182 results about "Convex polygon" patented technology

The invention discloses a two-dimensional full-coverage path planning method for a mobile robot and related equipment, belongs to the technical field of robot full-coverage path planning, and aims to provide a two-dimensional full-coverage path planning method for a mobile robot in a complex two-dimensional environment model, such as a two-dimensional map with irregular obstacles and concave-convex polygonal obstacles. Firstly, a map can be effectively divided into a plurality of sub-regions through a Maklink line generated through a Maklink graph theory, the path searching problem can be simplified, the searching efficiency can be improved, then the sequence that a robot accesses the sub-regions is calculated, the optimal conversion path of the robot among the sub-regions is calculated, and finally, the Boutrophedon path is used for conducting traversal in the shape of a Chinese character'gong ', so that the path searching efficiency is improved. The method can ensure that the robot efficiently covers the whole sub-region, reduces the possibility of omission and repeated cleaning, moves among the sub-regions according to the optimal conversion path and access sequence, and helps to reduce repeated paths and invalid movement when the robot traverses the sub-regions.

The invention provides a forest resource remote sensing data spatio-temporal change analysis method and system, and relates to the technical field of data processing, and the method comprises the steps: carrying out the ground object type classification processing of each pixel according to a spectral unmixing processing result, and generating a forest coverage distribution diagram; extracting all pixel center points on the boundary of the change region as an input point set by using the forest coverage distribution map of the plurality of time points; finding out the outermost points in the input point set through iterative calculation, and connecting the points to form a convex polygon; performing standardized integration on the shape and the range of the change area based on a convex polygon to obtain a standardized description result; calculating the annual change rate of the forest area based on the normalized description result; and calculating vegetation coverage and forest biomass ecological indexes based on the annual change rate of the forest area. According to the method, more accurate and coherent monitoring and evaluation of the space-time change of the forest resources can be realized.

A technique for performing inside / outside testing is provided. To determine if a ray intersects a convex polygon, an inside / outside test is commonly performed by checking which side of an edge the ray passes. By efficiently sharing edge test results among polygons with shared edges, inside / outside testing for groups of polygons can be made more efficient. This optimization can be achieved using either full precision floating-point math or reduced precision (e.g., fixed-point math) to make hardware-based testing more cost-effective.

An elastomeric glove includes a superimposed texture provided on a surface of the elastomeric glove, including front and back of a palm region, a thumb region and fingers region, and the superimposed texture includes multiple units of a stellate convex polygon distributed on the surface of the elastomeric glove, with a tip at the center and folded at intersects of the polygon for gripping, diverting and channeling fluid away from the surface of the elastomeric glove. A synthetic latex formulation for producing the elastomeric glove is also disclosed.

According to the 3D digital city target VR space cutting body conflict detection method, firstly, a new method for solving city three-dimensional building model conflict detection is established, a method approximate to 3D grid layered segmentation is adopted, a 3D target is converted into a convex polyhedron group, a conflict detection algorithm is converted into two thoughts, and the three-dimensional building model conflict detection method is established; the conversion from polyhedron detection to convex polyhedron detection to convex polyhedron detection is completed, and the calculation process of three-dimensional building model detection is simplified; secondly, a convex polyhedron projection detection algorithm is constructed; and 3, developing a B / S end three-dimensional building model detection system: establishing a three-dimensional model detection system, taking the three-dimensional model detection system as a part of an urban three-dimensional cadastral management system, obtaining a result graph after convex decomposition and convex body detection based on a skeleton structure extracted from a three-dimensional building model, and simulating a three-dimensional urban planning detection system. The 3D target conflict detection effect is good, the speed is high, and the detection is comprehensive and accurate.

The invention relates to a robot dog dynamic balance and fall self-recovery method and device for a complex terrain, and the method comprises the steps: building a robust local elevation map through fusing multi-sensor data and quantifying the motion uncertainty of a robot; and a safe foot region set defined by the convex polygon is extracted through geometric feature analysis and plane segmentation. Then, collaborative planning of the trunk and the landing point is carried out in combination with a user instruction and the region set. In a control layer, a nonlinear model predictive control algorithm is adopted, a safety area is used as a hard constraint, and incomplete speed constraint is applied to a wheel type foot end, so that an optimized trunk track and a foot end force reference are output. The whole-body controller converts an upper-layer instruction into an accurate joint torque through a multi-task optimization framework with a weight. When instability is detected, the system can autonomously plan and execute a recovery action sequence including curling, controllable rolling and cooperative supporting.

The invention provides a neck copper area processing method and device in EDA design, equipment and a medium. The method comprises the steps that S110, an avoided copper sheet is obtained; s120, whether a neck copper area with the width smaller than a preset narrowest distance exists in the avoided copper sheet or not is recognized; and S130, if the neck copper area exists, cutting the neck copper area in the avoided copper sheet to obtain a cut copper sheet. According to the method, the ultra-fine area of the copper sheet after avoidance is identified through external expansion and intersection point solving of the convex polygon, the neck copper area is screened out by combining certain design detail requirements, and then the neck copper area is cut off through an operation function of the polygon with the hole, so that the quality and the efficiency of a circuit are ensured.

The invention relates to the technical field of automatic driving, and discloses a collision detection method and device, a vehicle and a storage medium, and the method comprises the steps: building a geometric model of an obstacle when a vehicle is in a turning working condition and a sensing system recognizes that the obstacle in front is a concave polyhedron; decomposing the geometric model of the obstacle by adopting a convex decomposition algorithm to obtain at least two convex polygons; constructing a candidate separation axis set based on the geometric model of the vehicle and each convex polygon; performing unitization processing on the vector of each separation axis in the candidate separation axis set, and performing de-duplication on the unitized vector based on a hash algorithm to obtain a de-duplication candidate separation axis set; removing approximately parallel axes according to the included angles between the separation axes in the de-weighting candidate separation axis set to obtain a target separation axis set; and sequentially performing projection judgment on the separation axes in the target separation axis set, and if the projections on any separation axis are not overlapped, judging that there is no collision risk.

The invention provides a live broadcast automobile marketing flow fluctuation prediction method and system, and relates to the technical field of cross-domain fusion, and the method comprises the steps: synchronously collecting data in a live broadcast platform and cross-domain extension data, and generating a platform data set and a cross-domain data set; based on the cross-domain data set, constructing an association space of the social hot events and the vehicle type attributes through a mirror image algorithm, and when the event feature intensity of the association space exceeds a preset threshold value, generating an event influence feature value; based on the event influence characteristic value and the platform data set, generating a basic flow prediction curve according to a fixed period and selecting a key point set; and processing the key point set through a convex hull algorithm to generate a convex polygon region. According to the invention, through constructing a full-link closed-loop design of data acquisition-event association-traffic prediction-parameter optimization-promotion triggering-verbal skill adjustment, accurate control of live broadcast automobile marketing traffic fluctuation and improvement of the marketing effect are realized.

The invention discloses a method for optimizing manufacturability of a welding topological optimization structure, which belongs to the technical field of computer aided design and comprises the following steps: acquiring boundary conditions of a design domain and a geometric model in the design domain; performing initial layout on the geometric model in the design domain through the quadrilateral component; the overlapped quadrilateral assemblies are operated, and segmented and recombined convex polygon assemblies are obtained; acquiring a position relationship between the network nodes in the design domain and the convex polygon component, and converting the position relationship into a unit density field; establishing a topological optimization model according to the unit density field; updating control parameters of the quadrilateral component according to the sensitivity of the target function and the sensitivity of the constraint function; and outputting the layout of the convex polygon component in the design domain after the control parameters are optimized as an optimization result until the topological optimization model converges. According to the optimization method for the manufacturability of the welding topological optimization structure, the problems that existing welding topological optimization is poor in manufacturability and complex in structure post-processing are solved.

The invention relates to the field of unmanned aerial vehicle coverage control and image quality optimization, and discloses an image quality optimization control method for covering an aerial photography area by a multi-unmanned aerial vehicle system, which comprises the following steps: S1, establishing an image quality function based on pixel density and camera view angle, the description module is used for describing the coverage effect of the multi-unmanned-aerial-vehicle system in the convex polygon area; s2, task area division: dividing the task area of each unmanned aerial vehicle by adopting an extended Voronoi segmentation method; and S3, designing a distributed controller, and realizing local optimal deployment of the unmanned aerial vehicle based on the designed distributed controller. A new image quality function is introduced, and the coverage control of the multi-unmanned aerial vehicle system is optimized by combining the pixel density and the lens distortion, so that the defect that the characteristics of an optical camera are not fully considered in the prior art is overcome, and the optimal deployment of the unmanned aerial vehicle is realized. And the quality of the aerial image and the complete coverage of the target area are obviously improved.

Implementations described herein relate to methods, systems, and computer-readable media to cut between coplanar convex polygons. In some implementations, a method includes obtaining the polygons, constructing a corresponding initial coplanar graph, adding that graph into a queue, and cutting each graph in the queue, the cutting including identifying whether the graph includes at least one concave boundary vertex. If there is no concave boundary vertex, the graph is added to a set of result graphs. If there is at least one concave boundary vertex, the cutting selects a starting vertex, finds an optimal cut from the starting vertex to another boundary vertex, splits the graph into subgraphs along the optimal cut, and queues the subgraphs for cutting. The cutting repeats until a termination criterion is satisfied. The method then outputs the result graphs. Using these result graphs may reduce the use of computing resources, such as in real-time applications.

The invention discloses a concave-convex polygon sharp corner removal expansion method and device based on an envelope line operation principle, realizes accurate calculation and drawing of equidistant expansion and two types of non-equidistant expansion, solves the problems of insufficient accuracy, low practicability, too low efficiency and the like in an existing concave-convex polygon equidistant expansion algorithm, fills the blank of a non-equidistant expansion algorithm, and provides a new method and a new device for removing sharp corners of a concave-convex polygon. And meanwhile, an automatic drawing solution is provided for MVA buffer area drawing. The method comprises the following steps: (1) judging concavity and convexity of each point of a polygon; (2) determining the external expansion distance d of each point; (3) point boundary algorithm after external expansion; (4) a concave-convex polygon equidistant expansion drawing algorithm; and (5) performing a regional unequal-distance external expansion drawing algorithm.

The invention provides a digital watermark processing method and device for vector data and electronic equipment, and the method comprises the steps: extracting the vertex of each vector element in the vector data, and obtaining a vertex set for any vector element; extracting a feature point set from the vertex set based on the shape feature of any vector element; all the feature points in the feature point set are mapped into an original coordinate system, an outermost convex hull of the feature point set is constructed based on the position relation of all the feature points in the original coordinate system, and the outermost convex hull is a minimum convex polygon surrounding all the feature points; establishing a relative Cartesian coordinate system based on the gravity center position of the outermost convex hull; coordinates of all vertexes in the vertex set in the original coordinate system are converted into relative coordinates in a relative Cartesian coordinate system, and a converted coordinate set is obtained; and embedding the digital watermark information into the converted coordinate set to obtain a target vector element containing the digital watermark information.

The invention provides an industrial chain risk data early warning method and system based on digital intelligence, and relates to the technical field of intelligent data analys.The method comprises the steps that S1, semantic data of an industrial chain entity in an unstructured text is obtained in real time, a syntactic tree with a core predicate as a root node is constructed, and a syntactic tree is constructed; the dependency type and the dependency arc strength of the entity node are marked in the syntactic tree; calculating a semantic weight according to the hierarchical depth of the node in the syntactic tree and the dependency arc intensity, so as to determine three entity nodes with the highest causal influence as target detection points; and S2, mapping the target detection points to a two-dimensional coordinate system with a syntactic tree root node as an original point, performing normalization processing on semantic weight vectors of the three target detection points, and generating a minimum convex polygon covering all associated entities through a Delou inner triangulation algorithm. According to the method, the unstructured text is analyzed in real time to construct the precise semantic network, and identification, early warning and intelligent prevention and control of industrial chain risks are realized.

The invention provides a method and a system for determining operation nodes in an organoid culture process, and relates to the technical field of data processing, and the method comprises the following steps: carrying out interval division on a state track curved surface to obtain a plurality of physiological state intervals; performing convex hull algorithm calculation on the data point set in each physiological state interval, obtaining distribution boundary characteristics of the data points by constructing a minimum convex polygon, and obtaining morphological dynamics indexes based on the distribution boundary characteristics and change gradient calculation; performing normalization calibration processing on the monitoring data according to the morphodynamic indexes to obtain a calibrated growth state evaluation value; comparing the calibrated growth state evaluation value with a preset operation threshold value to obtain a comparison result; and determining an operation node of the organoid growth state based on a comparison result. According to the method, the operation node of the organoid culture can be accurately determined, and the controllability of the culture process and the stability of the growth state of the organoid are effectively improved.

This invention relates to a path planning method for homotopy classes in planar mobile robots, based on sunlight sampling. The method includes dividing a two-dimensional planar map to be searched into a topological map composed of obstacle modules and free convex polygon modules using convex decomposition. Simultaneously, it records the relationships between convex polygon modules and their vertices, as well as the datasets of convex polygon modules and their adjacent convex polygon modules. A heuristic function is set to expand from the starting block, continuously recording the blocks traversed by the path and excluding parent and ancestor blocks to prevent path looping when advancing an adjacent block. Upon reaching the target block, the method stops and records a set of non-repeating path blocks as a path homotopy class. Sunlight sampling is performed on each path homotopy class to obtain the intra-class shortest path. This invention can quickly search for path homotopy classes in the topological map and uses the sunlight principle to search for intra-class shortest paths, achieving rapid partitioning of path homotopy classes and significantly improving the search efficiency for intra-class shortest paths.

The present invention discloses a method for screening critical structural loads, comprising the following steps: S1. Obtaining result data for load operating points: Calculating all load conditions using an engineering method or a Gfem model to obtain load operating points and the results of the load operating point calculations; S2. Obtaining the structural loads of the structure under investigation at the load operating points: For the structure to be investigated, obtaining the structural loads from the calculation results in step S1, and determining values for bending, shear, torsion, and other structural loads based on actual conditions. The present invention forms a closed convex polygon based on the load data points. According to the properties of convex polygons, points within the convex polygon (including remaining vertices) are all located on the same side of the extension line of any side thereof. Based on the combined envelope, the critical load design condition can be ultimately selected, ensuring that severe load conditions are not omitted.

This disclosure provides a method, apparatus, device, medium, and product for perceiving traversable road areas. The method includes: acquiring environmental data collected by sensors on a vehicle; determining a set of target key points in the external environment of the vehicle to be avoided based on the environmental data; generating a convex polygon representing the traversable road area using the target key point set; adjusting the shape of the convex polygon based on the target key point set and preset polygon constraints to obtain a reference concave polygon representing the traversable road area; and determining the traversable area of ​​the vehicle based on the reference concave polygon, so as to control the vehicle's driving state based on the traversable area. In the embodiments of this disclosure, the vehicle can effectively perceive and promptly avoid impassable areas while driving, which helps ensure safe vehicle operation.

The invention relates to the technical field of risk management and control, and particularly discloses a to-be-early-warned insurance policy query method and device based on geometric cutting, equipment and a medium. According to the method, screening is carried out according to the disaster risk type, the to-be-screened insurance policy list is obtained, the number of insurance policies is reduced, geometric cutting is carried out on the disaster risk area according to the preset cutting parameters, at least one convex polygon area is obtained, the disaster risk area with a complex boundary is converted into a simple convex polygon area, and the risk of disaster risk is reduced. The complexity of polygons and the space judgment calculation amount are reduced, so that the insurance policy query efficiency is improved; moreover, the cut convex polygon geometry can completely coincide with the original risk area, so that the edge precision of the risk area is prevented from being reduced, and the policy query accuracy is ensured. The scheme is applied to financial insurance services such as property insurance and agricultural insurance, the insurance policy to be pre-warned with the underwriting address located in the disaster risk area can be quickly inquired, and pre-warning is sent to the personnel to be pre-warned, so that the loss caused by disasters is reduced.

The application provides a Manhattan mask generation method, device, medium, program product and terminal of a convex polygon mask, and the application generates a buffer area by using a buffer area technology, and performs Manhattan in the area. The purpose is to combine multiple line segments in the convex polygon and then perform Manhattan, so that fewer Manhattan edges can be generated to approximate the original mask pattern, and the problem that a jog or fragmented line segment is easily generated in the traditional Manhattan optimization can be solved. The application also cuts the convex polygon into left and right parts, simultaneously performs Manhattan on the left and right parts, so that the finally generated convex polygon Manhattan mask has left-right point symmetry, avoids secondary rectangularization, saves the slicing step during subsequent mask printing, improves the production efficiency, and avoids the generation of a jog again.

The invention relates to the technical field of laser repairing, in particular to a laser repairing method, device and equipment and a storage medium. Comprising the following steps: processing AOI equipment data to obtain expanded image data; performing shape analysis on the expanded image data according to a preset Douglas-Pick algorithm to obtain a first convex polygon set; performing fitting processing on the first convex polygon set according to a preset traversal acquisition condition to obtain an outer rectangle; performing geometric analysis on the outer rectangle to obtain geometric parameters; sorting the first convex polygon set according to the geometric parameters and a preset traversal stop condition, and performing laser repair on the sorted convex polygon set based on a preset defect type recognition algorithm to obtain a repaired polygon region; through pretreatment, contour simplification, quantitative analysis and ordered laser repair, the defect treatment efficiency and accuracy are improved, errors are reduced, and the panel repair quality is guaranteed.

There is provided a method and an intersection testing module for transforming a ray and a convex polygon in a ray tracing system, from a space-coordinate system into a ray-coordinate system, for performing intersection testing of the ray with the convex polygon, wherein the ray and the convex polygon are defined in the space-coordinate system, wherein the ray-coordinate system has an origin at an origin of the ray. The method comprises: obtaining a ray direction vector comprising at least components Dx,Dy,Dz, the ray direction vector representing the direction of the ray in the space-coordinate system. The method further comprises, before performing intersection testing of the ray with the convex polygon: selectively reversing the components of the ray and vertices defining the convex polygon to ensure that all components of the ray direction vector are non-negative in the space-coordinate system; selectively permuting the components of the ray and the vertices defining the convex polygon to ensure that Dz is the component of the ray direction vector with the greatest magnitude, wherein after the selective permutation and selective reversing Dz ≥ Dx ≥ 0 and Dz ≥ Dy ≥ 0; and translating the vertices defining the convex polygon by subtracting the origin of the ray from the positions of the vertices defining the convex polygon.

The application relates to the field of agricultural machine operation, and provides a harrowing method and device for a concave polygonal field and an agricultural machine. The harrowing method comprises the following steps: obtaining a graph of a concave polygonal field, taking at least one concave vertex as a starting point, and dividing the graph into at least two groups of convex polygons according to at least two segmentation strategies, wherein each group of convex polygons comprises at least two convex polygons; determining a harrowing cost of each group of convex polygons according to an area cost, a quantity cost and a shape cost of each group of convex polygons; determining a target segmentation strategy of the graph according to the harrowing cost of each group of convex polygons; dividing the graph into a plurality of convex polygons according to the target segmentation strategy of the graph; and planning the plurality of convex polygons and a harrowing path between the plurality of convex polygons to complete the harrowing operation of the concave polygonal field, so that the concave polygonal field can be effectively and efficiently harrowed.

The application discloses a two-dimensional full coverage path planning method for a mobile robot and related equipment, and belongs to the technical field of robot full coverage path planning. In a complex two-dimensional environment model, for example, a two-dimensional map in which irregular obstacles and concave-convex polygon obstacles exist, firstly, Maklink lines generated by Maklink graph theory can effectively divide the map into multiple sub-regions, which is helpful to simplify the path search problem and improve the search efficiency; then, the order in which the robot visits each sub-region is calculated, and the optimal path for the robot to switch between each sub-region is calculated; finally, the Boustrophedon path is used for "bow" shape traversal, which can ensure that the robot efficiently covers the entire sub-region, reduces the possibility of omission and repeated cleaning, and moves between sub-regions according to the optimal switching path and the visiting order, which is helpful to reduce the repeated path and invalid movement of the robot when traversing the sub-region.

To provide a polygon mirror appropriately provided with an index indicating a base point of rotation.SOLUTION: The polygon mirror comprises: a mirror surface 2 provided on a side surface for reflecting a laser beam; and an index part 3 provided, as index indicating the base point of rotation, on a convex polygon surface 11 perpendicular to the side surface and including a concave-formed recess.SELECTED DRAWING: Figure 1

This application discloses a multi-UAV collaborative search method. The key point is that by convexifying non-convex polygons and traversing the mission area using parallel routes, UAV reconnaissance can achieve full coverage of non-convex polygonal areas. This application aims to propose a multi-UAV collaborative search method with simple task allocation rules and trajectory planning algorithms, which does not require extensive computation and has high computational speed, making it suitable for online, real-time route planning for UAVs.

The invention relates to a method for measuring the penetration track of a closed multi-layer target, which is used for solving the technical problem that the penetration track in the closed multi-layer target cannot be obtained by the existing method for recording the penetration track of a projectile body on the side surface of a multi-layer target plate by using a camera. The interior of the closed multi-layer target is scanned through the laser radar, the original point cloud data of the bullet hole and the color panoramic image in the bullet hole can be rapidly obtained, the overall penetration situation in the target can be observed, and a macroscopic view angle is provided for researching the penetration effect of the bullet body. According to the invention, the three-dimensional edge points of each layer of bullet hole are projected into the two-dimensional convex polygon, so that the contour and the area of each layer of bullet hole are accurately measured, and the safety risk of manual measurement is reduced.

According to one aspect of the present invention, a method for determining line segment intersections in a figure of writing data, includes: storing writing data in a storage device; reading the writing data from the storage device and determining a shape of a figure for each of figures with one of two directions perpendicular to each other as an x direction and the other as a y direction; and performing different intersection determination processing according to the shape of the figure and outputting a result, wherein in a case that the shape of the figure is an xy-monotone polygon and a convex polygon as a result of the shape determination, the intersection determination processing is omitted.