48results about How to "Simplify the algorithm process" patented technology

The invention provides a robot teaching recording system which is efficient, high in applicability, speedy and low in cost, and has few parts, provides a teaching method based on the system, and belongs to the field of robot teaching. The system comprises optical beacons, an IMU sensor, a camera, a data fusion calculation unit and a robot control cabinet, wherein the robot control cabinet is a control driving unit for a robot and receives data or files output by the IMU sensor and a visual fusion calculation unit; the camera is used for acquiring the positions of the beacons; IMU data are fused by the data fusion calculation unit; and the positions, speeds and accelerated speeds of the optical beacons and process actions at corresponding positions are output in a fused manner finally by the data fusion calculation unit. The provided teaching system and method can be applied to following occasions: teaching actions and process can be finished by teaching workers, robot sensors do not require to be added or a mechanical structure does not need to be changed, and a robot system only needs to receive external commands or external files.

The present invention provides a white balance method and device, the method includes the following steps: firstly receive the RGB data stream, and calculate the red gain and blue gain of the pixels in the data stream; then calculate the average red gain and the blue gain of all skin color points The average blue gain; then map the average red gain and average blue gain to the skin color characteristic color temperature curve to determine the color temperature value of the current environment; then map the current environment color temperature value to the ideal white point characteristic color temperature curve to determine the ideal red color The gain value and the ideal blue gain value; then according to the determination of the ideal red gain value and the ideal blue gain value, the white balance correction is performed. The present invention adopts the white balance method of mapping the skin color feature to the characteristic color temperature curve of the ideal white point, which can completely eliminate the interference of the skin color to the white balance, and effectively solve the problem of color cast in large-area skin color photographing pictures.

The invention provides a method for determining a whole-cycle ambiguity of a three-frequency carrier phase of a BeiDou navigation system. The method comprises the steps of by utilizing the advantage of high determination accuracy rate of a whole-cycle ambiguity of a BeiDou ultra-wide lane carrier phase combination, firstly determining whole-cycle ambiguities of two groups of ultra-wide lane carrier phase combinations, and correcting a pseudo-range initial value through the whole-cycle ambiguities of the ultra-wide lane carrier phase combinations; meanwhile, removing influences from an orbit error, a clock error and an ionized layer error in original observed quantity by combining with carrier phase observation quantity of geometry-free de-ionized layer composed of a narrow lane carrier phase combination, so as to enable the resolution of the whole-cycle ambiguity of the narrow lane carrier phase combination to be only affected by random measurement noise; taking an average value of combined observation quantity of multiple epochs to remove random noise error and determine the whole-cycle ambiguity of the narrow lane carrier phase combination; finally, determining the whole-cycle ambiguity of the carrier phases of three frequencies B1, B2 and B3 by resolving a system of linear equations which is composed of the whole-cycle ambiguities of the two ultra-wide lane carrier phase combinations and the whole-cycle ambiguity of the narrow lane carrier phase combination.