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 relates to a virtual resource allocation method and system based on proximity centrality. The virtual resource allocation method uses the proximity centrality definition of nodes in the social network for reference and includes: a step for performing node mapping and a step for performing link mapping. In the link mapping step, analogy on importance of the nodes in topology of a bottom network and a virtual network is performed through the proximity centrality definition of the nodes in the social network, so that the importance indexes of the nodes in the virtual network or a physical network can be obtained; then the relatively important nodes in the virtual network and the physical network are mapped, the relatively unimportant nodes in the virtual network and the physical network can mapped, and the mapping from the nodes of the virtual network to the nodes of the bottom network can be finished. The importance indexes are called the proximity which is defined as: when the sum of shortest paths between one node and all accessible nodes in the network is the smallest, the node approaches the center in the network and is more important.

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 provides a data flow diagram mapping method and device, wherein the method comprises: acquiring a data flow diaphragm to be mapped; acquiring a computing array including multiple processing units; according to a pre-trained mapping quality model, a mapping priority, a data flow diaphragm matrix and the computing array, sequentially determining quality information of a mapping state of the data flow diagram when each operator node is mapped to at least one processing unit; according to the quality information of the mapping state of each operator node, determining the target mapping processing unit which the operator node maps to the computing array. Quality of a mapping intermediate state corresponding to the processing unit that each operator node maps to is quickly predicted through the pre-trained mapping quality model, the target mapping processing unit of each operator node can be determined quickly according to the quality, the quantity of search branches is decreased, data flow diaphragm mapping time is shortened, and data flow diaphragm 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 robot autonomous mapping method in a strange environment in the field of robot autonomous exploration. The method comprises the following steps: S1, generating leading edge points between a known region and an unknown region according to a through-wall random tree algorithm, and carrying out the clustering optimization of the leading edge points to obtain preliminarily screened leading edge points; S2, evaluating the preliminarily screened leading edge points to obtain a leading edge target point; S3, moving the robot towards the leading edge target point; and S4, when a distance between the current position of the robot and the previous position is greater than a preset movement radius or the advancing distance is greater than a preset step length, judging whether an unknown region exists or not, if so, returning to the S1, and if not, stopping advancing to finish map drawing. Compared with an existing random tree exploration strategy, the method has the advantages that the growth conditions of the random tree are expanded, the refreshing frequency is set, and leading edge points near the robot can be explored more quickly.

The invention discloses a method for mapping data into a custom class object. A specific implementation way of the method comprises the steps as follows: a data request is transmitted to a server; data returned by the server according to the data request are obtained; the returned data are serialized to obtain a returned data set; the custom class object is created according to the returned data set, wherein the custom class object comprises at least one member variable; an association relationship between the member variables and the returned data is built; the member variables are assigned according to the association relationship to finish mapping the returned data set into the custom class object. According to the implementation way, the custom class object mapping efficiency is improved; and the mapping accuracy is ensured.

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 digital mapping method, comprising the following steps: (1) starting a total station, a smart phone and a receiving device respectively; (2) enabling the smart phone to search a Bluetooth communication device of the total station and connect with the total station, and setting communication parameters; (3) setting a coordinate on the total station and carrying out on-site mapping to obtain X / Y / Z coordinate data which describe the topography; and storing the coordinate data and transferring the coordinate data to the smart phone by the Bluetooth; (4) drawing a mapping draft in the smart phone and storing in binary format to obtain draft data; (5) compressing the draft data and transferring the compressed draft data to the receiving device by SMS or GPRS; (6) compressing the coordinate data and transferring the compressed coordinate data to the receiving device by SMS or GPRS; and (7) enabling the receiving device to draw by a topographic map drawing software to obtain a topographic map. The invention can realize long-distance real-time high-efficiency transmission of coordinate data and draft data, real mapping and mapping data real-time summary, thereby greatly improving working efficiency from measuring to mapping.

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 multi-robot positioning and mapping system and a multi-robot positioning and mapping method, which are applied to post-disaster rescue and acquire data information through a composite sensor of a robot, the data information includes depth information, IMU information, speedometer information and positioning information, the environment of a post-disaster rescue scene can be reflected in a detailed and three-dimensional manner; a gmapping algorithm based on Rao-Blackwellized particle filtering algorithm for robot positioning and mapping, the efficiency of mapping is high. A*algorithm is adopted to carry out global path planning, and a dynamic window algorithm is adopted to carry out real-time path planning, so that accurate and rapid navigation capability is achieved; Movelt is adopted to control a mechanical arm, so that the obstacles on the path are eliminated, and the capability of the robot to cope with the complex post-disaster rescue scene is improved; andthe two or more robots form a robot group, the unified allocation of the upper computer is received, a local grid map is fused into a complete map, and the positioning and mapping efficiency 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 provides a multi-robot mapping method and system, a computer storage medium and electronic equipment. The method comprises the following steps: S1, constructing a sub-map by one robot inmultiple robots as an initial map, and uploading the sub-map to a host; s2, the host issues the initial map to each robot; s3, each robot moves in the initial map until the pose of each robot in theinitial map is obtained; s4, each robot constructs a new sub-map by taking the current pose in the initial map as the initial pose of the next sub-map; s5, the host splices the new sub-maps from the robots; s6, adjusting the pose of each new sub-map to minimize the sum of pose errors and matching errors before all the new sub-maps; and S7, mapping the plurality of adjusted new sub-maps to the samemap according to a pose relationship to obtain a new map. According to the method provided by the invention, the mapping efficiency in a large scene can be greatly improved.

The invention discloses a method for realizing rapid updating of plane map elements by using a close-range remote sensing technology. According to the method, on the basis of original data, local updating of a planimetric map is taken as a target, a close-range remote sensing technology represented by an unmanned aerial vehicle photogrammetry technology and a ground photogrammetry technology is utilized to acquire image information of a target area, at least one obvious feature point is determined, and clear imaging of the feature point in an image is ensured; the relative position relation between the feature points and the target point is calculated through the single image information and the auxiliary feature information, and then the positions of the target point and the target objectare determined; a target object element is updated in a target area on the planar map, and corresponding attribute information is added; and finally, by taking the updated map as a reference, the accuracy of the updated elements is verified in an on-site plotting manner to finish updating the planar map.

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.

The present invention discloses a communication method of a power wireless sensing network, an access gateway and a system. The method comprises a step of receiving the visit target node request which comprises a virtual IPV6 address sent by an external user, a step of parsing the virtual IPV6 address and determining sink node address information, target node address information and a target node protocol type, and a step of packaging a sensing network protocol packet according to the sink node address information, the target node address information and the target node protocol type and visiting a target node. The rapid mapping between the external user and the target node can be realized, thus the real-time addressing is realized, the characteristics of the sensor network are not affected, and the transparency of network access is improved. The mapping between a virtual IP and the target node is realized by a hashing algorithm, the query latency is effectively reduced, and the mapping efficiency is improved.