2286results 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 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 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 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.

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 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 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 discloses a high-precision laser double-loop tracking system suitable for a long-distance moving target and a control method, and relates to the field of laser tracking of moving targets. According to the high-precision laser double-loop tracking system suitable for the long-distance and moving target and the control method, the coarse and fine composite axis double-closed-loop tracking control system of the energy charging target and the miss distance time delay compensation system of the energy charging target are effectively combined; the problem of high-precision laser tracking of a long-distance (greater than 100 meters) moving target is effectively solved. The problem of low energy transfer efficiency caused by low tracking precision in an unmanned aerial vehicle laser wireless energy transfer system is solved, and high precision, high real-time performance and high interference resistance of unmanned aerial vehicle laser energy transfer are realized.

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 provides a photovoltaic module support amplitude stabilizing device, which relates to the technical field of photovoltaic equipment and comprises a support amplitude stabilizing execution module, a data acquisition module, a windproof control type determination module and a windproof control module. By constructing a three-level windproof control strategy system, accurate response to different wind levels is achieved, a first-level windproof control strategy is adapted to the vibration frequency and amplitude of a support in real time by dynamically adjusting the damping coefficient of a damping shock absorber, and a second-level windproof control strategy is adapted to the length of a windproof hydraulic cylinder based on wind speed and wind direction data. According to the three-level windproof control strategy, when strong wind exceeds a mechanical counteracting range, the dip angle of the photovoltaic panel is adjusted to a safe and efficient conversion angle, the wind resistance and the light energy utilization rate of the structure are balanced, and the wind energy utilization rate of the photovoltaic panel is increased. And the reliability and the economical efficiency of the photovoltaic system under the severe weather condition are improved.

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 relates to a trajectory control method based on a high-order finite time observer. The method comprises the steps that a system dynamics model is established, the high-order finite time homogeneous observer is designed, parameter drift is limited through a projection operator, and a fractional order time-varying gain adaptive law is introduced to cope with sudden change disturbance. An asymmetric obstacle function is adopted to reconstruct an observation error, and the convergence speed under an asymmetric dynamic condition is improved; injecting a time-varying scaling item into the observer, and balancing initial fast response and steady-state noise suppression; a backstepping sliding mode differential controller is constructed, a fractional order sliding mode surface is designed, multi-scale weighted gain and a nonlinear continuous operator are combined, control parameters are dynamically adjusted, high-frequency buffeting is restrained, and steady-state phase lag is eliminated. According to the invention, through finite time observation, adaptive disturbance compensation and fractional order sliding mode control, the trajectory tracking precision, the anti-disturbance capability and the system robustness are significantly improved.

The invention relates to the technical field of building construction equipment, and discloses a supporting system for supporting a curtain wall construction hanging basket at a light well to be stressed through a scaffold. The system comprises a scaffold stress monitoring module, a hanging basket attitude calculation module, a supporting force distribution module, a structural deformation early warning module and a self-adaptive leveling module. The scaffold stress monitoring module collects and processes stress data; the hanging basket attitude resolving module generates a dynamic balance parameter; the supporting force distribution module optimizes a supporting force distribution path; the structural deformation early warning module predicts a deformation trend and outputs an early warning level; and the self-adaptive leveling module adjusts the hydraulic expansion amount of the scaffold supporting legs to calibrate the level of the hanging basket platform. All the modules work cooperatively, real-time monitoring and precise control over scaffold stress and hanging basket postures are achieved, construction safety can be effectively improved, construction precision and efficiency can be improved, and the system further has the self-adaptive adjustment capacity so as to adapt to the complex construction environment and meet the curtain wall construction requirement of a light well.

The invention is suitable for the technical field of construction safety, and provides a construction machinery collision safety protection method and system, and the method comprises the steps: constructing a distributed communication network, sharing the state information of the pose, speed and the like of a machine in real time, and dynamically managing the network topology; the binocular camera, the millimeter wave radar and the IMU are fused to perceive the environment, and the operation path of the adjacent machine in the next five seconds is predicted; a cooperative control strategy of mechanical arm kinematics constraint and sensor view field coverage is established, the track is optimized, and the pointing direction of the sensor is adjusted; and executing three-level collision risk protection, and triggering early warning, potential field correction and emergency shutdown according to the collision time TTC. According to the scheme, full-process intelligentization from information interaction to risk protection is achieved through multi-technology fusion, the safety and cooperation efficiency of the construction machinery under complex working conditions are improved, and the method is suitable for multi-machinery operation scenes in the fields of buildings, traffic and the like.

The invention discloses a harvester header height control method and system based on multi-source sensing information fusion, and belongs to the field of agricultural machinery automation control. The problems that in the prior art, actually-measured height detection deviation is large, and the height detection data source is single are solved, the longitudinal height and the transverse inclination angle of the header are calculated and adjusted in real time through multi-source sensor data, the accuracy of the height and the posture of the header is guaranteed from multiple dimensions so as to adapt to the complex working environment, and the working efficiency is improved. The precise control process of a hydraulic loop driving system on longitudinal and transverse hydraulic cylinders is defined, a reasonable height difference threshold value and a reasonable angle difference threshold value are set, fine regulation and control of the height of the header are achieved, abnormal conditions such as crop cutting missing and soil shoveling are reduced, crop and topographic feature points are extracted through a visual detection system and a deep convolutional neural network, and the accuracy of crop cutting is improved. A terrain curve and an operation plane can be accurately constructed, accurate operation path guidance is provided for a header, the accuracy and quality of harvesting operation are effectively improved, and the loss rate is reduced.

The invention relates to the technical field of remote monitoring, and discloses a high-precision holder control method and system. Comprising the steps of collecting a target scene image, performing denoising, distortion correction and resolution adjustment, obtaining a target pixel coordinate and confidence through a lightweight target detection model, and calling a corresponding image enhancement model to perform preprocessing when an abnormal environment is detected; transmitting a part of detection results as key frames to an edge end based on a frame extraction strategy, caching the rest of the detection results locally, and switching to a local tracking mode and reducing control frequency when network delay exceeds a threshold value; fusing visual detection data and inertial measurement data, and predicting a target position through extended Kalman filtering; carrying out sub-pixel-level refinement on the target position, and calculating a three-dimensional orientation in combination with a participated holder attitude in a camera; and adjusting the attitude of the holder in real time based on a prediction result and an anti-saturation integral separation PID controller.

The invention provides an intelligent networking astronomical telescope control method and system for a synchronous base, and relates to the technical field of telescope control, and the method comprises the steps: obtaining historical observation data of an astronomical telescope and initial star map data uploaded in real time; performing star map matching and attitude estimation of the astronomical telescope based on the initial star map data, and performing coordinate transformation on data obtained by attitude estimation to obtain initial pointing data of the astronomical telescope; calculating a star motion error based on the initial pointing data, and inputting the star motion error into a preset control strategy determination model for processing to obtain an initial control strategy of the astronomical telescope; and controlling the astronomical telescope to obtain astronomical image data based on the initial control strategy, and optimizing the initial control strategy based on the astronomical image data and historical observation data to obtain a final control strategy of the astronomical telescope. According to the method, the problems of low astronomical data storage efficiency and insufficient long-term observation strategy optimization capability are solved.

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.

The invention relates to the technical field of photovoltaic control, in particular to a road photovoltaic array adjusting method, medium and equipment, and the method comprises the steps: quantifying a first glare influence degree through an initial angle, an initial height and weather data, and screening out an intermediate photovoltaic panel of which the angle needs to be adjusted; the corresponding adjustment effect, adjustment cost and power generation capacity when the middle photovoltaic panel is independently adjusted from the initial angle to each candidate adjustment angle are comprehensively analyzed, the target adjustment angle is obtained, the target photovoltaic panel is screened out, the range of the photovoltaic panels needing to be adjusted is narrowed, the adjustment efficiency is improved, and the adjustment cost is reduced. And the overall adjustment effect, the adjustment cost and the power generation capacity of the M photovoltaic panels in the photovoltaic group under each candidate adjustment height are comprehensively analyzed, and the target adjustment height corresponding to each photovoltaic group is obtained, so that the angle and the height of the initial photovoltaic panel are adjusted, the illumination receiving condition and the glare condition of the photovoltaic panel are optimized, and the adjustment efficiency of the photovoltaic panel is improved. The driving safety requirement of the road near the photovoltaic array is improved, and meanwhile the power generation efficiency and the adjustment cost are taken into account.