253results about How to "Avoid complex operations" patented technology

The invention discloses a drive control method for an all-electric car. The drive control method aim at solving the problems that division of working modes during a finished automobile driving running is not considered, a torque compensation function is not considered in the running process of other vehicles except flooring of an accelerator pedal, and united efficiency of a power component is not considered in goal torque setting. The drive control method for the all-electric car comprises the steps of utilizing a finished automobile controller to automatically identify a finished automobile working mode according to current finished automobile acceleration mean values and an acceleration mean square errors, and enabling the finished automobile working mode to be one of a common mode, a power mode and an economic mode; working out an expected torque Treq under the corresponding mode according to a goal working mode control strategy in the finished automobile controller after the working mode identification is finished; restraining and correcting the expected torque Treq according to a power limiting value strategy in the finished automobile controller after the expected torque Treq under the goal working mode is obtained, and if a finished automobile has no major failure at the time, outputting ultimate goal torque commands to a motor.

The invention discloses a detergent and a cleaning method for a complete air-conditioner, which not only can uniformly and completely remove dirt but also cannot strongly corrupt components and parts such as aluminum, copper and stainless steel, are time-saving and labor saving, safe and reliable, and pollution-free, and have low cost. Raw materials of the detergent are at least two compositions of citric acid, inorganic weak acid and inorganic strong acid; a non-ionic surfactant or a non-ionic surfactant is mixed with an anionic surfactant; and the detergent comprises an oxygen solvent, an acid corrosion inhibitor, and the balance being water. The cleaning method comprises: disassembling a motor and a fan, and taking off the motor and the fan for independent cleaning; preparing the detergent into an aqueous solution according to the proportion of between 10 and 15 percent, hanging the complete air-conditioner after disassembly of the motor and the fan into a cleaning tank, soaking the complete air-conditioner for 30 minutes at normal temperature, and starting ultrasonic waves to clean for 10 to 30 minutes; placing the complete air-conditioner into a washing tank, and using a high-pressure water gun to spray the surface and the inside of the air-conditioner; and using hot blast to dry the air-conditioner at a temperature of 80 DEG C.

The invention provides a method and a system capable of achieving automatic pairing connection of Bluetooth earphones by speech recognition, wherein the method comprises that an inner memory module of a Bluetooth earphone stores a speech control command preset by users and Bluetooth terminal equipment information which has an established connection; the Bluetooth earphone receives external speech commands and sends the external speech commands to a speech recognition module inside the Bluetooth earphone for recognition; the speech recognition module performs matching and recognition for the received speech commands, and if speech commands are matched, corresponding Bluetooth terminal equipment information stored in the inner memory module is retuned to the Bluetooth earphone and an automatic paring request is sent to Bluetooth terminal equipment; and automatic pairing connection between the Bluetooth earphone and a Bluetooth terminal is established. The method and the system achieve the connection between the Bluetooth earphone and the Bluetooth terminal through the Bluetooth earphone, guarantee user usage convenience greatly, improve user satisfaction, and further improve market competitive force of Bluetooth earphones and Bluetooth terminal products.

The invention discloses a cloud resource access control method based on a dynamic cross-domain security token. The method includes that 1) an access agent is preset on a cloud resource service providing party and requests a dynamic security token for each dynamic temporary user to the cloud resource providing party; 2) the cloud resource providing party generates the dynamic security token, sets the access strategy and transmits the strategy to the dynamic temporary users; 3) a sharing secrete key is respectively set between each dynamic temporary user and the cloud resource providing party; 4) the dynamic temporary users conduct signing on the access request through the sharing secrete key and transmit the authentication request news to the cloud resource providing party; and 5) the cloud resource providing party conducts signing on the authentication request news through the sharing secrete key, authentication passes if signatures are identical, the access strategy of the dynamic security token and the access agent is judged, and the access request of the dynamic temporary users is responded according to judgment results. The method achieves the high-efficiency cross-domain authentication mechanism and is high in judgment efficiency.

The invention relates to a method and system for automatically tracking a medium earth orbit navigational satellite through a servo antenna, and belongs to the technical field of satellite navigation signal quality monitoring. The system comprises an information prediction unit, a servo control unit, a rotary table unit, the feed-forward large-diameter parabolic antenna and a spectrum analyzer. The information prediction unit is used for the operation of orbit prediction and angle calculation, the servo control unit is used for adjusting antenna postures in a closed loop feedback mode, the rotary table unit is used for driving an antenna rotary table to rotate in the azimuth axial direction and in the pitch axial direction, the feed-forward large-diameter parabolic antenna is used for receiving target satellite signals, and the spectrum analyzer is used for observing quality of received signals. The method and system for automatically tracking the medium earth orbit navigational satellite can achieve an ideal tracking effect in the state of being divorced from manual monitoring.

The invention provides an application program view management method by a mobile terminal. The method includes the steps that when a preset event is detected, views of at least one application program are displayed on a display screen in a floating mode, wherein the view of each application program comprises a window region for operating the application program and / or a hidden button of the application program, and the window region comprises at least one of a window indication region, a window operation region and a window display region; when the window indication region is controlled in a touch mode, the window display region of the application program corresponding to the window indication region is switched to be visual. By means of the technical scheme, a user can select any window in the display screen and conduct information interaction with the application program corresponding to the window, user using is facilitated, the user does not need to interrupt the application program operated in the current window, instead application programs are operated in parallel and direct switching is achieved, so that the problems that the operation process of switching the operated program is complex and too much time is consumed are solved, the operated program in the mobile terminal is easy, convenient and fast to switch, and efficiency in switching the operated program is improved.

A self-integrity monitoring method suitable for a satellite-borne navigation receiver can reflect statistics detection amount of monitoring data quality by utilizing a pseudo-range information structure of the satellite-borne navigation receiver and detect faulted satellites according to the index requirements of a system and a distribution structure detection threshold obeyed by statistics amount. The self-integrity monitoring method suitable constructs the statistics detection amount of an odd-even space through QR decomposition of a primary observation array and based on the least square method, and carries out usability judgment, fault detection and fault identification in the odd-even space. The self-integrity monitoring method has higher response speed, saves more resources and is more suitable for satellite-borne application.

The invention relates to a method for preparing a surface self-grown titanium nitride conducting film modified lithium titanate, which comprises the following steps of: uniformly mixing lithium titanate powder with solid nitrogen source in proportion in a dispersion medium in a mode of ultrasound or ball milling, drying the obtained slurry at the temperature of between70 and 120 DEG C, raising temperature to 600 to 900 DEG C in the inert protective atmosphere after grinding, preserving the heat for 10min to 1h, and then cooling together with a furnace to obtain the surface self-grown titanium nitride conducting film modified lithium titanate. Through heat nitrogen reaction, a layer of high-conductive film TiN is self-grown on the surface of the lithium titanate; the TiN film is firmly combined with the lithium titanate; and the prepared high-conductive Li4Ti5O12 / TiN material has high multiplying power of charge-discharge property and excellent circulating property. The preparation method has the advantages of low cost, simple operation and safety, and easy realization of mass production.

The invention discloses a high-resolution radar dual-threshold detector based on energy accumulation, belonging to the field of signal processing. Values of all distance units in a distance window, passing through a square-law detector, are compared with a first threshold, quantity and positions a target scattering center are extracted, then energy of the scattering centers is accumulated and compared with a second threshold to obtain a final detection judgment. Compared with the traditional detection, the detector deduces a calculation formula of the threshold to ensure that actual application is more convenience and flexible, is simple in form, is easy to engineering realization, and has better robustness and detection property under the condition of unknown distribution of the scattering centers.

The invention provides a vehicle control system based on a space vector pulse width modulation (SVPWM) algorithm. Pulse width modulated wave generated by a specific switch mode consisting of six power switch components of a three-phase power inverter based on the SVPWM algorithm is established; basic voltage vectors are combined in a switching period according to the average value equivalence principle of the SVPWM algorithm, so that the average value of the basic voltage vectors is equal to a given voltage vector; at a specific moment, the voltage vectors rotate into a specific area and are obtained through different combination of two adjacent non-zero vector and zero vector which form the area; the action time of the two vectors is applied for many times in one sampling period, so that the action time of each voltage vector is controlled, the voltage space vector rotates nearly according to a circular track, an ideal magnetic flux circle is approached by actual magnetic flux generated by different switching stages of the inverter, the switching state of the inverter is determined by the comparison result of the actual magnetic flux and the ideal magnetic flux, and pulse width modulation (PWM) control waveform is formed. The algorithm of the scheme is simple, and the voltage vector for synthesizing reference can be obtained only by performing simple logic judgment.

The present invention discloses a long and thin bore diameter and cylindricity measurement method based on dual-sensor error separation. A standard ring gauge is taken as a calibrating device to sleeve a dual-sensor measuring head, a first harmonic elimination approach method is employed to calibrate the dual-sensor measuring head, the dual-sensor measuring head is sleeved with the bore of a measured workpiece, the complete cycle scanning measurement is performed section by section along the axial direction and the circumferential direction of the bore, the distance measurement data of each section of the two sensors are employed to obtain average values and perform difference to realize calculation and separation of line feed errors of each section and the eccentricity error of each section is separated to convert the finally processed measurement data to a rectangular coordinate system and add the eccentricity error of the corresponding section in the data points of each section so as to restore the contour of the measured bore, the least square method is employed to obtain the diameter of the bore contour, and the cylindricity evaluation method is employed to perform cylindricity calculation. The long and thin bore diameter and cylindricity measurement method based on the dual-sensor error separation can realize calibration of an unidirectional electronic measurement head so as to effectively separate the line feed errors of a guide rail and the eccentricity error of each section of the bore of the workpiece so as to greatly improve the detection precision of the long and thin bore diameter and the cylindricity.

The invention discloses a global gravity field model inversion method. The method comprises the following steps: step 1: acquiring low-orbit gravity satellite data, and preprocessing the low-orbit gravity satellite data; step 2: calculating a pure Earth gravitation acceleration observation value by virtue of numerical differentiation; step 3: establishing a novel observation equation according toan observation value constant weight strategy; and step 4: estimating parameters, and obtaining an Earth gravity field model position coefficient. According to the acceleration domain residual error analysis of a reference model, a symmetric Toeplitz covariance matrix is established by directly adopting an autocorrelation sequence as a basic element, a complicated operation process of a high-dimensional huge matrix can be effectively avoided when the acceleration covariance matrix is calculated by an orbit prior dense array by virtue of an error propagation law, and the time for fixing the weight can be reduced, so that the calculation efficiency of the gravity field model can be improved. Compared with a classical method, an algorithm provided by the invention is simple and efficient in operation; and moreover, the stability and reliability of the inversion calculation efficiency of the gravity field model can be ensured.

The invention discloses an image stabilizing method and a compound image stabilizing system based on mechanical image stabilizing and electronic image stabilizing. A mechanical image stabilizing system based on an MPU6050 motion sensor and a stepping motor is employed to control the deflection angle of a camera within five DEG; and then, an electronic image stabilizing method based on block gray-level projection is employed to perform global motion estimation through a median filtering method, so as to remove interframe small amplitude high frequency jitter, thereby realizing accurate image stabilizing. The system comprises an MPU6050 sensor module, an MSP430 master control module, a motor control module and an electronic image stabilizing module. The compound image stabilizing system can adapt to camera wide-angle deflection and complex environments and meet the requirements of a motion platform imaging system.

The invention discloses a dual-mode SVPWM overmodulation method. The method comprises the steps that a modulation area is divided into a linear modulation area, a first overmodulation area and a second overmodulation area according to a modulation factor, wherein when an MI is larger than 0 and smaller than 0.9069, it is the linear modulation area, when the MI is larger than 0.9069 and smaller than or equal to 0.9517, it is the first overmodulation area, when the MI is larger than 0.9517 and smaller than or equal to 1, it is the second overmodulation area, and the MI is the modulation factor; a traditional SVPWM modulation method is used in the linear modulation area; a reference angle is used for controlling the compensation of an actual output voltage vector in the first overmodulation area; the mode that the actual output voltage vector hops at the position where a phase angle is a keep angle is used in the second overmodulation area, and the mode that an expected output voltage vector is followed by hopping is used for controlling the track of the output voltage vector. Compared with a traditional dual-mode control method, the dual-mode SVPWM overmodulation method is simple in algorithm, avoids complex operations, and is prone to engineering realization. Meanwhile, compared with a single-mode control method, the dual-mode SVPWM overmodulation method is high in control precision, and good in output voltage continuity.

The invention discloses a kinematic transformation based grinding machining method for a numerically controlled grinding wheel, which comprises the following steps of: generating an initial grinding wheel machining path and performing discretization treatment to produce a plurality of discrete points; selecting position points within the range of movement of a driving shaft of a grinding wheel rack, and meshing to produce a plurality of cube mesh units based on the position points; finding the cube mesh units respectively comprising the discrete points, and then calculating the volume error vectors of the discrete points in the mesh units; utilizing the volume error vectors to convert each discrete point, and then producing a plurality of new discrete points; and producing a new grinding wheel machining path by a fitting method and performing the corresponding grinding treatment. The invention also discloses an improvement on calculation of volume error vectors and a point compression processing mode. Through the method, the deviation between the actual grinding trajectory and the ideal grinding trajectory caused by the kinematic properties and geometry error of the numerically controlled grinder can be reduced, and the geometric accuracy and dimensional accuracy of machining can be correspondingly improved.

The invention relates to a coupler, and discloses a double-edge structure speed regulating permanent magnet coupler for solving the problems that in an existing coal mine factory, a high-power induction motor is started in an on-load mode, due to the fact that the starting torque of the induction motor is small, when the starting torque is smaller than the load torque in value, on-load starting can not be achieved in a directly-starting mode, and an adopted controller of the motor is high in price. The double-edge structure speed regulating permanent magnet coupler comprises a driving shaft, an output shaft, a flange with a neck, a release bearing block, a release bearing, a first support, a second support, a first magnetism conducting driving disc, a second magnetism conducting driving disc, an electric conducting metal disc, at least three positioning columns, a plurality of permanent magnets and a plurality of air gap adjustment devices. The first support, the first magnetism conducting driving disc, the second magnetism conducting driving disc and the second support are sequentially arranged in parallel, and the permanent magnets are fixedly installed on the two opposite plate faces of the first magnetism conducting driving disc and the second magnetism conducting driving disc in the circumferential direction of the input shaft. The double-edge structure speed regulating permanent magnet coupler belongs to the technical field of speed regulating coupling driving.

The invention discloses a color interpolation method based on edge detection. The color interpolation method comprises the following steps: according to the edge detection result, green pixel interpolation, blue pixel interpolation and red pixel interpolation are performed on a sampled image, and chromatic aberration prediction estimation and chromatic aberration gradient weighing are carried out according to the chromatic aberration law, so that a Bayer-format image is restored to a full-color image; the edge oriented directivity interpolation and the gradient weighing in four directions are combined to correct interpolation pixels, so that color distortion caused by non-edge interpolation is effectively reduced, the quality of the acquired image is improved, and the acquired image is more accurate; the local window image traversal method is adopted to traverse the image, and addition, subtraction, multiplication and division are adopted to carry out simple operation in a local window, so that the complicated operation process is avoided, and the algorithmic instantaneity is improved. The color interpolation method can be widely applied to the field of image processing.

The invention relates to the more monobromo-benzene oxygen radical substitutions even triazine flame retardance compound's preparation method. Its characteristic is: The reactant three will gather the chlorine cyanogens, the multi-bromophenols, shift the catalyst according to 1:2.5-3.1:0.01-0.1 a mole of allocated proportion to take the quantity, with the right amount organic solvent one and joins to a reactor, stir and cool it to 10 degree C below; Take the 5%-30% sodium hydroxide peroxide solution which mole of quantity sodium hydroxide compounds the weight percentage concentration with the multi-bromophenols, add by drops in the reactor stated, and maintain the system temperature not to surpass 10 degree C when adding by drops in the process; After the installment, heat the reaction material to 30-60 degree C ,and respond 1h-5h again; Then distillate to clean the resolve, cool, filtrate, the solid which the filtration obtains after the washing, drying is the system results in the product. This invention uses a method of 'a pot synthesis', the operation is simple, the pollution is reduced, the resolve may recycle repeatedly, the cost is small, and it is suitable for the industrialization production.

A rapid edge detecting method based on orthogonal polynomial fitting belongs to the field of subpixel image edge detecting. The two-dimensional edge detecting method utilizes a spatial moment to calculate the projection direction of an edge and convert two-dimensional edge detecting into one-dimensional edge detecting according to a projection formula during every window image numeralization processing, and avoids complex operation needed by gray curved surface fitting. An analytic formula for calculating a one-dimensional edge point position is obtained by applying the orthogonal polynomial fitting, and the difficult problem that a fitting method generally cannot obtain an analytical solution is solved effectively. The analytic formula is simple in form and contains relatively little inner product computation, and the edge point position and the edge normal direction which are obtained finally are utilized to confirm the position of an edge straight line in a window image. The method improves operating speed greatly, can be suitable for a two-dimensional detecting process which is high in requirement for instantaneity, and integrates the characteristics that a moment-based method or an interpolation method is high in operating speed and a fitting method is not sensitive to image noise. Therefore, the accuracy and the speed of the edge detecting are improved greatly.

A system and a method of scene mode management is applied to an electric communication device which can provide a plurality of scene modes and is provided with a storage module, including of presetting a starting time value and a stopping time value of each time period as well as the corresponding scene modes in each time period and simultaneously generating a corresponding scene mode information list and storing the corresponding scene mode information list in the storage module according to a corresponding relation between the time period and the scene mode; capturing the current time value of the electric communication device when the electric communication device receives an event signal transmitted by the outside; inquiring in the scene mode information list according to the current time value to confirm the time period for the current time and the scene mode corresponding to the time period; leading the electric communication device to affect the outside event by the confirmed scene mode according to the time period and the corresponding scene mode after inquiring, thereby improving the management quality of the scene mode, being convenient for operating and simplifying the operation flows and being capable of reducing the faults in the operation process as well as improving the market competitiveness of the electric communication device.

The invention discloses a white balance control method and a white balance control device. The white balance control method includes a first step of defining reference points and a coordinate range in a corresponding color space, a second step of dividing observation areas of images according to some kind of rules, a third step of carrying out separate calculation to obtain chromaticity component statistic information of the reference points of the observation areas of two frames of continuous images, and a fourth step of analyzing the variation tendency of the chromaticity component statistic information of the reference points of the observation areas of two frames of images, and triggering a white balance regulation module when the variation tendency of the statistic information of the observation areas. The white balance control method and the white balance control device are capable of well distinguishing changes of a scene and changes of the color temperature of a light source and preventing white balance regulation failure through an introduced protection mechanism. Experiment results show that compared with other methods, the white balance control method can enable white pieces not to generate color cast to the maximum extent under the same testing environment.

The invention discloses a variable position simulation experiment platform system for a cross fire on a multi-lane highway tunnel, comprising a highway tunnel simulation platform to simulate a fire inany cross position on a multi-lane highway tunnel, and a test system; a simulated fire may move across a rail and may be fixed; the test system includes fuel mass loss, tunnel interior temperature field and wind speed test systems and experimental process images. The system of the invention can simulate a fire occurred in any cross position of a multi-lane highway tunnel; platform section shape,fuel type, fire scale, coating layer heat-insulating layer, height between a fire and the floor of the tunnel and other data are set according to related theories based on actual tunnel conditions, confidence level and accuracy are ensured, and the defects of all-size fire experiments are avoided. The system can also provide real-time fire process all-data recording and is significant to the development and improvement of highway tunnel and even railway tunnel operations and fire rescue evacuations.

The invention relates to a novel soil radial expansion rate tester and a using method thereof. A displacement tester is arranged in a test piece inner ring by setting a circular test piece, so that the radial expansion rate is determined inside the test piece, and a traditional mode for determining the expansion deformation of a soil body from the outer side of the test piece is changed; a hoop is arranged outside the circular test piece, and the tester is arranged in the inner ring, so that the conflict between the arrangement of the tester and the lateral confinement of a rigid ring cutter in conventional radial expansion rate determination can be overcome, the dependence on a flexible consolidation meter and consolidation rings with different rigidities can be eliminated, the rigidity testing precision and complicated operation problems can be avoided, and the operation is simple, convenient and fast; a water injection device is improved, so that water can permeate gradually to the middle from the upper end and the lower end only, and a tested soil body of the inner ring is prevented from collapsing, disintegrating, chipping, softening and the like. A framework device consisting of a base, an upper cover, a screw rod and a bolt can be fixedly and vertically displaced during the testing, so that the test piece is prevented from generating vertical expansion deformation and the testing precision can be guaranteed.

The invention relates to a brake energy feedback control method of electric vehicle, wherein it adjusts the front axle hydraulic brake force Fhf, the back axle hydraulic brake force Fhr, and the motor brake force Fm, that receiving the pressure signal from the brake main cylinder; if ABS works, the motor brake force Fm=0, transferring the Fhf and Fhr to the ABS to be adjusted; if ABS not works, based on if the real brake force Fba meets the brake threshold value F, the sliding rate threshold value S, and the motor torque limit, adjusting, until the brake pedal is released, ending the brake. The invention can avoid dead clamped wheel without road recognition, to obtain high energy feedback efficiency.

The invention relates to the technical field of time synchronization, and discloses a time calibration method and device. The method includes the steps that at intervals of a preset period, reference time is generated according to obtained BD / GPS signals; the time interval between the reference time and local time is filtered in a smoothing mode to generate a calibration voltage value; according to the calibration voltage value, the local time is calibrated. According to the time calibration method and device, by the adoption of the BD / GPS bimodule system, the difference between the standard 1 PPS and the local 1PPS is filtered in the smoothing mode, complex operation is avoided, the accuracy of a clock is improved, and high-accuracy clock output is obtained.

The present invention provides a design document generation method and apparatus. The method comprises the steps of analyzing model files of a system to obtain metadata; calling a drawing tool to process the metadata so as to generate a system design diagram and corresponding text description information; and mapping the system design diagram and the corresponding text description information to a preset document template so as to generate a design document. The technical scheme can be used in any one period of a software development process, most importantly, can be used in a software development period, and the design document can be automatically generated without manually operating system function points.

The invention discloses a three-dimensional ultrasonic scanning system based on monocular vision positioning. The three-dimensional ultrasonic scanning system comprises an examination bed, a linear laser array, an ultrasonic probe, a high-definition camera and an upper computer, wherein the examination bed is provided with a height adjusting device; a to-be-examined person lies on the examinationbed, and the to-be-examined part of the examined person is marked with a scanning path; the linear laser array comprises a plurality of laser devices which are uniformly distributed, is fixedly arranged above the examination bed, and is parallel with the upper surface of the examination bed; the high-definition camera is provided with a high-definition colorful CMOS (complementary metal oxide semiconductor) detector and a focusing lens with long depth of field, and the upper surface of the examination bed is positioned in a visual field of the high-definition camera. The control method comprises the following steps of S1, manufacturing a three-dimensional mapping table; S2, obtaining three-dimensional coordinates of the scanning path; S3, obtaining a B-mode ultrasonic image and corresponding three-dimensional coordinates of the center position of the ultrasonic probe; S4, obtaining reconstruction data of a three-dimensional ultrasonic image. The three-dimensional ultrasonic scanning system and the control method have the advantages that the complicated computation required by the traditional visual positioning system is avoided, and the accuracy of three-dimensional scanning imaging is ensured.

The invention discloses a graphene / zinc oxide negative electrode material for a lithium ion battery, and a preparation method thereof. The graphene / zinc oxide negative electrode material for the lithium ion battery is a blend comprising graphene and zinc oxide according to a mass ratio of 1:9-2:8. The preparation method comprises the steps of dissolving water-containing zinc nitrate and graphene oxide powder in a mixed solution of 1,2-propylene glycol and absolute ethyl alcohol; stirring with ultrasonic waves to obtain a precursor solution used for ESD; fixing a metal substrate on a substrate-clamping plate; heating to a temperature of 100-250 DEG C; spraying the precursor solution used for ESD to a substrate material; spraying for 1-2 hours; and cooling to obtain the graphene / zinc oxide negative electrode material for the lithium ion battery. The material is a composite film having a porous structure, can be used as a negative electrode material of the lithium ion battery, can increase contact area between the electrode material and electrolyte, increases charge-discharge efficiency of the battery, and provides more space for volume expansion of zinc oxide after combination with lithium ions, thereby improving the whole electrochemical properties of the negative electrode material of the battery.

The invention provides a point cloud registration method based a neighbourhood rotary volume and belongs to the technical field of three-dimensional images. The point cloud registration method based the neighbourhood rotary volume aims at solving the technical problems of low registration speed and poor anti-noise performance exist in an existing point cloud registration method. The method comprises the steps of loading and separately calculating a source key point set and a target key point set of source point cloud and target point cloud of which visual angles are adjacent; for each key point, using n times of surface resolution as a neighbourhood, calculating out the rotary volume of neighborhood inner points and using the rotary volume as a description vector, and obtaining a source key point description vector set and a target key point description vector set; according to a calculation result of the last step, calculating a rotary translation matrix; using the rotary translation matrix to rotate and translate the source key point description vector set, and obtaining a middle key point description vector set; according to a final rotary translation matrix, converting the source point cloud to a coordinate system in which the target cloud is located, and obtaining middle point cloud; using an ICP algorithm to precisely registrate the middle point cloud and the target point cloud.