44results about How to "Precise Navigation" patented technology

The invention relates to a satellite / inertial integrated navigation anti-deception jamming method and system based on a multi-array-element antenna, and the method comprises the steps: receiving an inertial navigation measurement value through an inertial navigation measurement unit, carrying out the preprocessing of the inertial navigation measurement value, obtaining a processed inertial navigation measurement value, and receiving a navigation signal transmitted by a satellite through a master antenna and a slave antenna; whether a deception jamming signal exists or not is detected according to the received master and slave antenna signals, if the deception jamming signal exists, the incoming wave direction of the deception jamming signal is searched by a multi-array-element antenna, a null is aligned to the direction, meanwhile, the master antenna signal is switched into the multi-array-element antenna signal, detection is conducted, and the deception jamming signal is obtained. And taking the multi-array-element antenna signal as a GNSS (Global Navigation Satellite System) signal and optimizing the processed inertial navigation measurement value by adopting a factor graph until no deception jamming signal is detected, so as to obtain an anti-deception jamming satellite / inertial integrated navigation result. By adopting the method, accurate navigation can be carried out in a complex environment and a scene with deception jamming.

The invention discloses a robot positioning and navigation method and device based on a large language model thinking chain, and belongs to the field of intelligent navigation, and the method comprises the steps: obtaining a target instruction, and collecting the current position of a robot and the image information of the current position; performing semantic analysis on the target instruction and the image information of the current position by using a visual language model to generate a navigation thinking chain; and determining the next position of the robot according to the navigation thinking chain, and generating a navigation route of the robot according to the next position and the current position. Therefore, the problems that an existing navigation method generally lacks a systematic reasoning process, and abundant semantic information contained in a model cannot be fully utilized to optimize a navigation task are solved.

The invention belongs to a robot navigation method, and aims to solve the technical problems of difficulty in establishing a geometric map in a non-structural scene, dependence on tags from laser radar data, easiness in ignoring long-distance features and slow reasoning time in the conventional navigation or exploration method. According to the robot visual navigation method based on comparative learning and the related device, after current observation is obtained, the current observation is input into a trained observation encoder to obtain a corresponding feature vector, and then a pre-selected batch action sequence passes through an action encoder to extract the corresponding feature vector; and calculating the similarity between the current observation and each action sequence through a vector inner product, selecting the action sequence with the highest similarity, and inputting the selected action sequence into a robot controller for controlling the robot to execute corresponding actions. Compared with a method for directly generating the action sequence, the method has the advantages that the difficulty of selecting one action sequence is lower, and the expansibility and generalization are better.

The invention discloses a self-propelled water and fertilizer irrigation device and method based on intelligent navigation and a multi-energy system, and relates to the field of agricultural irrigation.The self-propelled water and fertilizer irrigation device comprises a rear rack, a front rack is arranged on the front side of the rear rack, a machine body is connected to the upper portion of the rear rack and the upper portion of the front rack, and stability adjusting mechanisms are installed on the rear side wall of the rear rack and the rear side wall of the front rack correspondingly; the bottom of the stable adjusting mechanism is connected with a wheel carrier, wheels are installed below the wheel carrier, a wheel shaft is connected to the middle of each wheel in a penetrating mode, and a bearing is connected between each wheel shaft and the corresponding wheel carrier. By arranging the hybrid energy system, the dependency of device power supply on the environment can be reduced, the storage battery can be automatically switched to provide power in rainy days and windless days, continuous supply of energy is ensured, and the reliability of the system is greatly improved; and by arranging the stability adjusting mechanism, the movement stability of the device on the uneven ground or the muddy area can be improved, and the possibility of slipping is reduced.

The invention discloses an unmanned aerial vehicle control method, a storage medium, a processor and an electronic device. The method comprises the following steps: acquiring image information, and determining a first relative position relationship between a mounting point and an unmanned aerial vehicle based on the image information; obtaining point cloud information, wherein the point cloud information is obtained by performing radar scanning on the target area by the unmanned aerial vehicle; determining a second relative position relationship between the mounting point and the unmanned aerial vehicle based on the point cloud information; determining positioning information based on the first relative position relation and the second relative position relation; and generating a control strategy based on the positioning information, wherein the control strategy is used for controlling the unmanned aerial vehicle to move into the installation area of the installation point. The technical problem that an existing unmanned aerial vehicle is inaccurate in positioning when positioning a power transmission tower installation point is solved.

The invention relates to a power transmission line inspection unmanned aerial vehicle navigation method and device, an unmanned aerial vehicle, equipment and a medium, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: acquiring a first electric field intensity collected by a first electric field sensor and a second electric field intensity collected by a second electric field sensor of the unmanned aerial vehicle in an inspection process; the first electric field sensor and the second electric field sensor are vertically arranged; according to the first electric field intensity and the second electric field intensity, determining the synthetic electric field intensity of the position of the unmanned aerial vehicle; and determining a flight strategy of the unmanned aerial vehicle according to the synthesized electric field intensity, a preset electric field intensity range, the first electric field intensity, the second electric field intensity and a preset electric field proportion range to control the unmanned aerial vehicle to fly relative to the power transmission line according to a preset safety distance. The method can improve the navigation accuracy of the unmanned aerial vehicle.

The invention discloses a vehicle navigation method and device, a nonvolatile storage medium and electronic equipment. The method comprises the following steps: acquiring a road image acquired by an image acquisition device in a vehicle; recognizing a building in the road image, and recognizing the road type of the road where the vehicle is located according to the building; under the condition that the road type is an urban road, identifying a target object in the road image by using a first-stage target detection algorithm; under the condition that the road type is a rural road, identifying a target object in the road image by using a two-stage target detection algorithm; and generating virtual navigation information based on the target object, and displaying the virtual navigation information at a preset position. The technical problem that a related augmented reality-based navigation technology cannot select recognition algorithms adapted to different roads according to the environment where the vehicle is located so as to recognize important objects around the vehicle is solved.

The invention discloses a self-walking unmanned aerial vehicle nest bridge steel box girder internal detection system and method. The system is composed of a track traveling chassis, a laser radar subunit, an image monitoring subunit, an unmanned aerial vehicle cable laying and collecting mechanism, one or more unmanned aerial vehicle carrying tables, a communication unit, a storage unit, a calculation unit, a control unit and a power supply unit. The laser radar subunit realizes position positioning of the self-walking nest in a bridge, and realizes position positioning and attitude calculation of the unmanned aerial vehicle in a steel box girder; through the cooperation of the self-walking nest and the mooring unmanned aerial vehicle, crack and defect detection by using the unmanned aerial vehicle in the steel box girder has establishment conditions; and tracking and monitoring of the unmanned aerial vehicle and image and video acquisition of the internal environment of the steel box girder are realized through the image monitoring subunit. According to the system and the method, autonomous driving of the nest in the bridge and autonomous flight of the unmanned aerial vehicle are ensured, and the internal patrol and crack and defect detection efficiency of the steel box girder is greatly improved.

The invention discloses a path planning method combined with three-dimensional modeling, comprising: obtaining a GPS covered road network of a target scene, dividing a non-GPS covered road network area into a VPS custom area, performing real scene three-dimensional reconstruction on the VPS custom area, and obtaining a real scene model of the VPS custom area; defining a transition area between the GPS covered road network area and the VPS custom area, and selecting an optimal path connection point in the transition area; connecting a path in the GPS covered road network area and a path in the VPS custom area through the optimal path connection point, planning the path of the VPS custom area through the real scene model of the VPS custom area, and forming a fused navigation path; navigating according to the fused navigation path, performing navigation point deviation detection, and if deviation occurs, performing new starting point planning to generate a new fused navigation path.

The present invention proposes a method for indoor navigation of a robot, the method comprising: obtaining indoor environment information and obstacle information through sensors; classifying the obstacle information; formulating a coping strategy for each obstacle according to the classification results of the obstacles; the robot performs path planning on an established environment map according to a current position, a target position, the obstacle information and the coping strategy; the robot moves along the planned path, senses changes in the environment in real time, and dynamically adjusts the path according to new environmental information. Through this method, the robot can obtain and process surrounding environment information in a timely manner, the robot can perform more intelligent and optimized path planning, thereby providing more accurate navigation and obstacle avoidance, and improving navigation efficiency; by identifying obstacle types and selecting appropriate obstacle avoidance strategies, the robot can avoid collisions with obstacles, thereby improving navigation safety.

The application discloses a three-dimensional terrain modeling analysis and adaptive navigation system and method, and relates to the technical field of navigation.The laser radar is used for acquiring point cloud data of the region where the device to be navigated is located in real time; the IMU is used for measuring the acceleration and angular velocity of the device to be navigated in real time; the data fusion sub-module is used for pre-processing the point cloud data, acceleration and angular velocity in real time, and fusing the pre-processed data; the three-dimensional map modeling sub-module is used for constructing a three-dimensional map model according to the point cloud data in real time by using a SLAM algorithm; the three-dimensional terrain analysis module is used for determining the terrain features of each point in the three-dimensional map model in real time; and the adaptive navigation module is used for planning a path for the device to be navigated according to the three-dimensional map model and the terrain features of each point, so that navigation is realized.The application can improve the precision of original data, and then improve the positioning precision, and realize accurate navigation.

The present invention provides a flatbed carriage detection method, device and unmanned guided vehicle based on an unmanned guided vehicle. The method uses an image retrieval network to extract the front reference image and the rear reference image that are closest to the real-time monitored RGB data stream from the flatbed graphics library that is updated and maintained in real time, and then matches the feature point pairs with the front image and the rear image in the RGB data stream to locate the pixel coordinates, and then converts them into the front space coordinates and the rear space coordinates in the absolute space coordinate system, and fits the linear equation that matches the first length side to guide the loading operation position according to each position of the first length side. In complex scenarios such as the unfixed parking position of the truck and the various types and specifications of the goods, the position of the flatbed carriage can be accurately identified, and the cargo specifications are combined to provide a basis for the cargo position division, which is convenient for accurate navigation to the designated cargo position and realizes flexible loading.

The invention relates to an unmanned aerial vehicle intelligent path planning method and system based on visual signals, and belongs to the field of path planning. The method comprises the following steps: optimizing a neural network through progressive pruning; fuzzy coordinates and scene types are provided for the unmanned aerial vehicle, the unmanned aerial vehicle flies to a fuzzy coordinate area, and when the unmanned aerial vehicle is close to the fuzzy coordinate area, the unmanned aerial vehicle is switched to a pure vision mode to perform environment perception through a neural network, and a three-dimensional semantic map is constructed; performing real-time path planning based on the three-dimensional semantic map to obtain a flight path; the method comprises the following steps: performing autonomous flight along a flight path, when approaching an operation target, performing autonomous operation to obtain real-time monitoring data, storing the real-time monitoring data in airborne storage equipment, and returning the real-time monitoring data after returning. And an unmanned aerial vehicle intelligent path planning system with high robustness, high autonomy and high task adaptability is constructed.

This invention relates to the technical field of concealed pipeline mapping, and in particular to an auxiliary device for rapid three-dimensional coordinate positioning of concealed pipelines in installation projects. The invention includes a mother drone equipped with a probe and camera mounted on it. A marking nozzle is connected to the mother drone, and the marking nozzle is connected to and installed on a daughter drone. The mother drone connects the marking nozzle and the daughter drone via a flexible hose and power cable. The device uses a mother drone integrating a probe and camera, enabling multi-angle, omnidirectional spatial scanning and image acquisition of concealed pipelines. This achieves rapid and accurate three-dimensional coordinate positioning of the concealed pipelines, significantly improving the accuracy and reliability of the positioning. The mother drone connects the marking nozzle and the daughter drone via a flexible hose and power cable, enabling remote synchronous control. The daughter drone can flexibly move to the pipeline positioning point and automatically complete on-site marking, avoiding errors associated with traditional manual line drawing and improving the accuracy and consistency of the marking.

This invention belongs to the field of power technology, specifically disclosing a method, device, equipment, and medium for autonomous charging and navigation of unmanned aerial vehicles (UAVs). It includes the following steps: scanning environmental information to obtain LiDAR data; identifying charging station landmarks from the LiDAR data and establishing a coordinate system; processing the coordinate system using the ICP method to obtain pose gain; acquiring the odometer information corresponding to the pose gain; fusing the odometer information and pose gain using the extended Kalman filter method to obtain an estimated pose; and using the estimated pose as input for a PID control method to complete navigation. This invention, by applying landmark recognition and positioning navigation technology, replaces the traditional manual charging method, greatly reducing the need for human resources, lowering UAV charging costs, and improving charging efficiency.

In a method of creating an environment map for use in autonomous navigation of a mobile robot (10) in a map-based positioning system in a logistics environment, mobile objects (20, 200) of a goods management system having known positions are included into the environment map creation process.

The invention discloses a positioning device of a charging guide rail type robot based on a photoelectric switch and a code scanning system. The positioning device comprises a control system, a communication interface, an I / O interface, the code scanning system, a driving system, the photoelectric switch and a walking mechanism. The control system performs information interaction with the code scanning system through a communication interface and is used for identifying the parking space code of each charging parking space and sensing the operation state of the robot through an I / O interface and a photoelectric switch; the control system controls the driving system to drive the robot to move on the walking mechanism according to recognized and sensed information so as to achieve precise positioning of the robot, and the technology is combined with a photoelectric switch and a code scanning system so as to achieve precise and reliable positioning when the robot carries the charging distributor to a target parking space.

The application relates to a navigation method, system, computer device, storage medium and computer program product. The method comprises the following steps: obtaining a target medical model, the target medical model being reconstructed based on an initial image scanned by a scanning device; generating operation planning information based on the target medical model; obtaining a real-time image scanned by the scanning device, and registering the real-time image with the target medical model to obtain a first registration relationship; obtaining a first coordinate relationship between a coordinate system corresponding to an execution tool and an image coordinate system of the real-time image; and navigating the execution tool based on the first coordinate relationship, the first registration relationship and the operation planning information. The method can model during operation, does not require preoperative CT, and realizes real-time registration without the need of adding additional markers.

The invention discloses an unmanned aerial vehicle vision-based centering lead casting control method and system. The method comprises the following steps of: acquiring an image of a power transmission lead by using an unmanned aerial vehicle; segmenting the image by using a DeepLabV3 + semantic segmentation algorithm, and carrying out binarization processing; performing linear fitting on the binarized image, and calculating a center line offset according to a position relation between the center line of the unmanned aerial vehicle and the center line of the power transmission conductor; and according to the offset, the unmanned aerial vehicle is controlled to be aligned with the center line of the wire, and the suspension wire support is put within the safe distance. Accurate navigation and positioning of the unmanned aerial vehicle in a complex environment are realized, and the automation level of the unmanned aerial vehicle in power transmission conductor maintenance is greatly improved. The problems that traditional manual operation is high in difficulty and low in efficiency are effectively solved. The safety of the unmanned aerial vehicle in a high-voltage environment is ensured, and the discharge risk is reduced.

The invention discloses an event-assisted unmanned aerial vehicle night precise landing system and method. The system comprises a high-frequency dynamic infrared sign array module, an event camera module, a pose resolving module and a landing control module. The system takes a high-frequency dynamic infrared mark array as a positioning reference, an event camera carried on the unmanned aerial vehicle captures an optical event flow with unique time sequence characteristics by accurately controlling the independent flicker frequency of each infrared light source, then the pose of the unmanned aerial vehicle is calculated by using an N-point perspective method, and finally accurate landing is realized by a landing control module. According to the invention, the event camera and the high-frequency dynamic infrared sign array are innovatively combined, the cooperative working mechanism of the event camera and the high-frequency dynamic infrared sign array is utilized, sub-millisecond-level positioning feedback is realized in a complex environment, the limitation of a traditional static optical sign is broken through, the positioning precision and reliability are improved, and the method is suitable for accurate take-off, landing and positioning of the unmanned aerial vehicle at night and in the complex environment.

The invention provides an AR intelligent high-precision positioning navigation method, device and system. The method comprises the following steps: acquiring a target shot point of seismic acquisition operation selected by a user; aR navigation is started, the current GPS position of a user and the GPS position of a target shot point are positioned, and a marked three-dimensional pile body is generated at the position corresponding to the target shot point; estimating the step length and the step number of the user according to the acceleration data acquired by the acceleration sensor; determining the current orientation of the user according to the angle data acquired by the angular velocity sensor and the orientation data acquired by the orientation sensor; determining a path direction and a path distance from the current position of the user to the target shot point according to the current GPS position of the user and the GPS position of the target shot point; the user is guided to reach the position of the three-dimensional pile body; according to the method, the workload of measurement personnel can be reduced, environmental pollution and mark disappearance are avoided, rapid point selection and rapid and accurate navigation guidance are realized, the working efficiency is effectively improved, the working time is shortened, and the labor cost is reduced.

The invention relates to the technical field of power system operation and maintenance, in particular to a power line fault rapid positioning method. The method comprises the steps of data acquisition and preprocessing, feature image construction, convolutional neural network model construction and training, fault identification and positioning, and result verification and optimization. The method can improve the positioning precision, achieves the precise recognition and positioning of a power line fault through the powerful feature extraction capability of the convolutional neural network, and reduces the false alarm and missing report. The fault repair time is shortened, the fault position is quickly positioned, accurate navigation is provided for operation and maintenance personnel, the fault search and repair time is remarkably shortened, and the power supply reliability is improved; the intelligent operation and maintenance promotes the development of the operation and maintenance of the power system towards the intelligentization and automation direction, reduces the operation and maintenance cost, and improves the operation and maintenance efficiency.

The present invention provides a supermarket shopping guide robot based on ROS and artificial intelligence algorithm, belonging to the field of intelligent robot technology. It includes a robot body and a robot control system; the robot body includes a shopping basket and a packing room; the robot control system includes a host computer with ROS, a lower computer with a central controller, a human-computer interaction module, a laser radar, an IMU module, a motion drive module, a wireless communication module, a code scanning checkout module, an automatic packing module and a power supply unit. The host computer includes a map creation module, a robot positioning module, a commodity positioning module and a path planning module. The present invention can not only plan shopping routes and guide, but also settle and pack in real time, improve shopping efficiency, save time for busy urban consumers, and increase shopping experience; it can also effectively avoid crowds in supermarkets, reduce contact between people and between people and objects, and is of great help to disease prevention and control and cutting off the route of infection.

The application discloses a hydraulic fracturing parameter optimization method based on nano-indentation spatial heterogeneity atlas, and relates to the field of coalbed methane exploitation.The method comprises the following steps: sampling and nano-indentation testing of a target coal seam, and obtaining load-displacement curves of each measuring point; analyzing and calculating the load-displacement curves of each measuring point, and drawing a heterogeneity atlas of the sampling points and a micro-mechanical spatial heterogeneity atlas of the entire coal seam; identifying the micro-mechanical spatial heterogeneity atlas of the entire coal seam, and constructing a hydraulic fracturing design scheme according to the distribution information of the advantageous path and the inferior path of the fracturing fissure in the coal seam; and combining resistivity tomography technology to monitor the fissure expansion range, and dynamically adjusting the fracturing parameters of the hydraulic fracturing design scheme.The application generates a micro-mechanical spatial heterogeneity atlas through a nano-indenter, depicts the mechanical heterogeneity inside the coal rock, saves the trial-and-error cost of fracturing design, and reduces the blindness of fracturing.

The application relates to the field of biomedical materials, and particularly discloses a biological hybrid magnetic micromotor as well as a preparation method and application thereof. The preparation method of the biological hybrid magnetic micromotor comprises the following steps: reacting Chlorella vulgaris with ferrous sulfate, potassium hydroxide and potassium nitrate, magnetically separating the obtained reaction solution to obtain a solid, reacting the obtained solid with graphene oxide, and magnetically separating the obtained reaction solution to obtain the biological hybrid magnetic micromotor. The micromotor provided by the application can enhance the contact with a methylene blue solution under the action of a magnetic field, thereby showing higher adsorption efficiency in a short time. The micromotor adsorbed with the methylene blue can accurately navigate to a cell surface, and can generate reactive oxygen under the irradiation of a 664 nm laser and generate heat under the irradiation of an 808 nm laser to cooperatively induce cancer cell death. The application skillfully utilizes the adsorption performance and directional motion behavior of the micromotor, thereby providing a new idea for realizing cascade environmental purification and tumor treatment.

The invention relates to a field omni-directional mobile chassis and an operation platform and a ground clearance adjusting method thereof. The field omni-directional mobile chassis comprises the operation platform, a Beidou-laser radar navigation system, a frame suspension, an electric cabinet and an independent steering and walking assembly. The working platform achieves ground clearance adjustment through an electric cylinder driving and optical axis guiding method. The frame suspension is of a gantry type structure and comprises a rectangular frame, beam columns and cross beams. The electric control box and the Beidou-laser radar navigation system are arranged on a frame suspension; the independent steering and walking assembly comprises a walking mechanism and a steering mechanism. According to the independent steering and walking assembly, the steering flexibility is improved; the frame suspension and the ground clearance adjusting method are suitable for ridge type planting or field multi-task operation of high-stem crops. Different operation execution components can be hung and mounted on the operation platform to complete various field operation tasks; and the Beidou-laser radar navigation system is used for realizing accurate navigation.

The invention discloses a positioning control device of a new energy automobile orderly charging guide rail type robot. The positioning control device comprises a control system, a communication interface, an I / O interface, an RFID, a driving system, a photoelectric switch and a walking mechanism. The control system performs information interaction with the RFID through a communication interface and is used for identifying the electronic code of each charging parking space and sensing the running state of the robot through an I / O interface and a photoelectric switch; the control system controls the driving system to drive the robot to move on the walking mechanism according to recognized and sensed information so as to achieve precise positioning of the robot, and the technology combines a photoelectric switch and RFID radio frequency identification so as to achieve precise and reliable positioning of the robot carrying the charging distributor to a target parking space.

The invention discloses an underwater wireless charging intelligent mother port platform for a power generation, storage and charging integrated unmanned vehicle. The underwater wireless charging intelligent mother port platform comprises a power generation system, an energy storage system and an underwater charging system, wherein the power generation system is used for generating electric energy by adopting multiple power generation modes; the energy storage system is used for storing the electric energy and providing the electric energy for the underwater charging system; the underwater charging system comprises a contactor dispatching unit and a contactor butt joint unit. The contactor scheduling unit is used for matching a cable laying type wireless charging contactor I for the unmanned aircraft; the unmanned vehicle is provided with a matched cable laying type wireless charging contactor II, and the contactor butt joint unit is used for achieving three-stage positioning butt joint of the wireless charging contactor I and the wireless charging contactor II. According to the invention, the distribution of charging resources can be optimized, the accuracy and safety of charging docking can be improved, and the unmanned underwater vehicle can be ensured to be charged quickly and safely.

This invention relates to the field of inertial navigation technology, and particularly to a missile navigation method based on dual data link assistance. The method includes: a ground signal receiver acquiring the distance between the missile's position and the ground signal receiver at two adjacent moments via a data link; projecting the distances at the two moments onto the launch coordinate system to calculate the trajectory at each moment; converting the trajectory information to a geodetic rectangular coordinate system, and then to a geographic coordinate system; using the longitude, latitude, altitude, and heading angle in the geographic coordinate system, combined with the inertial navigation's azimuth velocity, eastward velocity, northward velocity, longitude, latitude, and altitude, as observations for Kalman filtering; correcting the missile's position information through Kalman filtering to obtain the final missile position; this invention employs a data link-assisted navigation system to ensure high-precision flight trajectory and attitude of the missile even when GPS is interfered with.

The utility model discloses an intelligent interactive walking assisting robot for a global scene, and relates to the technical field of artificial intelligence, robot technology and intelligent home furnishing, the intelligent interactive walking assisting robot comprises a chassis module, the upper end of the chassis module is respectively provided with an intelligent seat module and a mechanical arm module, and the chassis module comprises a chassis frame body; the intelligent seat module comprises a getting-up mechanism, a backrest adjusting mechanism and an interaction control mechanism; universal wheels are arranged at the four end corners of the bottom end of the chassis frame body, fixing frames are symmetrically installed at the center of the bottom end of the chassis frame body, a hub motor is fixed to the inner side of each fixing frame, and a driving wheel is fixed to the output end of each hub motor; the getting-up mechanism comprises an electric lifting column; the backrest adjusting mechanism comprises a cushion. The intelligent interaction walking assisting robot for the global scene provided by the utility model integrates the functions of voice recognition, stable movement and visual interaction, and aims to provide comprehensive intelligent service for home life.