4results about How to "Ensure smooth continuity" patented technology

The invention discloses a quadruped robot control method, device and equipment and a medium, and relates to the field of rail train operation and maintaining.The method comprises the steps that current operation state information and current external disturbance of a quadruped robot are obtained; estimating external disturbance at the next moment through a sliding mode observer based on the current operation state information and the current external disturbance to obtain estimated external disturbance; based on the estimated external disturbance and the current operation state information, predicting the operation state of the next moment by using a model prediction control algorithm to obtain predicted operation state information; and mapping the current operation state information and the estimated external disturbance to a joint space through an inverse dynamic model to obtain a predicted joint torque, and driving the joint to rotate according to the predicted joint torque. According to the method, the traffic capacity and the posture of the robot in a complex scene can be kept, and the risks of forward inclination and backward inclination are effectively restrained.

The embodiment of the invention discloses a scene reconstruction method and device, equipment and a storage medium, and the method comprises the steps: carrying out the scene reconstruction through a preset scene reconstruction mode if a current moment is a first three-dimensional scene relative to a target scene, and obtaining a current three-dimensional scene; otherwise, acquiring a plurality of first image frames and second image frames formed by acquiring the target scene at different visual angles, and acquiring a previous three-dimensional scene reconstructed based on the target scene; according to the first image frames and the second image frames, performing pose adjustment on Gaussian points in the previous three-dimensional scene to obtain a deformed three-dimensional scene; performing Gaussian point addition and deletion and Gaussian point feature optimization processing on the deformed three-dimensional scene according to each second image frame to obtain a processed optimized three-dimensional scene; and determining the optimized three-dimensional scene as a current three-dimensional scene at the current moment. According to the method, the current three-dimensional scene with higher relevance with the previous three-dimensional scene can be obtained in the time domain, so that the smoothness and continuity from the previous three-dimensional scene to the current three-dimensional scene in the time domain are ensured.

This invention relates to the field of blast furnace cooling systems, specifically to a cooling system and intelligent control method for high heat load zones in blast furnaces. The system includes: cooling walls, refractory bricks, copper cooling elements, a composite packing layer, and an intelligent control unit. Copper cooling elements are spaced apart in the gaps between adjacent cooling wall sections, with the hot surfaces of the copper cooling elements receding inwards relative to the hot surfaces of the cooling walls. The composite packing layer fills the gaps between the copper cooling elements and the cooling walls, comprising a high thermal conductivity packing area and a low thermal conductivity packing area. The high thermal conductivity packing area is located at the mating gap between the copper cooling elements and the cooling walls, while the low thermal conductivity packing area is located on the hot surface side of the copper cooling elements. The intelligent control unit acquires slag skin condition information from the slag skin adhesion zone and dynamically adjusts the cooling parameters flowing through the copper cooling elements based on this information. This invention can improve system heat transfer efficiency and achieve proactive and precise control of slag skin thickness and long-term stability of the blast furnace internal structure.

This application belongs to the interdisciplinary field of computer vision and smart agriculture, and discloses a method, device, and medium for 3D reconstruction of seedlings based on active lighting and probabilistic occupancy. The method includes: acquiring image sequences under multi-angle active lighting using a single fixed camera and multiple calibrated light sources on a circular array; obtaining photometric properties unaffected by specular reflection through polarization component decoupling; constructing a probabilistic 3D voxel mesh; for each light source, locating surface points by constructing active lighting and shadow epipolar geometric constraints and calculating the geometric intersection of the line of sight and the light ray; introducing a dynamic confidence gate and a neighborhood game mechanism to construct a void topology protection strategy, updating the occupancy probability of voxels on the light path in an adaptive probabilistic manner; finally, correcting the probability field through multi-source shadow consistency verification, and generating the final 3D geometric model using a moving cube algorithm. This invention enables high-precision 3D reconstruction of seedlings under static occlusion without moving the camera or objects.