32results about How to "Good anti-shake effect" patented technology

The invention discloses a video anti-shake method and system suitable for movable time-lapse photography and a shooting terminal.According to the method, key point extracting and key point matching are conducted on image frames of video to be processed, homography matrixes between the adjacent image frames are worked out according to the result of the feature point matching, a movement locus of the video to be processed is calculated according to the homography matrixes of the adjacent image frames, key frames in the image frames of the video to be processed are extracted according to the movement locus, and smoothing is conducted on the homography matrixes of the key frames so that stable video can be obtained.Only the video image information is utilized, frame extracting and smoothing are conducted by combining the relation between the image key point information and homography, the method is independent of hardware, the algorithm robustness is high, the anti-shake effect is remarkable, and the method is especially suitable for movable time-lapse photography with large shaking and is also suitable for anti-shake processing of ordinary video.

The invention discloses a hydrocylinder-type anti-rolling system used for a crane, which is structurally characterized by comprising a hanger, a hoisting drum and a trolley frame, wherein the hoisting drum is connected with the hanger after passing through a fixed pulley by a hoisting steel wire rope and is connected with an anti-rolling drum arranged on the trolley frame by a chain transmission device; the anti-rolling drum is connected with a fixed pulley set arranged on the trolley frame by an anti-rolling steel wire rope (5. a. b. c. d); then, the anti-rolling steel wire rope (5. a. b. c. d) is crosswise connected with the fixed pulley set arranged on the hanger after passing through the fixed pulley set; finally, the anti-rolling steel wire rope (5. a. b. c. d) is connected with a piston rod of an anti-rolling oil cylinder (2. A. B. C. D) after passing through the fixed pulley; and a hydraulic power unit is connected with the anti-rolling oil cylinder (2. A. B. C. D) by an oil channel pipe. The invention has the advantages that the system has simple structure, lower manufacture cost, easy realization, good anti-rolling effect and the like; the hoisting swing angle is attenuated according to an exponential form; when the structural parameters of the system are determined, the hydrocylinder-type anti-rolling system has a structural parameter matching hoisting weight with the best anti-rolling effect (the shortest attenuation time).

The invention discloses a lifting anti-rolling device for a container gantry crane. The lifting anti-rolling device comprises a hanger, a hanger upper frame arranged on the top end surface of the hanger and a crane arranged above the hanger upper frame, wherein a winding drum is arranged on the center of the top end of the crane; four steel wire ropes are wound on the winding drum; two first slide wheels are arranged at each of the two sides of the top end of the crane; two electric push rods are arranged at the bottom end of the crane; the two electric push rods are oppositely arranged; a steel wire rope fixing part is arranged on each electric push rod; second slide wheels are arranged on four top corners at the top end of the hanger upper frame; each second slide wheel is arranged in an inclined mode; the four second slide wheels are in one-to-one correspondence with four first slide wheels; and the trend of each steel wire rope is along the winding drum, the first slide wheels, the second slide wheels opposite to the first slide wheels, and the steel wire rope fixing parts of the electric push rods. According to the lifting anti-rolling device, needs on output torque of a speed reducer are reduced, rigid impact on a crane steel frame is reduced, and the service life of the crane is prolonged.

The invention relates to an anti-rolling and energy recovering device with an automatic control structure for a ship, which comprises a bracket, a hammer block assembly, a driving component and an energy recovering structure, wherein the hammer block assembly, the driving component and the energy recovering structure are fixed on the bracket; the hammer block assembly is connected with the energy recovering structure in a driving way by the driving component; the hammer block assembly comprises a pendulum rod and a pendulum hammer; the upper end of the pendulum rod is hung on the bracket and is in driving connection with the driving component; the pendulum hammer is fixed at the lower end of the pendulum rod; the oscillation direction of the pendulum hammer is perpendicular to the body length direction of the ship; an output end of the energy recovering structure is connected with an energy storing device; the energy storing device is connected with power equipment; the automatic control structure is further fixed on a base of the bracket; the automatic control structure comprises one pair of brakes and guide wheels; the guide wheels are arranged on the brakes; and the one pair of brakes and the guide wheels are respectively clamped on a lower pendulum sheet of the pendulum hammer. By adopting the technical scheme, the anti-rolling effect is good; the mounting speed is quick; the manufacturing cost is low; the running cost of the ship is further decreased; the running speed of the ship is improved; and the anti-rolling and energy recovering device has bigger social value and economic value.

The invention relates to a hydraulic control system for a fin stabilizer, which comprises a two-way variable displacement pump and a pilot oil constant displacement pump, wherein the two-way variable displacement pump is respectively connected with the oil inlets of a first pilot operated check valve and a second pilot operated check valve; the oil outlet of the first pilot operated check valve is connected with a hydrocylinder oil inlet pipe; the oil outlet of the second pilot operated check valve is connected with a hydrocylinder oil outlet pipe; the hydrocylinder oil inlet pipe and the hydrocylinder oil outlet pipe are communicated to a hydrocylinder; the hydrocylinder is linked with the fin stabilizer; the pilot oil constant displacement pump is connected with the two-way variable displacement pump in series; a pressure oil duct connected with the oil outlet of the pilot oil constant displacement pump is simultaneously communicated with a control orifice of the first pilot operated check valve and a control orifice of the second pilot operated check valve; the pressure oil duct is also communicated with one oil inlet of an electrohydraulic servo valve through a first servo control oil duct; and two oil outlets of the electrohydraulic servo valve are communicated with the flow control loop of the two-way variable displacement pump. The hydraulic control system has the advantages of precise control, high response speed and safe reliability.

The invention discloses a steel wire rope hoisting system for a crane. The steel wire rope hoisting system for the crane comprises a trolley frame and a hanger upper frame, wherein the hanger upper frame is positioned at the bottom of the trolley frame; a hoisting drum is fixedly arranged on the trolley frame, a hoisting steel wire rope is wound on the hoisting drum, and the free end of the hoisting steel wire rope penetrates through the trolley frame and is fixedly connected with the hanger upper frame; anti-roll drums are separately arranged at four corners of the upper surface of the trolley frame; and four consolidation points are arranged on the upper surface of the hanger upper frame, and an anti-shake steel wire rope is wound and connected between different anti-roll drums and the consolidation points to realize the anti-roll function of a hanger in the cart direction or the trolley direction. According to the steel wire rope hoisting system for the crane, the anti-roll functionin the cart direction or the trolley direction is realized through the winding connection relation of the anti-shake steel wire rope between the different anti-roll drums and the consolidation points, the anti-roll effect is obvious, and meanwhile, and a trolley running mechanism can run at full speed, so that the working efficiency is improved.

The invention discloses a trimaran anti-pitching decoupling controller and design method, belonging to the technical field of ship control. The trimaran anti-pitching decoupling controller includes a trimaran, a first PD controller, a second PD controller, a decoupling compensator, a first amplitude limit link, a second amplitude limit link, a heaving measurement module and a pitching measurement module. The closed-loop negative feedback control of the system is carried out to reduce the influence of the anti-pitching floating bodies, namely, a T-wing and a spray strip, on the heaving and pitching motion of the trimaran. According to the T-wing and the spray strip theoretical angle output by the decoupling controller, the lifting and lifting moment of the T-wing and the spray strip can be controlled to offset the wave force and wave moment of the ocean wave, so that the heaving and pitching can be reduced. For the trimaran anti-pitching decoupling control problem, a decoupling method based on the feedforward compensation is proposed, the decoupling of the T-wing and the spray strip, the two anti-pitching floating bodies can be realized, the performance in the respective effect area can be improved, the mutual interference control effect can be prevented, and the anti-pitching effect is optimal.

The invention provides an electric vehicle motor torque control method, a storage medium and electronic equipment. The control method comprises the following steps: responding to a torque switching control signal, determining a target torque according to a driving state signal of an electric vehicle, determining the torque change amount according to the target torque and the current torque, obtaining the torque adjustment time and the corresponding relation between the torque change rate and the time according to the driving state and the torque change amount, and therefore obtaining the corresponding relation between the motor torque and the time, and controlling the motor torque according to the corresponding relation between the motor torque and the time. According to the scheme, the specific position of the torque zero point is not concerned, calculation amount is greatly reduced, due to the fact that the corresponding relation between the motor torque and the time in the whole process from the current torque to the target torque is directly obtained through the scheme and used for controlling motor torque output, overall planning is conducted in the motor control process, andcompared with the scheme of only paying attention to zero-point torque change control, the better anti-shaking effect is achieved.

The invention provides a T-shaped rotor foil low-speed stabilization apparatus. The T-shaped rotor foil low-speed stabilization apparatus comprises a column and horizontal rotor cylinders, the upper end of the column is fixed at the bottom of a ship, the lower end of the column is connected with the horizontal rotor cylinders, hydraulic cylinders are positioned at the inner part of the column, the hydraulic cylinders drive the horizontal rotor cylinders to swing back and forth, and motors at the inner parts of the horizontal rotor cylinders drive the horizontal rotor cylinders to rotate. At the zero speed, a T-shaped rotor foil is driven by the hydraulic cylinders, the horizontal rotor cylinders swing to a position vertical to the water-flow direction and swing back and forth regarding the position as the initial position, and the motors at the inner parts of the horizontal rotor cylinders drive the horizontal rotor cylinders to rotate; at the low speed, the horizontal rotor cylinders swing to the position vertical to the water-flow direction, and the motors at the inner parts of the horizontal rotor cylinders drive the horizontal rotor cylinders to rotate. According to the stabilization apparatus, the ship sea-keeping can be improved, when the T-shaped rotor foil does not need to operate, the horizontal rotor cylinders are taken back to the tail part of the column driven by the hydraulic cylinders, the navigation resistance can be reduced, fuels are saved, and the speed is increased.

The invention discloses a key switch buffeting elimination circuit used for a GPIO interface. The buffeting elimination circuit comprises a charge circuit, a discharge circuit and a capacitor. When akey switch is in an un-pressed state, the discharge circuit is in an off state, and the charge circuit charges the capacitor; when the key switch is in a pressed state, the discharge circuit signallydischarges electric quantity of the capacitor through the key switch, and the charge circuit is bypassed to the signal through the key switch; besides, the buffeting elimination circuit further comprises a buffer which is used as a reshaping circuit, and the buffer is used for reshaping voltage waveforms at the two ends of the capacitor, and therefore, the GPIO interface obtains a switch signal with good waveform quality. The buffeting elimination treatment disclosed by the invention does not need to occupy processor or controller resources, and the buffeting elimination circuit is simple in structure, is stable and reliable in work, and has a very good buffeting elimination effect.

The invention belongs to the field of crane accessories, and particularly relates to a gravity center lifting crane anti-sway device. The gravity center lifting crane anti-sway device includes a support frame, a lifting mechanism, a running trolley and a sling; an anti-sway frame is arranged under the running trolley; the upper end of the sling is fixedly connected to the inner top surface of theanti-sway frame; two L-shaped connecting rods are fixedly connected to the lower end of the running trolley; a fixed wheel disc is fixedly installed between the two L-shaped connecting rods; the fixedwheel disc is located in the anti-sway frame and arranged in parallel with the anti-sway frame; a rotating ring is rotatably connected to the side wall of the outer ring of the fixed wheel disc; thelower end of the rotating ring is provided with a segment of tooth groove; a rack is fixedly connected to the outside of the sling; the rack meshes with the lower end of the rotating ring; and both sides of the rotating ring are provided with ratchet teeth. The gravity center lifting crane anti-sway device can convert the kinetic energy and inertial potential energy of a weight swinging upward dueto inertia and wind into gravitational potential energy, so that the swinging energy is quickly converted and consumed, and a good anti-sway effect is realized.

The invention provides a crane bothway anti-swing mechanism and a crane. The crane bothway anti-swing mechanism comprises a trolley support, a hoisting tool upper support and a coiling block; the coiling block is arranged on the trolley support; a first-direction anti-swing assembly is further included and comprises a first steel wire rope, a first upper support sliding wheel arranged on the hoisting tool upper support, a winding-out assembly and a first winding-back assembly, and the winding-out assembly and the first winding-back assembly are evenly arranged on the trolley support; the firstend of the first steel wire rope is connected with the coiling block, and the second end of the first steel wire rope is wound out from the coiling block to pass through the winding-out assembly, thefirst upper support sliding wheel and the first winding-back assembly to form an inverted triangle shape.

The invention relates to a driving assembly and a manufacturing method thereof. The driving assembly comprises a substrate, a heater, separator plates and power elements. One end of each separator plate is in mutual fixed connection with the substrate, and the other end thereof extends in the direction away from the substrate to form a free end. The heater is arranged on the substrate. The power elements are arranged between adjacent separator plates. When the heater is powered on, the power elements are expanded due to heat, and cause horizontal and vertical displacement, that is, the drivingassembly generates a driving force, thereby effectively solving the problems of low rigidity and poor linear driving and the like in the driving direction of an existing driver in a periphrastic structure.

The invention relates to an actuator of a camera module, a camera device and a mobile terminal. The actuator of the camera module comprises: from outside to inside, a camera carrier used for installing the camera module; and an elastic support which is provided with a first groove, a second groove, a first opening and a second opening. The actuator further comprises a first ball, a second ball, a third ball and a fourth ball. The first ball is located between the actuator support and the elastic support and located in the area where the first open hole is located. The third ball is located between the actuator support and the elastic support and located in the area where the second open hole is located. The second ball is located between the actuator support and the elastic support and located in the area where the first groove is located. The fourth ball is located between the actuator support and the elastic support and located in the area where the second groove is located.

To provide a control method for a rocking reducing device in which a buoyancy type rocking reducing device (fin stabilizer or rudder swing reducing device) of automatic control type and a U-pipe passive type swing-reducing water tank device (ART) of automatic control type are installed in line and used, capable of allowing the two devices to work with their merits efficiently, complementing each other's demerits, and performing an automatic control so that the liquid of ART does not ill influence the F/S (fin stabilizer). The buoyancy type rocking reducing device 14 of automatic control type and a passive type swing-reducing water tank 15 of automatic control type are installed in line, and a control part 4 capable of making remote control of the two devices is installed on a bridge or in an apparatus monitoring room. A system is constructed so that the two devices 14 and 15 can be selected through changing-over by an automatic or a manual operation. In the case of automatic selection, priority for use is given to the device meeting the preset conditions on the basis of the vessel information fundamentally, and the automatic control is conducted in such a manner that the other device does not ill influence the selected device. (C)2004,JPO&NCIPI.

The invention relates to the technical field of kinematics and dynamics modeling, and discloses a method for establishing a liquid shaking model in a rectangular liquid tank with a porous elastic baffle. The porous elastic baffle is vertically arranged in the center of the rectangular liquid tank, and the top end of the porous elastic baffle is connected with a pair of mooring lines with the spring rigidity being K; the velocity potential of fluid in a tank is calculated by using a Laplace equation and a linearized free liquid level boundary equation based on a fluid dynamic analysis method of a two-dimensional linear potential theory; according to a Green formula matching characteristic function expansion method and a Darcy theorem, the bending moment and the shearing stress of liquid shaking on the baffle and the liquid height and the dynamic pressure in the liquid tank are solved, so that a specific analytical solution of important parameters of liquid shaking in the tank is obtained. The mathematical model established by the invention can effectively solve the problem of kinetic analysis of the rectangular liquid tank with the porous elastic baffle, and a relatively small weight load is applied to the tank body, so that the calculation process is simplified, and the accuracy of the model is improved.

The present invention is a special anti-shake teacup for people with hand tremors. It includes a cup body, a cup handle, pins, springs, and a chassis. A protruding short rod with a pin hole is added on the outer side of the cup body, and a pin is also provided in the center of the inner side of the cup handle. The two pin holes are connected together with pins, the cup handle can rotate freely, the upper and lower sides of the inner side of the cup handle are respectively connected with the outer wall of the cup with springs, one side of the chassis is connected with the cup handle, and the bottom of the cup body is connected with the outer wall of the cup. The other spring is connected with the chassis. The anti-shake teacup has a good anti-shake effect and can help people with trembling hands to drink water independently.

The invention discloses a gantry crane. The gantry crane comprises a lifting appliance system, a trolley frame and two pairs of stabilization units. A lifting winding drum is arranged on the trolley frame. Each stabilization unit comprises a stabilization winding drum, a stabilization rope, a swing pulley and a swing driving mechanism, wherein the stabilization winding drum is fixed to the liftingwinding drum and coaxially arranged with the lifting winding drum; and the stabilization rope sequentially bypasses the stabilization winding drum and the swing pulley to be steered and then is connected with the lifting appliance system. Portions, between the swing pulley and the lifting appliance system, of stabilization ropes are set as stabilization sections, the stabilization sections of thetwo paired stabilization units are located in different vertical planes, and projections of the two stabilization sections in the same X-Z plane are crossed; the swing pulleys of the two paired stabilization units are arranged at intervals in the X-axis direction, and the two pairs of stabilization sections are arranged at intervals in the Y direction; and the swing driving mechanisms are used for driving the corresponding swing pulleys to wind or unwind the ropes. The gantry crane not only can realize the functions of stabilization and lifting appliance tilting and rotation, but also has theadvantages of simple structure and low cost.

The invention discloses a movable circular track type series connection mechanical arm stabilization device which comprises a crane located at the axis position, a circular track mechanical arm stabilization device body is arranged at the coaxial position of the crane and connected with two symmetrical stabilization cables, the stabilization cables are connected with a stabilization hanging scaffold, and the stabilization hanging scaffold is connected with the circular track mechanical arm stabilization device body. The stabilizing hanging scaffold is connected with the main sling, the other end of the main sling is connected to the crane, the two symmetrical stabilizing cables and the stabilizing hanging scaffold on the main sling form a triangular stable structure, and the stabilizing device of the circular track mechanical arm achieves stabilizing control over a hanging weight hung below the stabilizing hanging scaffold through dragging actions on the stabilizing cables. According to the device, the suppression of small-amplitude swinging of the hoisting weight can be further realized through the amplitude variation and rotation of the mechanical arm, and a good stabilization effect is realized, so that the space positioning control precision of the hoisting weight is improved. According to the invention, the original crane does not need to be transformed, so that the structural strength of the original crane is effectively protected. A good stabilization effect can be achieved through real-time control of the annular track mechanical arm stabilization device.

The invention provides a face image anti-shake method and device, equipment and a readable storage medium. The method comprises the following steps: acquiring a plurality of face feature points in a current image frame; determining a displacement vector of the face feature point based on the current image frame and at least two adjacent image frames of the current image frame; determining a clustering space corresponding to the human face feature points, and clustering the human face feature points in the clustering space according to the displacement vector, wherein the clustering space comprises the human face feature points and human face feature points in a specified area around the human face feature points; and performing anti-shake processing on the face feature points according to the clustering result.

The invention discloses a floater automatic control attack angle type T-shaped wing. The floater automatic control attack angle type T-shaped wing is characterized by comprising a floater, a connecting rod, a pull rod, a vertical wing, a horizontal wing and a fixing shaft; a horizontal groove is formed in the upper end of the vertical wing, and a longitudinal columnar hollow structure communicated with the horizontal groove is arranged in the middle of the vertical wing; the connecting rod is partially placed in the horizontal groove and fixedly connected to the vertical wing; the connecting rod is connected with one end of the pull rod through the fixing shaft; the pull rod penetrates through the longitudinal columnar hollow structure on the vertical wing in the vertical direction, the bottom of the pull rod is inserted into a longitudinal groove in the horizontal wing in a matched mode, and the vertical wing and the horizontal wing are connected through a lifting lug in a matched mode; the end, stretching out of the horizontal groove, of the connecting rod is fixedly connected with the floater. The problems that due to the fact that the horizontal wing attack angle cannot be automatically controlled and adjusted, an existing T-shaped wing is poor in stabilization effect, complex in technology, high in cost and the like can be solved, and the floater automatic control attack angle type T-shaped wing is simple in structure, convenient to install, high in timeliness and remarkable in effect.

The invention provides an image stabilization display method of a terminal device, and a terminal device with an image stabilization display function so as to solve the discomfort problem caused by viewing the display content on a screen of the terminal device in a mobile environment. The method comprises the following steps of obtaining the current position information of a device display area; monitoring the motion state of the device; when the situation that the device makes relative displacement is monitored, calculating the displacement information of the device; calculating the updated position information of the device display area according to the current position information of the device display area and the displacement information of the device; and adjusting the device display area to the updated position from the current position. The display method and the terminal device can ensure that the displaced content and the eyes of a viewer are relatively static, and thus the discomfort caused by environmental factors and the effect on the vision of the viewer can be reduced or even eliminated.

The invention relates to the technical field of hoisting equipment, and discloses a lifting anti-shaking device based on hoisting equipment. The lifting anti-shaking device comprises a mounting box body, an anti-shaking frame is arranged in the middle of the mounting box body, a mounting groove is formed in the middle of the anti-shaking frame, a fixing shaft is fixedly connected with the middle of the mounting groove, a rope transmission wheel is rotationally connected with the side wall of the fixing shaft, sliding columns are slidably connected with two ends of the anti-shaking frame, a mounting frame is fixedly connected with one end of each sliding column, and a first supporting wheel is rotatably connected into each mounting frame. According to the lifting anti-shaking device based on the hoisting equipment, it is guaranteed that shaking can be weakened to a large extent in the process of hoisting goods through ropes, so that shaking of the transmission wheel can be well relieved, it is also guaranteed that the goods can be stably hoisted and placed, the efficiency of the goods hoisting process is improved, and the anti-shake frame is protected, so that the anti-shake frame is not interfered by the outside, and an ideal anti-shake effect can be achieved.