326results about How to "Improve environmental applicability" patented technology

The invention discloses a light stream based vehicle motion state estimating method which is applicable to estimating motion of vehicles running of flat bituminous pavement at low speed in the road traffic environment. The light stream based vehicle motion state estimating method includes mounting a high-precision overlook monocular video camera at the center of a rear axle of a vehicle, and acquiring video camera parameters by means of calibration algorithm; preprocessing acquired image sequence by histogram equalization so as to highlight angular point characteristics of the bituminous pavement, and reducing adverse affection caused by pavement conditions and light variation; detecting the angular point characteristics of the pavement in real time by adopting efficient Harris angular point detection algorithm; performing angular point matching tracking of a front frame and a rear frame according to the Lucas-Kanade light stream algorithm, further optimizing matched angular points by RANSAC (random sample consensus) algorithm and acquiring more accurate light stream information; and finally, restructuring real-time motion parameters of the vehicle such as longitudinal velocity, transverse velocity and side slip angle under a vehicle carrier coordinate system, and accordingly, realizing high-precision vehicle ground motion state estimation.

The invention discloses multichannel radar amplitude and phase automatic correcting method and device. The method comprises the following steps of: before a radar system works, respectively feeding the same radio frequency test signal into various receiving channels of a multichannel radar system by a feed source to obtain the phase characteristic and the amplitude characteristic of various receiving channels; calculating a phase difference and an amplitude specific value between other channel signals and a reference signal by using one of channel signals as a reference signal; and then enabling the radar system to work, carrying out automatic correction on target echoes of all the channels by utilizing the obtained phase difference and the amplitude specific value so as to ensure the consistency of all the channels on amplitudes and phases. When a transmission frequency point is changed or a radar working environment is changed, the amplitude and phase characteristics of the receiving channels are unavoidably changed; and the invention can accurately and conveniently measure and correct the change of the amplitude and phase characteristic and ensure the consistency of all the channels, thereby expanding the working frequency range and the environmental adaptability of radar and improving the maintainability of the radar.

The invention relates to an SOC estimation method for a power lithium ion battery group, which belongs to the field of new energy measurement and control. The method comprises the steps that for the power work characteristic of a lithium ion battery, a Special Equivalent Circuit Model (S-ECM) is constructed to accurately characterize the battery work process; parallel resistors are added on both ends of an ideal voltage source to realize the accurate description of a self-discharge effect; a resistor parallel circuit which is connected in series with a backward diode is introduced to solve the problem of charge and discharge resistance difference; and a parallel capacitor is added to improve the description of a surface effect. According to the method, a Reduced Particle-Unscented Kalman Filter (RP-UK) algorithm is provided and an S-ECM state space equation is integrated to improve the computation efficiency; reduced particle filter transform is integrated into the front-end; the problem of estimation offset is solved by optimizing a nonlinear processing process; the estimation accuracy is further improved; and based on end-voltage feedback correction, the influence of the State of Balance (SOB) is introduced into the rear end to realize the online estimation of the whole SOC value.

The invention discloses a road junction driving auxiliary device for a motor vehicle. The road junction driving auxiliary device comprises an identification unit, a distance measuring unit, a speed measuring unit, a central processing unit and an early warning prompting unit, wherein the identification unit is used for collecting information of images in front of the motor vehicle in real time and analyzing and identifying the information, as well as sending related information to the central processing unit when a traffic light and a stop line at a road junction are identified; the distance measuring unit and the speed measuring unit are respectively used for sensing real-time speed of the motor vehicle and a distance between the motor vehicle and the stop line, and feeding the measured data back to the central processing unit; the central processing unit is used for calculating so as to judge whether the motor vehicle can safely pass the road junction or not according to the received data and image information, and corresponding voice prompt can be given by the early warning prompting unit. According to the device, the problem that a driver can not accurately judge whether the motor vehicle can safely pass the road junction or not is solved, and a good human-computer interface is provided, so that the burden of the driver is reduced, the driving safety is improved, and the transportation is facilitated.

The invention provides a distributed optical fiber positioning structure and method used for long-distance monitoring and in particular relates to a distributed optical fiber positioning interference technology based on wavelength division multiplexing (WDM). The interference technology is characterized in that two rays with different wavelengths are injected into the same sensing optical fiber, are transmitted to the port of the optical fiber, are separated by a WDM device and respectively reach own reflecting terminals along own independent optical fiber paths; and two optical waves respectively form different interferences. The disturbance position information is obtained by comparing the spectrum characteristics obtained by the two interferences, of phase signals. The structure and the method have the following advantages: the structure is simple; the rear end does not have special requirements for signal processing; and by comparing the spectrum characteristics to obtain the position information, the impact of disturbing signal amplitude variation on detection is eliminated, the average position value can be obtained by utilizing a plurality of frequency points, thus obtaining high positioning precision.

The invention discloses a mooring airship attitude measurement device and method. The mooring airship attitude measurement device comprises a laser gyroscope strapdown inertial navigation module, a navigation processing module and a GPS (global positioning system) positioning and orientating module, wherein the navigation processing module comprises an FPGA (field programmable gate array) and a DSP (digital signal processor) which are connected bidirectionally; and the FPGA is connected with the laser gyroscope strapdown inertial navigation module, the GPS positioning and orientating module and a mooring airship control system. The measurement device disclosed by the invention is simple in structure, is high in accuracy, is low in power consumption, is good in environment adaptability, and is high in reliability; through synchronously collecting the orientation and speed information of the GPS positioning and orientation module, the difference value between the orientation and speed information of a GPS and the orientation and speed information of navigation resolution acts as the input of a Kalman filter; and the error of inertial navigation is estimated in real time, and meanwhile is fed back and rectified, and the long-time accuracy maintaining of navigation information is realized.

The invention belongs to the field of wireless data communication and specifically discloses a wireless positioning method for a mobile phone terminal. The method comprises the following steps of step 1.sorting signal strengths from small to large and solving a percentage probability P(R), a median, a mode and a mean value which are corresponding to each signal strength distribution; step 2.carrying out curve fitting on the signal strength probability distributions and carrying out peak detection on a fitted curve, if two or more of peak values exist, taking the maximum peak value in the curve fitting as a signal strength characteristic value; step 3.if only one peak value exists, carrying out step 4, if two peak values exist, taking the right peak value and carrying out step 8; and step 4.computing a coefficient of skew Cs of the probability distribution. The wireless positioning method for the mobile phone terminal is provided for the technical problem that the limitation is great when a volunteer works and carries out fingerprint positioning on the mean value of RSSI signal characteristic values due to complexity and dynamics of the indoor environment.

The embodiment of the invention discloses a method for constructing a three-dimensional map, which comprises the following steps: output data of a laser scanner is obtained, and a two-dimensional mapof an indoor environment is constructed; the mobile robot uses the two-dimensional map to carry out autonomous navigation, and obtains the posture and the posture transformation matrix of the mobile robot; at the same time of autonomous navigation of the mobile robot, the kinect sensor is used to acquire two-dimensional images of the indoor environment, the two-dimensional images are converted into three-dimensional point cloud images, and the images are mosaic with neighboring point cloud images to obtain the kinect sensor posture and posture transformation matrix; the optimal posture and theoptimal posture transformation matrix of the Kinect sensor are obtained by Kalman filter. According to the optimal posture and the optimal posture transformation matrix of the Kinect sensor, the image mosaic of adjacent point cloud is completed, and the 3D map of indoor environment is constructed. By adopting the invention, the positioning accuracy of the mobile robot in the indoor navigation process is improved, the mismatch of the image mosaic is avoided, and the chaotic phenomenon of the image matching in the repetition area is overcome.

The invention discloses an industrial robot space pose measuring mechanism and measuring method based on a stay wire rotation sensor. The measuring mechanism is based on three stay wire encoders and arotary encoder. The measuring method specifically comprises the steps that the measuring mechanism is self-calibrated before measurement, and during measurement of the measuring mechanism, an industrial robot changes the pose of a tail end space to-be-tested point once, the rotary encoder does not rotate firstly, and the measuring mechanism obtains displacement length data of three stay wires; then the rotary encoder rotates by a certain angle for the first time, and the measuring mechanism obtains displacement length data of the three stay wires; and finally, the measuring mechanism obtainsa group of pose solutions of the tail end space to-be-tested point of the industrial robot under a base coordinate system of the measuring mechanism based on the above data and by means of a Stewart mathematical model, and obtains a group of pose solutions in the base coordinate system of tail end motion of the industrial robot through coordinate conversion. The industrial robot space pose measuring mechanism based on the stay wire rotation sensor has a self-calibration function, and is simple in structure, high in environmental adaptability, low in cost and high in precision.

The invention belongs to the field of stereo parking devices and particularly relates to a four-column type ascending, descending and horizontal moving two-layer stereo parking device and a use method thereof. The device comprises ground tracks, horizontal moving devices, lifting devices, a second-layer platen, a first-layer platen and a ceiling. The whole parking device is of a four-column supporting bottom traveling structure, horizontal moving is driven through a motor, and ascending and descending are driven through a hydraulic cylinder. The first-layer platen achieves vehicle storing and taking through horizontal moving. The second-layer platen achieves vehicle storing and taking through horizontal moving, ascending and descending. Vehicle obtaining and taking on the first layer and vehicle obtaining and taking on the second layer do not interfere with each other. The device is simple in principle, reliable in structure, convenient to install and high in space utilization rate, the platens do not need to rotate, driving habits and driving directions of vehicle owners do not need to be changed, vehicle storing and taking are convenient, time consumption is small, the device can be used independently and can be combined in a row for use, and use modes are flexible. The device can be used in various environments such as communities, squares, schools and two sides of roads, and environment applicability is high.

A thermion-photoelectric-thermoelectricity combined type isotope cell comprises a radioactive source and an energy transition structure; two ends of the energy transition structure are respectively assembled with a cell anode and a cell cathode; the energy transition structure comprises an emission pole plate, a filling medium and a transparent charge collection plate arranged in sequence from inside-out and compactly stacked; the emission pole plate is arranged on the radioactive source side surface; the energy transition structure also comprises a first transparent insulation substrate, a photoelectric assembly, a second transparent insulation substrate and a thermoelectricity assembly arranged in sequence from inside-out and compactly stacked, wherein the first transparent insulation substrate is arranged on the transparent charge collection plate side surface; two ends of the photoelectric assembly are provided with a first electricity output electrode; two ends of the thermoelectricity assembly are provided with a second electricity output electrode; the energy transition structure side surface and cell anode and cathode on two ends are wrapped by a buffer pad; an inner package and an outer package heat radiation layers are arranged on the outer surface of the buffer pad. The thermion-photoelectric-thermoelectricity combined type isotope cell is high in energy conversion efficiency, large in output power, strong in environment applicability, good in work stability, and long in service life.

The invention provides an optical fiber displacement sensor with an ultra-short baseline compliant cylinder structure and an optical fiber strain gauge. The optical fiber strain gauge comprises an optical fiber displacement sensor body (1), a measure baseline (4), a baseline fixing device (5), a suspension system (3), a measure control and signal recording and processing system (6) and a measurement calibration device (7); the optical fiber displacement sensor body (1) is fixed on a first bed rock (21) and connected with the head end (41) of the measure baseline (4); the tail end (42) of the measure baseline (4) is provided with the measurement calibration device (7) and fixed on a second bed rock (22) through the baseline fixing device (5); the suspension system (3) is arranged in the middle of the measure baseline (4), and the displacement sensor (1) and the measurement calibration device (7) are connected with the measure control and signal recording and processing system (6) through a signal connecting wire. The optical fiber displacement sensor is applied to a geophysical research, observation of crustal strain and solid tide, obtaining of earthquake precursor information and the like.

The invention provides a double-detector micro near-infrared spectrometer with a whole spectral band of 800-2,500nm. The double-detector micro near-infrared spectrometer consists of a near-infrared light source, an entrance slit, a concave collimating lens, an MOEMS scanning raster micro-mirror, a concave imaging lens, an exit slit and mono-tube near-infrared double sensors different in response wavelength range. In the invention, the improved Czerny-Turner optical path system effectively inhibits aberration and guarantees the imaging quality of the system. By adopting the MOEMS scanning raster micro-mirror integrated with an angle sensor, the double-detector micro near-infrared spectrometer provided by the invention has scanning and light splitting functions in a broadband range and also can accurately control the scanning angle in real time to realize continuous and accurate detection of different wavelengths of the mono-tube near-infrared double sensors. The double-detector micro near-infrared spectrometer has the advantages of low price, small volume, fast response, high precision, wide detection spectral range and the like.

The invention discloses an aquaculture wireless sensor network node device and an operation method, and belongs to the technical field of water quality monitoring. The aquaculture wireless sensor network node device and the operation method are suitable for many application occasions such as water quality parameter online detection in aquaculture of Chinese mitten crabs, fish, shrimps, shellfish and the like and used for collecting parameter data of dissolved oxygen content (mg/L) and water temperature ( DEG C) in an aquaculture pond in real time online and sending the data to a wireless sensor network gateway or a wireless sensor network base station and a local terminal in a 433MHz frequency band wireless sensor network communication manner after further changing, possessing and storing the parameter data.

The invention discloses a cosine-gauss correlative light beam generation system and method and measuring equipment of a cosine-gauss correlative light beam, wherein the cosine-gauss correlative light beam is a cosine-gauss correlative partly-relevant gauss beam. The cosine-gauss correlative light beam generation system sequentially comprises a laser, a polarizing film, a beam expander, a liquid crystal spatial light modulator, a circular diaphragm, a focusing convex lens, a rotary ground glass piece, a collimation convex lens and a gauss filter, wherein multiple particles are arranged on the surface of the rotary ground glass piece, and the sizes of the particles conform with Gaussian statistical distribution. The cosine-gauss correlative light beam generation system is compact in structure, good in operability and broad in application range, and the generated cosine-gauss correlative partly-relevant gauss beam has broad application prospect in the fields of information transmission, industrial processing and the like.

The invention belongs to the field of heat conduction materials, and specifically discloses a preparation method of a copper based graphene composite with high heat conductivity. According to the preparation method, a novel sediment composition is used for direct-current electrodeposition, a certain quantity of additives are added to sediments, and the reasonable electrodeposition frequency is selected to prepare the novel copper based graphene composite with high strength and high heat conductivity. According to the copper based graphene composite prepared by using an electrodeposition preparation technique, the heat conductivity can reach 390 to 1112 W/m.k, the tensile strength reaches 300 to 450 MPa, and the application to the field of heat conduction can be met.

The invention relates to a GPU-SIFT based real time binocular vision positioning method. The method comprises the following steps: 1) adopting a parallel binocular camera for acquiring a stereo image video of left and right eye images in a moving process of a robot or a mobile platform; 2) adopting feature point matching for acquiring corresponding matching points in front and rear frames of a shot video in a motion process; 3) solving a motion equation by changing the matching points in an imaging space coordinate or establishing a three-dimensional coordinate, thereby acquiring the displacement of the camera by estimation; 4) acquiring the position and rotation angle at each moment of the camera in advancing and combining with kalman filtering, thereby acquiring the advancing path of the camera in the whole process and realizing real-time binocular vision positioning on the robot or the mobile platform. According to the invention, GPU-SIFT is adopted for accelerating the SIFT feature matching process, the binocular vision positioning is adopted for realizing the real-time binocular vision positioning of the robot or the mobile platform, the higher positioning accuracy can be acquired and the extendibility, practicability and environment applicability are higher.

The invention provides an intelligent campus safety protection robot. The intelligent campus safety protection robot comprises an alarm device, a pick-up device, a rotating mechanism, a device storagearea, a chassis, a smoke sensor, a temperature sensor, a photosensitive sensor, an infrared night vision camera, a thermal imager, a displayer, a charging hole, a USB connector, a square groove, a sliding way, a fixing pin, a solar cell panel, a plug pin, an electric telescopic rod, moving wheels, an ultrasonic distance measuring sensor, a bumper and a waterproof pad; the moving wheels are arranged on the two sides of the chassis, the ultrasonic distance measuring sensor is arranged at the front end of the upper portion of the chassis, and the bumper is arranged at the front end of the chassis. Due to arrangement of the infrared night vision camera, the thermal imager, the device storage area, the solar cell panel and the ultrasonic distance measuring sensor, intelligent monitoring and alarm capacity can be achieved, safety protection is improved, the durability capacity of the robot is increased, manual patrol can be replaced, and the monitoring capacity which cannot be achieved by manual patrol is achieved.

The invention relates to the technical field of lithium ion batteries, and particularly discloses a square lithium ion battery shell. The square lithium ion battery shell comprises a shell cover, a shell body and a bottom plate; the shell body is provided with a predetermined space for accommodating the shell cover; the shell cover and the bottom plate are respectively and fixedly connected with the shell body to form a whole; the shell cover is provided with a pole post; and an internal thread and an external thread are arranged in the pole post. The invention also discloses a square lithium ion powder battery using the battery shell. The square lithium ion battery shell and the square lithium ion powder battery using the same are particularly suitable for occasions, on which massive connection in series or parallel and long-term vibration occur, such as an energy storage powder supply, a vehicle powder battery, an electric bicycle, a motorcycle and the like.

The invention relates to an environmental color temperature test method and system based on a multispectral image detection technology, and the method comprises the steps: firstly obtaining images with uniform brightness and multispectral data of the 1-th, 2-th, 3-th... M-th color blocks in a standard color plate through employing a spectrum chip, and obtaining N groups of multispectral data matrixes for each color block; performing time and space noise reduction processing on the N groups of multispectral data matrixes to finally obtain n multispectral data, and sequentially determining standard multispectral data xst (n, ICCT) of the mth color block under the 1-th, 2-th, 3-th,... I-th color temperature value according to the method; then acquiring multispectral data xet (n) of a plurality of specific color regions in a scene picture by using a mobile phone or a camera containing the color temperature test system; averaging the multispectral data of the same wave band, performing standard variance calculation on the ambient light multispectral data and standard multispectral data xst (n, ICCT) by using a color temperature matching module, and taking the color temperature value with the minimum variance as the ambient light color temperature value. The method realizes rapid, accurate and efficient detection of color temperature.