36results about How to "Guaranteed continuous change" patented technology

The invention discloses an error-controllable industrial robot fairing movement track generation method which comprises the following steps: S1, generating an MOVEB movement instruction, describing an industrial robot movement track which comprises a track point and posture, a track point error threshold input by a user, and a chord height error threshold; S2, performing interpolation on a robot track point, namely performing interpolation on a high-order B sample curve into the track point according to the track point error and the chord height error threshold by using the high-order B sample interpolation algorithm, and respectively achieving G2 interpolation and G3 interpolation of the robot track point, so as to obtain an interpolation track which has high continuity and meets the track point error and chord height error requirements; S3, performing interpolation on the posture of the robot so as to obtain a robot posture curve with sectional G2 and continuous G3; S4, acquiring a movement track of the robot after interpolation according to the track point interpolation curve and the robot posture curve. By adopting the error-controllable industrial robot fairing movement track generation method, real-time continuous interpolation of the movement track can be achieved, calculation can be simple, efficient and precise, and vibration and abrasion of the robot can be reduced.

The invention relates to a method for active obstacle avoidance trajectory planning and stable tracking control of a two-wheeled self-balancing vehicle, which comprises an obstacle avoidance trajectory planning method based on a circular arc and a transition curve and a stable tracking control method based on a non-singular terminal sliding mode algorithm and a nested saturation algorithm. Trajectories planned by a local trajectory planning method comprise a lane changing trajectory, an overtaking trajectory and a lane combining trajectory. The non-singular terminal sliding mode algorithm controls a full-drive steering subsystem of the two-wheeled self-balancing vehicle, and the nested saturation algorithm controls an under-drive forward subsystem of the two-wheeled self-balancing vehicle. The obstacle avoidance trajectory planned according to the invention has the characteristics that the trajectory is gentle in curvature change and stable tracking of the under-drive two-wheeled self-balancing vehicle is facilitated; and the stable tracking control algorithm provided by the invention can enable the two-wheeled self-balancing vehicle to stably track the planned obstacle avoidance trajectory at a large initial value of the vehicle body inclination angle and keep the vehicle body to be stable at the same time, and thus active obstacle avoidance of the two-wheeled self-balancing vehicle is achieved.

The embodiment of the invention discloses a method and device for realizing content display of a component. The method comprises the following steps of: displaying a first display interface of the component on a terminal screen; acquiring a first display instruction; acquiring a second display interface of the component according to the first display instruction; and displaying the second display interface of the component on the terminal screen, wherein the second display interface comprises the first display interface. By using the method and the device provided by the embodiment, the display utilization rate of the interface is effectively increased, meanwhile, continuous change during display of application information of the component is also guaranteed, and the user experience is improved.

The invention relates to the field of communication terminal equipment, and discloses a method and device for displaying remaining capacity of a battery at a mobile terminal. The method includes the step 101 of judging whether the mobile terminal is under a standby state, executing the step 102 if the mobile terminal is under the standby state and otherwise executing the step 103, the step 102 of obtaining display voltage of the battery when the battery is awakened and executing the step 104, the step 103 of obtaining display voltage of the battery when the battery works and the step 104 of obtaining the remaining capacity of the battery according to display voltage. According to the method and device, when the mobile terminal is awakened from the standby state, the electric quantity can be updated to be in the best state immediately; under a working condition, it is guaranteed that the electric quantity changes continuously, and user experience is improved.

The invention discloses a long-wave infrared broadband achromatic metasurface lens, and belongs to the field of infrared imaging and the field of micro-nano photonics. Metasurface lens units in the metasurface lens are periodically arranged in a tetragonal lattice form; the metasurface lens unit is composed of a dielectric substrate and a microstructure located in the center of the dielectric substrate, and a projection pattern of the microstructure on the dielectric substrate is a graph which is in rotational symmetry about a 90-degree angle; the phase and phase dispersion introduced by the microstructures at different positions meet the following formulas shown as the specification, and the microstructure selection mode at each position is as follows: a theoretical parameter combinationis obtained according to the two formulas, the phase of the unit where each microstructure is located and the corresponding phase dispersion are obtained through weighted first-order linear fitting, and are recorded as actual parameter combinations, the parameter combinations are drawn in a same scatter diagram, and the microstructure corresponding to the actual parameter combination closest to the theoretical parameter combination is selected. According to the invention, broadband achromatism can be realized in a long-wave infrared band.

The invention relates to an intelligent wind tunnel with a variable section of a test section, wherein the inlet of the test section of the wind tunnel is connected to a contraction compressed gas retaining structure of a contraction section, and the outlet of the test section is connected to a steady flow section front end structure of a steady flow section; the test section is integrally in a rectangular structure and is composed of upper and lower two parts which are nested with each other, the upper part can move up and down in the lower part under the action of the telescopic structure, and the height of the lower end surface of the upper part is not greater than the distance from the upper ends of the outlet and the inlet to the top when the test section dose not stretch out and drawback; a rubber airbag plate is arranged on the inner wall side of the cavity of the test section, a plurality of rubber airbags are arranged on the rubber airbag plate, the inflation and deflation states of each rubber airbag are controlled by an air pump and a corresponding control valve; the above-mentioned telescopic structure, the air pump and the control valve are all connected to a controlsystem in a wind tunnel control room. The wind tunnel can automatically change the cross-sectional area and volume according to various data of the real scene as needed, which realizes intelligent useof the wind tunnel, and completes various pneumatic tests efficiently and reliably.

The invention discloses a dual-mode multipurpose continuous zooming optical system comprising a driving mechanism and a diaphragm. The dual-mode multipurpose continuous zooming optical system also comprises a front fixed lens group, a zooming lens group, a compensating lens group, an aberration stable lens group and an optical filter which are arranged from the left to the right in turn. The left side of the front fixed lens group is an object plane. The right side of the optical filter is the focal plane of the dual-mode multipurpose continuous zooming optical system. The front fixed lens group, the zooming lens group, the compensating lens group, the aberration stable lens group and the optical filter are coaxial in central axis. The driving mechanism drives the zooming lens group, the compensating lens group and the aberration stable lens group to linearly move in a forward-and-backward direction in the optical axis direction of the dual-mode multipurpose continuous zooming optical system to realize continuous zooming. The total length of the dual-mode multipurpose continuous zooming optical system is constant in the process of continuous zooming. The dual-mode multipurpose continuous zooming optical system is an optical system which is small in size, compact in structure and particularly suitable for an optoelectronic pod and can realize the function of continuous zooming and has two working modes of high-definition video photographing and ultrahigh-definition photographing imaging.

The embodiment of the invention discloses a gesture recognition method and device. The method comprises the steps that the coordinates of the central point of a gesture in an th frame image is obtained, the coordinates of the actual central point of the gesture in the th frame image is determined as the coordinates of the actual central point of the gesture in an <i-1>th frame image when thecentral point of the gesture in the th frame image is in a preset zone, wherein i is an integer greater than or equal to 2, and the preset zone is the zone taking the actual central point of the gesture in the <i-1>th frame image as the center; dynamic gesture recognition is conducted according to the coordinates of the actual points of the gestures in each frame image. According to the method, instant feedback of hands in image frames caused by unaware shaking of the hands can be avoided, so that constant changing of recognized dynamic gestures is ensured.

The invention belongs to the technical field of underwater acoustic communication, and particularly relates to a simulated dolphin whistle continuous phase multivariate frequency modulation underwateracoustic communication method. The method of the invention includes the following steps: performing continuous phase multivariate frequency modulation on information by a sending end; adding the modulated signal with a time-frequency spectrum profile of an extracted dolphin whistle signal in a certain proportion to generate a synthesized whistle, and further obtaining a simulated whistle data signal; adding an original whistle signal before the simulated whistle data signal to serve as a synchronization signal, and forming a frame of transmission signal; after a receiving end performs synchronization, extracting each symbol waveform; and calculating correlation functions between each symbol waveform and all possible signal waveforms of the symbol, and judging a maximum correlation peak toimplement demodulation. According to the simulated dolphin whistle continuous phase multivariate frequency modulation underwater acoustic communication method, provided by the invention, each symbolcan modulate a plurality of pieces of bit information, the communication rate is high, the similarity between the synthesized whistle signal and a real whistle signal is high, and the underwater acoustic communication method has strong concealment and can meet the requirements of underwater covert acoustic communication.

The invention discloses a wide face copper plate of a sheet billet hopper-shaped crystallizer and based on a transition curve and a manufacturing method. According to the wide face copper plate, the transition curve and a circular curve are adopted, combined and connected to form a transverse curve on the basis that a billet shell solidification contraction and deformation mechanism is taken intoaccount, and therefore the situation that the transverse curvature of a cast billet continuously changes is guaranteed, and the transverse stress of a billet shell is reduced; and a hyperbolic taper curve is adopted by a longitudinal curve, and the change of the curvature of the portion nearby the meniscus face is large so that the requirement for the taper of the portion nearby the meniscus facecan be preferably met. The wide face copper plate of the sheet billet hopper-shaped crystallizer and based on the transition curve has the advantages that the design of the transverse curve and the longitudinal curve conforms to the solidification contraction rule of the cast billet, and therefore the stress of the cast billet is conveniently reduced, the generation probability of cracks of the cast billet is reduced, and the requirement of the high casting speed for the copper plate of the sheet billet crystallizer is met.

The invention discloses a leaky-wave antenna and a beam forming method based on the same. The shape of the leakage gap of the leaky-wave antenna adopts a composite structure including different periodic structures corresponding to different radiation directions. The leaky-wave antenna and the beam forming method based on the same have clear principle and simple design, so that the design and optimization of beam forming can be promoted.

The embodiment of the invention discloses a method and a device for realizing assembly content display. The method comprises the following steps: displaying a first display interface of a display assembly on a terminal screen; acquiring a first display command; acquiring a second display interface of the assembly according to the first display command; and displaying the second display interface of the assembly on the terminal screen, wherein the second display interface comprises the first display interface. Through adoption of the method and the device in the embodiment, the display utilization rate of the interfaces is increased effectively; meanwhile, continuous change of application information of the assembly during displaying is ensured; and the user experience is enhanced.

The invention discloses a preparation method for a titanium-aluminum-zirconium nitride film-coated hard alloy drill bit, and relates to a preparation method for an alloy drill bit. A method for preparing a titanium-aluminum-zirconium nitride film-coated hard alloy drill bit through a multi-arc ion plating technology sequentially comprises the following steps: 1) determining a deposition technology; 2) determining the numbers of target materials and electric arc sources; 3) selecting the hard alloy drill bit and carrying out pretreatment; 4) placing the hard alloy drill bit; and 5) determining a film-coating process. According to the method, the titanium-aluminum-zirconium nitride film-coated hard alloy drill bit is prepared through the multi-arc ion plating technology, two titanium-aluminum alloy targets and two titanium-zirconium alloy targets are determined as cathode arc source targets; and a whole set of special film-coating deposition process is determined, so that the prepared titanium-aluminum-zirconium nitride film-coated hard alloy drill bit has the characteristics of being high in adhesion force, high in hardness and long in service life compared with a hard alloy drill bit which is not subjected to film-coating.

The invention discloses a preparation method of an alloy steel screw tap plated with a titanium aluminum niobium nitride film, and relates to a preparation method of an alloy screw tap. The method comprises the steps that target materials are selected, two titanium aluminum alloy targets and two titanium niobium targets are adopted as cathode arc source targets and alternately arranged at plating chamber wall arc source positions at different heights and positions, an alloy steel screw tap is selected and pretreated, the alloy steel screw tap is placed, and the plating technology is determined; when the back bottom vacuum degree of a plating chamber reaches 1*10<-1>pa and the temperature reaches 240-300 DEG C, argon is introduced into the plating chamber, the pressure intensity reaches 2*10<-1>, four arc sources are started, ion bombardment is carried out, the arc current is 55 A, time is 15 min, and the bombardment bias voltage is reduced at a uniform speed to 300 V from 400 V, and the bias voltage is reduced to 120 V. The whole set of plating deposition technology is determined, and the prepared alloy steel screw tap plated with the titanium aluminum niobium nitride film is strong in adhesion force, high in hardness and long in service life.

The invention relates to a directional flow valve for a hydraulic support, in particular to a directional flow valve with the function of continuously adjusting flow and a control method thereof. Including main valve, pilot circuit and control part. The main valve includes the liquid return valve sleeve, the liquid inlet valve core, the liquid return valve core, the valve seat, the liquid inlet valve sleeve, and the return spring. The pilot circuit includes a normally closed high-speed switch valve, a normally open high-speed switch valve, a one-way valve, A one-way valve, the control part includes a pressure sensor, a displacement sensor, a flow calculation unit and a controller. The invention can not only realize the continuous adjustment of the direction and flow of the hydraulic support, precisely control the flow, improve the attitude control accuracy of the hydraulic support, but also realize the soft start of the main valve spool and reduce the hydraulic impact caused by the sudden opening and closing of the spool.

The invention relates to a vacuum external regulation apparatus for a pitch angle of a high-resolution flying time mass spectrum detector. The vacuum external regulation apparatus comprises a body flange, two regulation screw rods and a pitching board; one side of the body flange is an atmosphere side while the other side of the body flange is a vacuum side; two sealing differential blocks are fastened and connected in the atmosphere side of the body flange spaced at a degree of 180 degrees; a sealing hole for penetrating through the vacuum side of the body flange is formed in each sealing differential block; a screw rod matching block with a threaded hole in the centre is fastened and connected in the top of each sealing differential block; the two regulation screw rods are arranged in the sealing holes of one sealing differential block; a threaded rod is arranged at one end of each regulation screw rod while a central threaded hole is formed in the other end of each regulation screw rod; the threaded rods of the regulation screw rods are matched and connected with the threaded hole of the screw rod matching block; one end, with the central threaded hole, of the regulation screw rod extends to the vacuum side of the body flange; the pitching board is supported in the vacuum side of the body flange at intervals through two threaded rods that are matched and connected with the central threaded holes of the regulation screw rods; and the pitching board is fastened and connected with the mass spectrum detector through a plurality of threaded rods.

The invention discloses a game method for conducting interaction control to a self-deformable image. (1), before a control signal is received, a border of an image target in a game moves according tospeed set by a system, so the image target can continuously change a shape and size with time; (2) a user selects a border of the image target and inputs a control signal, so a border position in a control signal action range can continuously change with time according to a control rule regulated by the system, and the border unaffected by the control signal can remain the original movement state;and (3) control success is determined if the shape and size of the controlled image target meet a preset target, otherwise, the step (2) is continued. The game method can be conveniently executed; and the user can acquire great instant interaction gaming experience.

The invention discloses a mobile robot path planning method based on ray tracing. A collision-free path connecting an initial position and a target position of a robot is generated by tracking a propagation trajectory of rays. Firstly, light propagation in the real world is simulated, an original path connecting a starting point and a target point is obtained, then redundant track points are removed, all straight line segment paths are smoothly connected by means of a cubic Bezier curve, and finally a smooth collision-free path connecting the starting point and the target point is generated. The path planning algorithm is high in operation speed, can ensure that the movement speed of the robot always changes continuously, greatly enhances the movement stability and safety of the mobile robot, and is suitable for high-speed movement of the mobile robot.

The invention relates to a rapid continuous adjustment method for a diffraction-free two-dimensional optical crystal lattice period. A zoom lens and a lens are sequentially added along an optical axis on an optical path for generating a two-dimensional optical crystal lattice. The position of a back focal plane of the zoom lens is kept unchanged during focusing, and the distance between the zoom lens and the lens is the sum of the back focal length of the zoom lens and the front focal length of the lens; by adjusting the focal length of the zoom lens, the continuous change of the amplification factor of the beam expanding system is achieved, so that the rapid continuous adjustment of the diffraction-free two-dimensional optical lattice period can be achieved.

Disclosed are a hydraulic variable-flow device with two parallel pumps and a rubber mixing mill roller driving system. The hydraulic variable-flow device with the two parallel pumps comprises a first hydraulic pump, a second hydraulic pump, a first one-way valve, a proportional flow control valve, a second one-way valve, a control valve, an actuating mechanism, loading equipment, a pressure control valve, a pressure sensor, a speed sensor, a controller, a variable-frequency governor of a first hydraulic pump driving motor and a control mechanism of a second hydraulic pump driving motor, wherein a pressure oil port of the control valve is connected with oil outlets of the first one-way valve and the second one-way valve, the actuating mechanism is connected with a working oil port of the control valve, the loading equipment is connected with the actuating mechanism, the pressure control valve is connected with an oil inlet pipeline of the pressure oil port of the control valve, the pressure sensor is used for detecting pressure of the oil inlet pipeline of the pressure oil port of the control valve, the speed sensor is used for detecting movement of the loading equipment, pressure signals detected by the pressure sensor and speed signals detected by the speed sensor are inputted to the controller, and the output end of the controller is electrically connected with the variable-frequency governor of the first hydraulic pump driving motor, the proportional flow control valve and the control mechanism of the second hydraulic pump driving motor.

The invention relates to a non-diffraction two-dimensional optical lattice cycle rapid and continuous adjustment method, in which a zoom lens and a lens are sequentially added along the optical axis on the optical path for generating the two-dimensional optical lattice. In the zoom lens, the position of the rear focal plane remains unchanged during focusing, and the distance between the zoom lens and the lens is the sum of the rear focal length of the zoom lens and the front focal length of the lens; by adjusting the focal length of the zoom lens, the The continuous change of the magnification of the beam expander system can realize the rapid and continuous adjustment of the non-diffraction two-dimensional optical lattice period.

The invention discloses a preparation method for a titanium-chromium-aluminum nitride coated alloy steel wire taper and relates to a preparation method of a metal machining tool. The provided method for preparing the titanium-chromium-aluminum nitride coated alloy steel wire taper through the multi-arc ion plating technology sequentially comprises the steps of (1) determining of the deposition technology, (2) determining of the number of target materials and electric arc sources, (3) selecting and pretreatment of the alloy steel wire taper, (4) placing of the alloy steel wire taper and (5) determining of the film coating process. The method adopts the multi-arc ion plating technology to prepare the titanium-chromium-aluminum nitride coated alloy steel wire taper, it is determined that two aluminum-chromium alloy targets and two titanium-chromium alloy targets serve as cathode arc source targets, and a whole set of special film coating deposition process is determined, so that the prepared titanium-chromium-aluminum nitride coated alloy steel wire taper has the characteristics of high adhesive force, high hardness and long service life.

The invention discloses a leaky-wave antenna and a beam forming method based on the same. The shape of the leakage gap of the leaky-wave antenna adopts a composite structure including different periodic structures corresponding to different radiation directions. The leaky-wave antenna and the beam forming method based on the same have clear principle and simple design, so that the design and optimization of beam forming can be promoted.

The invention discloses a long-wave infrared broadband achromatic metasurface lens, which belongs to the field of infrared imaging and micro-nano photonics. The metasurface lens units in the metasurface lens are periodically arranged in the form of a square lattice; the metasurface lens units It is composed of a dielectric substrate and a microstructure located in the center of the dielectric substrate, and the projection pattern of the microstructure on the dielectric substrate is a figure that is rotationally symmetrical about a 90° angle; the phase and phase dispersion introduced by the microstructure at different positions satisfy and The microstructure selection method at each position is as follows: according to the above two formulas, the theoretical parameter combination is obtained, and the phase of the unit where each microstructure is located and the corresponding phase dispersion are obtained through weighted first-order linear fitting, which is recorded as the actual parameter combination. Each parameter combination is drawn in the same scatter diagram, and the microstructure corresponding to the actual parameter combination closest to the theoretical parameter combination is selected. The invention can realize broadband achromatic aberration in the long-wave infrared band.

The invention relates to a vacuum external regulation apparatus for a pitch angle of a high-resolution flying time mass spectrum detector. The vacuum external regulation apparatus comprises a body flange, two regulation screw rods and a pitching board; one side of the body flange is an atmosphere side while the other side of the body flange is a vacuum side; two sealing differential blocks are fastened and connected in the atmosphere side of the body flange spaced at a degree of 180 degrees; a sealing hole for penetrating through the vacuum side of the body flange is formed in each sealing differential block; a screw rod matching block with a threaded hole in the centre is fastened and connected in the top of each sealing differential block; the two regulation screw rods are arranged in the sealing holes of one sealing differential block; a threaded rod is arranged at one end of each regulation screw rod while a central threaded hole is formed in the other end of each regulation screw rod; the threaded rods of the regulation screw rods are matched and connected with the threaded hole of the screw rod matching block; one end, with the central threaded hole, of the regulation screw rod extends to the vacuum side of the body flange; the pitching board is supported in the vacuum side of the body flange at intervals through two threaded rods that are matched and connected with the central threaded holes of the regulation screw rods; and the pitching board is fastened and connected with the mass spectrum detector through a plurality of threaded rods.

The invention relates to the field of communication terminal equipment, and discloses a method and device for displaying remaining capacity of a battery at a mobile terminal. The method includes the step 101 of judging whether the mobile terminal is under a standby state, executing the step 102 if the mobile terminal is under the standby state and otherwise executing the step 103, the step 102 of obtaining display voltage of the battery when the battery is awakened and executing the step 104, the step 103 of obtaining display voltage of the battery when the battery works and the step 104 of obtaining the remaining capacity of the battery according to display voltage. According to the method and device, when the mobile terminal is awakened from the standby state, the electric quantity can be updated to be in the best state immediately; under a working condition, it is guaranteed that the electric quantity changes continuously, and user experience is improved.

The invention belongs to the technical field of underwater acoustic communication, in particular to an underwater acoustic communication method imitating dolphin whistle continuous phase multiple frequency modulation. The invention includes: the sending end performs continuous phase multi-frequency modulation on the information; the modulated signal is added to the time spectrum profile of the extracted dolphin whistle signal with a certain ratio coefficient to generate a synthesized whistle and obtain an imitation whistle data signal; Add the original whistle signal before the whistle data signal as a synchronization signal to form a frame of transmission signal; after the receiving end synchronizes, extract each symbol waveform; calculate the relationship between each symbol waveform and all possible signal waveforms of the symbol The correlation function realizes demodulation by judging the maximum correlation peak. The underwater acoustic communication method of the present invention imitates the dolphin whistle continuous phase multi-frequency modulation, each symbol can modulate a plurality of bit information, the communication rate is high, and the synthetic whistle signal has a high similarity with the real whistle signal, which has the advantages of Strong concealment, which can meet the needs of underwater concealed acoustic communication.