1390results about How to "Implement tracking" patented technology

The invention discloses an intelligent control method of a driverless vehicle tracking a desired trajectory. The method is characterized by comprising the following steps of: establishing a body coordinate system, and determining the position information of the vehicle; calculating a membership degree function of a road curvature characteristic according to a radian value, and defining a fuzzy rule to calculate a decision output speed; according to the distance the vehicle runs for 1.5-2.5 seconds, searching for the trajectory points larger than the distance and closest to the vehicle in the coordinate sequence of the desired trajectory; calculating the moving curvature of the vehicle according to an adaptive proportion-differential-integral control algorithm formula; and finally judging whether the target point of the current control cycle is the last point selected from the road point sequence; if so, outputting a signal to a brake servo control system to start the brake to slow down the vehicle; otherwise, outputting a voltage signal by a controller local area network module to keep and control the accelerator opening so that the vehicle continues proceeding. Through adoption of the intelligent control method, the driverless vehicle can realize a function of tracking the desired trajectory, and has certain adaptability to the change of the road curvature characteristic.

The invention provides an autonomous underwater vehicle (AUV) three-dimensional straight path tracking control method with PID (Piping and Instruments Diagram) feedback gain. The method comprises the following steps of: step 1, initializing; step 2, calculating a relative position deviation between an AUV and a virtual guide point on a desired track under a Serret-Frenet coordinate system through an AUV three-dimensional track tracking error equation; step 3, calculating a virtual controlling quantity of movement speed, a trim angle and a yawing angle of the virtual guide point on the desired track through adopting a backstepping method based on the feedback gain; step 4, calculating a virtual controlling quantity of trim angle speed and yawing angle speed of the AUV; and step 5, deducing an under-actuated AUV three-dimensional path tracking dynamics control law comprising control signals of propeller thrust, a trim control moment and a yawing control moment, and realizing under-actuated AUV three-dimensional straight path tracking control. The method can be used for realizing tracking control on a track point and a straight path track of an AUV three-dimensional space.

The invention discloses a coal mine underground integrated monitoring and controlling system which mainly comprises a sensing and detection device, a security information network and communication device, a security information management device, a security early warning and decision support device and a rescue information assurance device. The system can perfectly solve the problems of existing coal monitoring and controlling systems, prevent the occurrence of coal mine underground signal loss effectively and improve the level of coal mine security monitoring greatly.

The invention belongs to the crossing field of computer vision and intelligent robot, and discloses a new multi-feature multi-sensor method for a mobile robot to track a moving body. The method comprises the following steps: 1, coarsely positioning a body carrying a passive tag around a radio frequency identification (RFID) system by using the RFID system; 2, initially positioning the body in an image by using an adaptive template matching algorithm based on head and shoulder features; 3, accurately positioning the body in the image by using a multi-feature-based mean-shift algorithm; 4, predicting the moving state of the body by using a extended Kalman filter algorithm; 5, screening the acquired target position information by using a double-layer collaboration positioning mechanism; and 6, controlling the robot to move along with the body by using a robot following control algorithm. By the method, bodies with different poses can be tracked, the problem that the tracking is influenced when a target suddenly turns and is shielded is solved, and the robot can accurately, stably and continuously track the moving body.

The invention provides a method for tracing the position and pose of a 3D human face in a video sequence. In the method, based on the principal component analysis, by using a deformable 3D grid model, minimizing the distance between a key point on the grid model and a corresponding key point on an input image, the model can fit the head figure of a user; the human face texture can be obtained by using the 3D model at an initial phase, so as to render human face images under different poses; the feature points can be selected in the rendered images, and a corresponding position can be searched on the input image; the matching faults can be removed by using a random sampling mode; then, mode pose changed parameters can be estimated according to the corresponding relationship between the feature points, so as to update a hypothetical state; finally, a distance between the rendered image and an actual image can be calculated by using the average normalized correlation algorithm, so as to calculate a hypothetical weight. Experiments show that the method can effectively trace the pose of the 3D head in the video.

The invention provides a measuring device and method for the target line-of-sight angel offset and distance. The device is composed of a four-quadrant avalanche photodetector, a receiving and sending optical unit, a noise compensation circuit, a four-circuit front amplification circuit, a video amplification circuit, an automatic gain amplification circuit, a peak keeping circuit, an AD conversion circuit, a laser, a dominant wave sampling circuit, a summing circuit, a time identifying circuit, a time test circuit and a digital processing circuit, wherein the receiving and sending optical unit enables narrow pulse laser rays emitted by the laser to be converged on the photoelectric detector to form echo light spots after target reflection, photovoltaic conversion of the four-quadrant avalanche photodetector, front amplification, video amplification and automatic gain amplification are conducted, narrow-pulse peak keeping is conducted, transmission of the AD conversion circuit is conducted, and the digital processing circuit extracts the digital line-of-sight angel offset; summing is conducted on the four-circuit front amplification circuit, the dominant wave sampling circuit is combined, the time identifying circuit determines laser emitting and echo coming and returning time, the time is transmitted to the time identifying circuit to be measured, and the digital processing circuit decodes the corresponding distance.

The invention relates to an anti-overlap method for tracking a moving target based on mean shift and belongs to the image processing technology field. The method comprises the following steps: constructing a mean shift model and a Kalman filter model; pre-estimating by utilizing a Kalman filter to obtain the initial position of searching each frame mean shift; obtaining the outline of an object by an image difference method; and defining whether similar factors can shade the object or not. When the similar factors shade the object, the position of the object in current frame is predicted and serves as a starting point for predicting the next frame by attaching different weights to color information and movement information respectively, according to the difference of mobile status of the object. Accordingly, the linear prediction of target position replaces the function of Kalman filter. Experiments prove that the method can realize the tracking of a quickly moving object and has good robustness for shading.

The invention relates to an intelligent anti-collision system of a novel AGV for material handling. The system comprises a vehicle-mounted master control unit, an environment detecting unit, an action executing unit, an alarming unit and a remote control unit. The anti-collision system can achieve bidirectional multilayer protection on an AGV body. Forward protection of the AGV is achieved through a laser radar, an arc-shaped anti-collision buffer belt and a camera. Backward protection of the AGV is achieved through a laser distance measuring sensor and a U-shaped anti-collision buffer belt. A protection area of the anti-collision system is divided into a monitoring layer, a speed reduction layer and a parking layer from far to near. The detection data of the environment detecting unit are processed by the master control unit, and the AGV is controlled to execute corresponding actions, namely, normal running or speed reducing posture adjustment or parking. When a parking event occurs, the alarming unit gives an alarm, and the remote control unit is informed to carry out remote processing. The intelligent anti-collision system can effectively reduce the collision probability of the AGV, and the vehicle body is protected.

A servo binocular visual transducer for welding robot is featured as fixing CCD camera, pneumatic system, dimming and filtering system on flat support being fixed with external spindle; placing two bearings between two hollow spindles to let external one rotate around the internal one; connecting synchronous belt transmission system to external spindle with end cover; fixing internal hollow spindle and servo motor to drive CCD camera to rotate at controllable angle around welding gun.

The invention discloses a method for detecting and tracking a vehicle at night and a device thereof, which relate to the technical field of vehicle detection and aim at solving the problem that the vehicle detection and tracking technology in the prior art unfits the vehicle detection at night. The method comprises the steps of determining a detection zone, carrying out image acquisition and digital image processing of the detection zone so as to obtain car lighting data, and detecting and tracking the vehicle according to the car lighting data. The device comprises a determination unit in the detection zone, an image acquisition and processing unit and a detecting and tracking unit. The method and the device can capture the car lighting data so as to realize the tracking and detection of the vehicle at night according to the characteristic data of the car lighting and apply less technical computing. In addition, the method and the device can be applied to a traffic monitoring system and a household security inspection system.

The invention discloses a Keystone transform-based multi-frame phase coherence accumulation target tracking-before-detecting method. Distance walk of target echo in multi-frame radar data is corrected by using Keystone transform, the quadratic term of a target echo phase is estimated and compensated by using discrete chirp Fourier transform (DCFT) to utilize the phase information of the target echo, and the output signal-to-noise ratio is improved by multi-frame echo phase coherence accumulation so as to realize detection of a weak target. Compared with the traditional non-phase coherence tracking-before-detecting method, the method can effectively realize the detection of the weak target under the echo data of reduced frame number, improves the detection efficiency, provides position and motion information of the target at the same time of detecting, and realizes tracking of the target.

The invention provides a target track-before-detect (TBD) method based on multi-frame coherent integration. The method is characterized in that a new TBD method is provided aiming at the fact that when multi-frame integration is carried out, the phase information of target echo is not utilized in the traditional TBD method. According to the method provided by the invention, a signal to noise ratio is improved through multi-frame echo coherent integration by utilizing the phase information of the target echo; and by using the method in the invention, the detection of a weak target can be effectively achieved under the condition of less echo data frame numbers, the detection efficiency is improved, and the position speed information of the target is provided while detecting so as to realizethe track of the target.

The invention discloses a target tracking method which is applied to electronic equipment. The electronic equipment is provided with an image acquisition unit which is used for acquiring image data. The method comprises the steps that a tracking target is determined in the initial frame of image of the image data; multiple candidate targets are extracted in the subsequent frame of image of the image data, wherein the subsequent frame of image is any frame of image after the initial frame of image; the similarity of each candidate target and the tracking target is calculated; and the candidate target having the highest similarity with the tracking target in the multiple candidate targets is determined to be the tracking target. The technical problems in the prior art that an online learning visual tracking method cannot judge lost of the tracking target and the tracking target is difficult to find after lost of tracking target can be solved. Meanwhile, the invention also discloses the electronic equipment.

The invention relates to a method with strong anti-multi-path capability for processing moveable underwater sound communication signals, including two parts, namely a transmitter processing method and a receiver processing method, wherein the transmitter processing method includes the operations of error correction of coding, data packing, digital interpolation, base band shaping wave filtering, upper modified frequency modulation, and the like; and the receiver processing method includes the operations of digital wave filtering, frame synchronous judgment, preliminary compensation of Dopplerfrequency shift, lower modified frequency modulation, bit synchronous judgment, fine compensation of Doppler frequency shift, digital equalization, error correction of decoding, etc. The invention carries out the intercrossing treatment on technologies of synchronous judgment, compensation of Doppler frequency shift, compensation of multi-path effect, and the like, and guarantees that under the environment of strong Doppler frequency shift, the system can realize the accurate synchronism of signals and carries out real-time estimation and compensation on the effect of strong Doppler frequencyshift; and the adopted blind equalization method can carry out effective tracking compensation on the time varying multi-path effect of an underwater sound signal channel, thereby greatly increasing the integral stability and the bit error rate performance of an underwater sound communication system and enduing the system with the capability of reliable communication during movement.

The invention discloses a health monitoring method for a numerical control machine tool, and the method comprises the steps: (1), executing a self-inspection G instruction, and collecting the operation state data; (2), building the mapping relation between the collected operation state data and the self-inspection G instruction, and forming an instruction domain mapping ensemble; (3), dividing the instruction domain mapping ensemble according to the self-inspection G instruction, extracting the instruction domain mapping under the self-inspection G instruction, obtaining the operation state data under the self-inspection G instruction, calculating an actual characteristic value according to the operation state data, comparing the actual characteristic value with a standard characteristic value, and obtaining a health index through calculation. The method improves the calculation basis of a key health index of the numerical control machine tool, the calculation method of the health index and the display mode of the health index, and can effectively solve a problem that the judgment of the health condition of the numerical control machine tool is not timely and accurate. Moreover, the obtained health index of the numerical control machine tool is displayed in a visualized manner, thereby improving the interaction effect of the numerical control machine tool with a person.

The invention discloses a method for tracking a high maneuvering target, and mainly solves the problems of model mismatching and low tracking precision brought by high maneuvering of a target in the prior art. The method comprises the following steps of: (1) initializing motion states and model parameters; (2) establishing an improved jerk model; (3) forecasting a state of a target; (4) solving a forecast error of an observed value according to receiving data and a state forecast value of radar; (5) determining a fading factor; (6) determining filter gain; and (7) updating the state of the target, and thus realizing target tracking. By the method, the tracking precision of a general maneuvering target is kept, and the tracking performance during sudden change of the state of the target is improved; and moreover, the method can be used for tracking a high maneuvering target.

The invention discloses a roadside parking management method, device and system based on cameras. Based on the stable visual angle, the focal length, and the high-speed continuous stable image acquisition of array cameras, the method, device and system, by dividing, detecting, recognizing and tracking roadside parking monitoring area images photographed by the array camera, determine vehicles entering and exiting respective image areas at the same time to determine the information for each parking event. When a single camera misses the capture of an image indicative of the entrance and exit ofthe vehicle, the method performs detecting, recognizing and tracking to obtain a result by using images captured by other array cameras, and supplements the missing parking event information to improve the accuracy of obtaining parking event information. Compared to a method of using a dome camera to capture and manage the parking events, the method, device and system provided by the present invention can improve the management efficiency of the roadside parking events without consideration of the influence of the response time of the dome camera.

The invention relates to the technical field of ATM intelligent monitoring systems. A module comprises an input module, a video intelligent monitoring server, a monitoring alarm management module and an output module. A video intelligent analysis system to which the video intelligent monitoring server is related particularly refers to the behaviors of automatically detecting an object, tracking the object, and recognizing and analyzing the object. The video intelligent monitoring server relates to an anomalous event analysis system which is combined with a front camera and an upside camera to monitor anomalous and dubious behaviors of objects round an ATM, and simultaneously obtain face information of a suspect and give an alarm in time when an anomalous situation happens.

The invention discloses a target detecting tracking method based on a gun and bullet linkage system. The method is characterized by comprising the steps of 1, building the gun and bullet linkage system; 2, setting a common detection area, a key detection area and a shielding area; 3, calibrating a gun machine and a PTZ bullet machine to obtain calibration data; 4, detecting and tracking the common detection area and the key detection area. With the adoption of the method, a movement target can be quickly and accurately detected and reliably and continuously tracked, so that the recognizing efficiency can be increased, and the complexity can be reduced.

The invention discloses an active solar energy tracing method comprising the following steps: manually adjusting the initial posture of a solar energy device with an illuminated face to ensure that the illuminated face is vertical to an solar incident ray; obtaining current time; by taking the initial posture of the solar energy device and the current time as the references, obtaining device data according to the current time, and adjusting the direction angle and the altitude angle of the solar energy device at fixed time to realize active solar energy tracing. The invention also discloses a device used for the above solar energy tracing method, comprising a solar energy device with an illuminated face, a posture adjusting device of the solar energy device, a current time acquiring device, a controller and a press key system connected with the controller. The tracing method and the device of the invention have favourable precision and stability.

The invention relates to a target tracking method, device and system. The method comprises that a reference coordinate system is established according to position information of a shot target and an aircraft, and a first position vector from the shot target to the aircraft in the reference coordinate system is obtained; according to present attitude information of the aircraft, a direction vector from an antenna position of the aircraft to a holder position in the reference coordinate system is calculated; according to the first position vector and the direction vector, a second position vector from the shot target to the holder position in the reference coordinate system is calculated, and converted to target attitude information of the aircraft; and according to the present attitude information and target attitude information of the aircraft, a target control quantity is obtained, and the target control quantity is used indicate the adjustment amount for controlling movement of a holder. According to the invention, the tracking precision is high, and all-weather autonomous tracking can be realized.

The invention provides an abnormal face detection method in front of an ATM (automatic teller machine). The method comprises three steps that the background of a scene is subjected to modeling to obtain the sketchy moving foreground, a money withdrawal person in front of the ATM is positioned by using the rate of the foreground block occupying the whole image and the target position, then, the precise positioning of the foreground block is realized through being combined with a communication domain for analysis, and next, the preprocessing is carried out; the position of the shoulders of the money withdrawal person in the horizontal direction is fast estimated through the statistics of the change of the foreground body width from bottom to top; the growth algorithm based on the Gaussian energy function is used for finding the box tightly covering the head region, the face outline at the edge of the box is utilized, the position of the jaw is determined through random Hough conversion and the least square method head fitting ellipse, and the final accurate position of the head target is obtained through the amendment; after the initial head target position is obtained, the real-time tracking is carried out on the initial head target position on the basis of the L1 tracking operator; and the abnormal face identification is carried out. The abnormal face detection method can be applied to real-time ATM video monitoring and video retrieval.

The invention relates to a conveyor belt synchronous tracking method, device and system for a robot. The method comprises the following steps that initial position information of a target object on aconveyor belt is acquired, and the position and speed of the target object are estimated in real time; based on the start position of the robot, the preset start tracking limit and the estimated position and speed of the target object, the motion trajectory of the robot is planned so that when the target object reaches the first position, the robot can move from the start position to the start tracking position at the same time as the target object and have the same motion speed as the target object at the start tracking position; the robot is controlled to move in the planned motion trajectory in response to the target object reaching the first position; and based on the real-time positions of the robot and the target object, the robot is controlled to synchronously track the target object from the starting tracking position. By the adoption of the conveyor belt synchronous tracking method, device and system for the robot, fast target object positioning and tracking can be realized, the speed fluctuation is reduced, and the accuracy and work efficiency of an industrial system are improved.