108 results about "Global grid" patented technology

Medical records, clinical observations, and medical imagery are organized and aggregated into a common database, enabling the data to be viewed and / or updated by medical practitioners world-wide. The information may also be viewed and monitored by patients or their relatives for accuracy, also regardless of their location. The invention further allows the records to be updated by manually controlled or automated instrumentation which measures medical parameters whether located in a doctors office, in a hospital setting, in the patient's home, or worn by the patient. Common access and point-to-point data transmission is via the global grid, or over public access common data networks supporting TCP / IP, most often referred to as the Internet. The same approach can be using insider an organization over an internal network or Intranet.

The invention discloses an inspection robot path planning method combining map grids with potential field method obstacle avoidance; the inspection robot path planning method comprises the following steps: 1, global grid method path planning: using the grid method to obtain the global optimal path from a start point to an object point; 2, moving to the object point: determining whether obstacles are encountered or not, moving to the object point is no obstacle is detected, planning a local obstacle avoidance path if an obstacle is detected until reaching the object point; 3, planning the local obstacle avoidance path, using the artificial potential field method with changeable parameters to carry out obstacle avoidance path planning, determining whether the object point is reached or not, returning to step 2 if not, and finishing the tour if the object point is reached. The inspection robot path planning method can solve the problems that the robot inspection path planning in the prior art is poor in efficiency, thus enlarging the robot inspection time.

Implementations described herein provide methods and devices for interpolating or estimating data from previously acquired data. Furthermore, implementations described herein calculate optimum interpolation operators by maximizing the spatial bandwidth of interpolation operators within a specified acceptable mean square error. According to one implementation, spatial bandwidth may be maximized by selecting a local grid within a global grid having nodes corresponding to desired interpolation locations. According to another implementation, spatial bandwidth may be maximized by specifying maximum wave numbers when calculating interpolation operators.

The invention discloses a mobile Agent path planning method under an unknown environment. Aiming at the problems of long search time and high probability of causing early delay in case of more and larger barriers at the time of performing mobile Agent path planning by using an ant colony algorithm in the prior art, the invention provides the mobile Agent path planning method under the unknown environment. A mobile Agent can be more effectively kept away from the barriers by modeling the environment through a grid method, establishing a 01 matrix for representing a global grid map, performing path planning according to the global grid map and enhancing the purposefulness of path selection through a path selection strategy of the anti colony algorithm. The method has the advantages of short search time and small space complexity.

Medical records, clinical observations, and medical imagery are organized and aggregated into a common database, enabling the data to be viewed and / or updated by medical practitioners world-wide. The information may also be viewed and monitored by patients or their relatives for accuracy, also regardless of their location. The invention further allows the records to be updated by manually controlled or automated instrumentation which measures medical parameters whether located in a doctors office, in a hospital setting, in the patient's home, or worn by the patient. Common access and point-to-point data transmission is via the global grid, or over public access common data networks supporting TCP / IP, most often referred to as the Internet. The same approach can be using insider an organization over an internal network or Intranet.

The invention discloses a visual detection method of multi-movement target positions in a large view field, which comprises the steps of design of a color mark plate, splicing of a double-camera view field, searching and positioning of a mobile target, conversion of an image coordinate system and a world coordinate system, and the like. The color mark plate is used for identifying the mobile target and determining target position data and designed to include an excircle-type color mark blocks with different colors and equal radius; the view field splicing method comprises the steps of shooting by using two cameras and splicing two scene images overlapped with each other in real time to acquire the large view field; the searching and the positioning of the mobile target comprises the steps of searching the mobile target based on a combined strategy of global grid searching and flight path searching and positioning the mobile target by means of seed point area growth; and finally the position and the posture of the mobile target in the world coordinate system are acquired by using a conversion model based on the image coordinate system and the world coordinate system which are relatively measured. The invention has the advantages of simple method, small calculated quantity, higher positioning accuracy and low application cost.

The invention discloses a mobile robot path planning method in a dynamic environment. The mobile robot path planning method specifically comprises: establishing a global grid map; screening out dynamic obstacles from the detected obstacles according to the characteristics and position change conditions of the obstacles; analyzing the motion trend of the dynamic obstacles, and determining a corresponding influence area in a set time period; for each grid in the influence region, calculating the probability of being occupied by each dynamic obstacle in the set time period, and taking the maximumprobability as the probability of being occupied by the grid; generating candidate paths from the initial position to the target position according to a given rule, and evaluating each candidate pathaccording to whether the candidate path passes through the static obstacle, the length and the probability of the dynamic grid; and taking the candidate path with the optimal evaluation result as a final planned path. According to the method, when a mobile robot moves along the finally planned path, the probability that the mobile robot collides with the dynamic obstacles is greatly reduced, andthe moving safety and reliability of the mobile robot are improved.

The invention discloses a multi-body separation grid overlapping method and system suitable for parallel processing. The method comprises the steps of refining surface elements of surfaces of grid blocks; marking edge units of the grid blocks; storing the edge units in a classified manner; according to the stored edge units, judging whether the grid blocks of different objects have an overlappingposition relationship or not; and performing holing and hole boundary backtracing for the grid blocks, with the overlapping position relationship, of the different objects, and performing contributionunit search for an overlapping boundary, thereby realizing multi-body separation grid overlapping of the parallel processing. The surfaces of the grid blocks are subjected to geometric approximationby utilizing Cartesian bounding boxes, and through position identification of the Cartesian bounding boxes of the surfaces of the grid blocks of the different objects, whether the grid blocks are overlapping or not is quickly judged. In parallel calculation, only the grid blocks with the overlapping position relationship are subjected to overlapping operation, so that frequent call of a global grid is avoided and the difficult problems of high memory demand and low calculation efficiency of a large overlapping grid are solved.

The invention discloses a map fusion method based on ORB features for multiple mobile robots. The method includes the following steps of constructing a network of the robots; utilizing environmental point cloud information obtained by the robots in real time to construct regional grid maps; separately extracting ORB features of the grid maps, conducting feature point matching, and conducting purification on matched feature points; utilizing purified two-dimensional feature point pairs to calculate deviated affine transformation to obtain an optimal affine transformation matrix; conducting calculation of optimal transformation on feature points where the optimal affine transformation matrix is input to obtain a homographic matrix, obtaining an optimal matching point through solution of thehomographic matrix, and setting a fusion proportion to obtain a global grid map. ORB features of fused maps are extracted, and the problem that the fusion efficiency is not high is solved; during fusion, optimal affine transformation parameters of optimal matching point sets of the two maps are calculated, and the problem that the fusion precision can be reduced since overlapped regions are reduced is solved.

The invention provides a mobile robot path planning method based on distance judgment and angle deflection. The method comprises the following steps: step 1, a global grid map constructed by using anSLAM mapping algorithm is taken as priori information, global path planning is performed to obtain a pre-planned path, and if the environment of the static environment is not changed, a mobile robot moves according to the pre-planned path; and step 2, when the environment is changed, i.e., an obstacle appears on the pre-planned path, the mobile robot acquires distance information and obstacle angle range information according to information scanned by laser radar, and is guided to deflect and move, so that the purpose of returning to the global pre-planned path is achieved, and the navigationof the robot in a dynamic environment is further realized. According to the method, obstacle distance information and angle range information are obtained through an existing sensor of the robot, triangle solving is conducted to calculate an obstacle avoidance track, the calculated amount of the robot is reduced, the real-time performance of robot movement is enhanced, and the moving efficiency ofthe robot is improved.

The invention discloses a grid-based spatial multi-scale fast clustering method. The method includes the following steps that: S1, a data scale is selected, the size of grids is determined, gridding is performed on sample data, and the density values of the grids is put into statistics; S2, an initial density threshold is specified, all grids satisfying the threshold condition are reserved, and apreliminary density matrix is obtained; S3, a filter template is specified according to an observation scale, and convolution operation is performed on a global grid space; S4, a connected region is generated through neighborhood search so as to be adopted as a preliminary clustering result, integration operation is performed on the grids, the grid space is mapped onto an original point set, and an original point set clustering result is obtained; S5, the observation scale is adjusted, a transformed new filter is adopted to perform operation in the S3 and S4 on a result matrix again, a clustering result of the next observation scale is obtained; and S6, the data scale is changed, the S1 to S5 are repeated, clustering results under different data scales are obtained. The algorithm of the invention has the advantages of low complexity, high clustering efficiency and high precision, and can meet the requirements of real-time multi-scale clustering and visual analysis of massive point sets.

A system and method of establishing and simplifying peer-to-peer networking connections among a plurality of computers and devices, whereby network connections may be established whether firewalls, network address translators, or any combination thereof, are present or not. The method includes: each peer dynamically generating globally unique identifiers and sending, receiving and adding to lists of known mesh configurations sent to and received from other peers or loaded from a storage device; and asynchronously attempting a specified sequence of methods to establish connectivity to the closest peer, including a sequence of methods of traversing any network address translators or firewalls that may be present.

The invention discloses a multi-robot SLAM (Simultaneous Localization And Mapping) algorithm based on sub-map feature matching. The multi-robot SLAM algorithm comprises the steps of: the step 1, acquiring environment information by adopting a plurality of robots, and creating a sub-map sequence according to the environment information; the step 2, matching sub-maps created by a single robot, and constructing the front end of a single robot SLAM algorithm; the step 3, matching the sub-map sequences created by different robots based on a grid map fusion algorithm of the maximum public subgraph,and storing all the matching results; the step 4, calculating the relative poses among the robots according to the results in the step 3; the step 5, constructing multi-robot closed-loop constraints according to the calculation results in the step 3 and the step 4; the step 6, constructing the front end of the multi-robot SLAM algorithm according to the results in the step 2 and the step 5; the step 7, performing optimization of the rear end of the multi-robot SLAM; and the step 8, creating a global grid map. The multi-robot SLAM algorithm based on sub-map feature matching can solve the problem of modeling a large-scale environment or an environment with high requirement on working efficiency.

The invention discloses a tile type large file organization storage method of three-dimensional model data. The method comprises the following steps: tiling the three-dimensional model data according to a global grid subdivision method; carrying out tightening and reconstruction on the original discrete tile data according to a calculation rule so as to form data block large files; arranging the divided data block large files from low to high according to resolution so as to form a tile pyramid ; defining disc organization structures and internal memory organization structures of the data block large files; decreasing the hierarchical division of the tile pyramid, and merging every two adjacent layers of data block large files of the tile pyramid into one layer according to a proportion of 1: 4; reconstructing the merged data block large files; re-mapping the vision field range of the hierarchy of the tile pyramid and storing the vision field range as a new data layer file; and when dividing one layer at each time, dynamically writing a file by utilizing an internal memory mapping technology, so as to write the tile pyramid into a disc layer by layer and then form large files of three-dimensional model data in which organizations are effectively stored in a tile manner.

The invention provides a forecasting method and a device of ionospheric delay of satellite navigation. The method comprises the following steps of: obtaining VTEC (Vertical Total Electron Content) original observation data of ionospheres of global grid points; according to the VTEC original observation data, calculating ionospheric delay of each grid point relative to a navigation signal; and utilizing the calculated ionospheric delay in a former moment to forecast vertical ionospheric delay in a later moment. According to the method, forecast for the ionospheric delay is effectively realized, and a better forecasting effect is obtained. The calculation process is simple and is easily realized, and the method provides a new idea for forecasting the ionospheric delay.

The invention discloses a method for progressively transmitting partial splitting blocks under remote sensing data limited bandwidth, which comprises the following steps: splitting and coding an image to be transmitted by adopting the global grid splitting and coding technology; down-sampling data to be transmitted by a transmitting end according to required pixel resolution during data transmission, encapsulating an image base data packet through taking splitting patches as a transmission unit and determining the priority of the splitting patches at different spatial positions in a data be transmitted area to decide the transmission sequence of the splitting patches; taking splitting patch data variation and navigation path forecast information as attributes in the determination of the priority, wherein the navigation path forecast information indicates moving targets in the splitting patches and the offset of a navigation forecast path, and the priority progressively decreases along with the reduction of the splitting patch data variation and the increase of the position deviation.

The invention provides an I / O parallel acceleration method and device for an ROMS mode in a regional coupling forecasting system and a computer readable storage medium, and relates to the technical field of the regional coupling forecasting system. The I / O parallel acceleration method comprises the steps: dividing the number of global grids in the x direction and the y direction and the number ofprocesses in the x direction and the y direction; constructing a one-to-one mapping relation between input and output data of each computing process and the integral input and output file, and constructing a mapping relation between the computing processes and I / O process data transmission; reading the file data in parallel by the I / O process and distributing the data to each computing process; and calculating a result by the ROMS, collecting data from each calculation process by the I / O process and storing the data in parallel. In the I / O parallel acceleration method, parallel I / O input and output are designed in the ROMS marine computing mode, and an ROMS bottom layer I / O framework is optimized, and the I / O performance of the ROMS in the marine mode is improved.

The invention relates to a cyclone center identification and radius evaluation method based on sea level air pressure data. A program language is used to read MSLP (Mean sea level pressure) data, theMSLP data of the global grids is projected to equivalent-area polar orthographic projection in the projection resolution of 100km*100km, a Laplacian value of each grid is calculated, and all the gridsare iterated cyclically to search for the cyclone center. Adjacent cyclone centers are merged, each cyclone center is calculated in eight direction gradients, and the effective radius of the cycloneis estimated. An image display window is established, and the MSLP data, identified cyclone center and radius can be visualized. The problem of cyclone data lack is solved, the accuracy and scientificlevel are higher, a user can adjust parameters of the algorithm according to requirements, and thus, an algorithm is more flexible to use, and an extraction result is more targeted.

The invention discloses a user-defined range spatial data area statistical method based on a grid spatial index, which comprises the following steps: a server establishes a global grid subdivision model based on a Cartesian coordinate system dichotomy rule, performs iterative dichotomy on spatial data, encodes the spatial data, and establishes a spatial grid index; the mobile terminal draws a user-defined range on a map, coordinates of the user-defined range and the spatial data layer ID are synchronously uploaded to the server terminal, and the server terminal calculates according to the spatial grid indexes to obtain a spatial index grid set of spatial index hierarchies corresponding to the user-defined spatial range; and the server calculates the spatial data area of the user-defined range according to the spatial index grid set and the spatial data layer ID, and returns a calculation result to the mobile terminal for display. The method has the advantages that the calculation efficiency is improved, the calculation precision is high, and few resources are occupied.

The invention belongs to the technical field of satellite navigation positioning system data processing and meteorology crossing and discloses a real-time high-precision global multi-dimensional troposphere zenith delay grid model construction method. A sliding window algorithm is introduced to divide the whole world into 5-degree * 4-degree regular windows, ERA5 data are utilized to construct a ZTD vertical section model considering fine seasonal changes of ZTD elevation scaling factors in all the windows of the whole world, and then a 5-degree * 4-degree global ZTD vertical section grid model is constructed. According to the method, multi-dimensional ZTD model parameters at the average elevation of all windows in the world serve as parameters of geometric centers of the windows and are stored in the form of grid points, a new global grid is built according to a sliding window algorithm, and a real-time high-precision global multi-dimensional ZTD grid model suitable for any height isbuilt. According to the real-time high-precision global multi-dimensional ZTD grid model established by the invention, the calculation efficiency of the model is well improved, and the practicabilityof the model is enhanced.

The invention discloses a repositioning method and system based on a mobile robot. The method comprises the following steps: obtaining a first laser point data set obtained by scanning an object in anenvironment by a mobile robot, and determining the position of a first laser point in the first laser point data set in a global coordinate system; when the pose of the mobile robot in the global coordinate system changes, scanning the object in the environment again to obtain a second laser point data set, and determining the position of a second laser point in the global coordinate system according to the repositioning pose point; and calculating the matching degree of the position of the second laser point in the global coordinate system and the position of the first laser point in the global coordinate system, and determining the repositioning pose point corresponding to the maximum matching degree as the pose of the mobile robot after repositioning in a global grid map. By adopting the method and the system provided by the invention, the laser point data is matched with the constructed global grid map, so that the repositioning accuracy and speed of the mobile robot can be improved, and subsequent navigation and positioning tasks are facilitated.

The invention discloses a framing method of a passable area, an area calculation method, a chip and a robot. The framing method comprises the steps: controlling a mobile robot to traverse a global working area according to a preset path, and constructing a global grid map according to information recorded in a traversal process; and after the traversal of the global working area is completed, controlling the mobile robot to walk along the edge from a preset edge starting point in the global working area, and framing and establishing a passable area of an edge walking path of the mobile robot in each global coordinate axis direction of the global grid map. According to the technical scheme, only the position area traversed by the robot in the walking process along the edge is utilized; thepassable area in each global coordinate axis direction can be constructed and framed, the acquired obstacle environment information amount is relatively small, the computing power and the storage space are saved, the computing burden of navigation and positioning of the mobile robot is reduced, and the navigation and mapping speed of the robot is increased.

The invention provides a Kriging proxy model algorithm for global ionized layer electron content. According to the algorithm, long-term stable ionospheric electron content data are obtained by combining a current ionospheric space physical research result with observation of a global satellite navigation system; the Kriging agent model is used for carrying out model construction and ionospheric prediction, the ionospheric prediction precision is improved, meanwhile, a parallel computing method is adopted for carrying out computing according to the characteristic that the global grid data sizeis large, and through the method, many defects of a global ionospheric electron content modeling and prediction method in the prior art are overcome.

The invention discloses an automatic detection method for water quality parameters of a large-area river crab aquaculture pond. According to the method, a river crab culture pond automatic navigationship carries a water level, water quality and water temperature sensor to acquire parameters such as dissolved oxygen, pH value and water temperature of each grid bottom layer and middle layer of thewhole pond and the pond water level; in combination with sampling time and GPS / Beidou navigation system information of an automatic navigation ship, a water level, water quality and water temperatureparameter database of each grid in the whole domain of the river crab culture pond at a limited time point is established; water level, water quality and water temperature sensors are arranged at specific points on the bottom layer of the pond, and a river crab culture pond specific point water level, water quality and water temperature parameter long-term historical database is established in combination with longitude and latitude information of the specific points. The current river crab culture pond global water level, water quality and water temperature parameters are established througha neural network fitting method in combination with a river crab culture pond global water level, water quality and water temperature parameter database at a limited time point according to the parameter data of each current specific detection point to form a pond global grid water quality, water level and water temperature dynamic information distribution diagram.

The invention discloses an extraterrestrial unknown environment beyond visual range global path planning method. The method is characterized in that the beyond visual range path planning is carried out based on a regional global grid map and a passing cost weight, a passing cost function is introduced to search on the global grid map to obtain an optimal path, and finally, the path points of a visible region are output. A good effect is achieved in the large-range global path planning, and an extraterrestrial mobile detector / robot can be supported to realize efficient mobile detection. The invention further discloses an extraterrestrial unknown environment beyond-visual-range global path planning system, and the extraterrestrial unknown environment beyond-visual-range global path planning method is achieved through the cooperation of a front-end module and a rear-end module.

The invention provides a parallelization method for a DENCLUE algorithm. The method can be used for the environment where large-scale data clustering analysis is performed. Compared with a traditionalcentralized execution method, the improved parallelization clustering method for the DENCLUE algorithm realizes a higher data processing speed. The method mainly includes the following steps that 1,original data is divided; 2, grid association mappings in data space are established in parallel; 3, a global grid association mapping is generated; 4, mining and clustering are performed in parallel.Through the parallelization method for the DENCLUE algorithm, the data dividing speed and final clustering speed are effectively increased, and the speed of executing the algorithm is increased.

The invention provides a planar target rasterization method based on a multi-level global grid. The method comprises the following steps: performing multi-level grid division and coding on a global geographic space to construct a global grid model; calculating a multi-level planar target rasterized grid according to global grid model information; and aggregating the multi-level rasterized grids by adopting an aggregation mode, and selecting the aggregated rasterized grids as planar target rasterization results. According to the method, the multi-level grid model is established in the global geographic space, and the planar target at any global geographic position can be rasterized based on the same model, so that the consistency of the rasterization results is ensured; meanwhile, the aggregation mode is adopted, planar target rasterization results of multiple levels are aggregated, an aggregated grid set is selected, and the data size after planar target rasterization is greatly reduced; the minimum size of the grid reaches the second level, and the precision is high; and multi-level planar target rasterization is supported, rasterization results are aggregated, and the rasterization data volume is small.

A method for determining an energy-efficient path of an autonomous device wherein said autonomous device moves over a global grid of cells into which a given operating area has been split, the method being characterized in that determination of said energy-efficient path comprises the steps of: processing of the current cell (201); taking a measurement σ of the processing (202); classifying the measurement σ to be of a particular level Σ (203), taking into account a predefined division, of the measurements results range, into a plurality of measurements levels; storing said classified measurement in a memory of the autonomous device (204) and associating it with the current cell; selecting a reference probability grid (205); updating (207) the probabilities by applying the reference grid (100) to the global grid at its current position such that every cell on the reference grid (100) corresponds unambiguously to one cell on the global grid;and moving the autonomous device to a next cell of the global grid (208) and setting said next cell as the current cell (201) in order to process the next cell.

Modeling, constructing, and designing conformal cellular structures with spatially variable and graded microstructures that have full geometric continuity is disclosed, which includes defining a global structural domain, where the microstructures are generated for a global mesh, defining a unit structure as a base cell using a level set function, which allows for beams, trusses, shells, and solids, transforming and mapping the base cell into each element of the global mesh using an isoparametric transformation, which creates a conformal cellular structure in accordance with a set of requirements on distribution of material and / or mechanical properties, and applying a global cutting function to guarantee geometric continuity in connections on the common face of any two neighboring cells ofthe structure. As a result, more complex geometric shapes and features can be generated at the cell level, while maintaining the specified geometric connectivity across the cells of the structure.

A seismic imaging method for imaging a subsurface structure is provided. The seismic imaging method calculates a coefficient matrix of a wave equation according to a contour of the sea bottom within a global grid. This method can be used to accurately estimate signals reflected on or transmitted through the sea bottom because it accurately reflects more detailed contours of the sea bottom within the global grid. Moreover, computational overburden is minimized.