Deep Learning Based Automatic Charging Identification and Positioning Method for Electric Vehicle

Electric vehicle charging identification and positioning is critically important to achieving automatic charging.In terms of the problem of automatic charging for electric vehicles,a dual recognition and positioning method based on deep learning is proposed.The method is divided into two parts:global recognition and localization and local recognition and localization.In the specific implementation process,the collected pictures of electric vehicle charging attitude are classified and labeled.It is trained with the improved YOLOv4 networkmodel and the corresponding detectionmodel is obtained.The contour of the electric vehicle is extracted by the BiSeNet semantic segmentation algorithm.The minimum external rectangle is used for positioning of the electric vehicle.Based on the location relationship between the charging port and the electric vehicle,the rough location information of the charging port is obtained.The automatic charging equipment moves to the vicinity of the charging port,and the camera near the charging gun collects pictures of the charging port.The model is detected by the Hough circle,the KM algorithmis used for featurematching,and the homography matrix is used to solve the attitude.The results show that the dual identification and location method based on the improved YOLOv4 algorithm proposed in this paper can accurately locate the charging port.The accuracy of the charging connection can reach 80%.It provides an effective way to solve the problems of automatic charging identification and positioning of electric vehicles and has strong engineering practical value.

High-precision automatic measurement of two-dimensional geometric features based on machine vision

To realize high-precision automatic measurement of two-dimensional geometric features on parts, a cooperative measurement system based on machine vision is constructed. Its hardware structure, functional composition and working principle are introduced. The mapping relationship between the feature image coordinates and the measuring space coordinates is established. The method of measuring path planning of small field of view （FOV） images is proposed. With the cooperation of the panoramic image of the object to be measured, the small FOV images with high object plane resolution are acquired automatically. Then, the auxiliary measuring characteristics are constructed and the parameters of the features to be measured are automatically extracted. Experimental results show that the absolute value of relative error is less than 0. 03% when applying the cooperative measurement system to gauge the hole distance of 100 mm nominal size. When the object plane resolving power of the small FOV images is 16 times that of the large FOV image, the measurement accuracy of small FOV images is improved by 14 times compared with the large FOV image. It is suitable for high-precision automatic measurement of two-dimensional complex geometric features distributed on large scale parts.

Automatically positioning microseismic sources in mining by the stereo tomographic method using full wavefields

For microseisimic monitoring it is difficult to determine wave modes and their propagation velocity. In this paper, we propose a new method for automatically inverting in real time the source characteristics of microseismic events in mine engineering without wave mode identification and velocities. Based on the wave equation in a spherical coordinate system, we derive a tomographic imaging equation and formulate a scanning parameter selection criterion by which the microseisimic event maximum energy and corresponding parameters can be determined. By determining the maximum energy positions inside a given risk district, we can indentify microseismic events inside or outside the risk districts. The synthetic and field examples demonstrate that the proposed tomographic imaging method can automatically position microseismic events by only knowing the risk district dimensions and range of velocities without identifying the wavefield modes and accurate velocities. Therefore, the new method utilizes the full wavefields to automatically monitor microseismic events.

Positioning-control Based on Trapezoidal Velocity Curve for High-precision Basis Weight Control Valve

Traditionally, basis weight control valve is driven by a constant frequency pulse signal. Therefore, it is difficult for the valve to match the control precision of basis weight. Dynamic simulation research using Matlab/Simulink indicates that there is much more overshoot and fluctuating during the valve-positioning process. In order to improve the valve-positioning precision, the control method of trapezoidal velocity curve was studied. The simulation result showed that the positioning steady-state error was less than 0.0056%, whereas the peak error was less than 0.016% by using trapezoidal velocity curve at 10 positioning steps. A valve-positioning precision experimental device for the stepper motor of basis weight control valve was developed. The experiment results showed that the error ratio of 1/10000 positioning steps was 4% by using trapezoidal velocity curve. Furthermore, the error ratio of 10/10000 positioning steps was 0.5%. It proved that the valve-positioning precision of trapezoidal velocity curve was much higher than that of the constant frequency pulse signal control strategy. The new control method of trapezoidal velocity curve can satisfy the precision requirement of 10000 steps.

Predictive Control and Implementation of Mooring Automatic Positioning System for Deepwater Semi-Submersible Platform

The automatic positioning control of mooring system for deepwater semi-submersible platform has become a key issue in the research and development field of deep-sea resources. The Dual-Stage Actuator (DSA) proposed in this paper can replace the single actuator to achieve the high speed and high precision positioning by cooperative control. The relative model and control algorithm of motion trajectory (CAMT) are designed and validated, which proves that the method proposed in this paper is effective.

Implementation of Mooring Automatic Positioning System for Deepwater Semi-Submersible Platform Based on Dual-Stage Actuator

The automatic positioning control of mooring system for deepwater semi-submersible platform has become a key issue in the research and development field of deep-sea resources. The Dual- Stage Actuator (DSA) proposed in this paper can replace the single actuator to achieve the high speed and high precision positioning by cooperative control. The relative model and control algorithm of motion trajectory (CAMT) are designed and validated, which proves that the method proposed in this paper is effective.

Design and Implementation of Automatic Following Balancing Vehicle Based on UWB Positioning Principle

With the modernization of industrial production,various automatic following technologies have gradually penetrated into people's lives.Among them,the application fields that follow mobile balancing vehicles range from the structured environment of factories to the daily living environment.The purpose of this subject is to be able to use UWB positioning technology to realize that the balanced trolley is an automatic following function,which mainly uses the ranging function in UWB positioning technology,uses the TOF ranging principle and embedded basic knowledge,and changes the positioning algorithm to a following algorithm.The distance between the target object and the person is effectively determined by two tags set on the trolley and a base station in the hand to determine the distance,and the distance information is transmitted through the serial port.By writing an algorithm,the distance information is converted to the driving information of the trolley,and the driving information is sent to the trolley to control the trolley,thereby realizing the task of balancing the trolley to follow the specified target in a simple indoor environment.

A Laser Line Scanner Based Hole Position Correction Mechanism for Automatic Drilling and Riveting in Aircraft Assembly

The low-stiffness of aircraft skins may results in the differences between aircraft actual parts and their theoretical models,which will consequently affect the accuracy of automatic drilling and riveting in aircraft assembly.In this paper,a novel approach of hole position correction using laser line scanner(LLS)is proposed to assign a single row of holes on the parts’surfaces.First,we adopt a space circle fitting method and the random sample consensus(RANSAC)to obtain the precise coordinates of center of the datum holes’coordinates.Second,LLS is calibrated by the laser tracker,and the relations between the LLS coordinate system and the tool coordinate system(TCS)can be calculated.Third,the kinematics model of the automatic riveting machine is established based on a two-point referencing strategy proposed in this paper.Thus,the positions of the holes to be drilled can be adjusted.Finally,the experimental results show that in TCS the measurement error of LLS is less than 0.1 mm,and the correction error of the hole position is less than 0.5 mm,which demonstrates the reliability of our method.

Research on key control technologies of all-position automatic welding machine

The pipeline all-position automatic welding machine system is a special welding system for automatically welding circumferential joint of pipeline on site, which has been widely used to the long-distance pipeline construction projects due to the advantages of automatic control for welding parameters at all-position, moving speed of bugs and operating. In this paper, the key control technologies of PAWM all-position automatic welding machine （ developed by Pipeline Research Institute of CNPC） such us the automatic control system, control software, personal digital assistant （PDA） software and complex programmable logic device （ CPLD ） program as well us the control method of welding parameter have been described detailedly. With the higher welding quality, higher welding effwiency and lower labor intensity, PA WM all-position automatic welding machine has been successfully applied in many famous pipeline construction projects.

Research and Application of All-Position Automatic Welding Machine

The all position automatic welding machine system is the special welding system for pipeline girth automatic welding on site, which has been widely used in the long distance pipeline construction projects due to the advantages of automatic control for welding parameters at all position, moving speed of bugs and operating. This automatic pipeline welding system has been successfully used in several main pipeline projects in China, and has been approved by the constructors with the benefits of higher quality passing rate, higher welding efficiency and lower labor intensity.

METHODS OF VISUAL RECOGNITION,POSITIONING AND ORIENTATING OF 3 D SIMPLE GEOMETRIC WORKPIECE

The methods of visual recognition,positioning and orienting with simple 3 D geometric workpieces are presented in this paper.The principle and operating process of multiple orientation run length coding based on general orientation run length coding and visual recognition method are described elaborately.The method of positioning and orientating based on the moment of inertia of the workpiece binary image is stated also.It has been applied in a research on flexible automatic coordinate measuring system formed by integrating computer aided design,computer vision and computer aided inspection planning,with a coordinate measuring machine.The results show that integrating computer vision with measurement system is a feasible and effective approach to improve their flexibility and automation.

Study on full automatic arc welding machine for spherical tank

A full automatic welding machine for spherical tanks' all position multi layer welds has been developed. This machine is mainly composed of a two dimension seam tracking system based on microcomputer's memory and a welding tractor as well as rail. The main features of the machine are: while welding the first layer of a seam, its microcomputer system can analyze and store the tracing information from a two dimension sensor, and control the welding head device to realize two dimension real time tracing; while welding the second layer up to the top layer of the seam, it can realize two dimension tracing based on the memorial data, automatically determine the layer number and continually sway the welding head. The welding test shows that the machine has good tracing and welding behavior, and is suitable for spherical tank's all position multi layer welds.

BP-LMS-based BDS-3 power system positioning method

The BeiDou-3 navigation satellite system(BDS-3)provides a full-domain high-precision positioning service for the power system to ensure safe and stable operation.However,BDS-3 power system positioning faces certain challenges,such as complex electromagnetic interference and incomplete error elimination.Herein,a back propagation neural network-improved least mean square(BP-LMS)adaptive filtering method is proposed for the BDS-3 full-domain and high-precision power system positioning,which utilizes the loss function to update the weight of the BP hidden layer,computes the pseudo compensation range,and eliminates the impact of electromagnetic interference to enhance the accuracy of power system positioning.Simulation results confirm the superior performance of BP-LMS in positioning accuracy and error elimination.Compared with LMS and normalized least mean square(NLMS),the filtering error of the proposed BP-LMS adaptive filtering method is decreased by 57.14%and 51.38%,respectively.

Two-dimensional PSD based automatic docking of self-reconfiguration modular exploration robot system

Based on the design of a docking mechanism,this paper thoroughly investigates the space automatic doc- king of self-reconfiguration modular exploration robot system(RMERS).The method that leads robot to achieve space docking by using two-dimensional PSD is put forward innovatively for the median size robot system.At the same time,in order to enlarge the detecting extension and the precision of PSD and reduce its dependence on light- ing signal,the PSD was remade by increasing the optical device over its light-sensitive surface.The emission board and LED light scheduling were designed according to docking arithmetic,and the operating principle of docking process was analyzed based on these.The simulation experiments were carried out and their results are presented.

Automatic Modification of Local Drilling Holes via Double Pre-Assembly Holes

Manufacturing accuracy, especially position accuracy of fastener holes, directly affects service life and security of aircraft. The traditional modification has poor robustness, while the modification based on laser tracker costs too much. To improve the relative position accuracy of aircraft assembly drilling, and ensure the hole-edge distance requirement, a method was presented to modify the coordinates of drilling holes. Based on online inspecting two positions of pre-assembly holes and their theoretical coordinates, the spatial coordinate transformation matrix of modification could be calculated. Thus the straight drilling holes could be modified. The method improves relative position accuracy of drilling on simple structure effectively. And it reduces the requirement of absolute position accuracy and the cost of position modification. And the process technician also can use this method to decide the position accuracy of different pre-assembly holes based on the accuracy requirement of assembly holes.

Automatic Information Processing Bias to Stress Factors by Older Adults with and without Diabetes

A sample of 65 older adults (with and without diabetes) as well as a sample of 84 healthy young people were required to take affective priming studies to compare recognition latencies of stress related word pairs against recognition latencies of positive, negative and neutral word pairs. Moreover, older adults took a stress questionnaire related to relevant disturbing events in the third age. The goal was to test any automatic emotional processing bias to these events. Results suggested that even when people with diabetes obtained low stress test scores, they showed automatic cognitive bias to process stressful events differently than older adults without diabetes and young people. This suggested that people with diabetes patients’ controlled strategies to cope with stress might not be aware of such an automatic cognitive bias. It is argued that this information processing style to stressful events makes patients prone to cognitive emotional vulnerability.

GEAR POSITION DECISION METHOD OF AUTOMATED MECHANICAL TRANSMISSION BASED ON FUZZY INFERENCE

A gear position decision method used in automated mechanical transmission is introduced. The algorithm of the mechod is composed of a driving environment and driver's intention estimator, the shift schedules suit for each typical driving environment and driver's intention situation, and an inference ligic to determine the most proper gear position for the present situation. The estimator identifies the driving environment and driver's intention features which are divided into some typical models. Based on the identified results, the algorithm works out the best gear position. It just simulates the course of driver's making gear position decision when driving a automobile with manual transmission. The test results show that the automated mechanical transmission with the method gives less unnecessary shifting and more proper gear position than common shift schedules.

基于模糊控制技术的播种机自动定位导航系统研究

介绍了播种机自动定位导航系统总体设计,并基于播种机位置和观测角度,建立了定位导航和路径预测的数学模型。采用模糊控制技术,结合播种机和观测角度,设计了自适应模糊控制策略,可以实现播种机转向的精准控制。试验结果表明:系统相比传统PID控制方法,偏差小太多,说明本文方法能够获得较高的播种机定位导航精度,证明了系统的有效性和可行性。

大型封闭空间中UWB定位基站拓扑的通用设计方法

超宽带(ultra-wide band,UWB)技术是无人装备在巡检具有多障碍物的大型封闭空间时获取定位坐标的主要方法之一。目前主要依赖人工方式设计UWB定位基站拓扑的构型、位置和数量。这种方式存在设计效率低下,设计效果未知,性价比难以确定等问题。为此,本文提出了一套较为科学完善的定位基站拓扑评价体系,并提出了一种在大型封闭空间中自动设计定位基站拓扑的通用方法。该方法以仿真模拟为基础,通过遗传算法结合拓扑评价体系,自动生成贴合实际应用场景的最优拓扑方案,包括最优的基站布设数量以及布设位置信息。实验结果表明:1)经通用设计方法生成的拓扑相比使用基站数量最多的拓扑,综合性能提高了6.2%;相比使用基站数量最少的拓扑,综合性能提高了21.2%。2)经通用设计方法生成的拓扑相比人工设计的锯齿形拓扑,综合性能提高了11.4%,设计效率提高了92.9%。可见,针对具有多障碍物的大型封闭空间场景,本文的方法可以在较短的时间内设计出综合性能较优,性价比较高的定位基站拓扑,为无人装备在此类大型封闭空间中开展全自主定位和巡检奠定了基础。

数字孪生下的液压缸机械运行位置自动控制

液压缸机械系统非线性特征复杂,机械运行行为特征不明确,位置控制结果存在偏差,对此,该文提出数字孪生下的液压缸机械运行位置自动控制方法。连续检测液压缸机械系统运行状态,构建非线性状态方程,对比实际测量数据与输出数据的差异,选取RBF核函数与支持向量机,机械运行位置变化量,描述机械运行行为特征,建立位置控制目标函数,将最高适应度值对应的位置点自动更新为副本位置点,引入猫群算法求解目标函数,对位置控制目标函数的全局最优解展开更新,实现液压缸机械运行位置自动控制。实验结果表明,所提方法应用后,位移检测曲线与实际位移曲线之间的偏差较小,且在恒负载工况下和变负载工况下,位移稳态误差均较小,说明其机械运行位置自动控制结果精度高、控制效率高、控制精度高。