320 results about "Convex polygon" patented technology

The invention discloses a mobile robot path planning method based on the binary quantum particle swarm optimization, which is characterized by comprising steps of 1, simplifying a robot into a point moving in a two-dimensional space, and then sensing the present position of the robot and the present positions of obstacles via the visual system, 2, processing all the obstacles sensed by the visual system of the robot into convex polygons, 3, discretizing the two-dimensional space into series grids, and performing binary encoding for eight probable motion directions of the robot at each grid, 4, defining the distance of the path between the starting point and the destination point as a target function required to be solved by the method, and 5, overall optimizing the target function in the step 4 by utilizing the binary quantum particle swarm optimization aiming to the discrete characteristics of robot path planning problems to obtain the optimum mobile robot path. The invention has the advantages of simple process, easy realizing, good robustness, high solving efficiency and the like.

The invention discloses a method for spraying robot spatial path planning. The method comprises the steps of performing fragmentation on a complex curved surface according to a topological structure of the complex curved surface; respectively calculating measurement parameters of regular polygons and convex polygons after fragmentation, the number of turning points of a spraying spatial path and the sum of public side lengths between pieces, building an optimal solution evaluation function of some piece after fragmentation of the complex curved surface, further expressing a complex curved surface fragmentation problem as a mathematical optimization problem with constraint conditions, and solving the problem. After the complex curved surface is subject to fragmentation, spraying robot spatial path planning is performed on every piece, the spraying path evaluation function is established according to different spatial path modes and trends on every piece, the optimal path mode and trend are selected with the evaluation function value optimum serving as the target, the robot spraying effect and spraying efficiency on the complex curved surface are improved, and the practical industrial production requirements are met.

The invention relates to a volume rendering visualization method based on the sampling. Firstly convert the volume data into 3D texture memory; then design a bounding box containing all the volume data with the rectangular coordinate system origin as the center, set the initial corresponding relation of 8 vertex coordinates and color values to have the bounding box rotating around the center and calculate the new coordinates of the bounding box after rotating by the self-defined rotation matrix; after point coordinates inverse rotation and linear transformation to the intersection points of the cutting plane perpendicular to the line of sight and the edges of the bounding box to get the corresponding color values, color convex polygon sampling plane can be obtained through GPU trilinear interpolation calculation; with the color value of each point of the sampling plane as the coordinate, the 3D texture volume data can be sampled to perform the color composition calculation; change the step value to have the cutting plane advancing along the light of sight until the cutting plane does not intersect with the bounding box and draw the final image. The method calculates large amounts of sampling coordinates point of the polygon sampling plane at one time, thus improving the program parallelism, reducing the workload and improving volume rendering speed remarkably.

Some embodiments of the invention provide a method for constructing a convex polygon that encloses a set of points in a region. This method identifies a first polygon that encloses the set of points. It then identifies a second polygon that encloses the set of points. The method then specifies the convex polygon as the intersection of the first and second polygons.

The invention provides a measurement method and a measurement system for an earth volume of road engineering. The measurement method for the earth volume of the road engineering comprises the following steps that image control points are distributed in a measurement area range; coordinate values of the distributed image control points are measured; gridding is performed on acquired point cloud data to form a gridding point set array; position relations between points in the point set array and the measurement area range are judged; when point cloud is in or on the boundary of any convex polygon, a volume of a cube corresponding to the convex polygon is calculated; and integral summation is performed on the earth volume corresponding to excavation and filling based on a calculated result of the volume of the cube to obtain the earth volume of the road engineering. According to the method and the system, the maneuverability, the flexibility and the safety are good; flight scanning measurement and imaging can be automatically performed on a surface feature to obtain high-precision point cloud and image data of an earth surface; and measurement for the earth volume of the road engineering is further realized.

The invention relates to the technique of touch screens, in particular to a touch screen touch area positioning method. According to the technical scheme, the touch screen touch area positioning method includes the following steps that (1) all blocked light paths are obtained; (2) the blocked light paths are converted into polygonal data; (3) if a set of the light paths at the same angle is a light path layer, a polygon in one light path layer is intersected with a polygon in another light path layer, a new polygon is obtained, then the new polygon is intersected with the polygon in another light path layer to obtain a new polygon, the process is repeated until the polygons of all light path layers are intersected, an ultimate polygon is obtained and at least comprises one polygon body, and data of the ultimate polygon are recorded and comprise data of all polygon bodies. Identification of a touch area takes little time and is high in efficiency.

The invention, which relates to the data processing method in the automation field of agricultural machinery, provides a lowest-oil-consumption motion path planning method of an agricultural machine.According to the method, a polygonal map of a plot is obtained; feature of the polygonal map of the plot are determined; if the polygonal map is a non-convex polygon, the non-convex polygon is dividedinto convex polygons with the lowest number; and if so, no operation is done; an agricultural machine working spindle direction with the lowest turning number is determined in the convex shape when the agricultural machine works back and forth along parallel straight lines; and then a turning path corresponding to the turning number is determined and a corresponding track map is generated. Therefore, oil consumption minimization is realized in terms of the turning number minimization and an optimal path is obtained; with consideration of the oil consumption factor, the full-cover driving of the agricultural machine is realized; and a phenomenon that only a lowest-oil-consumption path being a straight line from a starting point to a target point is provided is avoided.

The range of depth values within the overlap of a convex polygon and a square or rectangular rasterization area can be determined by identifying whether the minimum and maximum depth values occur at the corners of the rasterization area or at intersections of the polygon's edges with the area's sides. By choosing between the corner and intersection for both the minimum and maximum depth limit, solving the depth plane equation at the chosen location, and clamping against the polygon's vertex depth range, a tight depth range describing the depth values within that overlap are obtained. That tight depth range is utilized to cull pixel values early in the pipeline, improving performance and power consumption.

The present invention relates to a seam line network generating method suitable for convex polygonal image effective ranges during mosaic of multiple digital orthophotos in an area range, comprising the following steps: obtaining an effective range of each orthophoto, and expressing the effective ranges with convex polygons; calculating segmentation lines between adjacent images; calculating an effective mosaic convex polygon of each image; and generating a seam line network. With the steps, mosaic treatment can be implemented on the basis of the generation of the seam line network; pixels contributing to mosaic in every image, seam lines relating to every image and images relating to each seam line can be conveniently obtained and a mosaic result can be directly generated; flexibility and efficiency of the mosaic can be guaranteed and error accumulation as well as intermediate results can be avoided, and a treatment result is independent of orders of the images. With the seam line network generating method, a problem of generating the seam line network for convex polygonal image effective ranges during mosaic of multiple digital orthophotos in an area range can be effectively solved.

The invention belongs to the crossing field of computer science and traffic engineering, and relates to an indoor pedestrian microscopic simulation method based on a cellular automaton. The method comprises following steps of firstly, carrying out gridding on an indoor pedestrian region, thus obtaining a cellular space corresponding to a cellular automaton model; dividing the cellular space into some convex polygon regions; secondly, judging whether there are pedestrians in each region; stating the temporary destination of each pedestrian; calculating the transfer probability of each pedestrian; simulating movements; observing whether conflicts appear or not; finally, solving the conflicts; and updating the practical position of each pedestrian until the pedestrians arrive at the corresponding destinations. According to the method, the simulation model can correspondingly respond to complex walk environments and not merely distinguish the pedestrians and barriers; moreover, the self-organization phenomena displayed in the regional pedestrian flow indoor evacuation process are simulated; the model simulation effect is effectively improved; and the method is more suitable for simulating and analyzing movement evolution of the pedestrian flow in the indoor complex environments.

The invention discloses an infrared image splicing method based on coarse-to-fine registration, and the method comprises the steps: carrying out the coarse registration of an infrared image, carryingout the fine registration of the infrared image, improving the image registration precision, and improving the image splicing effect, wherein in the coarse registration process, feature points are extracted by utilizing every two adjacent images to construct a homography matrix, and each image can use an untransformed original image as an extraction object of the feature points in the coarse registration process, so that the extraction quantity of the feature points is ensured. The fine registration process is based on a fine registration sequence for sequential registration; deformation errors existing in the coarse registration process are adjusted, the feature point extraction process is obtained on the basis of the rule that the percentage of the area of the minimum circumscribed convex polygon covered by all feature point pairs consistent with the feature point pairs and the area of an original image is in direct proportion to the image registration accuracy, and the precision offine registration is guaranteed.

The invention discloses a calibration method and device for a hand-eye relation of a polishing operation arm. The calibration method comprises the steps that collected three-dimensional point cloud data of the surface of a calibration block is acquired; preprocessing is carried out on the three-dimensional point cloud data to remove corresponding noise points; a consistency algorithm is adopted tocarry out plane segmentation on the three-dimensional point cloud data with the noise points being removed, and an estimation planar model is obtained; according to a preset convex hull algorithm, the estimation planar model is solved, and a corresponding convex polygon is obtained; and by fitting vertexes of the convex polygon, an outer parameter rotation translation matrix RW(Cam) of a camera is calculated so that a transformational relation MCam(Tool) of a three-dimensional scanning camera coordinate system relative to the robot actuator tail end in robot hand-eye calibration can be determined. The technical problems that traditional visual sensor 3D calibration is not suitable for rapid automatic identification required by a polishing system is solved.

The invention discloses a user normal track analysis method based on a movable position application. The user normal track analysis method based on the movable position application includes the following steps that firstly, a user track set P is input; secondly, an orderly convex polygonal track set Q comprising all Pn track points is obtained from the track set P; thirdly, the area of the convex polygon Q is calculated; fourthly, the cluster radius R and cluster density T are determined; fifthly, all core clusters are recorded; sixthly, the core clusters are combined; seventhly, recursion is executed until all the core clusters can not be combined, and then it is judged as convergence; eighthly, the points not contained in the core clusters are judged as noise points, the cluster radius R serves as the threshold value, and the noise points are gathered into a plurality of noise clusters through a proximity clustering principle; ninthly, intra-cluster track point election is carried out on the core clusters and the noise clusters, and it is guaranteed that one point is elected from one cluster.

The invention discloses a simplification method of polygon models of an image, comprising the following steps of: obtaining a left boundary pixel point set and a right boundary pixel point set through scanning a known binary image; obtaining all vertexes of convex polygon models of the image through searching the left boundary pixel point set and the right boundary pixel point set; replacing two vertexes of the shortest edge by an intersection point of extension lines of two adjacent edges of the shortest edge in the convex polygon models so as to achieve the purpose of deleting the shortest edge; after deleting the shortest edges for many times, obtaining a polygon model with same vertex number as necessary reference point number for image correction; and taking the vertexes of the obtained polygon model as the reference points for image correction. The simplification method of polygon models, disclosed by the invention, has simplicity and rapidness, and necessary reference points for image correction can be accurately obtained.

The present invention discloses an adaptive concrete mesoscopic modeling method. The method comprises the following steps: 1) generating a required circular boundary according to the concrete aggregate gradation, generating convex polygonal aggregates within a circular boundary, carrying out prolongation on the area of the convex polygonal aggregate, and determining prolongation point intrusion atthe same time to generate a convex polygonal aggregate concrete model; and 2) setting an inner polygon mesh transition circle inside each convex polygon aggregate, setting an outer polygon mesh transition circle between an aggregate-slurry interface transition zone and the cement mortar, adjusting the polar radius of the aggregate to obtain vertex coordinates of the aggregate-slurry interface transition zone and the inner and outer mesh transition circles, setting the thickness of the aggregate-slurry interface transition zone according to the aggregate particle size, setting the mesh size onthe inner and outer mesh transition circles, and obtaining a mesh-adaptive concrete multi-phase mesoscopic model. According to the method disclosed by the present invention, the random placement of aggregates and the generation of adaptive meshes in the mesoscopic model can be realized, the calculation efficiency can be improved while ensuring the calculation accuracy of different regions withinthe model.

The present invention provides a method for optical proximity correction (OPC), which can greatly prevent the problems appearing previously in optical proximity correction. The scheme provided by the present invention alters the shape of layout patterns before the existing optical proximity correction, generates other convex polygon patterns on the basis of existing layout patterns, and then conducts optical proximity correction with the convex polygon patterns as the target.

The invention discloses a concrete three-phase mesoscopic model construction method based on polygonal random aggregates. The method comprises the steps that firstly, setting variables of a concrete model; generating convex polygonal random aggregate according to the aggregate particle size range in the concrete model; putting the generated aggregates into a model region range one by one until allthe aggregates are finished, and storing vertex point line data of all the convex polygonal aggregates into a cellular array; translating all aggregate edges according to the thickness of the interface transition region, and connecting to generate the interface transition region; and finally, storing all aggregate and point-line data of an interface transition region. On the basis of the concretethree-phase mesoscopic numerical model, the chloride ion erosion process in the concrete three-phase mesoscopic numerical model is truly simulated, the calculation process is simple and clear, and the numerical simulation calculation efficiency can be greatly improved.

The invention relates to a method for grabbing an object by a mechanical hand based on image information. The outline of the object is extracted from the image information, and a containing grabbing manner which can ensure that the object can not escape from the fingers of the mechanical hand is calculated out according to the outline information. The method is characterized in that the direct calculation of the accurate position of the grabbing point is avoided by calculating a containing grabbing area, the object can be ensured not to escape from the mechanical hand and can be finally grabbed firmly. The method comprises the following steps of: firstly, extracting the edge outline of the object from the image information by using an image processing module; secondly, fitting out the minimum convex polygon surrounding the object outline by using a convex hull calculation module; thirdly, calculating out the minimum width of the minimum convex polygon by using a minimum width calculation module; and finally, calculating the relative position relation between the mechanical hand and the object according to a containing grabbing area calculation module when the mechanical hand grabs the object, and guiding the mechanical hand to grab the object.

The invention aims to provide a plant protection unmanned aerial vehicle route planning method based on an arbitrary polygon barrier-free area. The method comprises the following steps: constructing aworking environment coordinate system; lining out a working area on a map, acquiring each vertex coordinate of the working area, acquiring the minimal longitude and the minimal latitude of the vertex, and constructing a two-dimensional coordinate system taking longitude and latitude less than the minimal longitude and latitude of the vertex as an original point; judging whether the working area is a concave polygon or a convex polygon by judging whether a concave point exists or not; planning the route of the whole plant protection unmanned aerial vehicle, namely planning the route of the convex polygon area and planning the route of the concave polygon area. The method has the following beneficial effects: relative to the traditional mode of judging the working route directly depending on the vision of an operator without planning, the mode of automatically planning the route of the plant protection unmanned aerial vehicle has the advantages of improving the working accuracy and reducing repeated coverage rate and leaked spray rate.

The invention relates to a hybrid mesh partition method in the field of electronic technologies, in particular to the hybrid mesh partition method with the design of integrity of a system-level packaging power supply. The hybrid mesh partition method comprises the following steps: (1) decomposing an irregular power supply/ground plane into a series of convex polygons by utilizing convex partition treatment; (2) obtaining an optimal rectangular mesh based on the recursive partitioning technology of the rectangular mesh, setting auxiliary ports on sides of the rectangular mesh, and establishing the transfer impedance relationship among the ports; (3) adopting a triangular mesh to fill the remaining structure, and carrying out modeling of an equivalent circuit for the triangular mesh; (4) establishing the electrical relationship among the ports at an interface of the rectangular mesh and the triangular mesh; and (5) solving simultaneous overall equations. The hybrid mesh partition method has the advantages of a wide range of applications, few internal nodes, high analysis precision and efficiency and the like.