354 results about "Loopback" patented technology

The invention discloses a narrow environment high-precision laser inertial navigation and SLAM (Simultaneous Localization and Mapping) method based on adaptive parameters. According to the method, firstly, radar and IMU data are collected and preprocessed to form a unified input data stream; obtaining a pose prediction result by using the data stream, constructing an observation model, and obtaining a laser observation residual error; calculating a characteristic value proportion in the matching process of the point cloud and the sub-map, and judging a geometric degradation scene; when degradation is detected, adaptively adjusting a voxel filtering radius and a loopback detection threshold value; fusing the pose prediction result and the laser observation residual error by adopting a Kalman filtering model to obtain an optimal pose estimation result, and carrying out loopback detection and back-end map optimization under a dynamic threshold value to correct accumulated drift and update a voxel map; and finally outputting a continuous pose track and a three-dimensional voxel map. According to the method, the robustness and the positioning precision of the laser inertial navigation fusion SLAM in narrow scenes such as pipe galleries, tunnels and chemical plants are effectively improved.

The invention discloses a synchronous positioning and mapping method and system based on multi-sensor fusion, a storage medium and electronic equipment. The method comprises the following steps: acquiring IMU data, an image and point cloud data measured by a laser radar; performing pre-integration on the IMU data to obtain real-time pose estimation, and performing laser probability updating and visual probability updating based on the real-time pose estimation to obtain an updated local map; a laser point cloud matching residual error, a visual reprojection residual error, an IMU pre-integration residual error and a marginalization residual error are constructed, a residual error equation is constructed based on the laser point cloud matching residual error, the visual reprojection residual error, the IMU pre-integration residual error and the marginalization residual error, a sliding window is adopted for nonlinear optimization, and robot pose estimation is obtained; and visual loopback detection, laser loopback detection and pose global optimization are carried out. According to the method, the calculation rate, the positioning precision and the reliability can be improved in a complex or feature degradation scene.

The invention relates to the technical field of laser radars, and provides a laser radar angular resolution enhancement method, which comprises the following steps of: obtaining a spatial direction priority according to a vehicle course, road information and target information obtained by a vehicle external sensor so as to dynamically adjust laser pulse density and energy level; scanning data generated after N circles of continuous scanning serve as a composite frame, the starting angle of each circle is shifted, multiphase filtering and coherent superposition are conducted in a digital domain, and the effective angular resolution is obtained. The invention further discloses a laser radar device, the method and the device can adjust the pulse density and energy distribution in the ROI direction in real time according to the dynamic scene of the vehicle, the total pulse number is kept unchanged, and the total power consumption is not increased. The effective horizontal angle resolution is improved through inter-frame phase offset and multi-phase synthesis. A corner reflector and an IMU (Inertial Measurement Unit) are integrated in the laser radar, and phase and ranging errors are corrected in real time through periodic loopback calibration, so that the angle stability is kept.

The invention provides a chip testing method based on an ATE platform, and relates to the technical field of chip manufacturing and testing. According to the method, multiple advanced test technologies and intelligent algorithms are creatively integrated, test environment parameters are accurately controlled through an intelligent environment regulation and control system, radio frequency and digital signals are efficiently processed in cooperation with a test engine, a test execution stream optimizes a high-speed interface test by using a chip built-in Loopback function and an adaptive algorithm, and the test efficiency is improved. The intelligent control and analysis system dynamically adjusts a test process and accurately predicts chip defects based on a federal learning framework, and realizes Chiplet interconnection verification and closed-loop data analysis feedback optimization of a test program at the same time. The chip testing efficiency and precision are effectively improved, the testing cost is reduced, dependence on expensive equipment is reduced, the method can be widely applied to various chip testing scenes, and remarkable economic benefits and technical advantages are brought to chip manufacturing enterprises.

The invention discloses a localization-adaptive track point visual rendering method based on partitioning and hierarchical caching, and the method comprises the steps: S1, inputting a track data stream, carrying out the reading according to the source type of the data stream, and carrying out the data partitioning and LOD processing of the track point data; s2, performing data analysis and rendering on the data; s3, carrying out batch processing on GPU vertexes, according to the state of the circular buffer, if the vertexes are writable, incrementally writing vertex data, and if Wrap is needed, carrying out loopback writing and updating a pointer; and S4, finally, the descriptors and the styles are updated, rendering increment drawing is carried out on the track points, and visual display is carried out. The method supports real-time rendering and playback of ten-million-level track points, has visual and instantiated rendering of window dynamic loading, space-time partitioning, hierarchical caching and WebWorker decoupling calculation, and improves the space-time data rendering capability of the domestic autonomous controllable field by ten thousand times; and the user experience is greatly improved by a non-perceptual interaction and transition smoothing algorithm.

The invention provides an AGV laser radar positioning mapping global optimization method. The AGV laser radar positioning mapping global optimization method comprises the steps of map input, data acquisition, incremental mapping, loopback triggering, global optimization, coordinate system anchoring, function calculation solution and map data optimization. Compared with the prior art, the AGV laser radar positioning mapping global optimization method has the advantages that in the later period of mapping, all vehicle body pose data and reflector coordinate data are optimized in a unified mode, accumulative errors are eliminated, and therefore a map with a consistent closed loop is obtained.

The invention discloses a Web end video monitoring distributed decoding method and system, and belongs to the technical field of network video playing. The method comprises the following steps of: actively initiating WebSocket connection by a browser end through a local loopback address port (127.0. 0.1: 19022), and detecting whether a distributed decoding program is installed in a user terminal or not; calling a local FFmpeg library by a distributed decoding program, decoding a video stream in real time by utilizing a terminal CPU (Central Processing Unit), and converting decoded video key frames into an image format originally supported by a browser frame by frame through OpenCV; the distributed decoding program packages binary data of each frame of image and an address identifier of the binary data into a WebSocket message, the WebSocket message is actively pushed to the browser, and the browser refreshes and displays the WebSocket message in a specified area of a page in real time according to the address identifier; according to the method, zero-plug-in, low-delay, cross-platform, safe and controllable Web end video decoding is realized, the server load and the network delay are remarkably reduced, and the user experience and the system compatibility are improved.

The optical module provided by the invention comprises a circuit board, a modulation driving chip, a transimpedance amplification chip and an optical chip. The optical chip comprises an optical modulation unit, an optical demodulation unit, a first optical switch assembly and a second optical switch assembly. According to the invention, the golden finger is directly and electrically connected with the modulation driving chip and the transimpedance amplification chip. The first optical switch assembly is located between the optical modulation unit and the optical chip optical port. The second optical switch assembly is located between the optical demodulation unit and the optical port of the optical chip. By changing the on-off state of the first optical switch assembly, the output path of the optical signal in the first optical switch assembly can be regulated and controlled. By changing the on-off state of the second optical switch assembly, the optical signal input path of the second optical switch assembly can be regulated and controlled. On the basis, the optical module can be switched between a normal working mode and a loopback mode by switching the on-off states of the first optical switch assembly and the second optical switch assembly. And in the loopback mode, the optical module reports an electric signal to the upper computer, so that the upper computer performs fault diagnosis.

The invention provides an SLAM (Simultaneous Localization and Mapping) optimization method and equipment based on point cloud registration and adaptive resolution, and a medium, and relates to the technical field of AGV (Automatic Guided Vehicle) positioning and mapping, and the method comprises the following steps: (1) inputting and preprocessing sensor data; (2) front-end scanning and matching: based on the preprocessed data, carrying out point cloud registration through a GICP algorithm, updating the pose of the current frame and constructing a local subgraph; (3) global SLAM: receiving sensor data, poses and subgraph data from the front-end scanning and matching step, and carrying out loopback detection and global optimization; wherein a self-adaptive resolution switching strategy based on environment complexity is adopted in the loopback detection process; according to the GICP algorithm, the surface of the point cloud is modeled as Gaussian distribution, local features are described through a covariance matrix, and a target error function constructed based on the mahalanobis distance is optimized to estimate pose transformation. According to the method, the local matching precision and robustness are improved by replacing ICP with GICP, and the global calculation efficiency is adjusted and optimized in combination with the dynamic resolution.

The invention provides a safe starting system and method for a substrate management controller, and the system comprises a plurality of first storage modules which are used for storing the power-on starting firmware of the substrate management controller; the first logic switching module is provided with a plurality of first selection ends and two first connection ends, and the first storage modules are connected with different first selection ends; the credibility verification module is used for carrying out credibility verification on the firmware content input by the verification input end; the trusted computing module is used for carrying out trusted computing on firmware content input by the computing input end; the second logic switching module is provided with two second selection ends and two second connection ends; and the control module is used for selecting any first selection end of the first logic switching module to be valid, and selecting any second selection end of the second logic switching module to be valid or two second connection ends to be connected in a loopback manner. According to the application, the starting and running safety, reliability and stability of the baseboard management controller can be effectively improved.

The invention relates to the technical field of artificial intelligence, in particular to an energy AI agent decision-making method and system based on adaptive learning and loopback control. The method comprises the following specific steps: collecting energy data and environment data in real time, and performing data fusion processing; generating an original strategy of the energy AI intelligent agent according to the fused data based on an adaptive learning algorithm; correcting the original strategy in real time based on a preset loopback loss function, and outputting a preliminary strategy instruction; receiving the preliminary strategy instruction, and optimizing the preliminary strategy instruction to generate a final execution instruction under the condition of meeting physical constraints and security constraints of the system; and executing the final execution instruction. By adopting the method, the self-adaptive optimization capability can be realized, the execution safety can be ensured, and the method has the characteristic of supporting continuous optimization.

The invention relates to a specific scene elevation fine construction method based on multi-source heterogeneous probability fusion. The method comprises the following steps: synchronously acquiring multi-source data through an RGB sensor, a binocular infrared depth sensor and an inertial measurement unit; performing instance segmentation and depth aggregation on the RGB color image to obtain a scene instance segmentation result and first depth data; reconstructing an initial point cloud based on the binocular infrared depth image; carrying out pose calculation through a vision-inertia odometer, coupling loopback detection to optimize a camera track, and outputting a global consistent pose; fusing the first depth data with an initial point cloud to generate a segmentation point cloud with instance information; and finally, generating a cross-modal enhanced fusion point cloud based on the segmentation point cloud, performing multi-source heterogeneous probability fusion and Kalman filtering in combination with a global consistent pose, and outputting a decoupling elevation fine composition capable of distinguishing a low object scene. According to the method, the understanding of a scene environment is effectively enhanced, and the intelligence level of terrain elevation data generation is remarkably improved.

The invention provides a control instruction time sequence synchronization method and device of a multi-node industrial control system. The control instruction time sequence synchronization method comprises the following steps: a control node calculates an initial time offset through a calibration frame, loops back a test frame to measure link transmission delay, and compensates a local clock of an execution node to realize initial alignment; periodically broadcasting a reference clock, calculating an accumulated drift amount in real time by an execution node, and adjusting a local clock frequency when the accumulated drift amount exceeds a threshold value; sending a control instruction based on a synchronization period starting moment, synchronizing a trigger signal to enable an execution node to sample data at the same time, and reading the data by a period ending boundary. According to the control instruction time sequence synchronization method, the initial synchronization precision is + / -10ns, the accumulated drift distance is controlled within + / -10ns, the total time sequence deviation is smaller than 100ns, system errors are effectively eliminated, the problem of crystal oscillator deviation is solved, the method can be compatible with an industrial bus, the hardware cost is reduced, and the multi-axis cooperative control precision and stability are greatly improved.

The invention provides an Ethernet tunnel data transmission system and method. Comprising a parameter configuration module used for performing legality verification on equipment parameters, communication parameters and network parameters, generating a configuration result, writing the configuration result into a running environment, and forming a tunnel mapping table and a session identification rule; the Ethernet access module is used for receiving and analyzing an Ethernet data frame sent by upper equipment and submitting the Ethernet data frame to the packaging and sending module; the packaging and sending module is used for packaging the Ethernet data frame into an EOE mailbox message according to the tunnel mapping table, fragmenting the EOE mailbox message and marking fragment serial numbers; and the deblocking and loopback module is used for recombining the fragment sequence numbers into Ethernet data frames and loopback the Ethernet data frames to the connection corresponding to the Ethernet access module according to a session identification rule so as to complete tunnel transmission of the Ethernet data on the EtherCAT network. According to the invention, unified mapping of the session and the slave station can be realized, EOE packaging fragmentation recombination standardization is realized, a return path is clear, and stable tunnel transmission is guaranteed.

A network device can be configured to receive a packet to be replicated in accordance with a virtual local area network (VLAN) replication set having a number of members. The network device can further be configured to identify a first sub-broadcast or layer 2 (L2) domain for the packet and to identify a first sub-broadcast domain replication set corresponding to the first sub-broadcast domain. The first sub-broadcast domain replication set can have a number of members less than the number of members in the VLAN replication set. The network device can further be configured to identify a second sub-broadcast domain replication set for the packet, to replicate the packet a number of times for at least a portion of the members of the first sub-broadcast domain replication set, and to replicate a loopback packet a number of times for members of the second sub-broadcast domain replication set.

The invention belongs to the technical field of communication, and particularly relates to a router system service exception self-healing method based on cloud AI, which comprises the following steps: deploying an exception detection module at a router end, collecting system logs and state data in real time and generating a standardized exception report; uploading the report to a cloud AI server through an encrypted MQTT protocol; the cloud calls a hybrid analysis model composed of a rule matching engine, a machine learning classifier and a reinforcement learning decision network to generate a self-healing strategy instruction packet; the router end receives and executes the strategy, completes service restart, configuration rollback or hotfix loading and other operations, and verifies the self-healing effect; when communication interruption exceeds a threshold value, an embedded loopback self-healing subsystem is automatically activated, and abnormity is independently handled based on a local strategy library. According to the technical scheme, millisecond-level abnormal response and high-success-rate autonomous recovery can be achieved, the network availability and the service continuity are remarkably improved, and the disaster recovery self-healing capacity is still achieved when the cloud end is disconnected.

The invention provides a 3D laser SLAM method and device based on optimized loopback detection and a medium, and relates to the technical field of simultaneous positioning and mapping of robots, and the method comprises the following steps: (1) a data preprocessing step: receiving original data of an IMU and a laser radar Lidar, and carrying out the denoising and time synchronization processing; (2) a feature extraction and map construction step: extracting angular point and surface point features from the preprocessed data, performing pre-integration on IMU data to obtain an initial pose, and performing registration on a current Lidar point cloud and a local map to construct a global map; (3) loopback detection: generating an enhanced descriptor based on the key frame point cloud, and constructing a KD-Tree structure with dynamic resolution for storage and indexing; and carrying out rough search on loopback candidate frames by inquiring the KD-Tree, carrying out two-stage pose matching on the candidate frames to confirm loopback, and dynamically distributing the weight of loopback constraint according to the environmental complexity. The loopback detection success rate can be improved, and dynamic scene mapping drift is reduced.

The embodiment of the invention discloses a chip testing method and system and an integrated circuit, and the chip testing method is applied to the integrated circuit comprising a plurality of chips, and comprises the steps: determining a current chip testing loop, controlling a sending end in the chip test loop to send a test signal to a receiving end at a first initial rate, and forwarding the test signal to the sending end at a second initial rate after the receiving end receives the test signal; when the signal quality parameter of the first return signal received by the sending end meets a predetermined condition, updating the transmission rate of the sending end to a first transmission rate greater than the first initial rate or updating the transmission rate of the receiving end to a second transmission rate greater than the second initial rate; and controlling the sending end or the receiving end to carry out loopback test by adopting the updated transmission rate to obtain a test result. Therefore, fault links on the sending link and the receiving link can be effectively isolated, independent detection on different links is realized, and the diagnosis capability of an integrated circuit is enhanced.

The invention discloses an SLAM (Simultaneous Localization and Mapping) method and system based on visual inertial guidance and laser cascade registration, and belongs to the technical field of environmental perception, and the method comprises the following steps: acquiring multi-source data, predicting a pose by adopting an IMU (Inertial Measurement Unit) pre-integration method, taking the pose as an initial value, and outputting a robot visual-inertial pose by combining a camera image and utilizing a visual-inertial odometer technology; constructing a visual inertia factor; taking the vision-inertia pose as an initial value of registration, performing multi-stage registration on the input laser radar point cloud frame, outputting a laser estimation pose, and constructing a laser factor; visual loopback detection and laser loopback detection are respectively carried out, an effective closed loop is determined according to the space-time consistency of the two kinds of loopback detection, loopback factors are constructed, a factor graph is constructed, graph optimization is executed, and globally consistent tracks and map points are obtained. According to the method, the real-time performance is maintained, the registration convergence is improved, and the method is suitable for positioning and mapping in a complex degraded scene.

A device includes a receiver analog front-end circuit including a path shared by an internal loopback current path and a calibration current path, wherein the receiver analog front-end circuit is configured to perform an internal test using the internal loopback current path while in a test mode, and equalize a first data signal while in a normal mode, the equalizing the first data signal including removing an offset from the first data signal using the calibration current path.

The invention provides a submarine optical cable bidirectional loopback detection device and method based on wavelength division multiplexing, and belongs to the technical field of optical fiber communication precision detection and intelligent analysis. Through the first detection shore station A module, the pulse control processor generates a downlink detection pulse to respectively drive an uplink detection pulse optical signal and a downlink detection pulse optical signal to a main optical fiber; the pulse control processor analyzes the first transmitting and receiving time delay and the first signal attenuation; a second detection shore station B module, wherein the pulse control processor generates an uplink detection pulse; analyzing the second transmitting and receiving time delay and the second signal attenuation, and comparing the first transmitting and receiving time delay and the first signal attenuation; the double-loop module is used for separating, converting and coupling the uplink detection pulse optical signal and the downlink detection pulse optical signal to a main optical fiber for returning; and the intelligent master control processing module is used for measuring the phase of the bidirectional loopback signal and the amplitude change of the loopback signal, detecting and judging whether the uplink signal and the downlink signal are normally received or not, and performing accurate fault positioning and intelligent fault cause analysis and detection by combining with signal time delay.

Test interconnect systems and methods are described. In one example, a test interconnect includes. A device under test (DUT) interface for connecting to a DUT; a load board interface for connecting to a load board; a circuitized component including an integrated loopback for self-test or self-communication of the DUT; and one or more conductive paths for connecting the DUT to the load board.

The invention discloses an intelligent robot for identifying and cleaning bulkhead pollutants and a bulkhead cleaning method. The robot body carries a positioning navigation system and is equipped with a track assembly, a magnetic adsorption wheel, a mechanical arm assembly and a cleaning brush assembly. The positioning navigation system is combined with inertial navigation, visual SLAM and graph neural network loopback detection error correction, and a visual unit identifies pollutants through deep learning and other technologies. The cleaning method comprises the following steps: positioning and mapping, capturing an image, stretching out the camera as required, moving and fixing the robot, cleaning at an adaptive rotating speed, correcting the position in real time, and determining whether to continue after secondary detection. The robot can adjust the posture in a self-adaptive mode, and bulkhead cleaning is efficiently completed.

A control method of an optical transceiver having a transmission port, a reception port, and a light source for transmission and reception of an optical signal, includes: determining whether a state of a connection of a transmission path to the reception port is a loopback connection from the transmission port; and switching a control of a gain of the reception from an automatic gain control (AGC) to a fixed gain when determining the state of the connection to be the loopback connection.

The invention relates to a probe head, which comprises a probe seat, a plurality of vertical probes and a plurality of coaxial probes, the vertical probes slidably penetrate through guide holes of the probe seat, the lower ends of the vertical probes are used for contacting conductive contacts of a tested device, and each coaxial probe comprises a probe body and a tip unit arranged at the lower end of the probe body. The probe body comprises a plurality of conductors which are mutually insulated, the needle point unit comprises a first needle point and a second needle point which are electrically connected with the plurality of conductors respectively and are used for being in contact with a conductive contact of a tested device, and the plurality of coaxial probes comprise a first return probe and a second return probe which form a return probe pair and are used for being configured to be a local part of a return test path; therefore, the high-frequency loopback test requirement can be met.

The invention provides a real-time positioning and mapping method based on laser radar and inertial navigation, and relates to the field of robot positioning and mapping, and the method comprises the steps: obtaining data information, and carrying out the data preprocessing; a laser inertial attitude estimation module is adopted to carry out pose estimation; key frame extraction and management are carried out; loopback detection is carried out on the new key frame, and loopback constraints are generated; performing pose map construction, constraint fusion and global pose map optimization; and outputting the optimized trajectory. And executing global map construction, and outputting a global map. According to the method, a loopback detection mechanism and a global pose image optimization method are introduced, so that effective identification of historical frames and global trajectory closed-loop optimization are realized; meanwhile, the method fuses multi-source sensing information of an inertial measurement unit, a wheel type odometer, a real-time dynamic positioning module and the like, so that the robustness, the map consistency and the positioning precision in a complex degradation environment are remarkably improved.

The invention provides an accumulated drift error correction method for point cloud pose motion based on PTZ attitude priori, and belongs to the technical field of machine vision and machine perception. Through multi-modal data acquisition and preprocessing, initial pose constraint construction based on PTZ prior, semantic enhancement loopback detection, semantic consistency registration and residual construction, global graph optimization and drift correction and map reconstruction, accurate correction of point cloud pose accumulated drift is realized. The method has the capabilities of improving the loopback detection robustness, realizing adaptive drift correction and remarkably improving the global precision in a complex scene.

A loopback test system and method of using the system to test optical connectivity of an equipment rack including an optical shuffle device and at least one server, with each server having server ports. The loopback test system includes a plurality of loopback optical interfaces that are each coupled to a respective network-side optical interface or a respective spare optical interface of the optical shuffle device. Shuffle optical waveguides of the optical shuffle device and loopback optical waveguides of the loopback test system cross-connect each server port in a first subset of the server ports to a respective server port in a second subset of the server ports, with at least one of the cross-connections passing through a spare optical interface and two of the network-side optical interfaces.

The application provides an optical module and a remote optical module loopback control method based on double MCUs. When a first master MCU of a near-end optical module modifies a value of a loopback message enable register to a first value on a sending end host computer, the first master MCU generates an update enable command. A loopback control register stores a loopback control value written by the sending end host computer and writes the loopback control value into a first slave MCU. The first slave MCU receives the update enable command from the first master MCU and generates a loopback control command according to the loopback control value. The loopback control command stored in the first slave MCU is loaded into a first optical signal. The abnormal positioning of a remote device in an optical link is completed at a local device end. The double MCU control function is adopted, the communication response function of the slave MCU is turned on and off, the slave MCU is not disturbed when sending and receiving messages by the host computer and the master MCU, and therefore the success rate of the loopback control command transmission is improved.

The technologies described herein are generally directed to using a loopback component to test a single fiber optic strand. For example, a method described herein can include generating a first optical beam of a first wavelength. The method can further include transmitting the first optical beam via a fiber optic fiber. Further, the method can include receiving via the fiber optic fiber, a second optical beam of a second wavelength, with the second optical beam having a characteristic of the first optical beam, and with the second optical beam being generated by a non-electrical conversion of the first light of the first wavelength to the second light of the second wavelength.