16 results about "Linear object" patented technology

The invention discloses a nonlinear PID control method based on intelligent element driving and a fault-tolerant control system thereof, and belongs to the technical field of intelligent control. According to the method, three behavior mapping mechanisms of punishment, memory and prediction are introduced, a traditional PID controller structure is expanded, a compound error signal is constructed, and a dual-channel control strategy of instinct response and learning response is designed. The controller provided by the invention has adaptive gain adjustment capability, a dynamic adjustment law is constructed in combination with a Lyapunov stability theory, and robust control without model information is realized. Meanwhile, a fault-tolerant mechanism is provided for correcting control signal input by considering the situation of performance degradation of an actual actuator, so that the stability and tracking precision of a control system under non-ideal conditions are improved. The control method is suitable for complex nonlinear object control scenes such as underwater robots, mobile robots and parallel Delta robots.

The utility model relates to the technical field of wire coils, in particular to a wire winding and unwinding device which comprises a mandrel and two discs, one end of each disc is fixedly connected with a clamping ring, and two ends of the mandrel are respectively clamped on the clamping rings of the two discs. A rotating hole is formed in the center of the disc, and handle grooves are formed in the left side and the right side, close to the rotating hole, of the disc. The utility model has the advantages that by arranging the handle groove, when the device needs to be carried, a single hand can be inserted into the handle groove to pick up the device for carrying, and the fillets in the handle groove can prevent fingers from being scratched, so that the aim of protecting the fingers is fulfilled; through the arrangement of the wire hanging plate, the inclined wire hanging plate and the wire hole can more conveniently penetrate through a thread, and the purpose of conveniently fixing the end part of the thread is achieved; and by arranging the positioning columns and the positioning holes, quick positioning is facilitated when the device is stacked.

The present application belongs to the field of visual tracking technology, and discloses a kind of processing existing partial occlusion flexible linear object visual tracking method, based on RGB-D camera obtains color image and depth image data, from first frame image, by mask segmentation, skeletonization processing operation generates initial state point, in each subsequent frame, object point cloud is generated by mask in conjunction with depth image;Then, the density of its surrounding current point cloud is counted, and the state point is marked as "visible" or "occlusion";By establishing the analytical model based on the spatiotemporal continuity of flexible linear object, the closed form solution of the occlusion position is derived, and the iterative optimization process of the occlusion position is eliminated, thereby reducing the computational complexity and achieving efficient real-time tracking;Meanwhile, using the inherent spatiotemporal geometric evolution law of flexible linear object, a position estimation model that can be directly analytically solved is constructed, avoiding the stability risk brought by iterative optimization, and significantly improving the reliability and tracking stability of the occlusion position estimation.

This linear object detection device comprises: a straight line detection unit that detects, with respect to a three-dimensional point cloud representing three-dimensional coordinates at points on the surface of a structure, straight lines on the basis of the three-dimensional coordinates, divides the three-dimensional point cloud related to one of the detected straight lines according to the distance between three-dimensional points related to the one detected straight line, and detects straight lines again on the basis of the three-dimensional coordinates for each divided three-dimensional point cloud; and a classification unit that groups the straight lines on the basis of the orientations of the plurality of straight lines detected and angles between the straight lines and the ground, and classifies straight lines among the straight lines included in the same group as straight lines corresponding to the same structure if angles between the straight lines and line segments connecting the straight lines are within a threshold value.

The invention belongs to the technical field of visual tracking, and discloses a visual tracking method for processing a partially-shielded flexible linear object, which comprises the following steps of: acquiring color image and depth image data based on an RGB-D camera, generating an initial state point from a first frame of image through mask segmentation and skeletonization processing operation, and in each subsequent frame, generating an initial state point from a second frame of image through mask segmentation and skeletonization processing operation; generating an object point cloud by combining the mask with the depth image; then, counting the density of current point clouds around the state point, and marking the state point as visible or shielded; an analytical model based on space-time continuity of a flexible linear object is established, a closed form solution of a shielding position is deduced, and an iterative optimization process of a shielding state point position is eliminated, so that the calculation complexity is reduced, and efficient real-time tracking is realized; and meanwhile, the inherent space-time geometric evolution law of the flexible linear object is utilized to construct a position estimation model which can be directly analyzed and solved, so that the stability risk caused by iterative optimization is avoided, and the reliability and tracking stability of shielding position estimation are remarkably improved.

Disclosed is an apparatus for detecting a linear object, the apparatus including: an ultrasonic sensor including first, second, third and fourth ultrasonic sensor units, each of which is configured to transmit a signal toward an object and receive signals of direct waves and indirect waves reflected from the object; an ultrasonic signal preprocessor configured to preprocess the direct waves and indirect waves received in each of the first, second, third and fourth ultrasonic sensor units and detect a direct wave time-of-flight (TOF) and an indirect wave TOF; a linear object identifier configured to identify a linear object based on at least one of the direct wave TOF and the indirect wave TOF; and a controller configured to control braking of a vehicle based on the linear object.

The invention discloses a ConvNeXt-based deformable linear object semantic segmentation network structure and a ConvNeXt-based deformable linear object semantic segmentation method. The ConvNeXt-based deformable linear object semantic segmentation network structure comprises an input layer; the backbone network comprises five layers of convolutional neural networks of ConvNeXt architecture, each layer comprises a wavelet down-sampling module and a wavelet convolution module, and the backbone network is used for outputting a multi-scale feature map; the input end of the pixel decoder is connected with the output end of the backbone network, and the pixel decoder is used for carrying out fusion and up-sampling on the multi-scale feature map; the input end of the Transform decoder is connected with the output end of the pixel decoder, and the Transform decoder is used for generating an initial binary mask image; and the post-processing module comprises a mask optimization unit and an independent mask generation unit and is used for performing morphological skeletonization processing and intersection processing on the initial binary mask image and finally outputting an independent binary mask of each deformable linear object.

The invention discloses a dynamic etching compensation optimization method for a signal layer circuit. The method comprises the steps of obtaining final compensation parameters, determining compensation intervals, smoothing adjacent compensation intervals and the like. According to the dynamic etching compensation optimization method of the signal layer circuit, the compensation interval of the linear object is obtained in a projection mode, so that the speed and the accuracy of the compensation partition of the linear object are effectively improved, the compensation optimization efficiency and the compensation effect are greatly improved, the production cost is reduced, and meanwhile, the dynamic etching compensation optimization method of the signal layer circuit is suitable for large-scale popularization and application. By adding the transverse stepped lines in the adjacent intervals for transition, the smoothness of compensation is dynamically controlled, and the yield of products is ensured.

A system attached to an aerial vehicle, the system comprising a LiDAR scanner, a camera, and a computing unit, wherein the computing unit is adapted to: identify, from scan data generated by the LiDAR scanner, a non-zero reflection corresponding to a location of a linear object within a free space; determine, based on the non-zero reflection, a distance and angle between the aerial vehicle and the linear object; and control the camera to track and image the linear object using the distance and angle.

We provide an inventory management system that allows users to easily and visually understand the location and quantity of products in stock. [Solution] The inventory management system 10 includes a generation unit 52 for generating a three-dimensional model of a space in which multiple products are arranged, a storage unit 53 for storing product information including the inventory quantity of each product, and a display control unit 54 that displays the three-dimensional model on a display unit 23, indicates the location of a selected product among the multiple products in the three-dimensional model, displays the product information of the selected product together with the three-dimensional model on the display unit 23, displays a linear object on the display unit 23 connecting the location in the three-dimensional model and the product information of the selected product displayed on the display unit 23, and moves the three-dimensional model on the display unit 23 while the linear object connects the location in the three-dimensional model and the product information of the selected product displayed on the display unit 23 when the display unit 23 moves the three-dimensional model.

To provide a method for gripping a thin, flexible and easily deformable linear object by a robot hand even in a situation where it cannot be recognized by a stereo camera.SOLUTION: A laser is emitted from a laser displacement sensor 40 mounted on an arm 31 of a robot 30 along a measurement line crossing a linear object W, and reflected light is received by the laser displacement sensor to measure a distance to a reflection point. Acquiring a reflection-point profile including information on a distance from the laser displacement sensor to the reflection point and a position and a direction of the laser displacement sensor, calculating a corrected reflection-point profile by converting the reflection-point profile into a coordinate system that does not change depending on a posture of the arm, determining a holding position of the line member based on the corrected reflection-point profile, and holding the holding position with the hand 32 attached to the tip of the arm or another hand.SELECTED DRAWING: Figure 1

To provide a more inexpensive device for automatically inserting or connecting the tip of a linear object to a target.SOLUTION: A linear object moving device 10 is a device for inserting or connecting a distal end 52 of a linear object 50 into or to a target 60, and includes a triaxial Cartesian coordinate robot 20, a rotational triaxial wrist unit 30 attached to the Cartesian coordinate robot and including a gripping part 34 capable of gripping the linear object, and a three dimensional sensor 40 disposed so as to be capable of measuring a position and a posture of the distal end of the linear object gripped by the wrist unit.SELECTED DRAWING: Figure 1

The application provides a training method and device of an image segmentation model, a storage medium and an electronic device. The method comprises: labeling each pixel in a sample image according to a pixel type to obtain a sample labeled image; performing background segmentation on the sample image through a first branch network in a neural network to obtain a first segmentation result, wherein the neural network comprises an image segmentation model, and the first branch network is an intermediate model obtained by training the image segmentation model using a first dilated image; and training the image segmentation model using the first segmentation result and a second dilated image to obtain a target image segmentation model, wherein the target image segmentation model has a segmentation accuracy rate for a target object class and a background class in the sample image that is greater than a preset threshold. The above technical solution solves the problem of slow convergence speed of an image segmentation model for linear objects in the training process in related technologies.

The application relates to a linear target recognition method, device, vehicle and equipment. The method comprises the following steps: acquiring a perception image, wherein the perception image comprises a linear target to be recognized; performing discrete sampling on the perception image to obtain a sampling image comprising discrete sampling results; identifying a feature region of the sampling image through a convolutional neural network to obtain position information of a sampling point corresponding to the linear target; and determining a recognition result of the linear target according to the position information of the sampling point corresponding to the linear target. The application can solve the problem that the number of linear target outputs is limited by performing discrete sampling on the perception image. The linear target recognition method has small calculation amount and wide applicability, and can be conveniently extended to detection of other linear objects.

The invention relates to a method for detecting linear objects in a railway network, comprising: for each point in a point cloud, calculation (22) of at least one corresponding geometric descriptor; assignment (24) of each point to a class, based on the corresponding geometric descriptors; detection (28) of planes defined by all or part of the points of a class of interest; consolidation (30) of the class of interest, including the exclusion of each point not belonging to a detected plane; agglomeration (32) of the points of the consolidated class of interest into disjoint sets of points, each representative of a respective linear object; determination (34) of the height of each linear object from the coordinate sets of the respective points; and association (38), to a predetermined target category, of each linear object whose height belongs to a corresponding predetermined height interval. Figure 1