1910results about How to "Achieve precise positioning" patented technology

The invention relates to an intelligent cleaning robot based on an advanced path programming technology and a cleaning method thereof. An external environment information detection system installed on a robot body, a real-time positioning system, a main control system, a motor driving module and a power supply are included. The external environment information detection system is used for detecting external environment information. The real-time positioning system is used for acquiring a real-time position where the robot is located. The main control system is used for acquiring external environment information and establishing a grid map. Through combining the grid map and the real-time position, a cleaning path is programmed. The motor driving module is used for driving the robot to operate according to the programmed cleaning path and clean. The power supply is used for providing power for the main control system and the motor driving module. A path programming technology of boundary cleaning, rectangular manufacturing, parallel paving and cleaning and obstacle consideration is used to design the cleaning path, a current position is determined in real time, cleaning time is saved and simultaneously a largest coverage rate to an cleaning environment is realized.

The invention provides a road sign drawing and vehicle positioning method and system for automatic drive.Through cooperation use of a binocular camera and laser radar, a high-precision road surface characteristic map is generated semi-automatically, edge points of a road sign on an image acquired by the binocular camera are detected through the binocular camera, the edge points are matched with sampling points of a line segment on the high-precision road surface characteristic map, a Kalman filtering positioning model is used for optimization to find out optimal matching, and then vehicle positioning is completed.Through the road sign drawing and vehicle positioning method and system for automatic drive, positioning is stable, robustness is high, and the influence of shielding and reflection by vegetation barriers is avoided; meanwhile, compared with a radar sensor, the binocular camera is more suitable for commercial popularization due to price, low in price and suitable for civil use.

The invention discloses a wax injection mold for investment casting of hollow turbine blades and a method for rapidly and accurately manufacturing the wax injection mold. The mold consists of a cavity mold, a mold core and an accessory structure, wherein the cavity mold comprises an upper mold and a lower mold of a combined structure; each mold block forming the cavity mold consists of an external aluminum mold frame, an internal cast zinc alloy inlay and a conformal cooling copper pipe embedded into the inlay; a mold core positioning piece which can be decomposed at a high temperature is arranged on a longitudinal rib of the mold core; and water-soluble core blocks used for forming exhaust openings in the rear edges of the turbine blades are arranged on rear edge ribs of the mold core. The matching precision of the mold core positioning piece and the cavity mold is guaranteed by adopting a cavity mold interior running-in method, and the matching precision of the water-soluble core blocks and the cavity mold is guaranteed by adopting a cavity mold interior adhesion method. The wax injection mold disclosed by the invention is low in manufacturing cost and short in period, and the high wax pattern precision and core positioning precision can be obtained.

The invention discloses a remote outdoor monitoring apparatus, which can clearly and accurately acquire target point video information and three-dimensional coordinate parameter by setting a cloud mirror decoding card, a lens stepping motor driver and a PTZ stepper motor driver, wherein, the cloud mirror decoding card is respectively electrically connected to a camera, an IP video processing module, a PTZ stepper motor driver, and a lens stepping motor driver. The invention also discloses an automatic monitoring control method, which includes setting the presetting bit of each target monitoring point, connecting these presetting bits in series into a monitoring running track, the lens automatically scanning along the monitoring operation track, discovering that target monitoring points appear abnormity instance, the lens lock locking the target, centering and magnifying the target monitoring point images for performing image recognition once more, and automatically triggering the alarm. The apparatus can clearly and accurately obtain the abnormity instance of the target points, to avoid false alarm and improve warning accuracy.

The invention relates to launching and recycling technologies for underwater gliders or other underwater or water surface vehicles, in particular to an intelligent underwater robot shipborne launching and offshore recycling mechanism and corresponding method. The recycling mechanism comprises a shipborne body, a main recycling slide way, an auxiliary recycling slide way, an electric turning mechanism, an electric control cabinet, a tensioning mechanism, a multi-sensor fusion positioning system, a dragging unit and a hook system. The recycling mechanism is simple, reasonable, reliable in structure, and easy and convenient to operate, the underwater gliders, autonomous underwater vehicles (AUV), other underwater robots and the like can be launched and recycled quickly and efficiently, the workload of sailors and related staff on a ship are greatly relieved, the dangerous factors in the launching and recycling processes of the underwater robots are avoided, and the problem that the launching and recycling processes waste time and labor is solved.

An embodiment of the invention provides an inertial navigation positioning system based on UWB ranging. The inertial navigation positioning system comprises a UWB positioning base station, an absolute position determining base station, an inertial navigation positioning module and a cooperative positioning module, wherein the UWB positioning base station is arranged in a target positioning area and used for determining UWB relative positioning data of a to-be-positioned object by use of the relative position of the positioning base station determined by the communication interaction and arrangement way of a UWB label carried by the to-be-positioned object; the absolute position determining base station is arranged at the UWB positioning base station and used for determining the absolute position of the UWB positioning base station; the inertial navigation positioning module is carried by the to-be-positioned object and used for determining inertial navigation positioning data of the to-be-positioned object; the cooperative positioning module is carried by the to-be-positioned object and used for determining absolute positioning data of the to-be-positioned object according to the UWB relative positioning data, the inertial navigation positioning data and the relative position and corresponding absolute position of the UWB positioning base station. Through cooperative application of UWB positioning, absolute position base station and inertial navigation positioning technology, the absolute positioning data of the to-be-positioned object can be accurately obtained in a geographic area with relatively poor absolute positioning signal.

The invention provides an ecological environment monitoring and supervising system. The system comprises an ecological environment monitoring network, an ecological environment monitoring law-enforcement platform and an ecological environment monitoring and supervising command and dispatch center, wherein the ecological environment monitoring network comprises a mineral resource anti-illegal mining monitoring module, an illegal water-intake automatic monitoring module, a surface water environment monitoring module, a soil environment monitoring data collection module, a forest resource anti-illegal-tree-felling anti-flame monitoring module, a natural disaster automatic monitoring module, an ecological environment protection mass prevention data reporting module, an environment monitoring data collection module, a universal unmanned aerial vehicle monitoring module and an intelligent law-enforcement bayonet blocking module; the ecological environment monitoring law-enforcement platformcomprises an ecological environment supervising law-enforcement module, a monitoring data analysis and prewarning management module, a river chief comprehensive management module, an ecological environment dynamic supervising module and an intelligent law-enforcement linking module; and the ecological environment monitoring cloud operation center module, a command and dispatch center module and anemergency command and dispatch system platform module.

The invention discloses a scenic spot self-help tour system and a scenic spot self-help tour method based on a mobile Internet. The system comprises a scenic spot identification system, a user terminal, a scenic spot data service system, and an intelligent navigator. A PC terminal and a notebook access the scenic spot data service system via the Internet. A smart phone or a tablet computer terminal identifies a two-dimension identification code, a proximity identification device or a digital identification code of the scenic spot identification system, and accesses video and audio explanation information in the scenic spot data service system via a wireless network. The smart phone or the tablet computer terminal is further connected with the intelligent navigator through a data line interface, and looks up navigation information of a scenic spot in the intelligent navigator. According to the invention, accurate location information of a scenic spot is judged by using the smart phone or the tablet computer terminal to scan the two-dimension identification code, sense a proximity identification device signal or input the digital identification code, and the video and audio explanation information of the scenic spot is acquired by accessing the scenic spot data service system or directly accessing a rented intelligent navigator, thus realizing self-help tour guide.

The invention discloses an intelligent power utilization cell system, which comprises an electric power company master station, wherein the electric power company master station is at least connected with a power supply part working station; each power supply part working station is at least connected with an intelligent cell power supply system; the electric power company master station comprises a power utilization information acquisition system server, and the power utilization information acquisition system server is connected with an intermediate database server and a website server by a backbone network arranged in the electric power company master station, and the intermediate database server and the website server are arranged in the master station; and the intermediate database server is connected with at least one intelligent cell power supply system through a network I, and the intelligent cell power supply system is connected with a website server through a network II. The intelligent power utilization cell system disclosed by the invention has the beneficial effects that: the satisfaction degree of clients on a company is promoted; the power supply reliability and the fault processing timeliness are improved; the high-quality power utilization service is met; the requirements of clients on environment-friendly power utilization, energy-saving power utilization, planning power utilization and reasonable power utilization are met.

The invention discloses a uniform load surface curvature-based simply supported beam crack damage identification method. The method includes the following steps that: the modal parameters of a simplysupported beam before and after the simply supported beam is damaged are obtained through testing, flexibility matrixes are calculated on the basis of frequencies and vibration modes; a uniform load is applied to the simply supported beam, and the uniform load is multiplied by the difference of the flexibility matrixes which are obtained before and after the simply supported beam is damaged, so that a corresponding displacement difference is obtained; the curvature of the displacement difference is obtained, and a uniform load surface curvature difference is obtained; a relation between the position of a crack and the uniform load surface curvature difference of adjacent measurement points is built based on a linear interpolation theory, so that the accurate positioning of the position ofthe crack can be realized; a uniform load surface curvature-based structural stiffness damage degree identification method is built on the basis of relations between displacement curvatures and structural stiffness and bending moment; and a relation between the height of the crack and a uniform load surface curvature is built through a series equivalent linear stiffness model, so that the quantification of the height of the crack can be realized. With the method of the invention adopted, the position and height of the crack of the simply supported beam can be accurately positioned and quantified. The method is applied to the damage degree evaluation of the structure of a simply supported beam.

The invention discloses a transcatheter-implanted aortic valve device, comprising: a valve stent; valve leaflets fixed in the valve support; an inner skirt and an outer skirt are peripherally fixed to the inner and outer sides of the valve support; the inflow end of the valve support is of lower flared structure composed of a plurality of diamond structures; three connection claws required to load the valve stent are arranged at the tail end of the lower flared structure; a plurality of positioning structures extended up and out are arranged in the middle of the valve support, close to the outer side of an inflow end portion; a plurality of pored straight rod connection structures are arranged in the middle of the valve stent close to the outflow end portion; the positioning structures for the valve stent are used for limiting a position at the aortic valve ring where the valve stent is replaced in; the outflow end of the valve stent is of upper flared structure composed of a plurality of large-mesh diamond structures; the large-mesh diamond structures are distributed evenly so that the valve support is kept coaxial and stable to a vessel in the ascending aorta.

The invention discloses an accurate positioning method of driverless cars in underground parking. The accurate positioning method of driverless cars in underground parking comprises following steps: laser point cloud ground segmentation module processing, cylinder characteristic extraction and characteristic coupling, non-ground effective point selection module processing, laser effective point merging and downsampling module processing, grid map generation and three dimensional map coupling module processing, and initial pose module processing. According to the accurate positioning method, cylinder characteristics are adopted to reject dynamic obstacles in laser point cloud scene, and realize automobile accurate positioning using map coupling technology. The sensitivity of the accurate positioning method on initial pose is much lower than that of conventional method, relatively positioning accuracy is achieved, the accurate positioning method is suitable for positioning and navigationof driverless cars in underground parking, and is especially suitable for positioning when there are a large amount of dynamic obstacles in underground parking.

The invention relates to a construction method for a double-block-type ballastless track bed slab, which comprises the following steps: 1, clearing a base surface and performing construction lofting; 2, placing a bottom layer of reinforcing steel bars, and laying sleepers; 3, mounting a tool track and adjusting the sleepers; 4, assembling track panels; 5, coarsely adjusting the track panels; 6, binding the reinforcing steel bars and performing earthing welding; 7, mounting templates and finely adjusting the track; 8, casting concrete into the track bed slab; 9, loosening adjusting devices and fasteners, and curing the concrete; and 10, relocking the tool track and completing the measurement. The construction method has the advantages that: the tool track is adopted as a detection standard, so the precise positioning of the track is realized; a frock system is simple, is easy to process and manufacture, has wide commonality, and is not only suitable for construction of the track bed slab in a subgrade section but also suitable for construction of the track bed slab in a bridge section; the construction process is simple and quick, and various working procedures are easily carried out by flow construction; and the construction cost is low, so the construction investment is effectively saved.

The invention discloses an adaptive indoor dynamic target UWB positioning method. The method comprises the following steps: firstly measuring a TDOA value by using a UWB positioning system; then, processing the measured TDOA value by using a wavelet analysis adaptive denoising method, outputting a reconstructed TDOA value, converting the reconstructed TDOA value into a distance difference, establishing a nonlinear equation set, and obtaining an optimal solution of the equation set; then using the optimal solution as an initial value, performing tracking and positioning on a dynamic target by using an extended Kalman filtering algorithm, and figuring out a final estimated value; and finally outputting the final estimated value. By virtue of the adaptive indoor dynamic target UWB positioning method provided by the invention, a distance measuring error caused by the influence of multipath propagation (Multipath) and non-line-of-sight interference (NLOS) in a UWB signal propagation process can be weakened and even eliminated, the positioning precision is improved, and the accurate positioning of the dynamic target in a non-line-of-sight indoor environment can be realized. The ultra wide band positioning system verifies the validity of the positioning method and realizes the indoor positioning of the dynamic target.

The invention discloses a six-dimensional sensor calibration device which comprises a machine frame, a load mechanism, a positioning mechanism and an electrical control system. The electrical control system comprises a human-computer interface, an industrial personal computer, a multi-axis controller, a servo controller A, a servo controller B, a servo controller C, a servo controller D and a servo controller E, wherein the human-computer interface and the industrial personal computer serve as an upper computer used for monitoring displacement, angle and force signals. A closed loop force feedback control system is adopted, accurate and automatic loading of calibration force is achieved, and a six-dimensional sensor can be continuously loaded. A grating ruler is installed on a high-precision cross sliding table mechanism to form full closed-loop displacement control, the displacement in the X (Y) direction is precisely positioned, and turning and rotating angles of the six-dimensional sensor can be precisely positioned through a circular grating, and therefore the precise positioning of straight line displacement and a rotating angle of the six-dimensional sensor is achieved. According to the six-dimensional sensor calibration device, loading of any six-dimensional force/ torque within a measuring range can be achieved, the loading process is simple and operation is convenient.

The invention relates to a near field focusing beam forming positioning method. In the method, the response of a signal received by each array element of a virtual array in a frequency domain, to be processed, within the frequency band range [fmin, fmax] is firstly obtained based on an expansion towing array passive synthesized aperture method, and then a target is accurately positioned by utilizing the near field focusing beam forming positioning method, wherein the frequency band range [fmin, fmax] is selected according to the actual requirement, and only the conditions that fmin is greater than 0, and fmax is not greater than one half of data sampling rate are satisfied. The invention effectively combines the expansion towing array passive synthesized aperture method and the near field focusing beam forming positioning method together and meanwhile acquires the benefits brought by the two methods. Moreover, the beam forming arithmetic is realized in the frequency domain; a broadband signal is decomposed into a plurality of frequency point signals, and each frequency point within the signal frequency band range is processed, and finally, results are accumulated; and the processing performances, such as robustness, resolution and the like, are more superior to those of direct processing in a time domain.

The invention relates to a spacer, a liquid crystal display panel and a distribution device and a distribution method of the spacer. The spacer comprises a shell and magnetic particles, wherein, the magnetic particles are coated in the shell. The liquid crystal display panel comprises a color film substrate and an array substrate of a box, wherein the above spacer is arranged between the color film substrate and the array substrate. By being provided with a magnetic spacer, the liquid crystal display panel of the invention can generate position movement under the action of magnetic force, thusthe spacer can be distributed in a nondisplay region selectively, and the badness generated when the spacer is distributed in a display region is avoided. In the distribution method of the spacer ofthe invention, the distribution device of the spacer is utilized to lead the magnet array to absorb the magnetic spacer so as to complete selective distribution of the spacer, thus avoiding the badness probably generated when the spacer is distributed in a display region.

The invention relates to a pneumatic multi-nozzle complex tissue and organ manufacturing system with multiple degrees of freedom, belonging to the field of organ manufacturing. The system comprises an X-direction movement mechanism, a Y-direction movement mechanism, a Q-direction rotation mechanism, a lifting platform, a rotary forming table, a shell, a high-pressure air source, a multi-nozzle forming unit, a spray solution pressure tank, a temperature control device, a sterilization device and a control unit. Under the control of the control unit, the multi-nozzle unit moves according to the set path and can spray according to the set sequence, so that the forming size is wide in cover range; the relative angle formed between a center shaft of a spray valve and the surface of the rotary forming table can be changed, so that a complex curved surface can be conveniently manufactured. The system enables multiple cells and support materials to be arranged at the corresponding positions for once according to the computer instruction, and various subsequent processing processes can be completed at the same time; the formed three-dimensional structure is directly connected with the corresponding circulating system in vivo, and various physiological functions of the complex tissues and organs can be rapidly realized.

The invention discloses an automatic assembling line for motors. The automatic assembling line for the motors comprises a frame, an automatic conveying belt, a motor rotor bearing bit synchronization oiling device, an automatic motor rotor bearing press-fitting device, an automatic spring washer distributing and detecting device, a motor end cap press-fitting device, an automatic motor bearing gap detecting device, an automatic motor ageing testing device and an automatic gluing air dryer for the motors, wherein the automatic conveying belt which is electrically connected with a circuit controller is arranged on the frame; and the motor rotor bearing bit synchronization oiling device, the automatic motor rotor bearing press-fitting device, the automatic spring washer distributing and detecting device, the motor end cap press-fitting device, the automatic motor bearing gap detecting device, the automatic motor ageing testing device and the automatic gluing air dryer for the motors are successively connected together by the automatic conveying belt and are electrically connected with the circuit controller. The automatic assembling line for the motors is high in assembling stability and good in assembling quality, and testing automation of components of the motors can be realized.

The invention discloses a facial expression recognition method, which belongs to the field of image processing. The facial expression recognition method disclosed by the invention comprises the following steps of: selecting a plurality of neutral expression images of different people and a plurality of various expression pictures of the same people with the neutral expressions from an expression library, and extracting the position information vectors of N characteristic points respectively; obtaining bottom-layer expression characteristic point information vectors feij corresponding to different expression types on the basis of the vector difference of the latter and the former, and training the SVM classifiers of the various expressions on the basis of the feij; conveying the feij each SVM classifier, and calculating the distance from the feij to the hyperplane of each SVM classifier to form an expression characteristic library; extracting the position information vectors of N characteristic points from the neutral expression images of the people to be recognized and the images input in real time and to be recognized, calculating the vector difference of the latter and the former, and conveying the vector differences in each SVM classifier to carry out characteristic conversion processing, so as to obtain a characteristic vector; taking the characteristic vector and a characteristic vector corresponding to an Euclidean distance in the expression characteristic library as the recognized expression. The facial expression recognition method disclosed by the invention is capable of improving the accuracy and real-time performance of recognition.