2831results about "Control using feedback" patented technology

The invention relates to the technical field of marine monitoring, in particular to a marine target visual servo tracking method, which comprises the steps of multi-modal sensor fusion, a self-adaptive visual tracking algorithm, a servo control and visual collaboration mechanism and a shielding processing and target re-identification strategy. The problem that tracking is unstable under the conditions of illumination change, ship body shaking, target shielding and the like in a traditional method is solved. The IMU, the GNSS and the visual data are fused through extended Kalman filtering, ship body shaking is compensated, and the target state estimation precision is improved; the improved D-Fi ne target detection model is combined with an online feature updating mechanism to dynamically adapt to the appearance change of the target; the prediction and correction control strategy and the double-closed-loop PI D controller cooperate to adjust the camera holder, and the tracking delay is reduced; the multi-clue shielding detection and space-time joint feature matching technology ensures accurate re-identification of the target after shielding is removed. The real-time performance and robustness of the tracking system on an embedded platform are improved, and an efficient and stable target tracking solution is provided.

The invention discloses a cradle head tracking method and device based on a binocular camera and a storage medium, and relates to the technical field of computer vision, and the method comprises the steps: processing image data based on a binocular parallax principle, and generating a three-dimensional coordinate of a center point of a tracking target; based on the three-dimensional coordinates of the camera coordinate system and the offset from the optical center of the camera to the rotation center of the holder, generating three-dimensional holder coordinates through coordinate transformation solution; determining a historical track based on the tracking target feature information and a historical target feature matching result, and outputting an identifier and a three-dimensional position observation value through correlation verification of a three-dimensional holder coordinate and the historical track; inputting an observation updating equation correction state through the identifier and the three-dimensional position observation value, and outputting a three-dimensional prediction position; based on the three-dimensional prediction position and a deviation formula, calculating the angle deviation with the camera image center under the holder coordinate system, and driving the holder to center the target in the picture center according to the angle deviation. The problem that the target tracking effect is poor is solved, and the robustness of target tracking in a complex scene is improved.

The invention relates to the technical field of digital twinning control, and discloses a composite structure prefabricated segment digital twinning-adaptive assembly correction method and system, and the method comprises the steps: reading BIM geometric model data, and constructing an assembly reference coordinate system and a digital twinning geometry of a prefabricated segment; composite data are collected in real time, and end tooth groove boundary feature point cloud is extracted; matching the actually measured point cloud with the digital twinborn geometry through a dynamic point cloud registration technology, calculating a six-degree-of-freedom pose error vector, and generating a predicted total pose error vector in combination with a pre-constructed pose drift prediction model; based on the error vector, a mechanical fine adjustment jack is driven to execute position and posture adjustment until the position and posture are converged, and then tooth groove precise meshing and mechanical locking are completed; according to the method, through the synergistic effect of the dynamic mapping of the digital twinborn model and the self-adaptive correction algorithm, high-precision dynamic correction of the multi-combination structure segment assembly process is achieved on the premise that an original mechanical connection structure is not changed.

The invention relates to the technical field of photovoltaic power generation, and discloses a BAPV-based roof photovoltaic intelligent monitoring system and a dynamic tuning method and device. The method comprises the following steps: scanning a preset BAPV assembly through three-dimensional laser, constructing a surface point cloud model, and establishing a three-dimensional coordinate system comprising BAPV assembly installation base points; acquiring a real-time environment parameter set corresponding to the BAPV component; calculating an optimal working angle of the BAPV component according to the real-time environment parameter set based on an improved particle swarm algorithm; simulating an all-weather shadow movement track according to the optimal working angle based on a Monte Carlo method, and generating a component shielding influence weight matrix; establishing a heat balance equation according to the component shielding influence weight matrix so as to calculate a spacing optimization parameter of the BAPV component; a control instruction is generated according to the spacing optimization parameters, and dynamic tuning of the BAPV assembly is completed according to the control instruction; the control instruction comprises a support rotation angle compensation amount, an inverter parameter adjustment amount and an abnormal component isolation instruction. And the pain points of modeling errors, static optimization limitation, thermal runaway risks and the like are solved.

The invention discloses a self-adaptive photovoltaic tracking control method and system, and the method comprises the steps: collecting and fusing multi-source data, detecting the operation environment of a photovoltaic system in real time, and carrying out the real-time processing of the collected environment data; constructing a self-adaptive photovoltaic tracking control model, training the self-adaptive photovoltaic tracking control model, and dynamically adjusting a tracking strategy of the photovoltaic panel according to historical data and real-time environment change; a dynamic error compensation mechanism is introduced, errors of a tracking system are corrected in real time, a multi-objective optimization strategy is designed, and tracking modes are automatically switched according to different environmental conditions. The system comprises a multi-source data acquisition module, a photovoltaic tracking control module and a tracking mode switching module. According to the invention, the precision and efficiency of operation monitoring of the photovoltaic system are improved; high-quality data input is provided for a photovoltaic tracking control model, and the decision-making ability of the model is improved; the intelligent and automatic photovoltaic panel tracking strategy is realized, and the power generation efficiency of a photovoltaic system is improved.

The invention relates to the technical field of intelligent control and optimization of a photovoltaic power generation system, and discloses a self-adaptive photovoltaic module inclination angle adjusting method and system based on environmental conditions, and the method comprises the steps: obtaining short-term weather forecast data through a meteorological data interface, analyzing the weather forecast data, and predicting the environmental change in several hours in the future; monitoring pollution data of the surface of the photovoltaic module in real time through a sensor, and judging whether the pollution degree affects the power generation efficiency or not; according to the prediction result and the pollution degree, the inclination angle of the photovoltaic module is dynamically adjusted, the power generation efficiency under the upcoming illumination condition is optimized, the inclination angle of the photovoltaic module is dynamically adjusted in combination with short-term weather forecast data obtained by the meteorological data interface, and the power generation efficiency of the photovoltaic system under the complex environment is remarkably improved. The system can quickly respond to environmental changes, and efficiency loss caused by adjustment lag is avoided. And multi-factor collaborative optimization is realized, and the maximum power generation efficiency of the photovoltaic system under various conditions is ensured.

The invention discloses an automatic illumination adjusting method and system for an agricultural greenhouse, a medium and a product, and relates to the field of seed and seedling cultivation, the method comprises the following steps: obtaining image data of target seedlings in a seedling raising area, and determining seedling height data and leaf density distribution of the target seedlings according to the image data; determining initial illumination intensity and illumination distribution data of the seedling raising area according to the image data and the illumination parameters of the seedling raising area; when the initial illumination intensity is lower than a preset light intensity lower limit, determining a target adjustment angle of the light supplementing plate based on the seedling height data, the leaf density distribution and the illumination distribution data; adjusting the inclination angle of the light supplementing plate to a target adjusting angle, and obtaining the corrected illumination intensity of the seedling raising area in real time; and when the corrected illumination intensity is lower than the preset light intensity lower limit, adjusting the luminous intensity of the LED light source until the corrected illumination intensity is not lower than the preset light intensity lower limit. According to the invention, energy loss of agricultural greenhouse light supplement can be saved.

The invention relates to the related technical field of clean energy system optimization, and discloses a space-time Transform-based photovoltaic array shadow shielding optimization method and system, and a space-time Transform-based shielding modeling method, which can capture time change and space correlation at the same time, improve the prediction capability of short-time dynamic shielding (such as cloud layer change), and improve the prediction efficiency. The occlusion prediction is more real-time and accurate; by combining solar radiation prediction and power loss quantification methods, the influence of different shielding conditions on the power generation capacity of the photovoltaic module can be accurately calculated, and data support is provided for system optimization; meanwhile, through an intelligent optimization scheduling strategy, the working mode of the photovoltaic module is adaptively adjusted, including module angle optimization, MPPT dynamic adjustment and energy storage optimization scheduling, it is ensured that the photovoltaic system can still maintain efficient power generation in a complex illumination environment, and the long-term stability and benefits of the system are further improved.

The invention relates to the field of cableway transportation safety control, in particular to a cableway lift carriage operation deflection attitude monitoring device and a control method, and the method comprises the steps: collecting the position, speed, attitude angle and local micro deflection disturbance information of a lift carriage in real time by constructing a multi-mode sensing network; the frequency of the sensor is dynamically adjusted by adopting an adaptive sampling mechanism, and space-time alignment and fusion of heterogeneous data are completed in combination with dynamic time warping and minimum mean square estimation; strengthening the key disturbance dimension based on a disturbance-driven attention mechanism, and predicting a future deflection angle sequence; a decoupling torque is generated through spatial deflection vector field modeling, regional coupling tensor analysis and a dynamic direction alignment matrix, and power consumption constraint and a dynamic environment parameter optimization control instruction are fused; and finally, driving the quadrilateral moment gyroscope to execute correction, and constructing a multi-dimensional evaluation index based on the attitude response residual error. According to the method, adaptive closed-loop adjustment of the control strategy is realized, and the robustness under wind speed disturbance and load variation is improved.

The invention is suitable for the field of tracking rotary tables, and provides a follow-up identification adjustment control method and system for a tracking rotary table, and the method comprises the steps: collecting the peripheral data of the tracking rotary table in a multi-modal manner; acquiring and fusing the acquired surrounding data of the tracking turntable; establishing a three-dimensional space error model; generating a prediction control strategy based on the three-dimensional space error model; and generating an intelligent feedback optimization result based on a prediction control strategy, and the method has the beneficial effects that by means of deep fusion and accurate analysis of multi-modal data, the tracking turntable is endowed with excellent environmental adaptability and target tracking capability. Complex environment interference such as atmospheric refraction, illumination change and shielding can be effectively handled, the tracking precision is improved, online self-adaptive adjustment can be achieved through an intelligent feedback optimization mechanism and a control strategy, the stability, reliability and intelligence of the system are remarkably enhanced, and an advanced and efficient technical solution is provided for target tracking application in multiple fields.

The invention relates to the technical field of flight simulation control and precision measurement, provides a precise positioning method, system and device for a three-dimensional adjustable connecting piece of a flight simulator and a storage medium, and solves the problems of flight simulation control and precision measurement. The method comprises the following steps: acquiring the real-time stroke length of a motion control rod, rotation angle change data and a connecting piece vibration image, outputting a displacement prediction parameter through a platform kinematics model, and generating three-dimensional point cloud data; performing sub-pixel identification and distortion compensation on the image through a mark point identification algorithm to generate a three-dimensional visual coordinate; fusing the point cloud and the visual data, and processing through a Kalman filter to obtain a space pose offset; finally, a displacement compensation instruction is generated, the pose of the connecting piece is adjusted through a closed-loop controller, and accurate positioning of the connecting piece relative to a flight target reference coordinate system is achieved. According to the invention, the accuracy and stability of the pose control of the connecting piece in the dynamic vibration environment are improved.

The invention relates to the technical field of modern precision machining and optical scanning, and discloses a motion control method and system of a laser galvanometer. The method comprises the steps that a real-time position signal is collected and preprocessed, and a filtered position signal is obtained; the deviation between the trajectory model and a preset trajectory model is calculated, when the deviation exceeds a threshold value, the trajectory model is identified as a complex trajectory segment, offset vector data is generated, and an offset compensation demand signal is generated accordingly; driving an instruction device in combination with historical data to obtain compensation parameters; when the deviation is lower than an updating threshold value, updating the trajectory model; a stable control signal is generated based on the optimization model and filtering signal prediction, and the environmental interference is calibrated and the signal smoothness is enhanced through the stable control signal; and finally, comparing the enhanced signal with the optimization model, and repeating the compensation process when the deviation exceeds the standard to obtain a final stable control signal. According to the method, through multi-level deviation processing and iterative optimization, the control precision and the anti-interference performance of the laser galvanometer in complex track movement are improved.

The invention provides an electrostatic driving micro-electro-mechanical device and a driving method thereof, the device comprises at least one electrostatic driving micro-electro-mechanical device, the device comprises a rotating support and at least one one-dimensional direction driving unit, and the first one-dimensional direction driving unit comprises a first electrode and a second electrode which are arranged in the first direction of the rotating support; the electrostatic drive micro-electromechanical device is further provided with a controller, the controller outputs digital signals to the digital-analog converter, the digital-analog converter outputs analog signals to the first electrode and the second electrode through the multi-way change-over switch, the multi-way change-over switch comprises a first selection switch, the first selection switch is a single-pole double-throw change-over switch, and the second selection switch is a single-pole double-throw change-over switch. A static contact of the first selection switch receives an analog signal output by the digital-to-analog converter, and a movable contact of the first selection switch selectively outputs the analog signal to the first electrode or the second electrode. The invention further provides a driving method of the driving device. The electrostatic driving micro-electro-mechanical device is compact in structure and low in production cost.

The invention relates to the technical field of constructional engineering, and discloses a bridge hanging basket installation accurate positioning automatic operation method, which comprises the following steps of: acquiring image data of the position, the speed, the posture and the construction environment of a bridge hanging basket in real time by installing a high-precision sensor and a visual system; analyzing the acquired image data by using a deep learning model, and identifying and estimating the spatial position and angle of the hanging basket; the system comprises a high-precision sensor and an image acquisition system which are used for acquiring the position, attitude and environmental data of the hanging basket in real time; the deep learning module comprises a convolutional neural network and a recurrent neural network and is used for recognizing the position of the hanging basket in real time and predicting future deviation; and the nonlinear optimization module is used for calculating optimal control input in real time according to the optimization objective function and correcting the optimal control input. By adopting the technical scheme of the high-precision sensor and the image acquisition system, real-time accurate monitoring of the position, the posture and the construction environment of the hanging basket is achieved.

The utility model provides a photovoltaic panel pose adjusting device and a photovoltaic curtain wall system, the photovoltaic panel pose adjusting device comprises a photovoltaic support and a photovoltaic panel, and the photovoltaic support comprises a support frame, a telescoping mechanism, a rotating member and a driving mechanism. The first end of the supporting frame is hinged to a first preset position of the facade structure, and the hinge rotation axis is parallel to the horizontal plane. The direction from the first end to the second end of the supporting frame is n. One end of the telescopic mechanism is hinged to the second end of the supporting frame, and the other end of the telescopic mechanism is hinged to a second preset position of the facade structure below the first preset position. The rotating piece is rotatably installed on the supporting frame, and the rotating axis is in the n direction. The driving mechanism is installed on the supporting frame and used for driving the rotating piece to rotate. The back face of the photovoltaic panel is fixedly connected with the rotating piece, and the photovoltaic panel rotates along with rotation of the rotating piece. According to the technical scheme, angle adjustment in the vertical direction and the horizontal direction of the photovoltaic panel can be achieved, the photovoltaic panel fully receives solar rays, and the power generation efficiency is improved.

The invention relates to a laser cleaning path automatic planning method and a laser cleaning device. Three-dimensional information of a to-be-cleaned workpiece is obtained, a cleaning path is planned, a partition cleaning strategy of the to-be-cleaned workpiece is obtained, galvanometer adjusting information of laser cleaning equipment is configured, and the to-be-cleaned workpiece is cleaned according to the galvanometer adjusting information. The laser cleaning equipment is controlled to clean the to-be-cleaned workpiece according to the planned partition cleaning strategy, and the galvanometer is adjusted in real time based on the galvanometer adjustment information to adapt to the change of the surface shape of the to-be-cleaned workpiece; the device comprises a base, a position transfer unit realizes position movement of the device except the base, a three-dimensional scanning construction unit is arranged at the output end of the position transfer unit and is used for scanning a to-be-cleaned workpiece and constructing three-dimensional information of the workpiece, and finally a laser cleaning unit is used for performing laser cleaning on the to-be-cleaned workpiece. According to the method, the cleaning efficiency is improved, intelligent selection of cleaning paths and cleaning strategies is completed, redundancy and repetition of the cleaning paths are reduced, loopholes of cleaning work are reduced, and completeness and comprehensiveness of cleaning are ensured.

The invention relates to the technical field of data calibration, in particular to a photovoltaic panel adaptive tracking data calibration system which comprises a data acquisition preprocessing module, a sun position tracking module, a calibration module, a data fusion module, a management support module, an energy optimization module, a tracking optimization module and an environment enhancement module. The data acquisition and preprocessing module is used for data acquisition and data preprocessing. According to the invention, data acquisition and preprocessing, sun position prediction and tracking strategy optimization, real-time calibration and adaptive control, data fusion and intelligent evaluation, intelligent management and decision support, energy management and optimization, tracking efficiency optimization and feedback regulation, and cooperative work of environmental adaptability enhancement and intelligent maintenance modules are carried out; adaptive tracking data calibration of tracking precision and power generation efficiency is realized, environmental adaptability and an intelligent maintenance mechanism are integrated, and support is provided for development of photovoltaic intelligent data management.

The invention relates to the field of machining, and discloses an adjustable wood-working machining multifunctional clamping and positioning method which comprises the following steps: S1, acquiring three-dimensional space position information of a workpiece through laser scanning, and generating point cloud data containing a texture trend; s2, analyzing geometrical characteristics and mechanical characteristics of the workpiece based on the point cloud data, generating a clamping position distribution instruction and matching a clamping mode; s3, a grading pressure threshold value is set according to the wood density grade, and cooperative force application control of multiple clamping arms is dynamically adjusted based on distributed pressure feedback; and S4, fusing the vibration spectrum and the visual displacement data to monitor the position offset of the workpiece in real time. Through a dynamic pressure balancing strategy, according to wood density grading, pressure threshold values are set, gradient pressure control is conducted on hardwood, slope changes are limited, pre-pressing relaxation time is configured for cork wood, multiple clamping arms are adjusted in real time to cooperatively apply force through distributed feedback, and the structural integrity of wood of different densities is guaranteed.

The invention provides a box culvert jacking attitude intelligent control method and system based on digital twinning, and relates to the technical field of attitude control. Structural parameters of a box culvert entity, parameters of a construction environment, and elevation change data and axis offset data in a jacking process are obtained, and the two kinds of data are integrated to obtain a box culvert jacking attitude intelligent control system; generating a box culvert jacking attitude data frame sequence; according to box culvert entity reference information in the model and the updated box culvert real-time state information, combining the box culvert jacking attitude data frame sequence to determine box culvert actual attitude parameters, comparing the box culvert actual attitude parameters with box culvert design attitude parameters, determining attitude deviation types and attitude deviation values corresponding to the box culvert axis direction and the box culvert height direction respectively, and calculating the box culvert jacking attitude data frame sequence according to the attitude deviation types and the attitude deviation values. According to the method, the attitude adjustment control instruction is generated according to the attitude of the box culvert, so that the equipment drives the jack to adjust the jacking attitude of the box culvert according to the instruction, dynamic synchronization and accurate mapping of the structural state in the jacking process of the box culvert are realized, and the real-time performance, the accuracy and the control robustness of attitude adjustment are improved.

The invention provides a group target-oriented turntable tracking control method, which belongs to the technical field of high-precision turntable control, is realized based on a turntable tracking system, and comprises a servo control module, a turntable and a configuration identification module, the configuration recognition module is used for calculating the miss distance of the main node unmanned aerial vehicle and transmitting an error between the miss distance and a tracking point expected value to the servo control module; and the servo control module calculates the motion speed of the rotary table and controls the rotary table to rotate by using a PI control algorithm according to the error, and the PI control algorithm comprises the following steps: according to the error value, performing segmented adjustment on a proportional parameter and an integral parameter of a rotary table speed ring PI controller. According to the invention, the segmented PI control algorithm is used for segmented adjustment, and the improved particle swarm optimization algorithm is used for optimizing and setting the proportional parameter and the integral parameter, so that the complexity of a manual trial and error method is eliminated, and the unmanned aerial vehicle at the main node of the group target can be stably tracked with the optimal performance under the condition of ensuring that the target is not lost.

A method and system for discharge operation of a ship loader at a bulk cargo terminal. The method comprises: acquiring initial ship point cloud data; establishing a three-dimensional coordinate system, and acquiring an initial frame ship hold center line and a discharge planning point; continuously scanning a ship to be unloaded, acquiring real-time ship point cloud data, and acquiring a current frame ship center line and a normal vector of a ship deck on the basis of the real-time ship point cloud data; obtaining a real-time ship body deviation value on the basis of the current frame ship center line and the initial frame ship hold center line; obtaining a real-time ship body inclination angle on the basis of the normal vector of the ship deck; correcting coordinates of the discharge planning point on the basis of the real-time ship body deviation value and the real-time ship body inclination angle to obtain coordinates of a real-time discharge planning point, and acquiring coordinates of a current discharge point of a chute mechanism (5); a superordinate computer (1) controlling, on the basis of the coordinates of the real-time discharge planning point and the current discharge point, a ship loader to complete current discharge operation. The present application enables a ship loader to complete operation accurately, and enhances the safety and efficiency of operation of the ship loader.

The invention discloses a motor comprehensive performance testing device and testing method, and relates to the technical field of motor testing, the motor comprehensive performance testing device comprises a motor clamping assembly, a testing assembly, a lifting assembly and an electrical cabinet, the motor clamping assembly is used for clamping and fixing a testing motor, the testing assembly is used for carrying out load and torque testing on the testing motor, and the lifting assembly is used for lifting the testing motor. The lifting assembly is arranged below the testing assembly and used for adjusting the position of the testing assembly when the testing motor is connected with a load, and a processing terminal used for receiving and processing testing data and a control terminal used for controlling the motors are arranged in the electrical cabinet. An alignment camera is arranged in the testing assembly to perform center shaft alignment on the output end of the testing motor and the coupler, the height difference is compensated through the lifting assembly, so that the output shaft of the testing motor is aligned with the center shaft of the coupler, the alignment speed is increased, the load mounting module can automatically increase or reduce the load, and the load is automatically locked during rotation. Special fixing is not needed, and convenience and rapidness are achieved.

The invention belongs to the technical field of electronic information, and discloses an unmanned aerial vehicle control method for non-cooperative target tracking, which comprises the following steps of: 1, acquiring a real-time video stream of a target by a pan-tilt camera, and extracting a target feature vector; step 2, defining and calculating a normalized visual error vector, and adjusting the attitude of the holder based on the target feature vector obtained in the step 1, so that the target is kept in the center of the image; outputting a pan-tilt yaw angle, a pan-tilt pitch angle and a normalized visual error vector; 3, designing a tracking quality factor and a pitch angle scale factor according to a result output in the step 2, and dynamically adjusting the maximum speed of the unmanned aerial vehicle to calculate an expected speed vector; and obtaining the speed and position of the unmanned aerial vehicle at the next moment. According to the invention, decoupling control is carried out on the motion of the unmanned aerial vehicle and the rotation of the holder, and the motion trajectory of the unmanned aerial vehicle is controlled on the premise of ensuring that the target is always in the view field range of the unmanned aerial vehicle, thereby realizing accurate and stable tracking of the non-cooperative target.

The invention provides a mining robot trajectory learning and tracking control method and device, and relates to intelligent robot control. The method comprises the following steps: in response to a trajectory planning operation on the mining robot, acquiring sensor acquisition data corresponding to the mining robot; taking the terrain point cloud data of the to-be-mined area and the mining trajectory data as input features, and constructing a trajectory planning model; taking the inclination angle data as an input feature, and constructing a stress analysis model; outputting a predicted excavation track corresponding to the excavation robot according to the track planning model, and outputting a predicted external force borne by the excavation robot according to the stress analysis model; and the predicted excavation track and the predicted external force serve as input, and the excavation robot is controlled through a track tracking controller. The problem that a traditional digging robot based on rules executes digging actions according to a fixed track and path and is difficult to adapt to different digging terrains is solved.

The invention provides a photovoltaic support tracking method and device based on pre-regulation, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring predicted environment data of a photovoltaic power station within a preset time, and inputting the predicted environment data into a pre-trained prediction model to obtain an initial support adjustment strategy; and based on the predicted environment data and the initial support adjustment strategy, optimizing a pre-constructed target function to obtain a target support adjustment strategy. According to the technical scheme, the globally optimal target support adjustment strategy can be planned in advance before support deployment, the generating capacity of the photovoltaic power station within the preset time is maximized, and the influence of the support initial adjustment stage on the generating capacity is reduced.

The invention discloses a self-stabilization control photoelectric tracking rotary table and method based on a rate gyroscope. The method comprises the following steps: respectively acquiring an azimuth compensation angular velocity and a pitching compensation angular velocity of the photoelectric tracking rotary table under a rotary table coordinate system and a roll angular velocity interference variable of the photoelectric tracking rotary table under a platform coordinate system through the rate gyroscope; constructing a rotation matrix, converting the roll angular velocity interference variable of the photoelectric tracking rotary table under the platform coordinate system into the roll angular velocity interference variable of the photoelectric tracking rotary table under the rotary table coordinate system, and performing Kalman filtering processing to obtain the optimal estimated angular velocity of the photoelectric tracking rotary table; and obtaining the control quantity of the photoelectric tracking turntable according to the optimal estimated angular velocity, and adjusting the control voltage of the photoelectric tracking turntable. According to the method, the process noise covariance matrix and the observation noise covariance matrix are updated by using the adaptive noise covariance matrix, so that the problem of filtering divergence or estimation lag caused by the fact that Kalman filtering adopting fixed noise covariance parameters is difficult to adapt to a dynamic environment is avoided.

The invention relates to a spatially distributed condensation type energy system which comprises a power generation unit, an energy storage unit, a power management unit and a space intelligent sun tracking mechanism. The power generation unit can convert solar energy into electric energy by combining a concentrating solar energy technology; the energy storage unit can store electric energy; the power generation unit is connected with the power management unit; the power supply management unit is connected with the energy storage unit and manages the electric energy output by the power generation unit to be stored in the energy storage unit in a cooperative manner; the power supply management unit is also in power supply connection with the space intelligent sun tracking mechanism and the external load system; wherein the power generation unit comprises a plurality of groups of power generation modules and a bracket structure; and the plurality of groups of power generation modules are arranged on the bracket structure and are connected with the power management unit. The energy system provided by the invention can improve the photoelectric conversion efficiency of the solar cell and reduce the cost of equipment.

The invention provides a swivel measurement and control system for a swivel bridge. The method comprises the following steps: establishing a multi-parameter monitoring model in a bridge swivel process; the multi-parameter monitoring model is a monitoring model which is based on N times of sampling and comprises p sensor parameters; establishing a control model of swivel measurement and control of the swivel bridge; for the control model, establishing an adaptive adjustment algorithm under a multi-parameter monitoring model; and performing swivel measurement and control on the swivel bridge through a self-adaptive adjustment algorithm. According to the invention, accurate monitoring and control of the bridge swivel process can be realized, the safety and accuracy of swivel operation are ensured, good adaptability and real-time performance are achieved, and the efficiency and quality of bridge swivel engineering can be effectively improved.

In many outdoor sunshade environments, a user usually uses a sunshade to shade the sun. However, the intensity of natural light can be continuously changed along with the change of morning, noon and evening and factors such as cloud shielding, so that a user needs to manually adjust to control the sunshade degree. However, many problems exist in manual control and adjustment of the sunshade degree. Firstly, quantitative adjustment of sunshade is difficult to achieve through manual control, a user needs to conduct correction continuously, time and labor are wasted, and the hysteresis quality is high. And secondly, even if the user can manually adjust the sunshade, the sunshade effect is difficult to keep relatively stable, and the environment and the comfort degree can be influenced. Therefore, an intelligent light adjusting system is needed to monitor the sun-shading intensity in real time and automatically adjust the sun-shading intensity to keep the sun-shading intensity relatively stable. Based on the background technology, the invention provides a self-adaptive shutter intelligent adjusting method and system based on illumination intensity. According to the method and the system, the current light brightness data is collected and calculated, so that the inclination angle of the shutter is automatically adjusted, and the relative stability of the sunshade intensity is kept.

The present invention discloses a target tracking method, device, system and program product based on pan-tilt linkage, and relates to the technical field of target tracking. In order to solve the defects that the existing pan-tilt linkage imaging devices use single coordinate and position information when tracking targets, which may lead to target loss and poor automatic tracking accuracy, the method includes: obtaining the tracking target; obtaining the target movement speed of the tracking target relative to the search device or tracking device that collects the tracking target; obtaining the pan-tilt movement speed of the pan-tilt device connected to the tracking device; and controlling the movement of the tracking device according to the target movement speed and the pan-tilt movement speed. The present invention is mainly used for tracking targets.