19results about How to "Real-time positioning" patented technology

The invention provides a Texaco gasification device corrosion problem analysis method, which comprises the following steps: selecting key monitoring points to monitor the corrosion condition of a target device, installing intelligent sensors at the points, collecting operation data in real time and transmitting the operation data to a central processing unit; analyzing the data, identifying an area possibly having a corrosion risk and an abnormal change trend, and determining a suspected corrosion area; carrying out deep detection on the areas to obtain detection data; detection data, equipment operation data and maintenance records are encrypted and stored, so that the authenticity, non-tampering and traceability of the data are ensured, and a reliable basis is provided for subsequent analysis and decision making; and in combination with an intelligent manufacturing technology, operation parameters and maintenance plans of the device are optimized according to a corrosion analysis result, and accurate analysis and effective prevention and control of corrosion problems are realized. By means of the scheme, accurate analysis and effective prevention and control of the corrosion problem of the Texaco gasification device are achieved, and the overall equipment management level and safety are improved.

The invention provides a fault diagnosis and positioning method and device based on an intelligent irrigation gateway, and relates to the technical field of agricultural irrigation, and the method comprises the steps: obtaining multi-source sensor data collected from an irrigation system controlled by the irrigation gateway, and carrying out the condensation hierarchical clustering, and obtaining a hierarchical clustering tree; determining a cut-off point in the hierarchical clustering tree according to a preset distance threshold, and cutting the hierarchical clustering tree to obtain a plurality of clusters; abnormal data identification is carried out on the multi-source sensor data in the cluster, and an abnormal fault point is determined; and tracing the abnormal fault point in the tree topology structure network of the irrigation system, and carrying out path planning to obtain a shortest path for tracing the abnormal fault point so as to position the abnormal fault point in the irrigation system. Through the method and the device, the defects of low fault positioning precision and efficiency and influence on the maintenance efficiency of the irrigation system caused by possible misjudgment or missed judgment in fault detection of the irrigation system and difficulty in timely fault positioning are overcome.

The invention discloses an intelligent robot identification and positioning system applied to metal forging and pressing equipment, which is characterized by comprising an image identification module based on deep learning and used for acquiring image data of a working area of the metal forging and pressing equipment in real time and identifying a metal workpiece; the three-dimensional positioning module based on laser scanning is used for carrying out three-dimensional space positioning on the identified metal workpiece; the data processing unit is used for processing data of the image recognition module and the three-dimensional positioning module and generating accurate position information of the workpiece; the control unit is used for controlling the movement of the robot according to the position information so as to accurately grab and place the metal workpiece; the feedback system is used for monitoring and adjusting actions of the robot in real time so as to ensure the accuracy of operation; and the user interface is used for displaying system states and operation instructions and allowing an operator to carry out intervention and adjustment.

The invention relates to an automatic positioning device and method for underwater laser cladding, in particular to a sonar positioning and visual identification combined high-precision automatic positioning device and method, 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, so that 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. And meanwhile, under the assistance of the underwater moving trolley and the six-axis robot, the welding gun can be rapidly moved to a welding target area, the inertial navigation unit can feed back the position and posture of the welding gun in real time, and the welding gun can be adjusted more conveniently. The device can accurately position the repair position and improve the efficiency and accuracy of underwater operation.

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 ZPW2000A trackside circuit monitoring method and system and a medium, and the method comprises the steps: collecting the current of a steel rail lead wire through a lead wire current sensor, collecting the current of a cable side through a cable side current sensor, and recording the timestamp, environment temperature and position information of the collected current; the collected current, temperature and time are uploaded to the communication processing host through the carrier communication host, the communication processing host carries out fault diagnosis and prediction on the received current and time data by using a long and short term memory network, diagnosis results and data are transmitted to the industrial personal computer for display and alarm, and positioning is carried out according to the position information of the sensor. Compared with the prior art, the method has the advantages of real-time fault positioning, high accuracy, high practicability and the like.

The utility model discloses a vehicle-mounted full-scene video intelligent acquisition and line detection device, which solves the problem of lack of safety monitoring and detection equipment for railway locomotives running along the line. The device comprises a video acquisition unit, an acceleration acquisition unit, a coordinate acquisition unit, a storage unit, an interface unit, a man-machine interaction unit and a main control circuit board, the video acquisition unit comprises a front camera, a left camera and a right camera which are respectively mounted in front of and on two sides of a cab of a locomotive, and the front camera is connected with the left camera. Video acquisition is carried out on monitoring areas on the two sides of the railway track; the acceleration acquisition unit comprises a three-axis accelerometer, is mounted on a locomotive and is used for acquiring data of a low-frequency shaking vehicle; the acceleration sensor of the device adopts a triaxial accelerometer with low noise, low null drift and low power consumption, has a good low-frequency characteristic, is more sensitive to low-frequency vehicle shaking caused by line irregularity, and greatly improves the accuracy and consistency of line detection.

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 present invention discloses a method for 3D reconstruction of underground pipelines based on binocular laser scanning, comprising the following steps: pre-calibrating the binocular camera on the robot, recording the internal and external calibration parameters of the camera; during the robot's movement, turning on the annular laser projector, projecting an annular laser pattern on the inner wall of the pipeline, using the calibrated binocular camera to collect the binocular image sequence inside the pipeline and perform correction processing; using the improved Steger algorithm to extract the center line of the annular laser pattern in the binocular image respectively; performing stereo matching on the laser center line extracted from the binocular image; reconstructing the 3D ring of the laser center line in the current binocular image frame according to the binocular camera calibration parameters; using the inertial measurement unit and the wheel odometer to deduce the robot's motion trajectory in the pipeline, splicing the 3D rings reconstructed in different image sequence frames, and completing the overall 3D reconstruction of the underground pipeline. The present invention can solve the problem of 3D reconstruction in various narrow underground pipelines.

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.

The utility model relates to the technical field of remote monitoring of refrigerated containers, in particular to remote monitoring equipment for refrigerated containers, which comprises a control mainboard, a fresh air mechanism and a refrigerating unit, the control mainboard is in serial communication connection with a communication mainboard, and the communication mainboard is connected to a server through 4G communication. The control main board is electrically connected with the fresh air mechanism through a cable, the control main board is in serial communication connection with a refrigerator main board of the refrigerating unit, and the control main board is connected with a temperature sensor and a humidity sensor through data transmission lines. The system has the advantages that the control main board transmits container data to a remote server through the communication main board in a 4G communication mode, the environment in the container is monitored in real time, an instruction can be transmitted to the control main board through the communication main board, and therefore the operation state of the refrigerating unit is adjusted, and the temperature, humidity and temperature in the container are controlled by controlling starting and stopping of the fresh air mechanism. And the content of oxygen and carbon dioxide is adjusted, so that the purpose of remote control is achieved.

The invention relates to the technical field of power systems, and discloses a metering device real-time positioning method and device, electronic equipment and a medium. The method comprises the following steps: acquiring a transformer area metering device positioning tree; obtaining a first line distance between the user-side metering devices, and clustering the user-side metering devices based on the first line distance to obtain a plurality of same-meter-box metering device sets; using a plurality of same-meter-box metering device sets to update device numbers stored in corresponding meter box nodes in the station area metering device positioning tree; and storing the obtained navigation position data in the corresponding meter box nodes of the updated background area metering device positioning tree. According to the invention, the navigation position data, the metering device addresses in the court power supply address file and the relative distance between the metering devices obtained according to the HPLC distance measurement data are utilized, so that the absolute spatial position including the association relationship between the user side metering device and the meter box and the geographic position of the device can be accurately determined in real time.

The present invention relates to the field of pollution source monitoring technology, and in particular to a method and system for online monitoring of pollution sources. The method comprises the following steps: acquiring target pollution area data, and performing area cutting through simulation model restoration processing to obtain simulated cut pollution areas; then, using a uniform measurement point array to measure the oxygen flux of the cut area, and analyzing the flux fluctuation to generate a normal fluctuation range; based on this fluctuation range, reversely track the pollution source and locate the initial pollution source data. Subsequently, combining the oxygen flux data of each area, the initial pollution source is regionally calibrated, and the candidate direction of pollution diffusion is calculated; finally, according to the diffusion direction and the initial positioning data, the pollution area is dynamically monitored and adjusted to generate the final pollution source monitoring results. The present invention realizes more flexible and accurate online monitoring of pollution sources.

The invention provides a real-time observation type plasma ear canal processing instrument and a using method, a power driving unit comprises a lithium battery, a voltage regulating and stabilizing module and an alternating current module which are connected in sequence, the power driving unit supplies power to an electrode unit, and a camera light sensor unit is fixedly connected with the electrode unit. The integrated screen display and data storage unit is connected with the camera light sensor unit, the electrode unit comprises a plasma generator, the plasma generator comprises a plasma generator shell and an FE-DBD electrode, the plasma generator shell is located at the front end of the FE-DBD electrode, and the FE-DBD electrode is quartz glass which is internally provided with a metal needle. The plasma technology is adopted for ear canal sterilization and anti-inflammation treatment, and the problems that traditional medicine treatment is poor in permeability, drug resistance is likely to be caused and the like are solved. And the FE-DBD electrode is adopted, so that the plasma intensity can be accurately controlled, and thermal damage to sensitive ear canal tissues is avoided.

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.

The invention discloses a tumor microenvironment response type precise delivery nano-carrier as well as a preparation method and application thereof, and belongs to the technical field of nano-materials. Aiming at the problem of poor technical effect of an existing drug delivery system, the tumor microenvironment response type precise delivery nano-carrier is characterized in that a metal organic framework is wrapped by hyaluronic acid HA and human serum albumin HSA; the metal organic framework is an iron-based metal organic framework; a chemotherapeutic drug adriamycin is loaded in the metal organic framework; and a radionuclide 131I is marked on the surface. The metal organic framework is spherical and contains iron, carbon and oxygen, Fe < 2 + > / Fe < 3 + > pairs exist, and the loading ratio of Fe < 3 + > is 2.38 w%. Iron ions generated by cracking of the metal organic framework are used as a nuclear magnetic contrast agent; the hyaluronic acid is used for targeting tumor surface CD44 protein. In-vitro and in-vivo experiments prove that the nano-material has good biological safety, nuclide labeling stability and MRI and SPECT imaging capability, positions tumor parts in real time, monitors tumor forms and sizes, and remarkably inhibits tumor growth.

The invention discloses an implantable ultrasonic stimulation device and method based on electromagnetic sound, which can realize a novel transcranial ultrasonic stimulation technology by organically integrating an electromagnetic sound principle and an implantable and controllable high electromagnetic absorption material. The device comprises an electromagnetic wave generation module, a magnetic field generation module, an ultrasonic wave generation module, an ultrasonic signal acquisition module and an image processing and analyzing module. According to the device and the method, the high electromagnetic absorption material implanted into the cranium is excited by using electromagnetic waves to generate ultrasonic waves, so that stimulation on brain tissues in different areas and at different depths is realized, and the stimulation intensity can be adjusted. Compared with traditional transcranial ultrasonic stimulation and transcranial direct current stimulation technologies, the transcranial direct current stimulation system has the advantages of being efficient in stimulation, adjustable in stimulation position, capable of positioning a sound source in real time, adjustable in strength, deep in penetration, capable of achieving long-term stimulation, biocompatible, low in cost and the like, and has large potential application value in the fields of cranial nerve regulation and control, brain medicine precise delivery and the like.