72 results about "Line fitting" patented technology

The invention relates to the technical field of power transmission lines of power systems, in particular to an adjustable anti-twist tension yoke plate. Through the unique design of the adjusting rod group, the extension and retraction amounts of the two tension-resistant hanging heads in the right-angle direction of the right-angle connecting rod can be synchronously adjusted, so that the relative angle between the two tension-resistant hanging heads can be continuously and accurately changed. Therefore, the yoke plate can flexibly adapt to complex actual working conditions such as different line steering angles and elevation differences, the universality of the yoke plate is greatly improved, and the application range of the yoke plate is greatly widened. Elastic constraint is applied to rotation of the triangular yoke plate through a constraint piece such as a hook spring or a spring abutting rod which is arranged between the tension-resistant hanging head and the triangular yoke plate. According to the design, the line can be allowed to slightly deflect in a reasonable range to release stress, excessive torsion or continuous single-side torsion caused by wind power and the like can be effectively inhibited, the problems such as wire torsional pendulum and uneven yoke plate stress caused by excessive torsion or continuous single-side torsion are fundamentally avoided, and the service life of the line hardware fitting and the wire is prolonged.

The invention discloses a ship water gauge scale line fitting algorithm, and relates to the technical field of ship water gauge scale calculation, and the method comprises the steps: obtaining a ship water gauge region image through an image collection device to extract a measurement point coordinate, and building a mapping relation between a pixel position and a physical draft; a weighted least square method is adopted to perform nonlinear curve fitting, a weight coefficient is calculated based on a local neighborhood standard deviation, a polynomial order p is dynamically adjusted according to an adjusted decision coefficient, and the decision coefficient is iteratively optimized to improve the balance between amplitude and model complexity. And the system repeatedly corrects model parameters through a dynamic verification mechanism of the residual sum of squares and a preset threshold value, and finally an accurate water gauge scale fitting curve is generated. The method effectively solves the problems that traditional manual observation is prone to environmental interference and large in measurement error, high robustness is kept in a complex water area environment, and reliable data support can be provided for the fields of ship load evaluation, channel safety management and the like.

The invention discloses a lane center line confirmation method for avoiding mistaken direction turning at an intersection in an intelligent navigation mode. According to the confirmation method, firstly, effectiveness and smoothness judgment is carried out on left and right side lane lines respectively, and a quantitative basis is provided for decision making; and then, based on a judgment result, according to a preset decision logic comprising four modes of double-side fitting, left-side single-side fitting, right-side single-side fitting and non-following line control, adaptively selecting a center line fitting mode. According to the technical scheme, the system can effectively screen and utilize reliable lane line information in a complex intersection environment, or give up line following in time when the lane line information is not suitable, so that the problem that a vehicle mistakenly turns the direction due to the fact that sensing information jumps or is wrong is fundamentally solved, and the driving safety of the vehicle is improved. And the transverse control safety and the system robustness during crossing are obviously improved.

This invention relates to the field of autonomous driving technology, and discloses a lane line fitting method, apparatus, electronic device, and storage medium. The method involves acquiring a lane line dataset at the current moment; this dataset includes the position of each sampling point among multiple sampling points located on the lane line; if the slope value of any two adjacent sampling points in the lane line dataset is greater than or equal to a first preset threshold, segmentation points are determined from the lane line dataset, and then a target lane line dataset is determined. Based on the target lane line dataset at the current moment, the vehicle motion state at the current moment, the vehicle running state at historical moments, and the predicted lane line state quantity at the current moment, an extended Kalman filter is performed to obtain the target lane line state quantity at the current moment; the target lane line at the current moment is determined based on the target lane line state quantity at the current moment. This invention provides a lane line fitting method with high accuracy and reliability in the fitting results.

A processor-based compressed memory system includes a memory partitioning circuit for dividing a memory region into data regions with different priority levels. The system also includes a cache line selection circuit for selecting a first cache line from a high-priority data region and a second cache line from a low-priority data region. The system further includes a compression circuit for compressing the cache line to obtain a first compressed cache line and a second compressed cache line. The system also includes a cache line encapsulation circuit for encapsulating the compressed cache line such that the first compressed cache line is written to a first predetermined portion of the candidate compressed cache line, and the second cache line, or a portion of the second compressed cache line, is written to a second predetermined portion of the candidate compressed cache line. The first predetermined portion is larger than the second predetermined portion.

The application discloses a centrifuge linear distortion correction method based on WIA-FA wireless communication, and the PID mode is adopted to form a closed loop control by using a frequency converter speed regulation and a Hall sensor speed measurement in centrifugal equipment design. By further optimizing the algorithm, the influence of the linear distortion of the control link on the system is eliminated, the problem that the set value deviates from the actual value is solved, the simulation loop is corrected by implementing the broken line fitting mode, and the control precision and the control performance are effectively improved. When metering, analog calibration is changed into digital calibration, and operation becomes simple. The centrifuge is provided with a WIA-FA communication module, the WIA-FA communication module is used for connecting the centrifuge to a WIA-FA wireless network, working parameters and result records are transmitted through the WIA-FA wireless network, data security can be realized, and leakage of secret data is avoided.

The application is a visual SLAM image line segment extraction method based on approximate line segment merging. Firstly, the CannyLines algorithm is used to perform edge detection on the image to obtain all pixel chains. Then, the RANSAC algorithm is used to perform line fitting on each pixel chain to extract line segments in the image. Finally, approximate line segments in all line segments are judged and merged. For the new line segment after merging, if the angle difference between the new line segment and the long line segment before merging is within a reasonable range, the new line segment after merging is retained; otherwise, the new line segment after merging is not retained, and the two similar line segments before merging are reset to continue traversing the remaining line segments. The method uses the approximate line segment merging strategy to merge the broken short line segments into longer line segments, and merge the approximate line segments into one line segment, thereby reducing the short and redundant line segments, improving the feature matching accuracy in the visual SLAM process, and reducing the time consumption of feature matching.

The application discloses a kind of ship slotting V-type groove weld parameter extraction method and system, the method includes: using the statistical filtering method based on percentile to eliminate abnormal points, and based on neighborhood z coordinate range realizes positive side weld point cloud separation;Then for the geometric characteristics of two kinds of structures of blunt edge V-type weld and butt V-type weld, rectangular surface recognition algorithm and boundary detection algorithm are designed respectively, accurate separation and boundary positioning of groove point cloud are realized;Finally, the adaptive extraction of groove angle parameters is completed by fusing RANSAC straight line fitting and endpoint method.The application can be suitable for the above two kinds of structures simultaneously, can provide accurate groove geometric parameters for ship welding robot, effectively improve the automation welding level of ship and marine equipment.

Embodiments of the present disclosure provide a method for calibrating a lawnmower, including: collecting a preset number of position data of the lawnmower moving relative to a charging station; performing straight line fitting using the preset number of position data; and determining, if the preset number of position data fits a straight line, an orientation of the charging station based on a slope of the fitted straight line. Accordingly, embodiments of the present disclosure may accurately determine the orientation of the charging station and has the advantages of high calibration accuracy and low calibration cost.

The application discloses a steel structure welding method, and relates to the technical field of 3D visual welding, and comprises the following steps: step S1, scanning point cloud data of a steel structure; step S2, based on the scanned data in step S1, a random sample consensus method is used to find a plane; step S3, according to a visual coordinate, a normal line of the plane obtained in step S2 is unified; step S4, a boundary between planes is calculated according to the plane obtained in step S2; step S5, a nearest neighbor algorithm is used to search for the nearest neighbor points of each two groups of boundaries in step S4, and a common boundary is formed; step S6, straight line fitting is performed on the common boundary obtained in step S5, and end points are extracted as welds; and step S7, path planning is performed based on a distance method. The welding method provided by the application automatically solves the plate plate welding problem in a steel structure, uses a 3D visual system to identify welds, automatically plans a welding path, saves labor cost, improves welding precision stability, and shortens a welding cycle.

The application relates to the technical field of automobiles and discloses a lane line fitting method, an electronic device and an automobile. The lane line fitting method comprises the following steps: acquiring image data; according to the order of point sets, calculating the average change rate of the slope and / or the approximate average curvature of every three adjacent points in the image data; according to the average change rate of the slope and / or the approximate average curvature, dividing the image data into a plurality of point sets to determine a plurality of line segments; performing polynomial fitting on the plurality of line segments to obtain a lane line corresponding to each line segment; after obtaining the lane line corresponding to each line segment, connecting every two adjacent line segments based on a Bezier curve to determine a lane line corresponding to the image data. According to the application, the point sets are divided into a plurality of line segments, the segments are polynomially fitted, and then the adjacent two line segments are connected based on the Bezier curve, so that the accuracy of lane line fitting can be improved, the smoothness of the lane curve can be ensured, and the display effect of the lane line can be improved.

The application provides a start-stop machine monitoring method and system based on multi-modal data fusion. A gray weighted straight line fitting method is used to obtain a first image start-stop machine result, and a video classification model is used for processing to obtain a second image start-stop machine result. An audio classification model is used to process audio information to obtain an audio start-stop machine result. A pulse signal is used to obtain speed information, and the speed information is used to obtain a speed start-stop machine result. The multiple start-stop machine results are fused according to weights to obtain a target device start-stop machine result. In the scheme, the start-stop machine result of the device is determined by using multi-modal data fusion, the defect that the accuracy of a single algorithm is not high is reduced, the monitoring is more timely and accurate, and predictive maintenance is facilitated.

The embodiment of the invention provides a degree detection method and system based on pressure gauge occlusion, and the method comprises the steps: carrying out the occlusion processing of an original image of a pressure gauge, and obtaining a processed image; performing dial scale and pointer segmentation on the processed image to obtain a first segmentation result; performing fusion processing of a plurality of dial regions on the first segmentation result to obtain a fused dial region; performing circle center fitting on the fused dial plate area to obtain a circle center position of the pressure gauge; performing pointer straight line fitting on the first segmentation result to obtain a pointer direction; and determining the scale number of the pressure gauge based on the pointer direction and the circle center position. According to the method, even if the pressure gauge is shielded and reflected, the scale number of the pressure gauge can still be identified with relatively high precision.

The application relates to the technical field of coplanarity detection, in particular to a nut post coplanarity detection method and a detection system, which comprises the following steps: analyzing the discrete characteristics of three-dimensional coordinate data and angle data of the same bit sequence on all circle threads to obtain discrete characteristic values of each bit sequence; obtaining the collinear deviation of each bit sequence based on the deviation generated by straight line fitting of the three-dimensional coordinate data of the same bit sequence on all circle threads; analyzing the deviation between the fitting straight line and the fitting curved surface corresponding to two adjacent bit sequences based on the difference and distribution between the collinear deviations of each adjacent bit sequence to obtain the trajectory continuity between each adjacent bit sequence; analyzing the distance change characteristics and rotation change characteristics between the three-dimensional coordinate data of the thread points of all adjacent bit sequences on all circle threads to obtain the thread coplanar stability of the nut post, and obtaining the coplanarity detection result of the nut post. The application aims to improve the accuracy of the coplanarity detection result of the nut post.

The invention discloses a table automatic identification and structured conversion method and device, and the method comprises the steps: extracting elements and element position information in a document page, and the elements comprise texts, lines and images; determining a table candidate area in the document page according to the text density, the line distribution and the image edge intensity of the document page; performing isolation processing on the images according to the overlapping degree of each image and the table candidate region and the image type; generating a table frame based on line fitting in the table candidate region, and performing merging cell detection based on the table frame to determine a logic relationship between cells; according to the logic relation of the cells, the positions of the texts and the positions of the images which are not isolated, the texts and the images are filled into the corresponding cells to generate structured table data, high-precision recognition and logic restoration of a complex table structure are achieved, interference elements can be intelligently distinguished and isolated, and the recognition efficiency is improved. And outputting structured table data with complete semantics and high quality.

The invention discloses a lane line fitting method. The method comprises the following steps: screening an original lane line point set to determine a first lane line point set; performing lane line fitting processing according to the first lane line point set to determine an initial fitting lane line; and performing compensation processing on the initial fitting lane line, determining a target lane line point set, and performing lane line fitting according to the target lane line point set. Thus, compensation processing is performed on the initial fitting lane line obtained through screening and fitting processing, the problems of line breakage and local missing possibly existing in the initial fitting lane line are reduced to a certain extent, and the completeness and continuity of the lane line are recovered by supplementing the missing lane line, so that the accuracy of the lane line is improved. The target lane line point set has time sequence continuity and space consistency to a certain extent, so that the requirements of vehicle path planning and driving control for high-quality lane line data in automatic driving are met to a certain extent, and the effectiveness of functions of an automatic driving system is guaranteed.

This invention provides a method and system for cargo positioning in an automated storage and retrieval system (AS / RS). The method includes acquiring point cloud data of stacked goods; preprocessing the point cloud data to obtain preprocessed point cloud data; performing iterative plane fitting on the preprocessed point cloud data to obtain a fitting plane; projecting the preprocessed point cloud data onto the fitting plane to obtain a projected point cloud; extracting edges from the projected point cloud to obtain point cloud edges; performing line fitting and matrix determination based on the point cloud edges to obtain a transformation matrix; and outputting the coordinates of the target cargo based on the transformation matrix and the projected point cloud. This invention effectively improves the processing efficiency and accuracy of point cloud data by performing a series of processing steps on the original point cloud data, while effectively capturing the edge information of the cargo, thus improving the accuracy of subsequent positioning and recognition. A coordinate system is then established based on the boundaries, and the size and pose information of the target cargo are determined through affine transformation.

The present application relates to the technical field of power transmission line of power system, specifically to a kind of adjustable anti-twist strain clamp plate, through the unique adjusting rod group design, the extension and retraction amount of two strain clamp heads in the right angle connecting rod right angle direction can be adjusted synchronously, so as to continuously and accurately change the relative angle between two strain clamp heads.This makes the present application can flexibly adapt to different line turning angle, elevation difference and other complex actual working conditions, greatly improves the versatility and application range of the clamp plate, by setting the constraint element such as hook spring or spring resistance rod between the strain clamp head and the triangular clamp plate, the rotation of the triangular clamp plate is elastically constrained.This design can not only allow the line to deflect slightly within a reasonable range to release stress, but also effectively inhibit excessive twisting or continuous one-sided twisting caused by wind and other reasons, fundamentally avoid the problems such as conductor torsion, uneven force on the clamp plate, and prolong the service life of the line fittings and conductors.

This invention relates to the field of image data processing, and more particularly to an image data processing method and system for lens plastic parts. The method includes: acquiring an edge image of the surface of the lens plastic part; performing path search based on the pixels in the edge image; for each search path obtained, fitting a corresponding fitted line based on the pixels on the search path; calculating the smoothness of the corresponding search path based on the fitted line; and determining that the area corresponding to the search path is a scratch defect when the smoothness is greater than a preset threshold. This invention, by combining edge detection, path search, and line fitting, can effectively distinguish between real scratches and random uneven textures, significantly reducing the false detection and false negative rates.

The invention relates to the technical field of railway track detection, in particular to a railway track abrasion line detection system and method.The railway track abrasion line detection system comprises a feature extraction module, a straight line fitting module, a data set self-generation module, a straight line detection model construction module, an image collecting and processing module and a model prediction visualization module; the linear fitting precision is improved through the adaptive block gradient calculation and principal component analysis method, the complex scene adaptability is enhanced by adopting a double-path feature fusion architecture and a deformable attention mechanism, a data set can be automatically generated, manual annotation dependence is reduced, efficient and accurate detection under a low-contrast and partially-shielded scene is realized, and the method is suitable for large-scale popularization and application. The requirement of the rail transit industry for automatic detection is met, and technical support is provided for rail state inspection.

A tow bar estimation device estimates a tow bar included in an image shot by a camera mounted on a vehicle towing a trailer via the tow bar, extracts a point sequence indicating the tow bar on the image, performs straight line fitting of the point sequence, and estimates whether dirt attached to the camera is included in the image. When a part of the point sequence is located within an area indicating the dirt on the image, the straight line fitting on the other part of the point sequence which is the point sequence with the part of the point sequence located within the area excluded is performed.

The application provides a fixed target pose deviation monitoring method based on single-line laser radar, belongs to the technical field of pose deviation monitoring, and comprises the following steps: point cloud data acquisition and preprocessing; point cloud clustering; target cluster screening and tracking; straight line fitting; pose deviation calculation and angle deviation output; the method has good lightweight advantage, and the hardware cost is much lower than that of multi-line radar or a complex vision system; the method has high precision and strong robustness: through multi-stage screening and random point filtering, the influence of environmental interference and noise points is effectively excluded, the processing time of each frame of data can be set to be in millisecond level, the demand of most real-time monitoring scenes can be met, the work is safe and reliable, and the method is suitable for popularization and application.

The invention provides a robot teaching-free welding method and device, a storage medium and electronic equipment. The method comprises the steps that space point cloud data of a welding work space are obtained, and to-be-welded workpiece point cloud data are separated from the space point cloud data through a filtering algorithm and a segmentation algorithm; performing slicing processing on the workpiece point cloud data by adopting a directional slicing algorithm based on a principal component analysis method to obtain multi-frame slicing point clouds; discrete point segmentation processing is conducted on the point clouds of all the frames of slices through straight line fitting, a first discrete point set and a second discrete point set are obtained, the first discrete point set comprises a plurality of first points, the second discrete point set comprises a plurality of second points, the minimum distance from each first point to each second point is determined, and welding track points are determined according to the minimum distance; and the robot is controlled to conduct welding work according to the welding track points. The problems that robot welding in an existing scheme needs independent teaching, and the time consumed in the welding teaching process is long are solved.

The invention relates to a lane line fitting method and device, a vehicle, a storage medium and a product. The method comprises the following steps: acquiring a lane line image acquired by image acquisition equipment; determining the type of a lane line in the lane line image; under the condition that the type is a curve, performing Bezier curve fitting processing on the lane line to obtain a Bezier lane line equation; the Bezier lane line equation is input into a first filter, initial key point coordinates in the Bezier lane line equation are updated through the first filter, first target key point coordinates are determined, and the initial key point coordinates comprise end point coordinates and control point coordinates in the Bezier curve; and determining a target lane line fitting result according to the first target key point coordinates and a Bezier curve equation. According to the invention, the fitting effect of the complex curve in the lane line can be improved, and the calculated amount of the overall lane line fitting is small.

This invention belongs to the field of robot control technology, and discloses a method, system, intelligent mobile instrument, and storage medium for detecting the main direction of a robot. The method involves preprocessing imported initial point cloud data to obtain candidate point cloud data; each time a straight line is fitted to the candidate point cloud data to obtain the current fitted line, its validity is checked, and the current fitted line that is valid is recorded as the valid fitted line; after obtaining at least one valid fitted line, the old line ranking table obtained from the previous line fitting is dynamically updated based on the number of target point clouds in the current valid fitted line, until a preset fitting condition is met to obtain the latest line ranking table; the valid fitted line with the most target point clouds in the latest line ranking table is fitted again to obtain the best fitted line, and the robot is controlled based on the best fitted line to perform robot main direction detection, achieving efficient and accurate main direction angle calculation or usage scenario detection.

The present application relates to a sigmoid activation function circuit based on linear broken line fitting, comprising: a data processing module, a compensation module, a first addition module and a second addition module; the data processing module, the first addition module and the second addition module are connected in sequence, and the compensation module is connected with the first addition module; the data processing module inputs and processes input data and outputs to the first addition module; the compensation module inputs and processes input data and outputs corresponding offset to the first addition module; the first addition module accumulates the data output by the data processing module and the offset, and outputs the accumulated data; the second addition module processes the accumulated data to obtain an output value. The present application simplifies the circuit module and introduces the rounding calculation based on the broken line fitting method, effectively reduces the operation power consumption and propagation delay under the condition of ensuring the accuracy, and at the same time realizes smaller hardware resource consumption.

To properly estimate an angle of a traction bar included in an image captured by a camera on the basis of a line fitting result even if the camera is stained.SOLUTION: A traction bar estimation device 14 includes a traction bar estimation unit 3B that estimates a traction bar included in an image captured by a camera 11 mounted on a vehicle 1 towing a trailer via the traction bar, an extraction unit 3C that extracts a sequence of points on an image indicating the traction bar, a line fitting unit 3D that performs line fitting on the sequence of points, and a stain estimation unit 3E that estimates whether or not a stain on the camera 11 is included in the image. In a case where a portion of the sequence of points is positioned in an image region indicating the stain, the line fitting unit 3D performs the line fitting on the remaining portion of the sequence of points obtained by excluding the portion of the sequence positioned in the region from the sequence extracted by the extraction unit 3C.SELECTED DRAWING: Figure 1