6results about How to "Real-time positioning" patented technology

The application discloses a kind of indoor mobile robot dense mapping and autonomous navigation method based on depth camera, belong to robot simultaneous localization and mapping, robot navigation field.The application uses depth camera and based on interframe matching to image ORB feature to realize real-time positioning to robot, by fusing color image and depth image, and in order to eliminate redundant video frame, key frame extraction method in space domain is introduced, real-time dense three-dimensional point cloud map construction is realized, and it is converted into octree map format and grid map format suitable for navigation, then by ROS Navigation function package, it is combined with existing mobile robot navigation method, realizes indoor mobile robot autonomous navigation scheme based on pure vision scheme.

The invention relates to a Bluetooth AOA signal outlier elimination method and system based on deep learning, and the method comprises the steps: initializing system configuration, and cooperatively collecting Bluetooth signals through employing a plurality of Bluetooth base stations; acquiring IQ data in a plurality of Bluetooth base stations, and performing data preprocessing; according to the IQ data, performing calculation to obtain a preliminary positioning result of the Bluetooth terminal; constructing an input data set of the deep learning model and designing a network structure of the deep learning model; training a deep learning model according to the input data set; the training precision of the deep learning model is judged, if the training precision meets the requirement, IQ data collected in real time is input into the trained deep learning model, and a real-time positioning result of the Bluetooth terminal is obtained; otherwise, returning to adjust the network structure; and optimizing the real-time positioning result by using a Kalman filtering algorithm to obtain a final positioning result. Compared with the prior art, the method has the advantages of high positioning accuracy and strong robustness.

This invention relates to a control method for a hair processing device, a hair processing device, and a storage medium. The control method for the hair processing device includes acquiring a non-visible light sensing image and a depth image for characterizing depth information between a user and the hair processing device; determining real-time position information of the user's body part relative to the hair processing device based on the non-visible light sensing image and the depth image; calculating rotation parameters of the hair processing device based on the real-time position information; and controlling the hair processing device to rotate to follow the user's body part based on the calculated rotation parameters.

The invention relates to the technical field of mobile equipment, in particular to an intelligent wheelchair local path planning and dynamic obstacle avoidance method based on a rolling window. The method comprises the following steps: S1, establishing an indoor local three-dimensional map based on a binocular vision sensor; s2, determining a local optimal path according to the established indoor local three-dimensional map; s3, boundary information and position information of the obstacle are obtained through a front infrared / binocular vision sensor, the position of the obstacle relative to the wheelchair is obtained, the rotating speed is distributed to left and right wheels of the wheelchair through a differential, and arc obstacle avoidance is achieved in combination with a steering engine. According to the rolling window-based intelligent wheelchair local path planning and dynamic obstacle avoidance method provided by the invention, an indoor instantaneous local map is created based on binocular vision, a local path is planned based on the rolling window, full-autonomous trajectory planning of the intelligent wheelchair is realized, and based on an infrared / binocular vision sensor, various environmental limitations are considered at the same time, and the dynamic obstacle avoidance of the intelligent wheelchair is realized. A dynamic obstacle avoidance method is designed, and the obstacle avoidance effect of the machine in a dynamic environment is improved.

This invention discloses an autonomous operation method and robot system for an electric dual-arm live-line working robot for power distribution networks, relating to the field of live-line working robot technology. The method includes: constructing a global point cloud map based on multimodal perception data to determine the robot's current pose and, under the constraints of the live-line working range, determining the robot's docking pose; generating a motion trajectory using a path planning agent based on the current pose; and smoothly controlling the robot to reach the optimal docking pose based on trajectory tracking errors; identifying and locating the live-line working target; identifying the current live-line working stage based on operational data and adaptively and smoothly adjusting the impedance parameters after the live-line working stage switch; and executing force-position-angle coordinated adjustment and an embodied intelligent anomaly avoidance mechanism in the admittance control outer loop and position control inner loop. This improves the robot's environmental adaptability and operational control stability, achieving autonomous, safe, and refined closed-loop operation of live-line working in power distribution networks.

The application relates to an automatic positioning device and method for underwater laser cladding, in particular to a high-precision automatic positioning device and method combining sonar positioning and visual identification, which comprises a sonar positioning system, a visual identification system and an inertial navigation unit. The sonar positioning system and the visual identification system are fixed on the same circular fixing device, and synchronous positioning analysis can be realized. The inertial navigation unit fuses multi-source data, optimizes positioning parameters on the basis of sonar positioning, and obtains more accurate position information. Meanwhile, under the assistance of an underwater moving trolley and a six-axis robot, the welding gun can be quickly moved to a welding target area, and the inertial navigation unit can also feed back the position and posture of the welding gun in real time, so that the welding gun is more convenient to adjust. The device can accurately position a repair position, and improves the efficiency and accuracy of underwater operation.