1224 results about "Blind zone" patented technology

The invention provides a multi-camera cooperative non-blind area intelligent monitoring method, and relates to the technical field of intelligent monitoring and security protection, and the method comprises the steps: carrying out the system calibration of a plurality of cameras, and building a mapping relation between the image coordinates of each camera and a unified world coordinate system; performing time synchronization and preprocessing on the data acquired by the plurality of cameras; continuously tracking the target based on a cross-camera target detection and re-recognition algorithm; based on a multi-view geometric principle, reconstructing a three-dimensional scene structure of a monitoring area in real time; according to the visual angle quality evaluation model, automatically selecting an optimal observation visual angle and controlling the pan-tilt camera to perform active tracking; and carrying out modeling on the cross-camera behavior based on the space-time diagram convolutional network to realize anomaly detection.

The invention provides a control method and system of a double-arm clothes folding robot, and relates to the technical field of robot control, and the control method constructs a perceived control closed loop by fusing visual, force and tactile multi-modal data. The touch sense and the force sense make up the blind area of the vision in the self-shielding scene, and grabbing, sliding and pleating perception is improved. Based on clothing joint characterization of a visual semantic network, geometric morphology, semantic components and confidence coefficient are structured and coded, a robust state fusing prior and real-time observation is provided for planning, and decision errors caused by deformation and noise are reduced. Long-time-history folding is decomposed into sub-target sequences through a hierarchical strategy, action closed-loop correction is conducted through multi-modal data, and cooperative control over grabbing, folding and pleating is achieved. And finally, a torque instruction is generated based on a control algorithm, interaction compliance and safety are ensured, and the folding success rate and operation stability of the double-arm clothes folding robot under different materials, sizes and initial forms are integrally improved.

The invention discloses a control method for collaborative trajectory planning of a container inspection robot. The control method comprises the following steps: S1, constructing a global task and a map; s2, obtaining real-time state sensing and positioning of the inspection robot (6); s3, establishing a unified three-dimensional cooperative control decision algorithm, and cooperatively controlling the height of an electric rod on the robot and the pitch angle (pitch), the yaw angle (yaw) and the roll angle (roll) of a holder based on the real-time pose of the robot, the distance between the ideal track and the target container and the standard size of the pre-modeled container; s4, the robot runs according to the planned track to execute the task and collects data; s5, performing global state management and safety strategy of the electric rod of the robot; the method has the beneficial effects that a detection blind area is eliminated, and three-dimensional cooperative control is realized; a camera can lock a target in a three-dimensional space at an optimal pose, image quality consistency is ensured, and jitter is inhibited through active holder movement; and full-process automation and safety protection are realized.

The invention provides a blind area early warning method and device and a storage medium, and the method comprises the steps: carrying out the multi-dimensional recognition of a vehicle road scene, obtaining the data of a plurality of sensors, determining the environment type of the road scene where a vehicle is located, adjusting the original weight of each sensor based on the environment type, obtaining a first weight corresponding to each sensor, and carrying out the adjustment of the first weight. Through recognition of environment types, weights are dynamically distributed based on indexes related to environment scenes in a non-linear mode so as to adapt to complex scenes. The sensor data is fused according to the first weight, the influence of the data source with low confidence on the fusion processing is dynamically reduced, blind area early warning is performed based on the fusion result, and the false alarm rate is effectively reduced. In addition, according to dynamic weight adjustment of the indexes related to the environment, the response speed of system execution control is increased.

The invention discloses an unmanned aerial vehicle intelligent obstacle avoidance decision-making method and system for a complex environment, and belongs to the technical field of unmanned aerial vehicle obstacle avoidance. The method comprises the steps of S1, environment perception and data acquisition, S2, multi-source data hierarchical fusion processing, S3, complex environment obstacle recognition and risk assessment, S4, dynamic obstacle avoidance path decision and optimization, and S5, obstacle avoidance execution and real-time adjustment. Omnibearing acquisition of obstacle distance, environment images, unmanned aerial vehicle attitude and position data is realized; the method combines an improved YOLOv8 model (adding a CBAM attention mechanism), strengthens the obstacle feature extraction capability under complex weathers such as rain and fog, strong light and dust, can accurately distinguish static obstacles such as buildings and trees from dynamic obstacles such as pedestrians, vehicles and other aircrafts, and solves the problems that a single sensor perceives blind areas and is insufficient in precision in a complex environment.

The invention discloses a monitoring device and a monitoring method for construction organization, belongs to the technical field of intelligent construction safety monitoring, and mainly solves the problems of monitoring blind areas, insufficient fixed visual angle coverage and difficulty in field long-term power supply caused by dynamic shelters in the construction process. According to the technical scheme, a camera is fixed to a double-shaft electric holder with a horizontal rotating and pitching adjusting mechanism, a processor, a communication unit and a battery are arranged in a base, a solar panel is arranged on the top of the base, and an electric lifting column is connected with the base and the holder; the environment sensor group is mounted on the camera; the solar panel is connected with the battery and supplies power to the whole device; the processor calculates a target monitoring path for eliminating a blind area in combination with a preset three-dimensional coordinate of a key area, generates a control signal to drive the holder and the lifting column to move, and dynamically adjusts the path execution frequency and the movement speed of each mechanism according to the electric quantity of a battery and the solar power. The device is mainly used for dynamic dead-corner-free safety monitoring of key areas of a building construction site.

The invention relates to a vehicle infrastructure collaborative perception enhancement method and device, computer equipment and a storage medium. According to the method, the structured occupied main space constructed by the roadside nodes is analyzed, aligned and injected into the vehicle side occupied space in real time, so that the environment states of a blind area, a shielding area and a remote area which cannot be directly observed by the vehicle side are obtained. Time extrapolation is carried out on the dynamic traffic participants and the dynamic traffic participants are mapped to a vehicle side coordinate system, so that position deviation caused by communication delay and sensing time difference can be effectively compensated; spatial resampling and coordinate transformation are executed based on the grid specification of the vehicle-mounted model, and it can be guaranteed that roadside occupation information is consistent with the structure of the vehicle-mounted model; meanwhile, through a fusion mechanism of uncertainty propagation and gating adjustment, reliable weighted absorption of external occupancy priori can be realized in the presence of sensing noise, model errors and positioning errors. Uniform expression of the occupied space of the vehicle side and the road side, time-space consistency alignment and controllable and credible fusion are achieved.

The invention discloses an automobile driving state blind area monitoring method and a rearview mirror, and relates to the technical field of blind area monitoring. Comprising the following steps of information collection, specifically, sensors and cameras are installed on wheels of an automobile, a steering wheel steering column, an automobile chassis and a steering system respectively, driving state data of the automobile speed, the steering wheel angle, the automobile acceleration and the steering angle and image data around the automobile are collected in real time, and real-time automobile information data are obtained; according to the system, driving state data such as the vehicle speed, the steering wheel angle, the vehicle acceleration and the steering angle are combined, the blind area around the vehicle is monitored in real time through the sensor and the camera, and when the vehicle steers, the blind area monitoring range is adjusted in real time to adapt to the driving direction change; the rearview mirror can display blind area images in real time, the blind area alertness of a driver can be greatly improved, and the traffic accident risk caused by the blind area is effectively reduced.

The application relates to the technical field of blind area monitoring, and relates to a low-speed blind area monitoring method and system based on multi-view camera shooting, which comprises the following steps: registering multiple cameras in a vehicle to obtain a target vehicle and a vehicle coordinate system; confirming multiple early warning coordinates based on the vehicle coordinate system, a vehicle bird's eye view and the vehicle; confirming a candidate window based on the vehicle bird's eye view and the early warning coordinates; performing target detection on the candidate window by using a pre-constructed target detection model to obtain a detection result; if the detection result is a first result, taking a pre-constructed safety instruction as a target instruction; otherwise, confirming relative positions and relative speeds based on target bounding boxes in a second result and multiple radars in the target vehicle; calculating an expected collision time according to the relative positions and the relative speeds; confirming the target instruction based on the expected collision time; and summarizing the target instruction to obtain multiple target instructions, thereby completing low-speed blind area monitoring. The application can improve the precision of low-speed blind area monitoring.

The invention provides intelligent assembly welding equipment with a visual blind area compensation function and a verification method of the intelligent assembly welding equipment, and relates to the technical field of intelligent visual assembly welding. The intelligent assembly welding equipment comprises a portal frame, a workbench, a plurality of front line scanning visual detectors, a plurality of rear line scanning visual detectors and a plurality of welding mechanical arms, ground rails are arranged on the left side and the right side of the workbench correspondingly, and the welding mechanical arms are arranged on the sky rails on the front side face and the rear side face of the portal frame correspondingly. The front line scanning visual detectors and the rear line scanning visual detectors are sequentially and alternately arranged below the cross beam from left to right, the front line scanning visual detectors are used for conducting line scanning detection on the lower portion of the portal frame from front to back, and the rear line scanning visual detectors are used for conducting line scanning detection on the lower portion of the portal frame from back to front. And the long sides of the plurality of front line scanning visual detectors and the long sides of the plurality of rear line scanning visual detectors are arranged in parallel.

The invention belongs to the technical field of three-dimensional scanning path planning and industrial automatic detection, and particularly relates to a full-coverage scanning path planning method for a large complex structural part. The revolutionary optimization of the three-dimensional scanning path of the large structural member is realized by constructing a comprehensive technical system of curvature self-adaptive sampling, pose collaborative optimization, a three-stage Weibull motion strategy, real-time collision detection and whole-process efficiency improvement. According to the scheme, geometric feature perception, motion continuity guarantee, algorithm adaptability enhancement and operation safety control are creatively integrated, a technical breakthrough is formed in three dimensions of non-blind area coverage, high motion efficiency and zero collision risk, and meanwhile, through parameterization design and a cross-platform compatible framework, the operation safety is improved. Deployment flexibility and system robustness in an industrial scene are remarkably improved, and a complete solution with high precision, high efficiency and high reliability is provided for automatic detection of a complex curved surface.

The invention discloses a wireless passive bolt pre-tightening force monitoring method and system. The method comprises the steps that bolt deformation, temperature and vibration parameters are collected; optimizing the arrangement positions of the sensors based on physical field simulation and working condition characteristics; eliminating interference by using a dynamic decoupling model, and outputting a corrected pre-tightening force value; and monitoring and evaluating the pre-tightening force state of the bolt group in combination with multi-channel sensing, and outputting a monitoring result. According to the invention, the multi-dimensional sensing unit is combined with the dynamic decoupling algorithm, so that the measurement precision under a complex working condition is remarkably improved, and on the basis of a wireless passive communication technology, the arrangement position of each sensor is determined through physical field simulation, so that the risk of a monitoring blind area caused by unreasonable arrangement is avoided. Besides, by fusing multi-dimensional parameters such as strain, temperature and vibration and constructing a decoupling algorithm, the problem of pre-tightening force measurement deviation caused by multi-interference coupling under complex working conditions is solved, and meanwhile, real-time monitoring and abnormal early warning of the bolt group pre-tightening force are realized.

The invention discloses an automobile hexagonal anti-loosening fastening nut full appearance detection method and system.The method comprises the steps of nut placement and lighting, to-be-detected image collection, detection model construction and nut defect detection, and in the nut placement and lighting step, fine lighting control is achieved through a multi-angle adjustable light source system; the lamp bead combination, brightness and angle are adjusted, and a lighting evaluation result is output; in the to-be-detected image acquisition step, hexahedral images of a nut are acquired through a multi-camera system, and detection blind areas are eliminated; in the detection model construction step, a training data set is constructed based on a non-reflective area image, and a deep learning model is optimized in combination with a lighting evaluation result; in the nut defect detection step, real-time defect identification and standard exceeding judgment are realized through a defect detection model, and a lighting evaluation result is associated to guarantee the detection reliability, so that the problem of metal surface reflection interference is solved, full-dimensional, high-precision and high-stability nut appearance detection is realized, the detection requirements of nuts of multiple specifications are met, and the detection efficiency is improved. The efficient quality inspection requirement of an industrial production line is met.

The invention discloses a blind area sensing and control method, device, equipment and system based on multi-view collaboration and a vehicle. The method comprises the following steps: receiving first environment image information from an all-round camera group; a steering signal, a steering wheel angle and a vehicle speed are received from a vehicle chassis system, a starting signal is sent to the oblique rearview camera on the corresponding side according to the steering signal, and second environment image information of the oblique rearview camera is received; adjusting a user interested area in the second environment image information according to the steering wheel angle and the vehicle speed; constructing a top view of the surrounding environment of the vehicle according to the first environment image information and the image information in the region of interest of the user, and determining target obstacle information according to the top view; calculating the collision time of the target obstacle and the vehicle according to the target obstacle information and the driving track of the vehicle; when the collision time is within a preset early warning range, an alarm signal is sent; and when the collision time is within a preset active intervention range, sending an active intervention signal. And the safety in a complex and changeable road scene can be improved.

The invention relates to the technical field of tunnel engineering grouting, particularly provides an intelligent self-adaptive dual-mode cooperative grouting control system, a grouting method and application, and aims to solve the problems of non-uniform grout diffusion, blind area grout leakage and out-of-control grouting pressure of a traditional advanced curtain grouting technology under complex working conditions. The grouting method comprises the following steps that S1, a three-dimensional stratum model used for controlling the dual-mode collaborative grouting process is constructed, and initial grouting parameters are set; s2, on the basis of the initial grouting parameters in the step S1, advancing type segmented grouting is adopted, a three-dimensional stratum model monitors a real-time grouting result, and the grouting parameters are dynamically adjusted; s3, when the real-time grouting result in the step S2 is monitored to be abnormal, drill rod retreating compensation grouting is automatically conducted on a blind area in an abnormal section; and the step S2 is continued after the drill rod in the abnormal section retreats for compensation grouting repair until grouting is completed. In the whole grouting process, the grouting control system operates cooperatively. And the construction safety can be effectively guaranteed when grouting reinforcement projects under complex working conditions are applied.

The invention discloses a cooperative detection method and system for an intelligent industrial visual detection robot, and relates to the technical field of industrial visual detection. According to the method, detection items are divided into basic items, recheck items and recheck items, so that a multi-level item architecture of'basic guarantee + suspected verification + pressure balance 'is formed; judging suspected defect generation according to a preorder link basic result in a reinspection item, preferentially transmitting a whole item and secondarily preferentially transmitting a defect area, and triggering manual reinspection if the defect cannot be transmitted; reinspection items depend on a detection item library, are sequenced according to a preset detection link, quantify the detection pressure in combination with the number of items in a to-be-inspected link, and are dynamically allocated to a target link; in the multi-level project system, the basic project ensures that the core item is not missing, the re-inspection project focuses on the suspected risk point, and the re-inspection project supplements the cross-link detection blind area, so that the full-life-cycle detection requirement of the workpiece can be covered by cooperation of the basic project, the re-inspection project and the cross-link detection blind area

The invention discloses a 3D (three-dimensional) perimeter security system and an operation method thereof, the system comprises a server terminal, a front-end sensing system, a data transmission system and a central control system, the front-end sensing system is networked in multiple groups of partitions, and each group of partitions of the front-end sensing system is provided with a nine-axis sensor, an edge computing all-in-one machine and a switch; and lighting, wind and rain sensor, broadcasting, microwave radar and camera equipment. The data transmission system transmits data; the central control system comprises an application server and a data server. The system forms a first defense line for active detection of the microwave radar and the camera and a second defense line for vibration sensing of the nine-axis sensor, and a monitoring blind area is eliminated through three-dimensional data fusion. The operation method comprises four groups of subsystem modules. According to the method, 'sky-ground-fence 'dead-corner-free monitoring is realized, the false alarm rate is reduced by combining multi-modal data fusion with an intelligent algorithm, self-evolution is realized by edge-cloud federal learning, and threat disposal efficiency is improved by automatic linkage response.

According to the temperature and vibration integrated monitoring method and device for the belt conveyor, sensing optical cables are arranged along key parts of the belt conveyor, full-coverage and full-life-cycle real-time monitoring of a carrier roller, a roller and a belt area is achieved, and traditional point type monitoring blind areas are avoided. The system integrates two parameters of temperature and vibration for comprehensive judgment, so that the accuracy of early fault recognition is remarkably improved, and false alarm and missing alarm are effectively inhibited. A three-level grading alarm mechanism is adopted, gradient response from prompting, reminding to intervention is achieved, and the disposal time is shortened. A trend analysis algorithm is integrated, the predictive operation and maintenance capability is achieved, and the operation and maintenance mode is promoted to be changed from passive maintenance to active prevention. The system is based on a passive optical cable, does not need an external power supply or an attached sensor, is simple and convenient to deploy, is high in compatibility, and can be seamlessly connected to an existing DCS platform. And all abnormal events are automatically filed, time axis backtracking and accident tracing are supported, and the operation and maintenance closed-loop efficiency and experience precipitation capability are improved.

The embodiment of the invention relates to the technical field of space acquisition, and discloses a historical and cultural block three-dimensional space data rapid acquisition and display method, which comprises the following steps: acquiring multi-source three-dimensional space data of a historical and cultural block through a collaborative acquisition system; inputting the multi-source three-dimensional space data into a semantic data processing engine; in the semantic data processing engine, processing the multi-source three-dimensional space data to generate a digital twin model comprising semantic information; and presenting the digital twin model to a user through an interactive display platform and providing an interactive function based on semantic information. According to the method in the embodiment of the invention, multiple acquisition modes such as ground scanning, unmanned aerial vehicle aerial photography and handheld equipment detection can be integrated, large-range areas such as block roofs and high-altitude facilities can be quickly covered through the unmanned aerial vehicle, and blind areas of a single acquisition mode can be made up by depending on the handheld equipment to go deep into hidden corners such as narrow roadways. And the block can be comprehensively and abundantly displayed based on the semantic digital twinborn model.

The invention discloses a positioning method and device for an indoor and outdoor switching process and electronic equipment. The method comprises the following steps: when a target object enters the electronic fence, detecting the signal quality of a satellite navigation system for outdoor positioning of the target object at preset time intervals, and acquiring first position information of the target object fed back by the satellite navigation system; under the condition that the signal quality does not meet the signal quality requirement, activating an ultra-wideband system for indoor positioning, and determining first target position information of the target object in each preset time period; and for each preset time period, determining second target position information of the target object and the position of the target object in the process of switching from outdoor to indoor at least according to the first position information, the first target position information, the weight of the satellite navigation system and the weight of the ultra-wideband system. According to the method and the device, the technical problems of positioning blind areas and position hopping of the target object during indoor and outdoor environment switching are solved.

The invention discloses a piece placing sequence mistake proofing device which comprises a multi-dimensional sensing module, an intelligent control module, a reconfigurable positioning module, an execution intervention module, a block chain tracing module and a man-machine interaction module, and all the modules communicate through an industrial Ethernet. The multi-dimensional sensing module and the intelligent control module adopt a time-sensitive network protocol to guarantee the certainty of data transmission, the multi-dimensional sensing module integrates an AI vision assembly, an ultrahigh frequency radio frequency identification read-write unit and a polarized light detection assembly, and parallel acquisition and cross validation of cutting piece multi-dimensional information are realized through a time sequence synchronous triggering mechanism. According to the method, a full-dimensional recognition system can be constructed through cooperation of multi-modal sensing fusion and an intelligent algorithm to avoid a single detection blind area, multi-variety production requirements are adapted by relying on AI incremental learning and rapid remodeling design, non-tampering tracing of quality data is realized in combination with a block chain technology, and the method is suitable for mass production. And meanwhile, reliable operation of the system is guaranteed through redundancy control and emergency design.

The invention relates to the technical field of unmanned aerial vehicles, and discloses a distribution network unmanned aerial vehicle autonomous inspection method based on deep learning, which comprises the following steps: step 1, receiving an inspection task coordinate, dynamically judging whether the inspection task coordinate is within an effective coverage radius of a preset nest, and generating an instruction containing a nest autonomous mode or a manual relay mode according to a judgment result; and 2, according to the generated instruction, controlling the unmanned aerial vehicle to execute an inspection task, fusing multi-source sensor data in the execution process to update the three-dimensional environment model, and dynamically generating and executing an obstacle avoidance path according to the updated three-dimensional environment model. The technical effect of expanding the inspection range without a blind area is achieved by adopting an inspection scheme of coordination of dynamic coverage radius judgment and a man-machine relay dual mode. Compared with the scheme of relying on fixed nest deployment and making up the inspection range by manually transferring equipment in the prior art, the technical scheme has the advantages that the inspection range can be expanded without a blind area; the defect that continuous inspection blind areas are formed due to complex terrains or sparse equipment is overcome.

The invention belongs to the technical field of computer vision and intelligent sensing, particularly relates to a positioning system for monitoring blind area multi-sensor space-time calibration, and aims to solve the problems of monitoring blind areas and track breakage caused by non-uniform space-time reference of multi-source heterogeneous sensors. The system comprises a space-time reference generation unit, distributed sensing nodes, a joint calibration engine, a real-time positioning calculation module and a self-adaptive feedback controller. Through nanosecond time synchronization, space registration based on a static landmark and a mobile calibration carrier and a dynamic re-calibration mechanism of closed loop feedback, continuous smooth trajectory output of cross-device target tracking is realized. The system supports layered architecture and block chain evidence storage, improves expandability and security, and is suitable for smart cities and industrial automation scenes.

The invention discloses a method and a system for detecting internal defects of a bathroom glass door based on multispectral imaging. The method comprises the following steps: carrying out multi-view and multiband image acquisition on the bathroom glass door by adopting a combined spectrum light source; performing adaptive reflection correction on the acquired image to generate a multi-band basic image; optimizing the multi-band basic image through a hybrid denoising algorithm to generate a multi-band detection image; performing multi-modal feature extraction and fusion on the multi-band detection image to obtain a multi-modal fusion feature vector, inputting the multi-modal fusion feature vector into a multi-feature fusion model combining a convolutional neural network and a support vector machine, and identifying and grading defect types by adopting a dual-stage feature enhancement-classification architecture; and outputting a defect type and severity grading result to a terminal in real time. The method is used for solving the technical problems of visual angle and spectrum blind areas, insufficient interference suppression capability, wave band crosstalk, feature deficiency and poor small sample generalization in existing bathroom glass door defect detection.

The invention relates to the technical field of mine safety monitoring, in particular to a roadway section convergence multi-view three-dimensional reconstruction method and a monitoring system thereof.The method comprises the steps that a rectangular plane coordinate system is established on a roadway section, a plurality of measuring areas are arranged in the circumferential direction, a plurality of equal-height measuring points are evenly distributed in each measuring area in the elevation direction of the section, and every two adjacent measuring areas share at least one measuring point; a laser structured light projector and a CMOS receiving camera are arranged at each measuring point; matching the feature points through an improved stereo matching algorithm to obtain depth feature point information and establish a section point cloud; dividing deformation into local deformation and overall deformation, establishing deformation association between measurement points through deformation feature description, and obtaining overall convergence information of the section by adopting a point cloud registration method after local deformation compensation is formed; a section safety evaluation model is established, section deformation evaluation and reinforcement suggestions are given, all-directional non-blind area monitoring of the section is achieved, and the monitoring precision reaches the millimeter level.

The invention discloses a blind area early warning method based on an electronic rearview mirror and a related device, and the method comprises the steps: obtaining an original image in at least one preset collection direction through image collection equipment, and carrying out the preprocessing of the original image, and obtaining a target image; determining a target early warning area in the target image according to the running state of the vehicle; classifying reference moving objects in the target early warning area to obtain a classification result; determining a distance measurement range of the reference moving object according to the classification result; screening the reference moving objects according to the distance measurement range to obtain a target moving object; determining a target risk level of the target moving object; and performing early warning on the vehicle according to the target risk level, and marking the target moving object and the target risk level on the target image displayed on the display screen. According to the invention, the accuracy and reliability of blind area early warning can be improved.

The invention provides an obstacle avoidance control method, device and equipment for a vehicle, and is applied to the technical field of intelligent driving. The method comprises the steps that vehicle state information, driver state information and environment information of a vehicle at the current moment are collected; the environment information comprises target information of a target object located in the vehicle blind area. According to the vehicle state information and the driver state information, the driving intention of the driver at the next moment and multiple pieces of alternative driving information of the vehicle at the next moment are predicted; and performing space-time coupling analysis on the target information and each piece of alternative driving information, and predicting risk information corresponding to each piece of alternative driving information. And when it is detected that a risk coupling point exists in the risk information, obstacle avoidance information is generated according to the vehicle state information, the environment information and the risk information so as to avoid the target object. The problem that a traditional blind area monitoring system is low in monitoring reliability due to passivity, lag and intention misjudgment can be solved.

A folding turnover type modularized multimedia teaching blackboard and light environment system comprises a main body, a control module, blackboard modules and a multimedia display module are arranged on the main body, the multimedia display module is rotationally arranged on the main body, and the blackboard modules are rotationally arranged on the two sides of the multimedia display module. According to the technical scheme, the problem that in the switching process of an existing push-pull type multimedia teaching blackboard, visible blind areas of students are caused is effectively solved, it is ensured that the students at all positions in a classroom can obtain continuous and unshielded visual fields, and reading difficulty caused by the limited visual angles is avoided; meanwhile, due to the turnover layout of the blackboard module, occupation of a writing area is avoided, the space utilization rate of a display area and a writing area is remarkably increased, seamless connection of function switching is achieved, and therefore the overall applicability of the teaching environment is optimized.

The invention discloses an intelligent robot grabbing control method and system based on AI vision, original vision and kinematics flow are fused through space-time alignment, and a physical-level dynamic shielding mask is accurately extracted through forward kinematics and reverse perspective projection. Then, the limitation of traditional pure semantic matching is broken through, a narrow-band gradient reference field of a shielding boundary is explicitly extracted to serve as a spatial topology bias injection attention mechanism, feature illusion completion guided by physical continuity prior is executed in a hidden space, and high-fidelity perspective features are generated; on the basis, the network synchronously regresdes six-degree-of-freedom grabbing pose and execution uncertainty, the uncertainty serves as an independent variable to dynamically attenuate and adjust the impedance rigidity of the mechanical arm, finally, self-adaptive compliant interaction in a blind area is achieved in a bottom layer physical servo link, and space positioning precision and operation safety are both considered.

The utility model discloses a crane human-shaped safety monitoring device which comprises a lifting hook support and a crane lifting hook, and the crane lifting hook is fixedly arranged at the bottom of the lifting hook support; the monitoring device comprises a lifting hook support, a monitoring camera is arranged on the side wall of the lifting hook support, the monitoring camera and the lifting hook support are connected through a deflection assembly, and the deflection assembly enables the gravity center of the monitoring camera to be always downward through gravity. The monitoring camera fixed on the lifting hook support can be used for shooting and monitoring a blind area at the bottom of the lifting hook, and meanwhile, the deflection assembly and the damping buffer assembly are arranged and are matched for use, so that the situation that a picture shakes violently due to shaking of the lifting hook can be effectively avoided, and the safety of the lifting hook is improved. The deflection assembly enables the center of gravity of the camera to be always downward and keep a relatively stable posture, and the damping buffer assembly can restrain follow-up shaking of the camera body and keep the camera body relatively stable, so that the camera is particularly suitable for monitoring a crane.