1003results about How to "Fast positioning" patented technology

The invention discloses a system for visually detecting workpiece appearance defects based on image processing, comprising an industrial personal computer, a coaxial light source, a CCD (charge coupled device) industrial camera, an image acquisition card and a rejecting mechanism; both the coaxial light source and the rejecting mechanism are connected with the industrial personal computer; the CCD industrial camera is connected with the industrial personal computer through the image acquisition card; wherein the coaxial light source is used for providing a diffuse reflection light source for a workpiece to be detected; the CCD industrial camera is used for taking an image of the workpiece at a detection station; the rejecting mechanism is used for rejecting from a production line, workpieces detected to be defective; the industrial personal computer has a defect detection module based on image processing; the system is high in detection efficiency and easy to implement.

The invention discloses a workpiece apparent defect detection method based on machine vision. Firstly, a visual system is used for guiding a robot, the pose of a target workpiece is precisely positioned according to a template matching algorithm based on a gray value, and then workpiece apparent defect detection is carried out and comprises the steps that firstly, a workpiece image is acquired and pretreated through median filtering; secondly, the target workpiece is divided through a global threshold value, and workpiece pose correction is carried out; thirdly, burr interference of the edge of the workpiece is removed through mathematical morphology open operation; fourthly, notches, material sticking, cracking, indentation, needle eyes, scratches and foaming apparent defects are detected. The method solves the problems that the artificial detection speed is slow, the efficiency is low and precision is poor; the problems that according to current vision detection, defect types are singular, the imaging quality is poor, and the false drop rate is high are solved, and the automation degree of precise workpiece production and product quality are improved.

The invention discloses a robot continuous sound source positioning method which comprises the following steps of: (1) acquiring a sound source signal by adopting a microphone array consisting of at least two pairs of microphones, converting the signal into a digital signal and storing the signal by a robot; and (2) carrying out effective audio signal detection on the acquired signal and carrying out sound source positioning operation on the signal containing effective audio frequency to obtain the position of a sound source relative to the robot. The method disclosed by the invention can divide the frequency domain signal obtained after Fourier transformation as for different application scenes and the frequency characteristic and noise characteristic of the sound source when the method is applied into a sound source positioning system of the robot and the calculating capability of the robot is limited, and thereby, the positioning operation time of the robot is greatly reduced, and the positioning speed is high. Meanwhile, as for the characteristic of movement of the robot, after the displacement angle is subjected to motion modification, the accuracy and instantaneity of positioning are greatly improved.

The invention relates to an intelligent video monitoring system based on a three-dimensional virtual scene, comprising a video collection subsystem, an intelligent video analysis subsystem, a comprehensive display subsystem, a calibration and positioning subsystem, a comprehensive management subsystem, a retrieval playback subsystem, and the like, wherein the video collection subsystem collects amonitoring video; the intelligent video analysis subsystem detects, identifies and tracks a movement target in the video and then classifies the movement target; the comprehensive display subsystem displays a bidimensional video and the three-dimensional virtual scene of the target, and displays the movement target category and a path thereof in the superposing manner in real time in the three-dimensional virtual scene; the calibration and positioning subsystem realizes the positioning of the bidimensional target in the three-dimensional virtual scene on the basis of acquiring parameters inside and outside a camera; the comprehensive management subsystem is responsible for managing and scheduling tasks, such as the system configuration, the log generation and retrieval, the authority hierarchical management, the defense area configuration and defense arrangement/defense withdrawing, the target video storage, the system alarming output, and the like; and the retrieval playback subsystem retrieves, edits and playbacks the target video with an event as a main line.

The invention provides a system and a method for positioning ground targets of unmanned planes based on enhanced geographic information. The system comprises an unmanned onboard system, a data transmission module and a ground station control system, wherein the unmanned plane onboard system is used for interacting information with the ground station control system by virtue of the data transmission module; the unmanned onboard system comprises a real scene collecting module, a GPS positioning module and a posture collecting module; the ground station control system comprises an electronic map database, a projection module, a positioning module and a traversal module. The system and the method have the advantages that positioning values of target points can be obtained by only matching real scene images with a three-dimensional map without the need of the complex image processing algorithm by virtue of a simple fitting method. Therefore, the ground scene targets in the large range can be accurately positioned; since the positioning algorithm is simple, the positioning rate is high; the requirements of tracking the targets in real time can be met.

The invention discloses a file processing method based on a distributed file system, the system, and a client. The method comprises the following steps: the client sends a file writing request to a meta node; the client receives a file identifier, a data block identifier of each data block, the copy quantity of data blocks and a selectivity factor from the meta node; the client performs hashing operation on the file identifier of the file, the data block identifiers of the data blocks and the selectivity factor to obtain a hashing value; the client finds a consistent hashing ring according to the hashing value, obtains the value of a minimal virtual node greater than the hashing value and clockwise selects virtual nodes consistent with the copies in quantity from the virtual node on the consistent hashing ring; and the client sends the data blocks to different storage devices for storage when the selected virtual nodes meet the pre-condition. According to the invention, the occupation of the storage space of the meta node is reduced, the location speed during data writing can be improved, and the load balance of the system is implemented.

The invention discloses an indoor positioning and aided navigation method based on the iBeacon. The method includes the steps of receiving broadcast messages sent by a plurality of iBeacon base stations, wherein the broadcast messages sent by each iBeacon base station comprise position information of the iBeacon base station and base station type information; determining the position of a user device according to RSSIs of the broadcast messages corresponding to the base stations, the position information of the iBeacon base stations in the broadcast messages and the iBeacon base station type information. The invention further discloses an indoor positioning and aided navigation device based on the iBeacon.

The present invention relates to an actuator for generating a rotational positioning movement, wherein the actuator comprises an electric motor (1) and a reduction gear (2) which consists of two assemblies (4, 5). The first assembly (4) is formed by a gear of the harmonic, cycloid or wobble, type and the second assembly (5) by a gear of the single-step or multistep planetary or Wolfrom type, whereby both assemblies (4, 5) are so tuned to each other, that the reduction gear (2) is not self-locking.

The invention discloses a wireless sensor network multiple target real-time tracking system based on event drive. The system is designed by using a hierarchy logical structure, wherein a perception layer, a network communication layer and an application layer are respectively comprised. In order to avoid network conflict in a multiple target tracking process, a self-adaption clustering node scheduling strategy based on a task is used. A Calman filter positioning tracking algorithm based on event drive is disclosed. A least square method with fast convergence speed is used to modify a current Calman filter state value, and positioning tracking is carried out on a number of mobile robots in a sensor network. The system uses a double token working mode and is combined with a dynamic time slot allocation method based on a task to effectively complete a network task in real time. The system uses the self-adaption clustering node scheduling method, can automatically carry out clustering on measurement data according to a moving target, breaks a previous working mode which is limited by single target tracking, and realizes a real-time multiple target tracking function and remote feedback control based on a wireless network.

The invention relates to the technical field of biometric identification and discloses an iris positioning method and an iris identification system. The method and the system are based on mathematical morphology, Radon transform, canny operator and hough transform. The algorithm comprises the positioning of an inner edge and an outer edge, wherein in the positioning of the inner edge, based on a gray projection method of line detection, a binarized image is processed by using the principle of the mathematical morphology so as to remove the interference of noise; and in the positioning of the outer edge, an iris image is processed by using the principle of the mathematical morphology at first, then an upper eyelid and a lower eyelid are detected by the Radon transform to remove the interference, and finally, an edge is extracted by a canny algorithm and the external edge of the iris is detected by the hough transform. Therefore, large area blind searching can be avoided so as to improve positioning speed.

The invention discloses a method for locating a power distribution network 10kV feeder line fault based on matrix operation, and belongs to the technical field of power distribution network automation. The technical problem to be solved is the fault locating of a power distribution network medium voltage 10kV feeder line. The method comprises the steps that a power distribution network initial power supply path matrix H is formed according to the topological structure of the power distribution network feeder line, the H is amended to obtain an amended path matrix H' so as to solve the problem of repeated fault locating, fault information is obtained through an FTU, operation processing is carried out on the amended path matrix H' according to the fault information, then an initial judgment matrix P' is formed, a fault judgment matrix P is finally obtained, father nodes in a fault area can be judged effectively according to coherent elements in the P, and then the fault area is obtained. By means of the method, the power distribution network feeder line fault is located, the judgment principle is simple and effective, no complex matrix multiplication operation is required, and the aim of locating feeder line tail end faults can be well achieved.

The invention discloses a motion collecting and feedback method and system based on stereoscopic vision. The method comprises the following steps that the space position of an infrared light source in an attachment position in a front space is collected, the space position is mapped into a virtual space, and the position and direction of a virtual object are controlled; when the virtual object interacts with a virtual environment, a wireless control attachment device vibrates and simulates the feedback feeling of force. The motion collecting and feedback method and system based on stereoscopic vision have the advantages that positioning is rapid and accurate, and operation is stable; the hardware is quite low in cost, simple in structure and quite small in size; force feedback is achieved and can largely improve the sense of reality of interaction behaviors, and user experience is improved; the reality function is improved, and the man-machine interaction modes are increased.

The invention belongs to the technical field of electromagnetic tracking, and particularly discloses an electromagnetic tracking system and method based on rapid determination of a vector rotation angle of maximum magnetic induction intensity. The electromagnetic tracking system disclosed by the invention consists of a three-axis magnetic-field sensor device, magnetic-field source devices, a controllable constant-current source device and a control processing display device; the controllable constant-current source device stimulates three coils which are wound on a magnetic core made of soft magnetic ferrite material and are mutually orthometric, and the central points of the coils are overlapped, so that one magnetic-field source device is formed; the three-axis magnetic-field sensor device is used for detecting the magnetic induction intensity of the magnetic-field source devices, and the control processing display device can control the controllable constant-current source device to stimulate the coils and can perform positioning calculation according to the magnetic induction intensity detected by the three-axis magnetic-field sensor device. Due to the adoption of the electromagnetic tracking system disclosed by the invention, positioning can be realized by only stimulating the three coils once, the searching process is avoided, the real-time performance is significantly improved, the stability is high, the calculating complexity is low, and the electromagnetic tracking system can be applied to the navigation of minimally invasive surgery and other fields, such as virtual (enhancing) reality, and three-dimension ultrasonic imaging.

The invention discloses an attention regression-based video time sequence sentence positioning method and device. The method comprises the following steps: encoding a video clip and a sentence by using a bidirectional long short term memory network on the basis of a three-dimensional convolutional neural network and a Glove word vector mechanism to characterize contents of the video clip and the sentence; building a symmetrical association between the video and the sentence through a multimodal attention mechanism according to the contents of the video clip and the sentence, so as to acquire attention weight vectors and attention weighted features of the video and the sentence; and outputting a positioning result of an acquired video time sequence sentence through an attention weight-basedregression mechanism and an attention weighted feature regression mechanism according to the attention weight vectors or attention weighted features of the video and the sentence. The method disclosed by the invention can keep contextual information in the video and the sentence and improve the efficiency of a sentence positioning process, so as to achieve the aim of improving the sentence positioning speed, the positioning accuracy and the positioning robustness.

The invention discloses a jar cover surface defect detection method based on machine vision. The method comprises the following steps that: obtaining a jar cover image, and calculating the center of gravity coordinate (Xg, Yg) of the jar cover image; obtaining jar cover edge points, and adopting a three-point random circle detection method to carry out fitting on the jar cover edge points to obtain a fit circle, wherein the fit circle is a jar cover area; dividing the jar cover area into four areas, and independently radially unfolding four areas; obtaining the dimension features of a center area, carrying out classified identification on the basis of a preset center area classifier to obtain the defect detection result of a center area; and independently obtaining the dimension features of an embedded ring area, a glue injection area and an edge curling area, and on the basis of a preset embedded ring area classifier, a glue injection area classifier and an edge curling area classifier, carrying out classified identification to obtain the defect detection results of the embedded ring area, the glue injection area and the edge curling area. The method is quick in implementation andaccurate in positioning, an error problem caused by the irregular texture information of the center area is overcome, and the robustness of the method is better.

The invention discloses positioning system and method of the local discharge of a transformer, belonging to the technical field of discharge monitoring of the transformer. The positioning system comprises an ultrahigh-frequency sensor, a detector amplifier, an ultrasonic sensor array unit, a filter amplifier, a multi-channel synchronous data acquisition unit and a data processor. The positioning method comprises the following steps of: acquiring an ultrahigh-frequency electromagnetic signal and an ultrasonic signal, comparing the ultrahigh-frequency electromagnetic signal with the ultrasonic signal, determining the time-domain relation of the ultrahigh-frequency electromagnetic signal and the ultrasonic signal, and calculating the distance between a local discharge source and the geometric center of the ultrasonic sensor array unit according to the time-domain relation; then determining an azimuth angle and a pitching angle of the local discharge source relative to a plane with the ultrasonic sensor array unit positioned by utilizing the ultrasonic signal; and finally determining the specific position of the local discharge source according to the calculated distance, azimuth angle and pitching angle. The invention has high positioning speed and high positioning accuracy.

The invention discloses a pseudorange difference location method, and belongs to the technical field of user location. The method comprises the following steps of: selecting a calibration point, and measuring the coordinates and a corresponding time difference of arrival (TDOA) value of the calibration point in advance; selecting three calibration points according to a location to be located, acquiring TDOA values of the three calibration points, and calculating corresponding TDOA not line of sight corrected values; calculating a TDOA not line of sight corrected value of the location to be located according to the TDOA not line of sight corrected values of the three calibration points; and calculating a TDOA value according to a coordinate value and the TDOA not line of sight corrected value of the location to be located, or calculating the coordinate value according to the TDOA value and TDOA not line of sight corrected value of the location to be located. By the method, a small number of calibration points can be measured at a large distance interval in advance, and grid point characteristic information with high density can be virtualized and generated on the basis of the TDOA values of the calibration points by adopting a pseudorange difference model, so that location not line of sight errors are reduced, and the amount of acquired grid information is effectively decreased.

The invention discloses a robot global repositioning method, and belongs to the technical field of robots. The robot global repositioning method comprises the following steps of at the beginning, setting the situation that a robot has the same probability distribution in all positions; enabling the robot to obtain peripheral environmental information of the robot in a real-time manner and construct a partial map through carrying a laser radar; through using a method of image matching, finding possible position of the partial map in the global map and probability at the possible position, and updating positioning confidence coefficient of the robot in the global map; calculating the difference value between an updated maximum positioning confidence coefficient and a second maximum positioning confidence coefficient; and judging whether the difference value is greater than a set threshold or not, if yes, completing the positioning, or else, according to data of a speedometer carried by the robot, updating the positioning confidence coefficient of the robot. According to the robot global repositioning method disclosed by the invention, only needing a sensor carried by the robot, the robot can complete global repositioning, and has high autonomy and high adaptability; and the positioning speed is high, and the robustness is high.