10results about How to "Achieve precise tracking" patented technology

The invention provides a VOF-based numerical simulation method for a welding spot cavity of a vacuum vapor welding, which comprises the following steps: creating a BGA welding spot two-dimensional model and presetting a plurality of bubbles, simulating the flowing of a welding flux by adopting a laminar flow model, and simulating the interface of the welding flux and the bubbles by adopting a multiphase flow VOF model. A multi-area method quadrilateral mesh is adopted, and a UDF user-defined program is matched to simulate a flow field when bubbles escape from the solder; and meanwhile, by improving boundary condition setting, the calculation time is shortened, the calculation efficiency is improved, and the process that bubbles escape from the BGA welding spots in the welding process is rapidly and truly simulated.

The invention belongs to the technical field of underwater vehicle control, and particularly discloses a sequential docking cooperative control method and system for multiple autonomous underwater vehicles. The sequential docking process is divided into a formation stage, a following stage and a docking stage in order to solve the problems of space-time trajectory conflict and cooperative scheduling difficulty in the docking process of multiple autonomous underwater vehicles. In the formation stage, a multi-body relative motion model is constructed based on a navigation-following strategy, and the topological stability of the formation pattern is maintained; in the following stage, an expected heading angle is dynamically solved by adopting a self-adaptive sight angle guidance law, a reduced-order expansion state observer is designed based on a yawing model, and accurate tracking of a target path is realized; and in the docking stage, orderly scheduling of the autonomous underwater vehicles is realized according to the real-time formation, and the target autonomous underwater vehicles are guided to realize docking in sequence. According to the invention, mutual interference among the underwater vehicles is effectively avoided, safe and ordered sequential docking of the multiple autonomous underwater vehicles is realized, and cluster docking efficiency is remarkably improved.

The invention discloses an unmanned aerial vehicle automatic identification and tracking system and method, and belongs to the technical field of photoelectric automatic zooming, and the method comprises the steps: employing a detection module to detect a target object, and obtaining the azimuth angle, pitch angle and distance of the target object; the azimuth angle and the pitch angle of the recognition module are adjusted through the rotary table, so that the azimuth angle and the pitch angle of the recognition module and the target object are within a set deviation range; automatic zooming and automatic focusing are carried out on the coarse television of the identification module, so that the target object is located in the field of view of the coarse television; performing coarse tracking on the target object; and performing fine tracking on the target object. According to the automatic tracking identification method for the unmanned aerial vehicle, preliminary detection of the target object, coarse tracking of the target object and fine tracking of the target object are connected in series, all the steps are automatically processed, the operation process and control time of automatic tracking of the target object are greatly simplified, manual intervention is avoided, and the identification efficiency and accuracy of the target object are greatly improved.

The invention provides a quail health state early warning and management method based on individual behavior monitoring, and belongs to the field of animal health monitoring, and the method comprises the steps: constructing a multi-modal monitoring scheme, synchronously collecting quail data, building identity mapping, carrying out the early warning through an edge end and a cloud end model after preprocessing and feature extraction and screening, and carrying out the early warning through a cloud end model. And then dynamically calibrating a threshold value, tracing pathology and grading, and finally implementing individual and group level intervention according to a result to form a closed loop. According to the quail health state early warning and management method based on individual behavior monitoring, early recognition of the quail health state, disease cause tracing and accurate management are achieved, and the breeding efficiency is improved.

The present application relates to a kind of photovoltaic positioning tracking control systems based on environmental perception function, belong to photovoltaic tracking control technical field.The system is built by distributed intelligent sensing module distributed sensing network, and the local measurement value is exchanged by node adjacent communication, and the whole field environment situation map is constructed and cloud shadow movement is predicted;Intelligent decision module runs core local rule, introduces virtual leader node mechanism, and the compound instruction set is output by node calculation tracking income and mechanical wear risk;Dynamic cluster tracking module is based on topological potential field theory and forms dynamic tracking cluster, and the difference angle adjustment instruction is generated by cluster evolution mechanism and edge shadow prediction compensation;Distributed health perception module obtains execution state data, identifies component deterioration trend and realizes node health information exchange and evaluation.The system realizes the distributed collaborative control of photovoltaic tracking, improves tracking accuracy and system reliability, and adapts to complex outdoor environment changes.

The invention discloses an ultrasonic-guided automatic puncture method and system, and the system comprises an image collection module which is used for collecting an ultrasonic image of a puncture object during an operation; the risk detection module is used for detecting a puncture dangerous area based on the ultrasonic image and updating the position of the dangerous area in the current image; the path planning module is used for performing path planning based on the puncture dangerous area and the target spot and determining a puncture path; the state monitoring module is used for monitoring the automatic puncture process in real time and tracking the position of a puncture needle based on an optical flow field; the risk early warning module is used for carrying out risk assessment and safety response based on the multi-source information in the automatic puncture process; the puncture needle module and the mechanical arm module are used for executing puncture. According to the application, the dangerous area can be automatically identified, the risk of mistakenly puncturing blood vessels and nerves is obviously reduced, the path planning is automatically carried out, the puncture path is ensured to be optimal, the accurate tracking of the needle body posture can be realized without an electromagnetic sensor, and the equipment manufacturing cost is reduced.

The invention provides a letter sorting machine control system based on EtherCAT double-link redundancy. The letter sorting machine control system comprises a main controller, a redundancy switching unit, a distributed slave station and branch control module, a belt transmission module and a grid display module. The main controller adopts multi-core CPU function isolation, binds different tasks to corresponding cores and allocates execution cycles; the redundancy switching unit constructs a double-link annular redundancy network, automatic switching is achieved when links are abnormal, and communication stability is guaranteed; the distributed slave stations are provided with terminal modules according to needs, are integrated in slave station boxes and are flexibly connected to execution components of all functional areas. And the lattice display module adopts a group leader-group member structure, so that the load of a main network is reduced. The system sets priorities for EtherCAT network groups based on signal real-time performance, realizes IO signal rapid response, and supports flexible expansion of slave station boxes. The reliability, the real-time performance and the expansibility of letter sorting control are improved, the method is suitable for a high-speed sorting scene, and the efficient operation requirement of the postal logistics industry is met.

The application discloses an attack time and angle control guidance method and device, equipment and medium, and relates to the field of missile control guidance. The method comprises the following steps: a dynamic model is established based on the scene of a single missile intercepting a stationary target in a two-dimensional plane; the expected trajectory of the missile is generated by adopting a cubic Bezier curve based on the dynamic model, with the attack time, attack angle and maximum normal acceleration as constraints; the trajectory tracking error is calculated according to the current position of the missile and the expected trajectory; the expected heading angle is calculated according to the tracking error and the heading angle of the expected trajectory; the heading angle tracking error is calculated according to the actual heading angle of the missile and the expected heading angle; and the normal overload instruction required by the missile is determined according to the heading angle tracking error and a preset time tracking guidance law. The application realizes accurate tracking of the expected trajectory.

The invention relates to the technical field of multi-agent system control, solves the technical problem of lack of an effective active compensation mechanism for unknown nonlinear dynamics and actuator fault problems in an underlying physical system in the traditional technology, and particularly relates to an adaptive fault-tolerant control method for heterogeneous multi-agent distributed Nash equilibrium optimization. By constructing a hierarchical game control framework, hierarchical decoupling is carried out on high-level game strategy optimization of a decision-making layer and bottom-layer trajectory tracking of a control layer; and establishing an adaptive fault-tolerant control law, and configuring adaptive update law parameters based on a Lyapunov stability theory, so that a control layer can track a Nash equilibrium reference strategy. According to the method, distributed game control of the heterogeneous multi-agent system can be realized under the condition that nonlinear uncertainty and actuator faults exist, so that tracking errors are converged to a small tight set, accurate tracking of an optimal strategy is realized, and the fault-tolerant capability and robustness of the system are improved.

The present application relates to the technical field of teaching management, and discloses a kind of artistic practice course's mixed teaching task collaborative allocation method and system, the method includes: the multi-source task sequence and teaching state data of target process are collected, and task chain is constructed based on execution constraint and dependency relationship. Available resources and role state are combined into state snapshot, according to the demand of first task, candidate role set is filtered, the role with minimum load is selected as allocation target and is set as load balancing anchor point, and cascaded successor task obtains collaborative allocation sequence. Continuously receive the attendance signal and completion signal of offline classroom and online platform, and are associated and bound according to timestamp and corresponding task node, to generate execution event track. According to the state transition mark in track, update node state, form collaborative allocation closed loop record;The present application can improve the efficiency of artistic practice course's mixed teaching task collaborative allocation.