937 results about "Self positioning" patented technology

A system is provided for compressing one or both of the uterine arteries of a patient which is at least in part shaped to complement the shape of the exterior of the cervix, which allows the system to be self-positioning. One or more Doppler chips can be mounted or incorporated into the system which permit the practitioner to better identify the uterine artery and monitor blood flow therein. The system includes a pair of pivotally joined elements which can be moved toward and away from the cervix to compress a uterine artery.

A method for providing local mobile geographical information services based on the GPS and mobile terminals comprises firstly, prompting users to select maps, and conducting the map switch according to the selection of the users, and displaying the map on the screen of a mobile terminal, and continuing following one or a plurality of operation steps of local mobile geographical information services according to the subsequent selections of the users, such as translating or reducing or amplifying the map, self-positioning of the mobile terminal, monitoring and tracing path, inquiring interest points, searching the optimal path or exhibiting historical tracks. The method of the invention has simple and practicable operation step and low communication cost, and can realize various local mobile geographical position information services on the mobile terminal simply, real-timely and high effectively at any time and place. The invention has the advantages of strong mobility, small communication content, low cost, excellent practicability, high query efficiency and strong flexibility, which has great application and spread prospects.

An autonomous open-ocean fish-farming structure has a submersible cage enclosure tethered to a topside buoy. The topside buoy stores feed, is equipped with radio telemetry to communicate positioning signals transmitted from external sources, and generates electrical power using, for example, a hybrid solar OTEC heat engine. The structure is navigated and maintained in a geostationary position within the ocean environment by means of position-correction technology and is propelled by thrusters attached to the cage enclosure and, optionally, to the underside of the topside buoy. The self-positioning, self-powered fish-farming structure enables unmanned, extended marine deployment in deeper ocean waters without the need for tethering or anchoring to the ocean floor. Multiple structures can be maintained in a spaced apart configuration to comprise a flotilla of fish farming structures attended by a tender ship that is autonomous, easily serviced and conveniently relocated.

A fractionation system is disclosed, the system having a fractionation manifold with a plurality of connectors in fluid communication with one another and a plurality of valves disposed adjacent the connectors for selectively flowing fluid through the manifold. The connectors define a plurality of exterior ports for communication with wellstrings and fracturing fluid sources. A primary choke in communication with a tubing string and a secondary choke in communication with a casing string can be engaged with exterior ports, the secondary choke useable as a backup choke and for inducing sandouts. The present system can achieve a flow rate of up to 80 barrels per minute, or more, using only a single manifold and single power unit, and can be wirelessly operated. System components can incorporate self-aligning, self-positioning skids, or alternatively, the system can be transported using a single skid to facilitate portability and installation.

The invention relates to a method for real-time vision positioning for a monocular camera, which belongs to the field of computer vision. The method comprises the following steps: firstly, acquiring an object image characteristic point set to establish an object image database and perform real-time trainings; secondly, modeling the camera to acquire model parameters of the camera; and thirdly, extracting a real-time image characteristic point set by the camera, matching real-time image characteristic points with the characteristic point set in the object database, and removing error matching and performing an affine inspection to acquire characteristic point pairs and object type information. The characteristic point pairs and the object type information are used to perform characteristic tracking, and accurate tracking characteristic points of the object image are combined with the model parameters of the camera so as to acquire three-dimensional poses of the camera. The method can achieve the functions of self-positioning and navigation by using a single camera only, thus the system complexity and the cost are reduced.

This invention provides a system and method for automatic (non-manual) calibration of one or more cameras employs a tessellating calibration plate having a checkerboard tile pattern and a plurality of 2D codes embedded within the checkerboard pattern. Each 2D code encodes the (X,Y) coordinates that identify tile calibration feature locations in the pattern, and the remaining, surrounding tiles allow measurement of the corner positions as calibration features. One or more vision system camera(s) can be calibrated to a single coordinate system automatically. During calibration, an image of at least a portion of a calibration plate is acquired, the encoded data is decoded for at least one 2D code within the field of view of each camera and then the position of the field of view is determined on the calibration plate for each camera using the 2D code data and the checkerboard tile pattern.

The invention provides a high-precision map generation method, a device and a storage medium. The method comprises the following steps: the target point cloud data is processed by point cloud splicingto obtain the lidar posture corresponding to the target point cloud data; Lidar-based pose, A target point cloud data is project into a preset two-dimensional region, generating a map based on a reflection value and a height value, wherein the global region comprises a plurality of preset two-dimensional regions, the map based on the reflection value and the height value stores the number of laser points projected therein in units of the preset two-dimensional regions, the reflection value information and the height value information, and the target point cloud data comprises data corresponding to a plurality of laser points; Using the target point cloud data, the map based on the reflection value and height value is verified by self-localization. If the result of the self-positioning verification satisfies the preset conditions, the map based on the reflection value and height value is integrated into the reference map to generate a high-precision map, and the reference map is a mapcreated by Zai. The invention can obtain a high-precision map with a wider application range.

The present invention discloses a doctor-patient prescription interconnection and intelligent medicine storage and distribution system which comprises a doctor prescription terminal, a cloud server, a user mobile terminal and a plurality of medicine dispensing terminals; the doctor prescription terminal is used for generating an electronic prescription and uploading the electronic prescription to the cloud server; the cloud server is used for generating a unique identification code for the electronic prescription and distributing the unique identification code to the user mobile terminal and the medicine dispensing terminals; the user mobile terminal is used for selecting the most suitable medicine dispensing terminal to get the medicine according to self-positioning information and stock information and price information of each medicine dispensing terminal; and the medicine dispensing terminals are used for querying the corresponding electronic prescription from the cloud server according to the unique identification code provided by the user mobile terminal, and dispensing the medicine to the patient. Direct real-time interaction among a medicine user, a doctor and a medicine provider can be established, intermediate links are reduced, and the patient can get the medicine anytime and anywhere. An intelligent closed treatment process is adopted by the system, and the possibility of manual mistakes can be avoided.

The invention discloses a guide interpretation robot based on the human face recognition technology, and a method. The robot comprises a robot body, an upper computer module, a voice module, a sensor module, a moving chassis, a positioning navigation module, and a cloud platform server. Compared with a conventional guide interpretation machine, the robot is simple in structure, is complete in function, and is convenient and intelligent. The positioning navigation module of the chassis of the robot can achieve the building of an environment map and real-time self-positioning. The robot is cooperatively provided with three supersonic sensors, so the robot can achieve the autonomous moving and obstacle avoiding in a better way. The voice module can achieve the voice interaction in the range of 3-5m. A recognition terminal of the robot can capture and recognize the effective human face information, and the effective human face information is transmitted to a cloud server through a network. The identity of a target person is recognized through a recognition algorithm and an information base stored in the server, and the personalized services are provided, thereby improving the experience and satisfaction degree of a visitor.

The invention provides an improved weighting trilateral positioning method based on RSSI (received signal strength indicator) in a wireless sensor network and relates to the field of node self-positioning in the wireless sensor network. The method is used for solving the problem that a bigger positioning error is easily caused by the using of the traditional method which cannot meet the indoor positioning requirement in real life because the traditional method is limited by the factors such as signal multipath transmission, sight distance, low coordinate calculation precision, and the like. The method provided by the invention comprises the following steps: starting an unknown node positioning function and guiding an unknown node to send out a message; after receiving the message from the unknown node by an anchor node, calculating RSSI and storing in a hardware register; sending the ID number, RSSI value and position information (Xi, Yi) (i is equal to 1,2,...), which are distributed to the anchor node, to the unknown node by the anchor node; sequencing the anchor node according to the size of the received RSSI, and choosing N anchor nodes having big RSSI for self-positioning, wherein N is more than or equal to 3; according to the information of N anchor nodes, confirming the weighted value by the using of the trilateral positioning method; and using a weighting algorithm to calculate the coordinate of the unknown node. The method provided by the invention is used for weighting the coordinate information by utilizing the weighting principle.

The invention discloses virtual keyboard system used for Google glasses. The virtual keyboard system is characterized in that a hand tracking system and a self-positioning system are integrated in a Google glasses body; the hand tracking system is used for detecting three-dimensional positioning information and spatial position and angle of the hand; the self-positioning system is fixedly connected onto the Google glasses body and used for acquiring real-time natural movement data of the head and calculating spatial direction, displacement and speed of real-time movement of the head; the Google glasses body collects the information of the hand tracking system and the positioning system and calculating real-time relative movement data. Error responses of an interactive system can be effectively avoided through dependence mapping of a physical plane and a screen; feeling of fatigue resulted in dangling arm operation can be effectively relieved through hand operation on the physical plane; similar to a traditional one, an interactive operating interface is satisfactory to operation habit of an operator and convenient to use; by the introduction of the self-positioning system, the operation displacement problem caused by head movement of a wearer can be effectively removed.

A slat is selectively extended from a main wing body, with a concave rear surface of the slat facing a convex forward nose surface of the wing body, with a slat gap therebetween. At least one row of flexible bristles is movably arranged relative to the lower rear edge of the slat, to flexibly protrude up into the slat air gap. At least one row of flexible bristles is movably arranged along the upper rear edge of the slat to extend rearwardly over the slat air gap and the upper surface of the main wing body. The flexible bristles are flexibly self-positioning and self-contouring due to the aerodynamic forces acting thereon, to improve the air flow conditions through the slat gap, separate the slat gap airflow from an entrapped eddy vortex on the concave rear surface of the slat, and thereby reduce the aerodynamic noise generated along the slat gap.

The invention relates to a self-positioning technology in wireless sensor network, especially a distributed method without anchor position. Various network nodes measure the values of distance from each other to get the neighbor information within the scope of their respective perception, and exchange their estimated coordinates many times. The invention adopts the distributed calculation method, firstly estimates the approximate location of nodes, and then each node itself makes iterative calculation of the estimated coordinate location by using the particle spring optimization model. The invention provides a practical method for the wireless sensor network to get geographic information. In addition, the calculation process is implemented on each node without the large cost of communication required by the centralized control, and has a very low complexity of calculation, so that the consumption of positioning calculation is lower, which is suitable for the self-organizing wireless sensor network with nodes measuring distance.

An open-ocean fish-growing platform has a submersible cage structure for growing fish, an antenna for receiving positioning signals transmitted from an external source, a position-correction apparatus for calculating a position error signal from a target geostatic position, and an ocean thermal energy conversion (OTEC) system for generating electric power for thruster units to maintain the cage structure in the target geostatic position. The OTEC system inducts colder ocean water from a deeper ocean depth for driving its heat exchange cycle, and is also of hybrid type using a fuel-fired unit as a heat source. The cold water effluent from the OTEC system is directed into the cage for flushing wastes generated by the growing fish. The self-positioning, self-powered open-ocean platform enables unmanned, extended marine deployment in deeper ocean waters without the need for tethering or anchoring to the ocean floor.

The invention discloses an AGV navigation method and device constructed by a laser guidance map. The method comprises the following steps that a topology map, a geometric map and a target terminal point of an AGV of a work area are obtained; positioning information, measured by a laser range finder and a speedometer, of the AGV is obtained, and the positioning information comprises position coordinate and self-positioning pose of the AGV; a global programming path is generated according to the positioning information and the topology map; and a grid map related to the position coordinate of the AGV is obtained according to the positioning information, and an instruction for indicating movement of the AGV is generated according to the global programming path. Real-time navigation of the AGV can be realized by obtaining positioning information of the AGV by the laser range finder and the speedometer, and it is not required to add other navigation guiding material or structure to the work area of the AGV.

The invention relates to a method for controlling an automatic real-time color collection robot. The method comprises the steps as follows: (1) the top of a robot is provided with a coping which are distributed with a plurality of color code samples; (2) the color code samples are sampled, and all collected color code information is processed for threshold segmentation; (3) when the robot gets a color overall image, all color block information in the image is obtained by fast color segment and a sequential connected region searching algorithm; (4) relative color block information is obtained by step (3), a color block is picked up and processed for triangular/trapeziform template matching with a template which is stored in advance to find out a proximal template, so as to calculate the pixel coordinate and the angle information in the current static overall image of a target corresponding to the template; (5) the self-positioning operation of the robot is finished; and (6) the path layout of the robot is determined, so as to realize the automatic movement of the robot.

The invention discloses an operation method of a self-positioning robot-based multi-camera parameter automatic calibration system. A self-positioning robot carrying a marker cruises and carries out self-positioning in an offline built environment map to obtain a world coordinate, and a main control computer acquires a camera image and processes the image to obtain an image coordinate of the marker; and the main control computer can automatically carry out the parameter calibration of cameras by combining the dot pair data of more than eight world coordinates and corresponding image coordinates. The operation method provided by the invention has the greatest characteristics of automatically carrying out the parameter calibration on multiple distributed and fixed cameras, greatly reducing labor calibration cost and improving the standardization and accuracy of a calibration process. The upgrading can be realized very conveniently based on the existing monitoring system, and an advanced intelligent algorithm applied to a monitoring and visual system is based on the results of camera calibration, therefore, the operation method provided by the invention has a very broad application and popularization prospect in monitoring systems in the future road traffic, office building corridors, factories, public security and the like.

The invention discloses a robot parallel polishing system which comprises a coarse polishing system, a refined polishing system, a base component, a system control cabinet, a pneumatic control cabinet, a robot vision self-positioning system, workpieces and a working table. The workpieces with large free curved faces can be coarsely and finely polished through the polishing systems at the same time, simultaneous polishing on the two same workpieces can be achieved, the polishing accuracy can be effectively guaranteed, and the polishing efficiency is improved. Before the robot parallel polishing system works, the polishing areas are divided by path generative software according to three-dimensional models of the workpieces, the polishing paths are generated, standards of the workpieces are rapidly and accurately demarcated through the robot vision self-positioning system, two industrial robots drive a pneumatic polishing head to conduct coarse polishing and refined polishing on the polishing areas according to the planed paths, the pneumatic mild force control technology, the normal polishing force control technology and the path real-time calibration compensation technology are adopted in the polishing process, and the polishing accuracy and the coincidence of the polishing quality are effectively guaranteed.

The objective of the invention lies in providing a robot charging method and device. The method comprises the steps: enabling robot to move to a position nearby a potential or registered charging pile according to an environment map and the self-positioning information of the robot, i.e., the posture of the robot in the environment map; carrying out the linear extraction of structural data of an identification through a laser collection device after the robot moves to a short-range pile-searching butt joint region, recognizing the charging pile through combining with the preset identification template structural data, and carrying out the butt joint of the charging pile with the robot for charging when the collected structural data of the identification and the identification template structural data meet a preset matching degree; carrying out the physical connection confirmation according to the voltage condition after the connection of the robot and the charging pile, and guaranteeing the charging correct behavior. The method can achieve the precise recognition of the charging pile, is high in efficiency, is reliable, and effectively irons out defects of a series of pile butt joint jittering, interference and wrong recognition caused by the sensitive characteristics of hardware and the environment interference in the prior art.

The invention discloses a movement classification-based pedestrian self-positioning method. The method comprises the following steps: 1, classifying data output by a wearable IMU on a pedestrian, and recognizing IMU placing positions of feet, a waist and a chest in an adaptive manner; 2, determining thresholds for the movement classification division through analyzing data output by the wearable IMU to classify movement such as staying, walking and running; 3, performing recognition capture at transient moments in the movement state of the pedestrian; 4, acquiring the pedestrian attitude, speed, position information through the navigation solution of strap-down inertial navigation; 5, realizing the adaptive filtering design combined with the IMU position reorganization, the movement classification result and the transient moment detection result; 6, updating a navigation result in the pedestrian movement process. Through the adoption of the method, the movement data classification problem is solved; through the movement classification, different movement types can correspond to different size-length models, so that the positioning accuracy is improved.

The invention relates to a position fingerprint recognize positioning method, wherein it comprises: fixing positioning area, auxiliary area, and relative names, ranges, and extracting the position fingerprint characters, recognizing positioning, training or retraining; the auxiliary area is outside, inside the positioning area or between it and positioning area; the positioning area is set at the position needed high-accuracy position; the auxiliary area is set at the part without high-accuracy position but affected by the positioning area; the positioning and auxiliary areas can be increased or decreased; the position fingerprint data can be downloaded, uploaded or transmitted; the invention can avoid building large position fingerprint database, and user can accurately position at any place, to realize high-accuracy self positioning at high, middle and low movable terminals, to protect personality, without high cost. And the invention can be based on network or third part positioning, to realize positioning at large range at common accuracy and positioning at special position with high accuracy.