69results about How to "High degree of autonomy" patented technology

The invention provides a SINS/GPS/polarized light combination navigation system modeling and a dynamic pedestal initial aligning method, which relates to the dynamic pedestal initial aligning method for vehicle, ship and aviation aircraft. The invention concretely comprises the following steps: (1) establishing a SINS error equation as an initial aligning state equation; (2) according to a polarization azimuth, a GPS outputted speed and a position, establishing an initial aligning measurement equation base on the polarization azimuth error, a speed error and a position error; (3) estimating an attitude error, a speed error and a position error using a Kalman filtering; (4) correcting the feedbacks of the attitude, the speed and the position of SINS. The SINS outputs the attitude, the speed and the position information of the carrier to users. The invention has the advantages of high precision, small computational complexity and good anti-interference capability, and is used for improving the aligning precisions of vehicle, ship and aviation aircraft, with reduced initial aligning time.

The method includes steps: parsing object to be tested, picking up tested information from the object tested; displaying the picked test information, receiving test information input from user; generating test case based on the picked test information and the inputted test information; combining the test case and object to be tested creates testing target codes; running the testing target codes implements test for robustness of software product. The invention also related to device for testing robustness of software product. The invention can realizes automatic generation and automatic extraction for test information of tested object.

A coil discharging device of coiling equipment comprises inflation type coiling shafts. A bearing is arranged at the right end of each coiling shaft in a sleeved manner. An annular groove is further formed in the outer surface of the outer ring of each bearing. A clamp strip can be rotationally installed on a coiling shaft support on the right side. An annular flange is further formed at the right end of each coiling shaft. A transverse guide rail extending transversely is further arranged on the right side of a coiling shaft support located on the right side. A core pulling trolley can be transversely and movably installed on the transverse guide rail. Two tongs blocks which are matched pairwise are installed on the left side face of the core pulling trolley. A longitudinal guide rail extending longitudinally is further arranged below the coiling shafts. A carrying trolley capable of carrying film coils is installed on the longitudinal guide rail. A left shaft supporting rolling wheel capable of supporting the coiling shaft is arranged under the left end of the coiling shaft. A right shaft supporting rolling wheel capable of supporting the coiling shaft is further arranged under the right end of the coiling shaft. The invention further provides a coil discharging method of the coiling equipment. By the adoption of the coil discharging device and method of the coiling equipment, the coil discharging procedure can be automatically completed, and the automation degree is high.

The invention discloses a camera and robot hand-eye calibration method based on an ROS. According to the camera and robot hand-eye calibration method based on the ROS, through setting up of a visual system, a mechanical arm and an operation object of the mechanical arm are within the view field of the camera; then, communication mechanisms between the camera and the ROS and between the mechanicalarm and the ROS are established, on one hand, motion control over the mechanical arm is achieved, on the other hand, the images of the camera and the state of the mechanical arm are obtained, and datacollection is conducted; calibration of internal reference and external reference of the camera is conducted, and parameters of the camera are obtained; and finally, according to different installation manners of the camera, hand-eye calibration of the camera and the mechanical arm is conducted, and a hand-eye calibration matrix is obtained. By the adoption of the camera and robot hand-eye calibration method based on the ROS, automatic hand-eye calibration of the camera and the mechanical arm is achieved, manual intervention is reduced, terminal commands are just called twice in the whole calibration process, the autonomous degree is high, the limitation of the type and number of the camera is avoided, the limitation of the type of mechanical arm is avoided, the expandability is high, itis just needed to print a piece of A4 checkerboard paper in the calibration process, no mark is needed, and the camera and robot hand-eye calibration method based on the ROS is convenient to perform and practical.

The invention relates to an Arduino based carrying robot with the image recognizing function. The Arduino based carrying robot with the image recognizing function has the technical characteristics of autonomously sensing and autonomously, and being small in size, low in cost, and simple in structure. According to the technical scheme, the Arduino based carrying robot with the image recognizing function is characterized by comprising a frame, a manipulator mounted on the top part of the frame, a visual sensor module mounted on the manipulator, a moving device mounted at the bottom part of the frame, a tracking device mounted at the bottom part of the frame, and an Arduino control system mounted on the frame, wherein the manipulator, the visual sensor module, the tracking and the moving device are electrically connected to the Arduino control system and are controlled by the Arduino control system.

The invention provides a power transformer vibration monitoring system based on a wireless sensor network, which comprises a sensor monitoring device, a data receiving device and a power transformer vibration monitoring center, which are connected sequentially; the sensor monitoring device is used for collecting vibration data at each detection point on the surface of the transformer; the data receiving device is used for receiving vibration data transmitted by the sensor monitoring device and transmitting the vibration data to the power transformer vibration monitoring center. According to the system in the invention, real-time monitoring of vibration of the power transformer is realized.

The invention relates to a UKF (unscented Kalman filter) alignment method for an inertia/polarized light integrated navigation system under a large misalignment angle. According to the method, the state vectors of the initial alignment of the inertia/polarized light integrated navigation system are selected to build the nonlinear error state equation of the inertia/polarized light integrated navigation system under the large misalignment angle; a solar vector is calculated according to a polarization azimuth angle measured by a polarized light sensor, and a polarized light nonlinear measurement equation is established; a speed error measurement equation is established according to the speed output of an inertial navigation system; the unified nonlinear measurement equation of the inertia/polarized light integrated navigation system is established by using an augmentation technology; the nonlinear equation of the inertia/polarized light integrated navigation system is discretized; an unscented Kalman filter is designed to estimate the error states such as misalignment angle, speed error, gyroscopic drift and accelerometer constant bias of the inertia/polarized light integrated navigation system; feedback correction is carried out on the attitude and speed of the inertia/polarized light integrated navigation system, and the initial alignment estimation precision and speed of theinertia/polarized light integrated navigation system under the large misalignment angle are improved. The method has the advantages of high precision, high speed and high autonomy.

The invention relates to an EKF (extended Kalman filter)-based alignment method for an inertia/polarized light integrated navigation system under a large misalignment angle. According to the method, the state vectors of the initial alignment of the inertia/polarized light integrated navigation system are selected to build the nonlinear error state equation of the inertia/polarized light integratednavigation system under the large misalignment angle; a solar vector is calculated according to a polarization azimuth angle measured by a polarized light sensor, and a polarized light nonlinear measurement equation is established; a speed error measurement equation is established according to the speed output of an inertial navigation system; the unified nonlinear measurement equation of the inertia/polarized light integrated navigation system is established by using an augmentation technology; the nonlinear equation of the inertia/polarized light integrated navigation system is discretized;an extended Kalman filter is designed to estimate the error states such as misalignment angle, speed error, gyroscopic drift and accelerometer constant bias of the inertia/polarized light integratednavigation system; feedback correction is carried out on the attitude and speed of the inertia/polarized light integrated navigation system, and the initial alignment estimation precision and speed ofthe inertia/polarized light integrated navigation system under the large misalignment angle are improved. The method has the advantages of high precision, high speed and high autonomy.

A pet feeder comprises a box, a storage barrel, a tray, a seal plate, a control unit, a conveying pipe and a trough; the storage barrel is used for accommodating feed and disposed on the box, with a discharge opening facing the box; the tray is disposed between the storage barrel and the box; the seal plate driven by a motor is disposed between the tray and the conveying pipe and driven by the motor to move along a guide rail; the control unit controls the motor to run according to input information of keys of a human-machine interface; the conveying pipe is disposed within the box and is isolated from the storage barrel through the seal plate; the trough is disposed at one end, opposite to the seal plate, of the conveying pipe outside the box. With the storage barrel for storing the feed, the trough connected with the conveying pipe and the seal plate driven by the motor and disposed between the storage barrel and the conveying pipe, the pet feeder allows pets to be normally fed by regularly and quantitatively feeding the pets and is high in automation level and simple to operate.

The invention belongs to the technical field of transport devices and discloses a rope delivery device. The rope delivery device comprises a rope fixing rod, a fixing clamping seat and a clamping seat controller. The fixing clamping seat fixes the rope fixing rod to the fixing clamping seat through a locking mechanism. The clamping seat controller controls the locking mechanism to be opened or closed and controls the rope fixing rod to be released or locked. The locking mechanism comprises an electric control mechanical claw and a claw groove matched with the electric control mechanical claw. The electric control mechanical claw is fixed to the fixing clamping seat. The claw groove is formed in the rope fixing rod. Under the condition of locking operation of the rope fixing rod, the claw groove is tightly hooked by the front end of the electric control mechanical claw. Under the condition that releasing operation of the rope fixing rod is executed, the electric control mechanical claw is driven by the clamping seat controller to act, and the front end of the claw is separated from the claw groove. By the adoption of the rope delivery device, an efficient rope delivery mode is provided, and the rope delivery device is safe and convenient and quick to use.

The invention relates to the technical field of AUV path optimization, and provides an AUV energy optimization path searching method based on distance evolution N-PSO. The AUV energy optimization pathsearching method comprises the steps of: firstly, constructing an underwater environment model and an AUV two-dimensional motion model; secondly, generating an initial path of particles in a particleswarm randomly based on N-PSO, updating a global optimal solution and an individual optimal solution according to a particle penalty function value in the k-th iteration, and constructing a distanceevolution factor and an evaluation state Evo_statek according to the average distance among the particles; when Evo_statek is equal to 1, outputting an energy optimal path and its energy consumption value if k>=K, otherwise, updating a particle velocity and particle positions and carrying out next iteration; and when Evo_statek is not equal to 1, randomly perturbing the particles and updating a global optimal solution and an individual optimal solution when penalty function values of the particles become smaller or iter>=ITER after perturbation, otherwise, carrying out next iteration. The AUVenergy optimization path searching method can optimize the AUV path from the perspective of energy optimization, and has the advantages of high optimization efficiency, good robustness, more stable optimization result and easy implementation.

A detachable medicine box comprises a hanging frame and a medicine box body, electromagnets are fixedly installed at the four corners of the bottom of the hanging frame through connecting pieces, a pair of traction horn sleeves are further fixedly installed at the bottom of the hanging frame, rotating sleeves matched with the traction horn sleeves are further arranged on the medicine box body, andspraying heads are arranged on the two sides of the medicine box body; an ejector rod and hanging buckles are fixedly installed in the traction horn sleeve respectively, matched hanging buckle grooves are formed in the inner sides of the hanging buckles, an annular area formed by the four hanging buckles is used for allowing a rotating sleeve to enter and exit, a pair of matched ejector rods arearranged on the rotating sleeve, and pointed ejector teeth are arranged at the upper ends and the lower ends of the matched ejector rods and the supporting rod is fixedly installed on medicine box. Automatic loading and unloading of the medicine box can be completed without manual lifting, the automation degree of the plant protection unmanned aerial vehicle is improved while the labor burden is relieved, the activity range of workers is widened, and then the working efficiency is improved.

The invention relates to an underwater equipment autonomous folding and unfolding system for an unmanned ship. The underwater equipment autonomous folding and unfolding system comprises an unmanned ship folding and unfolding control system, a servo execution system, an execution feedback system, a shore-based remote control system and a wireless data transmission module. The unmanned ship folding and unfolding control system, the servo execution system and the execution feedback system are installed on an unmanned ship platform body and are mutually connected and communicated with one another through data lines. The unmanned ship folding and unfolding control system achieves communication link with the shore-based remote control system through the wireless data transmission module. The invention adopts single-chip microcomputer control, is simple and practical, is low in additional cost, and can meet requirements for practical application. In real control of the unmanned ship, only simple state data addition is required. Meanwhile, the data size is small, and occupation of too many software resources is prevented. The achievement of unmanned ship underwater equipment autonomous folding and unfolding can improve the autonomation degree of the unmanned ship to a greater extent.

The invention discloses an integrated multi-axis synchronous motion control system and a synchronous control method. The control system comprises a feedback sampling module and an active module; the feedback sampling module is used for sampling the running current and the running position of a multi-axis servo motor; the main control module comprises an SoC system; and the SoC system receives a sampling result of the feedback sampling module and is used for feedback position detection and calculation and feedback current detection and calculation of the multi-axis servo motor, and achieving multi-axis synchronous current loop control, multi-axis time sequence synchronous scheduling and multi-axis response synchronous control. With the integrated multi-axis synchronous motion control system and the synchronous control method of the invention, the problems that an existing multi-axis synchronous motion control method is poor in synchronization performance, high in cost, low in autonomy degree of a core technology, poor in non-whole-process time sequence-level synchronization and response-level synchronization, seriously affected in system stability, low in universality, complex in calculation and the like can be solved.

A Personal Identity Verification System for verifying the identity of an individual (600) carrying a wireless mobile communications device (400) is proposed, comprising image data of an area of the individual's body, said image data being stored in the wireless mobile communications device (400), at least one image capture device (100) configured to capture visual data of an area of the individual's body and at least one wireless communications module (200) configured to receive the image data from the wireless mobile communications device (400). Further, an electronic circuit (300) is provided that is configured to compare the visual data with the image data and to generate positive verification information when the visual data and the image data are established to be similar within a similarity-tolerance.

Systems and methods of the present disclosure provide a control solution for a robotic actuator. The actuator can have one or two degrees of freedom of control, and can connect with a platform using an arm. The arm can have at least two degrees of freedom of control, and the platform can have at least two degrees of freedom of control. The platform can be subjected to unpredictable forces requiring a control response. The control solution can be generated using operational space control, using the degrees of freedom of the arm, platform, and actuator.

A Personal Identity Verification System for verifying the identity of an individual (600) carrying a wireless mobile communications device (400) is proposed, comprising image data of an area of the individual's body, said image data being stored in the wireless mobile communications device (400), at least one image capture device (100) configured to capture visual data of an area of the individual's body and at least one wireless communications module (200) configured to receive the image data from the wireless mobile communications device (400). Further, an electronic circuit (300) is provided that is configured to compare the visual data with the image data and to generate positive verification information when the visual data and the image data are established to be similar within a similarity-tolerance.

The invention discloses an automatic weighing device for fruit and vegetable vending and pre-packaging production. The automatic weighing device comprises a workbench, belt pulley bodies and a fixingplate, the left end and the right end of the upper part of the workbench are connected with supporting plates in a welded mold, the inner sides of the supporting plates are in bearing connection withbelt pulley shafts, and the belt pulley bodies are welded to the outer sides of the belt pulley shafts. The rear ends of the belt pulley shafts are connected with the output end of a driving motor, the driving motor is fixed to the rear sides of the supporting plates through bolts, a steel plate conveying belt is arranged on the outer side of the belt wheel bodies in an attached mode, a mounting plate is fixed to the outer side of the steel plate conveying belt through bolts, and a side baffle is welded to the end of the mounting plate. According to the automatic weighing device for fruit andvegetable vending and pre-packaging production, fruits and vegetables are automatically conveyed to an automatic weighing mechanism area through an automatic conveying mechanism and then fall into theautomatic weighing mechanism area from the position between two bottom baffles which are symmetrically arranged and increase the distance, fruit and vegetable single bodies are merely weighed, and the weighing precision is higher.

The invention discloses a low-cost interception system for low-altitude low-speed small targets and an interception method. The interception system is composed of a vehicle-mounted multiple launchingsystem, a multi-target detection and position indication radar, a data transmission ground end, a ground command and control system and interceptor missiles. The interception method comprises the steps of target detection and position indication, task allocation and interceptor missile launching, interceptor missile initial guidance, interceptor missile task route updating and middle guidance, automatic target acquisition by an interceptor missile image seeker and terminal guidance, interceptor missile fuse action and warhead detonation for target damage. According to the system and the method, the multiple interception targets can be subjected to detection and position indication through the multi-target detection and position indication radar, and the interceptor missile is electricallydriven, can fold and unfold airfoils, and is carried on a strapdown image seeker and a navigation and flight control system, so that the interception cost can be greatly reduced under the condition that the interception precision is guaranteed; and meanwhile, due to the fact that the flying distance of the interceptor missile is long, and the air route middle guidance is adopted, the coming targets can be intercepted at a long distance.