5results about How to "Avoid local minima" patented technology

The application relates to a visual coordinate calibration method for non-pattern wafer detection, which comprises the following steps: collecting a reference speckle image; driving the wafer to move in different groups, collecting multiple frames of motion-blurred speckle images during camera exposure; dividing each frame of motion-blurred speckle image into local regions, obtaining motion-blurred trajectory geometric parameters of each local region, wherein the motion-blurred trajectory geometric parameters include motion-blurred trajectory length, motion-blurred trajectory direction and motion-blurred trajectory center position; obtaining a speckle displacement field based on the reference speckle image and the motion-blurred speckle image; determining distortion parameters of a visual system according to the motion-blurred trajectory geometric parameters; determining geometric error parameters of wafer movement according to the speckle displacement field and the motion-blurred trajectory center position; and obtaining visual coordinates according to the distortion parameters and the geometric error parameters. The application can calibrate coordinates on the surface of a non-pattern wafer.

The invention relates to the field of indoor mapping, discloses a mobile robot indoor mapping method based on multi-sensor fusion, and relates to the technical field of mobile robot navigation. The method comprises the following steps: an upper computer processing module collects data of a wheel type odometer, inertia measurement and a laser radar and carries out time alignment; calculating a state prediction value based on a kinematic model, and generating a posterior state estimation value by using extended Kalman filtering and fusing multi-source observation data; the current active local sub-graph is obtained by taking the current active local sub-graph as an initial value, a continuous probability map model based on bicubic interpolation is constructed, and an optimal matching pose is solved by utilizing a nonlinear optimization algorithm; and updating the probability grid map based on the optimal pose, and generating an indoor map through multi-resolution loopback detection and global pose map optimization introducing a robust loss function. According to the method, slipping and zero offset errors are effectively compensated, the problem that gradient optimization cannot be carried out on a discrete map is solved, and the robustness and precision of indoor mapping are improved.

The application belongs to the technical field of robot control, and particularly relates to a master-slave operating arm with electromagnetic force feedback for precision assembly and a bidirectional transparent control method, which comprises a master-slave robot unit, an information transmission unit, a master-slave control unit, an electromagnetic force feedback unit, a bidirectional transparent control unit, a singular point processing unit, an adaptive path planning unit and a master-slave proportion matching unit. The electromagnetic force feedback unit obtains environmental force information through a magnetic coupling component and transmits the information to the master control unit; the bidirectional transparent control unit constructs a master-slave control closed loop, balances the system transparency and stability under communication delay, detects and avoids joint singular points through a Jacobian matrix, and constructs a potential field function to generate an optimal motion path. The application realizes high-precision control and force feedback under a communication delay environment, and improves the accuracy and safety of remote operation.

The application relates to an air-ground cooperative navigation control method and system based on global priori of an unmanned aerial vehicle and elastic preset performance tracking of an unmanned vehicle, and belongs to the technical field of autonomous navigation and cooperative control of unmanned systems. In view of the problems of a single system, such as a large blind area of sensing, a prominent calculation bottleneck, easy falling into a local minimum value in local obstacle avoidance, weak anti-interference performance in trajectory tracking and waste of communication resources in a complex environment, a layered cooperative architecture is adopted, the unmanned aerial vehicle is used to complete mapping, two-dimensional projection and global path planning and issue a discrete topological path, the unmanned vehicle generates a local trajectory through spatial domain robust differential game, dynamic optimization is realized by combining elastic preset performance control and internal and external double-loop reinforcement learning, high-precision tracking and global optimization of energy consumption are realized, and an event triggering mechanism is used to reduce communication load. The application improves navigation reliability, trajectory stability and resource utilization efficiency in a complex dynamic environment.

The application discloses a gravity and magnetic inversion method based on grid merging and BTTB matrix fast forward, relates to the technical field of gravity and magnetic exploration, and comprises the following steps: establishing a basic forward and inversion grid and a basic grid kernel function matrix; initializing a coarse grid model and a conversion matrix; coarse grid inversion; adaptive grid subdivision based on a model gradient and establishment of a new conversion matrix; fine grid inversion; iterative convergence and output. The application has the beneficial effects that the BTTB kernel function matrix is calculated based on the basic grid in advance, the conversion from fine scale model parameters to coarse scale model parameters is realized through the conversion matrix, the iterative closed loop process of coarse grid inversion, adaptive grid subdivision and fine grid inversion is adopted, the criterion of adaptive grid subdivision is to compare the gradient eigenvalue of the current inversion model parameters with a preset threshold value, and in the grid inversion of different scales, the BTTB kernel function matrix generated by the same set of basic grid in advance is used to realize fast forward through the processing of the conversion matrix.