6439results about How to "Guaranteed real-time" patented technology

The invention discloses a small target detection method based on feature fusion and depth learning, which solves the problems of poor detection accuracy and real-time performance for small targets. The implementation scheme is as follows: extracting high-resolution feature map through deeper and better network model of ResNet 101; extracting Five successively reduced low resolution feature maps from the auxiliary convolution layer to expand the scale of feature maps. Obtaining The multi-scale feature map by the feature pyramid network. In the structure of feature pyramid network, adopting deconvolution to fuse the feature map information of high-level semantic layer and the feature map information of shallow layer; performing Target prediction using feature maps with different scales and fusion characteristics; adopting A non-maximum value to suppress the scores of multiple predicted borders and categories, so as to obtain the border position and category information of the final target. The invention has the advantages of ensuring high precision of small target detection under the requirement of ensuring real-time detection, can quickly and accurately detect small targets in images, and can be used for real-time detection of targets in aerial photographs of unmanned aerial vehicles.

The invention belongs to the technical field of GNSS engineering safety, and relates to an anti-interference normal null widening method for a dynamic GNSS receiver. On the basis of a normal-distribution probability model, a null widening model of the dynamic GNSS receiver is provided. The model is linearized on the situation of small angle changing, and frequency spectrum gains formed before and after widening are compared by means of a Matlab simulation tool. By means of a power insertion algorithm, the relationship of an output SNR and an input INR is analyzed before and after widening, and ultimately engineering realizability of an algorithm is put forward through FPGA and DSP platform verification. As is shown by a result, widening null formed through the widening algorithm can effectively counteract interference sources changing within a certain range, the aim of preventing dynamic interferences is achieved and robustness of a self-adaptation algorithm is improved.

The invention discloses a transformer station inspection tour robot positioning navigation system and a method. Confidence obtained by a laser range finding module and a dead reckoning module is outputted to a map creation module and a pose resolving module; the map creation module creates a laser road sign map and a laser grid map which show a robot operation environment and are inputted into a map storage module for storage; the posture resolving module utilizes map data in the map storage module and output data of the dead reckoning module to perform real-time calculation on the current position and the posture of the robot and accesses the obtained posture data into a path planning module and a motion control module; the path planning module generates robot operation path data which is outputted to the motion control module; the motion control module generates motion control quantity according to the current position and posture data of the robot and the path planning data, and then is driven to execute by a motor. The transformer station inspection tour robot positioning navigation system realizes the accuracy positioning of the inspection tour robot in the transformer station.

The invention relates to an on-line management method for an engineering project. According to the on-line management method for the engineering project, based on a remote interaction platform, through data transmission and data processing between a budget end computer device, a plurality of contracting enterprise end computer devices, a plurality of evaluation end computer devices, an application end computer device, a plurality of submission end computer devices, a plurality of checking end computer devices and a server end computer system, on-line bidding and tendering and bid evaluation of the engineering project are achieved, and on-line evaluation and on-line making of an engineering project progress plan of a contracting enterprise of the engineering project, on-line tracking of engineering project progress completion conditions, response and management of engineering project progress abnormal conditions, on-line generation of an engineering project quality acceptance report form, one-line application for engineering project progress payment, and on-line generation of engineering project budget by material and labor cost analysis are achieved.

The invention provides a dynamic flow dispatch method and system based on a software definition network. The method comprises a step of carrying out deep analysis of flow through flow information uploaded by a switch, and classifying flow types by a flow identification and grading module according to priorities, a step of calling a statistic management module to obtain information of switch ports, calculating joint links of the switch, and sending information of the joint links to a topology management module, a step of calling the topology management module to obtain a feasible path for flow direction and calculating real-time sate statistic information of the feasible path, and a step of analyzing features of the joint links to calculate weight of the joint links in the overall selection, working out the optimal dispatch strategy based on the weight and giving out the optimal dispatch strategy. The invention can achieve the optimal real-time dispatch of network flow, so that flow is enabled to reach a destination in a fastest manner, and purposes of improving the bandwidth utilization rate and optimizing network performances are finally realized.

The invention discloses an IEEE 1588 time synchronization system. By adding a time-stamp processing module, a time-stamp message transceiving sub module, a time-stamp message resolving sub module, a time-stamp message generating sub module, a local time recording register, and an RTC correction / time read-write module in the module are used for combining peripheral components such as a switch module, a PHY and a real-time clock (RTC) module to form a hardware system. When in use, the high precision time synchronization requested by an IEEE 1588v2 protocol can be implemented by using the modes of one-to-one or one-to-many of master-slave synchronization. The invention also discloses a method for implementing the IEEE 1588 time synchronization, which can implement the function of the time synchronization system by processing the time information of master-slave devices in real time. The invention plays an active role in promoting Ethernet construction.

The invention discloses a positioning system of a mobile robot and a positioning method thereof. The positioning system comprises a base station. A dead reckoning positioning system comprises an angular rate sensor used for acquiring angle information of the mobile robot and a displacement sensor used for acquiring walking distance information of the mobile robot. An ultrasonic laser positioning system comprises an ultrasonic laser transmitting device arranged on the base station, an ultrasonic laser receiving device arranged on the mobile robot and an information processing system. The position coordinates of the mobile robot in the ultrasonic laser positioning system can be obtained through the information exchange between the ultrasonic laser transmitting device and the ultrasonic laser receiving device. A data fusion unit is used for the fusion of the angle information and the walking distance information in the dead reckoning positioning system as well as the fusion of two position coordinates in the dead reckoning positioning system and the ultrasonic laser positioning system. The elimination of accumulated errors in the dead reckoning positioning system is implemented by the ultrasonic laser positioning system through the data fusion unit.

The invention discloses a multi-vehicle coordinating lane changing control system and a multi-vehicle coordinating lane changing control method based on vehicle-vehicle communication, and belongs to the field of control over vehicles. The system comprises a sensing unit, a communication unit, a control unit and a human-computer interaction unit. The sensing unit is used for acquiring information of an own vehicle in real time, the communication unit is used for performing real-time interaction of information among vehicles, and the communication unit is used for making a decision of the coordinating lane changing feasibility and acquiring expected control quantities of the own vehicle and coordinating vehicles and realizing control over the vehicles. The method is based on the system, through collecting information of vehicles, i.e. the own vehicle, a front vehicle on an original lane, a front vehicle on a target lane and a behind vehicle on the target lane, motion statuses of the four vehicles having mutual effects are planned in a centralized manner in the lane changing process, and the own vehicle changes the lane smoothly through active coordinating among the four vehicles. By applying the multi-vehicle coordinating lane changing control system and the multi-vehicle coordinating lane changing control method based on the vehicle-vehicle communication, safety spaces among the vehicles can be fully used, the feasible lane changing chance is effectively increased, the lane changing safety is guaranteed, the driving comfort in the lane changing process is improved, and negative influences of lane changing behaviors on the upstream vehicles on the target lane are decreased.

The invention provides a method for inland river bridge zone shipborne sailing active collision prevention. The method comprises the steps of collecting hydrological information, meteorological information and ship information of nearby ships and the ship, automatically updating river map information on line, and performing data storage; forecasting tracks of the ship and other ships according to obtained track information of the ship and other ships by combination with the real-time hydrological information and the meteorological information, and obtaining track information of every ship; calculating the nearest meeting distance and the nearest meeting time of the ship and a target object according to the obtained track information; and giving collision accident pre-warning and active collision prevention suggestions according to the nearest meeting distance and the nearest meeting time of the ship and the target object. According to the method, by predicating ship sailing situations, the shortcoming that an existing ship assistance navigation device cannot accurately obtain the position of the target object, and the nearest meeting distance and the reaching of the nearest meeting distance cannot be pre-judged more accurately is overcome.

The invention provides a video conference multi-party access method and equipment. A terminal establishes network connection with an articulated naturality web server, and comprises an acquisition module, an encoding module, a terminal sending module, a terminal receiving module and a terminal display module, wherein the acquisition module is used for acquiring video signals and / or audio signals in a video conference process; the encoding module is used for encoding the acquired video signals and / or audio signals to obtain source signals which satisfy a unified code rate; the terminal sending module is used for sending the source signals to the articulated naturality web server; the terminal receiving module is used for receiving network flows sent by the articulated naturality web server; and the terminal display module is used for converting the received network flows to videos and / or audios and displaying the videos and / or audios on a screen. According to the video conference multi-party access method and equipment provided by the embodiment of the invention, the display real-time performance of multiple terminal sides which participate in a video conference can be guaranteed.

The invention discloses a back sight image cognition based on-vehicle blind area early warning system and a method, wherein the system is composed of cameras (1 and 2) mounted on a rearview mirror to monitor the blind area, a digital signal processor (DSP), a sound prompting device, a power source and a plurality of data cables. The system reads the automobile travelling signal through the data cables, acquires the road surface image of the blind area (4 and 5) by adopting the rearview cameras, the processor processes the image, detects the automobile (3) in the blind area, analyzes the travelling state of the automobile, and realizes the multi-stage tracking for the automobile, when the driver intends to switch lanes, if another automobile in the blind area is not far from the automobile, then the driver is warned by the sound prompting device, so that the danger of collision during switching lanes is avoided. The back sight image cognition based on-vehicle blind area early warning system and the method are applied to the active safety driving, and has the advantages of simple system configuration, low cost, high safety performance, good real-time performance and complex environment adaptability.

The invention relates to the technical field of network communications, in particular to a cluster communication system and method for improving message transfer performances. The system comprises a message release end, a message server cluster containing a plurality of message servers, a message subscribing end and a distributed coordination service cluster. The cluster communication system and method for improving message transfer performances have a global single point-free clustering expandable distributed design; if one or more nodes of the message release end or subscribing end have a fault, other nodes in the same group can continue to send or receive messages, and a processing flow of the messages is not interrupted; by adopting an index-based distributed file storage solution, the defects of the existing DB and file storage are effectively avoided, so that the read and write efficiency of the messages is higher; and by using a long poll PULL message transfer manner, the throughput is ensured while the message instantaneity is ensured.

The invention relates the auto sorting faulty goods method on the high-speed automatic production line and unit. The method comprises the following steps: sorting faulty goods system receiving the sorting signal, starting the freedom degree linked conveying device 3, then positioning the mechanical arm connected with 3 on the faulty goods, the mechanical arm keeping the same speed with conveyer belt, gripping the faulty goods, lifting it and releasing it to appointed position. The unit comprises electrical control and mechanical part. The mechanical part comprises 3 and mechanical arm which comprises arm and hand. In the center of the mechanical hand there is camera, and the electrical control is connected with 3 and mechanical arm. The invention possesses high accuracy, low cost, good versatility, and no environmental pollution.

The invention discloses a wireless resource and cloud resource combined distribution method in an MEC. The method comprises that (1) a terminal in the MEC initiates a task uninstalling request, and a task uninstalling cost function of the terminal is established; (2) different access points in the heterogeneous network obtains the task uninstalling cost functions of different terminals in a coverage area, and sends the task uninstalling requests of the terminals and channel information of the network to cloudlets; (3) the cloudlets distribute wireless and cloud resources in a combined manner on the basis of a cooperative game, obtains a Nash equilibrium solution via KKT conditions, and sends the Nash equilibrium solution to the terminals; (4) each terminal requests the cloudlets and the access points for computing and wireless resources according to the Nash equilibrium solution; and (5) the cloudlets and the access points distribute the computing and wireless resources according to the request of the terminal. On the basis of the cooperative game, limited computing resources in the cloudlets are utilized fully, the instantaneity of the tasks of the terminals is ensured while minimizing task uninstalling cost of all the terminals is taken as the objective, and the task uninstalling requirements of the different mobile terminals are met.

The invention discloses a multi-DSP and multi-FPGA parallel processing system which comprises FPGAs, DSPs, ADs, a DA, DDR3s and power supply chips. An implement method of the multi-DSP and multi-FPGA parallel processing system includes the following five steps: (1) achieving PCIe interconnection between the FPGAs, (2) achieving PCIe interconnection between the FPGAs and the DSPs, (3) achieving SRIO interconnection between the FPGAs, (4) achieving SRIO interconnection between the FPGAs and the DSPs, and (5) achieving Hyperlink interconnection between the DSPs. The multi-DSP and multi-FPGA parallel processing system is high in parallel processing capacity, abundant in function and high in flexibility and extensibility, data transmission bottlenecks between processor chips are broken, and the multi-DSP and multi-FPGA parallel processing system is high in transportability and have the good practical value in the digital signal processing field.

The invention discloses an embedded real-time emulation and fault simulation system based on multiple data buses, comprising upper computer simulation management software and an embedded real-time emulation and fault simulation device. The upper computer simulation management software guides the user to perform emulation configuration and fault setting aiming at a fault-tolerant control system to be tested through a human-computer interface, and generates fault emulation data of multiple redundancy equipment. The embedded real-time emulation and fault simulation device outputs the fault emulation data in real-time and synchronously through the multiple data buses, simulates the fault of the multiple redundancy equipment and outputs the fault data stream. The upper computer and a lower computer communicate mutually through an Ethernet to achieve the downloading of the information configuration, the fault emulation data and the emulation control command of the upper computer, and the uploading of the working condition of the lower computer. The invention overcomes the defects of poor universality and lower synchronous precision of the traditional multiple equipment fault simulation device based on the emulation, and is suitable for the test and the verification of the different redundancy fault-tolerant designs of the complex spacecraft system with numerous equipment and frequent data exchange.

The invention provides a method for detecting and tracking vehicles through processing a video image of a traffic scene, comprising the following steps of: collecting images of the traffic scene; deblocking a traffic image according to 8 multiplied by 8 pixels; initiating and continuously updating a background image; setting a virtual detection line with a width of 8 pixels vertical to a direction of a traffic lane at the entrance of the traffic lane; detecting the vehicles through calculating the variation of a gray scale of blocks on the virtual detection line relative to the background image; labeling the blocks belonging to the regions of the vehicles by using a sequence that the vehicles reach the detection line; receiving initial positions of labels of the vehicles; calculating motion vectors of the vehicles by combining a three-step method and a full search method and constantly updating the positions of the labels of the vehicles by using the motion vectors so as to implement the tracking of vehicles. The method also performs detection and splitting against an occlusion occurrence between vehicles in a complicated traffic scene, thereby having the advantages of high accuracy of detection and tracking and good real-time performance.

The invention relates to the technical field of information, in particular to a method for recommending information. The method comprises the steps that the feature information, corresponding to an access request, of a current user is extracted when the access request is received, and whether the current user is a new user or not is determined according to the feature information; when the current user is the new user, and hot spots are recommended to the current user according to the historical access record of the current user and the click rate rank; when the current user is an old user, the pre-stored user information and item information are clustered to generate a user cluster; in the user cluster, a first recommending list based on item contents is generated, and a second recommending list based on user-item network collaborative filtering is generated; a mixed recommending list is generated according to the first recommending list and the second recommending list; the information is recommended to the current user according to the mixed recommending list. The real-time performance, accuracy and relevance of the recommending information formed through the information recommending method are improved, and information can be effectively recommended for the user.

The invention discloses an indoor robot SLAM method. The method comprises the following steps: obtaining image data through a camera, wherein the image data comprises RGB images and depth images; using a corner detection algorithm, an LK characteristic point tracing algorithm, and a RANSAC algorithm to process the RGB images and depth images to adjust the position and angle of the camera so as to obtain the RGB image data information under a robot operation system; converting the depth images in a world coordinate system to a ground coordinate, traversing the depth images that are projected on the ground coordinate, setting the gray value of the grid where a barrier stays as a first characteristic value, carrying out traversing to obtain a 2D barrier grid map; through a single line laser radar scanning mode, searching the 2D barrier grid map, when the grid with a grey value equal to the first characteristic value is found, feeding back the distance between the grid and the camera to obtain the distance between a robot and the barrier, obtaining the depth images under a robot operation system, and obtaining an environment 2D map.

The invention relates to a trajectory tracking control method and a control device for a driverless vehicle. The control method comprises that error of present driving trajectory and a reference trajectory of a vehicle is calculated by a data preprocessor, a target performance indicator function which is corresponding to the present driving model is obtained simultaneously; an upper layer controller predicts driving states of the vehicle over a period of time through a vehicle dynamics model; transition switch is conducted to function parameters according to switching control algorithm, and a performance indicator function at present sampling time is obtained; optimal controlled quantity of present time is calculated by considering performance requirement constraint conditions at the same time according to predicted driving states and the performance indicator function; a lower layer controller calculates throttle opening, braking pedal pressure and steering wheel turning angle according to the optimal controlled quantity; and the control device comprises the data preprocessor, the upper layer controller and the lower layer controller. Compared with the prior art, the trajectory tracking control method and the control device for the driverless vehicle have the advantages of being good in control effect, high in practicability, capable of improving stability and safety of vehicles and the like.

The invention provides a real-time monitoring system for a software system. The monitoring system is configured in a software system server and used for collecting log information generated by operation of the software system. The monitoring system comprises a log collecting module, an information system, a streaming type computing platform, a data storage module, an alarm module and a configuration management module. The log collecting module is used for screening and processing generated logs in real time and transmitting the logs selected to be monitored and alarmed to the information system; the information system is used for receiving the monitored logs transmitted by the log collecting module, and transmitting the logs needing to be monitored and alarmed to the streaming type computing platform according to a route rule; the streaming type computing platform is used for processing the logs one by one in a streaming data processing mode, and judging whether to need to record, alarm or notify the abnormal alarm situation to a related principal of the system according to log alarm levels; the data storage module is used for processing data information generated in the real-time monitoring process persistently and namely storing the data information into a database or a file system.

The invention discloses a method for safety communication of ECUs (Electronic Control Unit) in a CAN (controller area network) bus, which comprises the steps that: 1, a system model is established; 2, an GECU (Gateway Electronic Control Unit) loads a session key into a safety storage of the GECU; 3, the GECU carries out session key distribution on each ECU in the CAN bus; 4, a receiver ECUr carries out authentication on an encrypted data frame sent by a sender ECUs; 5, the GECU updates an encryption key and an authentication key which are used for communication, wherein update is mainly divided into two stages of in-vehicle ECU key update and key update when a connection of external equipment is released; and 6, when a vehicle is connected with the external equipment, designing an additional authentication and key distribution method so as to ensure legality of the accessed external equipment. According to the method disclosed by the invention, calculation cost can be obviously reduced, and a load of the CAN bus is reduced; and optimization is carried out for a key distribution protocol in the in-vehicle CAN bus, a key update problem generated when the external equipment is connected and released is considered, a counter is used for generating a random number to change a parameter for key generation, and a relay attack is effectively prevented.

The invention provides a message pushing achieving method. The method comprises the steps that long connection is established between a forward proxy server module on a mobile terminal and a server, interactive information between applications on the mobile terminal and the server is transmitted through the long connection by the forward proxy server module, multiple applications are included in the mobile terminal, and the applications reuse the same long connection. The invention further provides a message pushing achieving system and the mobile terminal. The message pushing achieving method, the mobile terminal and the messaging pushing system can save traffic quantity and electricity quantity for the mobile terminal.

The invention discloses a DSP (Digital Signal Processor)-based quad-rotor unmanned aerial vehicle autonomous hover control system and method. The control system is provided with four screw propellers and control units which are arranged on four airfoils respectively; and each control unit is that a master control unit is connected to a ground computer through a wireless network, and a receiver is connected with a signal conversion module and a manual / automatic switching chip in sequence, transmits a received signal transmitted by a remote controller into the manual / automatic switching chip through the signal conversion module, is also connected with the manual / automatic switching chip through the master control unit and is used for transmitting the received signal to the manual / automatic switching chip through the master control unit for controlling driving units to drive direct current brushless motors on the four screw propellers to work. According to the method, kalman filtering processing is performed on sonar data to obtain accurate height data and driver control. According to the system and the method, the autonomous flight capacity of a micro quad-rotor unmanned aerial vehicle and the adaptability to the environment can be effectively enhanced, and the autonomous flight control under indoor environments and outdoor environments can be finished.

The invention relates to an on-line management method for engineering project bidding, tendering and bid evaluation. According to the method, based on a remote interaction platform, through data transmission and data processing between a contracting enterprise end computer device, a checking end computer device and a server end computer system, and through the steps of applying for contracting enterprise registration, applying for the bidding, setting a bidding marking sheet, uploading tendering documents, calculating a total bid evaluation score according to marking standards of the bidding marking sheet, generating a bid evaluation report and a pre-determining report form and sending a bid-winning notice to a bid-winning contracting enterprise, on-line management for the engineering project bidding, tendering and bid evaluation is achieved, and effective support is supplied to bidding and tendering work of large-scale enterprises.

The invention relates to a full-autonomous flight control method for an unmanned aerial vehicle, provides a quadrotor unmanned aerial vehicle vision control system based on an embedded framework, and discloses a full-autonomous flight control method for a quadrotor unmanned aerial vehicle based on vision SLAM. The functions of autonomous locating and flight control of the unmanned aerial vehicle without relaying on any environment information under the environment without GPS signals are achieved. According to the technical scheme, the full-autonomous flight control method for the quadrotor unmanned aerial vehicle based on vision SLAM comprises the following steps that a camera arranged at the bottom of the quadrotor unmanned aerial vehicle is used for collecting image information, an integrated inertial navigation unit is used for obtaining the attitude angle and accelerated speed information of the unmanned aerial vehicle, the image information and the attitude angle and accelerated speed information are used for being input, and an improved vision SLAM algorithm is operated to obtain the three-dimensional position and the attitude information of the quadrotor unmanned aerial vehicle; vision position information and three-dimensional accelerated speed provided by the inertial navigation unit are fused by adopting an expansion Kalman filtering device, a PID controller is designed, and full-autonomous flight control over the quadrotor unmanned aerial vehicle is achieved. The method is mainly applied to full-autonomous flight control over the unmanned aerial vehicle.

An apparatus comprising a first circuit, a second circuit and an output circuit. The first circuit may be configured to generate (i) one of a first set of entropy coded input signals or a second set of entropy coded input signals and (ii) a data path signal. The second circuit may be configured to generate (i) a first set of entropy encoded output signals in response to decoding the second set of entropy coded input signals, or (ii) a second set of entropy coded output signals in response to decoding the first set of entropy coded input signals. The second circuit may provide real time decoding and encoding on a macroblock basis. The output circuit may be configured to present an output signal in response to (i) one of the first set of entropy coded output signals or the second set of entropy coded output signals and (ii) the data path signal.

The embodiment of the invention discloses a configuration file management method and system, and the method comprises the steps: building the communication connection between a node in a zookeeper cluster and a client; analyzing a generated configuration file updating instruction, so as to determine that the node, corresponding to the configuration file updating instruction, in the zookeeper cluster as a target node; storing the new configuration file in the target node, and making the backup of the new configuration file in a configuration file database; updating the configuration file of the client connected with the target node after the configuration file stored in the target node changes; obtaining a historical configuration file version corresponding to the target node from the configuration file database after the fault information fed back by the client connected with the target node is received, so as to update the target node and update the configuration file database. According to the embodiment of the invention, the method carries out the synchronization and version management of a configuration file in a distributed system.

The invention provides a message filtration method and a system and equipment thereof; DPI proxy servers which are arranged at the user side of the access network identify the service type and / or content of the received data message and then DPI filtration is implemented on the data message according to the set DPI filtration strategy and the identified service type and / or content. By adopting the mode, the DPI proxy servers can be distributed at the user side of the access network and the received data messages are only the messages transmitted by the user equipment of the corresponding user network; compared with the DPI servers which are arranged at the boundary of the core network and the access network, the data message flow which needs to be processed is reduced; therefore, the real-time deep packet inspection on the data message can be guaranteed.

The invention provides a dynamic self-adapting method for the connection of a Web RTC (Real Time Communication) client, belonging to the technical fields of a Web RTC, an HTML (Hypertext Markup Language) 5 web Socket and the like. An entity related by the method comprises a Web RTC client, a browser and a real-time communication server, wherein the Web RTC client can support three connecting ways, including an HTTP (Hyper Text Transport Protocol) polling, an HTTP long connection and a Web Socket, and the HTTP long connection comprises an HTTP stream; according to the method, the connecting way with lowest delay of the HTTP polling, the HTTP long connection and the Web Socket can be optimally selected, and the Web RTC client and the real-time communication server are connected by using the connecting way with the lowest delay. Under the premise of guaranteeing timeliness, the communication delay can be reduced, the functions of the client can be enhanced, and the intelligence of the client can be improved.