摘要：【中文】本发明公开了一种能够自动行走的机器人座椅，属于机器人技术领域，包括底板、椅背、支撑腿、方向感应器、伺服电机、第一电动推杆、L形行走腿、第二电动推杆、第三电动推杆、第四电动推杆、万向轮、第二光电传感器、报警器。本发明可以实现座椅自动调整方向，使座椅对准使用人，并可以实现小步正步走或者大步走的形式向使用者行走，并在到达使用地点时，在激光笔或控制开关的控制下自动停止；从而使人们家居必备的椅子具备智能化，为人提供更好的生活体验。 【EN】The invention discloses a robot seat capable of automatically walking, which belongs to the technical field of robots and comprises a bottom plate, a seat back, supporting legs, a direction sensor, a servo motor, a first electric push rod, an L-shaped walking leg, a second electric push rod, a third electric push rod, a fourth electric push rod, a universal wheel, a second photoelectric sensor and an alarm. The invention can realize that the direction of the seat is automatically adjusted, the seat is aligned to a user, the user can walk in a small-step forward walking or large-step walking mode, and the seat automatically stops under the control of the laser pen or the control switch when reaching a use place; therefore, the chair essential for home furnishing of people is intelligentized, and better life experience is provided for people.

摘要：【中文】本发明旨在提供一种利用三维矩阵表示的图像进行布料表面瑕疵检测的方法。待检布料放在背景布料上面，背景布料是与待检布料完全相同、经人工检查无瑕疵的布料。CCD固定安装，相面与待检布料平行，并根据待检布料的移动速度定时拍摄图像。以矩阵R、G、B表示CCD图像中红、绿、蓝三个颜色分量矩阵，固定红、绿、蓝三种颜色的顺序，用三维向量表示CCD图像中任何像素点处的颜色向量以及相应的单位颜色向量。在每一帧图像的左右两边分别提取背景布料的若干列像素，将这些像素对应的颜色向量求和并单位化，再与其余的每个像素对应的单位颜色向量做内积，当内积足够小是判定该像素点在待检布料上的对应点为疵点，否则为非疵点。本发明的有益效果在于：1.充分利用图像数据，有效避免疵点漏检；2.算法简单，检查速度快。 【EN】The invention aims to provide a method for detecting the defects on the surface of cloth by using an image represented by a three-dimensional matrix. The cloth to be detected is placed on the background cloth, and the background cloth is completely the same as the cloth to be detected and is free of flaws after manual inspection. The CCD is fixedly installed, the phase surface is parallel to the cloth to be detected, and images are shot at regular time according to the moving speed of the cloth to be detected. The matrix R, G, B represents the three color component matrices of red, green and blue in the CCD image, the order of the three colors of red, green and blue is fixed, and the color vector at any pixel point in the CCD image and the corresponding unit color vector are represented by a three-dimensional vector. And respectively extracting a plurality of rows of pixels of the background cloth from the left side and the right side of each frame of image, summing and unitizing the color vectors corresponding to the pixels, and then performing inner product with the unit color vectors corresponding to the rest pixels, wherein when the inner product is small enough, the corresponding point of the pixel point on the cloth to be detected is judged as a defect, and otherwise, the pixel point is a non-defect. The invention has the beneficial effects that: 1. image data is fully utilized, and defects are effectively prevented from being missed; 2. the algorithm is simple and the checking speed is high.

摘要：【中文】本发明提供了一种油井井口的测压加药装置及其使用方法，所述装置包括本体(1)、集气组件(2)、测压组件(3)、加药组件(4)和第一管线(5)，所述本体(1)的一端设置有开口且另一端封闭，所述本体(1)的开口端与套管阀门(6)相连；所述集气组件(2)设置在所述本体(1)上，并与所述本体(1)的内部连通，所述集气组件(2)通过所述第一管线(5)与油管阀门(7)相连；所述测压组件(3)设置在所述本体(1)上，并与所述本体(1)的内部连通；所述加药组件(4)设置在所述本体(1)的一侧，并与所述本体(1)的内部连通。该装置不仅操作简单便利，而且可以有效减少套管气的损失，有利于环境的保护。 【EN】The invention provides a pressure measuring and medicine adding device of an oil well mouth and a using method thereof, wherein the device comprises a body (1), a gas collecting assembly (2), a pressure measuring assembly (3), a medicine adding assembly (4) and a first pipeline (5), wherein one end of the body (1) is provided with an opening, the other end of the body is closed, and the opening end of the body (1) is connected with a sleeve valve (6); the gas collection assembly (2) is arranged on the body (1) and is communicated with the interior of the body (1), and the gas collection assembly (2) is connected with the oil pipe valve (7) through the first pipeline (5); the pressure measuring assembly (3) is arranged on the body (1) and is communicated with the interior of the body (1); the medicine adding assembly (4) is arranged on one side of the body (1) and communicated with the interior of the body (1). The device is simple and convenient to operate, can effectively reduce the loss of sleeve gas, and is favorable for protecting the environment.

摘要：【中文】本发明公开了一种基于一维参考物的汽车特征点视觉重建系统与方法，旨在解决基于一维参考物的汽车特征点视觉检测问题。基于一维参考物的汽车特征点视觉重建系统主要由线激光器(1)、投线仪套(2)、一维靶标(3)、球形固定架(4)、三角架(5)与摄像机(6)组成。球形固定架(4)由一个表面加工有一组轴线通过球心的圆形通孔的中空铁球和一个表面加工有四个通孔的矩形钢板焊接而成，一维靶标(3)经球形固定架(4)的圆形通孔穿入球形固定架(4)内，与球形固定架(4)过渡配合，球形固定架(4)通过矩形钢板上的四个通孔与地面的地脚螺栓固定连接。提供了一种结构简单、性能可靠的基于一维参考物的汽车特征点视觉重建系统与方法。 【EN】The invention discloses an automobile feature point vision reconstruction system and method based on a one-dimensional reference object, and aims to solve the problem of automobile feature point vision detection based on the one-dimensional reference object. The automobile characteristic point vision reconstruction system based on the one-dimensional reference object mainly comprises a line laser (1), a line projector sleeve (2), a one-dimensional target (3), a spherical fixing frame (4), a tripod (5) and a camera (6). The spherical fixing frame (4) is formed by welding a hollow iron ball with a set of axes passing through a circular through hole of a sphere center through surface machining and a rectangular steel plate with four through holes through surface machining, the one-dimensional target (3) penetrates into the spherical fixing frame (4) through the circular through hole of the spherical fixing frame (4) and is in transition fit with the spherical fixing frame (4), and the spherical fixing frame (4) is fixedly connected with ground anchor bolts through the four through holes in the rectangular steel plate. The system and the method for reconstructing the automobile feature point vision based on the one-dimensional reference object are simple in structure and reliable in performance.

摘要：【中文】本发明公开了一种同心二次曲线极线几何的轴端接地单目重建系统与方法，旨在解决同心二次曲线极线几何的轴端接地单目检测问题。同心二次曲线极线几何的轴端接地单目重建系统主要由底座(1)、支撑杆(2)、摄像机连接杆(3)、摄像机(4)、激光器(5)、激光器固定块(6)、支撑杆固定块(7)、二维靶标板(8)、摄像机固定块(9)、一字滑台(10)与激光器连接杆(12)组成。二维靶标板(8)为表面粘贴同心二次曲线的平板，支撑杆固定块(7)为加工有两个轴线相互垂直的圆形通孔且两端各加工有一圆形通孔的长方体铁块。提供了一种结构简单、性能可靠的同心二次曲线极线几何的轴端接地单目重建系统与方法。 【EN】The invention discloses a system and a method for reconstructing a shaft end grounding monocular of concentric quadric curvilinear polar line geometry, and aims to solve the problem of shaft end grounding monocular detection of the concentric quadric curvilinear polar line geometry. The shaft end grounding monocular reconstruction system of the concentric secondary curve polar line geometry mainly comprises a base (1), a supporting rod (2), a camera connecting rod (3), a camera (4), a laser (5), a laser fixing block (6), a supporting rod fixing block (7), a two-dimensional target plate (8), a camera fixing block (9), a linear sliding table (10) and a laser connecting rod (12). The two-dimensional target board (8) is a flat board with a concentric quadratic curve pasted on the surface, and the support rod fixing block (7) is a cuboid iron block which is provided with two circular through holes with mutually vertical axes and two ends respectively provided with a circular through hole. The shaft end grounding monocular reconstruction system and method of the concentric quadric curve polar line geometry are simple in structure and reliable in performance.

摘要：【中文】本发明公开了一种基于面光场的汽车检测无共视场相机全局标定系统与方法，旨在解决基于面光场的汽车检测无共视场相机全局标定问题。基于面光场的汽车检测无共视场相机全局标定系统主要由激光器板盒(1)、激光器板盒支架(2)、左侧摄像机(3)、左侧摄像机支架(4)、右侧摄像机(5)、右侧摄像机支架(6)、面激光器(7)与圆柱靶标(8)组成。基于面光场的汽车检测无共视场相机全局标定方法由图像采集、根据左侧摄像机(3)采集的图像解算从圆柱靶标(8)到左侧摄像机(3)坐标系转换的单应矩阵等步骤组成，提供了一种结构简单、性能可靠的基于面光场的汽车检测无共视场相机全局标定系统与方法。 【EN】The invention discloses a system and a method for overall calibration of a common-view-field-free camera for automobile detection based on a surface light field, and aims to solve the problem of overall calibration of the common-view-field-free camera for automobile detection based on the surface light field. The automobile detection common-view-field-free camera global calibration system based on the surface light field mainly comprises a laser plate box (1), a laser plate box support (2), a left side camera (3), a left side camera support (4), a right side camera (5), a right side camera support (6), a surface laser (7) and a cylindrical target (8). The global calibration method of the automobile detection common-view-field-free camera based on the surface light field comprises the steps of image acquisition, homography matrix conversion from a cylindrical target (8) to a left side camera (3) coordinate system is calculated according to an image acquired by the left side camera (3), and the like.

摘要：【中文】本发明公开了一种同心二次曲线极线几何的轴端接地双目重建系统与方法，旨在解决同心二次曲线极线几何的轴端接地双目检测问题。同心二次曲线极线几何的轴端接地双目重建系统主要由底座(1)、支撑杆(2)、激光器连接杆(3)、左摄像机(4)、激光器(5)、右摄像机(6)、相机连接块(7)、靶标板(8)、一字滑台(9)、连接杆(11)、支撑杆固定块(12)、连接杆固定块(13)与激光器固定块(14)组成。靶标板(8)为表面粘贴同心二次曲线的平板，支撑杆固定块(12)为表面加工有两个轴线相互垂直的圆形通孔且两端各加工有一螺纹孔的长方体铁块，提供了一种结构简单、性能可靠的同心二次曲线极线几何的轴端接地双目重建系统与方法。 【EN】The invention discloses a system and a method for reconstructing a shaft end grounding binocular of a concentric quadratic curve polar line geometry, and aims to solve the problem of shaft end grounding binocular detection of the concentric quadratic curve polar line geometry. The shaft end grounding binocular reconstruction system of the concentric secondary curve polar line geometry mainly comprises a base (1), a support rod (2), a laser connecting rod (3), a left video camera (4), a laser (5), a right video camera (6), a camera connecting block (7), a target plate (8), a linear sliding table (9), a connecting rod (11), a support rod fixing block (12), a connecting rod fixing block (13) and a laser fixing block (14). The target plate (8) is a flat plate with a concentric quadratic curve pasted on the surface, the supporting rod fixing block (12) is a cuboid iron block with two circular through holes with mutually vertical axes processed on the surface and two threaded holes processed at two ends respectively, and the shaft end grounding binocular reconstruction system and the shaft end grounding binocular reconstruction method of the concentric quadratic curve polar line geometry are simple in structure and reliable in performance.

摘要：【中文】本发明公开了一种基于空间点的汽车检测无共视场相机全局标定系统与方法，旨在解决基于空间点的汽车检测无共视场相机全局标定问题。基于空间点的汽车检测无共视场相机全局标定系统主要由总摄像机(1)、总摄像机支架(2)、分摄像机左(3)、分摄像机支架左(4)、分摄像机右(5)、分摄像机支架右(6)与圆柱靶标(7)组成。基于空间点的汽车检测无共视场相机全局标定方法由图像采集、根据总摄像机(1)采集的图像解算从圆柱靶标(7)到总摄像机(1)坐标系转换的单应矩阵等步骤组成，提供了一种结构简单、性能可靠的基于空间点的汽车检测无共视场相机全局标定系统与方法。 【EN】The invention discloses a space point-based global calibration system and method for a common-view-field-free camera in automobile detection, and aims to solve the problem that the space point-based global calibration system and method for the common-view-field-free camera in the automobile detection are not provided. The automobile detection common-view-field-free camera global calibration system based on the space points mainly comprises a main camera (1), a main camera support (2), a branch camera left (3), a branch camera support left (4), a branch camera right (5), a branch camera support right (6) and a cylindrical target (7). The global calibration method of the automobile detection common-view-field-free camera based on the space points comprises the steps of image acquisition, calculation of a homography matrix converted from a cylindrical target (7) to a total camera (1) coordinate system according to an image acquired by the total camera (1) and the like, and provides the global calibration system and method of the automobile detection common-view-field-free camera based on the space points, which are simple in structure and reliable in performance.