CN104417382B - Vision positioning system - Google Patents
Vision positioning system Download PDFInfo
- Publication number
- CN104417382B CN104417382B CN201310389502.3A CN201310389502A CN104417382B CN 104417382 B CN104417382 B CN 104417382B CN 201310389502 A CN201310389502 A CN 201310389502A CN 104417382 B CN104417382 B CN 104417382B
- Authority
- CN
- China
- Prior art keywords
- electric automobile
- sensor
- vision
- battery
- host computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000000007 visual effect Effects 0.000 claims abstract description 27
- 230000008859 change Effects 0.000 claims abstract description 11
- 230000005611 electricity Effects 0.000 claims description 41
- 230000004807 localization Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This application discloses a kind of vision positioning system, it is applied to battery replacement of electric automobile system, described battery replacement of electric automobile system includes host computer and robot, and the application's is that concrete alignment system includes: First look sensor, the second vision sensor and visual spatial attention main frame；The image information of electric automobile is obtained by First look sensor and the second vision sensor, and then obtained the positional information of electric automobile according to described image information by visual spatial attention main frame, and it is supplied to host computer, and then it is supplied to robot by host computer, robot is that battery changed by electric automobile according to the positional information of described electric automobile, the vision positioning system of the application achieves and is automatically positioned electric automobile, thus provide for the battery change system of electric automobile can implementation condition.
Description
Technical field
The application relates to vision localization technical field, particularly relates to vision localization system in battery replacement of electric automobile system
System.
Background technology
Electric automobile is reproducible green energy resource-electric energy due to its power source, and gradually enters into the life of people, electricity
Electrical automobile is using vehicle power as power, and the concrete form of vehicle power is rechargeable battery, in order to ensure chargeable electricity
Pond can provide enough electric energy for automobile, and the weight and volume of rechargeable battery is the biggest, and battery altering is inconvenient, is badly in need of one
Plant automatic battery replacing system of electric automobile, and automatic battery replacing system of electric automobile need to position electric automobile,
Therefore, it is badly in need of battery replacement of electric automobile system vision positioning system.
Summary of the invention
For solving above-mentioned technical problem, the embodiment of the present application provides a kind of and is applied to regarding of battery replacement of electric automobile system
Feel alignment system, to realize positioning electric automobile, technical scheme is as follows:
The application provides a kind of vision positioning system, is applied to battery replacement of electric automobile system, described electric automobile electricity
Pond is changed system and is included host computer and robot, including: First look sensor, the second vision sensor and visual spatial attention master
Machine；
Described First look sensor and described second vision sensor are separately positioned on the both sides changing electricity region, obtain institute
State the image information changing electricity region；
Described visual spatial attention main frame, is used for the control instruction from described host computer that foundation receives, and regards described in control
The duty of sense sensor, and according to receive the graphical information obtained from described vision sensor obtain described in change electricity region
The positional information of the electric automobile of interior battery to be changed, described positional information includes the coordinate information of electric automobile, electric automobile
The coordinate information of empty battery compartment of the coordinate information of battery compartment, the coordinate information of battery of electric automobile and electric automobile.
Preferably, described visual spatial attention main frame specifically for, when receive ask from the vehicle location of host computer time, logical
Cross the image information changing electricity region described in First look sensor and the acquisition of the second vision sensor, and according to described image information
Obtain the positional information of described vehicle and be supplied to described host computer.
Preferably, described visual spatial attention main frame specifically for, when receive from host computer vehicle location ask time, control
Make described First look sensor and described second vision sensor is sampled simultaneously and obtained the first image letter of described electric automobile
Breath, carries out three-dimensional reconstruction to described electric automobile, it is thus achieved that the coordinate information of described electric automobile；
Receive the vehicle information of the described electric automobile from host computer, retrieve the first image information of described electric automobile
Obtain the position of the battery of described electric automobile, and according to the coordinate information of described electric automobile, it is thus achieved that coordinate information is true
Determine the positional information of battery, it is provided that to described host computer；
Receive the battery compartment Location Request from host computer, control described First look sensor and described second vision passes
Sensor obtains the second image information of described electric automobile simultaneously, according to electric automobile described in described second image information acquisition
The positional information of battery compartment, and it is supplied to described host computer.
Preferably, above-mentioned vision positioning system, after obtaining the coordinate information of described electric automobile, also includes:
Coordinate information and described first image information according to described electric automobile, it is thus achieved that the wheel of described electric automobile
Coordinate information, to reduce the search domain to the battery on described electric automobile.
Preferably, above-mentioned vision positioning system also includes: the first light compensating lamp and the second light compensating lamp；
Described first light compensating lamp is arranged on described First look sensor；
Described second light compensating lamp is arranged on described second vision sensor.
Preferably, described visual spatial attention main frame is additionally operable to, and when changing the intensity of light source in electricity region less than preset value, controls
Described first light compensating lamp and described second light compensating lamp are lighted.
Preferably, the vision of described First look sensor and described second vision sensor is not less than 90 °.
Preferably, described First look sensor and described second vision sensor are installed on distance ground predeterminable range
Place, with ensure described First look sensor and described second vision sensor be obtained in that described in change electricity region electric automobile
Car load image information.
The technical scheme provided from above the embodiment of the present application, described vision positioning system is by being arranged on Huan electricity district
The First look sensor in territory and the second vision sensor obtain the image information of electric automobile, thus true by visual spatial attention main frame
Make the positional information of electric automobile, and be supplied to host computer, be issued to robot by host computer, in order to machine is the most electric
Electrical automobile changes battery.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments described in application, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of vision positioning system of the embodiment of the present application；
Fig. 2 is the installation site schematic diagram of the vision sensor shown in the embodiment of the present application.
Detailed description of the invention
The embodiment of the present application provides a kind of vision positioning system, is applied to battery replacement of electric automobile system, described electronic
Automobile batteries is changed system and is included host computer and robot, and the application's is that concrete alignment system includes: First look sensor,
Second vision sensor and visual spatial attention main frame；Utilize binocular stereo vision location technology, by First look sensor and
Two vision sensors obtain the image information changing electricity region simultaneously, and binocular stereo vision location technology is based on principle of parallax, from
Two width or multiple image quickly reconstruct the three-dimensional information of scene, thus realizes the function such as space orientation and measurement.
Described First look sensor and described second vision sensor are separately positioned on the both sides changing electricity region, obtain institute
State the image information changing electricity region；
Described visual spatial attention main frame, is used for the control instruction from described host computer that foundation receives, and regards described in control
The duty of sense sensor, and according to receive the graphical information obtained from described vision sensor obtain described in change electricity region
The positional information of the electric automobile of interior battery to be changed, described positional information includes the coordinate information of electric automobile, electric automobile
The coordinate information of empty battery compartment of the coordinate information of battery compartment, the coordinate information of battery of electric automobile and electric automobile.
The image information of electric automobile is obtained by First look sensor and the second vision sensor, and then by vision control
Main frame processed obtains the positional information of electric automobile according to described image information, and is supplied to host computer, and then is provided by host computer
To robot, robot is that electric automobile changes battery, the vision localization of the application according to the positional information of described electric automobile
System achieves and is automatically positioned electric automobile, thus provide for the battery change system of electric automobile can implementation condition.
For the technical scheme making those skilled in the art be more fully understood that in the application, real below in conjunction with the application
Execute the accompanying drawing in example, the technical scheme in the embodiment of the present application is clearly and completely described, it is clear that described enforcement
Example is only some embodiments of the present application rather than whole embodiments.Based on the embodiment in the application, this area is common
The every other embodiment that technical staff is obtained under not making creative work premise, all should belong to the application protection
Scope.
Refer to Fig. 1, it is shown that the structural representation of a kind of vision positioning system of the embodiment of the present application, described vision localization
System is applied to battery replacement of electric automobile system, and described battery replacement of electric automobile system includes host computer and robot.Institute
State vision positioning system to include: First look sensor the 1, second vision sensor 2 and visual spatial attention main frame 3；
First look sensor 1 and the second vision sensor 2 are separately mounted to change the both sides in electricity region, concrete, and first
The installation site of vision sensor 1 and the second vision sensor 2 be able to ensure that described in change electricity region fall at First look sensor 1
With in the visual field of the second vision sensor 2.
Wherein, the visual angle of First look sensor 1 and the second vision sensor 2 is not less than 90 °, and lens focus can select
14mm wide-angle lens, and First look sensor 1 and the second vision sensor 2 have waterproof and dustproof and moistureproof effect.
In conjunction with Fig. 2, it is shown that the installation site schematic diagram of vision sensor, as in figure 2 it is shown, First look sensor 1 is pacified
It is contained in the side of the length direction changing electricity region, and the optical axis of First look sensor becomes to preset with the described long limit changing electricity region
Angle, thus ensure that the long limit of whole piece changing electricity region falls in the visual field of First look sensor；
Second vision sensor 2 is arranged on the side on another the long limit changing electricity region, and the optical axis of the second vision sensor
Become predetermined angle with the described long limit changing electricity region, thus ensure that the long limit of whole piece changing electricity region falls at the second vision sensor
In visual field.
Two vision sensors are installed at the predeterminable range of distance ground, and described predeterminable range can be according to changing electricity region
Specific environment determines, such as, the described predeterminable range in the application can be 25cm.
Vision sensor is the primary signal source of vision positioning system, the quality of vision sensor and the matter of generation image thereof
Amount will directly affect the performance of whole vision positioning system, and the practical situation on-the-spot according to changing electricity, the vision sensor of selection is built
View meets claimed below: resolution is not less than 12,000,000 pixels；Binocular sample-synchronous triggering precision is not higher than 0.02 second.
After installing vision positioning system, vision positioning system is carried out self and demarcates, and and battery replacement of electric automobile
Battery replacement device (transfer platform, robot) in system is demarcated, and with unified coordinate system, calibration result is as vision localization system
The initial value of system, periodically carries out intelligent monitoring and correction to calibrated error, it is ensured that the accurate and effective of calibration result.
Described vision positioning system is by comparing two obtained respectively by First look sensor and the second vision sensor
In the sampling time of image, the parameter such as exposure intensity judges image whether synchronized sampling, if two images are not synchronization gains,
After Preset Time, then again automatically obtain the image information changing electricity region；Image is analyzed i.e. three-dimensional reconstruction, it is thus achieved that car
Whether body parks pose information, and then, vision positioning system is according to the vehicle parameter of Current vehicle, it is judged that exist in changing electricity region
The barrier that impact identifies, if it has, then return exceptional value to host computer, carries out prompting of clearing out a gathering place；Use binocular visual positioning skill
Art can adapt to the situations such as rainy day excess surface water, gets rid of the impact on identifying of the vehicle mirror picture.
Visual spatial attention main frame 3 utilize inside visual spatial attention software to input the pretreatment of view data, three-dimensional reconstruction,
The work such as three-dimensional identification and measurement, then, obtain result by certain computing, and this result is probably PASS/FAIL signal, seat
The positional information such as cursor position, the anglec of rotation, wherein, PASS signal show battery door can open and meet replacing condition it
One；FAIL signal shows that battery door may be not switched on or not up to replacing condition.Condition of wherein changing includes: battery door
Open and the battery of electric automobile is normal cell.Normal cell be national regulation electric automobile can will specify it
The battery of available standard configuration.
For obtaining more preferably real-time, generally it is required for selecting the multi-core CPU of upper frequency.Meanwhile, in order to reduce industry
The interference of on-the-spot electromagnetism, vibration, dust, temperature etc., the computer of visual spatial attention Selection of chiller technical grade realizes.
After electric automobile enters and changes electricity region, user opens vehicle-mounted battery compartment door, and staff passes through vision localization system
The image information changing electricity region of system acquisition confirms to change all to leave without personnel, personnel on electricity region clear, car changes electricity region
After, start and change electric current journey, now, visual spatial attention main frame 3 receives the vehicle location request that host computer issues, and is passed by First look
Sensor and the second vision sensor obtain this and change electricity regional image information, according to the position of described image information acquisition electric automobile
Information, described positional information includes the coordinate information of the battery compartment of the vehicle body coordinate information of electric automobile, electric automobile, electronic vapour
The coordinate information of the battery of car and the coordinate information of the empty battery compartment of electric automobile.
When being embodied as, when visual spatial attention main frame 3 receives the vehicle location request that host computer issues, trigger First look
Sensor and the second vision sensor are exchanged electricity region simultaneously and are sampled, it is thus achieved that the first image information, to the first image information
In electric automobile carry out three-dimensional reconstruction, it is thus achieved that the coordinate information of electric automobile；Then, according to receive from host computer
The vehicle information of electric automobile, retrieves the first image information corresponding to described electric automobile and obtains the battery institute of electric automobile in place
Put, then the coordinate information according to described electric automobile, obtain the coordinate information of described battery and be supplied to host computer；Host computer will
The coordinate information of battery is supplied to robot, robot take out the empty battery in electric automobile.
Preferably, before determining the coordinate information of battery, it is also possible to include the coordinate information according to electric automobile and institute
State the first image information, it is thus achieved that the coordinate information of the wheel of electric automobile, then the area reseach battery between two wheels
Position, thus reduce the search domain of the battery to electric automobile.
After robot takes out the battery of electric automobile, host computer receives the feedback letter that the power taking pond action of robot completes
After breath, issuing battery compartment Location Request to visual spatial attention main frame, now, First look sensor and the second vision sensor are simultaneously
Exchange electricity region carries out sampling and obtains the second image information, is analyzed obtaining the electricity of electric automobile to described second image information
The coordinate information of Chi Cang and rotation information, and it is supplied to host computer, coordinate information and the rotation information of battery compartment are carried by host computer
Supply equipment people, will be expired battery by robot and put in battery compartment.
Above-mentioned vision positioning system is realized by First look sensor, the second vision sensor and visual spatial attention main frame
To the battery compartment on electric automobile and electric automobile and the location of battery, realize the most more for battery replacement of electric automobile system
Changing that battery provides can implementation condition.
Preferably, above-mentioned vision positioning system also includes the first light compensating lamp 4 and the second light compensating lamp 5, wherein, the first light filling
Lamp 4 is arranged on First look sensor 1, and the second light compensating lamp 5 is arranged on the second vision sensor 2.
When the intensity of light source changing electricity region is not enough, it is impossible to when making vision sensor normal imaging or imaging noise more, need
Utilize the first light compensating lamp 4 and the second light compensating lamp 5 to exchange electricity region and provide auxiliary light, so that vision sensor obtains picture
Image clearly.
It should be noted that in this article, the relational terms of such as first and second or the like is used merely to a reality
Body or operation separate with another entity or operating space, and deposit between not necessarily requiring or imply these entities or operating
Relation or order in any this reality.
The above is only the detailed description of the invention of the application, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the application principle, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as the protection domain of the application.
Claims (6)
1. a vision positioning system, is applied to battery replacement of electric automobile system, described battery replacement of electric automobile system bag
Include host computer and robot, it is characterised in that including: First look sensor, the second vision sensor and visual spatial attention main frame；
Described First look sensor and described second vision sensor are separately positioned on the both sides changing electricity region, change described in acquisition
The image information in electricity region；
Described visual spatial attention main frame, for when receiving the vehicle location request from host computer, controlling described First look
Sensor and described second vision sensor are sampled simultaneously and are obtained the first image information of described electric automobile, to described electronic vapour
Car carries out three-dimensional reconstruction, it is thus achieved that the coordinate information of described electric automobile；
Receiving the vehicle information of the described electric automobile from host computer, the first image information retrieving described electric automobile obtains
The position of the battery of described electric automobile, and according to the coordinate information of described electric automobile, it is thus achieved that coordinate information determines electricity
The positional information in pond, it is provided that to described host computer；
Receive the battery compartment Location Request from host computer, control described First look sensor and described second vision sensor
Obtain the second image information of described electric automobile, according to the battery of electric automobile described in described second image information acquisition simultaneously
The positional information in storehouse, and it is supplied to described host computer.
Vision positioning system the most according to claim 1, it is characterised in that at the coordinate information obtaining described electric automobile
Afterwards, also include:
Coordinate information and described first image information according to described electric automobile, it is thus achieved that the seat of the wheel of described electric automobile
Mark information, to reduce the search domain to the battery on described electric automobile.
Vision positioning system the most according to claim 1, it is characterised in that also include: the first light compensating lamp and the second light filling
Lamp；
Described first light compensating lamp is arranged on described First look sensor；
Described second light compensating lamp is arranged on described second vision sensor.
Vision positioning system the most according to claim 3, it is characterised in that described visual spatial attention main frame is additionally operable to, when changing
When the intensity of the light source in electricity region is less than preset value, controls described first light compensating lamp and described second light compensating lamp is lighted.
Vision positioning system the most according to claim 1, it is characterised in that described First look sensor and described second
The vision of vision sensor is not less than 90 °.
Vision positioning system the most according to claim 1, it is characterised in that described First look sensor and described second
Vision sensor is installed at the predeterminable range of distance ground, to ensure described First look sensor and described second visual sensing
Device changes the car load image information of electric automobile in electricity region described in being obtained in that.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310389502.3A CN104417382B (en) | 2013-08-30 | 2013-08-30 | Vision positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310389502.3A CN104417382B (en) | 2013-08-30 | 2013-08-30 | Vision positioning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104417382A CN104417382A (en) | 2015-03-18 |
| CN104417382B true CN104417382B (en) | 2016-12-28 |
Family
ID=52967872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310389502.3A Expired - Fee Related CN104417382B (en) | 2013-08-30 | 2013-08-30 | Vision positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104417382B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106603704A (en) * | 2016-12-30 | 2017-04-26 | 燕山大学 | Distributed cluster video feedback system based on cloud computing |
| CN108189681A (en) | 2017-04-01 | 2018-06-22 | 上海电巴新能源科技有限公司 | Electric vehicle changes electric control method and system |
| CN113665337B (en) * | 2017-04-01 | 2024-05-03 | 上海电巴新能源科技有限公司 | Battery locking and unlocking system, electric vehicle power conversion control system and control method thereof |
| CN107264486A (en) * | 2017-05-18 | 2017-10-20 | 上海蔚来汽车有限公司 | Vision positioning changes method for electrically and system |
| CN107421536A (en) * | 2017-06-29 | 2017-12-01 | 百度在线网络技术（北京）有限公司 | Panorama gathers localization method, device, equipment and the computer-readable recording medium of picture point |
| WO2020020372A1 (en) * | 2018-07-27 | 2020-01-30 | 奥动新能源汽车科技有限公司 | Visual analysis system and method applied to battery swap of vehicle |
| CN114834304A (en) * | 2018-07-27 | 2022-08-02 | 奥动新能源汽车科技有限公司 | Visual analysis system and method applied to vehicle battery replacement |
| CN114714964A (en) * | 2018-07-27 | 2022-07-08 | 奥动新能源汽车科技有限公司 | Visual analysis system and method applied to vehicle battery replacement |
| CN109584200B (en) * | 2018-09-06 | 2023-08-04 | 蔚来(安徽)控股有限公司 | Visual positioning system and positioning method in power exchange station |
| CN112297938B (en) * | 2019-07-24 | 2023-11-03 | 杭州海康机器人股份有限公司 | Full-automatic battery disassembling and replacing method, device and system |
| CN110733377A (en) * | 2019-10-28 | 2020-01-31 | 广东博智林机器人有限公司 | quick alignment system |
| CN112810603B (en) * | 2019-10-31 | 2022-08-26 | 华为云计算技术有限公司 | Positioning method and related product |
| EP4152745A1 (en) * | 2020-05-15 | 2023-03-22 | Aulton New Energy Automotive Technology Group | Visual positioning system, battery replacing device, and battery replacement control method |
| CN113895289B (en) * | 2020-07-06 | 2023-08-25 | 奥动新能源汽车科技有限公司 | Positioning method and system of battery replacement equipment, and battery replacement method and system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR910006494B1 (en) * | 1988-07-13 | 1991-08-27 | 삼성전자 주식회사 | Device exchanging battery in non-human carrier |
| GB2277067A (en) * | 1993-04-13 | 1994-10-19 | William Chilton | Station for changing and recharging batteries for electric cars |
| KR101313279B1 (en) * | 2011-06-01 | 2013-09-30 | 국민대학교산학협력단 | Battery Exchanging Method for Electric Vehicle |
| CN202541497U (en) * | 2012-02-14 | 2012-11-21 | 阿尔特汽车技术股份有限公司 | Battery replacing equipment of electric vehicle |
| CN102825608A (en) * | 2012-09-04 | 2012-12-19 | 上海松盛机器人***有限公司 | Battery exchange mechanical arm structure of electric vehicle |
| CN103192688B (en) * | 2013-04-11 | 2016-05-04 | 杭州大清智能技术开发有限公司 | A kind of batteries of electric automobile localization method based on stereoscopic vision |
-
2013
- 2013-08-30 CN CN201310389502.3A patent/CN104417382B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104417382A (en) | 2015-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104417382B (en) | Vision positioning system | |
| CN103192688B (en) | A kind of batteries of electric automobile localization method based on stereoscopic vision | |
| CN103712556B (en) | Alignment system and the method for vehicle location | |
| US10192440B2 (en) | System for displaying parking spaces | |
| CN202782968U (en) | Vehicle-mounted measure integrated system based on laser scanning and panorama images | |
| WO2018122819A1 (en) | Binocular image analysis-based asphalt road surface damage detection system | |
| CN103290766A (en) | Pavement crack detection system | |
| CN110517216A (en) | A kind of SLAM fusion method and its system based on polymorphic type camera | |
| CN102061659A (en) | Urban road pavement routine inspection equipment | |
| CN105612909A (en) | Vision and multisensory fusion based intelligent mowing robot control system | |
| US10197412B2 (en) | Electric vehicle charging | |
| CN103048995A (en) | Wide-angle binocular vision identifying and positioning device for service robot | |
| CN206193685U (en) | Virtual reality system | |
| CN105667540B (en) | Track condition detection system | |
| CN201983923U (en) | Automanual special vehicle lamp light detector | |
| CN109460033A (en) | A kind of intelligent inspection robot | |
| CN204240947U (en) | The contact net geometric parameter measurement instrument of view-based access control model measuring technique | |
| CN110900618A (en) | Automatic inspection system based on robot | |
| CN109785431A (en) | A kind of road ground three-dimensional feature acquisition method and device based on laser network | |
| CN206363159U (en) | A kind of community security patrol robot system | |
| CN202641481U (en) | Patrol car for municipal road management tour | |
| CN103092151A (en) | Transformer substation intelligent tour-inspection device | |
| CN201130434Y (en) | Intelligent work platform for perambulating locale of road traffic accident | |
| CN209044869U (en) | A kind of radium-shine projection traffic sign equipment | |
| CN208141610U (en) | A kind of road bend road conditions display system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161228 Termination date: 20210830 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |