4results about How to "Avoid error control" patented technology

The present invention relates to the field of robot control technology, and in particular to a combat robot controller joint calibration method, controller and control method. The joint calibration method of the present invention comprises the following steps: obtaining the code of the currently calibrated controller joint; obtaining the target stroke of the currently calibrated controller joint; obtaining the first limit angle position value and the second limit angle position value of the currently calibrated controller joint; judging whether the actual stroke of the currently calibrated controller joint exceeds the target stroke of the controller joint according to the first limit angle position value and the second limit angle position value; if the actual stroke of the currently calibrated controller joint does not exceed the target stroke of the controller joint, the first limit angle position value and the second limit angle position value are stored, otherwise the currently calibrated controller joint is processed. The present invention can effectively avoid the technical problem that the robot cannot be correctly controlled due to the actual joint stroke of the controller exceeding the target stroke.

The invention relates to the technical field of audio and video transmission, in particular to an inspection unmanned aerial vehicle audio and video high-reliability transmission method based on a wireless network, and the method comprises the steps: periodically collecting the flight speed and the network throughput of an inspection unmanned aerial vehicle, and carrying out the time reference alignment of the flight speed and the network throughput; fitting a linear model between the motion and throughput of the unmanned aerial vehicle on the premise of effective motion of the unmanned aerial vehicle, so as to determine an association slope and a trend confidence coefficient between the motion and throughput of the unmanned aerial vehicle; constructing a predicted bandwidth function changing along with time, calculating the predicted available capacity of a transmission link in a future local time period so as to evaluate the congestion possibility of the link under a future transmission demand, and executing a quantitative packet loss strategy; and setting a three-dimensional trigger condition, capturing an interrupt signal of a link in advance, and executing atomic operation of key frame preemptive sending. The video transmission reliability and the operation safety of the unmanned aerial vehicle in the non-line-of-sight fly-around scene are improved.

The application discloses a kind of passage control method, system and passage control device, wherein passage control method includes the following steps: a carrier determines its movement to the upstream end of a cross track section passage request point, sends passage request to passage control program;Passage control program confirms whether the carrier can pass;If not, send the message of not passable and wait to the carrier;If yes, send the message of passable to the carrier, simultaneously, passage control program determines that cross track section switches to not passable state;Carrier determines its movement to release point, sends release request to passage control program;Passage control program determines that cross track section restores to passable state.The application changes the conventional mode of prior art using hardware ZCU, uses passage control program to carry out the passage control of cross track section, only needs a device with passage control program to realize corresponding control, greatly reduces equipment cost and construction difficulty.

The invention discloses a non-invasive ventilator single-level CPAP airway pressure self-adaptive control method, and relates to the technical field of ventilator control, the method comprises the following steps: S1, defining model parameters, and constructing a filter-ventilation hose aerodynamic model; s2, constructing a recursive least square estimator, and estimating the estimated values of the air resistance and the pressure difference; s3, inputting the estimated value to the input end and the fan end of the breathing machine to obtain a rotating speed signal of a turbofan, and adjusting the fan outlet pressure and the fan outlet flow by changing the rotating speed of the turbofan; and S4, based on the differential pressure estimation error, controlling and adjusting a pressure given signal of the recursive least square estimator in real time, and realizing full compensation of the internal differential pressure of the filter-ventilation hose. According to the invention, aiming at the nature of pressure change of the near-end airway, the whole control only relates to a filter-ventilation hose, and a patient model and parameters are not needed, so that the range of audiences is not limited.