402results about How to "Fix jitter" patented technology

The invention discloses a model-based anti-shake control method for a motor-driven vehicle, which comprises the following steps of: obtaining a motor torque request, performing integral estimation on the rotating speed of a motor, performing negative feedback estimation on a rotating speed error and resistance torque, and performing low-pass filtering. The problem that an electrically-driven vehicle shakes because the motor shakes is solved. The motor torque request is subjected to torque compensation by a model-based rotating speed feedback control method in a closed loop control mode, so that the problem that the vehicle shakes and vibrates under specific working conditions is solved, and the driving comfort of the vehicle is improved; the problem that the vehicle shakes when a vehicle speed exceeds a vehicle speed interval corresponding to the resonant frequency of a power system under the working conditions of starting and accelerating, low-speed rapid accelerating and low-speed rapid decelerating is solved; and a way for solving the problem that the vehicle shakes on the premise of not sacrificing the power performance and braking performance of the vehicle is provided.

The invention relates to a UAV (unmanned aerial vehicle) formation control method and device based on an artificial potential field. The method is characterized by converting a formation coordinate system to a global NED coordinate system, and determining an ideal position of each UAV in the formation in the global NED coordinate system; according to a preset target position of the UAV and the ideal position of the UAV, determining gravity applied to the UAV by the preset target position; according to velocity vector of the UAV and velocity vector of a barrier corresponding to the UAV, determining repulsion force applied to the UAV by the barrier; according to the gravity applied to the UAV and the repulsion force applied to the UAV by all barriers, determining resultant force applied to the UAV; and according to the resultant force applied to the UAV and flight status information of the UAV and wing planes around, determining movement trend of the UAV to enable a controller to carry out flight control on the UAV formation according to a motion model of the UAV.

The invention discloses a high-load and high-precision pneumatic force measurement device and a measurement method. An internal balance tail-supported aerial vehicle model is adopted to execute pneumatic force test in the prior art, and rising force of an aerial vehicle perpendicularly works on a cantilever type tail rod, so that the model severely shakes during the test. The high-load and high-precision pneumatic force measurement device comprises a balance and a supporting rod, wherein the balance adopts an internal balance and is connected with a balance sleeve; the supporting rod is connected with an incidence angle sliding rail mechanism, a side sliding angle mechanism connected with the incidence angle sliding rail mechanism, and a mechanism control and data acquisition device; the supporting rod is adopted to be connected with the balance and support the model; the internal balance is adopted to measure the pneumatic force of the aerial vehicle model; the balance is externally connected with a sleeve structure and is also connected with a data acquisition device; the data acquisition system obtains the pneumatic force on the model and is connected with automatic control equipment; therefore, the pneumatic force on the model can be obtained. The high-load and high-precision pneumatic force measurement device and the measurement method are used for measurement in a pressurized high-density and low-speed wind tunnel.

The invention provides a method and a system for controlling low-speed worming. The method includes that a vehicle control unit (VCU) collects current vehicle state signal and sends the same to a motor control unit (MCU); the MCU determines current working mode by controlling target rotating speed of a motor according to the current vehicle state signal; the VCU controls rotating speed and working mode of the motor by detecting braking pedal signal, acceleration pedal signal, gear position signal and actual motor rotating speed signal fed back by the motor of a vehicle, and the MCU controls the motor to realize control on low-speed worming of the vehicle.

An imaging optical device configured such that shaking can be appropriately corrected by smoothly rocking a lens drive device on which a lens and an imaging element are mounted. An imaging optical device (1) comprises: a movable module (12) having a lens drive device (2) on which a lens and an imaging element are mounted; a support body (5) for supporting the movable module (12); a rocking drive mechanism for rocking the movable module (12); and a plate spring (17) for rockably supporting the movable module (12). The plate spring (17) is provided with a holding section (17a) for holding the movable module (12), a fixed section (17b) fixed to the support body (5), and a spring section (17c) for connecting the holding section (17a) and the fixed section (17b) to each other. The spring section (17c) can deform in the direction perpendicular to the optical axis (L) and in the direction of the optical axis.

The invention discloses a television audio signal processing device which comprises a control module, an audio transmitting module, a detection module and an adjustment module, wherein the control module is used for controlling the audio transmitting module to be in wireless fidelity (WIFI) connection with an audio receiving module of a wireless loudspeaker box; the audio transmitting module, the detection module and the adjustment module are connected with the control module; the audio transmitting module comprises a packet transmitting buffer region and is used for converting an audio signal output by a television into an audio data packet to be transmitted to the audio receiving module of the wireless loudspeaker box through a WIFI network; the detection module is used for detecting strength of a WIFI signal in real time; the adjustment module is used for correspondingly adjusting capacity of the packet transmitting buffer region and interval time of packet transmitting according to the range of the detected signal strength. The television audio signal processing device solves the problem of delay and shake caused by television audio signal transmission through WIFI and helps to improve sound playing effect of the wireless loudspeaker box.

The invention discloses a method for detecting the initial position of a surface PM synchronous motor. The method for detecting the initial position of the surface PM synchronous motor comprises the steps that on the basis that the initial position is estimated for the first time according to the pulse vibration high-frequency current injection method, an injection signal period is evenly divided into four sections, integration is conducted on the d-axis high-frequency voltage response within the section I and the section III, or integration is conducted on the d-axis high-frequency voltage response within the section II and the section IV, and the positive direction of the d axis is judged according to the symbol of an integral value. According to the method for detecting the initial position of the surface PM synchronous motor, the positive direction of the d axis is judged without the need of extra injection of a positive pulse signal and a negative pulse signal, time for estimation is shortened, and the estimation process is simplified.

The invention discloses a trajectory tracking control method of a three-joint spot welding robot. The trajectory tracking control method comprises the steps of 1) establishing a mathematical model of a three-joint spot welding robot system, wherein in practical engineering, an accurate mathematical model is quite difficult to obtain, so that when establishing the mathematical model of the spot welding robot, an operator needs to perform reasonable approximate treatment on the spot welding robot and ignore some indeterminate factors, and dynamic modeling is carried out on the horizontal three-joint spot welding robot through utilizing the Lagrange method; and 2) designing an expanded state observer, wherein through adopting the expanded state observer, indeterminate dynamic states can be adopted as part of the total disturbance for estimation. According to the trajectory tracking control method, decoupling control can be effectively carried out on multi-joint spot welding robots, and the method has quite high restraining ability for indeterminacy of multi-joint robots, internal and external disturbance of the system, and indeterminacy of the model.

The invention discloses a self-adaptive double-layer sliding mode-based teleoperation system fast force estimation method. One or two three-degree-of-freedom robots are adopted to form a teleoperation robot system. In the load-free condition, the quality and length information of the connecting rod of a robot is measured. According to an energy balance equation, a second-order Lagrange system model is established in the task space of the teleoperation system. By utilizing the position encoder of the robot itself, the position signal of the robot is measured. According to the position information of the robot, a self-adaptive double-layer super-spiral sliding mode full-dimensional observer is designed. Meanwhile, the evaluation method of the estimated force is obtained through the observed information. According to the sizes of different external forces in different working environments and the changing conditions of the external forces, a large enough observer parameter is selected so as to ensure the stability of the observer system. The method is low in cost and insensitive to interference. The robustness of a closed-loop system is enhanced.

The invention discloses an indoor path navigation method based on mixed reality, wherein a mobile terminal, a wireless local area network, a remote server, and a plurality of remote PC are provided, the mobile terminal comprises a mobile camera and a display screen, and the plurality of the remote PC are connected via a wired network. The method is characterized by comprising the following steps that: 1) a destination is input on the mobile terminal, and the destination is transmitted to the remote PC through the wireless local area network; 2) the mobile terminal forms an image sequence according to a current image captured by the camera, and transmits the image sequence to the remote PC through the wireless local area network; 3) the remote PC sequentially performs three steps such as reliable identification labeling, image sequence matching and position model screening according to the received image sequence to calculate current position information of a user; and 4) the remote PC calculates and forms path navigation according to the current position information of the user and the destination, overlays the path navigation by using a mixed reality technology in a 3D manner, and feeds the overlaid path navigation back to the display screen of the mobile terminal through the wireless local area network.

The invention provides a method for switching holder working modes, a controller and an image stability augmentation apparatus. The method comprises the steps of: determining that a holder needs to switch from a first working mode to a second working mode; acquiring the measurement attitude of the holder and determining an anticipated attitude of the holder according to the measurement attitude; controlling the holder to switch from the first working mode to the second working mode while maintaining the anticipated attitude. The method can prevent shooting apparatuses on a holder from rotatingwhile the working modes of the holder are switched, so that transition of different shooting states of holders can be realized and the no-cut effect during shooting can be achieved.

The embodiment of the invention discloses a method for acquiring an S-shaped curve of a numerical control system. The method comprises the following steps of: rounding the original time span of each time interval of the S-shaped curve of the numerical control system to obtain a corresponding rounded time span of each time interval; obtaining the maximum acceleration, maximum deceleration, maximum jerk and target speed of the S-shaped curve according to the rounded time span of each time interval; obtaining a curve length which corresponds to each time interval according to the rounded time span of each time interval, the maximum acceleration, the maximum deceleration, the maximum jerk and the target speed; and obtaining the displacement of the S-shaped curve which corresponds to the time point of the S-shaped curve according to the curve length which corresponds to each time interval to complete planning of the S-shaped curve. The embodiment of the invention further discloses a device for acquiring the S-shaped curve of the numerical control system. Through the way, the calculation accuracy of acceleration and deceleration planning can be increased, and the problem of shaking in a machining process is solved.

The invention discloses a real-time network signal playing method and a real-time network signal playing device. The method comprises the following steps of: detecting the frame number n of network signal stream data stored in a buffer, and when the stored frame number n is equal to a preset value, playing network signals with normal frequency M; and continuing detecting the frame number n stored in the buffer, and dynamically regulating a playing frame rate according to the range of the frame number n. By the method and the device, the problems of image jitter and pause caused by network transmission instability in the playing of the real-time network signals can be effectively solved, and the network signal playing effects can be bettered.

The invention discloses a method of detecting the initial position of a surface-mounted permanent magnet synchronous motor rotor. On the basis of realizing primary initial position estimation by using a high-frequency voltage injection method, and d-axis positive direction judgment is then carried out through extracting d-axis positive direction information in a direct current component responsive to d-axis current. Extra positive and negative pulse injection and current response amplitude comparison are not needed, the evaluation time is shortened, the evaluation process is simplified, tender moving of the rotor does not happen, and applications are broadened.

The invention discloses a method and a system for dynamically enhancing the input / output (I / O) throughput of a server and aims to overcome the defect that the service performance of the server is limited by the input / output throughput in the prior art. The method comprises the following steps that: the server resolves a read-write request sent by a client into a data block read-write operation request; the server judges whether a target data block is in a cache or not; the server performs read-write operation on the target data block if the target data block is in the cache, and traverses a data access information linked list in a rapid-access disk if the target data block is not in the cache; and the server copies the target data block to the cache to perform data read-write operation if the target data block is found, and reads the target data block from a low-speed disk, saves the target data block in the cache, performs the data read-write operation and maps the target data block to the rapid-access disk if the target data block is not found, wherein the data access information linked list is updated when the data read-write operation is performed. The read-write operation of the server is detected dynamically, so that the hit ratio of a buffer zone is enhanced and the technical effect of high I / O throughput of the server is realized.

The invention discloses an oil pressure supporting device for a machine tool horizontal screw rod, which belongs to the field of machine tools. The oil pressure supporting device is provided with a hydraulic supporting device and is characterized in that the hydraulic supporting device is positioned in the middle of the screw rod; the top of the hydraulic supporting device is provided with a roller wheel for dragging and propping up the screw rod; when a screw base of a working platform approaches, a message is sent to an electromagnetic valve so that a piston rod of an oil cylinder drives the roller wheel to retract so as to allow the screw base to get across; and when the screw base gets across for a certain distance, a message is sent to the electromagnetic valve so that the piston rod of the oil cylinder drives the roller wheel to raise to drag and prop up the screw rod. The oil pressure supporting device not only can solve the problems of large sagging deflection caused by the deadweight of the screw rod and the jitter caused in the moving process, but also does not influence the effective stroke of the screw rod at all, has a simple structure, and is safe and reliable.

The invention provides a video signal switching system and a video signal switching method. The system comprises a receiving module, a detecting module and a switching module, wherein the receiving module is used for receiving a command of switching a currently displayed first video signal to a second video signal, and sending a message according to the command; the detecting module is used for detecting whether the first video signal reaches a vertical blanking period according to the message, and if the detected first video signal reaches the vertical blanking period, the detecting module sends a switching command; and the switching module is used for switching the first video signal to the second video signal according to the switching command.

The invention discloses an intelligent video surveillance system at a railway crossing and an implement method of the system. The surveillance system comprises a dispatching center device, a train detection devices arranged in front of or behind the crossing, a crossing surveillance device and a data transmission network, wherein the train detection devices arranged in front of or behind the crossing are in charge of sending emergency pre-warning orders to the crossing surveillance device and starting the crossing emergency pre-warning when a train is detected to pass; the crossing surveillance device and the train detection devices arranged in front of or behind the crossing detect barriers at the crossing and occurrence of the train respectively in real time and transmit the detected results into the dispatching center device through the network; and the dispatching center device realizes remote dispatching according to the on-site condition. The method comprises the steps as follows: a designed barrier detection algorithm program is mounted on the crossing surveillance device, and a train plate number recognition algorithm is mounted on the train detection device arranged in front of the crossing, so that the system can detect targets automatically in different working environments, crossing accidents are effectively avoided, and the life safety of passersby is guaranteed.

The invention discloses an Android set-top box system-based VR image dither solving system and method, and relates to an Android system set-top box of VR. The system comprises a prediction module, a middle frame generation module, a rendering module, a frame caching module, a middle frame caching module, a display module and a vertical synchronous module; when no image frame exists in the frame caching module, the prediction module predicts head pose information of a next frame according to current head pose information; the middle frame generation module generates a middle image frame throughimage distortion operation according to a normally displayed previous image frame in combination with the predicted head pose information of the next frame; and the rendering module renders the middle image frame and caches the middle image frame in the middle frame caching module; and the display module reads the middle image frame in the middle frame caching module and performs display. The problem of VR image frame dither or image jamming is solved, so that the dizziness of a user is avoided.

The invention relates to a control method and device for eliminating system buffeting during sliding mode control of a linear motor. In the method, a sign function in the conventional sliding mode control formula is replaced by a diffusion hysteresis function, so that control voltage on a mover coil is evaluated. Due to the soft switching property of the diffusion hysteresis function, buffeting during sliding mode control is eliminated. Parameters in a formula are obtained by second-order approximation and an experiment. The device comprises a linear motor, a displacement sensor, a signal processor, a driving circuit and the like, wherein a control signal of the signal processor is connected to the driving circuit; the signal processor comprises a central processing unit, an A / D (Analog to Digital) circuit, a D / A (Digital to Analog) circuit, an ROM (Read Only Memory) module, an RAM (Random Access Memory) module, a pulse width modulation module and a signal receiving circuit, and is used for storing a formula and parameters of a sliding mode control method; and the central processing unit is used for obtaining a voltage signal of the mover coil according to the mover displacement data of the displacement sensor and regulating the voltage of the mover coil through the pulse width modulation module so as to realize stable linear movement of the mover. By adopting the method and the device, system buffeting is eliminated effectively, and the running reliability is enhanced; and the method and the device are easy to realize.

The invention discloses an automatic complex special-shaped workpiece welding track generation system which comprises a worktable, a workpiece supporting rotary table, a workpiece clamping system, a machine vision measurement system, a touch display screen and a motion control system, wherein the workpiece supporting rotary table is used for fixing a workpiece, and three-axis movement of the workpiece is achieved by the workpiece clamping system. The workpiece supporting rotary table and the workpiece clamping system are arranged on the worktable, the touch display screen is connected with the motion control system through a circuit and fixed on one side of the worktable through a mounting arm, the machine vision measurement system is fixed on the worktable through a machine vision measurement system supporting table and used for acquiring welding tracks according to acquired workpiece images, and the motion control system comprises a motion controller for driving welding manipulators to weld corresponding profiles. The invention further discloses an automatic complex special-shaped workpiece welding track generation method. The automatic complex special-shaped workpiece welding track generation has the advantages of more adapting workpiece types, rapid track generation, high welding quality and the like.

The invention discloses a motor over-temperature protection method. The motor over-temperature protection method comprises the following steps that S1, the current temperature value of a motor is obtained; S2, whether the current temperature value is within the preset temperature range is judged, and if ye, the step S3 is conducted; S3, whether the current temperature value is the same as the previous temperature value of the motor is judged, and if not, the step S4 is conducted; and S4, current maximum available power of the motor is adjusted at the preset changing gradient rate. The invention further discloses a motor over-temperature protection system. In addition, the invention further discloses an electric vehicle comprising the motor over-temperature protection system. According to the motor over-temperature protection method, the change of the maximum available power of the motor can also be stabilized while over temperature of the motor is prevented, and the problem of shaking of the vehicle in the driving process is solved.

The invention discloses a car anti-shake method and system, and a motor controller. The torque command compensation amount corresponding to the motor rotation speed is used as a negative feedback signal to be introduced into a torque control loop, so that compensation of an original torque demand value is avoided; and the torque command compensation amount and the original torque demand value are used as torque controlled variables together, so that the purpose of smooth torque output is achieved, and the problem that a car shakes due to incomplete attachment of an assembly transmission part during acceleration of the car is solved.

The invention relates to a dithering processing method and apparatus of key points. The method includes steps: detecting a plurality of first key points of a current frame image in a video streaming,and obtaining detection position coordinates of the plurality of first key points; obtaining first shape topology structure information corresponding to a previous frame image in the video streaming,and obtaining identification information of the key points capable of being connected to edges in the plurality of first key points of the current frame image; and determining target position coordinates of the plurality of first key points according to the detection position coordinates of the plurality of first key points, the first shape topology structure information and the identification information, and moving the plurality of first key points to the target position coordinates. According to the method and apparatus, the dithering problem of the key points in the video streaming can besolved, the positioning precision of the key points in the video streaming can be improved, and the vision delay sense of the key points can be reduced when a to-be-detected object in the video streaming moves.

The present application relates to a target object change posture recognition method and apparatus, a computer device and a storage medium. The method is characterized in that: original joint point maps of target objects in an image is recognized; and subsequent operation steps are also performed on the target objects of the image respectively, that is, information contained in different target objects in the image can be processed in a parallel manner, so that the change posture of multiple target objects in the video data can be quickly recognized, and the response rate of the system can beimproved. In addition, according to the method provided by embodiments of the present application, when recognizing the changing posture of the target objects, a joint point map sequence consisting ofjoint point maps is obtained through correction according to the corresponding original joint point maps in the adjacent frame image, obtaining stable joint points can be ensured, the problem of image jitter caused by that the target objects are in a dynamic situation is overcome, and that the obtained joint point maps of the target objects in each frame image are clear can be ensured, so that the target object recognition result obtained by using the method of the embodiments is clear and accurate.

The invention discloses an intelligent shooting method based on a mobile terminal provided with a proposed camera and a postponed camera. The method comprises the steps that shooting operation is initiated, the postponed camera carries out framing focusing on a scene; locking is performed after framing focusing is finished; the proposed camera captures eyes of a photographer and detects focuses of the eyes, if movement of the focuses of the eyes is detected, automatic shooting is carried out, and shooting operation is finished; and if the focuses of the eyes are not moved, a current focusing state is maintained. After the framing focusing is finished, a moving arrow mark further appears on a screen interface, the aim of automatic shooting can be achieved as long as the focuses of the eyes of the photographer move along with the movement of the arrow mark of the screen interface, the trouble of pressing and touching a relevant shooting key is removed, a shooting effect is improved, and a shaking phenomenon is avoided.

The invention provides a test circuit. The test circuit is used for testing a pixel array comprising a plurality of data lines. The test circuit comprises a first test bus, a second test bus and at least one first transistor, wherein the first test bus and the second test bus are respectively used for providing different test signals for different data lines in the data lines; a grid electrode of each first transistor is electrically connected to a control terminal, a first pole of each first transistor is electrically connected with the first test bus, and a second pole of each first transistor is electrically connected with the second test bus; the first transistors are in a closed state in a test phase. The invention further provides an array substrate and a display device, and the test circuit provided by the invention is arranged on one side of the pixel array. Through the adoption of the test circuit and the array substrate provided by the invention, liquid crystal polarization caused by power failure can be avoided, and the problems of picture residual image and picture flutter are solved.

The invention discloses a method and device for detecting an obstacle, and relates to the technical field of intelligent transportation. The specific implementation scheme comprises the following steps of acquiring a current image collected by a camera; inputting the current image into a pre-trained detection model to obtain the position of a detection frame of the obstacle and determine a first pixel coordinate of the grounding point in the current image; determining offset between the current image and a template image, wherein the template image is an image used when external parameter calibration of the camera is carried out; converting the first pixel coordinates into world coordinates of the ground point based on the offset; and outputting the world coordinate of the grounding pointas the position of the obstacle in the world coordinate system. According to the embodiment, the problem of camera jittering is solved from the perspective of images, the robustness of a road side sensing system is greatly improved, and computing resources are saved.

An image-capturing optical device which can stably correct hand-shake blur and is thin. An image-capturing optical device (1) comprises: a movable module (18) having a camera module (2) on which a lens and an image-capturing element are mounted; a support body (5) for supporting the movable module (18); and a hand-shake blur-correcting mechanism for correcting hand-shake blur by rocking the movable module (18) in such a manner that the optical axis (L) of the camera module (2) tilts relative to the support body (5). The movable module (18) is provided with a sensor (4) for detecting the tilt of the camera module (2) and also with a cover member (12) for forming the outer peripheral surface of the movable module (18). The sensor (4) is disposed on the inner side of a side surface section (12b) of the cover member (12).

The invention discloses an electric inspection robot operating posture control method and device. The control method comprises the steps that an electric inspection robot operating posture linearizedmodel is built, and a sliding mode surface equation is calculated based on the linearized model; a basic sliding mode control law is calculated on the basis of the sliding mode surface equation, a preset lyapunov function and a preset index reaching law, the sliding mode surface equation is processed through a generalized type two fuzzy sliding mode control model built in advance, and a preliminary processing result is output; and the preliminary processing result is substituted into an expression of the basic sliding mode control law, a final sliding mode control law is obtained, and accordingly, control over the electric inspection robot operating posture is completed based on the final sliding mode control law. In this way, through the electric inspection robot operating posture controlmethod and device, the anti-jamming capability of an electric inspection robot in the inspection moving process can be effectively improved, the slip resistance and the obstacle avoidance performanceare good, and accordingly, the safety performance of the electric inspection robot in the inspection moving process is effectively improved.