourier algorithm; symmetric component conversion is carried out on the power frequency components of the three-phase voltages and currents at the front end and the tail end of the overhead-cable mixed line after the single-phase earth fault to obtain sequence components of the voltages and currents at the front end and the tail end of the overhead-cable mixed line after the single-phase earth fault; a sequence component of the single-phase earth fault current of the overhead-cable mixed line is calculated; and the fault point position is determined based on a one-dimensional iterative searching algorithm. Compared with the prior art, the provided method has characteristics of accurate range finding and high efficiency.

The invention discloses a laser millimeter wave integrated ranging and speed measuring radar method. Modulated optical signals are filtered to generate broadband linear frequency modulation laser signals and broadband linear frequency modulation millimeter wave signals in two channels respectively. The laser signals are divided into laser local oscillation signals and laser emission signals, the laser emission signals are emitted, laser echo signals are received, coherent light mixing is carried out on the laser echo signals and the laser local oscillation signals, and laser channel ranging and speed measuring data are obtained through filtering, analog-to-digital conversion and Fourier transform; the millimeter wave signals are divided into millimeter wave local oscillation signals and millimeter wave emission signals, the millimeter wave emission signals are emitted, millimeter wave echo signal are received, frequency mixing coherent reception is performed on the millimeter wave echosignals and the millimeter wave local oscillator signals, and Fourier transform is used to obtain millimeter wave channel ranging and speed measuring data. Finally, the data of the two channels are fused. According to the invention, the structure is compact, the compatibility is higher, more complex environment can be adapted to, the sweep frequency bandwidth and the repetition frequency can be greatly improved, and bandwidth setting is freer.

The invention discloses an indoor positioning method based on a combination of WiFi and acoustic waves. More than three beacons are set up indoors; each beacon periodically transmits WiFi signals and acoustic wave signals simultaneously to a mobile terminal; the distance between the beacon and the mobile terminal is determined according to an arrival time difference of the two kinds of signals at the mobile terminal; and according to the distance values measured together by the multiple beacons and spatial coordinates of each known beacon, the spatial position of the mobile terminal is calculated. The WiFi signals and the acoustic wave signals are combined, each kind of signals plays a role, and compared with a method of using a single distance measurement signal, the distance measurement is more accurate and reaches a 0.5 decimeter level, and the distance measurement time can be saved.

The invention discloses a full-parallel AT traction network fault location t method, which comprises the following steps that: when a fault occurs, synchronously acquiring the states of uplink and downlink bipolar feeder circuit breakers of each kiosk and the current flowing through the circuit breakers, and constructing a traction network parallel state matrix and a feeder current matrix; constructing a current state matrix and a fault state matrix; and judging whether the fault section is an uplink and downlink parallel section post-ranging section, or judging whether the fault section is asingle-line AT section post-ranging section, or judging the fault type post-ranging section. The invention has the following beneficial effects: the operation mode of the traction network is characterized by the switch state matrix, the fault section is identified by the current state matrix and the fault state matrix, and finally the fault distance calculation is realized by three classified fault location methods, which can realize the fault location in normal power supply operation mode and various abnormal power supply operation modes. The method has the characteristics of accurate distance measurement, high applicability and the like.

The invention discloses a frameless multipoint touch man-machine interaction method and system based on a radar eye. The frameless multipoint touch man-machine interaction method includes steps of forming a radial laser scanning surface through the radar eye and detecting finger shading information of an operator; acquiring at least one monitoring point space position shaded by fingers through debugging software of the radar eye, converting the monitoring point space positions into projection screen plane coordinates respectively and controlling updating of output images according to the projection screen plane coordinates; displaying and outputting the updated output images. The devices include the radar eye, a host and a projection screen. The frameless multipoint touch man-machine interaction method and system based on the radar eye has the advantages of insensitivity to surrounding light, high interference resistance, reliability and accuracy in positioning, simplicity and convenience in implementing, low use cost, no frame limit, flexibility in use ways and wide use range.

The invention relates to the field of positioning navigation and discloses an automatic guided vehicle (AGV) trolley plane positioning navigation system and an AGV trolley plane positioning navigation method. The system comprises an AGV trolley, a map database, an ultrasonic sensor module, a steering engine module, a steering angle sensor module and a microprocessor module, wherein the map database is stored in the microprocessor module; the ultrasonic sensor module is arranged at a front-end central position and a left-side central position of the AGV trolley; and the ultrasonic sensor module, the steering engine module and the steering angle sensor module are respectively and electrically connected with the microprocessor module. The front and lateral ultrasonic sensor information of the AGV trolley is received, the microprocessor module adopts a corresponding positioning algorithm after map database matching, and the AGV trolley is positioned and controlled to move. An ultrasonic distometer is used for measuring the distance, the cost is low, and the distance measurement is accurate; and moreover, a driving path of the AGV trolley can be optionally planned, the guide rail constraint is broken, the control is convenient, and the working efficiency is greatly improved.

The invention relates to a depth distance measurement method, device, computer readable storage medium and electronic equipment, which belong to the field of unmanned aerial vehicles, can accurately measure the depth distance between an unmanned aerial vehicle and a surrounding environment in real time and are beneficial to real-time obstacle avoidance of the unmanned aerial vehicle. The depth distance measurement method comprises: receiving attitude data of an unmanned aerial vehicle and left-eye images and right-eye images of a surrounding environment of the unmanned aerial vehicle acquiredby a binocular camera; acquiring a parallax value image of the surrounding environment of the unmanned aerial vehicle on the basis of the left-eye images and the right-eye images; based on the parallax value image and calibration parameters of the binocular camera, converting the coordinates of the surrounding environment of the unmanned aerial vehicle in an image coordinate system into coordinates in a camera coordinate system; based on a mounting position and attitude data of the binocular camera on the unmanned aerial vehicle, converting the coordinates of the surrounding environment of theunmanned aerial vehicle in the camera coordinate system into coordinates in a world coordinate system; and based on the coordinates of the surrounding environment of the unmanned aerial vehicle in the world coordinate system, determining the depth distance between the surrounding environment of the unmanned aerial vehicle and the unmanned aerial vehicle.

The invention claims protection of a single-ended fault ranging method based on a single-ended traveling wave method and an inherent frequency method. According to the method, inherent-frequency-method-based ranging is carried out and a multiple signal classification (MUSIC) algorithm is introduced to obtain an inherent frequency principal component, so that an initial value of a fault point is obtained; wavelet-transform-based single-ended traveling wave ranging is carried out and no fault point reflected wave, adjacent-line reflected wave and opposite-end bus reflected wave need to be distinguished; times of modulus maximum occurrence are recorded in sequence to obtain a plurality of ranging results; and then screening is carried out based on the initial value to obtain a final result. The MATLAB simulation calculation shows that the method is not affected by the fault distance, transition resistance, fault type and wiring mode and has high ranging accuracy and robustness.

The invention provides an obstacle evading method and device of an intelligent robot. The intelligent robot is provided with multiple ultrasonic sensors and at least two depth cameras. The method comprises the steps that when a target object is detected by both the depth cameras and the ultrasonic sensors, the depth image information of the target object is determined; according to the depth image information, the distance from the target object to the intelligent robot is calculated; and the intelligent robot is controlled based on the distance to evade the target object in the walking process. Accordingly, the depth cameras and the ultrasonic sensors can be combined for detecting the obstacle, and the accurate and effective obstacle evading effect can be achieved.

The invention discloses a big data O2O drawing reviewing cloud platform management system used for construction project construction drawing reviewing. A construction organization drawing paper upload module comprises a network server and a database server assembly. A construction unit data terminal is connected with the input end of the network server. The data output end of the network server is connected with the database server assembly. A firewall is connected on the port of the database server assembly through a switch I. The firewall is divided into three paths to be connected with a reviewing organization drawing reviewing management terminal, a storage unit and a CAD electronic signature authentication system. The whole course of paperless drawing reviewing of construction drawing reviewing can be realized, the drawing reviewing efficiency and the installation performance can be enhanced, and the cost can be greatly saved and the project period can be shortened.

The invention relates to a vehicle door unlocking method, device and system, electronic equipment and a storage medium. The method comprises the steps of continuously obtaining the distance between anobject outside a vehicle and an infrared distance measuring sensor through the infrared distance measuring sensor arranged outside the vehicle; in response to the fact that the distance is graduallyreduced and the duration that the distance is smaller than or equal to a first distance threshold value reaches a first duration threshold value, awakening and controlling an image collection module arranged on the vehicle to acquire a video stream; or, in response to the fact that the distance is gradually reduced and the distance is maintained for a fixed duration reaching a second duration threshold in the process that the distance is smaller than or equal to the second distance threshold, awakening and controlling the image collection module to acquire a video stream; performing face recognition based on at least one image in the video stream; and in response to successful face recognition, controlling at least one vehicle door of the vehicle to be unlocked and / or opened.

The invention relates to a device and method for optical axis consistency detection, and belongs to the technical field of measuring instruments. The device is simple in structure, simple in operation, and capable of realizing rapid and efficient detection of multi-optical axis consistency; deviation angle values of other optical axes in detected equipment relative to a certain reference optical axis can be calculated; according to the invention, subsequent adjustment and calibration can be carried out on the detected equipment according to a measurement result, so that a consistency error ofmultiple optical axes is controlled within an allowable range of observing and aiming precision, and the functions of searching, tracking, aiming, ranging, indicating, pointing and the like are ensured to be accurate, stable and reliable.

The invention provides a laser echo distance measuring method and a distance measuring device. The distance measuring device comprises a laser transmitting module, a control module, a time measuring module, an echo receiving module, a multi-channel triggering module, and an echo distance measuring module. There is no need to increase a peak power of a transmitted laser, and no need to increase anaperture of a receiving lens or use a constant ratio discriminator in the laser echo distance measuring method and distance measuring device. The invention completes a fast discriminating between a dark counting noise and a real echo signal through a multi-channel high-speed comparator method, and simultaneously performs time stamp measurement on an echo pulse electric signal through multiple channels, which accurately measures distance of a current pulse, and also effectively reduces an overall power consumption of the device. Moreover, the device can be effectively applied to occasions withhigh real-time and scanning rate requirements, and improves an applicability of the laser radar echo distance measuring method and the distance measuring device according to the invention. The invention reduces measurement cost and also guarantees safety of the surveyor.

The invention provides a de-noising algorithm of laser range finding signals of a power transmission circuit based on the improved EEMD. Filtering analysis and de-noising processing carried out on noise-containing laser range finding signals of the power transmission circuit can be effectively achieved. The method comprises steps of firstly establishing a power transmission circuit laser range finding signal acquisition system; carrying out rapid EEMD decomposition on the power transmission circuit laser range finding signals obtained through the experiment so as to obtain a series of intrinsic mode functions IMFs; then, selecting different numbers of IMFs to carry out adaptive filtering de-noising according to different noise forms; and finally, adding the de-noised IMFs so as to reconstruct the expected power transmission circuit laser range finding signals. An experiment result proves that by use of the method, noise in the power transmission circuit laser range finding signals canbe effectively reduced; rapid and precise range finding can be performed on targets influencing operation of the power transmission circuit; and safety and stability of the operation of the power transmission circuit are improved.

The invention discloses a self-adaptive distance protection method for a double-circuit line of an intelligent substation, belonging to the technical field of the power system automation. The method comprises the following steps of: 1) acquiring electrical quantity information; 2) performing the self-adaptation of a distance protection fixed value under special operating conditions; and 3) performing the self-adaptation of an impedance relay based on fault type recognition. The self-adaptive distance protection method is capable of effectively overcoming the influence of the zero-sequence mutual induction of the double-circuit line on distance protection, and simultaneously solving the problem of the sensitivity of the distance protection in case of a cross-line fault. Furthermore, the method is applied to field practice without increasing the fixed value or increasing secondary circuit connections and communication loads, and thereby has high practicable value.

The invention provides a target object positioning method and device, a storage medium and equipment, and belongs to the technical field of big data processing. The method comprises the steps that collected laser points are projected to an image coordinate system from a designated coordinate system; dividing laser points projected to an image coordinate system based on m targets detected in the collected video image; under an image coordinate system, performing first round of dirty point filtering on each obtained laser point set; under an appointed coordinate system, performing next round ofdirty point filtering on each laser point set subjected to the first round of dirty point filtering, and clustering each laser point set subjected to the next round of dirty point filtering; and for each target object, calculating the distance from the vehicle to the target object based on the target laser point subset in the y laser point subsets corresponding to the target object. According to the method, the advantages of visual detection in the aspect of verifying the existence of the obstacle and laser in the aspect of distance measurement are fused, and accurate positioning of the targetobject is achieved.

The invention provides an RL model algorithm based fault ranging method of a DC power distribution network. The method comprises the steps: a line equivalent R-L model is established for a bipolar short-circuit fault condition without considering influence of the line distribution capacitance; according to an R-L model algorithm, a derivative of the current needs to be calculated by replacing a differential value at the midpoint moment with a differential value of two-point sampling values and replacing an instant value with a mean value; measurement is carried out in two moments to obtain twoindependent equations, and the two equations are resolved simultaneously to obtain unknown numbers R and L; and the R and L are compared with line parameters to obtain a fault distance, and a fault ranging function is realized. According to the method of the invention, the DC power distribution network is ranged accurately by double-end information measurement. The protection quickness and selectivity of the DC power distribution network can be met.

The invention provides an electromagnetic distance measurement method and system, a signal receiving terminal and a signal transmitting terminal. The signal receiving terminal comprises a channel selection module, a channel transmitting module, an electromagnetic signal receiving module and a distance determination module, wherein the channel selection module is selecting a preferred working channel from a plurality of available working channels according to preset rules; the channel transmitting module is used for transmitting identification information of the preferred working channel to opposite equipment; the electromagnetic receiving module is used for receiving electromagnetic signals transmitted by the opposite equipment by using the preferred working channel; the distance determination module is used for determining a distance between the signal receiving terminal and the opposite equipment according to the electromagnetic signals. The signal transmitting terminal comprises a channel receiving module, a channel configuration module and an electromagnetic signal transmitting module, wherein the channel receiving module is used for receiving identification information of the preferred working channel transmitted by opposite equipment; the channel configuration module is used for configuring the working channel of the signal transmitting terminal according to the preferred working channel; the electromagnetic signal transmitting module is used for transmitting the electromagnetic signals to the opposite equipment by using the configured working channel, and the electromagnetic signals are used for determining the distance between the signal transmitting terminal and the opposite equipment The scheme has the advantages that the interference channel is removed, the preferred working channel is used and the distance measurement is enabled to be more accurate.

The invention discloses a layered expansion power grid fault information processing system based on multiple AGENTs. The system comprises a multi-Agent system. The multi-Agent system is in communication with an information protection system of power grid differential-current out-of-limit boundary equipment, fault recording system and an SCADA system; the multi-Agent system performs data normalization processing through acquisition of various power grid differential partition boundary point currents, and performs a differential current calculation taking equipment as a minimum division unit; and, when an equipment unit is monitored to be in a differential current out-of-limit state, a related fault analysis and diagnosis program is started, and judgments of a fault area and a fault point position are made. The device is advantageous in that, through an introduction of a dimension of a differential current of an area fault current, and through information fusion of different information source from different substations, functions of the system can be expanded upward to a judgment of a cross-area cascading fault and can be refined downward to a judgment of a fault property and accurate distance measurement of a fault point on a line.

The invention discloses a line single-phase earth fault positioning method based on the before-and-after fault voltage phase characteristic. The line single-phase earth fault positioning method includes the steps of firstly, measuring a fault-phase voltage, a fault-phase current and a zero sequence current at the protection installation position of an electric transmission line, measuring voltages of the other two normal phases, calculating a fault-phase voltage when the electric transmission line normally operates in real time through the voltages of the two normal phases after line single-phase earth faults, sequentially calculating a phase angle of the fault-phase voltage of each point on the electric transmission line and the fault-phase voltage, when the electric transmission line normally operates, of the point of the electric transmission line in the mode of beginning with the protection installation position of the power transmission line and gradually increasing with a fixed step length, and achieving accurate ranging of the electric transmission line single-phase earth faults through the characteristic that the angles of the fault-phase voltages in front of and behind a fault point and the fault-phase voltage when the electric transmission line normally operates can generate phase step changes. According to the line single-phase earth fault positioning method, the fault-phase voltage before the line single-phase earth faults is not required to be memorized, a loop for keeping the voltage before the line faults is not required to be set, influences of transition resistance and a load current are eliminated, and the ranging accuracy is high.