92results about How to "Improve mapping efficiency" patented technology

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 belongs to the technical field of intelligent robots, and discloses a transformer substation inspection robot mapping method based on graph optimization. The method comprises the following steps: obtaining an estimated value of a current pose of a robot by using an ICP algorithm; generating a subgraph by using laser data of a continuous specified number of frames, wherein the lattersubgraph comprises laser point cloud data of the specified number of frames in the previous subgraph; comparing the corresponding pose information of each frame of laser data in the subgraph with a key frame; when the pose information is similar to the key frame, performing closed loop connection thereon; and updating the robot poses in the subgraphs through a graph optimization method to form a final mapping result. By adoption of the transformer substation inspection robot mapping method based on graph optimization disclosed by the invention, the mapping efficiency of the robot is greatly improved, and the cumulative errors of the system are effectively reduced.

The invention discloses an SDN framework based virtual optical network oriented mapping method. The method comprises: step 1: determining a virtual request and network parameters of a physical bottom layer as well as a topologic structure chart, creating a topologic auxiliary chart by taking VON-FP values as weight values of links, and determining an optimization target; step 2: arranging the links on the topologic auxiliary chart in an ascending order according to the VON-FP values, performing classification according to the virtual request, and determining a mapping mode according to a mapping rule; step 3: establishing a framework of a method for population based global search and individual based local heuristic search, and performing solution mapping on classified virtual optical network requests by using the search method; and step 4: repeatedly and iteratively searching for a mapping method to obtain an optimal mapping scheme when a fitness function is minimal, and distributing the scheme to an SDN based NOX framework to perform specific data calculation and traffic forwarding operation. According to the method, the efficiency of multi-domain virtual optical network mapping is improved and the failure rate of the whole network after mapping is reduced.

The invention relates to a map construction method and apparatus, a storage medium and a computer device. The method comprises the steps of constructing a grid map corresponding to a current position;obtaining a target point according to the grid map; formulating a path plan from the current position to the target point; and running towards the target point along the path planning. According to the method, efficient full-autonomous exploration mapping is achieved, human intervention is not needed, a difficult-to-pass area where collision is likely to be triggered is avoided through an autonomous planning path in the exploration mapping process, the safety and feasibility of the area where the robot passes are guaranteed, and the autonomous exploration mapping efficiency is improved.

The invention belongs to the technical field of intelligent robots, and discloses a substation inspection robot mapping method based on GPS closed-loop detection. The method comprises steps: the robotwalks according to a specified route, and laser point cloud data during walking are acquired; in a global coordinate system, by using the conversion relationship between poses in adjacent two framesof laser and the point cloud data of a former frame of laser, inter-frame laser point cloud data are spliced; tile-type mapping is carried out; a specified frame of a sub image is selected as a key frame; the current position of the robot is positioned in real time according to GPS data, and with the position as a circle center and the specified distance as a radius, a closed-loop candidate area is defined; and each candidate pose in each sub image in the closed-loop candidate area is screened, and when a certain pose meets a screening condition, the laser frame corresponding to the pose and the key frame are subjected to closed-loop connection. By adopting the substation inspection robot mapping method based on GPS closed-loop detection, the calculation amount related to positioning is greatly reduced, and the positioning efficiency and the positioning accuracy are significantly improved.

The invention relates to an establishment method and device of a passable regional map, a processing method and device of the passable regional map, and mobile equipment, and belongs to the technicalfield of the mobile equipment. The establishment method comprises the following steps: acquiring an arrival actual location of the mobile equipment in a working region; establishing the passable regional map based on the arrival actual location of the mobile equipment, wherein the passable regional map comprises on-map locations; the on-map locations comprise an arrival on-map location, and the arrival on-map location is the on-map location mapped to the passable regional map by the arrival actual location of the mobile equipment, and the on-map location does not contain the on-map location ofa barrier. The mobile equipment can perform positioning, path planning and barrier-avoidance functions based on the passable regional map of the invention; the passable regional map is more suitablefor the running of the mobile equipment in the corresponding working region in comparison with the general map, the computation burden of the mobile equipment can be lowered, and the mapping time is reduced.

the invention discloses an indoor self-mapping method for storage environment. The indoor self-mapping method for the storage environment comprises the following steps that environment information iscollected by installing various sensors on a storage forklift, data storage, data fusion and data processing are carried out, and the real-time creation of a grid map is realized through a SLAM algorithm based on the graph optimization; all exit areas on the currently established grid map are determined, the exit areas are sequenced based on a distance evaluation function value, and an exit area with a largest value is selected as a next exploration target; if the next exploration target is not reached within specified time, and then a sub-large value is selected as the next exploration target; and after the next exploration target is reached, a same method is adopted for creating and expanding the grid map. According to the indoor self-mapping method for the storage environment, the identification of small obstacles can be enhanced, further obstacle information is additionally arranged on to the map, and the efficiency of mapping and the accuracy of the map are improved.

Embodiments of the present invention disclose a three-dimensional head modeling method. The method comprises: drawing an initial 3D head model by OpenGL ES; according to a preset facial feature point and non-feature points, establishing a facial model in the initial 3D head model by means of a well-configured Candide3 model; establishing an afterbrain model by means of a quadratic Bezier surface according to contour information provided by the established facial model; combining the facial model with the afterbrain model to form a first 3D head model; adjusting the first 3D head model according to a human face feature point extracted from an acquired image, so as to obtain a second 3D head model; and performing texture mapping on the second 3D head model, so as to obtain a target 3D head model. The present invention further discloses a 3D head modeling apparatus. By adoption of the method and apparatus provided by the present invention, the problems of a large processing data volume and high costs of 3D modeling in the prior art are solved, and time and cost for modeling are saved.

The invention discloses a resource unit mapping method and device. The method comprises the following steps: dividing each physical channel and signals into two types, and transmitting to two ports of a dual-port RAM (Random-Access Memory) through a multi-path selector; uniformly setting the downlink resource grid data to be zero by uniformly resetting the dual-port RAM; traversaling all symbols in each subframe in a time domain, and simultaneously mapping the two types of physical channel and signals in the frequency domain of each symbol. The device comprises a multi-path selection module, a control signal providing module and a dual-port mapping module. Compared with the prior art, the resource mapping pattern is calculated for a downlink resource grid without occupying a great deal oflogic resources; and the two-path data can be processed simultaneously through the two ports of the dual-port RAM, thereby the mapping efficiency is further improved.

The invention relates to a terminal USB mapping method, a virtual machine USB mapping method and system. The terminal USB mapping method comprises following steps: obtaining a device identifier of aninserted USB device and obtain the type of the USB device based on the device identifier; if the type is a network shareable device, identifying the inserted USB device based on the device identifier;enabling the network sharing mode of the identified USB device and obtaining the corresponding network device information; sending the network device information to the virtual machine, so that the virtual machine adds the network mapping device corresponding to the USB device according to the network device information; If the type is a non-network sharing device, establishing a data transmission channel between the inserted USB device and the virtual machine; receiving a USB data request sent by the virtual machine through the data transmission channel, and returning storage information corresponding to the USB device to the virtual machine according to the USB data request. In this way, the two mapping methods are combined, taking into account performance and compatibility, and the mapping efficiency is high.

The invention discloses a resource unit mapping method and device. The resource unit mapping method includes: interlacing a position index sequence of a resource unit to obtain an interlaced resource unit position index sequence; and mapping modulation data in the resource unit according to the interlaced resource unit position index sequence. The method provided by the invention omits interlacing of the modulation data of the resource unit, but directly interlaces the position index sequence of the resource unit, thus in mapping of the resource unit, the modulation data that are not interlaced are mapped in one-to-one correspondence according to the interlaced resource unit position indexes, the modulation data in the resource unit are disorganized, thereby achieving the purpose of dispersing concentrated errors generated by bursts in a channel transmission process, reducing interlacing processing from multiple times into one time, and the interlacing processing only needs to run once during power-on initialization, thereby improving efficiency of mapping of the resource unit.

The invention relates to the technical field of robots, and discloses an in-building mobile robot multi-floor automatic mapping method based on feature point matching. The main scheme comprises the steps: building a reference floor map coordinate system; calculating floor information through an air pressure value; exploring a floor area through a laser radar and track plotting based on a floor, and constructing a floor map coordinate system; and calculating a coordinate transformation relationship between the floor map coordinate system and the reference floor map coordinate system based on the parameter consistent key points, so that the parameter consistent key points in the floor map coordinate system and the parameter consistent key points in the reference floor map coordinate system have the same coordinates. The method at least has the following beneficial effects that the robot can automatically and autonomously replace the map corresponding to the floor, the coordinate transformation relationship between the maps of different floors is established, and the efficiency of automatic establishment and analysis of the multi-floor map is improved.

The invention provides a virtual network mapping method and device based on a graph convolution network, and relates to the technical field of virtual networks, and the method comprises the steps: obtaining a mapping request of a virtual network, and determining a feature matrix of a physical node based on the mapping request and the attribute information of the physical network; inputting the feature matrix of the physical node into a target graph convolutional network to obtain a mapping probability of the physical node; sequentially performing virtual network mapping on all virtual nodes inthe virtual network according to a resource demand sequence based on the mapping probability of the physical nodes; and finally, if the node mapping and the link mapping in the virtual network mapping succeed, determining that the virtual network mapping succeeds. According to the method, the high-order space structure information of the physical nodes can be extracted by utilizing the target graph convolutional network, so that the virtual network mapping efficiency and the resource utilization rate of the physical network are improved.

The embodiment of the invention provides an RTK/UWB combined mapping method and system for a satellite signal shielding area. According to the method, high-precision coordinates can be measured by using an RTK positioning mode; for the satellite signal shielding area, point position coordinates of three or more non-satellite signal shielding areas can be obtained by utilizing an RTK technology; then, the distances from RTK positioning points to to-be-solved points in a satellite signal shielding area are measured through the UWB distance measuring technology, and according to the coordinates of the RTK positioning points and UWB distance measuring information, networking can be conducted to solve the coordinates of the to-be-solved points (more than three RTK point position time adjustmentsolving coordinates); the embodiment of the invention has the advantages that the RTK mapping problem of the satellite signal shielding area is solved, the mapping precision is high, the operation efficiency is obviously superior to that of other methods, and meanwhile, the method is easy to practice, simple to operate and relatively high in automation degree.

The invention provides a pin mapping method and system to solve the problems that, in the prior art, the mapping method is large in working amount and low in efficiency and obtained pin mapping relationships are not accurate. The pin mapping method comprises calling pre-allocated script files under appointed catalogs and analyzing the script files which comprise a number of a main socket into which an auxiliary panel is inserted, a number of an auxiliary socket pin of the auxiliary panel which has a mapping relation and net names of pins of functional modules on the auxiliary panel; searching corresponding main panel number functional module pin numbers in a preset database according to the main socket number of the main panel and the auxiliary socket pin number of the auxiliary panel; integrating into an output file according to the pin net names of the functional modules on the auxiliary panel and the pin numbers of the functional modules on the main panel; outputting the output file. The pin mapping method and system has the advantages of being high in efficiency and accurate in obtained pin mapping relation.

The invention relates to the field of integrated circuit design, and discloses a programmable logic unit structure and a chip. The programmable logic unit structure comprises a first logic unit LE5 and a second logic unit LE4. The LE4 and the LE5 are mixed to form a programmable logic pair structure, a plurality of programmable logic pair structures are combined to form a programmable logic blockstructure, and carry chains of the LE4 in adjacent programmable logic pairs are connected to form an N-bit traveling wave addition; And carry chains of LE5 in adjacent programmable logic pairs are connected to form 2N-bit traveling wave addition. In practical application, common logic can be achieved through LE4 mapping, multi-output logic and arithmetic operation under the same input condition are achieved through LE5 mapping, and the balance of the resource area utilization rate and flexibility is achieved.

The invention discloses a map construction method which is applied to an SLAM system comprising N cameras, and the method comprises the following steps: obtaining target images of a target region through the N cameras, N being a positive integer greater than or equal to 2; according to the target images, obtaining fusion frames, wherein the target images of the N cameras at the same moment correspond to one fusion frame; judging whether the fusion frames meet a first preset condition or not; when the fusion frames meet the first preset condition, adding the fusion frames to a key frame queue;and constructing a map of the target region by utilizing the key frame queue. The invention further discloses a map construction device, an SLAM system and a storage medium. When the method is used for constructing the map of the target area, the data processing amount is small, and the mapping efficiency is high.

The invention belongs to the field of robots, and provides a robot mapping method. The method comprises the following steps: obtaining an initial value position of a robot; searching a first preset number of key frames in a pre-stored key frame library according to the initial value position of the robot, and determining a reference point cloud corresponding to the searched key frames; matching the feature point cloud corresponding to the current frame acquired by the robot with the reference point cloud, and determining a target key frame corresponding to the current frame; and perfecting a pre-stored built map corresponding to a key frame library according to the target key frame corresponding to the current frame. Therefore, when the robot carries out positioning and mapping at the sametime, incremental mapping can be effectively carried out on a completed map without one-time completion or restarting, and the mapping efficiency of the robot can be improved.

The invention discloses a low-power-consumption on-chip network task mapping method. The low-power-consumption on-chip network task mapping method comprises the following steps of S10, building an on-chip network topology model, S11, building a multi-task model, S12, determining constraint conditions, S13, setting up a mapping set, and S14, carrying out mapping between tasks and an on-chip network. According to the low-power-consumption on-chip network task mapping method, due to the facts that the model is built for the tasks in the on-chip network, the relation among the tasks is analyzed, and then the tasks are mapped through dual constraint conditions including communication delay and energy consumption, mapping efficiency is improved, and power consumption of mapping is reduced.