3362results about How to "Guaranteed positioning accuracy" patented technology

The invention relates to a picking method and a device for spherical citrus fruits, combining various sensor information of force sense, temperature sense, sight and distance, etc., and sending information back promptly to realize that an executive component picks up fruits flexibly. A flexible picking device consists of a fruit picking hardware device and a software control system, and the fruit picking hardware device consists of a computer visual system, an industrial control system, a mechanical arm and an end executor; the picking device utilizes a solid visual system to detect and identify mature fruit that can be picked, calculates the specific position of the fruit under world coordinate, and carries out feature extraction for the information of the obtained fruit position and barrier position, after the picking device establishes a three-dimensional model and obtains the movement path of a robot in virtual environment, an industrial personal computer system controls the mechanical arm and paws to reach a designated position; at last, the end executor is controlled to extend out of a sucker for sucking and drawing the fruit, then the fruit is fixed by the paw, finally a cutting device is rotated to the designated position for cutting off the stems.

The invention discloses a sending method for reference signals, which comprises the steps of determining different time frequency resources for target cells in the resource block pair of a subframe and sending the reference signal of the target cell corresponding to the time frequency resource in the time frequency resource of the subframe. The sending method of the invention is a method for sending reference signals in the target cells, which ensures that the time frequency positions for sending the positioning reference signals are different in the target cells, thereby reducing the interference among cells, ensuring the accurate positioning of the terminal, and improving the integral performance of the system.

The invention discloses a visual locating system of spherical robot and a visual locating method thereof. The visual locating system is composed of a binocular visual system, a one-dimensional gyroscope, a spherical robot body, a core control system and a wireless communication module. The locating system carries out locating through cooperation of a camera and the gyroscope, and a locating algorithm is realized on line in the core control system. Data for locating are subjected to remote transmission through the wireless communication module. And a use can realize remote real time monitoring of a robot position. The locating method comprises: conducting real-time acquisition of left and right image sequences by a binocular camera, calculating the posture and location changes of the spherical robot by a binocular visual mileage calculation method, compensating a feature locating error caused by an unstable spherical robot platform through the gyroscope, and finally performing state updating by a Kalman filtering method. The whole process iterates continuously so as to realize real time calculation of the posture and location of a robot.

The invention discloses a positioning method based on indoor positioning. The method comprises the following steps: (a) receiving data packets sent by at least two Bluetooth base stations so as to obtain signal intensity value included in the data packets; (b) according to the signal intensity value, calculating distance value from at least two Bluetooth base stations and a mobile terminal; (c) according to the calculated distance value, obtaining a positioning point coordinate of a user holding with the mobile terminal in relative to the Bluetooth base stations; (d) obtaining the moving distance of the user according to an acceleration sensor, and obtaining the moving direction of the user according to a geomagnetic sensor, so as to obtain an inertial navigation positioning point coordinate corresponding to relative displacement of the user; (e) judging if the user is moving at present; if it is, executing step (f); or, executing step (g); (f), performing the dynamic compensation for many times on the inertial navigation positioning point through the positioning point coordinate of the user in relative to the Bluetooth base stations; (g) alternating the inertial navigation positioning point through the positioning point coordinate of the user in relative to the Bluetooth base stations, and compensating the inertial navigation positioning point coordinate one time.

The invention relates to an automatic sanding and polishing device for an industrial robot, wherein the industrial robot is served as the core of the device; the device comprises the industrial robot, an automatic shifting fixture, a polishing machine, and a force control program; and the device can be used for sanding and polishing the parts having complex exteriors, and is especially suitable for processing faucet, ironware, blade, and the like. A method for automatically sanding and polishing by using the device comprises the following steps: the automatic shifting fixture arranged on the tail end of the industrial robot is used for holding the parts; adjusting the position and posture of the industrial robot according to different areas for sanding or polishing of the parts; contacting the areas for sanding or polishing with a sanding belt of the polishing machine and keeping a certain contact force; controlling the size of the contact force by a force control mechanism; after finishing programming the whole surface of parts, using the industrial robot to perform the reprogramming operation; and sanding or polishing the parts having same exteriors in batch.

The invention provides a train combined positioning method under a condition of a limited satellite signal. The method can revise bias of an inertial navigation system by using position information provided by a satellite navigation system under the condition of effective satellite positioning, combines train gesture information with output parameter of a wheel sensor, calculates to obtain three-dimensional speed under a navigation coordinate system and reserves information of satellite unlocking. Under the condition of satellite positioning failure, a wheel sensor/ inertial navigation systemis applied to combine and position; a wheel sensor is applied to revise the bias of the inertial navigation system, thus the train combination navigation system can provide positioning information with a certain precision. A high-precision digital track map is used for revising the bias of the train on the track vertical direction, thus the positioning precision of the train is guaranteed. The method can solve the positioning problem of the failure zone of the satellite signal, and carry out system independent switching under different satellite positioning conditions, thus the continuous, exact and reliable train position information can be acquired.

A method for locating partial discharge of electrical equipment is used for detecting and locating partial discharge of the electrical equipment. The technical scheme includes the steps: firstly, using three ultrasonic array sensors to receive partial discharge ultrasonic signals at different positions of the electrical equipment and forming an array model; then, converting broadband signals received by the three ultrasonic array sensors into narrow-band signals by applying a TLS (transport layer security)-based broadband focus algorithm, and obtaining azimuth information of partial discharge sources according to a narrow-band direction-finding algorithm combining the phase matching principle and cloud optimization search; and finally, determining specific positions of electrical equipment partial discharge by means of a partial discharge source location algorithm based on global optimization search of a modified genetic algorithm. The invention simultaneously provides an improved system for locating partial discharge. Compared with a traditional method for locating partial discharge, the method has the advantages of small calculation amount, high direction-finding precision, accuracy in location, high convergence rate and the like, and the system for locating partial discharge is simple in structure, low in cost and high in location precision.

The invention discloses an underground pipeline positioning method based on a CORS (continuous operational reference system). The method comprises the following steps of: I, establishing a CORS; II, collecting paper drawings: collecting the pipeline as-built drawings of all underground pipelines paved in an area to be positioned and the topographical map around each underground pipeline respectively; III, making an electronic map, wherein the making process comprises the steps of paper map electronization treatment, drawing scanning and pretreatment, raster image transfer, raster image orientation, image sector conversion, pipeline attribution information marking, edge matching treatment, projection conversion, data check, conversion into an embedded electronic map and the like; IV, transferring and visually displaying the electronic map; V, superposing the coordinate data of the electronic map; and VI, positioning the underground pipelines. The method disclosed by the invention is easy and convenient to use and operate, has a good using effect and high practical value, and can really realize accurate positioning of the underground pipelines and effectively solve the problems of inconvenience in positioning operation, relatively bad positioning effect and the like of the existing underground pipeline positioning method.

The invention discloses an indoor full-automatic BRDF (bidirectional reflectance distribution function) measurement device. The device comprises a support panel, a support platform is provided with a horizontal turntable, a sample table is mounted in a central through hole of the horizontal turntable, the horizontal turntable is equipped with a lens bracket on which a lens rotary arm is arranged,a lens rotary arm end is equipped with a spectrograph lens, an optical axis of the spectrograph lens always points to the centre of the sample table, the support platform is further equipped with an optical source guide rail on which an artificial optical source is arranged, the artificial optical source always points to the centre of the sample table. The BRDF measurement device can effectively improve the positioning precision, reduces the measurement period, and improves the optical source collimation and uniformity so as to effectively guarantee the measurement precision.

The invention relates to a precise self-centering chuck suitable for super-large workpieces. The precise self-centering chuck suitable for the super-large workpieces comprises a chuck body and a plurality of jack catch mechanisms arranged on the chuck body in a sliding mode. A jack catch driving mechanism is further arranged on the chuck body and comprises a numerical control moment motor, a plurality of transition gears, a plurality of double-enveloping speed reducers and a first gear. The inner circular surface and the outer circular surface of the first gear are provided with inner teeth and outer teeth correspondingly. The numerical control moment motor is provided with motor teeth. The multiple transition gears are all engaged with the motor teeth and the inner teeth of the first gear. The outer teeth of the first gear are engaged with second gears of the multiple double-enveloping speed reducers. The double-enveloping speed reducers drive the jack catch mechanisms to reciprocate to clamp or release the annular workpieces to be machined. The numerical control moment motor is used for sequentially driving the multiple transition gears and the double-enveloping speed reducers to rotate in a matched mode, so that the multiple jack catch mechanisms move inwards or outwards synchronously. The super-large annular workpieces are subjected to automatic centering clamping or releasing, and the clamping positioning accuracy is high.

The invention discloses a wireless indoor positioning method capable of automatically learning the distribution of the signal receiving intensity. The theory adopted by the method is that: a wireless signal propagation model and a parameter are taken as an initial distribution curve of the field intensity; in the operating process of a system, a mobile equipment continuously learns a distribution function of the field intensity by the received signal receiving intensity and an EM (expectation maximum) algorithm, and the exact distribution curve of the field intensity is obtained. After the new distribution curve of the field intensity is obtained, the position of the mobile equipment is estimated through adopting an MMSE (minimum mean square error) statistical estimation algorithm. The provided method is characterized in that: the tedious calibrating process of the wireless positioning system is avoided; when the system is changed, the recalibration can be automatically carried out; and the installation and the maintenance costs of the positioning system are greatly reduced. The positioning method is suitable for various indoor positioning systems using wireless signals, such as a wireless local area network, a wireless sensor network, a Bluetooth or mobile phone network, and the like.

The embodiment of the invention discloses a vehicle positioning method and device, equipment and a medium, and relates to the technical field of intelligent driving, and the method comprises the stepsof obtaining the inertial measurement data of a vehicle at a current moment, the wheel speed of the vehicle and a target image of an environment where the vehicle is located; calculating a predictedpose of the vehicle at the current moment by utilizing the inertia measurement data and the vehicle wheel speed; calling a high-precision map comprising the information of the current environment of the vehicle based on the predicted position coordinates in the predicted pose; and correcting the predicted pose by using the target image and the high-precision map to obtain a target pose of the vehicle at the current moment. According to the embodiment of the invention, low-cost sensor deployment can be realized, the vehicle positioning precision is improved, and the method can be applied to a relatively wide positioning environment.

The invention discloses a molding method for a composite material structural member with an I-shaped section. The composite material structural member is molded by taking a metal fake member and a molding mould to mould a glass fiber enhanced silicone rubber airbag and taking the airbag as a core mould to be combined with the molding mould. The molding method has the advantages that with the adoption of a silicone rubber airbag molded structural member, firstly, the wall of the airbag is thin, the heat transferring performance is good, the temperature gradient of the structural member and the edge is small, and the inner quality of the molded structural member is guaranteed; secondly, silicone rubber on the surface of the airbag is elastic so as to have the effect of a pressure equalizing cushion; the surface quality of a molded part is good; thirdly, the silicone rubber airbag is combined with a box-shaped structure of the airbag; meanwhile, the two ends of the I-shaped structural member are connected by the silicone rubber, the structural rigidity of the airbag is great and the molding position and the size precision of a web are guaranteed; fourthly, the airbag can be used repeatedly and can be manufactured conveniently again so that the production cost is reduced effectively; the whole molding method can uniformly apply a pressure to the web and an edge strip of the structural member and the pressure is equal to a tank pressure.

The invention relates to a WLAN (Wireless Local Area Network) indoor neighbourhood matching positioning method based on autocorrelation filtering, solving the problems that a location fingerprint database is dynamically changed and has poorer location dependence caused by reflection, refraction and diffraction of indoor complex signals as well as shielding of a human body and facilities in the traditional WLAN indoor neighbourhood matching positioning method. The method comprises the following steps of: firstly, marking reference points in an offline acquisition stage; secondly, acquiring thesignal strengths of different APs (Access Point) at each reference point; thirdly, in an offline correction stage, firstly judging whether a singular strength sample is existed in different strength fingerprint sample sets by utilizing the autocorrelation characteristic of a continuous strength signal; fourthly, saving the strength sample mean into the location fingerprint database; and fifthly, in an online positioning stage, estimating location coordinates of a positioning terminal. The method provided by the invention is applicable to WLAN indoor positioning.

The invention discloses an automatic bending production line for kitchen cabinet sheet metal parts. The automatic bending production line is composed of an automatic feeding machine, an automatic positioning machine, a side face edge rolling machine, a lower side bending machine, an upper side bending machine, a four-corner flanging machine, a lower end bending machine, an upper end bending machine, a first conveying machine, a second conveying machine and a control system; the automatic feeding machine, the automatic positioning machine, the side face edge rolling machine, the lower side bending machine, the upper side bending machine, the four-corner flanging machine and the lower end bending machine are horizontally arranged in the same axis, and the lower end bending machine and the upper end bending machine are arranged to be perpendicular to the automatic feeding machine, the automatic positioning machine, the side face edge rolling machine, the lower side bending machine, the upper side bending machine, the four-corner flanging machine and the lower end bending machine. Compared with the prior art, the automatic bending production line has the advantages that the automation functions of various bending technologies are achieved, automatic flexible regulation can be performed according to the size and shape changes, the machining precision and the machining speed are high, the stability is good, the problems that manual bending of the kitchen cabinet sheet metal parts is low in efficiency and poor in reliability are solved, and automatic bending of the kitchen cabinet sheet metal parts is achieved.

The invention discloses an automatic detection device for power lithium ion battery pole pieces and a detection method thereof. The automatic detection device comprises a multi-station turntable equipped with four fixed material boxes, and also comprises a loading mechanism, a visual detection mechanism and a material dropping mechanism which face toward the fixed material boxes. The detection method comprises a loading step, a detection step and a material dropping step. The automatic detection device and the detection method have the advantages of high detection efficiency, high reliability and unified product quality standards.

The invention discloses a vehicle integrated positioning method for advanced automatic driving V2X and single vehicle laser radar point cloud feature matching and integration. The method comprises thesteps: enabling an unmanned vehicle to obtain the surrounding environment information in real time through a laser radar, and carrying out feature matching with an existing high-precision map, thereby achieving the local positioning of the vehicle on a lane; positioning the vehicle between the vehicle and a roadside LTE signal base station through an LTEV2X vehicle networking technology and a wireless positioning technology; by fully fusing the two positioning modes, achieving more accurate vehicle-road cooperative positioning. The technical characteristics of laser radar high-precision map feature matching and positioning in single-vehicle intelligence and the advantages of vehicle-road wireless communication positioning are fully utilized, the positioning problem of the unmanned vehiclein a weak satellite signal coverage area can be effectively solved, and the purpose of advanced automatic driving is achieved.

The invention discloses a vehicle-mounted positioning method based on multi-source information fusion, and the method comprises the following steps: 1, respectively obtaining the navigation information from each system; 2, carrying out the time-space registration of the navigation information from different systems; 3, carrying out the local filtering; 4, carrying out the information fusion; 5, outputting positioning information after information fusion, carrying out the reconfiguration of a main filter and a subfilter through an information distribution principle, and then returning to step 1. The invention innovatively provides the vehicle-mounted positioning method based on multi-source information fusion, and the method achieves the fusion of the position information provided by different positioning systems, improves the system redundancy, enables the positioning systems to complement each other's advantages, improves the dynamic adaptability of the systems, enables the total system to obtain the precision which is better than the precision of the local systems, improves the vehicle-mounted positioning capability, and enables a land-based weapon launching system to have the long-time and large-range maneuvering capability.