3results about How to "Compensation delay" patented technology

This invention relates to the interdisciplinary field of mechanical engineering and optical inspection, and discloses a method and system for quality sorting of automotive stamping parts combined with optical inspection. The method includes: synchronous imaging by a high-speed linear array camera and a structured light projector via an encoder and photoelectric triggering device; fusing 3D point clouds and 2D images, and using a deep convolutional neural network for defect identification and quality grading; calculating the six-degree-of-freedom pose of the workpiece using an iterative nearest-point algorithm and principal component analysis; calculating the spatiotemporal parameters of sorting based on a predictive instruction generation module, and issuing dynamic control commands to multi-degree-of-freedom pneumatic push rods via a hard real-time communication bus to execute sorting. The system includes a synchronous triggering unit, an imaging unit, a defect identification unit, a pose calculation unit, a predictive instruction generation module, and a dynamic sorting execution unit. This invention achieves millisecond-level accurate identification and adaptive sorting, significantly improving detection accuracy, sorting efficiency, and system robustness.

According to the intelligent sensing caulking sealing structure and the runway pavement health state monitoring method provided by the invention, the prefabricated sensing rubber strip with the modulus gradient transition embedding material is arranged in the runway shoulder caulking, so that tight coupling and cooperative deformation between the sensing optical cable and the caulking glue made of a silicone material are realized; the problems of modulus mismatch, interface stripping, optical cable bounce and the like are effectively solved, and stable and high-fidelity acquisition of vibration signals is ensured; according to the monitoring method, the system identification technology of center line excitation and runway shoulder response is utilized, the surface wave propagation model and the regularization reconstruction algorithm are combined, the runway center line vibration state is inversed in a high-precision mode from runway shoulder signals, propagation attenuation and time delay are compensated, the monitored space coverage capacity and signal restoration precision are remarkably improved, and the monitoring precision is improved. The low-influence, wide-coverage and continuous real-time monitoring of the stock runway is realized, and finally a more reliable and efficient technical scheme is provided for runway surface health state evaluation and operation safety guarantee.

The invention discloses an unmanned underwater vehicle formation transformation and obstacle avoidance control method with time delay. The method comprises the following steps: constructing an information exchange topological relation among multiple unmanned underwater vehicles based on an undirected connected graph; motion models of the multiple unmanned underwater vehicles are established, the motion models comprise a leader kinematics model and a follower kinematics model, and the follower kinematics model is a double-integral dynamic model considering time delay and nonlinear factors; based on a leader-follower framework, distributed control input is designed, so that a follower tracks a virtual target position, and tracking control of the multi-unmanned underwater vehicle formation is realized; an obstacle avoidance offset is calculated in combination with specific conditions, and the obstacle avoidance offset is applied to an obstacle avoidance formula to realize the conversion of a dynamic path; and the leader triggers a signal to the follower within a set time, and realizes the transformation of the formation pattern based on a preset target position. According to the method, time delay compensation, uncertainty suppression, formation flexible transformation and smooth obstacle avoidance can be comprehensively solved.