1415results about "Control using feedback" patented technology

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 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 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 discloses an offshore rocket recovery platform attitude stability control method based on particle swarm optimization, and the method comprises the following steps: S1, collecting and preprocessing multi-source attitude data, and generating a time series data set; s2, constructing a fuzzy PID controller, and setting nine three-axis control parameters; s3, performing global optimization by adopting an improved particle swarm algorithm, and outputting an initial parameter solution; s4, introducing a zebra optimization algorithm to carry out local refined optimization; s5, constructing a collaborative optimization architecture, and fusing and outputting optimal control parameters; s6, the optimal parameters are input into a controller, and a servo system is driven to adjust the three-axis attitude; s7, monitoring disturbance amplitude, dynamically triggering a zebra strategy and feeding back the zebra strategy to the particle swarm; and S8, evaluating the control performance, and feeding back iterative optimization if the control performance does not reach the standard. According to the method, the improved particle swarm optimization algorithm and the zebra optimization algorithm are fused, so that self-adaptive optimization and accurate attitude stable control of attitude control parameters of the offshore rocket recovery platform are realized.

The invention relates to a light sensation automatic alignment control method and system based on a solar photovoltaic panel, and relates to the technical field of the solar photovoltaic panel, and the method comprises the steps: collecting the installation position and the current time of the solar photovoltaic panel; responding to the installation position and the current time to obtain a sun irradiation position; collecting surrounding image information of the solar photovoltaic panel; identifying a shielding object from the surrounding image information; responding to the sun irradiation position and the shielding object to obtain a shielding shadow; obtaining a deviation distance based on the shielding shadow and the installation position; responding to the sun irradiation position and the deviation distance to obtain a change angle; and controlling an alignment device preset on the solar photovoltaic panel to operate according to the change angle and the deviation distance. The solar photovoltaic panel has the effect of improving the power generation efficiency of the solar photovoltaic panel.

The invention discloses a building curtain wall hoisting control system based on spatial pose sensing and positioning. The building curtain wall hoisting control system comprises a control platform, a sensing and positioning module, a deviation analysis module, an environmental data acquisition module, a deviation correction control module and a verification and evaluation module, according to the method, a preset hoisting track generated based on a time sequence is constructed, real-time sensing data based on the time sequence is obtained through multi-sensor fusion to generate a real-time hoisting track, position and posture deviation data are obtained based on double-track monitoring, all-directional deviation monitoring of the curtain wall in the hoisting process is improved, environment data are introduced, and the real-time hoisting track is obtained. A control strategy and parameters are dynamically adjusted by combining a deviation data directional matching deep learning model, dynamic hoisting and real-time deviation correction are parallel, the curtain wall is continuously converged to a target in the hoisting process, it is guaranteed that the matching degree of the final installation pose and the design model is extremely high, and the construction efficiency is improved. And the method is particularly suitable for an extremely complex mounting path or a multi-machine cooperative hoisting environment.

The invention belongs to the field of laboratory automation equipment, and discloses a control method and system of a task execution device for physical and chemical experiment operation, and the method comprises the steps: initializing and calibrating the device; receiving and analyzing an experiment task instruction; collecting object information through a visual sensor; the upper computer generates an execution scheme according to the strategy library; the electric control rotary clamping jaw is driven to complete operation; force and displacement parameters are monitored in real time, and dynamic adjustment actions are fed back through a closed loop; and judging that the operation is completed according to the threshold. The system comprises a visual sensor, a rotary driving body, an electric control rotary clamping jaw and an upper computer. By integrating visual identification and force sense feedback, fine operations such as clamping, taking and placing, bottle cap screwing and the like can be completed in a self-adaptive mode, the efficiency, precision and reliability of laboratory automatic operation are remarkably improved, manual operation errors are reduced, and good application prospects are achieved.

The invention belongs to the technical field of photovoltaic power generation, and discloses a photovoltaic tracking method and a photovoltaic tracking controller, and the method comprises the steps: collecting three-dimensional illumination distribution data through a multispectral imaging sensor and a grid irradiation sensor, and constructing a real-time sun position model in combination with an MEMS inertial measurement unit; predicting a local shadow moving path by adopting a generative adversarial network, and processing irradiance time sequence data based on a time sequence convolution module to generate a pre-compensation tracking instruction; based on the deployed deep reinforcement learning model, taking a weighting function of real-time generated power and a mechanical loss coefficient as a reward mechanism, and dynamically optimizing the rotating speed and the steering control quantity of the double-shaft motor; when the wind speed is larger than a preset threshold value, fluid mechanics simulation is started to calculate the non-horizontal wind-resistant posture, and the support is locked. According to the invention, through multi-modal sensor data fusion and deep reinforcement learning, high-precision and adaptive all-weather sun tracking is realized, and a digital twinborn model is introduced to carry out predictive maintenance.

Disclosed in the present invention are a lifting synchronous control system and control method for a high-rise steel structure corridor. The control system comprises a data acquisition module comprising a sensor network, an execution module, and a data-processing and decision-making module comprising a central control unit. The execution module comprises a lifting drive provided with a receiver. The sensor network comprises a coordinate sensor, an inclination angle sensor, a temperature and humidity sensor, and a wind speed sensor. The sensor network continuously acquires coordinate information, inclination angle information, and environment information and sends same to the central control unit. By means of a machine learning or deep learning algorithm, the central control unit performs self-optimization and regulates the lifting drive in real time on the basis of the continuously collected environment data and structural data. In the present invention, by combining dynamic regulation of an intelligent algorithm with the application of an Internet of Things technology, all components in the control system are modularly designed, thereby obviously mitigating the defects of conventional synchronous control systems, and significantly improving the stability of the control system and the capability of resisting the influence of external factors.

The invention discloses a dragging positioning spraying track planning method for a local area of the surface of special equipment and a storage medium, and belongs to the technical field of industrial robot automation. The method comprises the steps of obtaining point set data of a to-be-sprayed area; calculating a convex hull based on the point set, and solving a minimum enclosing rectangle by using a rotary caliper method to determine an accurate rectangle spraying boundary; constructing a rectangular amplitude limiting sedimentary model through spraying testing and parameter identification; generating a grid track with a buffer area based on the model and the boundary, and optimizing the spraying speed by taking the minimization time as a target; and for the curved surface, performing B-spline curved surface reconstruction and extracting a normal vector to control the attitude of the spray gun. According to the method, the complex multi-parameter trajectory optimization problem is simplified into single-speed optimization through the rectangular amplitude limiting deposition model, the problems that in local spraying, trajectory planning is complex, edge control is not precise, a coating is not uniform and the like are effectively solved, and the spraying efficiency and quality are remarkably improved.

The invention discloses a high-precision robust robot detection method and system based on constraint pose graph optimization, and the method comprises the steps: collecting point cloud data of a detection object in multiple poses, and introducing a standard sphere and a standard ball rod in the collection process for constructing a graph constraint; a robust constraint pose map optimization algorithm framework SYMM-RCPGO is constructed; substituting the point cloud data into SYMM-RCPGO to construct an attitude graph and a constraint attitude graph to obtain a target function; iteratively solving the SYMM-RCPGO in the SE3N by combining the objective function according to the graph constraint, and using a dynamic constraint boundary algorithm to relax the tightness of the constraint to obtain the three-dimensional point cloud data of the detection object with a complete appearance; and registering the measured three-dimensional point cloud of the detection object with the designed CAD model, and accurately calculating the pose matrix of the detection object to complete the positioning of the detection object. According to the method, the SYMM distance function with a higher D-optimal measurement upper limit, the robust Welsch function and the constraint graph are utilized, so that the method is superior to a traditional PGO in the aspects of accuracy and robustness.

The invention relates to the technical field of bridge construction equipment, and discloses a bridge fabrication machine walking attitude real-time control system based on multi-sensor fusion, and the system comprises a heterogeneous sensing and data collection module which obtains the kinematics and structural strain data of a bridge fabrication machine in real time; the offline modeling and calibration module is used for pre-establishing an initial dynamic model and a key mapping relation; the online state estimation and model self-adaption module is used for performing state estimation, model correction and disturbance identification and outputting comprehensive state information; the multi-constraint predictive control decision module is used for solving an optimization problem containing structural security constraints and generating an optimal control instruction; and the execution and feedback module analyzes the optimal control instruction to drive an execution mechanism and adjust the attitude to form a real-time closed loop. According to the invention, a scheme of fusing multi-source data and carrying out online adaptive model correction is adopted, and the fundamental defect that the control precision is obviously reduced along with time lapse and environment change due to the fact that the model is not matched with an actual system state is overcome.

The invention relates to the technical field of illumination angle adjustment, in particular to a tea table illumination angle adjustment control method and system, and the method comprises the following steps: obtaining optical reflection characteristic data of a desktop area, three-dimensional geometric data of an article and user observation point information, and constructing a space model for illumination evaluation; when it is monitored that the desktop environment changes, the changes include that an object enters an unstable state, whether the illumination state touches a preset judgment threshold value or not is evaluated based on the current light source projection angle, and the judgment threshold value comprises a glare threshold value, an illumination uniformity threshold value and a secondary reflection avoidance threshold value; if any judgment threshold value is touched, re-calculation and adjustment of the current light source projection angle are started; and if any judgment threshold is not touched, the current light source projection angle is maintained. The problems of glare, uneven illumination, secondary reflection and the like are effectively solved, and the visual comfort of a user is improved.

The invention relates to a liquid crystal phased array dynamic star finding control method based on holographic phase coding. The method comprises the following steps: acquiring an expected beam pointing angle of a target satellite relative to an antenna array; generating a two-dimensional phase matrix suitable for a liquid crystal phased array based on the expected beam directional angle; performing temperature compensation on the two-dimensional phase matrix, converting the two-dimensional phase matrix into a digital driving level, and loading the digital driving level to a liquid crystal driving circuit; a radio frequency beam pointing to the expected beam pointing angle is formed through radiation of the liquid crystal phased array antenna panel; and beam pointing errors are detected in real time according to downlink signal characteristics and are compensated. The liquid crystal phased array dynamic star finding control method based on holographic phase coding shows remarkable technical progress and practical advantages in multiple aspects; according to the method, a high-performance and high-reliability dynamic beam pointing system is constructed through key technologies such as holographic phase coding, real-time temperature compensation, high-speed calculation and closed-loop feedback, and the method is particularly suitable for high-dynamic scenes such as high-speed mobile carriers and low-orbit satellite communication.

The application relates to the technical field of underwater bionic robots, solves the technical problems that a traditional snake-shaped robot cannot autonomously adapt to environmental changes, optimize motion performance and intelligently coordinate multiple propulsion modes, and particularly relates to an underwater bionic snake-shaped robot and a hybrid adaptive control method thereof, which comprises a snake-shaped robot composed of a snake body assembly, a snake head assembly and a jet propulsion module; control instructions for each electric joint and control instructions for the jet propulsion module are output by using a reinforcement learning intelligent agent according to real-time environmental perception and robot state feedback. The control of the electric joint can be adjusting the parameters of the central pattern generator to generate the expected joint angle, or directly outputting the expected driving torque of each electric joint. The snake-shaped robot provided by the application is suitable for pipeline inspection, underwater detection and other tasks, the modular design reduces the manufacturing cost and maintenance difficulty, and the advanced control method improves the intelligent level of the robot.

The invention discloses a photovoltaic panel inclination angle dynamic detection and adaptive adjustment system, and relates to the technical field of photovoltaic equipment. The system comprises a photovoltaic panel, a multi-sensor fusion detection module, an integrated intelligent maintenance mechanism, a mechanical adjustment mechanism, a controller, a meteorological data linkage module, a wireless communication and cloud monitoring module and a solar auxiliary power supply module, the multi-sensor fusion detection module is composed of an illumination intensity sensor, an image recognition sensor and a tilt angle sensor, the integrated intelligent maintenance mechanism comprises an automatic cleaning assembly and a mechanical overload protection mechanism, and the controller overall plans all the modules to achieve dynamic detection and self-adaptive adjustment of the tilt angle of the photovoltaic panel. According to the invention, the problems of easy shielding interference, low maintenance automation degree and the like of traditional system detection are solved, automatic maintenance and overload protection of the photovoltaic panel are realized, environmental adaptability is enhanced in combination with meteorological data, remote operation and maintenance can be realized, and photovoltaic power generation efficiency is effectively improved.

The invention discloses a TRD equipment construction vertical control method and system based on digital twinning, and relates to the technical field of TRD equipment construction control, and the method comprises the steps: creating a three-dimensional dynamic twinning body which is in fidelity synchronization with TRD equipment and a construction geological environment; connecting physical perception execution equipment, and driving the digital twin model to update synchronously; calling a vertical state sensing module, and identifying a hierarchical vertical state by using a preset vertical tolerance threshold; and carrying out strategy matching search, feeding back a vertical control adjustment strategy, and carrying out real-time operation response on TRD equipment. The technical problems that in the prior art, in traditional TRD equipment construction, perpendicularity control is prone to being affected by geological environment changes and equipment operation data feedback lag, so that equipment control precision is low, and construction quality is unstable are solved, accurate control over TRD equipment construction perpendicularity is achieved, and the construction quality is improved. And the construction quality and the equipment operation stability are improved.

The invention relates to a coarse-fine integrated pointing mechanism for optical communication, and belongs to the field of optical communication equipment. The problems that in the prior art, a coarse pointing mechanism and a fine pointing mechanism are separated, so that the size is large, and cooperative work efficiency is low are mainly solved. The technical scheme is characterized in that the coarse pointing function and the fine pointing function are integrated into a single compact structure, large-range coarse adjustment around an azimuth axis y1 is achieved through a rotary table on a base, and high-precision fine adjustment around a pitch axis x2 and an azimuth axis y2 is achieved through a reflector supporting frame and a reflector on a mounting piece; the first motor, the second motor and the third motor respectively drive; full-state sensing is performed through a multi-axis angle sensor, a light beam position detector and a temperature monitoring module; and the controller performs real-time thermal error feedforward compensation on the driving instruction of the fine pointing motor according to the temperature monitoring data and a pre-stored thermal deformation compensation model. The mechanism is mainly used in a free space optical communication system, and realizes rapid capture, high-precision alignment and stable tracking of light beams.

The invention discloses an active optical alignment method based on a local lightweight language model, and particularly relates to the technical field of precision installation and adjustment, comprising the following steps: extracting image indexes and platform attitude information through image acquisition, constructing a unified input format, verifying and inputting the language model; generating a six-degree-of-freedom pose adjustment strategy and a credibility score; the strategy is executed by the platform control device after being verified by a preset criterion; scoring is performed again after execution, and whether a feature posture is recorded or error compensation is triggered is judged according to a scoring result, so that subsequent input and strategy generation are optimized, and alignment precision and stability are improved; according to the method, the data consistency is guaranteed through a unified input format and a verification mechanism, the alignment precision is improved in combination with a dynamic scoring strategy, and the stability and fault tolerance of the system are enhanced by introducing a feature attitude recording and error back-filling mechanism, so that a strategy generation and execution process with high reliability, high adaptation and high robustness in an active optical alignment task is realized.

The invention provides a cradle head double-loop control method based on multi-coordinate system cooperation, a cradle head, an unmanned aerial vehicle and a product. The method comprises the following steps: converting a first target compensation angular velocity into a second target compensation angular velocity under a cradle head motor coordinate system; inputting the second target compensation angular velocity into an FOC velocity ring to obtain a Q-axis basic current; obtaining a target attitude and a feedback attitude of the cradle head, calculating a first target Euler angular velocity, and converting the first target Euler angular velocity into a second target Euler angular velocity under a cradle head pod coordinate system; calculating a first target angular acceleration based on the second Euler angular velocity, and converting the first target angular acceleration into a second target angular acceleration under a pan-tilt motor coordinate system; calculating a dynamic moment and a gravity static moment to obtain a total moment; and calculating a Q-axis compensation current according to the total moment. And outputting a Q-axis current instruction to an FOC current loop according to the Q-axis basic current and the Q-axis compensation current. According to the invention, the control precision and response speed of the holder in a high-dynamic scene are improved.

The invention discloses a double-shaft tracking device, a double-shaft tracking support and a photovoltaic street lamp, the double-shaft tracking device comprises a base bottom plate, a pitch angle adjusting assembly, an azimuth angle adjusting assembly and a rotation supporting assembly, the pitch angle adjusting assembly comprises a first driving mechanism, a first turbine, a first connecting rod shaft and a gear transmission mechanism; the azimuth angle adjusting assembly comprises a second driving mechanism, a second turbine and a second connecting rod shaft; the first driving mechanism is used for driving the first turbine to rotate, the first turbine is connected with one end of the first connecting rod shaft, the other end of the first connecting rod shaft is connected with the gear transmission mechanism, and the gear transmission mechanism is connected with the rotary supporting assembly; the second driving mechanism is used for driving the second turbine to rotate, the second turbine is connected with one end of the second connecting rod shaft, and the other end of the second connecting rod shaft is connected with the rotating supporting assembly; the first connecting rod shaft penetrates through the second connecting rod shaft; the device is compact in structure in the height direction and high in space utilization rate.

The invention discloses a multi-degree-of-freedom pose adjustment method for a large-length-diameter-ratio target, and belongs to the technical field of multi-degree-of-freedom pose adjustment of automatic spraying equipment.The multi-degree-of-freedom pose adjustment method comprises the steps that firstly, the tail end pose deviation value of the target is obtained; and establishing a five-connecting-rod model and a forward kinematics model of the pose adjusting device. A five-connecting-rod model is constructed along the tail end of the large-length-diameter-ratio target, the pitching unit, the rotation unit, the transverse moving unit and the supporting foot unit in sequence; constructing a forward kinematics transformation matrix based on a product of coordinate transformation of the five connecting rods; and based on the forward kinematics transformation matrix, inversely solving the adjustment amount of each motion axis of the pose adjustment device at the target tail end pose deviation amount. And finally, according to an inverse solution result, adjusting each motion axis of the pose adjusting device so as to realize multi-degree-of-freedom pose adjustment of the tail end of the target with the large length-diameter ratio. According to the method, high-precision adjustment of the tail end posture is achieved, the purpose of precise adjustment of the automatic spraying length-diameter ratio target posture is achieved, and good practicability is achieved.

The invention discloses an integrated galvanometer laser projection method and an integrated galvanometer laser control device. The integrated galvanometer laser projection method comprises the steps that 1, a control card stores various data in a classified mode; when an upper computer issues a system parameter instruction, a communication interface is automatically switched according to a communication mode of the upper computer, and instruction data is analyzed and stored in an EEPROM (Electrically Erasable Programmable Read-Only Memory); 2, after the upper computer issues an instruction, the control card cooperatively controls the on-off state of the laser light source and the deflection angle of the laser galvanometer, and the position and the focal length of the lens are adjusted; 3, positioning an instruction according to a target point of the upper computer; the control card cooperatively controls the laser and the galvanometer to coarsely position the center of the target; and performing fine positioning on the center of the target by taking the target point obtained by coarse positioning as an initial reference position. The integrated galvanometer laser control device has the advantages that the environmental adaptability, the control precision and the operation convenience of the integrated galvanometer laser control device are remarkably improved.

The invention relates to an excavator trajectory planning method based on an improved multi-objective particle swarm algorithm, and belongs to the technical field of engineering machinery trajectory planning. The method comprises the following steps: establishing a forward kinematics model through a D-H homogeneous coordinate transformation method; based on the forward kinematics model, establishing an inverse kinematics model through a geometric method; setting six path points in the track according to the mining track; based on an inverse kinematics model, converting the space coordinates of the six path points into space angles of joints; interpolation is carried out on the joint path points through a five-time B spline curve, and a track is generated; determining an optimization objective function according to actual application requirements, and setting constraint conditions according to a specific excavator type; and finally, the optimization problem is solved through an IADEMOPSO algorithm, an optimal Pareto solution is selected by using an average optimal evaluation formula, and an optimal track is generated. The track planning of the excavator can be realized.

The invention relates to the technical field of trajectory control, in particular to a multi-modal motion trajectory real-time tracking method and system for machine control, which performs weight redistribution through channel noise variance and amplitude difference, performs weighted stacking and continuous updating in combination with Kalman filtering, reduces state estimation variance and channel bias transfer, and improves the tracking accuracy of a multi-modal motion trajectory. Time consistency and amplitude consistency of fusion track state data are improved, an overshoot peak value is inhibited, a deviation attenuation process is shortened, abnormal samples in a deviation sequence are rejected through an isolated forest, interference of outliers on parameter updating is reduced, and speed difference and acceleration difference are compared for a correction control sequence, so that the accuracy of correction control is improved. The boundary detection rate and the determinacy of the stage number are improved, the energy change rate is screened through the speed difference and the curvature value of the adjacent stages, the transfer relation is determined, the time sequence coherence and the geometric continuity of stage switching are kept, and the time sequence stability and the stage connection coherence of the control instruction are kept in the multi-degree-of-freedom space.

The invention relates to the technical field of mechanical engineering, and discloses a rotary table accurate alignment control method based on multi-modal sensing fusion, which comprises the following steps: firstly, acquiring multi-modal sensing data of a target rotary table, fusing the multi-modal sensing data into a multi-modal vector, and identifying a real-time pose; calculating a deviation value between a current position and a target position, determining a control stage, and constructing a hierarchical control process; then extracting control positioning data in the process, dividing to obtain an adjustment sequence, and generating a turntable servo motor driving instruction; then, a high-frequency disturbance value during instruction execution is collected, an anti-disturbance control quantity is calculated, and a precision unbalance point is detected; and finally, identifying the precision deviation value of the unbalance point, carrying out cooperative alignment with a preset precision index to obtain a parameter group, and generating an alignment control strategy. According to the invention, the control precision and the adaptive capability of the rotary table in a complex application environment can be improved.

The invention discloses a walking hanging basket linear control method and system based on visual feedback and application equipment, and relates to the technical field of hanging basket walking monitoring, and the method comprises the steps: obtaining the structural design information of a hanging basket, and obtaining the design information of a construction bridge body; according to the construction bridge body design information, walking route information of the hanging basket structure is formulated in advance; according to the construction bridge body design information, at least one image capturing area is arranged in the direction of the construction bridge body, and the image capturing area is used for collecting the connection state of the construction bridge body and the hanging basket structure. According to the construction real-time connection state of the hanging basket structure and the bridge body, the adjustment amount of the hanging basket structure and the bridge body can be determined; in addition, according to the scheme, the adjustment basis is quite scientific and effective, and the method does not depend on the professional level and adjustment experience of workers singly. The defect that in the prior art, the process for adjusting the position of a traditional hanging basket structure is complex and high in difficulty is effectively overcome.

The invention provides a multi-target adaptive optical tracking method and system for an unmanned intelligent turntable. The method comprises the following steps: acquiring a video stream and turntable attitude data on an unmanned intelligent turntable; carrying out scene understanding operation on the video stream, fusing the dynamic attention area and extracting spatial distribution information of a plurality of moving targets in a rotary table coordinate system; calculating an optical deformation parameter of the liquid lens, and driving the liquid lens to execute non-uniform optical curved surface adjustment, so that a focus area simultaneously covers a plurality of spatially dispersed moving targets; receiving distance data fed back by the distance measuring equipment, carrying out cross validation on the distance data and actual optical parameters of the adjusted liquid lens, and generating a cooperative calibration instruction when the deviation exceeds the tolerance; and synchronously updating the dynamic region of interest identification logic of scene understanding and an optical deformation parameter calculation strategy according to the instruction. According to the invention, the stability and spatial positioning precision of multi-moving-target tracking in a wide-area complex scene are improved.

The invention relates to the technical field of attitude adjustment control, in particular to an automatic attitude adjustment and calibration control system for a detection box of security inspection equipment, which comprises a laser feedback acquisition module, a structure response identification module, an attitude parameter analysis module, a fine adjustment control generation module and a calibration stability locking module. According to the method, laser ranging data and displacement feedback are collected, a three-dimensional Euclidean interval is constructed in combination with space coordinates, a mapping relation is established, space quantization information related to an offset state is obtained, and stability recognition of structural response is achieved in combination with the displacement change amplitude and the angle fluctuation degree in a continuous period. Through axial difference mapping of an attitude vector and a target instruction value, cyclic positioning of attitude offset and dynamic matching of a control channel are realized, an adjustment step length and an execution segment are matched according to a pose adjustment demand, and whether a system reaches a stable state can be accurately identified by combining a stable residence time evaluation mechanism after an action is completed. And the accuracy, coherence and response self-consistency of attitude adjustment execution are improved.