57 results about "Pinhole camera" patented technology

The invention discloses a visual servo mechanical arm system trajectory tracking control method based on an internal model, and belongs to the technical field of mechanical arm control. The method comprises the following steps: firstly, establishing a kinematics model (including a pinhole camera perspective projection relation) and a dynamics model (including external torque interference) of a visual servo mechanical arm system; designing an image space observer aiming at the problem that the image space speed is difficult to measure; designing an internal model to process external interference, and converting a trajectory tracking problem of a visual servo mechanical arm system into a robust stabilization problem of an augmented system; and finally, designing an adaptive controller to solve the robust stabilization problem, and obtaining a final controller. According to the method, the image space speed does not need to be measured, the kinematics / dynamics parameters of the mechanical arm are allowed to be unknown, external interference can be effectively restrained, high-precision trajectory tracking of the visual servo mechanical arm system is achieved, and the method is suitable for scenes with high requirements for the control precision of the mechanical arm in the fields of industry, medical treatment, spaceflight and the like.

The invention belongs to the field of optical elements, and relates to an X-ray streak camera diagnostic system aiming device and method, and the device comprises a long-focus microscope, a simulation target, a simulation cathode device, a supporting platform, a first adjusting platform, and a second adjusting platform. The aiming method comprises the following steps: mounting a pinhole camera on a mounting flange of a simulated cathode device; a pinhole head of the pinhole camera is adjusted, so that the view field center of the long-focus microscope, the pinhole head of the pinhole camera and the simulated cathode slit center of the simulated cathode device are collimated; target position coordinates of the simulation target in the image acquired by the CCD camera are determined; disassembling and assembling the pinhole camera to an X-ray streak camera diagnosis system, and adjusting the position coordinates of the target in the CCD field of view to the target position coordinates; rapid aiming of the X-ray streak camera on a large laser device under the vacuum off-line condition is achieved.

The utility model discloses a device and system for detecting compactness of rock-fill concrete, the device comprises an inner pipe and an outer pipe sleeved outside the inner pipe, the length of the inner pipe is greater than that of the outer pipe, the inner pipe can be separated from the outer pipe, and the outer pipe can be connected with the inner pipe. The night vision pinhole camera can be put into a hole formed by pulling out the inner pipe after the inner pipe is inserted into the rock-fill concrete through the outer pipe which is partially exposed and partially inserted into the rock-fill concrete, and the cable is connected with the night vision pinhole camera. According to the utility model, the compactness of the rock-fill concrete can be visually monitored.

The application provides a pinhole image splicing true value acquisition and splicing method based on a heterogeneous camera combination. The acquisition method first symmetrically installs two pinhole cameras on a support, and installs an fisheye camera between the two pinhole cameras. Based on a double spherical camera model, the three cameras are calibrated to obtain the internal parameters and external parameters of the three cameras. The left eye pinhole view, the right eye pinhole view and the middle eye fisheye view of the target scene are simultaneously acquired by using the three cameras. The middle eye fisheye view is subjected to equirectangular projection. According to the internal parameters and external parameters of the three cameras, the left eye pinhole view and the right eye pinhole view are projected to the equirectangular projection view plane respectively, multi-camera coordinate system one is completed, and the splicing true value is obtained. The application has the core advantages of the hardware structure design and the heterogeneous camera image registration algorithm, can stably acquire images without seams and time sequence consistency, and provides strong support for the true value reference of the precision verification and model training of subsequent panoramic video splicing.

The invention discloses a visible drag hook for mandibular angle plastic surgery, relates to the technical field of drag hooks for mandibular angle plastic surgery, and solves the problems that an existing drag hook only adopts a lamplight illumination mode to light an operation part of a patient, then a blind area exists in the operation part, a doctor who operates a knife cannot observe the position of the blind area through sight, and the operation difficulty is high. The surgical retractor comprises a rod body, a ring body is fixedly mounted at the lower end of the rod body, a pair of handles is fixedly mounted at the lower end of the ring body, and a retractor plate is fixedly mounted at the upper end of the rod body. Through video recording of a pinhole camera, an image of an operation position is presented on an external display, then a good visual field is provided for a doctor, the total length of an extension plate and a retractor plate is adjusted through an adjusting assembly, and hooking and pulling of the side walls of different oral cavities with different lengths are facilitated.

A ranging system includes a pinhole camera, a fisheye camera and a processor. The pinhole camera captures a pinhole image. The fisheye camera captures a fisheye image. The processor performs a undistorting process on the fisheye image to obtain a corresponding undistorted fisheye image, perform a size-converting process on the pinhole image to obtain a corresponding size-converted pinhole image, obtain a transformation relation between a pinhole image plane of the pinhole camera and a fisheye image plane of the fisheye camera, obtain a corresponding point of the corresponding undistorted fisheye image corresponding to a target point of the corresponding size-converted pinhole image based on the transformation relation, and obtain a distance between the ranging system and the physical point based on the transformation relation, the target point and the corresponding point.

The utility model discloses a pair of foreign body forceps for the otolaryngology department, which comprises a main body, a clamping component is arranged in the main body, and two rotating clamps are arranged in the clamping component and used for clamping; the anti-disengaging assembly is arranged in the main body, a ratchet wheel and a pawl are arranged in the anti-disengaging assembly, and the anti-disengaging assembly is matched with the clamping assembly to prevent disengaging; the monitoring assembly is arranged in the main body, a pinhole camera and a display screen are arranged in the monitoring assembly, and the monitoring assembly is used for monitoring the clamping condition; the clamping assembly comprises a rotating rod, and the rotating rod is arranged in the main body. According to the ear-nose-throat monitoring device, the anti-disengaging assembly is arranged, due to the existence of a ratchet wheel and a pawl, the two rotating clamps cannot be disengaged, the situation that clamped objects fall off accidentally is avoided, the monitoring assembly is arranged, the clamping end of the device extends into the ear-nose-throat of a patient, then a pinhole camera is turned on, and transmission is conducted through a data line; and then the clamping condition is observed through the display screen.

The invention relates to the technical field of computer vision and camera calibration, in particular to a method for calibrating a pinhole camera based on the asymptote property of two coplanar circles. The method comprises the following steps: taking two coplanar circles as targets, and shooting three images from different positions by using a pinhole camera; image edge points are extracted, and a coplanar circular image equation is fitted through a least square method; based on the relation between the asymptotes of the two coplanar circles and the position of the circle center, simultaneous projection constraint is carried out to solve images of the asymptotes; the image of the circular point is recovered by combining the pole-epipolar relation between the asymptote and the circular point and projective invariance; determining the image by using the image of the three groups of circular ring points and the constraint of the absolute conic; and internal parameters of the camera are obtained through decomposition and inversion. The target is easy to manufacture, the physical scale, the circle center and the radius do not need to be known, the asymptote closed solution can be obtained, the strict requirement of an existing method for circle center positioning and the limitation that multiple independent circles are needed are avoided, and the calibration precision, efficiency and applicability are improved.

The invention discloses a high-precision calibration method for a circular calibration board with DM codes, the circular calibration board comprises a plurality of circular patterns and DM codes, and the calibration method comprises the following steps: identifying the DM codes and obtaining center world coordinates of the DM codes according to coding information of the identified DM codes; acquiring pixel coordinates of the circle center of the circular pattern; calculating a central pixel coordinate of the DM code through the pixel coordinate of the circle center of the circular pattern; a primary model is adopted to calculate the conversion relation between the center world coordinates of the DM codes and the center pixel coordinates of the DM codes, and the conversion relation serves as an initial conversion matrix; and obtaining first world coordinates of all circle centers according to the initial conversion matrix, constructing a secondary model or a cubic model of a pinhole camera imaging model by using the first world coordinates of the circle centers and the pixel coordinates of the circle centers, and eliminating distortion by using the secondary model or the cubic model to obtain a final conversion matrix. Compared with a Zhang Zhengyou calibration mode, the method is more efficient and better in precision.

This invention discloses a robust visual servo control method for robots based on an adaptive update law, comprising: associating the pixel coordinates of feature points with their 3D coordinates in the camera coordinate system according to a pinhole camera projection model, and establishing a global linear regression model containing unknown position parameter vectors; designing an adaptive update law for the estimated values ​​of the unknown position parameter vectors based on the global linear regression model, used to estimate the unknown depth information parameters of feature points in real time, and reconstructing the visual Jacobian matrix online based on the estimated depth information parameters; constructing a visual state observer to obtain smoothed image feature estimates; defining a joint space-assisted tracking error based on the smoothed image feature estimates based on the reconstructed visual Jacobian matrix; and designing an integral sliding mode robust feedback term based on the integral sliding mode in the robot joint driving torque expression based on the lumped disturbance in robot dynamics, combined with feedforward compensation, to generate the final joint driving torque to drive the robot to perform servo tracking tasks. This invention can achieve highly robust and high-precision asymptotic tracking of target feature points under complex working conditions.

This invention discloses a one-way vision decorative film and its preparation method, belonging to the field of one-way vision film technology. Its purpose is to solve the technical problems of existing ultra-transparent decorative films lacking one-way vision or having poor one-way vision and privacy. It includes a dot matrix layer and a base film arranged sequentially. The dot matrix layer consists of multiple bicolor dots arranged in an array, with the brightness of the outdoor side of each bicolor dot being higher than that of the indoor side. The center distance L between two adjacent bicolor dots is 2.0~3.0 mm, and the distance H between the outer edges of two adjacent bicolor dots is 0.4~1.4 mm. Through the dot matrix layer's dot matrix distribution of high brightness on the outer side and low brightness on the inner side, the bicolor dot portion is opaque, while the gaps between the bicolor dots are translucent. By controlling the size of the bicolor dots, a one-way vision effect of clear inner and hidden outer parts is achieved during the day. The decorative film has good one-way vision, good privacy, and a sunshade effect; it also avoids the imaging blurring caused by the small size of the pinhole camera, resulting in good one-way vision imaging visual effects.

1. The name of the design product: anti-peeping detector. 2. The use of the design product: an instrument for detecting peeping pinhole cameras. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The application discloses a pinhole camera for a carrier-based helicopter landing optical system and belongs to the field of carrier-based helicopter landing optics. The pinhole camera is composed of a six-piece spherical lens group, an aperture stop and a detector. The first lens and the second lens are combined to correct the field curvature in the optical system. The third lens, the fourth lens and the fifth lens are combined to improve the distortion in the system. The sixth lens of the lanthanide series glass corrects the field curvature of the system again, and the seventh surface focuses the imaging surface to be received. The aperture stop is located at the front surface of the fourth lens of the system to limit the light entering the optical system. The infrared camera lens on both sides of the flight deck tracks and shoots two groups of infrared laser beacons on the fuselage, captures the position of the carrier-based helicopter, corrects the aberration of the system according to the positive and negative focal lengths of the lenses in the infrared optical system, and improves the imaging precision of the carrier-based helicopter landing optical system.

This invention provides a method for manufacturing an electronic lock motor for a charging pile, comprising: S1 manufacturing a micro motor and a reduction gearbox, and setting an absolute encoder at the output end of the micro motor; S2 providing a high-definition pinhole camera device, and manufacturing a face recognition system and / or a fingerprint recognition system; S3 manufacturing a main control circuit board that communicates with a cloud server, and sending data from the face recognition system and / or fingerprint recognition system to a user's smart mobile terminal. The user's smart mobile terminal can confirm charging based on the received data and the power access signal from the vehicle computer, forming a confirmation signal. The cloud server then receives the confirmation signal from the user's smart mobile terminal and sends a formal charging start signal to the charging pile. The smart charging gun includes a smart motor manufactured using the above method, improving the stability, reliability, billing effectiveness, and accuracy of the charging connection.

The interval between the pinhole (301aa) and the pinhole (301ab) is set to a first interval (L1) in which the degree of overlap of the subject images (302a, 302b) taken via the pinholes (301aa, 301ab) is within a prescribed range when a subject (302) located at a position at a distance of less than a prescribed distance (D) from the multi-pinhole camera (301) is imaged. The interval between the pinhole (301ab) and the pinhole (301ac) is set to a second interval (L2) narrower than the first interval (L1) in which the degree of overlap of the subject images (302b, 302c) taken via the pinholes (301ab, 301ac) is within a prescribed range when a subject (302) located at a position at a distance of greater than or equal to the prescribed distance (D) from the multi-pinhole camera (301) is imaged.

This invention belongs to the field of optical components and relates to an aiming device and aiming method for an X-ray streak camera diagnostic system. The device includes a long-focusing microscope, a simulated target, a simulated cathode device, a support platform, a first adjustment stage, and a second adjustment stage. The aiming method includes: mounting a pinhole camera on the mounting flange of the simulated cathode device; adjusting the pinhole head of the pinhole camera to align the center of the long-focusing microscope's field of view, the pinhole head of the pinhole camera, and the center of the simulated cathode slit of the simulated cathode device; determining the target position coordinates in the image acquired by the CCD camera; detaching and installing the pinhole camera into the X-ray streak camera diagnostic system, and adjusting the target's position coordinates in the CCD field of view to the target position coordinates; achieving rapid aiming of the X-ray streak camera on a large laser device under vacuum offline conditions.

The invention belongs to the field of X-ray imaging, and provides a double-energy-point double-magnification imaging device and method based on a time broadening type framing camera, and the device comprises a pinhole sheet and the time broadening type framing camera; the method comprises the steps of pinhole piece and time broadening type framing camera imaging, geometric mapping model construction, distortion correction function fitting and image calibration. According to the invention, photoelectron imaging and transmission light imaging are realized at the same time by using the time-broadening framing camera, so that two spatially corresponding images are formed; the difference between electron acceleration and focusing characteristics in the time-broadening framing camera can be reflected by comparing the size and distortion difference of the straight-through light image and the photoelectron image, and dual-channel response mutual calibration is achieved.

1. The name of the design product: portable anti-eavesdropping and anti-paparazzi detector (XRH-ZL003). 2. The use of the design product: the design product is used to accurately find out eavesdropping and paparazzi disguised equipment such as wireless eavesdropping device, tracker, paparazzo, wireless pinhole camera, wired pinhole camera, etc. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

A depth estimation system and a method thereof are provided. The depth estimation system comprises a pinhole camera, a fisheye camera and a processing circuit. The pinhole camera is configured to capture a narrow field of view image of an entity. The fisheye camera is configured to capture a wide field of view image of an entity. A direction deviation and a position deviation exist between the pinhole camera and the fisheye camera. The processing circuitry is configured to shrink the narrow-field image to produce a scaled image, rotate the wide-field image using a rotation compensation parameter determined based on the directional deviation to produce a rotated image, determine pixel mapping information between the rotated image and the scaled image based on an epipolar constraint, and transmit the determined pixel mapping information to the scaled image. And estimating depth information of the entity relative to the pinhole camera based on the pixel mapping information and the position offset.

The utility model discloses a multi-angle pinhole camera detection device, and relates to the technical field of camera detection. A lifting plate is movably arranged in the box body; a lifting mechanism for driving the lifting plate to move and a mounting plate are arranged in the box body; the box body is rotationally arranged on the lifting plate through a rotating shaft; a rotating mechanism for driving the rotating shaft to rotate is arranged on the lifting plate; a laser emitting device is rotationally connected to the rotary table through a fixing plate, an adjusting mechanism for driving the laser emitting device to rotate is arranged on the rotary table, and a control processing unit is fixedly installed on the outer wall of the box body. According to the utility model, through the cooperation of the structures of the laser emitting device, the holder camera, the control processing unit and the like, a user can accurately judge the position of the pinhole camera according to the calculation result of the control processing unit, and the detection precision and efficiency of the pinhole camera are improved.

The utility model discloses a kind of anti-peeping detectors, including shell, shell is provided with mounting plate in, mounting plate one side outer wall is provided with thermal imager, it is provided with observation cylinder on mounting plate, observation cylinder inside is provided with long wave pass filter, several infrared lamps are provided around observation cylinder, infrared lamp is located on the side wall of shell, Type-C socket is provided on mounting plate, electromagnetic detection element is provided on mounting plate, battery is provided on mounting plate one side, buzzer alarm, several signal warning lights, blue warning light and switch are respectively provided on mounting plate one side.The utility model is provided with thermal imager, infrared lamp, electromagnetic detection element, the all-around detection of different types of pinhole camera is realized, the comprehensiveness and accuracy of detection are greatly improved, the risk of missed detection is effectively reduced, Type-C socket is set, the data of thermal imager can be transmitted to mobile phone, the temperature difference in house is observed conveniently, and hidden equipment is identified.

According to the visual oral and nasal cavity suction device, a doctor holds a handheld handle of a handheld part, and the bending direction of a suction head is adjusted in real time through a pushing block on the handheld handle and a bending pull line in a bending rod, so that the problem that the suction head needs to be taken out of the mouth and the nose of a patient for multiple times is solved; in addition, the pinhole camera is installed on the suction head, the situation in the mouth and the nose of the patient can be observed in real time through the visual opening control assembly, and the position of sputum can be conveniently found.

1. The name of the design product: shared privacy instrument. 2. The use of the design product: for pinhole camera detection instrument. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The invention provides automatic teller machine (ATM) equipment and a peep-proof method of the ATM equipment. An operation table, a peep-proof cover and a driving assembly are arranged on a supporting base in the ATM equipment. The grating frame is arranged at the top of the peep-proof side plate, the peep-proof side plate surrounds the key area, and an opening is formed in the side, facing the withdrawal position, of the peep-proof side plate. The peep-proof blades have a peep-proof effect at a part of visual angles, the plurality of peep-proof blades are laid on the grating frame so as to allow sight perpendicular to the key area to penetrate through in an initial state, and the initial state is that the plurality of peep-proof blades are in a horizontal state. The driving assembly comprises a first driving assembly, and the first driving assembly is in transmission connection with the peep-proof blades and used for driving the peep-proof blades to clockwise rotate by a set angle or anticlockwise rotate by a set angle in the axial direction of the peep-proof blades. Therefore, the fixed view finding range of the pinhole camera is interfered by dynamically adjusting the peep-proof angle of the peep-proof cover, multi-directional candid shooting is blocked, and the safety is improved.

The purpose of the present invention is to provide an electronic device capable of easily obtaining accurate line-of-sight information.　The electronic device according to the present invention includes a display panel (20), a catadioptric optical system (30), and a light source (80) that emits infrared light. The display panel (20) includes a light-emitting element and a light-receiving element in a pixel (21). The catadioptric optical system (30) forms an optical path for visible light between the surface of an eye (40) and the light-receiving element, and an optical path for infrared light between the light-emitting element and a retina (42). Between the surface of the eye (40) and the light-receiving element, a filter (24) having a shielding layer (24a) and an opening (24b) is used to limit rays of infrared light transmitting through the catadioptric optical system (30).　This enables eye imaging used for line-of-sight detection or the like with a simple configuration, similar to that of a pinhole camera.

This invention provides a suspended collection system and method for deep-sea polymetallic nodules, belonging to the interdisciplinary field of deep-sea mining systems and machine learning. The system includes an underwater mobile carrier and a parallel collection manipulator. The parallel collection manipulator includes a static platform and a moving platform. The bottom of the moving platform is equipped with a mechanical gripper. The static platform integrates an environmental perception module and a system-level controller. The controller integrates designed algorithm models, including a deep-sea optical degradation physical model, a cross-modal feature interaction network, a pinhole camera perspective model, and a trajectory planning model. An optical inverse reconstruction and cross-modal heterogeneous feature decoding method for deep-sea degradation environments is designed. An absolute safety target screening and closed-loop adaptive constraint mechanism based on Boolean space difference sets is constructed. Combined with the system hardware design, the determinism and morphological fidelity of target recognition in turbid deep-sea physical environments are improved, ensuring the absolute safety of benthic ecological communities and the physical integrity of ore extraction.

1. The name of the design product: anti-eavesdropping and peeping detector. 2. The use of the design product: for detecting pinhole camera, detecting signal, touching alarm, SOS warning and purple light illumination. 3. The design points of the design product: in shape. 4. The picture or photo best indicating the design points: perspective view.

This invention relates to a road obstacle detection method, detection device, and computer-readable storage medium based on a dual-camera combination. The road obstacle detection method includes the following steps: S1, calibrating a pinhole camera and a fisheye camera, synchronizing the two cameras and performing joint extrinsic parameter calibration, and calibrating the IMU to align the timestamps of the image frames acquired by the two cameras with the IMU data; S2, acquiring image frames, IMU data, and vehicle signals from the two cameras; S3, performing road region segmentation and depth estimation on the image frames acquired by the two cameras; S4, unifying the coordinates of the road region segmentation and depth estimation results based on the joint calibration extrinsic parameters of the two cameras, fusing the depth estimation results in the overlapping areas of the two cameras' fields of view, and completing the depth estimation results in the non-overlapping areas of the two cameras' fields of view; S5, calculating the size and depth of the road obstacle in the overlapping areas of the two cameras' fields of view and the non-overlapping areas of the two cameras' fields of view. This invention can effectively identify road obstacle information around the vehicle body.

The invention relates to a road obstacle detection method and detection equipment based on double-camera combination and a computer readable storage medium. The road obstacle detection method comprises the following steps: S1, calibrating a pinhole camera and a fisheye camera, synchronizing the double cameras, carrying out joint external parameter calibration, and calibrating an IMU (Inertial Measurement Unit), so that image frames acquired by the double cameras are aligned with timestamps of IMU data; s2, acquiring image frames, IMU data and whole vehicle signals of the double cameras; s3, performing road region segmentation and depth estimation on the image frames acquired by the double cameras; s4, performing coordinate unification on road region segmentation and depth estimation results based on combined calibration external parameters of the double cameras, fusing the depth estimation results in a view overlapping region of the double cameras, and complementing the depth estimation results in a non-view overlapping region of the double cameras; and S5, calculating the size and depth of the road obstacle in the view overlapping area and the non-view overlapping area of the double cameras. The roadblock information around the vehicle body can be effectively identified.

1. The name of the design product: anti-peeping instrument. 2. The use of the design product: instrument for detecting peeping pinhole camera, playing the role of anti-peeping. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.