1185 results about "Binocular single vision" patented technology

The invention relates to the technical field of geological disaster monitoring and early warning, in particular to a side slope slippage monitoring and early warning method based on an image recognition technology, which comprises the following steps: arranging a monitoring target and a reference target in a to-be-monitored area of a side slope, arranging two image displacement monitoring devices at opposite stable positions at equal height to acquire two-dimensional displacement data of the targets; after error correction, an equipment monitoring coordinate system included angle is calculated based on parameters such as equipment spacing, slope inclination displacement is calculated through vector synthesis, and three-dimensional slippage deformation is calculated in combination with vertical displacement; meanwhile, a multi-level early warning mechanism based on the slip rate and the accumulated slip amount is established, a Delaunay triangulation network is constructed, and an improved adaptive Kriging interpolation algorithm is adopted to realize deformation trend prediction. According to the method, binocular vision and multi-algorithm fusion are utilized to realize high-precision three-dimensional monitoring, the evaluation accuracy is improved through the dynamic weighting model and intelligent early warning, the method has the advantages of high monitoring precision, timely early warning, high adaptability and the like, and the safety of slope engineering can be effectively guaranteed.

The invention relates to the technical field of robot autonomous navigation and control, and discloses a robot system based on a sensing system, which comprises a multi-mode sensing module for outputting data to a dynamic environment modeling module; the dynamic environment modeling module is used for transmitting the model to the path planning module; the path planning module outputs the path sequence to the neural motion control module; the neural motion control module outputs the control signal to the dynamic execution module; the dynamic execution module is used for receiving the pulse control signal and driving each joint of the robot to execute the path in combination with inverse kinematics solution and a feedback control mechanism; and the collaborative optimization module is in two-way communication with the modeling module, the path planning module and the neural motion control module. According to the method, the contradiction between real-time performance and integrity of environment modeling in a complex scene is solved by fusing cross-modal information complementary characteristics of binocular vision, millimeter-wave radar and inertial data and combining mathematical representation of a hypergraph topology model on a dynamic obstacle interaction relationship.

The invention relates to the technical field of intelligent agricultural equipment, and discloses an automatic agaricus bisporus picking method, device and equipment based on artificial intelligence and a medium. The method comprises the steps that RGB images and three-dimensional point cloud data of the agaricus bisporus growth environment are collected in real time through a binocular vision camera and a depth sensor which are installed at the tail end of a picking robot, and environment illumination parameters and cultivation bed coordinate information are obtained; inputting the RGB image into a pre-trained lightweight convolutional neural network, identifying a pileus contour, a stipe position and a maturity level of the agaricus bisporus, calculating a space coordinate, a height and a growth inclination angle of the agaricus bisporus based on the three-dimensional point cloud data, and constructing an agaricus bisporus target database; a mechanical arm picking path is generated based on the agaricus bisporus target database, and path weight parameters are optimized online through a preset reinforcement learning model; according to the maturity grade and morphological characteristics of the agaricus bisporus, the clamping force and the rotating angle of the end effector are dynamically adjusted, and automatic picking of the agaricus bisporus is completed.

The invention discloses a robot control method and system for an industrial pipeline, and relates to the technical field of robot control. The method comprises the steps that a flange plate is installed on an end effector of the robot, a binocular vision camera is installed in the center of the front end of the flange plate, and four point laser displacement sensors are symmetrically arranged on the flange plate at different heights; the binocular vision camera collects a pipeline image; the upper computer determines an initial pose control result of the robot according to the pipeline image so as to control the robot to move preliminarily; the four point laser displacement sensors are used for collecting spatial displacement data of the pipeline at different height points after the robot moves preliminarily; and the upper computer determines a target pose control result of the end effector of the robot through the spatial displacement data so as to control the end effector of the robot to carry out pose adjustment. According to the method, accurate control over the axial parallelism of the robot end effector and the pipeline can be achieved, and therefore the pipeline assembling accuracy is improved.

The invention discloses a mechanical arm natural language instruction control system and method based on a large language model, and belongs to the field of intelligent manufacturing. Aiming at the limitation that traditional mechanical arm control depends on pre-programming and a static rule library, a dynamic mapping mode from a natural language instruction to an atomic action sequence is designed, an atomic skill library including detection, grabbing, moving, placement and other operations is constructed, and semantic analysis and a multi-mode cooperation technology are combined, so that the atomic action sequence is obtained. And support is provided for man-machine cooperation of a flexible assembly task. The method specifically comprises the steps that a DeepSeek-Distil-Llam-8B large model and a LoRA fine tuning technology are adopted, and a natural language instruction is converted into an executable atomic action sequence; based on a transfer learning optimized YOLOv8 target detection technology and a binocular vision positioning technology, a sensing module adaptive to an assembly scene is constructed and is fused with a mechanical arm motion planning module, and positioning grabbing of parts and tools is achieved. And an interactive interface is built by combining a voice-to-text large model and a Gradio front-end framework, so that the convenience of man-machine interaction is improved. By optimizing large model reasoning and motion planning cooperation efficiency, response delay from instructions to execution is reduced, and an efficient and extensible solution is provided for man-machine cooperation in intelligent manufacturing.

The invention discloses a collaborative unmanned aerial vehicle cluster path planning and scheduling system, and particularly relates to the technical field of unmanned aerial vehicle intelligent control, and the system comprises a multi-mode sensing unit which is composed of a heterogeneous sensor array composed of LiDAR, binocular vision and millimeter wave radar, and an output dynamically updated three-dimensional Gaussian mixture map; the decision control unit is used for implementing double-layer optimization of mixed integer programming task allocation and artificial potential field path planning; the dynamic communication network adopts a hybrid networking protocol of TDMA backbone nodes and 802.11 ax terminal nodes; an energy management module; aiming at the insufficient environment perception and dynamic modeling capability in the prior art, the method achieves the effects that the centimeter-level positioning precision and the dynamic obstacle recognition rate are greater than 92%, the environment model is delayed and compressed to be within 200ms, the response speed is increased by 5 times by setting multi-modal sensor fusion, constructing a dynamically updated 3D Gaussian mixture map and combining an LSTM network to predict the obstacle trajectory in real time, and the dynamic obstacle recognition rate is greater than 92%. And the obstacle avoidance reliability in a complex scene is obviously enhanced.

The invention discloses an inspection robot navigation method, system and device based on Beidou and binocular vision fusion and a storage medium, and relates to the field of robot navigation and obstacle avoidance, and the method comprises the following steps: carrying out multi-modal data fusion processing based on an initial coordinate of an inspection robot and an image captured by a binocular vision system to obtain an environment sensing result; carrying out global planning and local optimization based on an environment perception result, and carrying out cooperation to generate a trajectory planning scheme; based on the environment sensing result and the trajectory planning scheme, intelligent navigation cooperative regulation and control are carried out, and an inspection robot motion control strategy is obtained; by improving the environmental perception accuracy, optimizing the path planning and performing intelligent navigation regulation and control, the navigation problem of the inspection robot in complex environments such as a transformer substation can be effectively solved, the inspection safety and efficiency are improved, and the method has remarkable practical application value.

The invention relates to the technical field of machine vision and perception, in particular to a ton bag lifting unmanned control system based on a binocular vision camera and a laser radar, which comprises an intelligent control unit, a lifting appliance executing mechanism, a sensing unit and a special ton bag, the sensing unit comprises a binocular vision camera and a laser radar and is used for collecting depth vision and three-dimensional point cloud information of an operation area; the intelligent control unit fuses multi-source data, locates a lifting lug by improving a weighted multi-feature fusion algorithm, plans a safety path and generates a staged instruction; the lifting appliance executing mechanism lifts and pulls a collapsed lifting lug through an electromagnetic adsorption module, a mechanical gripper module clamps the lifting lug, and reliable operation is achieved in cooperation with a verification mechanism; the special ton bag is matched with a sensing and executing module through a high-contrast color and a pre-embedded metal piece. The full-process unmanned operation is achieved, the robustness and operation safety of the complex environment are improved, and the ton bag hoisting requirements of multiple industries are met.

The invention provides an automatic deployment method for a robot system, and the method comprises the steps: collecting three-dimensional space data of a target environment through a multi-mode sensor array which comprises a laser radar, a binocular vision camera and an inertial measurement unit; fusing sensor data based on a space-time synchronization algorithm to generate an environment feature matrix; analyzing a user task instruction, extracting a task target and decomposing the task target into time, path priority and safety threshold parameters; constructing a multi-objective optimization model, and generating a candidate path set; adopting an improved Pareto leading edge screening algorithm to select an optimal path sequence; executing virtual verification and adjusting path deviation in the digital twin environment; and the physical execution mechanism is driven to implement deployment operation, and the local path re-planning module is triggered when the deviation is detected to exceed a threshold value. According to the invention, the accuracy, safety and efficiency of path planning can be improved, and the energy consumption and time cost are reduced.

The invention provides an adaptive welding seam detection and three-dimensional reconstruction method based on deep learning and binocular vision. The adaptive welding seam detection and three-dimensional reconstruction method comprises the steps of S1, collecting samples and making a training data set; s2, the picture of the sample to be welded is processed, a feature region is recognized, the image quality of the region to be welded is analyzed and evaluated through wavelet transform and local variance, and the noise level and the contrast ratio are calculated; s3, dynamically generating edge detection parameters and model fitting parameters according to the image quality; s4, using an edge detection algorithm to extract edge point cloud of the welding seam area; s5, performing RANSAC linear fitting, weighted least square fitting and polynomial curve fitting on the edge point cloud in parallel; s6, selecting an optimal fitting result based on an image quality adaptive dynamic scoring model; and S7, carrying out three-dimensional coordinate conversion in combination with the three-dimensional matching model IGEV-Stereo, and outputting a final welding seam three-dimensional coordinate. According to the invention, automatic detection of the position and size of the welding seam can be efficiently and accurately realized.

The invention discloses an intelligent obstacle avoidance system and method for a low-altitude aircraft. Efficient obstacle avoidance is realized by fusing an improved attention mechanism and a binocular vision sensing multi-dimensional analysis model. In the system, a binocular vision perception unit collects double-path images and establishes motion association, a feature enhancement attention unit performs dynamic weighting according to image features, and a multi-dimensional analysis processing unit constructs a three-dimensional feature space to accurately recognize obstacles. The path planning decision-making unit combines the aircraft state and a safety threshold value, an optimal obstacle avoidance path is screened through heuristic search and cost evaluation, and the motion control instruction generation unit converts the path into a posture and speed control instruction to drive obstacle avoidance. According to the invention, the defects of the traditional technology in obstacle identification and path planning are overcome, dynamic or hidden obstacles can be accurately identified in a complex environment, the obstacle avoidance path is efficiently planned, and the operation safety and reliability of the low-altitude aircraft are improved.

A slope monitoring method based on optical flow estimation and binocular vision belongs to the technical field of deformation monitoring and measurement, and adopts the technical scheme that a binocular stereoscopic vision system is built, and camera acquisition parameters are calibrated; transmitting the image to a server in real time through the Internet of Things; distortion correction and stereo matching are carried out to obtain a depth map; monitoring points are manually or automatically arranged on the corrected image, and dense optical flow estimation tracking pixel point movement is carried out; world coordinates of observation points and movement conditions of each frame are obtained, and displacement changes of slope monitoring points are obtained by combining coordinates before and after displacement; and obtaining a displacement rate by combining monitoring time and displacement, judging slope safety, obtaining a displacement track, and performing linear interpolation to obtain a slope deformation cloud picture, thereby realizing the monitoring purpose. The slope displacement monitoring method has the advantages that slope monitoring can be carried out more flexibly and efficiently, the safety of workers is improved, the slope monitoring cost is reduced, real-time slope displacement monitoring is achieved, and the intensive degree of slope monitoring points is greatly improved.

The invention discloses an unmanned aerial vehicle inspection control system based on binocular vision, and relates to the technical field of unmanned aerial vehicle inspection, a binocular vision acquisition module is used for acquiring a to-be-inspected target image, detecting shielding and degree, and extracting a target feature and a distribution rule when an unmanned aerial vehicle inspects according to a preset route; the information acquisition module is used for acquiring a target position, peripheral complementary target distribution, unmanned aerial vehicle pose and kinematics parameters when it is detected that the shielding degree of the target point exceeds a set value. Complete coverage of the two types of target sub-regions can be ensured, the flight trajectory curvature of the second type of target sub-regions can be minimum, and stable flight is ensured.

The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses a high-precision small unmanned aerial vehicle real-time tracking method which comprises the steps that a multi-modal sensor array is constructed through a millimeter wave radar, a binocular vision module and an infrared thermal imager, and the multi-modal sensor array is used for collecting three-dimensional motion data of a target object in real time; constructing a fusion tracking model based on improved Kalman filtering by using the collected three-dimensional motion data, dynamically distributing the weight of a multi-source sensor through a convolution attention mechanism, and compensating a motion trail prediction error by using an adaptive noise covariance matrix; through cooperative work of the millimeter wave radar, the binocular vision module and the infrared thermal imager, challenges such as illumination change and target shielding can be effectively handled, three-dimensional motion data of a target object are collected in real time, and the target positioning and tracking precision is improved. Meanwhile, the improved Kalman filtering algorithm is combined with a convolution attention mechanism, so that the weight of the sensor can be dynamically adjusted, and a motion track prediction error is compensated.

The invention relates to the technical field of intelligent travel control of walking-aided robots, and discloses a multi-sensor-based obstacle avoidance control method and system for a walking-aided robot. The obstacle avoidance control method for the walking-aid robot is applied to walking-aid robot equipment, and specifically comprises the following steps: S101, completing the installation of a multi-sensor module on the walking-aid robot, and collecting multi-source data obtained based on multiple sensors in real time, unifying the multi-source data to a base coordinate system of the walking aid robot by adopting timestamp synchronization and a coordinate system conversion matrix, and generating a fused dynamic obstacle sequence map; and S102, on the basis of the dynamic obstacle sequence map, a Kalman filtering and LSTM neural network fusion model is adopted to predict the motion trajectory of the dynamic obstacle. According to the method, the environment perception and decision-making architecture of the walking-aid robot is reconstructed, a multi-sensor space-time cooperation mechanism is matched through cross-modal data of laser radar and binocular vision, and ultrasonic sensor low obstacle special detection is combined, so that the step recognition rate is greatly improved.

The invention relates to the crossing field of mechanical engineering and automatic control, in particular to a global path planning and anti-swing control method for a ship unloader, and aims to solve the problems of rigid path planning and poor synergism of out-of-control swing of a lifting appliance in traditional ship unloading operation. The method comprises the following steps: constructing a dynamic three-dimensional operation space model with fusion of a laser radar and binocular vision, and updating obstacle information in real time; an improved fast extended random tree algorithm is adopted to generate a high-smoothness initial path; establishing a six-degree-of-freedom lifting appliance swinging dynamic model and identifying parameters on line; path tracking and anti-swing torque are synchronously optimized through a model prediction controller, and the control period is smaller than or equal to 20 milliseconds; and closed-loop feedback correction is implemented by combining an encoder and an inertial measurement unit. According to the scheme, environment dynamic sensing, path-anti-swing depth cooperation and multi-disturbance self-adaptive compensation are achieved, the operation rhythm is improved by 30% or above, the system still operates stably under the 8-level wind condition, and high precision, high robustness and engineering implementability are achieved.

The invention particularly relates to a binocular vision-based three-dimensional reconstruction method, which comprises the following steps of: calibrating a binocular camera based on an improved Zhang Zhengyou calibration method to obtain internal and external parameters and a distortion coefficient of the camera; performing stereo correction on the image by using the internal and external parameters of the camera and the distortion coefficient obtained by calibration, so that the binocular image meets an epipolar constraint condition; a multi-strategy optimized semi-global stereo matching algorithm is adopted to process the image after stereo correction, and a disparity map is generated; based on the generated disparity map, generating a three-dimensional point cloud through a triangulation principle; carrying out anti-interference processing and registration optimization on the three-dimensional point cloud; and performing global splicing on the three-dimensional point clouds subjected to anti-interference processing and registration optimization based on a sequential registration error sharing strategy to complete three-dimensional reconstruction. According to the method, the key problems of large calibration error, weak texture matching failure, point cloud noise sensitivity and registration accumulative error in a traditional method are solved, and the reconstruction precision and stability are remarkably improved.

The invention is suitable for the technical field of electrical equipment corrosion detection, and provides an electrical equipment corrosion detection method based on double-spectrum collaborative analysis and space-time prediction, and the method comprises the following steps: carrying out fusion analysis on a visible light image and an infrared image of acquired electrical equipment, and outputting position information and morphological category of a corrosion region; a binocular vision system and an IMU sensor are combined to calculate three-dimensional space coordinates, main direction angles and environmental parameters of the corrosion area, and pose data are generated; inputting the pose data into a preset corrosion extension path prediction model for processing, and outputting physical characteristic parameters; fusing the dual-frequency RTK GPS positioning data, the IMU attitude data and the physical characteristic parameters to construct a space-time association data set, and inputting the space-time association data set into a preset space-time diagram neural network model to analyze a space-time evolution relationship of diagram structure modeling corrosion nodes; and outputting microscopic and macroscopic prediction results. The identification accuracy of corrosion characteristics and the corrosion detection efficiency can be improved, and the labor cost and the operation risk are reduced.

The invention belongs to a synchronous localization and mapping (SLAM) method in the field of robots, and discloses a binocular vision SLAM method based on a deep learning feature extraction and matching algorithm. The system comprises three modules: a front-end tracking module, a local mapping module and a loopback detection module. For each frame of input binocular image, firstly, feature points of the image are extracted, and then frame-to-frame matching is used to track a current image frame and determine whether the current frame is set as a key frame. In the local mapping module, matching from a key frame to a local map is used to obtain a more accurate pose and a global map, and in addition, the loopback detection module is used for inhibiting accumulative errors of a large scene. Experiments on a public data set and a data set collected by a robot platform show that robust, accurate and globally consistent pose estimation and mapping are realized by the method, and quick real-time operation can be realized on an embedded platform at a speed exceeding 10 FPS.

The invention provides an intelligent inspection risk assessment method and system based on multi-sensor fusion, and the method comprises the steps: obtaining original multi-source data of a transformer substation, the original multi-source data comprises a binocular vision image, infrared thermal image data and environment sensor data, and carrying out the time-space calibration and preprocessing of the original multi-source data, obtaining a multi-source sensor data stream; carrying out feature extraction on the multi-source sensor data stream to obtain a multi-modal feature set, generating a refined semantic mask based on the multi-modal feature set, constructing an initial scene relation graph, calculating a risk level based on a multi-layer perceptron classifier, and generating a risk level evaluation result and a risk distribution graph; outputting a safety distance violation warning and a risk area identifier; and generating comprehensive risk early warning information based on the risk level assessment result, the risk distribution diagram, the safety distance violation warning and the risk area identifier.

The invention relates to the technical field of dispensing positioning, in particular to a trinocular vision-based five-axis dispensing machine and a precision calibration method thereof.The dispensing machine comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, an AC rotary workbench and a dispensing device, the Z-axis moving mechanism is provided with a first shooting assembly and a second shooting assembly, and the Z-axis moving mechanism is provided with a third shooting assembly and a fourth shooting assembly; a first calibration plate, a third shooting assembly and a second calibration plate are arranged on the AC rotary workbench; the precision calibration method comprises the following steps: S1, installing a camera; s2, camera self-calibration; s3, performing visual measurement on an X axis, a Y axis, a Z axis, an A axis and a C axis; s4, performing visual calibration; s5, comprehensive compensation is carried out, and the correction compensation effect is verified through real-time error correction and track retest; and S6, carrying out global iteration optimization strategy on the corrected and compensated actual pose model based on an LM algorithm. According to the invention, the stability of calibration precision can be ensured, the matching degree of a dispensing path and a target surface is improved, and high-precision dispensing is realized.

The invention discloses an obstacle avoidance navigation system based on binocular vision. The obstacle avoidance navigation system comprises a binocular camera and a GPS module. A visual processing and depth estimation algorithm module; a map generation module; and a path planning and dynamic obstacle avoidance module. The binocular camera and the GPS module are combined, so that visual-geographic information fusion is realized, and the environmental perception precision is improved; the three-dimensional point cloud generated by depth calculation provides three-dimensional space data support for obstacle avoidance, and is safer and more reliable than traditional two-dimensional recognition. The navigation map constructed by the semantic segmentation and target detection technology can dynamically distinguish complex obstacle types; the path combination strategy of the shortest path algorithm and the map API not only ensures the real-time performance of local obstacle avoidance, but also gives consideration to the global path optimality, so that the navigation efficiency of the system in complex terrains is higher.

The invention provides a virtual imaging method and system applied to virtual shooting, computing equipment and a storage medium, and relates to the technical field of virtual imaging. The method comprises the following steps: synchronously acquiring object surface reflection characteristic data by using a multi-wavelength light source, and generating various imaging parameters through an image feature extraction network; the dynamic attitude data and binocular vision depth information are fused, and virtual and real scene dynamic space coordinate mapping is constructed; calculating the surface reflection intensity distribution of the virtual object in real time through a light propagation simulation module in combination with the specular reflectance and deformation correction parameters, and dynamically adjusting the relative position of the virtual object and the real light source; generating a continuous and smooth shadow boundary transition effect based on a material attenuation model; and performing space-time calibration on the shadow effect by using the dynamic attitude sequence to realize frame-level synchronous rendering of virtual and real light source positions and shadow changes. According to the technical scheme provided by the invention, through optical parameter modeling and dynamic path optimization, the problem of light and shadow distortion of the virtual object in a real scene is solved.

The invention discloses a real-time back break control method of a heading machine based on visual association and digital twinning, which relates to the technical field of intelligent control of coal mining equipment, and comprises the following four steps: processing binocular visual data through a double-domain double-branch Transformer model, extracting coal rock and roadway structure characteristics and outputting cutting head offset; a GCN-LSTM model is adopted to fuse visual, laser radar and fiber-optic gyroscope data, and dynamic calibration and output of a three-dimensional pose are carried out; a roadway three-dimensional model is constructed based on the SLAM technology, and real-time updating of a digital twin model is achieved through edge-cloud collaboration; and in combination with a reinforcement learning strategy, generating a cutting parameter adjustment instruction according to the deviation of the digital twin model, and correcting model parameters through error feedback. The method solves the problems of low visual recognition precision, sensor data drift, digital twinning update lag and the like in an underground complex environment, improves the back break control precision, tunneling efficiency and equipment stability, and is suitable for tunneling operation under complex geological conditions.

The invention relates to the technical field of image data processing and intelligent control, and discloses a patch board spot welding track intelligent control method and system based on visual perception. According to the method, synchronous image streams are collected through a binocular vision sensor, and epipolar correction image pairs are generated through timestamp synchronization, ROI extraction and epipolar correction processing; calculating a disparity map by adopting a stereo matching algorithm, and constructing a compensated three-dimensional point cloud model based on deformation vector field fusion multi-frame point cloud data of a radial basis kernel function; welding spot position error vectors are generated by extracting welding spot feature points and performing spatial filtering optimization; and carrying out inverse kinematics calculation on the mechanical arm by adopting a damping least square method, carrying out safety constraint optimization in combination with prospective collision risk assessment and real-time pose data, and generating a trajectory compensation instruction. According to the method, the problems of dynamic deformation compensation and motion safety in patch plate welding are solved, the submillimeter welding spot positioning precision is achieved, and the welding quality stability and the system robustness are improved.

Embodiments of the present application relate to the field of computer vision. Disclosed are a target six-degree-of-freedom pose estimation method and apparatus based on binocular vision and particle swarm optimization. The method comprises: obtaining a binocular image of a target, wherein the binocular image at least comprises a rotation matrix, a displacement vector and geometric features of the target; decomposing the rotation matrix into a rotation vector and a rotation angle by means of a rotation matrix decomposition method, and performing six-degree-of-freedom uniform sampling on the rotation vector and the rotation angle to obtain a data point set; establishing a mathematical relationship between the rotation matrix and the displacement vector on the basis of the geometric property of the geometric features and the data point set; and performing target pose estimation on the binocular image of the target by designing an objective function and an application optimization algorithm to obtain a pose estimation result. The present application solves the problems in the related art of low accuracy, poor universality and poor robustness.

The invention relates to the technical field of intelligent maintenance of tunnel electromechanical facilities, in particular to a tunnel lamp recognition and spatial positioning method based on binocular vision, which comprises the following steps: synchronously acquiring tunnel environment images through left and right cameras subjected to polar horizontal correction, inputting the images into a lightweight tunnel lamp detection model, and detecting an area image containing a lamp bounding box; extracting feature points in the bounding box by adopting a multi-scale adaptive FAST feature extraction algorithm, describing the feature points by rotating an invariant binary descriptor, and generating a disparity map in combination with an adaptive Hamming distance matching algorithm; calculating three-dimensional space coordinates of the lamp according to the disparity map by using a binocular camera triangulation principle and combining camera parameters; when the ambient illumination is lower than a threshold value, a multispectral image fusion module is started to enhance the feature matching robustness; and when continuous matching fails, visible light communication assisted positioning is started. According to the invention, the problem of low positioning precision of the lamp in a complex tunnel environment is solved, and the reliability and efficiency of identification and positioning are improved.

The invention discloses a robot automatic navigation method and system based on depth vision fusion, and relates to the technical field of intelligent navigation, and the method comprises the steps: carrying out the registration of a point cloud subset of continuous frames through employing an ICP algorithm, distributing weights for a static obstacle and a dynamic obstacle, and carrying out the fusion, and obtaining a fused environment perception data set. The method comprises the following steps: updating a dynamic environment in real time, generating a dynamic environment map, carrying out trajectory tracking on moving targets by using binocular vision equipment, calculating a real-time motion trajectory of each moving target, obtaining an environment hotspot map, generating a global navigation path for a robot by using an A * algorithm, planning a detouring path at the periphery of a hotspot area, and outputting a navigation path sequence. According to the method, intelligent optimization of the motion path of the robot is realized through path planning and an obstacle avoidance strategy, the safety is ensured, the path efficiency is maximized, and unnecessary detour and pause time is reduced.

The invention discloses an obstacle avoidance method and system for an unmanned aerial vehicle, and the method comprises the steps: collecting the three-dimensional point cloud and image information of a laser radar, binocular vision and a millimeter-wave radar, and obtaining an obstacle comprehensive parameter set; carrying out dimensionless processing on the obstacle avoidance feature vector to obtain an obstacle avoidance feature vector; inputting the obstacle avoidance feature vector into a discrimination model constructed based on a double-membership adaptive fuzzy decision tree, and outputting an obstacle avoidance action type according to an obstacle avoidance rule; and calling a corresponding trajectory generator to calculate the vertical speed, the lateral speed and the course instruction of the target in real time, driving a propulsion motor to complete maneuvering, and when the vertical clearance coefficient, the horizontal clearance coefficient and the distance safety margin all exceed preset exit thresholds again, automatically terminating the obstacle avoidance mode and restoring to the original planned route. According to the invention, the problems of low precision and insufficient stability of real-time obstacle avoidance decision making of the unmanned aerial vehicle in a complex environment are effectively solved.

The invention discloses a laminated plate impact event three-dimensional strain field inversion method based on binocular vision, and the method comprises the steps: laying dynamic tracking mark points on the surface of an impacted carbon fiber laminated plate, synchronously collecting the image data of the whole impact process through a high-speed binocular camera, and generating a binocular vision image sequence with impact time sequence information; generating three-dimensional displacement field data of the impact area of the carbon fiber laminated plate based on the binocular vision image sequence; calling the anisotropic constitutive model of the carbon fiber laminated plate to generate a preliminary three-dimensional strain field inversion result; and performing coupling operation on the preliminary three-dimensional strain field inversion result, the impact load parameter and the laminated plate material characteristic parameter to generate a final carbon fiber laminated plate three-dimensional strain field inversion result consistent with the dynamic response of the impact event. According to the embodiment of the invention, accurate full-field representation of the dynamic strain of the impact event can be realized, and reliable data support is provided for impact resistance evaluation and structure optimization of the laminated plate.