212results about How to "Location pinpointing" patented technology

The invention discloses an intelligent monitoring system for elevator safe operation based on IOT (Internet of Things) technology. The intelligent monitoring system is mainly designed for government regulation departments, maintenance units, manufacturers, property management companies and the like, and provides the above with a set of intelligent, platform-based total management system which supports wireless access and remote access, so that safe operation, management, maintenance and detection of an elevator can be more effectively realized. While daily needs are met, monitoring on the elevator is more normalized, institutionalized and scientized, so that elevator accidents are further reduced, and speed and quality for solving problems after an accident occurs are improved; by utilizing information for driving, the informatization management level of the intelligent monitoring system is improved through advanced and applicable technology and exploitation and construction pattern innovation by comprehensively utilizing information science and technology as well as decision making and management methods, and an emergency response system of elevator safety is favorably established.

The invention discloses an active capacitive stylus and a touch detection and feedback drive method thereof. The active capacitive stylus comprises a conductive point, a signal processing module and a capacitor. The conductive point is used for detecting a touch screen drive signal transmitted by a touch screen and sending a feedback drive signal output from the signal processing module. The signal processing module is used for processing the touch screen drive signal received by the conductive point and generating a synchronous feedback drive signal. The capacitor is arranged between the conductive point and the signal processing module. During detection, the capacitor is used for coupling the touch screen drive signal acquired by the conductive point to the input end of the signal processing module. When the touch screen is in feedback drive, the capacitor is used for isolating the feedback drive signal. By the touch detection and feedback drive method, the purpose of positioning the position of the conductive point of the active capacitive stylus accurately is achieved.

The invention discloses a pointer instrument positioning and identifying method based on machine vision. The position of an instrument panel in an instrument cabinet image is accurately positioned andan instrument reading is automatically recognized. The method comprises the steps of (1) acquiring the instrument cabinet image; (2) carrying out segmentation processing on the instrument cabinet image to obtain an instrument panel image; (3) preprocessing the instrument panel image; (4) acquiring all edge contours in the instrument panel image by using a Canny edge detection method; (5) findingall linear contours in the obtained edge contours by using Hough transform; (6) screening out the linear contours where a pointer in the instrument panel is located through length characteristics of the linear contours; (7) calculating an average value theta of an inclination angle between the two linear contours where the pointer is located; and (8) calculating out a pointer reading according toa linear relation between the linear inclination angle and an instrument scale. By the adoption of a positioning and detecting technology, the method has the characteristics of accurate positioning and reading, good anti-noise performance and efficient and rapid image processing.

The invention discloses a stereoscopic image visual saliency detection method based on local comparison and global guidance. The method comprises the following steps of selecting a left viewpoint image, a depth image and a corresponding subjective visual saliency map of the original three-dimensional image to form a training set; constructing a neural network, inputting the training set into a neural network model for training, and calculating a loss function value between each saliency prediction graph and a corresponding subjective visual saliency graph in the training set; and utilizing thetrained convolutional neural network to perform prediction processing on a to-be-detected three-dimensional image to obtain a visual saliency map, thereby realizing saliency detection of the image. Features of an RGB image and a depth image are extracted by using the convolutional neural network. A global up-sampling block is used for extracting global information, and the up-sampling block is used for learning local comparison features and gradually fusing comparison information. Meanwhile, the latest progress in the aspect of deep learning, such as an attention model, is utilized, so that the network pays more attention to a remarkable target, and a deeper network architecture is allowed to realize more accurate detection.

The invention relates to equipment for processing metals, in particular to a strip metal auto-screening and integrated feeding device which is characterized in that, according to the process flow, a meshed discharging device, a turnplate discharging device, a screening device, an overturn device, an integration device and a feeding device are sequentially arranged on a frame. The strip metal auto-screening and integrated feeding device disclosed by the invention is intelligent and is aimed at solving the disadvantage that strip metal processing equipment in the prior art is insufficient in degree of automation. The strip metal auto-screening and integrated feeding device automatically finishes the operations of single discharging, distinguishing and screening qualified strip metals, revising the front sides and the back sides of the strip metals, collecting qualified strip metals and single feeding.

A device for fuel cell electric pile assembly comprises a chassis seat, guiding rods, vertical rods and support fixing frames; 2 or 4 guiding rods are symmetrically disposed at the side surface of the chassis seat along a central axis of the chassis seat; the guiding rods and the chassis seat form an integral structure; dimension scales are marked on the upper surface of each guiding rod; 2 or 4 support fixing frames and 2 or 4 vertical rods are provided; each one support fixing frame and each one vertical rod are assembled to form an integral body; a slide block is disposed at the bottom of each support fixing frame; a thread location hole is disposed on the slide block; the slide block can slide on the guiding rod along an axial direction; the slide block is fixed at a determined position on the guiding rod by the thread location hole; each vertical rod is vertical to the chassis seat; dimension scales are marked on the inner surface of each vertical rod. The device has a simple and flexible structure; fuel cell electric piles with different active areas and different specifications can be assembled through the position where the slide blocks are fixed on the guiding rods and the lengths of the vertical rods; the precision degree of the assembly and alignment of the fuel cell is improved, and the stability and security of the fuel cell are improved.

The present invention relates to a remote control system for an engineering vehicle, which includes an engineering vehicle and a remote monitoring center for wireless data communication through a mobile communication network; The on-board phone of the engineering vehicle receives and displays the current GPS positioning data sent by the engineering vehicle and the video data sent by the engineering vehicle. Through the remote monitoring center to monitor the various working states of the engineering vehicles, the on-board camera map can reflect the surrounding environment and the operation process of the central control room in real time, and the on-board GPS module can accurately locate the position of the engineering vehicles. In addition, through the control terminals of the remote monitoring center, the remote monitoring center can remotely assist on-site operators to analyze and control the vehicle status. In an emergency, the remote monitoring center can realize the complete operation of the engineering vehicles and avoid the occurrence of complete accidents.

The invention relates to a preparation method of a non-through fractured rock mass test sample based on a 3D printing technology. The preparation method comprises the following steps: (1) simulating a geometrical shape of an actual fractured rock mass, and shapes and distribution of fractures in the rock mass, and determining a three-dimensional digital model of a mold for manufacturing the test sample; (2) carrying out 3D printing on the three-dimensional digital model to obtain the mold; (3) preparing cement mortar according to mechanical properties of the actual fractured rock mass and then preparing the test sample, pouring the prepared cement mortar into the mold, and solidifying and molding the cement mortar in the mold to form the test sample; (4) de-molding and maintaining to prepare the test sample. According to the preparation method provided by the invention, a fracture position can be accurately positioned, a fracture size can be strictly controlled and a space shape of the fractures can be sufficiently considered; the prepared fractured rock mass test sample is convenient to de-mold and problems that the inner structure of the fractures is damaged, the shapes and sizes of the fractures are changed or new fractures are generated at the peripheries of the fractures and the like are avoided in a de-molding process.

The embodiment of the invention provides a link fault reporting method and a processing method, and a transmission node and a primary node. The reporting method comprises that: the transmission node on a looped network monitors a primary port of the transmission node so as to wait for receiving a message; if the transmission node does not receive any message on the primary port within a preset receiving period of time, a first link fault message is sent to the primary node on the looped network from a secondary port which is matched with the primary port so that the primary node judges that a link fault occurs in the looped network according to the first link fault message, wherein the receiving period of time is less than a transmission period of time of an entire link of the looped network. The situation that the link fault occurs in the looped network can be judged by the technical scheme under the condition that the primary node does not need to wait until time of a Fail timer of the primary node is out so that time for detecting that the link fault occurs in the looped network by the primary node is reduced.

The invention discloses a navigation system for entering and leaving port of ships and warships under a night-fog weather situation and a construction method thereof, the navigation system includes a port-circumference seacoast panorama system, a color video reconstruction system for the night-fog weather situation, a wireless request signal sending module, a wireless video signal sending module, a wireless video signal receiving module, an infrared camera imaging system, a video display module and a differential global position system (GPS)system; and the construction method comprises the construction of the port-circumference seacoast panorama system and the construction of the color video reconstruction system for the night-fog weather situation. According to the navigation system and the construction method thereof, port-circumference seacoast panoramas are stored in advance in the ships and warships frequently haunting about a port, so that the ships and warships can still clearly know the details circumstances of a port seacoast without need of commands from an on-shore control center, and the ships and warships can enter and leave the port at a day with night fog. Through use of the navigation system and the construction method thereof, differential GPS information of the ships and warships can be effectively utilized to precisely locate direction, speed, location and other information of the ships and warships, and maps with best view-field effects can be sent to the ships and warships.

The invention discloses a double-hanging rope section building construction tower crane utilizing a GNSS technology. The double-hanging rope section building construction tower crane comprises a tower arm, a first hanging rope section, a second hanging rope section, a movable pulley positioned between the first hanging rope section and the second hanging rope section, and a lifting hook at the tail end of the second hanging rope section, and further comprises a first moving station in the position, right above the lifting hook, on the tower arm, and a second moving station arranged on the movable pulley, wherein the tower crane is matched with a hoisting fixed-point lofting auxiliary system comprising a datum station, a monitoring device and a client terminal; the first moving station and the second moving station receive satellite differential correction signals from the datum station, acquire the self location information, and send the location information to the monitoring device; the monitoring device determines whether the planimetric positions of the first moving station and the second moving station have relatively large difference or not; if the difference is relatively large, the monitoring device reminds to temporarily slow operation; if the difference is not large, the planimetric position of the second moving station is determined as the planimetric position of the lifting hook; and the elevation of the lifting hook is determined according to the length of the second hanging rope section and the elevation of the second moving station.

The invention discloses a GNSS double-moving-station building construction tower crane. The GNSS double-moving-station building construction tower crane comprises a cross arm, a first lifting rope segment, a second lifting rope segment, a movable pulley located between the first lifting rope segment and the second lifting rope segment, and a lifting hook at the tail end of the second lifting rope segment. The tower crane is matched with an auxiliary system comprising a reference station and a monitoring device. The tower crane comprises a first moving station installed at the position, over the lifting hook, on the cross arm, and a second moving station arranged on the movable pulley; the first moving station and the second moving station receive signals from the reference station, acquire the position information of themselves and send the position information to the monitoring device, whether the difference between the plane position of the first moving station and the plane position of the second moving station is large or not is determined, if the difference is large, it is considered that the first moving station, the second moving station and the lifting hook are on the same straight line, and the position of the lifting hook is determined according to the position of the first moving station and the position of the second moving station; and if the difference is not large, the plane position of the second moving station is determined as the plane position of the lifting hook, and the elevation of the lifting hook is determined according to the length of the second lifting rope segment and the elevation of the second moving station.

The invention discloses a data center IT equipment cabinet. The data center IT equipment cabinet comprises a detecting device used for detecting U-bit space and identification codes and an identification code memory base band used in cooperation with the detecting device and used for storing the electronic identification codes. The detecting device is connected with a cabinet control center and is connected with IT equipment through the identification code memory base band, and the detecting device obtains U-bit service data and the identification codes of the cabinet by using the identification code memory base band and uploads the U-bit service data and the identification codes of the cabinet to the cabinet control center. The IT equipment cabinet enables a U bit and the equipment parameter detecting device to be ingeniously combined together with a traditional cabinet, automatic detection of the U-bit space and equipment parameters can be achieved without any structure improvement of the traditional cabinet and the IT equipment, the problems that the U-bit space is prone to breaking down and low in efficiency due to artificial management are avoided, the U-bit service condition of the cabinet can be known rapidly, the attributes such as the position and the state of the equipment can be positioned accurately, and intelligent management of the U bit of the cabinet and the IT equipment can be achieved.

The invention relates to a defect detecting and repairing device and a defect detecting and repairing method of an optical sensor array panel. The defect detecting and repairing device comprises a detection unit, a process display unit and a location repairing unit, wherein the detection unit is used for detecting an analog electric signal output by an optical sensor array panel which is arranged on the detection unit and converting the analog electric signal into a digital electric signal; the process display unit is used for receiving the digital electric signal outputted by the detection unit and converting the digital electric signal into an image to be displayed, and can judge whether the optical sensor array panel has a defect or not according to the displayed image; and the location repairing unit is used for repairing the defect after locating the defect of the optical sensor array panel. According to the defect detecting and repairing device, operations of detecting, locating and repairing the defect are finished in the same detection repair device, and the position of each pixel unit of the optical sensor array panel is determined without determining a coordinate system; furthermore a sensor pixel unit with the defect can be located after the defect is found, and the repairing effect can be determined when the defect is repaired; and therefore, the operation method is simple and convenient, is low in error rate and high in operating efficiency.

The invention discloses automatic cleaning equipment. The automatic cleaning equipment comprises a base, a stand column, an extendable and retractable cross rod and a cleaning device. The stand column is mounted on the base. The extendable and retractable cross rod is driven by a first motor, and one end of the extendable and retractable cross rod is connected with the top end of the stand column. The cleaning device comprises a first carrying plate, a rotating shaft, a rotating wheel, spraying heads, a cleaning head and an air drying machine. One face of the first carrying plate is connected with the other end of the extendable and retractable cross rod. The other face of the first carrying plate is connected with one end of the rotating shaft through a bearing. The rotating shaft is driven by a second motor. The rotating wheel is arranged at the outer side of the rotating shaft in a sleeving manner. The rotating wheel is provided with two connecting rods, wherein one connecting rod is connected with the cleaning head, and the other connecting rod is connected with the air drying machine. The cleaning head comprises a cleaning plate body, distance sensors and a brush head, wherein the distance sensors are arranged at the periphery of the cleaning plate body; and the brush head is arranged in the middle of the cleaning plate body. The spraying heads are arranged at the periphery of the cleaning plate body. The automatic cleaning equipment is simple in structure, small in size, low in production cost, high in automation degree, good in cleaning effect and high in precision.

The invention relates to the technical field of serial number identification, in particular to an intelligent paper money serial number identification method based on a DSP. The method comprises the steps that paper money images are collected; information such as the currency, current value, front and back sides, reversal and the like of paper money is judged; one-quarter images containing serial numbers are captured from the obtained paper money images; the one-quarter images are cut, and images only containing the paper money parts are split out; the serial number areas of the images of the paper money parts are subjected to rough location and precise location; binary serial number area images are obtained; character images are separated out from the serial number area images, when comparing with a character template image, similarity is calculated, and then characters in the character images are identified; the identified characters which are easily-confused character images are subjected to skeletal feature extraction, second judgement is conducted through skeletal features, and then the characters corresponding to the character images are determined; identified serial number characters are output by combining the template comparison result and the skeletal feature judgement result.

The invention relates to a radial drilling machine. The radial drilling machine comprises a base, a stand column, a spindle box, a lead screw, a rocker arm and a main motor, wherein the stand column is installed on the base, the lead screw is vertically arranged on the stand column, the stand column is sleeved with one end of the rocker arm, the end of the rocker arm is connected with the lead screw, the spindle box is arranged at the other end of the rocker arm, a horizontal adjustment motor is arranged at the end, connected with the lead screw, of the rocker arm, a control panel is arranged on the shell of the horizontal adjustment motor, a rotary lead screw limiting block is arranged at the end, close to the spindle box, of the rocker arm, a transverse rotary lead screw is further arranged on the rocker arm, one end of the rotary lead screw is fixed to the output shaft of the horizontal adjustment motor, and the other end of the rotary lead screw penetrates through a rotary threaded through hole in the spindle box and is connected with the rotary lead screw limiting block. The horizontal adjustment motor is started through the control panel and drives the rotary lead screw to rotate, then, the rotary lead screw drives the spindle box to move, after the spindle box moves in place, the horizontal adjustment motor automatically stops working, the spindle box does not need to be manually moved repeatedly, and the spindle box is accurately positioned.

The invention discloses a new energy automobile integrated circuit chip test system, which comprises a test environment parameter regulation and control module, a current detection module, a chip loss analysis module, a chip defect test acquisition module, a test management platform, a vibration detection module, an infrared integrated management memory and a chip test display terminal, the test management platform is used for estimating, analyzing and evaluating the power loss coefficient in each test box environment, and counting the dynamic damage change coefficient of the integrated circuit chip, so as to accurately analyze the influence degree of the temperature and humidity change in the test box on the performance of the integrated circuit chip, analyze the component performance mutation coefficient of each component in the test process, so that the position of the component with performance mutation can be accurately positioned, whether each component is functionally abnormal or not can be accurately obtained, the chip test accuracy is improved, the position of an abnormal component can be accurately obtained, and abnormal components can be replaced or repaired conveniently.

The invention provides a wireless intelligent control system for a solar street lamp. The wireless intelligent control system for the solar street lamp comprises intelligent controllers, a wireless communication module, a wireless network-organization module and a remote control platform. The intelligent controllers are connected between a storage battery, a light-emitting diode (LED) lamp and the wireless communication module. The wireless communication module is network organized by means of the wireless network-organization module and utilizes the wireless communication network to send the data to the remote control platform far away and is capable of sending orders of the remote control platform down to intelligent controllers. The wireless intelligent control system for the solar street lamp has the advantages of being systematized and intelligentialized. As for the systematization, each previous relatively independent solar street lamp is integrated into an inseparable system through the wireless network. As for the intellectualization, brightness of the LED street lamp can be regulated according to the condition of the local road traffic flow, faulted street lamps can be tested and diagnosed online, the position of the faulted street lamps, the faulted reason and faulted portions can be positioned accurately, so that the solar street lamp is actually intelligent.

Disclosed is a detection method of a human eye state. The method comprises the following steps: extracting an eye area in a face image; through a rapid radial symmetry transformation algorithm, obtaining a radial symmetry transformation result of each pixel point in the eye area; determining that the positions of pixel points which have the maximum radial symmetry transformation results are pupil positions; selecting an area comprising the pupil positions as an eye template in the face image where the pupil positions are disposed; searching for an area to be detected, and determining that an area matching the eye template is an eye area to be detected; if the correlation coefficient of the eye template and the eye area to be detected is smaller than a matching threshold, determining that eyes in the eye area to be detected are at a blink state; and if the correlation coefficient of the eye template and the eye area to be detected is greater than the matching threshold, determining that the eyes in the eye area to be detected are at an eye-opening state. The technical scheme provided by the invention effectively improves the eye state detection accuracy, and has better robustness for glasses, head shaking, illumination condition transformation and the like.

The invention discloses a single-mode laser based on high-order surface gratings. The laser is of a ridge waveguide structure, and comprises a covering layer, a core layer and a substrate in a transverse direction. Narrow-groove-width high-order Bragg gratings are etched on a front segment ridge waveguide surface close to the output end of the laser, the etching depth of the group of gratings does not penetrate through the core layer, and optical feedback of the laser at the output end is provided; and a rear segment ridge waveguide of the other end of the laser does not contain gratings, an end face of the end is a deeply-etched interface, and optical feedback of the laser at the end is provided. The single-mode laser does not need secondary epitaxial growth of a material, and the manufacturing process is simple and convenient, thereby reducing the manufacturing cost of a device, and improving the reliability of the device; through introduction of the narrow-groove-width high-order surface gratings, radiation loss of the gratings is reduced, and laser performance is improved; and the laser rear end face formed by a deep etching method is easy to accurately position, the problem that the cavity length is indeterminate which is generated due to cleavage of an end face is avoided, and the laser is guaranteed to have good single-mode characteristics.

The invention provides a method and a device for creating an eye template as well as a method and a device for detecting an eye state. The method for creating the eye template comprises the following steps: extracting an eye region in a facial image; obtaining a radially symmetrical transformation result of each pixel in the eye region by a fast radially symmetrical transformation algorithm; determining the position of the pixel with a maximal value of the radially symmetrical transformation result as a pupil position; selecting a region containing the pupil position in the facial image in which the pupil position is positioned as the eye template. The method for creating the eye template is capable of accurately positioning the pupil position, so that the created eye template is accurate and reliable. The method for detecting the eye state comprises the following steps: obtaining the eye template by use of the method for creating the eye template; searching a to-be-detected region; determining the region matched with the eye template as a to-be-detected eye region; determining the eye state based on the similarity degree of the eye template and the to-be-detected eye region. The method for detecting the eye state is capable of effectively improving the eye state detection accuracy and has better robustness for spectacles, head shaking, illumination condition transformation and the like.

Provided is a method for manufacturing a simulation tunnel deformation experiment model. The position of a simulation tunnel is arranged at the central section of a model case, and simulation tunnel components of set dimensions are placed. Boards with a plurality of anchor pole component holes are respectively arranged in the left and right sides and the top portion positions of the simulation tunnel components. Anchor pole components with hooks at the head portions are inserted from the bottom portions of the boards with the plurality of anchor pole component holes in the left and right sides to the board with the holes at the top portion. At the same time, simulation materials are filled into the model case until the model case is full of the filled simulation materials, and the simulation materials are compacted tightly. After the filled simulation materials are molded, the simulation tunnel components are extracted, and the boards are taken away, the manufacturing of simulation tunnel model is completed. Through the dimensions of the tunnel components and the size of the boards, the size of tunnels in the model can be controlled. Through the thicknesses of the boards, the exposed lengths of the anchor pole components can be controlled. Through the adjusting of the positions of the holes in the boards, the mode of arrangement of the anchor pole components can be changed.

The invention relates to a multi-individual multi-parameter multi-sensing intelligent fireman physical ability early-warning and monitoring device, which mainly comprises heat-insulation fireproof clothes, a monitoring system network, a human body information collecting module, an upper computer display module, a phone APP, and an EnOcean energy collecting unit, wherein the monitoring system network comprises multiple wireless transmission nodes, a relay and a monitoring display terminal; the human body information collecting module is internally provided with a central processing unit, a human body temperature detection unit, a heart rate detection unit, a human body blood pressure detection unit, an ambient gas detection unit, and a falling detection unit. The device has the advantages that the environments and positions of the fire places where multiple firemen are as well as the human body key physiological parameters of the firemen can be monitored in real time, and early warning is sent, so that the harm to the firemen can be avoided furthest; meanwhile, a proper data fusion algorithm is adopted, so that the accuracy and reliability of collecting the human body data of the firemen are improved, and the condition that the best rescue time is lost because of delayed decision is avoided.

The invention relates to a combiner box system, and particularly discloses a system and a method for detecting the fuse state a combiner box. The system comprises an anti-reverse diode, fuses, a photovoltaic battery input current sampling circuit, a photovoltaic battery input voltage sampling circuit, a bus rod voltage sampling circuit, a first detection circuit, a second detection circuit, a third detection circuit and a processing unit, and the system can monitor that the fuses of the combiner box are in the normal state or in the burned failure state. The invention provides the system for detecting the fuse of the combiner box, which is modularized, easy to expand and has real-time online monitoring function, and the invention provides the method for diagnosing the failure of the fuse of the combiner box in real time for a photovoltaic power generation system.

The invention relates to a distributed optic fiber sensor based on a multi-domain mixed and multiplex mode and a modulation and demodulation method of the distributed optic fiber sensor. The optic fiber sensor comprises a data processing and controlling device (1), a light source module, an optical fiber sensing unit (13), a filter (4), a filter controlling module, a data collecting module and a light circulator (9). The data processing and controlling device (1) is respectively connected with the light source module, the filter controlling module and the data collecting module, the light circulator (9) is respectively connected with the light source module, the optical fiber sensing unit (13) and the filter (4), the filter controlling module is connected between the data processing and controlling device (1) and the filter (4), and the output end of the filter (4) is further connected with the input end of the data processing and controlling device (1) through the data collecting module. The distributed optic fiber sensor based on the multi-domain mixed and multiplex mode has the advantages of being large in capacity, low in cost, high in modulation and demodulation speed, compact in structure and the like and is suitable for large-scale and distributed sensing multiplexing.

The invention relates to a method for enhancing a gas infrared image based on self-adaption time-domain filtering and morphology and belongs to the field of gas leakage detection. Specific to a medium-wave infrared / long-wave infrared gas leakage video sequence image with lower signal to noise ratio and contrast ratio, the method comprises the following steps: combining recursion filtering and mean value filtering according to a self-adaption time-domain filtering method, and reducing the random noise of a background area furthest; enhancing a gas diffusion area by adopting a frame difference operation and a difference image accumulating method; and then expanding a gas area by adopting a morphological method and further reducing noise; and lastly, in view of more sensitivity of human eyes to color, applying color rendering to the gas diffusion area, thereby obtaining the gas infrared image with a color-enhanced gas area and an increased signal to noise ratio. According to the method provided by the invention, the visibility of gas leakage is obviously enhanced, and an observer can conveniently and timely find gas leakage and position the gas leaking part and the gas diffusion area. Due to the invention, the leakage of various colorless and odorless gases can be detected.

The invention discloses an optomagnetic integrated puncture operation navigation platform. The optomagnetic integrated puncture operation navigation platform is provided with a mark reference system,a register probe, a puncture needle and a navigation terminal, electromagnetic space coordinates of a mark point, a reference point and the tip end of the puncture needle in a electromagnetic space coordinate system and optical space coordinates of the mark point, the reference point and the tip of the puncture needle in an optical space coordinate system are positioned by the register probe, themark reference system and a calibration system on the puncture needle correspondingly. A scanning image including the mark point and an anatomical position are obtained for three-dimensional reconstruction, and thus a three-dimensional image is obtained. The navigation terminal determines virtual space coordinates of the tip of the puncture needle according to the three-dimensional image and the electromagnetic space coordinates and the optical space coordinates of the mark point, the reference point and the tip of the puncture needle, and the puncture needle is displayed in the three-dimensional image according to the virtual space coordinates.

The invention discloses an automatic picking and pesticide spraying method for a single-hedgerow vineyard. It is easy to damage grapes due to complex terrains in picking and carrying processes of an artificial or ground operating machine and equipment. The picking and pesticide spraying method adopted by the invention comprises a grape trellis, a conveying frame, a picking vehicle and a conveyingvehicle. The grape trellis comprises picking crane rail groups and grape frameworks. The conveying frame comprises a conveying framework, a fixed beam, conveying tracks and limiters. The conveying vehicle comprises a conveying vehicle base, sliding assemblies, conveying crane rails, a conveying rotating shaft, a conveying vehicle driving part and driving rollers. The picking vehicle comprises a picking driving mechanism, picking arms, a bracket, grape baskets and a pesticide box. The picking driving mechanism comprises a trolley base, a sliding table assembly, an advancing rotating shaft, driving wheels, driven wheels, an advancing driving part, a rotary driving part and a lifting driving part. The upper ends of the grape trellis and the conveying frame are provided with tracks on which the picking vehicle and the conveying vehicle operate in a suspended way, so that the maneuverability is relatively high.

The invention discloses a method for preparing a saturable absorber device based on black phosphorus. According to the method, two-dimensional layered black phosphorus, which is obtained through a mechanical stripping method or which is distributed in alcoholic solution and obtained through ultrasonic concussion, is deposited on a fiber head through a directional transfer method to be used as the saturable absorbing layer of the device. The directional transfer method may effectively and high-efficiently transfer the black phosphorus to the fiber head, prevents damage to material in a manual transferring process, may accurately locate nanoscale material, prevents blind transfer, and improves a success rate of saturable absorber preparation. The black phosphorus saturable absorber prepared through the method provided by the invention employs a transmission mode, may achieve ultrashort pulse output of lasers in near-infrared and mid-infrared wavebands, has characteristics of good performance and compatibility, and is suitable for Q regulation and mode locking of lasers and optical signal processing.