247 results about "Camera identification" patented technology

The invention discloses a conversion matrix determination method and device, equipment and a storage medium. According to the technical scheme, the calibration object is identified through the camera, the first coordinates of the at least nine feature points on the calibration object in the pixel coordinate system and the second coordinates of the at least nine feature points on the calibration object in the world coordinate system under each sampling position are determined, the first coordinates and the second coordinates are converted into the coordinates under the camera coordinate system, and the equation is constructed; according to the first coordinate, the second coordinate, a conversion matrix from a world coordinate system to a tail end coordinate system of the calibration object and a conversion matrix from a pixel coordinate system to a camera coordinate system, solving an equation of an equation, and determining a conversion matrix from the tail end coordinate system to the camera coordinate system, an inertial unit or a mechanical arm joint encoder is not needed to measure the pose of the tail end mechanism of the calibration object, and hand-eye calibration of a low-cost open-loop control system without a pose measuring element is achieved.

The invention relates to the technical field of intelligent traffic control, in particular to an intelligent ultra-wide checkpoint truck passing control method and system. The method comprises the following steps: arranging an ultra-wide main bayonet system, integrating a group of front and side double cameras and a 120-ton ultra-wide electronic weighbridge, and carrying out truck information double-camera identification and truck weighbridge weighing on a corresponding truck which is about to be driven in or out in the ultra-wide main bayonet system; the checkpoint double-camera truck information and the load weight of the checkpoint truck are obtained; carrying out load limit marking based on the checkpoint double-camera truck information and the load weight of the checkpoint truck so as to obtain an ultra-wide checkpoint release truck and an ultra-wide checkpoint overweight truck; barrier gate response passing adjustment is carried out on the ultra-wide checkpoint release truck, and a checkpoint truck barrier gate release adjustment strategy is generated; and carrying out overload guide control processing on the overweight truck with the ultra-wide bayonet, and generating an overweight truck guide passing control strategy. According to the invention, efficient and accurate management of passing of ultra-wide trucks can be realized.

The invention discloses an ultrasonic robot scanning image analysis method based on multi-modal fusion, and relates to the technical field of automatic control, the method comprises the following steps: using an optical camera to identify human body key points in a target area, and then planning to obtain a plurality of path points when the target area is scanned; calculating a reference impedance control moment, and controlling a mechanical arm of the ultrasonic robot to sequentially pass through each path point according to the reference impedance control moment, so that an ultrasonic probe of the ultrasonic robot is attached to the target area at a preset moment for scanning; when passing through each path point, scanning the target area by using an ultrasonic probe to obtain an ultrasonic image; dynamically adjusting the pose of the ultrasonic probe according to the confidence coefficient of the pixels in the ultrasonic image and the position of the thyroid region in the ultrasonic image; segmenting a thyroid region from the ultrasonic image, and segmenting a nodule region from the thyroid region; and carrying out risk level classification on the nodule region. The scanning efficiency and precision of the ultrasonic robot can be optimized.

The invention discloses a picking machine and a control method. The picking machine comprises a robot body, a fruit diameter separating device and a mechanical arm, wherein the fruit diameter separating device and the mechanical arm are installed on the robot body. The laser radar and the 2D camera are integrated on the robot body, and the depth camera is integrated on the mechanical arm. The processor is in communication connection with the laser radar, the 2D camera and the depth camera; the laser radar scans environment point cloud, the processor constructs a grid map and plans a driving path, mature fruits on the corresponding side are recognized through the depth camera in the driving process, the poses of the mature fruits in a mechanical arm coordinate system are determined, and the mechanical arm is controlled to pick the mature fruits. And the collected fruits are placed in an inlet area of the fruit diameter separation device. The picking robot integrates the functions of environment perception, autonomous navigation, automatic identification and picking of mature fruits and simultaneous automatic classification of fruits with different diameters, so that the picking efficiency is improved while the fruit picking process is greatly simplified.

The invention relates to the technical field of automatic production, in particular to an automatic unstacking method for air conditioner condenser cores. According to the technical scheme, the method comprises the following steps that a 3D camera is arranged above a condenser core feeding platform, and the side faces of cooling fins of a condenser core are recognized; a robot is used for driving a clamp to clamp and move the uppermost condenser core to a discharging conveying line according to the two fin side faces, recognized by the 3D camera, of the condenser core; a 2D camera is arranged on the discharging conveying line to recognize and detect the end type of the condenser core, and finally the robot obliquely places the condenser core on the discharging conveying line in the direction that the U-shaped pipe end faces downwards according to the end type of the condenser core. The method has the beneficial effects that the recognition efficiency can be improved on the premise of ensuring the recognition accuracy; and in addition, a 3D recognition method and a 2D recognition method are optimized, the recognition efficiency is further improved, and the automatic unstacking effect is improved.

The invention discloses a nozzle voltage adjustment method and device based on camera automatic identification printing color blocks and a storage medium, and relates to the technical field of printing device calibration, and the method comprises the steps: controlling a printing device to output a pattern containing each nozzle independent test area and color blocks; acquiring chromaticity distribution data through an image acquisition device, and extracting characteristic parameters such as brightness and saturation; determining a reference characteristic parameter based on a reference selection rule, and calculating a deviation value between each test area and the reference; an adjustment instruction is generated according to the mapping relation between the deviation value and the voltage adjustment amount, verification printing and iterative optimization are carried out after implementation until the precision is met, and through dynamic selection of a reference color block, LAB color space chromatic aberration calculation, voltage sensitivity coefficient matrix mapping and aging compensation, the adjustment precision and efficiency are improved, the dependence on artificial experience is reduced, and the adjustment precision and efficiency are improved. The method is suitable for nozzle calibration of high-precision printing equipment.

The invention discloses a wire harness laser coding system based on CCD camera recognition. The wire harness laser coding system comprises a mechanical arm, a wire harness clamping jaw, a wire harness end clamping unit, a horizontal guide rail, a ccd visual detection unit and a laser coding device. The sides, close to each other, of the two wire harness end clamping units are coaxially provided with two wire harness end insertion ports. The two wire harness clamping jaws are arranged on the displacement mechanical arm, the two wire harness clamping jaws can clamp the positions, close to the two ends, of the target wire harness respectively, and drive the clamped target wire harness to move to the position between the two wire harness end clamping units under the action of the mechanical arm, so that the two ends of the target wire harness are coaxially aligned with wire harness end inserting openings of the two wire harness end clamping units respectively; the two wire harness end clamping units can synchronously move in the extending direction of the horizontal guide rail. Original characters and patterns on the target wire harness are made to deviate from the sight line of the ccd visual detection unit through the ccd visual detection unit, and therefore finally achieved code printing effectively avoids the original characters and patterns on the surface of the wire harness.

The invention provides an electrode holder electrode cap grinding detection method and system based on AI visual diagnosis, through a visual identification system integrated with a light source system, an industrial camera, AI visual processing software, a PLC controller and the like, a robot moves to a camera identification position after grinding of an electrode holder is completed, the robot sends an in-place signal, the visual system carries out photographing identification, and the detection result is obtained. And after identification is completed, an identification result signal is sent to the robot. If the electrode cap grinding is OK, the robot directly returns to the safe standby position and enters the next procedure, and if the electrode cap grinding is NG, the robot stops at the current position, an alarm signal is sent, and manual intervention is conducted. According to the method, 100% real-time feedback and alarm mistake proofing of robot electrode holder electrode cap coping are achieved, compared with a traditional mode, no welding parameter needs to be adjusted, the quality problem caused by parameter change is effectively avoided, meanwhile, welding quality caused by improper electrode cap coping is prevented, the starting rate of whole-line equipment is increased, and the repair cost is reduced.

The invention relates to the technical field of candid photographing identification, and discloses a candid photographing equipment positioning and alarming method combined with ambient light perception. The method comprises the following steps: arranging a sensor array, a signal receiving node and an image acquisition device in a target area, acquiring real-time ambient light intensity and color distribution change data, and generating a change trend of the real-time ambient light intensity and color distribution change data; adopting statistical analysis to identify abnormal ambient light changes, and outputting coordinates and features of the abnormal light changes; corresponding images are obtained and preprocessed, secret photographing equipment features are extracted through an image algorithm, verification is carried out in combination with a rule base, and candidate positions are determined; accurate position coordinates are obtained through a triangulation positioning method; and if ambient light abnormity and candid shooting characteristics exist at the coordinate at the same time, the candid shooting device is judged, and the alarm system receives the coordinate and triggers alarm and interference measures. According to the invention, candid photographing identification precision and positioning capability in a complex scene are improved.

The invention discloses a six-axis robot steel coil inner ring welding system with recognition and guiding functions, and relates to the technical field of steel coil welding, the six-axis robot steel coil inner ring welding system comprises a six-axis robot body, a steel coil inner ring spot welding clamp and a pushing and blocking device, and the output end of the six-axis robot body is provided with the steel coil inner ring spot welding clamp through a flange plate; a pushing and blocking device is arranged on the outer side of the six-axis robot body, and the light source back plate is installed at the outer end of the fixing support. Through the structure that the push-and-block device is arranged on the outer side of the six-axis robot body, the auxiliary push-and-block device and the light source back plate are combined, the problems that the environment is dark and exposure is insufficient when an industrial camera photographs are solved, and the situation that the recognition precision is reduced due to background content rejection when the industrial camera recognizes is prevented; and the position and state of the welded steel coil can be mastered more accurately by a welding system, the welding precision and quality are improved, the six-axis robot is ensured to enter normally under the condition that the steel coil collapses, and the problems of possible core pulling or collapse ejection of the inner ring of the steel coil and the like are effectively solved.

The invention relates to a robot control method and device, a storage medium and electronic equipment, in particular to the technical field of intelligent warehousing, and the method comprises the steps that firstly, attribute information of a carried object is acquired; analyzing the attribute information, and determining a container model corresponding to the carrying object according to an analysis result; then obtaining a model identifier of the container model; and a carrying instruction of the carried object is sent to the robot. According to the technical scheme, the carrying task is issued to the robot according to the model identifier of the container model corresponding to the carrying object, and the robot can select the suitable camera recognition mode according to the model identifier in the carrying instruction, quickly and effectively recognize the edge of the carrying object and make an accurate action response accordingly, so that the carrying efficiency is improved. The time consumed for adjusting camera parameters and identifying the edge of the carried object is saved, the efficiency of carrying tasks executed by the robot is improved, and the flexibility and robustness of the system are enhanced.

The invention relates to a video quality detection method and system, an electronic device and a storage medium, and is used for a reverse proxy server, the reverse proxy server is deployed at a cloud, and the method comprises the following steps: obtaining camera identification information reported by a proxy client; when a real-time streaming transmission protocol request containing a virtual real-time streaming transmission protocol port initiated by the PC client is received, forwarding the request to a corresponding proxy client according to camera identification information corresponding to the virtual real-time streaming transmission protocol port; the virtual real-time stream transmission protocol port establishes a mapping relationship with the camera identification information in advance; receiving video data uploaded by the proxy client; the video data is locally acquired by the proxy client from the camera according to the forwarding request; and encapsulating the video data into a standard real-time stream transmission protocol response, and returning the real-time stream transmission protocol response to the PC client for video quality detection. A communication link can be established for video transmission, the process is simplified, and the video quality detection efficiency is improved.

A robot hand including a first gripper and a second gripper and a method for controlling the robot hand are disclosed. The method for controlling a robot hand disclosed herein may comprise the steps of: recognizing a shape of an object by using a camera; changing the gripping orientation of the first gripper and the second gripper based on the identified shape of the object; grabbing the object by using the first grabber and the second grabber; and rotating the first grabber and the second grabber according to the target position at which the object is to be placed to change the posture of the object.

The invention discloses an automatic calibration method for a suction nozzle rod of a high-speed chip mounter, and the method employs a flight camera recognition mode to directly correct the error value of the suction nozzle rod in a suction recognition process, can greatly reduce the position deviation caused by the downward pressing force in a correction curve of the suction nozzle rod, greatly improves the accuracy of the correction curve, and improves the accuracy of the suction nozzle rod. According to the method, a double-trigonometric function fitting regression curve mode is adopted, the method better conforms to the change rule of a circular motion object compared with a common interpolation method, and meanwhile the abnormal situation that a correction curve suddenly changes after sampling data suddenly changes due to the fact that sampling points are too few can be reduced.

The application relates to the field of agricultural automation equipment, in particular to an apple picking robot based on visual guidance and a picking method, which recognizes apples and determines position information by using a camera, controls a mobile chassis to move in a large range according to position information of a control system, realizes height and angle adjustment in combination with a lifting column and a small arm, and then picks apples by using a fruit picking opening and conveys the apples to a collecting frame by using a mesh belt. The application greatly reduces the labor intensity of manual picking and improves the picking efficiency. Then, real-time pose information of the apples is acquired by using a camera, a mechanical arm is guided to adjust actions to complete apple tracking and grabbing, so that accurate and efficient picking work is realized, the labor intensity of manual picking is reduced, and the picking efficiency is improved. The robot can automatically recognize target apples and pick the apples, so that the picking efficiency and productivity are improved.

This invention relates to the field of measurement data analysis technology, specifically to an engineering measurement data analysis method and system based on image recognition. The method includes the following steps: using an industrial camera to identify structural edges, measurement markers, and calibration rulers to form a reference set of measurement point coordinates; establishing corresponding quantities of directional scales based on the calibration ruler direction; combining the displacement relationship of the measurement points to form a measurement point interval characterization set; determining the edge deviation reference rate; and finally forming a boundary positioning association result. This invention uses grayscale abrupt changes to define edges and construct measurement point positioning references; calculates the lateral and longitudinal displacements of the calibration ruler to extract corresponding directional scales; combines measurement point displacement and edge direction to form interval characterizations; analyzes the normal span and surface deviation state to form edge references; and combines the boundary extension orientation to define the associated segments of the arrangement trajectory. This reduces interference from manual interpretation, maintains consistency of multi-directional conversion benchmarks, controls the error accumulation process, and improves the coherence and stability of engineering monitoring data processing.

The utility model relates to the technical field of mask production lines, and discloses a mask observation mechanism of a large-size mask production line, which comprises a blanking robot and a blanking clamping jaw arranged at the movable end of the blanking robot, and the blanking clamping jaw is provided with a camera identification assembly matched with the movable clamping jaw. The camera recognition assembly is used for recognizing and positioning the position of a Box, an observation table is arranged on one side of the discharging robot, a vertical plate clamping assembly is arranged on the observation table, and the vertical plate clamping assembly comprises a pair of vertical beams and a supporting base, the vertical beams can synchronously move face to face or back to back, and the supporting base can move in the vertical direction. When the mask placing device is in butt joint with an upstream discharging robot, the mask is in a vertical state, the dust falling risk is small, workers can observe the mask face and the mirror face on the two sides of the mask respectively, manual face turning is not needed, the mask placing precision is greatly improved, the collision risk is small, the burden of the workers is relieved, and the production efficiency is improved.

The utility model provides an automatic bad welding point maintenance device which comprises a maintenance assembly, and the maintenance assembly comprises a first linear module, two second linear modules, a mounting frame, two guide rails, a mounting plate, a supporting plate, a servo motor, a mounting base, a welding wire, a fixing frame, automatic temperature control soldering iron and a lead screw. The first linear module is installed on the rotors of the two second linear modules. The detection camera is used for identifying a reference point and a poor welding point of the PCB, under the cooperation of the first linear module and the second linear module, the automatic temperature control soldering iron moves to the position of the poor welding point, the servo motor drives the lead screw to rotate, the automatic temperature control soldering iron welds the poor welding point on the PCB, and after the welding is completed, the automatic temperature control soldering iron moves to the position of the poor welding point. The PCB is automatically maintained, so that the instability of personnel operation is avoided, the welding process is enabled to be within a controllable range, the labor cost is reduced, and the production efficiency is improved.

A method of recognizing a barcode by using a barcode reader (BCR) camera installed in a conveyor environment includes: obtaining, by using a BCR camera, a barcode image of a barcode on an object on a conveyor; obtaining a field of view of the BCR camera based on a conveyor environmental condition and a BCR camera setting condition; obtaining a moving distance of the object on the conveyor by using the field of view of the BCR camera, the conveyor environmental condition, and the BCR camera setting condition; generating a blur kernel of the barcode based on a moving direction of the object and the moving distance of the object; and deblurring the barcode image by using a pre-trained deblurring algorithm based on the blur kernel.

The invention discloses a multi-source fusion near-electricity construction area dynamic safety early warning method and system, and the method comprises the steps: dividing a construction area into different voltage levels based on an electric field sensor, and obtaining the positions of all electrified bodies; using a laser radar to detect and calculate the position and the speed of a reflector, comparing the position and the speed with the positions and the speeds of the personnel and the equipment identified by the camera, and matching the reflector with the identified personnel and the equipment; calculating the relative included angle, the change rate of the relative included angle, the distance, the change rate of the distance and the direction transformation entropy, and calculating the intrusion probability of personnel and equipment; and performing graded early warning according to the number of personnel, the number of equipment and the intrusion probability of the personnel and the equipment in the regions with different voltage grades. According to the method, the influence of the uncertainty of the moving trajectory on safety evaluation is considered, graded early warning is realized in combination with the regional voltage grade and the intrusion probability, and the early warning accuracy of construction safety management is improved.

The invention discloses a method and a device for separating gum-producing dandelion leaves and roots, and belongs to the technical field of agricultural automation equipment. The device comprises a rack, a leaf clamping conveying belt, a root clamping conveying belt, an adjustable cutting knife, a flexible tensioning device, a binocular vision camera recognition device and a scattered leaf collecting fan. According to the working process, the leaf clamping conveying belt clamps plant leaves and conveys the plant leaves in a directional mode; after the plant reaches a preset station, the root clamping conveying belt cooperates with the flexible tensioning device to clamp the root, and pre-tightening force is applied to the whole plant; the binocular vision camera recognition device recognizes the optimal cutting position of the blade root joint part in real time; the adjustable cutting knife executes a cutting action at a specified position according to an identification result to realize precise separation of a leaf part and a root part; the scattered blade collecting fan collects scattered blades through negative pressure. According to the device, efficient, accurate and automatic operation of separating the leaves and the roots of the gum-producing dandelions is achieved, and the problem that traditional manual separation is low in efficiency is effectively solved.

The utility model discloses a robot-based sucking and feeding device compatible with various pipe fittings, which comprises an overall fixing frame, a feeding belt conveying line, a chain plate conveying line, a carrier mechanism, a connecting belt conveying line, a backflow belt conveying line, a camera recognition mechanism and a robot sucking mechanism, the feeding belt conveying line, the chain plate conveying line, the connecting belt conveying line and the backflow belt conveying line are arranged on the overall fixing frame, the outlet end of the feeding belt conveying line is connected with the connecting belt conveying line, and the outlet end of the connecting belt conveying line is connected with the inlet end of the backflow belt conveying line. A carrier mechanism is arranged on the chain plate conveying line, and the camera recognition mechanism and the robot suction mechanism are arranged above the feeding belt conveying line. The pipe fitting conveying device can convey pipe fitting products, automatically recognize the pipe fitting products and finally suck and place the pipe fitting products to convey the pipe fitting products according to fixed postures, is compatible with various types of pipe fittings, and is good in carrier compatibility.

A method is provided of determining a blind spot of a display module caused by a steering wheel. The method includes a synchronization operation of allowing, by a control unit, one or more cameras installed on a display module to identify a driver’s eyes, a blind spot determining operation of driving, by the control unit, cameras among the one or more cameras, of which views are blocked by the steering wheel and which cannot identify the driver’s eyes and identifying the driver’s eyes, and a blind spot calculating operation of reflecting the shape of the steering wheel, which is pre-stored in the control unit, in the display module, and calculating an area of the display module, which is covered by the steering wheel and cannot be identified by the driver, by the control unit.

The utility model discloses a melon stock wood leaf display automatic identification device belongs to agricultural machinery technical field, including installation base, the upper surface of installation base is connected with fixed disc, the upper surface of fixed disc is installed with main motor, the upper surface of main motor is connected with installation cylinder, the top of installation cylinder is connected with feeding mechanism, the outer surface sliding of installation cylinder is connected with sliding ring, the outer surface of sliding ring is connected with two fixed plates, and the inside of two fixed plates all inlaying has rotation bearing, and the device whole course does not need manual intervention, and realizes automation closed loop from stock wood feeding to identification result output: feeding mechanism replaces manual plate arrangement, pneumatic clamping jaw replaces manual fixing, and pose adjustment and multi -camera identification replace manual overturn observation, and data processing unit replaces manual measurement and judgment, and then can significantly improve the work efficiency of batch identification, reduces manpower investment and labor intensity of manual operation simultaneously.

The utility model discloses a normal temperature container based on double-camera identification, which comprises a container body, a lamp box is arranged on the container body, the container body comprises a main body frame and a container door, and a left side container body plate, a right side container body plate and a back plate are arranged outside the main body frame; a plurality of laminates are arranged in the main body frame, and a first camera is arranged above the laminates; a main control box, an electronic lock, a second camera and a power supply are arranged in the lamp box, and a display screen is arranged outside the lamp box; the input end of the main control box is connected with the first camera and the second camera, and the output end of the main control box is connected with the electronic lock; and the main control box provides a two-dimensional code to the display screen and unlocks the electronic lock according to a code scanning result. According to the normal-temperature container, shopping can be conveniently achieved through full-dynamic camera recognition, the shopping process is simple, and the man-machine interaction degree is high; and a complicated mechanical structure is not needed, and the cabinet body is simple in assembly process, convenient to carry and convenient to operate.

The feeding device comprises a machine table, and a flexible vibration disc, a storage assembly, a moving mechanism and a conveying line are arranged on the machine table. The conveying line can drive the trays to the storage area; a suction mechanism is mounted on the moving mechanism and can be driven to move along an X axis and a Y axis; the material suction mechanism is composed of a lifting assembly, a vacuum suction pipe, a first recognition camera and a second recognition camera, the lifting assembly is used for driving the vacuum suction pipe to ascend and descend, the first recognition camera recognizes the position of a product in the flexible vibration disc, and the vacuum suction pipe is driven by the moving mechanism to grab the product and place the product to the storage assembly; the second recognition camera recognizes the position of the product on the containing assembly, the lifting assembly is connected with the rotating motor to drive the vacuum suction pipe to rotate, and after the vacuum suction pipe grabs the product again, the rotating motor conducts angle compensation on the product according to position information of the second recognition camera, and the product is accurately placed on the tray. According to the device, through the storage assembly and secondary recognition positioning, dynamic compensation adjustment of the angle of a product is achieved, and the feeding stability is improved.

The utility model relates to the technical field of semiconductor testing, and provides a probe assembly used for a flying probe testing machine and capable of identifying a needle point in the vertical direction, which comprises a main support, a cantilever support arranged on the main support, a probe arranged on the cantilever support, and a camera identification assembly arranged horizontally and used for identifying the position of the needle point of the probe in the vertical direction. The camera identification assembly comprises a mounting bracket arranged on the main bracket, an identification camera arranged on the mounting bracket, a lens matched with the identification camera and a prism matched with the lens; the camera identification assembly and the probe are always in a relative static state, the problem of interference and shielding of image acquisition does not exist, the needle point position of the probe in the vertical direction can be accurately and clearly identified through the camera identification assembly, so that debugging alignment operation is accurately carried out, the problem of mutual interference and influence does not exist among a plurality of structures, and the debugging precision is improved. Therefore, small bonding pad testing work can be carried out, and the application range of the flying probe testing machine is expanded.

1. Name of the product in this design: Camera Recognition Graphical User Interface for Electronic Devices. 2. Intended use of this design: for use in electronic devices. 3. The key design feature of this product is its graphical user interface. 4. The image or photo that best illustrates the design points: Design 1 Interface Change State Diagram 1. 5. The rear view, left view, right view, top view, and bottom view of this design are conventional designs, and the rear view, left view, right view, top view, and bottom view are omitted. 6. Design 1 is designated as the basic design. 7. Uses of graphical user interfaces: to enable recognition functions through the camera of electronic devices, such as translation functions. 8. Human-computer interaction method of graphical user interface: In Design 1 and Design 2, click the blue button at the bottom of the main view to switch to the interface change state diagram 1, enter the camera translation function, wait for a certain time in the interface change state diagram 1 or press the photo button on the electronic device to switch to the interface change state diagram 2.

The unmanned aerial vehicle autonomous fire extinguishing system comprises an unmanned aerial vehicle, a multi-mode sensing system and an autonomous fire extinguishing control system, the multi-mode sensing system and the autonomous fire extinguishing control system are carried on the unmanned aerial vehicle, and the multi-mode sensing system comprises a fire scene monitoring camera, a binocular vision unit, an infrared camera and a millimeter wave radar. The autonomous fire extinguishing control system comprises a fire monitor pipe and a two-degree-of-freedom rotating mechanism, the rotating mechanism is connected to the unmanned aerial vehicle, and a pipe opening of the fire monitor pipe extends out of the front end of the unmanned aerial vehicle; when the fire scene monitoring camera recognizes a suspected fire area and the infrared camera monitors that the temperature of the area exceeds a threshold value, the binocular vision unit obtains fire point positioning information; when the fire scene monitoring camera does not recognize a suspected fire area and the infrared camera monitors that the temperature of the area exceeds a threshold value, the millimeter-wave radar obtains the spatial position of a fire point and combines the spatial position with position data of the infrared camera to serve as an expected target position, and the fire monitor barrel rotates to enable the fire monitor barrel to conduct fire extinguishing jet flow on the expected target position. And more efficient and more accurate unmanned aerial vehicle autonomous fire extinguishing operation can be realized.

The invention provides an identification module, an identification tool, a stimulation coil, a multifunctional medical trolley, a camera trolley, a positioning tool, a positioning system and a medical system. The identification module comprises: an identification body having at least two connected side surfaces, the two connected side surfaces comprising a first side surface and a second side surface connected to the first side surface; and an identification pattern arranged on the first side surface of the identification body. The stimulation coil comprises a stimulation surface for providing energy stimulation and at least one identification surface for a camera to identify the stimulation coil, the at least one identification surface being arranged around the stimulation surface. The multifunctional medical trolley comprises: a framework formed by riveting and welding; and at least two trays, at least one of the at least two trays being fixed on the framework in a riveted and welded manner. The positioning tool comprises: a supporting body; an identification unit used for being identified by an acquisition device under a plurality of visual angles and arranged on the supporting body; and a contact unit making direct or indirect contact with a subject, the contact unit being arranged on at least one end of the supporting body. The medical system comprises: the multifunctional medical trolley, the stimulation coil and the camera trolley, wherein a camera on the camera trolley tracks and positions the stimulation coil, and when in use, the camera on the camera trolley identifies the stimulation coil, and the camera transmits data of the identified stimulation coil to the multifunctional medical trolley, so as to track and position the stimulation coil.