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Cucumber picking robot system and picking method in greenhouse

The invention discloses a cucumber picking robot system in a greenhouse environment. The robot system comprises a binocular stereo vision system, a mechanical arm device and a robot mobile platform; the binocular stereo vision system is used for acquiring cucumber images, processing the images in real time and acquiring the position information of the acquired targets; the mechanical arm device is used for capturing and separating the acquired targets according to the position information of the acquired targets; and the robot mobile platform is used for independently moving in the greenhouse environment; wherein, the binocular stereo vision system comprises two black and white cameras, a dual-channel vision real-time processor, a lighting device and an optical filtering device; the mechanical arm device comprises an actuator, a motion control card and a joint actuator; and the robot mobile platform comprises a running mechanism, a motor actuator, a tripod head camera, a processor and a motion controller. The invention also discloses a cucumber picking method in the greenhouse environment. The method of combining machine vision and agricultural machinery is adopted to construct the cucumber picking robot system which is suitable for the greenhouse environment, thus realizing automatic robot navigation and automatic cucumber reaping, and reducing the human labor intensity.
Owner:SUZHOU AGRIBOT AUTOMATION TECH

Automotive anti-collision radar multi-target detecting method and system

The invention provides an automotive anti-collision radar multi-target detecting method and system. The method comprises the steps of emitting two types of triangular waves with different modulation periods in an alternating mode and acquiring echo data, carrying out windowing processing, carrying out distance dimension FFT and speed dimension FFT, carrying out modulo processing to obtain frequency spectrum of two types of echo waves, carrying out target paring to obtain a spectral line of the same target of the two echo waves, calculating distance and speed of each target, and judging target distance and speed obtained by the two echo waves through a tolerance function to obtain a final target. A radio frequency emitting and receiving part of the system comprises a radar sensor and an intermediate frequency processing module, and a data processing part comprises a modulus, a modulus converting module and a central control processing module FPGA. The FPGA comprises a modulation signal producing sub-module, an echo wave signal acquisition sub-module, an algorithm sub-module and a control sub-module. The modulation waves and corresponding algorithms effectively remove false targets and improve accuracy that multiple moving targets are detected under strong noise. A hardware system is simplified in structure and easy to achieve.
Owner:GUILIN UNIV OF ELECTRONIC TECH

Vehicle license plate recognition method based on video

The invention provides a vehicle license plate recognition method based on a video. According to the vehicle license plate recognition method based on the video, moving vehicles are detected and separated out with the vehicle video which is obtained through actual photographing by means of a camera serving as input, the accurate position of a vehicle license plate area is determined by conducting vertical edge extraction on a target vehicle image obtained after pre-processing, a vehicle license plate image is separated out, color correction, binaryzation and inclination correction are conducted on a vehicle license plate image, each character in the positioned vehicle license plate area is separated to serve as an independent character, feature extraction is conducted one each character, obtained feature vectors are classified through a classifier which is well trained in advance, a classification result serves as a preliminary recognition result, secondary recognition is conducted on the stained vehicle license plate characters according to a template matching algorithm imitating the visual characteristics of human eyes, and then a final vehicle license plate recognition result is obtained. The vehicle license plate recognition method based on the video has the advantages that hardware cost is reduced, the management efficiency of an intelligent transportation system is improved, the anti-jamming performance and the robustness are high, the recognition efficiency is high, and the recognition speed is high.
Owner:XIAN TONGRUI NEW MATERIAL DEV

Time-resolved extreme-low-light multispectral imaging system and method

ActiveCN102393248AResolve time resolutionSolve the time resolution by using single photon counter line arraySpectrum investigationPhysicsHyperspectral imaging
The invention provides a time-resolved extreme-low-light multispectral imaging system and method and belongs to the field of extreme-low-light multispectral imaging, wherein the system is triggered through a trigger to ensure the time-resolved property, and the multispectral high-resolution two-dimensional color imaging for extreme-low-light objects is realized by combining a triggering technology of the trigger, the compressive sensing theory, a DLP (digital light processing) technology, a spectrum-dividing technology, an optical fiber coupling technology and a photon counter linear array detection technology; the system is composed of an extreme-low-light light source or self-luminous organisms, the trigger, an optical filter, an optical imaging system, a DMD (digital mirror device) micromirror array, an optical focussing and collecting system, a spectrophotometer, a photo counter lineary array consisting of a plurality of photon counters with different wavelengths, a driving control module and an optimization algorithm module; the sensitivity of the system can reach the level of a photon, and can be widely applied to the fields of self-luminous organism detection, medical treatment imaging, data acquisition, communication, astronomy, military, hyperspectral imaging, measurement in quantum mechanics and the like.
Owner:NAT SPACE SCI CENT CAS

Control system for distributed power generation, conversion, and storage system

A distributed power generating system enables very rapid and reliable start-up of an engine used to generate back-up power, thereby substantially reducing the need for stored power. More particularly, the distributed power generating system comprises a power bus electrically coupled to commercial power and to a load, an engine comprising a rotatable shaft, a starter/generator operatively coupled to the shaft of the engine and electrically coupled to the power bus, and a temporary storage device electrically coupled to the power bus. The distributed power generating system further comprises a control system adapted to detect a failure of the commercial power and cause the starter/generator to start the engine from a standstill condition. The control system provides the starter/generator with an initial voltage vector selected to rapidly bring the engine to an operational speed sustainable by the engine alone. The temporary storage device supplies electrical power to the power bus for delivery to the load and for powering the starter/generator until the engine reaches the operational speed, whereupon the control system causes the starter/generator to take over supply of electrical power to the power bus for delivery to the load. The control system starts the engine upon detection of a voltage on the power bus below a predetermined lower limit. After the engine has started, the control system monitors speed of the engine to determine whether the operational speed is reached. The control system terminates operation of the engine upon detection of a voltage on the power bus above a predetermined upper limit.
Owner:BRYDE JAN HENRIK

Automotive anti-collision radar system with two receiving antennas and operating method

ActiveCN103913742AProcessing speedImprove multi-target judgment abilityRadio wave reradiation/reflectionEcho signalData processing
The invention provides an automotive anti-collision radar system with two receiving antennas and an operating method. The automotive anti-collision radar system is provided with the two independent receiving antennas and an independent transmitting antenna, wherein the two independent receiving antennas and the independent transmitting antenna are connected into a radio-frequency signal processing module respectively. A central control processing part comprises a PS module and a PL module, wherein the PS module comprises a system submodule, a data processing submodule and a clock submodule, and the PL module comprises a modulating signal generation submodule, an algorithm submodule, a phase-locked loop submodule and a control submodule. An output device comprises a displayer, an alarm device and an emergency braking device. The operating method includes the steps of transmitting modulation triangular waves, allowing the two receiving antennas to collect real echo signals and virtual echo signals respectively, calculating distance information, speed information and azimuth information of targets through a MUSIC algorithm and target pairing, transmitting results to the PS module for synchronous display and directly controlling the alarm device and the braking device. Through the automotive anti-collision radar system with the two receiving antennas and the operating method, target azimuth can be obtained, the multi-target judging ability is improved, the computing speed is high, cost is low, reliability is high, and the automotive anti-collision radar system is simplified in structure, convenient to maintain, easy to upgrade and capable of reducing cost.
Owner:GUILIN UNIV OF ELECTRONIC TECH
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