25results about How to "Reduce positioning costs" patented technology

The utility model belongs to the technical field of mycelium stimulation equipment, and particularly relates to an edible mushroom mycelium stimulation device. Comprising a conveyor and a support, guide rods are installed on the two sides of the conveyor, the conveyor penetrates through the interior of the support, at least one air cylinder is installed above the support, the output ends of the air cylinders are fixedly connected with a driving box, a plurality of output ends of the driving box are connected with mycelium stimulation knives through flanges, and material suction heads and water spray nozzles are detachably installed on the outer walls of the mycelium stimulation knives. The material suction head is connected with a collecting tank through a material suction pipe, a gate valve is installed at the output end of the collecting tank, a vacuum valve and an air inlet valve are installed above the collecting tank, and a feeding valve is installed on the material suction pipe. Only the cap removing station and the fungus scratching station are needed, the occupied area is small, the equipment investment is low, and the production environment is improved.

The present invention discloses a broadband signal direct positioning method based on multi-frequency cost function fusion under unknown attenuation coefficient, including: distributed monitoring nodes receive and sample broadband signals of radiation sources, and transmit the sampled broadband signals to a central site; the central site integrates all received data, performs data preprocessing after segmenting the received data, and obtains narrowband signals corresponding to each frequency in the broadband signal; the covariance matrix of each narrowband signal is characteristically decomposed to obtain its noise subspace, and a new cost function is constructed according to the orthogonal relationship in the multi-band; the positioning area and the search grid size are selected, and a new cost function is adopted, and the gridded spectrum peak search is performed in the selected area in combination with the Lagrange multiplier method when the attenuation coefficient is unknown, and finally the radiation source coordinate estimation value is obtained. The present invention can effectively reduce the time cost required for positioning and effectively improve the estimation accuracy.

The invention discloses a high-precision low-cost seamless positioning system and method suitable for an intelligent sweeper. The invention provides a high-precision low-cost seamless positioning system and method suitable for an intelligent sweeper. The system comprises a three-dimensional laser radar, a GNSS, an IMU and a data processing unit. According to the method, dynamic and static states of a multi-source sensor are classified, GNSS and IMU data are combined in a dynamic state to perform pre-integration processing through extended Kalman filtering, positioning is performed by depending on a three-dimensional laser radar SLAM in a static state, and then the positioning precision is improved through an information fusion technology. And the data processing unit classifies and processes data according to the motion state of the sweeper and monitors and adjusts strategies in real time. The method effectively solves the problem of high-precision low-cost seamless positioning of the intelligent sweeper in different scenes, improves the sweeping efficiency and stability, and is suitable for the field of positioning and navigation of similar equipment such as the intelligent sweeper.

The invention provides a target object pose estimation method and system, computer equipment and a medium, and the method comprises the steps: extracting a key point, a local descriptor and a global descriptor from a current frame image through a feature extraction model, and carrying out the pose estimation prediction of a target object based on the key point and the local descriptor; after pose estimation prediction fails, repositioning is carried out through a bag-of-word model and a global descriptor; or after the pose estimation and prediction are successful, loopback detection and loopback correction are carried out on the target object through a dictionary tree and a local map which are established in advance or in real time. According to the method and the device, the positioning precision of the target object in the illumination and view angle changing scene can be improved, and when the feature extraction model is deployed to the central processing unit, the pose estimation of the target object can be realized without a graphics processor, so that the computing resources can be saved, and the positioning cost of the target object can be reduced.

The invention discloses a high-precision positioning method for dredging equipment in a limited space below a wharf. A Kalman gain adaptive real-time updating fusion high-precision positioning method based on depth camera-IMU tight coupling positioning and multi-line laser radar-IMU tight coupling is established. According to the method, firstly, offline correction and joint external parameter calculation are carried out on a depth camera, an IMU and a multi-line laser radar sensor, then time synchronization is carried out on obtained corrected data, independent positioning system optimization is carried out according to a special scene below a wharf, a depth camera-IMU tight coupling system and a multi-line laser radar-IMU tight coupling system are established, and the depth camera-IMU tight coupling system and the multi-line laser radar-IMU tight coupling system are integrated. And finally, in order to realize high-precision positioning, an abnormal state processing method is provided, and self-adaptive Kalman fusion positioning system design is carried out on the two kinds of positioning, so that high-precision positioning of the dredging equipment in the limited space below the wharf is realized.

The invention discloses a data processing method, a data processing device, a computer readable storage medium, electronic equipment and a computer program product, and the method comprises the steps: obtaining memory usage data and event response data of a target application, and determining the correlation degree of an interaction event and memory leak according to the memory usage data and the event response data, and positioning an interaction event causing the memory leak. Thus, a developer can check the function point corresponding to the interaction event based on the positioned interaction event so as to check whether the function point can cause memory leakage, and compared with a mode that the developer checks all the function points one by one, assistance can be provided for the check work of the developer, so that the check efficiency is improved.

The embodiment of the invention provides an indoor positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a parking space number image shot by a visual device of the electronic equipment at a current position; determining position information of a target lane where the electronic equipment is located according to a parking space map and a parking space number image of an area where the electronic equipment is located; and determining the current position information of the electronic equipment according to the pose information of the visual device and the target lane position information. The target lane where the electronic equipment is located is positioned through the parking space number and the parking space map, then the current position information of the electronic equipment can be determined according to the pose information of the visual device shooting the parking space number and the position information of the target lane, indoor positioning of the electronic equipment is achieved, the positioning precision is high, and the user experience is improved. A positioning device does not need to be additionally laid indoors, and the positioning cost is low.

The present invention discloses an underwater optical positioning device and method, the device comprises: a waterproof device 1 and a waterproof device 2, the waterproof device 1 is connected to the waterproof device 2, a base station A is installed inside the waterproof device 1, a positioned object B and a feedback element are installed inside the waterproof device 2; the base station A comprises a motor, one end of the motor is connected to the feedback element, a laser emission module is installed inside the motor, one end of the laser emission module is connected to an optical device through a laser reflection optical path, one end of the optical device is connected to the positioned object B through a laser reflection optical path, the positioned object B comprises a photosensitive element and a solution circuit, the photosensitive element and the solution circuit are connected. Through the device and method, an effective underwater optical positioning structure and method are provided, and a very accurate positioning effect can be achieved through a number of optical base stations with low cost and simple structure, and the positioning cost is reduced.

The present application provides a terminal positioning method and related devices; the method includes: allowing the terminal to obtain the global navigation satellite system GNSS signal of each satellite, obtaining the target pseudorange between the receiver and the satellite based on the GNSS signal, and obtaining the satellite's ephemeris data; determining the number of satellites according to the ephemeris data, and in response to determining that the number of satellites is greater than or equal to a preset number, performing the least square method on the target pseudorange and ephemeris data of all satellites to obtain the receiver clock error of the receiver; determining the terminal clock error of the terminal, and using the terminal clock error and the receiver clock error to solve and obtain the first feeder length; measuring the second feeder length of the terminal, matching the second feeder length with the first feeder length, and determining the terminal's position according to the matching result. The method uses densely deployed indoor antennas to determine the terminal position, effectively reducing the cost of indoor terminal positioning and ensuring the accuracy of positioning.

The invention discloses a GNSS (Global Navigation Satellite System) suppressing multi-interference source positioning method and system based on ADS-B (Automatic Dependent Surveillance-Broadcast) data. The method comprises the following steps of: extracting a breaking point and a recovery point from a flight path in a monitoring area; noise points in the breaking points and the recovery points are eliminated by using a clustering algorithm; dividing point sets of the breaking points and the recovery points by using a circle fitting method, separating the breaking points and the recovery points caused by different interference sources, and preliminarily solving the number of the interference sources and the initial positions of the interference sources by using the breaking points and the recovery points; when the interference sources obtained by solving the breaking point and the recovery point are the same interference source, merging is completed, and the final number of the interference sources and the final position of the interference sources are obtained. According to the invention, interference source detection and positioning when a plurality of interference sources exist at the same time are realized, and the problem that only single-interference-source positioning can be carried out in the prior art is solved.

The invention relates to the technical field of pipeline cleaner tracking and positioning and the like, in particular to a pipe cleaner blocking positioning method and device, and the method comprises the following steps: 1, connecting optical fiber vibration detection equipment with an optical fiber in a communication optical cable laid in the same trench of a pipeline; step 2, the pressurization equipment keeps continuously inputting a medium into the pipeline; 3, performing data processing and display by the optical fiber vibration detection equipment; step 4, the pressurization equipment starts to slowly increase the pressure, and the optical fiber vibration detection equipment records a vibration signal e which is gradually enhanced; 5, closing the pressurizing equipment, and recording the mileage or position La of the disappeared vibration signal e by the optical fiber vibration detection equipment; and 6, the ground is knocked along the pipeline, and when the knocking signal position coincides with the recording position La, the position below the ground knocking position corresponds to the clamping and blocking position of the pipe cleaner. The blocking positioning difficulty of the pipe cleaner is greatly reduced, the positioning time is greatly shortened, and the pipeline production and operation safety is guaranteed.

The invention relates to a wall bottom positioning rib fixing device and a construction method, and belongs to the technical field of building construction. The template mainly comprises a template body and a fixing device. The formwork bodies are perpendicularly arranged on the ground, and a pouring cavity is formed between the two parallel formwork bodies and used for concrete pouring. The fixing device is composed of a positioning rib and a positioning plate, the positioning rib is customized according to the size of an on-site wall, the positioning plate is perpendicularly fixed to the positioning rib and firmly connected with the formwork body through an air nail gun, and the bottom edge of the positioning plate is firmly fixed to the ground. In addition, the positioning plate is preferably in an L-shaped design and comprises an abutting plate tightly attached to the formwork body and a fixing plate attached to the ground, so that the stability is enhanced. According to the device and the construction method, the formwork positioning cost is remarkably reduced, meanwhile, the construction efficiency and the overall construction quality are improved, and substantive technical progress is brought to the building construction industry.

The invention relates to the technical field of wireless communication, in particular to a positioning method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring at least one current sub-positioning result corresponding to a current positioning point and positioning credibility corresponding to each current sub-positioning result; wherein the at least one current sub-positioning result is a result obtained by positioning at the current positioning point in different positioning modes; and under the condition that the positioning credibility corresponding to each current sub-positioning result is smaller than a credibility threshold value, determining a current comprehensive positioning result corresponding to the current positioning point according to each current sub-positioning result and the positioning credibility corresponding to each current sub-positioning result. According to the method and the device, the positioning accuracy of the finally determined current comprehensive positioning result is ensured, so that the current sub-positioning result with relatively low positioning credibility is corrected through the current sub-positioning result with relatively high positioning credibility, the positioning cost of a multi-positioning mode is reduced, and the positioning precision of the multi-positioning mode is improved.

The invention discloses a multifunctional rudderless deck transport ship and a working method thereof.The transport ship comprises a ship body, a power device, a positioning device, a detachable fence and an exhaust system, the power device, the positioning device, the detachable fence and the exhaust system are installed on the ship body, the power device is arranged at the stern of the ship body and comprises a main pushing structure and a plurality of diesel generators, and the positioning device comprises a power positioning device and a mooring device; the dynamic positioning device comprises a full-rotation structure and a bow thruster structure, the full-rotation structure is installed on the stern of the ship body, the bow thruster structure is arranged on the side of the ship body, the mooring device comprises a mooring line structure and an anchoring positioning structure, and the mooring device comprises a plurality of mooring line guide holes and a plurality of mooring line winches which are arranged on the periphery of the ship body respectively. The anchoring positioning structures are arranged on the bow and the stern of the ship body, and the main thrust structure, the full-rotation structure and the bow side thrust structure are connected with the diesel generator. Two modes of DP dynamic positioning and anchoring positioning are adopted, the positioning precision requirements of different working conditions are met, and the purpose of saving the positioning cost is achieved.

The invention provides a positioning method, device and equipment of environment Internet of Things equipment. The method comprises the following steps: sending a first message to environmental Internet of Things equipment, wherein the first message carries an identifier of the environmental Internet of Things equipment; receiving a second message sent by the environment Internet of Things equipment, and obtaining positioning related information; and generating a third message according to the positioning related information, the third message carrying the position information of the environmental Internet of Things device, or the third message carrying the positioning related information. Thus, the reading device obtains the positioning related information according to the received second message sent by the environment Internet of Things device, and generates a third message according to the positioning related information, and the third message comprises the position of the environment Internet of Things device determined by the reading device or the information related to the position. According to the method, the environment Internet of Things equipment does not need to perform measurement, and the reading equipment can obtain the positioning related information according to the message fed back by the environment Internet of Things equipment, so that the complexity and the positioning cost of the environment Internet of Things equipment can be reduced.

The present invention discloses a robot positioning method, system, photovoltaic power station and terminal equipment. The robot positioning method comprises: when detecting that the robot is walking in a preset photovoltaic panel area, identifying the color blocks in the photovoltaic panel area, and determining the global coordinates based on the color blocks; determining the local coordinates according to the local grid network in the photovoltaic panel area; and walking according to the global coordinates and the local coordinates. The present invention can realize the precise positioning of the robot during walking.

The application provides a mapping positioning method and device, a robot and a computer readable storage medium, and belongs to the technical field of positioning. The method comprises the following steps: determining a high reflectivity point set and a normal reflectivity point set according to the reflection intensity information of each laser point; performing iterative calculation by using the current matching initial value of the robot to obtain estimated pose information of the robot; determining a first projection point set corresponding to the high reflectivity point set according to the estimated pose information; clustering the candidate point set to obtain a retroreflective sheet point set; performing ICP matching on the retroreflective sheet point set and the first projection point set to obtain coarse positioning pose information of the robot; determining a second projection point set and a third projection point set according to the coarse positioning pose information; and determining accurate pose information of the robot according to the second projection point set and the third projection point set. In this way, the number of retroreflective sheets is small, the environment changes little, effective positioning can be performed in a feature-scarce scene, and the positioning cost of the robot is reduced.

The application provides a multi-pose pedestrian indoor positioning method fused with visual information, comprising the following steps: S1. establishing a mobile phone holding pose recognition model; S2. determining the mobile phone holding pose by using the mobile phone holding pose recognition model, and then compensating the heading angle of the PDR algorithm; S3. introducing a judgment algorithm to remove the meaningless compensation heading angle in the pose conversion process and redetermine the compensation heading angle; S4. based on the compensation heading angle redetermined in step S3, constructing a multi-pose PDR and outputting a positioning result; and S5. designing a PDR error correction model based on visual position recognition, eliminating cumulative errors and further improving the positioning accuracy of the multi-pose PDR. The multi-pose pedestrian indoor positioning method fused with visual information can adapt to the pose transformation of pedestrians and can correct the cumulative errors in real time, can enhance the precision and robustness of the pedestrian indoor positioning in the case of reducing the burden of the positioning system on the pedestrians and compressing the positioning cost to the greatest extent.

The embodiment of the invention relates to a vehicle positioning method and device, equipment, a storage medium and a program product. The method comprises the following steps: determining a conversion pose of a front vehicle under a physical coordinate system of a rear vehicle according to a first global pose of the front vehicle and a second global pose of the rear vehicle; acquiring vehicle data sensed by a rear vehicle, detecting the vehicle data according to the conversion pose, and determining a hanging box of the front vehicle and a detection pose of the hanging box in the vehicle data; according to the detection pose and the geometric position relation between the head of the front vehicle and the hanging box, the head global pose of the head is determined; and determining a target global pose of the front vehicle according to the vehicle head global pose. The method can reduce the vehicle positioning cost.

The invention relates to the technical field of automatic driving, and discloses a method, device and equipment for vehicle synchronous positioning and mapping, and the method comprises the steps: obtaining inertial measurement unit data, wheel speed data and global positioning system data of a vehicle, based on the inertial measurement unit data, the wheel speed data and the global positioning system data, adopting an error state Kalman filtering algorithm to obtain three-dimensional pose information of the vehicle; determining a gravity plane where the vehicle pose represented by the three-dimensional pose information is located based on the angle information represented by the inertial measurement unit data, establishing a two-dimensional map based on the gravity plane, and determining the position of the vehicle in the two-dimensional map; determining the position of the obstacle in the two-dimensional map based on the obstacle position information, and determining the speed of the obstacle in the two-dimensional map based on the speed information of the obstacle; and updating three-dimensional pose information based on the change of lane line information in the vehicle traveling process, and fitting lane lines in a two-dimensional map through a least square method.

The invention provides a fusion positioning method and device. The fusion positioning method comprises the following steps: acquiring at least one group of network positioning data of a target terminal under a network positioning dimension and at least one group of reference positioning data under a reference positioning dimension; obtaining a network positioning result of each group of network positioning data according to the at least one group of network positioning data, and obtaining a reference positioning result of each group of reference positioning data according to the at least one group of reference positioning data; determining a network positioning weight corresponding to each network positioning result and a reference positioning weight corresponding to each reference positioning result; and generating a fusion positioning result of the target terminal based on each network positioning result, each network positioning weight, each reference positioning result and each reference positioning weight. Different positioning technologies are fused, and the accuracy of a single positioning technology is improved; the network positioning technology is fused with other positioning technologies for fusion positioning, so that the positioning cost of fusion positioning can be reduced.

The embodiment of the present invention discloses a method, system and storage medium for locating faults in a distribution line. The method includes: obtaining the line impedance value of each line section and the current value of the distribution network under normal operation; determining the type of interphase fault according to the current value; obtaining the power parameter data of each node of the distribution network under the fault state; determining the node reference voltage, node user active power and node user reactive power of the current node according to the power parameter data under any fault phase; determining the node fault voltage of each node according to the line impedance value, node user active power and node user reactive power of the line section where the current node is located; locating the fault line section according to the comparison of the node reference voltage and the node fault voltage. By using the power parameter data and accurately locating the fault according to the impedance characteristics of the line section, the grounding fault of the line can be monitored in real time and located.

The application relates to a coil positioning method, device and computer equipment. The method comprises the following steps: obtaining an overhead image of a target coil to be positioned; performing edge feature extraction on the overhead image according to prior parameters of the overhead image to obtain a target edge feature set of the overhead image; performing key region identification on the input overhead image through a trained region positioning model to obtain a key region in the overhead image; performing coil fitting according to the key region and the target edge feature set to obtain fitting data of the target coil; and determining position information corresponding to the target coil according to the fitting data. The method can improve the coil positioning accuracy.

The utility model discloses a copper plate processing and positioning device, which relates to the technical field of copper plate processing, and comprises a support table, the surface of the support table is provided with four inclined chutes, the inner walls of the four chutes are connected with sliding plates in a sliding manner, the upper ends of the sliding plates are fixedly connected with L-shaped clamping plates, and the upper ends of the clamping plates are fixedly connected with clamping plates. Threaded rods are arranged at the ends, located at the bottom of the supporting table, of the four sliding plates and penetrate through the surfaces of the sliding plates to be in threaded connection with the interiors of the sliding plates, a transmission box is fixedly connected to the bottom of the supporting table, and the threaded rods penetrate through the surfaces of the transmission box to be rotationally connected with the interiors of the transmission box. According to the copper plate machining positioning device, positioning of a steel plate is completed through one motor, the structure is simple, the positioning cost of the device for the steel plate is reduced, meanwhile, the steel plate is positioned by pushing the four corners of the steel plate, and therefore the situation that the center of the side edge of the steel plate is shielded is avoided; therefore, the situation that the device cuts and processes the steel plate is influenced.

The embodiment of the invention provides a vehicle positioning method and device, equipment and a storage medium, and the method comprises the steps: collecting an image through a camera, and enabling the image to comprise traffic lights; obtaining the vertical distance between the camera and the traffic light according to the position coordinates of the traffic light at the plurality of first preset points on the image, the focal length of the camera and the light source diameter; based on the position coordinates of the plurality of first preset points and the plurality of spatial position coordinates of the traffic light, calculating projection coordinates of the camera on a plane where the traffic light is located; and positioning the vehicle according to the spatial position coordinate of the camera, wherein the spatial position coordinate of the camera is obtained according to the vertical distance, the projection coordinate and the spatial position coordinate of the traffic light. According to the embodiment of the invention, the traffic light information generally existing in urban roads is utilized, and the low-cost camera is combined, so that the positioning cost is remarkably reduced, good positioning precision can be ensured, and automatic driving positioning can be realized in a high-speed scene without depending on a high-precision map.