42 results about "Straight line trajectory" patented technology

The invention belongs to the technical field of stereoscopic vision based on a binocular camera, in particular to a straight line trajectory fast calculation method free of binocular synchronization.The method comprises the following steps: a binocular camera shoots a target object which moves in a straight line, left and right cameras obtain images respectively, pixel coordinates of the target object in the images are obtained, a space camera coordinate system is established with the optical center of a left eye or a right eye camera in the binocular camera as an origin, and two-dimensionalpoints in the images are converted into three-dimensional points in the space; In the camera coordinate system, the coordinates of the target points are extracted from any two images of the left-eye camera respectively, and the plane equation I is determined with the left eye center, and the coordinates of the target points are extracted from any two images of the right-eye camera respectively, and the plane equation II is determined with the right eye center, and the linear motion trajectory can be determined by intersecting the two planes. This method does not need binocular image feature point matching to calculate the linear motion trajectory, which reduces the complexity of trajectory calculation and solves the difficulty of feature point matching in the traditional binocular distancemeasurement method under high-speed camera.

A system for detecting and classifying small amounts of explosives and other controlled substances while rejecting confounders, including a source / detector array formed of a plurality of sources and a plurality of detectors, a signal processor coupled to the source / detector array for processing data received from the detectors, a classifier coupled to the signal processor for classifying data received from the signal processor according to a plurality of algorithms, a maximal rejection classifier coupled to the classifier; and a declarative decision module coupled to the maximal rejection classifier for rendering an accurate decision regarding the contents of the object is provided. The apparatus includes an enclosure, a shield layer disposed within the enclosure, a cavity disposed within the shield layer, a plurality of neutron sources and a detection array disposed within the cavity, and a transport mechanism for moving objects through the cavity past the sources and detection array. The cavity has one or more turns which preclude a straight line trajectory through the cavity. The shield layer is water-filled to prevent stray radiation from exiting the enclosure. The use of multiple lower power neutron sources and the particular geometry of the enclosure provide a compact, relatively lightweight explosive detection system which is practical for use in airports and other public locations.

A method of operating a navigation system in a vehicle may include invoking an off-road mode of the navigation system; displaying an off-road terrain on a navigation system display; displaying a present location of the vehicle on the display, inputting a user-input off-road destination into the navigation system; inputting a user-input off-road waypoint into the navigation system; displaying straight line trajectories between the start point, the user-input off-road waypoint and the destination on a display of the navigation system and displaying a real-time path of on-screen breadcrumbs as the vehicle travels off-road in current or real-time; shifting on the display, each user-entered off-road waypoint to a closest on-screen breadcrumb of the real-time path; shifting on the display, the user-entered destination to the closest on-screen breadcrumb; and storing the real-time path in a memory of a navigation control unit.

The invention relates to a cone beam CT circular-linear track back projection filtering reconstruction method. M-lines are selected according to the imaging geometry characteristics of a circular-linear scanning track; a back projection integral interval is determined by calculating the endpoint coordinates of an R-line passing through the reconstruction points on the M-lines; and object reconstruction is implemented through Hilbert transform. The problem of cone angle effect during big-cone-angle scanning of a single circular track can be solved effectively. A linear scanning track is added on the basis of circular track scanning, so the conditions of perfect reconstruction are satisfied, and complete reconstruction projection data is obtained. The method can be better applied to actual scanning, effectively improves the quality of an image reconstructed at a big cone angle, and is of important practical significance to the expansion of the application range of cone beam CT scanning.

It is disclosed an imaging system comprising: radiation generating means including at least one radiation source for generating radiations; data acquiring means including an detector matrix faced the radiation source for obtaining projection data by receiving radiations penetrated through an object to be inspected; transporting means for making the object to be inspected between the radiation source and the detector matrix linearly moving relative to the radiation source and the detector matrix; and controlling and image processing means for controlling the radiation generating means, the data acquiring means and the transporting means, and for reconstructing an image of the object to be inspected from the projection data. The imaging system according to the present invention achieves a real stereoscopic radiography by using straight-line trajectory scan and reconstructing a tomographic or stereoscopic image through a straight-line filtered back-projection algorithm. The present imaging system has advantages of fast examination speed, no rotation, and out of large cone-angle problem in a circular-orbit cone-beam CT.

A sliding shutter apparatus comprising an opening of a predetermined shape, a shutter adapted to seal the opening in closed position and unseal the opening in opened position, and guiding means for facilitating movement of the shutter along a single straight line trajectory between opened and closed positions.

The invention relates to an envelope die design method for improving the spatial envelope forming precision under a linear trajectory. The method comprises the following steps of S1, building an O-xyzrectangular coordinate system through employing the highest plane geometric midpoint O of the upper surface of a component as the origin of coordinates; S2, generating an envelope mold design principle based on a component inversion method, and enabling the component to perform linear reciprocating swing motion around a rotating shaft; S3, dispersing and extracting the coordinates of the points on the upper surface of the component, and putting the coordinates into a set V1; S4, obtaining a point set V1' under different rotation angles from the point set V1 in the step S3 according to the movement in the step S2, wherein the set is the overall point cloud during the reverse movement process of the component, and the point cloud on the upper surface of the set is the envelope mold; and S5,extracting the upper surface points from the V1' point set by utilizing a boundary extraction algorithm, and putting the upper surface points into a point set V2, so that the point set V2 is the surface points of the envelope mold under the linear track. The envelope mold obtained by the method does not interfere with the upper surface of the component, and thus the spatial envelope forming precision of the component is improved.

It is disclosed a system and a method for reconstructing an image by using a straight-line trajectory scan to avoid image spatial resolution reduction due to interpolations in angular direction and detector direction during data rebinning. This system comprises: a projection data conversion section for converting projection data from straight-line trajectory scan into projection data under quasi-parallel-beam scan; a filtration section for obtaining filtered projection data by convoluting the projection data under quasi-parallel-beam scan with a predetermined convolutional kernel; and a back-projection section for reconstructing an image by back-projecting the filtered projection data with a weighting factor. By using the inventive system and method, the spatial resolution in the reconstructed image is improved, and the influence of data truncation on the reconstructed image is reduced. The present invention applies the filtration and back-projection mode, and thus has general advantages of the filtration and back projection, such as simplicity and efficiency. And it is easy to be parallelized and accelerated.

The invention relates to a method and an installation for automatically measuring linear dimensions of manufactured objects (2) of a series comprising:the disposition of at least one focal point (Fj) of X-rays, on a same base straight line parallel to the rectilinear trajectory of displacement of the objects and of one or several image sensors (Ci);the acquisition, for each object during its displacement, of a set of one-dimensional images comprising, for a number (NK) of distinct section planes (Pk) containing the base straight line, a number (NP) of said images obtained along at least three different directions of projection (Dijk) in the section plane;for each object, and for each distinct section plane (Pk), the determination, from the images obtained, of a delineation of the object in the considered section plane (Pk).

According to a multi-robot fiber placement track fixed angle design method, an out-of-plane reference line is selected, a fixed angle track is generated, the method is based on gridding curved surfacetrack planning, the application range is wide, and the method is not limited by the shape and type of the curved surface; the problem of solving a curve track on a free-form surface is converted intothe problem of solving a straight line track on a micro plane, in addition, track planning is convenient to perform due to selection of a reference line, the track planning difficulty is effectivelyreduced, and the operation efficiency is high; independent trajectory planning software can be developed according to algorithm characteristics, the development cost is low, and algorithm improvementand version upgrading are easy.

A method for recording and predicting position data for a self-propelled wheeled vehicle (1) carrying a load (14) is provided whereby the vehicle (1) is caused to move along a ground surface (5) along a predominantly straight line trajectory (17) by rotating at least one load carrying wheel (3) in frictional engagement with the surface (5), angular rotation data of at least one wheel (3) is obtained, absolute position data are obtained at different predetermined fixed positions Pn of the vehicle (1) with respect to the surface (5) along the straight line trajectory (17), whereby the distance travels is measured independently and used to calibrate motion sensors on board the vehicle. The invention also comprises a delivery or pick up system, a program for an on-board computing device and an on-board computing device.

The invention discloses a method for improving the uniformity of coating thickness in automatic spraying, which belongs to the technical field of robot spraying, and is characterized in that it comprises the following steps: a. Set the spraying width of the spraying gun of the spraying robot to L, divide one spraying width into N Second lap; b. Write the spraying program for the parts; c. Insert the first 1 / 4 arc, and set the shooting command at the end of the arc; then insert the second 1 / 4 arc; then insert a straight line track, the straight track is parallel to the last straight track, and the starting point of the straight line is not provided with a switch gun command; until the rest of the program track is compiled; d, the program track is imported into the spraying robot, and the parts are positioned in the spraying area, and the paint is added. The spraying robot starts the program and completes the spraying. For complex parts with concave shape or narrow space, the invention can continuously spray all the curved surfaces at one time, effectively guarantee the uniformity of the coating thickness in the left and right overlapping areas of the parts, and improve the spraying efficiency.

The invention discloses a method for analyzing the trajectory accuracy of an industrial robot based on continuous dynamic time warping. Based on the idea of ​​dynamic programming, the optimal matching point in two sequences is searched step by step. Define the cumulative distance matrix D as the similarity measure of two trajectory sequences. The two sequences are interpolated, and the regularization path satisfies a certain optimal strategy to minimize the cumulative distance, and the backtracking method is used to search from the back to the front to minimize the cumulative distance of the two sequences. The invention adopts the CDTW algorithm and analyzes the mapping between track points to solve the problem that the command track and the actual track are affected by the motion speed and motion deviation of the robot, the sampling frequency of the measurement system, and the measurement error when the plane is constructed by the non-linear track method. Mapping errors occur between points, resulting in large trajectory measurement errors. By measuring and analyzing the trajectory accuracy of industrial robots, the problem of mapping errors in the standard method can be effectively avoided and the trajectory accuracy can be improved.

A method of operating a navigation system in a vehicle may entail invoking an off-road mode of the navigation system; displaying a first off-road terrain on a navigation system display; displaying a first present location of the vehicle on the display, inputting a first user-input off-road destination into the navigation system; inputting a first user-input off-road waypoint into the navigation system; displaying straight line trajectories between the start point, the first user-input off-road waypoint and the destination on a display of the navigation system and displaying a first real-time path of on-screen breadcrumbs as the vehicle travels off-road in current or real-time; shifting on the display, each user-entered off-road waypoint to a closest on-screen breadcrumb of the first real-time path; shifting on the display, the user-entered destination to the closest on-screen breadcrumb; and storing the first real-time path in a memory of a navigation control unit.