1472 results about "Initial point" patented technology

A method and system or determining a flight path for an aircraft between an initial point and a destination point are described. An airspace is divide into a set of grid cells, and a flight path is established between the initial point and the destination point. A cumulative threat risk value for each of the grid cells is calculated, and an allowable threat risk per grid cell is established based on a rule set. An intermediate point from which to deviate the flight path is identified based upon an analysis of the cumulative threat risk values of the grid cells, if the threat risk value of any of the grid cells intersecting the flight path exceeds the allowable threat risk. A deviation from the intermediate point to a new intermediate point is determined such that the new intermediate point has a cumulative threat risk value lower than or equal to the allowable threat risk per grid cell. The flight path is adjusted between the initial point and the destination point to pass through the new intermediate point, thereby providing a modified flight path.

The invention discloses a full-automatic parking method and system. The full-automatic parking method comprises the steps of receiving a starting instruction sent by a user, and activating the full-automatic parking system according to the starting instruction; controlling a vehicle to move forwards automatically, searching for whether or not available parking spaces exist on the two sides of thevehicle in the advancing process, and when available parking spaces exist, recognizing basic information of the target parking space; according to the basic information of the recognized target parking space, performing parking path planning, and obtaining the parking initial point and the parking path from the parking initial point to the parking end point; controlling the vehicle to automatically move forward to the parking initial point; controlling the vehicle to be automatically parked according to the planned parking path, and parking the vehicle into the parking space. According to thefull-automatic parking method and system, the vehicle automatically runs forwards, the idle parking space is searched for and recognized, the vehicle is automatically parked into the parking space, noartificial participation is needed in the whole parking space searching and parking process, and full-automatic parking can be achieved.

The invention relates to a visual computing and prewarning method of deviation angle and distance of an automobile from a lane line. The image processing and computer vision technologies are utilized, and the deviation angle and distance of the automobile from the lane line are computed in real time according to the road surface image acquired by a vehicle-mounted camera, thereby estimating the line crossing time for safety prewarning. The method comprises the following steps: detecting the lane lines of the road surface image to obtain a linear equation of partial lane lines; establishing a three-dimensional coordinate system by using the camera as the initial point, and recording the mounting height and depression angle of the camera; calibrating the focal length according to the lane detection result under the condition of a given deflection angle; computing the deflection angle and vertical distance of the automobile relative to the lane line according to a pinhole camera model; and estimating the deviation time from the lane according to the instantaneous running speed of the automobile, thereby obtaining the safety prewarning or intelligent control information of the running automobile.

Dynamical methods for obtaining the global optimal solution of general optimization problems having closed form or black box objective functions, including the steps of first finding, in a deterministic manner, one local optimal solution starting from an initial point, and then finding another local optimal solution starting from the previously found one until all the local optimal solutions starting from any initial point are found, and then finding from said points the global optimal solution.

The invention discloses a three-dimensional speckle strain measurement method, comprising: (1) speckle preparation; (2) camera calibration; (3) state information acquisition; (4) computational domaindesignation; (5) initial point setting; (6) speckle matching; (7) three-dimensional reconstruction; and (8) strain computation. By the above operation steps, the invention provides a three-dimensionalspeckle strain measurement method, which can effectively obtain high preciseness measurement results in measurements of material characteristic parameters such as full-field vibration measurement, dynamic strain measurement, high speed deformation measurement, fracture mechanics, impact excitation and dynamic material experiments. The invention has the characteristics of convenient measurement operation, high automation degree, exact and reliable results, high efficiency and non-contact measurement.

The invention provides an unmanned aerial vehicle independent pathfinding obstacle avoiding method and system. The method comprises the following steps of collecting position information of an obstacle; performing three-dimensional environment modeling by a grid method; a model is divided into a plurality of grids; the grids comprising obstacles and grids not comprising the obstacles are subjectedto treatment of different colors; the grids are divided through a judging plane passing through an initial point and a target terminal point to obtain a two-dimensional grid model; on the basis of anA* algorithm, the global static path plan is made on the two-dimensional grid model; after the global static path planning, the local dynamic path planning is performed; through a Bezier curve, the planned path points are subjected to track tracking; the smoothening processing on the path track is completed. Through the global static path planning and the local dynamic path planning, an unmannedaerial vehicle can timely discover the obstacle position change due to dynamic change of environment; the calculation process is simple, convenient and fast; the problem that the obstacle collision easily occurs in a conventional flight route is solved.

A system is provided for regulating a travel course of a machine. The system has a steering system operationally connected to at least one ground engaging device. Additionally, the system has a path generator configured to generate a path along which the machine can travel. The system also has a path tracker configured to automatically regulate the steering system to position the machine within a predetermined vicinity of an initial point on the generated path and guide the machine along the generated path.

The invention discloses an improved RRT<*> obstacle avoidance motion planning method based on a multi-degree-of-freedom mechanical arm, and belongs to the field of mechanical arm motion planning. A six-degree-of-freedom mechanical arm model with seven connecting rods and six rotary joints is built; parameters in a to-be-searched space are determined; if the distance is shorter than the distance of a path with lowest cost, the distances between a near node in a set to an initial point and the distance between the node to a random point are temporarily determined as the minimum path; a newly generated sigma is subjected to collision detection, and the node and the path are added if the newly generated path does not collide an obstacle interval; the steps are repeated until the optimal path is found; and the generated path is added into a path planning device. Compared with the prior art, the method has the following advantages that the random search characteristic is changed in a mode of adding normal distribution, the algorithm convergence rate can be increased through the heuristic search, the RRT<*> algorithm has the evolutionary optimization path, and a large number of calculations is not needed; and after Gaussian distribution of an inspiration point near a target point is added, the convergence rate is increased, and the search time is shortened.

Based on the results of detection of characteristics of drive transistors and organic EL elements, a control circuit finds magnitudes of threshold shifts of the drive transistors and the organic EL elements. A power supply voltage control unit sets a value of a low-level power supply voltage to a value lower, by a voltage value corresponding to an average value of the magnitudes of the threshold shifts for all pixels, than a value at an initial point in time. Furthermore, the power supply voltage control unit adjusts a value of a high-level power supply voltage, depending on magnitudes of mobilities obtained by detection of characteristics of the drive transistors.

As a unit which functions to prevent variations in the respiration phases of a user, erroneous recognition due to disturbances such as vibrations of the supply unit and wind, discomfort to the user due to unnecessary supply of oxygen and wasteful supply of oxygen, there is provided a respiration-synchronizing gas supply unit characterized by comprising means for recognizing the inspiration phase initial point and the expiration phase initial point, and by carrying out automatic on-off valve control with recognition means that does not recognize the next inspiration phase initial point during the time between recognition of the inspiration phase initial point and recognition of the expiration phase initial point, and between recognition of the expiration phase initial point and elapse of a predetermined time period.

The invention provides a lane selection method for autonomous driving. The processing steps are as follows: 1, the initial point, the ending point and the driving area of a road path are determined, and each road section and each lane are divided; 2, the vehicle speed of each lane is acquired, the average vehicle speed is calculated, and a real-time information database is built; 3, the average vehicle speed is sent to a vehicle-mounted terminal, and lane-level road path planning is carried out based on the shortest time; 4, when the changed real-time average vehicle speed enables the planned driving lane to be changed, according to the average speed difference between the lanes and the distance information between the vehicle position and a front intersection, whether to change a lane for driving is considered comprehensively; and 5, if lane changing can be carried out, the newly-planned lane is tracked for driving, and if not, the originally-planned lane is used for driving. Lane selection is carried out according to the real-time vehicle flow speed and the position information between the vehicle and the intersection, the driving lane is corrected automatically in real time, and the vehicle can be autonomously driven to avoid a congested road.

The invention discloses an AGV (Automated Guided Vehicle) route planning method and system based on an ant colony algorithm and multi-intelligent agent Q learning, improving the global optimization ability, realizing a case that an AGV learns how to avoid an obstacle in the interaction process by introducing the multi-intelligent agent Q learning into a route planning research of the AGV, and canplay independence and learning capacity of the AGV better. The AGV route planning method and system is characterized in that according to a static environment, carrying out modeling on an AGV operation environment by utilizing a grid method, and setting an initial point and a target point; according to coordinates of the initial point and the target point of the AGV, generating a global optimal route by the ant colony algorithm; enabling the AGV to move towards the target point according to the global optimal route, and when detecting that a dynamic obstacle exists in a minimum distance, carrying out selection of an obstacle avoidance strategy by an environment state corresponding to the multi-intelligent agent Q learning so as to take a corresponding obstacle avoidance action, and after ending obstacle avoidance, returning to an original route to continuously move.

The invention discloses a steady automatic matching method for high-resolution satellite image connecting points. The method comprises the following steps of: A, performing automatic enhancement by using Wallis filter technology, generating pyramid images of each layer and extracting the images by using feature extraction operators; B, forecasting an initial point position of identical points by using satellite image orientation parameters and upper pyramid matching results of characteristic points, establishing an epipolar geometric constraint equation, and performing geometric coarse correction on matched window images; C, removing error matched points in the matching result of the pyramid images of each layer by using an RFM model-based block adjustment method; and D, repeating the steps B, C and D till the primary image layer, and finally refining the matching result by using a double-sheet least square matching method. The method can greatly reduce the artificial editing workload of connecting point measurement and improve the automation degree of satellite image data processing by combining block adjustment and satellite image matching, and has remarkable economic benefit and social benefit.

The invention relates to a target reconstruction method based on a geometric constraint and belongs to the computer vision field. The method comprises the following steps of through a structure from motion (SFM) method, acquiring initial point cloud; through image characteristic point clustering, acquiring a classification result of characteristic points, wherein the classification result means aneighborhood relation of similar portions in an image; carrying out normal characteristic clustering of the initial point cloud, and using a corresponding relation between the classification result ofthe image characteristic points and an initial point cloud clustering result to define a geometric structure of the initial point cloud; using the geometric structure to acquire a sparse portion in the initial point cloud, defining the portion as a ''hole'', and then using a combined structure constraint of a ''hole'' area to carry out fitting of a space plane and a curved surface through an RANSAC method and a least square method; and sampling a fitted surface, adding an acquired three-dimensional point into the initial point cloud so as to acquire a dense point cloud model, and finally using a Poisson surface to reconstruct and acquire a three-dimensional model of a target. Through an experiment result, implementation of the method is verified and a good effect is achieved.

The invention discloses a CRISPR Cas9 system for Bacillus subtilis genome edition and an establishment method thereof, belonging to the technical field of gene engineering. A knock-out plasmid PHY300dsrf is established; and the plasmid comprises sgRNA and cas9 genes of the specific targeted target gene, a homologous restoration arm, and replication initial points and tolerance screening markers of Escherichia coli and Bacillus subtilis. The sgRNA of the specific targeted srfA-C gene can guide the cas9 protein to cut double strands at the specific site of the srfA-C gene, and can be used for accurate homologous recombination on the genome under the guide of the homologous restoration arm, thereby introducing the XhoI enzyme digestion site at the rupture. When the tank feed fermentation culture is carried out on the Bacillus subtilis of which the srfA-C gene is successfully knocked out, the foam is obviously reduced, which proves that the CRISPR/Cas9 gene editing system can effectively perform gene edition on the Bacillus subtilis genome.

The invention relates to a transformer substation inspection robot global path planning method based on magnetic navigation. The method comprises the steps of: modeling an environment of a transformer substation to form a topology network graph and a connecting relationship matrix; determining a searching path matrix, namely the shortest path matrix, by using a Floyd algorithm, and increasing the computing speed by iterative optimization; computing the shortest connecting path between an initial point and a target point sequence by transversing nodes and edges; converting the shortest connecting path into a travel path indicated by an RFID (radio frequency identification device) sequence; and computing the rotating angle of a robot at each RFID at an intersection according to the connectivity of the path. The transformer substation inspection robot adopting the transformer substation inspection robot global path planning method provided by the invention is short in travel path, and rapid to be in place for detection, therefore, the energy of batteries is saved, and simultaneously the time for moving the robot equipment for verification after the operation of the transformer substation equipment can be effectively saved.

The invention discloses a naval vessel path planning method based on a firefly algorithm, concretely comprising the following steps of: (1), determining an initial point and a target point of a path according to task information and determining a navigation zone according to the initial point and the target point; (2), establishing a new coordinate system by adopting the initial point as the origin and adopting the connecting line of the initial point and the target point as the axis of abscissas; (3), simplifying and combining barriers in the navigation zone and generating a restricted navigation zone; (4), searching an optimal path through the firefly algorithm; (5), converting the coordinate of each path point in the optimal path into a coordinate under an O-XY system; and (6), obtaining the optimal path of a naval vessel and ending the path planning. By planning the path of the naval vessel through the adoption of a new natural heuristic algorithm, namely the firefly algorithm, as an optimization algorithm, the naval vessel path planning method based on the firefly algorithm has high executing efficiency and can plan navigation paths which meet the practical demands.

A man-machine collaboration shared control remote welding method relates to a remote welding method. The invention aims to solve the problems in the prior remote welding that the direct control operation can not be continuously carried out and particularly can not work under the situation of time delay, and an autonomous tracking weld seam can not be welded under the situations of complicated welding environment and irregular groove outline dimension of a weld seam. The remote welding method comprises the following steps: firstly, a macroscopic zooming camera acquires a two-dimensional video image, and the visual field of an operator is adjusted in a central monitoring man-machine interface; secondly, a robot guides a welding gun to reach the upper part of the weld seam; thirdly, the operator tracks the weld seam; fourthly, a workpiece is fixed on a working platform to form the welding environment at the remote end; fifthly, the robot moves towards an initial point of the weld seam; sixthly, the welding gun ensures that arc-length distance parameters of the workpiece are set by the central monitoring man-machine interface; and seventhly, the operator sets a shared control algorithm through the central monitoring man-machine interface.

Disclosed is a power line extracting and fitting method based on in-vehicle LiDAR data. The method includes the following steps: first, dividing in-vehicle LiDAR point cloud by using volume elements and determining points in all the volume elements, second, removing the volume elements without the power line point cloud according to distribution characteristics of true power lines, third, dividing the power line point cloud acquired by filtration according to power line corridors and initially clustering the power line point cloud with the AutoClust algorithm, fourth, clustering and merging the initial point cloud belonging to the same power line with a merging cluster method based on end portion fitting line segments, and fifth, recovering fractured power lines according to characteristics of the power lines to obtain point cloud capable of being used for representing a single power line finally and carrying out three-dimensional fitting based on the point cloud. The method can achieve automatic and quick extraction of a large amount of power line point cloud in the in-vehicle LiDAR data, and also can achieve accurate recognition on the single power line and accurate fitting of three-dimensional models of the power lines.

A joint estimation method for movement and parallax error in multi-view video coding of the invention has the following steps: 1. taking parallax error vector and movement vector of image corresponding block of same view and adjacent moment as the initial value of the current coding block parallax error vector; 2. comparing the initial value with the prediction vectors of coded adjacent blocks respectively, and selecting the optimal prediction vector as the search initial point according to the match error minimum rule; and 3. combining geometric relationship between the movement vector and parallax error vector of adjacent images, estimating and obtaining a candidate from a previous movement/parallax error to perform the next movement/parallax error, correcting the current movement and parallax error vector continuously until obtaining the optimal movement vector and parallax error vector of the current coding block. The method only needs one time search process to simultaneously confirm the optimal movement vector and parallax error vector. Compared with full search algorithm, the peak SNR of the invention reduces not more than 0.09dB, code rate bits are slightly saved, code rate ranges between minus 14.20% and 0.60% and coding time is saved by over 90%.