32 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 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.

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.

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.

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.

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.

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.

The utility model discloses a kind of robot joint module with self-calibration function, including first shell, the first shell is connected with second shell by a plurality of bolts fixedly, the side of the second shell is fixedly connected with monitoring board, the front end of the monitoring board is fixed with pinhole camera, the front end of the monitoring board is fixed with wireless signal transmitter, the inside front end of the first shell is equipped with drive group, the rear end of the drive group is fixed with first connecting end, the rear end of the first connecting end is fixedly connected with second connecting end, the rear end of the second connecting end is fixed with main control group. The utility model relates to a kind of robot joint module with self-calibration function, by setting monitoring board, using pinhole camera, implementation is sent by wireless signal transmitter, realize the remote monitoring and diagnosis of joint module, promptly discover and solve problem, improve the reliability and maintainability of robot.

1. The name of the design product: detector. 2. The use of the design product: for detecting hidden cameras such as pinhole camera. 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 pair of multifunctional stomach forceps comprises an upper movable forceps body and a lower movable forceps body, containing cavities are formed in the surfaces of the upper movable forceps body and the lower movable forceps body, a containing groove for containing an external pinhole camera is formed in the upper movable forceps body, and a heating piece is connected to the inner surface of a mounting groove; the inner surface of the containing cavity is provided with an auxiliary device used for assisting in clamping, cutting, pressing or hemostasis of stomach tissue in the stomach cutting operation, and the auxiliary device assists in clamping, cutting, pressing or hemostasis of the stomach tissue in the stomach cutting operation, so that the stomach forceps have the clamping effect, the cutting effect, the pressing effect and the hemostasis effect. The functions and purposes of the stomach forceps are increased in a replaceable mode, and the function of multiple functions is achieved; besides, an external pinhole camera can be placed in the placing groove, and the mode that pictures are shot through the pinhole camera is adopted, so that medical staff are assisted to monitor the stomach cutting operation work in real time, and the medical staff can arrange the stomach cutting operation work conveniently.

This invention discloses a three-dimensional measurement method based on tilted fringe coding in a trinocular system. First, the distance from the phase plane to the optical axis coordinates is calculated based on a linear imaging model. Then, the vector expression passing through the optical center within the phase plane is obtained through the principle of vector superposition. This expression is then cross-multiplied with the phase line vector to obtain the phase plane normal vector. Next, the plane equation of the phase plane is established based on the phase value. Then, new constraint equations are established based on the relationship between the three-dimensional coordinate points and the phase plane. Finally, the three-dimensional coordinates of the object are calculated by combining the two constraint equations of the pinhole camera imaging model. This invention first derives the constraint equations between the three-dimensional coordinates and the phase plane based on a linear abstract model, and then solves for the three-dimensional coordinates through the constraint conditions of the pinhole camera imaging model. This significantly improves the measurement accuracy of the system when the camera's viewing angle, the central projection optical path, and the baseline direction are not the same in a trinocular system.

The invention relates to a method for rectifying images and / or image points acquired by at least one camera (2) of a camera-based system (1) of a vehicle (14) with a windshield (6). First, an original image of a scene is acquired with the camera (2). From the original image, original image data is selected, wherein the original image data is the complete original image, a part of the original image or a plurality of original image points of the original image. Then, intermediate image data is calculated based on the original image data and camera parameters, wherein the intermediate image data comprises an intermediate image or a plurality of intermediate image points, wherein the intermediate image data resembles an image or image points of the relevant scene acquired by a pinhole camera (8) through the windshield (6). Finally, a set of points in the relevant scene space is calculated, wherein the set of points corresponds to the intermediate image pixels or intermediate image points. The calculation is performed using a parallel shift (11) of the optical path (7) caused by the windshield (6) based on windshield parameters. Furthermore, the invention also relates to a camera-based system (1) for a vehicle (14) and a vehicle (14).

The utility model discloses an ash treatment device for a chemical automation instrument, and belongs to the field of cleaning and maintenance of chemical automation instruments. The connecting pipe is used for being connected to a pipeline monitoring section and used for installing and fixing an automatic instrument, and the installing opening is formed in the side wall of the connecting pipe and used for allowing an instrument probe to be inserted. The scrubbing mechanism is arranged on the connecting pipe and is used for scrubbing the instrument probe; and the pinhole camera is fixedly arranged on the inner wall of the connecting pipe and is used for checking the dust accumulation condition on the surface of the instrument probe. According to the ash treatment device for the chemical automation instrument, the automation instrument is borne through the detachable connecting pipe, so that the automation instrument can be flexibly installed on a monitoring section of a pipeline, automatic brushing of an instrument probe is achieved in cooperation with use of the brushing mechanism, manual operation going deep into the pipeline is not needed, the depth limitation of an installation part is avoided, and the cleaning efficiency is improved. And the safety and the efficiency are also improved.

The application discloses a three-dimensional Gaussian sputter rendering and camera self-calibration method based on a general camera model. The method maps a three-dimensional point or direction of a camera coordinate system to a two-dimensional pixel coordinate by defining a learnable camera mapping function, and calculates a mapped Jacobian matrix to transfer a three-dimensional Gaussian covariance into a two-dimensional covariance and convert the two-dimensional covariance into a quadratic form parameter. Gaussian sputter rasterization is performed based on the quadratic form parameter to obtain a rendering image. With a reconstruction error as a target, an effective field of view mask and camera robustness are used to realize joint optimization and online self-calibration of camera parameters and three-dimensional Gaussian parameters. The scheme is suitable for fisheye, panoramic and catadioptric non-pinhole cameras, and can improve the rendering quality and stability of a large field of view under unknown or time-varying distortion conditions.

1. Name of the product in this design: Detector. 2. Purpose of this design: For detecting pinhole cameras. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention provides a pinhole image splicing truth value acquisition and splicing method based on heterogeneous camera combination, and the method comprises the steps: symmetrically installing two pinhole cameras on a support, installing a fisheye camera between the two pinhole cameras, calibrating the three cameras based on a double-spherical camera model, and carrying out the calibration of the three cameras, the method comprises the following steps: obtaining internal parameters and external parameters of three cameras, simultaneously acquiring a left-eye pinhole view, a right-eye pinhole view and a middle-eye fisheye view of a target scene by using the three cameras, performing equidistant rectangular projection on the middle-eye fisheye view, and obtaining a target scene according to the internal parameters and the external parameters of the three cameras. And respectively projecting the left-eye pinhole view and the right-eye pinhole view to a view plane of equidistant rectangular projection to complete unification of a multi-camera coordinate system and obtain a splicing true value. Core advantages are formed by means of hardware structure design and a heterogeneous camera image registration algorithm, images which are free of splicing seams and consistent in time sequence can be stably obtained, and powerful support is provided for precision verification of follow-up panoramic video splicing and truth value reference of model training.

The invention provides a transparent element surface shape decoupling method based on ROOT-MUSIC, and the method comprises the steps: employing a pinhole camera and a display to form a reflection deflection technology detection system, enabling a plurality of groups of fringe patterns to be projected to the display based on the principle of phase measurement deflection technology, and enabling the fringe patterns to be reflected by a detected element and then to be received by the camera; according to the collected data, a shot superposed fringe pattern is separated by using a ROOT-MUSIC algorithm to obtain corresponding display coordinates; and obtaining the front surface shape of the transparent element according to a light reflection principle and a least square optimization algorithm. The method has the advantages of rapidness, flexibility, low cost and large detection dynamic range.

The invention discloses a WiFi pinhole camera detection system based on multi-band signal feature analysis, and the system achieves the precise positioning and recognition of a WiFi pinhole camera through a multi-band signal collection module, and remarkably improves the detection sensitivity. The active induction module improves the accuracy and reliability of detection and effectively reduces the false alarm rate; the multi-dimensional feature extraction engine realizes comprehensive extraction and analysis of the features of the WiFi pinhole camera, so that the detection accuracy and the recognition rate are improved; a self-adaptive learning system is adopted, so that the high detection rate of unknown equipment is realized; through a hierarchical processing strategy of a heterogeneous computing architecture, efficient processing on a common smart phone or a household router is realized, processing delay and power consumption are effectively reduced, and real-time performance and portability of the system are improved.