A Study on Intelligent GIS Installation System Based on Six-DOF Parallel Multi-axis Motion Control

Aiming at the connection of pipelines during the GIS installation process of power transmission and transformation projects, this subject designs and produces an intelligent GIS installation system based on 6-DOF parallel multi-axis motion control, which is applied to practical applications. The intelligent installation system can realize six independent motions and their combined motions in three-dimensional space. Relying on the multi-dimensional visual positioning system, through the six-degree-of-freedom parallel multi-axis motion control system, the precise docking during the installation of the precision GIS cavity can be realized.

Visual positioning control of fuze detection manipulator

This paper designs a fuze automatic detection manipulator. Aiming at the problem of autonomous alignment and docking between operation manipulator and detection device, a visual positioning control algorithm for autonomous alignment between fuze and detection device based on fuzzy logic is proposed. Taking the relative position and deviation angle of fuze and detection device as control variables, a two-dimensional fuzzy controller is designed. Through the dynamic adjustment of the controller, the optimal motion parameters can be output. Compared with the traditional fuze detection method, the algorithm further improves the efficiency and positioning accuracy of fuze detection.

Point-Graph Neural Network Based Novel Visual Positioning System for Indoor Navigation

Indoor localization is a basic element in location-based services (LBSs), including seamless indoor and outdoor navigation, location-based precision marketing, spatial recognition in robotics, augmented reality, and mixed reality. The popularity of LBSs in the augmented reality and mixed reality fields has increased the demand for a stable and efficient indoor positioning method. However, the problem of indoor visual localization has not been appropriately addressed, owing to the strict trade-off between accuracy and cost. Therefore, we use point cloud and RGB characteristic information for the accurate acquisition of three-dimensional indoor space. The proposed method is a novel visual positioning system (VPS) capable of determining the user’s position by matching the pose information of the object estimated by the improved point-graph neural network (GNN) with the pose information label of a voxel database object addressed in predefined voxel units. We evaluated the performance of the proposed system considering a stationary object in indoor space. The results verify that high positioning accuracy and direction estimation can be efficiently achieved. Thus, spatial information of indoor space estimated using the proposed novel VPS can aid in indoor navigation.

GNSS AND PHOTOGRAMMETRY BY THE SAME TOOL: A FIRST EVALUATION OF THE LEICA GS18I RECEIVER

Leica Geosystems recently introduced a multi-constellation GNSS sensor named GS18i. It is capable to perform tilt compensation and has an integrated photogrammetric camera, allowing the users to measure inaccessible features: this is called visual positioning. The Laboratory of Geomatics, at the University of Pavia – Italy, performed a first evaluation of the rover. Five accessible points were measured repeatedly with the pole having different tilt angles; measurements’ total number was 2077. After moderate blunder detection, RMSE values are 12, 10 and 18 mm, for the East, North and height components.Measurement quality is substantially independent from the pole’s tilt angle. Moreover, ten points belonging to a building’s façade were repeatedly measured by photogrammetry, through the integrated camera, from distances in the range between 4 and 12 meters. In total, 1436 measurements were acquired. After blunder detection, RMSE values are 45, 25 and 66 mm, for the x, y and z components of a local cartesian system. Measurement quality mildly depend on the object-camera distance. Despite a good overall accuracy, results show some surprising aspects: the high ratio between the planimetric component x and y, the counterintuitive behaviour of the y dispersion, which decreases when the distance increases. While the present paper aims at simply being a first evaluation of the rover, next activities will deal with rigorous and controlled photogrammetric processing of the images and will also include simulations, in order to ascertain the role played by the various error sources involved.