Abstract:By designing a forklift-type AGV logistics trolley, in order to realize unmanned warehousing logistics. For the com-plex operation of traditional AGV forklifts, we directly use Android to control the movement of the vehicle, and in-novatively introduce mobile phone control into the work control link of AGV, which greatly improves the work effi-ciency of AGV. In order to solve the problems of complex structure and difficult maintenance of AGVs in the current market, this paper selects ARDUINO UNO R3 as the main control chip, and improves the model to cope with the complex working environment. By installing various sensors on the car body, it can meet the requirements of field use. The designed experiment verifies the ultrasonic obstacle avoidance module, the infrared obstacle avoidance module and the overall performance test to verify that the vehicle can achieve the target function.

Abstract:In this paper, we aim to propose a novel and effective iris segmentation method that is robust to uneven light intensity and different kinds of noises such as occlusion by light spots, eyelashes, eyelids, spectacle-frame, etc. Unlike previous methods, the proposed method makes full use of gray intensities of the iris image. Inspired by the matting algorithm, a premier assumption is made that the foreground and background images of the iris image are both locally smooth. According to the RST algorithm, trimaps are built to provide priori information. Under the assumption and priori, the optimal alpha matte can be obtained by least square loss function. A series of effective post processing methods are applied to the alpha image to obtain a more precise iris segmentation. The experiment on CASIA-iris-thousand database shows that the proposed method achieves a much better performance than conventional methods. Our experimental results achieve 20.5% and 26.4%, more than the well-known integro-differential operator and edge detection combined with Hough transform on iris segmentation rate respectively. The stability and validity of the proposed method is further demonstrated through the complementary experiments on the challenging iris images.

Abstract:For the hand-eye calibration of the vision service robot, the traditional hand-eye calibration technology can’t be realized which because the service robot is independently developed and there is no teaching device to feed back the pose in-formation of the service robot in real time. In this paper, a hand-eye calibration method based on ROS (Robot Operating System) is proposed. In this method, ROS system is used to accurately control the arm of the service robot to rotate in different positions for many times. Meanwhile, the head camera of the service robot takes images of a fixed point in the scene. Then, the nonlinear equations were established according to the homography matrix of the two images and the position and pose information of the ROS system, and the accurate hand-eye relationship was optimized by the least square method. Finally, an experimental platform is built and the proposed hand-eye calibration method is verified. The experiment results show that the method is easy to operate, simple algorithm and correct result, which verifies the ef-fectiveness of the algorithm and provides conditions for the realization of humanoid grasping of visual service robot.

Abstract:To improve intelligent vehicle drive performance and avoid vehicle side-slip during target path tracking, a linearized four-wheel vehicle model is adopted as a predictive control model, and an intelligent vehicle target path tracking method based on a competitive cooperative game is proposed. The design variables are divided into different strategic spaces owned by each player by calculating the affecting factors of the design variables with objective functions and fuzzy clustering. Based on the competitive cooperative game model, each game player takes its payoff as a mono-objective to optimize its own strategic space and obtain the best strategy to deal with others. The best strategies were combined into the game strategy set. Considering the front wheel angle and side slip angle increment constraint, tire side-slip angle, and tire side slip deflection dynamics, it took the path tracking state model was used as the objective, function and the calculation was validated by competitive cooperative game theory. The results demonstrated the effectiveness of the proposed algorithm. The experimental results show that this method can track an intelligent vehicle quickly and steadily and has good real-time performance.

Abstract:In the background of “double carbon,” vigorously developing new energy is particularly important. Wind power is an important clean energy source. In the field of new energy, wind power scale is also expanding. With the wind turbine, the probability of large-scale blade damage is also increasing. Because the large wind turbine blade crack detection cost is high and because of the poor working environment, this paper proposes a wind turbine blade surface defect detection method based on UAV acquisition images and digital image processing. The application of weighted averages to achieve grayscale processing, followed by median filtering to achieve image noise reduction, and an improved histogram equalization algorithm is proposed and used for the characteristics of the UAV acquisition images, which enhances the image by limiting the contrast adaptive histogram equalization algorithm to make the details at the target area and defects more clear and complete, and improves the detection efficiency. The detection of the blade surface is achieved by separating and extracting the feature information from the defects through image foreground segmentation, threshold processing, and framing by the connected domain. The validity and accuracy of the proposed method in leaf detection were verified by experiments.

Abstract:The wireless power transmission system based on nonlinear parity time symmetry is a robust system that can main-tain high-efficiency transmission at a certain distance. Parity-Time Symmetry (PT symmetry) wireless power transfer system, due to its insensitivity to the position of the coupled resonant coil over a large range, can carry out constant power transfer to the load, and through coupled mode theory The PT symmetrical wireless power transmission cir-cuit with S-P structure is analyzed, and the system has different transmission efficiencies in different coupling inter-vals, and the transmission effect of the structure at different distances is studied with the change of coupling coeffi-cient. Then, the simulation is carried out by MATLAB and origin software. The final results show that the transmis-sion efficiency does not change with the coupling coefficient in the strong coupling region and can maintain high-efficiency transmission. In the weak coupling region, the coupling coefficient has a great influence on the transmission efficiency of the system.

Abstract:Magnetic field measurement plays an extremely important role in material science, electronic engineering, power system and even industrial fields. In particular, magnetic field measurement provides a safe and reliable tool for in-dustrial non-destructive testing. The sensitivity of magnetic field measurement determines the highest level of detec-tion. The diamond nitrogen-vacancy (NV) color center is a new type of quantum sensor developed in recent years. The external magnetic field will cause Zeeman splitting of the ground state energy level of the diamond NV color center. Optical detection magnetic resonance (ODMR), using a microwave source and a lock-in amplifier to detect the resonant frequency of the NV color center, and finally the change of the resonant frequency can accurately calcu-late the size of the external magnetic field and the sensitivity of the external magnetic field change. In the experiment, a diamond containing a high concentration of NV color centers is coupled with an optical fiber to realize the prepara-tion of a magnetic field scanning probe. Then, the surface cracks of the magnetized iron plate weld are scanned, and the scanning results are drawn into a two-dimensional magnetic force distribution map, according to the magnetic field gradient change of the magnetic force distribution map, the position and size of the crack can be judged very accurately, which provides a very effective diagnostic tool for industrial safety.