301results about How to "Achieve precision" patented technology

The invention provides a sensitive data identification protection method and system based on intelligent matching, and relates to the technical field of data processing, and the method comprises the steps: carrying out the semantic analysis of sensitive data through a natural language processing model, and constructing a multi-level knowledge graph; performing node coding and relation intensity calculation by using a graph neural network and an attention mechanism; a graph structure importance degree evaluation algorithm is adopted to calculate node sensitivity weights and grade the node sensitivity weights; and applying a corresponding data protection scheme according to the sensitivity level, and identifying associated nodes through a graph traversal algorithm to perform hierarchical protection. According to the method, intelligent identification, accurate grading and comprehensive protection of sensitive data are realized, and the data security is improved.

The invention provides a multi-AGV path planning and obstacle avoidance method based on an improved artificial bee colony algorithm, and aims to solve the key technical challenges of multi-AGV system path planning and obstacle avoidance in modern industrial automation. According to the method, a dynamic updatable gridding environment model is constructed to accurately represent a starting point, an end point, static obstacles and dynamic obstacles in a working environment, an improved artificial bee colony algorithm is adopted to globally optimize path planning of multiple AGVs, constraint conditions of obstacle avoidance and multi-AGV path conflicts are met, and the optimal path planning of the multiple AGVs is realized. And the efficient operation of the system and the path collision-free property are ensured. In addition, the method further comprises path tracking control and conflict detection and obstacle avoidance control so as to ensure that the AGVs can accurately run along the planned path, conflict points in the paths of the multiple AGVs are detected in real time, and different coping strategies are adopted to achieve path coordination and scheduling. Finally, the cooperation efficiency and safety of the multi-AGV system can be effectively improved.

The invention discloses an automatic quality-supplementing correction method and system for the unbalance amount of a fan, and the method comprises the following steps: collecting geometric parameters and material characteristics in a static state of the fan, and constructing a mechanical distribution model of the fan; the method comprises the following steps: collecting vibration signals and airflow characteristics in real time in a dynamic operation state, calculating the amount of unbalance in operation and decomposing the amount of unbalance into a primary component and a secondary component; on the basis of the unbalance prediction trend, determining a quality supplementing range, carrying out multi-point quality supplementing operation through a dispensing technology, and monitoring a quality supplementing effect by using an optical fiber sensor; and if the residual unbalance amount after quality supplementation still exceeds the standard, real-time compensation adjustment is carried out through the electromagnetic torque regulation and control module. Full-process automatic correction from static state to dynamic state and from quality supplement to fine adjustment is achieved, the method has the advantages of being real-time, accurate and intelligent, vibration and noise in the fan operation process can be effectively reduced, the operation stability of equipment is improved, and the service life of the equipment is prolonged.

The invention provides an LCM module aging test method, device and equipment and a storage medium, and the method comprises the steps: obtaining the initial state data and initial environment parameter combination of an LCM module through intelligent environment simulation and initialization processing, and carrying out the multi-mode alternate aging test and real-time monitoring processing of the module through an intelligent environment simulation system, and obtaining performance data in a dynamic environment, and carrying out surface periodic scanning and working sound recording to obtain microstructure data and acoustic data. Through intelligent fault detection and deep analysis processing, fault features and reasons of the module are identified, predictive analysis is performed on the fault in combination with a machine learning algorithm, and a predictive fault trend and an optimized environmental parameter combination are generated. And performing comprehensive performance evaluation on the module according to the fault features, the reason analysis, the prediction trend and the optimization parameters. According to the invention, through combination of intelligent environment simulation, real-time monitoring and deep analysis, accurate performance evaluation and fault prediction of the LCM are realized.

The invention belongs to the technical field of a computer system based on a specific calculation model, relates to a virtual and real dynamic interaction-based digital twin bearing fault diagnosis method, and aims to solve the problem that a bearing system in large rotary mechanical equipment is large in fault hidden danger and avoid serious consequences caused by faults. A generally used bearing is in a high-precision standard, so that system signal data under bearing fault operation is not easy to collect in a factory, and the unbalanced data sample distribution directly leads to finiteness of fault diagnosis in a real scene only based on a big data driving mode classification method, so that the system signal data cannot be easily collected in the factory. The method has good scene working condition self-adaption, can be applied to fault diagnosis of a bearing system in different industrial scenes, fully excavates limited industrial data information and rich physical priori knowledge, and ensures safe and reliable operation of an important rotating mechanical system through a digital twinning technology.

The invention discloses an automatic control method for tipping paper printing based on image detection, and relates to the technical field of tipping paper printing, and the method specifically comprises the following steps: obtaining surface feature information of each sub-region in a wrinkling region in a tipping paper printing process in real time, and analyzing the surface feature information after obtaining, respectively generating a light intensity anomaly index and a tension instability index of each sub-region; and constructing a wrinkling influence evaluation model for the light intensity anomaly index and the tension instability index of each generated sub-region, respectively generating a comprehensive evaluation coefficient of each sub-region, performing analysis after generation, and evaluating the influence degree of each sub-region in the wrinkling region on the generated printing alignment parameter. And dividing each sub-region in the wrinkling region into a non-influence region, a low-influence region and a high-influence region according to an evaluation result. According to the invention, the problem of insufficient characteristic identification and evaluation of the wrinkling area is solved, and intelligent improvement of printing alignment precision and finished product quality is realized.

The invention relates to the technical field of electrical fire early warning detection, and discloses a method and a system for detecting electrical fire risk hidden dangers. The method comprises the following steps: collecting current, voltage and temperature signals through a sensor, and generating a multi-dimensional original data set; extracting spectrum features and mutation features; inputting the feature vector into a trained model for risk trend prediction; and smoke features and flame features are detected and analyzed in combination with a video image recognition algorithm. Compared with the prior art that fire hazards are judged only depending on a fixed threshold value, and particularly, accurate recognition and real-time early warning of the fire hazards cannot be achieved in a complex electrical environment, the method adopts a cooperative mode of multi-source data acquisition, intelligent algorithm analysis and video image recognition; high-precision prediction and real-time alarm of the electrical fire risk are realized, so that the problem of false alarm or missing alarm is avoided, and the real-time performance and the stability of the system are improved.

The invention discloses a fabricated curtain wall construction method, system and equipment based on a BIM technology and a storage medium. The method comprises the following steps: performing virtual paying-off on a building main body structure to obtain paying-off data; acquiring curtain wall information of the fabricated curtain wall; performing hoisting path simulation on the fabricated curtain wall according to the curtain wall information and the pay-off data, and adjusting the simulated hoisting path in a BIM model including the building main body structure to obtain an adjusted BIM model; the assembled curtain wall is temporarily fixed through the adjusted BIM model; performing error detection on the temporarily fixed fabricated curtain wall to obtain an error report, performing position adjustment on the temporarily fixed fabricated curtain wall according to the error report, and stopping adjustment when an error value is within a preset range to complete installation. By implementing the technical scheme provided by the invention, the construction precision of the fabricated curtain wall is improved.

The invention discloses a static forest fire risk assessment method and system based on multi-source data and a remote sensing technology. The method comprises the following steps: establishing an index system of a target area and carrying out data acquisition; the collected data are preprocessed; calculating influence factors and index weights by using the preprocessed data, determining spatial and temporal distribution of calculation results of different influence factors, and calculating a comprehensive factor result by using each single influence factor according to a set weight; and evaluating the forest fire risk based on the obtained comprehensive factor result, and realizing dynamic monitoring of the forest fire risk value. According to the method, the accuracy and the real-time performance of forest fire space-time risk prediction are improved; and theoretical support is provided for follow-up forest fire risk prevention and control of electric power companies.

The invention discloses a vehicle lane changing track high-precision redrawing and key parameter accelerated extrapolation method. The method comprises the following steps: acquiring a sampling data set of a real-time dynamic driving scene; screening a complete lane changing scene of multi-vehicle interaction; filtering preprocessing is carried out on the original noisy data; a lane changing track model is constructed based on a midpoint step-by-step lane changing hypothesis, a lane changing process is modeled in a segmented manner by taking a lane line crossing moment as a node, track characteristic parameter identification is carried out based on the lane changing track model of transverse and longitudinal decoupling, a track characteristic parameter distribution rule is mined, and lane changing scene parameter distribution characteristics are condensed; extracting parameter distribution characteristics of the lane changing scene based on a Gaussian mixture model, and proposing a joint probability model of scene multi-dimensional parameters; extracting lane changing scene distribution gradient information; carrying out Hamilton Monte Carlo sampling; and forming a lane changing acceleration test scene library. According to the invention, dimensionality reduction and high-precision redrawing of the lane changing track are realized, and extrapolation of key scene parameters and construction of a high-precision and high-efficiency lane changing acceleration test scene library are completed.

The invention relates to the technical field of robot control, in particular to a robot rescue emergency control system based on voice interaction. The system is used for performing control voice signal acquisition and rescue emergency voice control task structured analysis by using a built-in voice receiving function of a robot, and generating rescue emergency voice control task structured data; acquiring panoramic image data, environment sensing data and long-distance laser radar data monitored by the robot; the method comprises the following steps: performing global image point cloud model construction and multi-level environment change collaborative optimization processing based on panoramic image data, environment perception data and long-distance laser radar data monitored by a robot, and generating an optimized global image perception model; and performing rescue emergency intelligent control operation on the robot based on the rescue emergency voice control task structured data and the optimized global image perception model. According to the invention, the voice instruction is received through the voice interaction function, so that automatic and efficient robot rescue emergency control is realized.

The invention provides a mesenchymal stem cell confluence degree calculation method and system based on image semantic segmentation, and the method comprises the steps: training a cell image semantic segmentation model through a training set, and carrying out the test screening of the trained cell image semantic segmentation model through a test set, obtaining an optimal cell image semantic segmentation model; performing preprocessing operation including scale transformation and gray level normalization on the to-be-calculated mesenchymal stem cell phase contrast microimage; and segmenting the to-be-calculated mesenchymal stem cell phase contrast microscopic image into cells and a background by using the optimal cell image semantic segmentation model, and summarizing and counting the pixel proportions of the segmented cells to obtain the mesenchymal stem cell confluence degree so as to realize automatic identification and separation of the mesenchymal stem cells. The method is used for assisting cell culture quality evaluation in medical and biological research.

The invention relates to the technical field of visual health management, in particular to a ciliary muscle adjustment training system and method based on eye movement tracking, and the method comprises the steps: collecting eye movement data of a fixation point track, an adjustment amplitude change rate and pupil response time in real time, and combining personalized parameters such as the age of a user, diopter and a training target; inputting a ciliary muscle training dynamic planning algorithm module, dynamically generating a stage scheme containing a training action type, a single-group duration, a stimulation interval and a focal length adjustment strategy, and adaptively adjusting the strategy according to real-time adjustment stability and a historical ability curve; through multi-dimensional matching analysis of a pre-stored standard eye movement template, a training specification score is calculated from the track goodness of fit, speed uniformity, amplitude standard-reaching rate and binocular coordination, visual fatigue parameters are obtained based on continuous training duration, pupil fluctuation and retina reflex change, a scoring result is dynamically corrected, and a visual fatigue evaluation result is obtained. Personalized, self-adaptive and quantitative safety control of the training process is realized.

The invention relates to the technical field of mine blasting construction, in particular to a lumpiness control method, system and equipment for mine blasting construction and a medium. The method comprises the following steps: firstly, determining an initial blocking length based on early-stage trial explosion data, then forming an axial non-coupling structure by arranging a plurality of sections of PVC interval air columns with different lengths, loading explosive cartridges with different diameters to form a radial non-coupling structure, and finally, performing quantitative analysis and parameter optimization by utilizing lumpiness analysis software. Through the synergistic effect of the double uncoupled structures, quantitative analysis and parameter optimization, blasting energy distribution can be more effectively controlled, and an ideal lumpiness control effect is achieved.

The invention discloses a hydraulic mechanical transmission device control method based on optimal trajectory optimization, and relates to the technical field of equipment intelligent auxiliary operation and control, and the method comprises the following steps: S1, building a physical model of a hydraulic mechanical transmission device; s2, taking the shortest motion time, the most smooth trajectory and the minimum energy consumption as optimization objectives, and obtaining an optimal trajectory based on a trajectory planning algorithm combining an improved sparrow algorithm and a quintic non-uniform B-spline curve; s3, oil return control is optimized; and S4, oil inlet control is optimized, specifically, an oil inlet flow controller is optimized based on a time-varying secant obstacle Lyapunov function and an RBF neural network. According to the trajectory planning algorithm, the trajectory of the hydraulic transmission device can be optimized, oil return and oil inlet are optimized based on the optimal trajectory, and working trajectory planning and high-precision control over the hydraulic equipment executing mechanism are achieved.

The invention provides a firmware online upgrading method, embedded equipment, a medium and a product, and relates to the technical field of intelligent terminals. The method comprises the following steps: after the embedded equipment is powered on, running a primary bootstrap program, and checking a first mark state: if the state is a state of updating a secondary bootstrap program, executing online updating of the program and resetting a system; and if the state is the default state, loading and running the secondary bootstrap program. Checking a second mark state; if the second mark state is an updating mirror image state, executing firmware mirror image online updating and resetting; and if the state is the default state, determining a target mirror image, copying the target mirror image from the nonvolatile memory to the random access memory, and skipping to run. And the equipment simultaneously monitors the running state of the target mirror image in real time, and executes successful confirmation or abnormal recovery operation according to the state. In this way, quick response of faults is achieved through running state feedback, the stability and reliability of firmware upgrading of the embedded device are effectively improved, and the risk of device paralysis in the upgrading process is reduced.

The utility model provides an output assembly for a joint module of a robot, which comprises a gear driving group with a first gear and a second gear, the first gear is used for being connected with a driving rotating shaft of a motor assembly of the joint module, the second gear is in transmission fit with the first gear, the first gear has a first rotating direction rotating around the driving rotating shaft, and the second gear has a second rotating direction rotating around the driving rotating shaft. The second gear has a second rotation direction different from the first rotation direction; and the output shaft is used for supporting the output piece, the output shaft is fixedly connected with the second gear so as to transmit power from the second gear to the output piece, and a clamping device for limiting axial displacement of the output piece is arranged on the output shaft. The original power rotation direction and load of the motor assembly are changed through the gear driving set, when the joint module is assembled, the structural arrangement in the module is more flexible, the overall space is smaller, and the clamping device facilitates more stable driving rotation of the output piece and more accurate control.

The invention relates to the technical field of aero-engine part machining, in particular to a machining method of an aero-engine titanium alloy special-shaped part, which comprises the following steps: step S1, manufacturing a blank, dividing the blank into two symmetrical parts along a long axis according to the titanium alloy special-shaped part, unfolding the two symmetrical parts, performing single-side margin-reserved blanking, and performing rounding to obtain a blank before hot forming; s2, coating a protective coating, namely brushing boron nitride protective paint on two surfaces of the blank, brushing boron nitride protective paint on a forming male die and a forming female die of the die, and naturally drying at normal temperature; s3, hot forming is conducted, specifically, a mold is heated to a set value along with equipment, the blank is put into the mold to be subjected to hot forming, a semi-finished product blank which is separated along the long axis and provided with reinforcing ribs is obtained, and the profile and size precision of the semi-finished product blank are guaranteed; s4, the protective coating is cleaned, boron nitride on the surface of the semi-finished blank is wiped with a scouring pad in clear water, and no stain is left; s5, the appearance is cut, the part is positioned and aligned through reinforcing ribs, the semi-finished product blank is cut, and a halved part is obtained; s6, removing an oxide layer; and S7, the two halved parts are welded through laser welding, and the complete titanium alloy special-shaped part is obtained.

The invention provides a breeding method of all-male pseudosciaena crocea and a matched preservation line, and relates to the technical field of pseudosciaena crocea breeding. According to the all-male larimichthys crocea, YY type male larimichthys crocea and XX type female larimichthys crocea are paired, and all produced offspring are normal XY type male larimichthys crocea. The cultivation method of the large yellow croaker matched preservation line comprises the following steps: firstly, performing induced transformation on male large yellow croaker by using estrogen to obtain XY type female large yellow croaker; then the XY type female pseudosciaena crocea subjected to sexual transformation is matched with normal XY type male pseudosciaena crocea, and produced offspring contains YY type male genetic pseudosciaena crocea; and pairing the YY type male genetic large yellow croaker with the normal XX type female large yellow croaker, wherein all the produced offspring are the normal XY type male large yellow croaker. Through the application of estrogen induction and genetic sex identification technologies, the sex control accuracy of the large yellow croaker is realized, and a new technical means is provided for the aquaculture industry.

The invention discloses a fault combined diagnosis system and method for an engine and a steam injection device. The system and method are used for solving the technical problem that engine faults caused by damage to an external simulation environment cannot be diagnosed in the prior art. The diagnosis system comprises a distributed acquisition unit, a diagnosis unit and a treatment unit, and the distributed acquisition unit comprises a plurality of measurement sensors, a plurality of distributed collectors and a plurality of distributed controllers; the input end of each distributed collector is respectively connected with the output ends of one or more measuring sensors, and each distributed controller is respectively connected with the output ends of one or more distributed collectors and a diagnosis unit; the diagnosis unit is connected with the treatment unit and is used for analyzing and interpreting the parameter information and feeding back an interpretation result to the treatment unit; and the processing unit is used for respectively controlling the working state of the engine and / or the steam injection device according to the interpretation result.

The invention discloses a depth map super-resolution method based on blind degradation. The method comprises the following steps: forming an initial RGB-D sample pair by using a high-resolution RGB image and a corresponding high-resolution synthetic depth map; screening out a high-quality RGB-D sample pair from the initial RGB-D sample pair; inputting the high-quality RGB-D sample pair into a learnable degradation network, converting the high-quality RGB-D sample pair into a low-resolution training sample, and constructing an RGB-D training data set by using the low-resolution training sample and the high-resolution RGB image corresponding to the low-resolution training sample; using the RGB-D training data set to train the multi-modal super-resolution reconstruction network to obtain a depth map super-resolution model; inputting the low-resolution depth map and the corresponding high-resolution RGB image into a depth map super-resolution model to output a high-resolution depth map; the method solves the problems that an existing depth map super-resolution method mostly depends on a fixed degradation hypothesis, a real sensor and complex degradation distribution of compression transmission are ignored, and accordingly generalization ability is insufficient, edges are fuzzy and artifacts are increased in an actual scene.

The invention provides a reference voltage buffer circuit of a high-precision analog-to-digital converter and a calibration method of the reference voltage buffer circuit, and the reference voltage buffer circuit is characterized in that the inverted input end of a first operational amplifier is connected with a reference voltage, and the output end of the first operational amplifier is in feedback connection with the in-phase input end through a first driving tube and a voltage division circuit; the inverted input end of the third driving tube is connected with the second voltage dividing node, the output end of the third driving tube is connected with grid electrodes of a plurality of third driving tubes and second driving tubes, and drain electrodes of the third driving tubes are connected to the first voltage dividing node through switches; the width-to-length ratios of the second driving tube and the plurality of third driving tubes are in a linear relationship; logic control signals are input into the plurality of switches and are used for controlling the states of the switches to perform linear calibration of the reference voltage. Linear calibration of the output reference voltage is controlled through binary coding, the total resistance is greatly reduced by designing the linear relation between the resistors, and the effects of reducing the chip area and reducing the cost are achieved.

The utility model discloses a welding H-shaped steel beam positioning and drilling device which comprises a bottom plate, a stopping plate is fixed to one end of the top of the bottom plate, two mounting plates are fixed to the other end of the top of the bottom plate, transverse grooves are formed in the two sides of the top of a fixing plate, and inclined grooves are formed in the two sides of one end of the top of the fixing plate. First rolling wheels are arranged in the transverse grooves in a rolling mode, connecting rods are rotatably connected to the tops of the first rolling wheels, second rolling wheels are rotatably connected to the tops of the two connecting rods, and moving plates are arranged at the ends, close to the stopping plate, of the two mounting plates; clamping plates are fixed to the faces, close to each other, of the two movable plates. According to the H-shaped steel beam drilling device, the effect of clamping and fixing the H-shaped steel beam in the drilling process of the H-shaped steel beam is achieved, through linkage of the mounting frame and the connecting rod, the cost of additionally needing a driving device to fix the H-shaped steel beam is saved, and the energy-saving and environment-friendly effects are achieved.

The invention discloses an in-building emergency rescue system and method based on digital twinning modularization and multi-scale simulation, and the system comprises a parameterization equipment model construction module, a parameterization floor environment simulation module, a data real-time collection and monitoring module, a fault monitoring and fault analysis module, and an emergency rescue path intelligent generation module. And a user interaction interface module. The system adopts a modular design, can be independently deployed and can also be flexibly combined so as to meet the requirements of different building structures, floor environments and elevator brands. Meanwhile, by means of the multi-scale simulation technology of a Unity 3D platform, high-precision simulation and visualization of the operation state of the equipment are achieved, operation and maintenance personnel and rescue personnel can visually and accurately know the operation state of the equipment and the floor environment, a precise and visual virtual environment is provided for emergency rescue, and the safety of emergency rescue is improved. And powerful technical support is provided for development and application of a simulation equipment emergency rescue system.

According to the general chronic disease patient dynamic monitoring and intervention management system, early recognition, early intervention and continuous management of chronic disease risks are achieved through fusion of multi-source physiological signals and behavior events, self-adaptive modeling of individual baselines, segmented judgment of risk evolution trajectories, self-adaptive generation of intervention strategies and closed-loop optimization of execution feedback. The system takes a whole-process closed loop of'monitoring-evaluation-intervention-feedback-optimization 'as a core, emphasizes individualization, time sequence and interpretability, and avoids dependence of static rules and a single model, so that the management accuracy and timeliness are remarkably improved.

The invention relates to a circuit board backdrill capacitance testing method, device and equipment and a storage medium, and the method comprises the steps: obtaining a capacitance detection instruction, and obtaining the image information of a to-be-detected circuit board according to the capacitance detection instruction; carrying out clustering analysis on the image information of the to-be-detected circuit board by adopting a k-means algorithm to obtain a feature image of the to-be-detected circuit board, and carrying out analysis according to the feature image to obtain a displacement distance and an angle of the probe; adjusting the position of the probe according to the displacement distance and the angle of the probe, and generating a capacitance measurement message after the adjustment of the probe is completed; according to the capacitance measurement message, calculating a capacitance value of the circuit board to be detected through a capacitance method, and comparing the capacitance value of the circuit board to be detected with a preset capacitance value to obtain a capacitance comparison result; and generating a quality evaluation result of the back drilling hole of the circuit board according to the capacitance comparison result, and transmitting the quality evaluation result of the back drilling hole of the circuit board to the user side. The method has the effect of improving the precision and efficiency of back drilling hole quality detection.

The invention discloses a personal data retrieval method and device based on a deep neural network, and relates to the technical field of data retrieval. The personal data retrieval method and device based on the deep neural network specifically comprise the following steps: S1, data preprocessing and index construction; s2, designing a deep neural network model; s3, performing strategy retrieval and fragmentation processing; s4, displaying a retrieval result; s5, performing feedback and optimization; the semantic relation between the file names is learned through the deep neural network, the intelligent retrieval capacity exceeding traditional keyword matching is achieved, the intention of a user can be accurately understood, and even if the file names are not completely matched, related files can be found; after complete file name retrieval fails, a fragmentation processing strategy is adopted, deep neural network similarity calculation is combined, the retrieval range is effectively expanded, the retrieval recall rate and accuracy are improved, and meanwhile the input burden of a user is reduced.

The invention discloses a hydroelectric generating set upper guide shoe temperature intelligent prediction method based on multi-source data fusion, and relates to the technical field of hydroelectric generating set state monitoring and intelligent early warning, and the method comprises the steps: collecting and preprocessing multi-source operation data of a hydroelectric generating set, and constructing a unified time sequence data set; according to a preset working condition zoning rule, the operation working condition type of the current hydroelectric generating set is judged, and a working condition label corresponding to the thermal state of the upper guide shoe is obtained; performing feature importance sorting on the multi-source fusion feature set to obtain an optimal feature subset; on the basis of the optimal feature subset, an upper guide shoe temperature integrated prediction model is established and trained; and predicting an upper guide shoe temperature prediction value, and judging whether a temperature abnormal rise risk exists or not. According to the method, high-precision prediction and real-time abnormal trend identification of the temperature of the guide shoe on the hydroelectric generating set are realized through working condition classification, feature optimization and integrated prediction strategies, and meanwhile, reliable data support and decision basis are provided for intelligent operation and maintenance.

The invention discloses a force control method and system based on industrial robot practical operation and a storage medium, and relates to the field of robot control, and the method comprises the steps: generating a motion change curve based on a displacement target and a speed limit value inputted by a user, and determining a six-dimensional position control displacement; generating a torque change curve based on a torque target and a torque limit value input by a user, calculating an external torque deviation value according to an actual contact torque value, and determining six-dimensional force control displacement based on an impedance calculation formula; determining a displacement control strategy and a force control strategy based on a motion control option selected by a user, and superposing the six-dimensional position control displacement and the six-dimensional force control displacement to generate system resultant displacement; carrying out inverse calculation solution on the system synthetic displacement to obtain a motion angle of each joint of the robot, and determining a joint pulse signal; and a joint pulse signal is sent to a servo system, so that the robot moves according to the system resultant displacement. By implementing the method, a unified model of motion control and various force control can be established, and various control modes are realized.

The invention provides a cross curve laser three-dimensional scanning method and device for a power transmission line, and relates to the technical field of laser surveying and mapping. Establishing a scanning path; performing feature point calibration fitting to generate preset feature point features; establishing a shared clock mechanism; activating the three-dimensional scanning module to perform omnibearing synchronous scanning by using the trigger controller, and generating a projection image set; performing feature point identification and three-dimensional coordinate calculation on the laser projection image set according to preset feature point features to generate an initial three-dimensional coordinate set of the power transmission line; and performing three-dimensional modeling integrity identification based on the initial three-dimensional coordinate set of the power transmission line, generating a line shielding area, performing three-dimensional coordinate fitting, and generating a three-dimensional reconstruction result of the power transmission line. The technical problem that data missing occurs in the three-dimensional reconstruction process due to the fact that a traditional method lacks processing means for the sheltered area is solved, and the technical effect of improving the integrity and accuracy of the three-dimensional reconstruction model of the power transmission line is achieved.