45results about How to "High execution precision" patented technology

The invention relates to a method and a system for generating emergency action plan based on pre-arranged plan; the method comprises: an information recording step for receiving and storing the current affair information input by users; a pre-arranged plan extraction step for detecting at least one group of emergency pre-arranged plans matched with the current affair from a pre-arranged plan database according to the current affair information; a pre-arranged plan analysis step for extracting all correlated secondary and derivative affairs from an affair chain database, searching typical cases similar to the current affair from a case database, and correcting the at least one group of emergency pre-arranged plan to form an emergency action plan; and a plan generation step for constantly forming a corrected emergency action plan according to basic decision data in the current affair information, and generating a current emergency action plan according to a man-machine interaction step. In the invention, the emergency action plans are generated to change artificial decision process, thereby reducing the loss caused by artificial error and ensuring the safety of social public property.

The invention discloses an obstacle avoidance solution applied to a redundant manipulator. The obstacle avoidance solution comprises the steps of: S1, acquiring a forward kinematics model of the manipulator through establishing a D-H matrix of the manipulator, and establishing a target track equality constraint index of a speed layer after performing derivation processing on the forward kinematicsmodel; S2, establishing a vector-based obstacle avoidance inequality constraint index; S3, writing the target track equality constraint index of the speed layer established in the step S1 and the vector-based obstacle avoidance inequality constraint index established in the step S2 into quadratic programming problems in the unified form; S4, transforming the quadratic programming problems in theunified form in the step S3 into a linear variational inequality; S5, solving the linear variational inequality in the step S4 by means of a primal-dual neural network solver; S6, and outputting manipulator joint angle control variables solved by means of the primal-dual neural network solver in the step S5 to the manipulator, so as to realize the effect of controlling the redundant manipulator toavoid obstacles.

The invention discloses an optimization method of a minimum acceleration trajectory of a 7-DOF humanoid-arm-provided flying object in operation. The optimization method comprises the following steps:step (S1) building a mathematic model, adopting Joint trajectories of a quartic polynomial interpolation operation process and a return process, and taking a joint angular acceleration norm minimum asa target function for algorithm optimization; step (S2) setting the running parameters of a particle swarm optimization algorithm; step (S3) running the particle swarm optimization algorithm, and obtaining a group of optimal redundant variable parameters by optimizing and minimizing the target function; and step (S4) substituting the optimal redundant variable parameter into operation action trajectory parameterization of the humanoid-arm-provided flying object to obtain the action trajectory of which the joint angular acceleration norm is minimum. The optimization method disclosed by the invention can be used for obtaining an operation action trajectory of the humanoid-arm-provided flying object, wherein the angular acceleration is continuous, and the joint angular acceleration norm is also minimum, so hidden vibration caused by an incontinuous angular acceleration trajectory in an action process of a humanoid arm, disturbance on the posture of a robot body is reduced, and the execution precision of the humanoid arm is improved.

The invention discloses a noumenon based criminal justice case inference method by means of linear programming. The method comprises the following steps that 1) data of criminal cases is expressed and stored in the vector form scientifically and effectively; S2) a model established on the basis of GA-KNN is used for inference; S3) prior knowledge is used effectively via linear programming, namely, an output result of an algorithm is evaluated according to subjective experiences of law experts, and the execution precision of a case inference system can be improved effectively; and S4) an addition, deletion, modification and checking module of a mass of criminal case data is used to provide an operational interface for data access by a user. According to technical schemes of the invention, the prior knowledge of the law experts can be used to adjust parameters learned by machine learning in the data screening phase, cases more correlated to a case to be judged serve as a training set and are provided for a training neural network, and the decision precision of the whole system is improved.

The embodiment of the invention relates to a positioning system and method for an unmanned plane. The positioning system at least includes a positioning enhancement apparatus, a fixed station and an unmanned plane, wherein the fixed station can be connected with the unmanned plane; the positioning enhancement apparatus is used for acquiring single point positioning coordinates, and can output reference positioning coordinates according to the single point positioning coordinates; the positioning enhancement apparatus utilizes the reference positioning coordinates and/or the single point positioning coordinates to generate positional deviation information; the unmanned plane is used for acquiring the current positioning coordinates of the unmanned plane, and receiving the current positioning coordinates and the positional deviation information transmitted from the positioning enhancement apparatus; when the current positioning coordinates are the single point positioning coordinates, the positional deviation information is used to correct the single point positioning coordinates; and the corrected single point positioning coordinates are used to control flying of the unmanned plane. The positioning system and method for an unmanned plane can be used for reducing the deviation for positioning of the unmanned plane during the period of executing the same task by the unmanned plane so as to improve the execution accuracy of the task track.

The invention relates to a digital constant-temperature control circuit applied to a moving base gravimeter. The digital constant-temperature control circuit is composed of a temperature measurement circuit, a digital signal processing circuit, a driving circuit and a power supply circuit. The temperature measurement circuit consists of a precision reference voltage source, a temperature measuring bridge, a multi-channel change-over switch, an instrument amplifier, and a low-pass filter. The digital signal processing circuit includes an A/D sampling chip, a DSP chip, and an FPGA chip. The driving circuit includes an optocoupler, a protection diode, an MOS tube, a heating resistor and a fan. The power supply circuit consists of a +/- 15-V module, a 5-V module, a 12-V module and a 3.3-V module. A temperature measurement bridge is formed by using a high-precision resistor and a platinum resistor and selection of the resistance of the high-precision resistor uses the resistance of the platinum resistor under the target temperature value as a reference, so that measurement noises of the temperature measurement bridge are minimized when the controlled temperature is close to the target temperature value and thus high-resolution temperature measurement is realized.

An error-controllable circular arc transition type smooth track generation method of a four-axis industrial robot comprises the following steps: 1, preprocessing a track of the four-axis industrial robot; traversing all track points; dividing a linear track into a track section to be smoothened and a track section which is not needed to be smoothened based on the position distance and included angles; preprocessing the postures of four axes; and ensuring a minor arc track between two track points; and 2, smoothening a four-axis track, namely, traversing the track section to be smoothened and generated in step 1; and generating a circular arc transition type smooth track of each track section to be smoothened by a geometric iteration method based on the track point error threshold, the position point chord height error threshold and the continuity requirement. According to the method, the G1 continuity under synchronized positions and postures can be realized; the track point error andthe position chord height error among the track points are met; in addition, the generated track can be directly used without changing an existing instruction format of the four-axis industrial robot,so that the working efficiency and quality of the four-axis industrial robot can be improved.

The present invention is applied to the human-robot interaction field, and provides a method and an apparatus for interaction between a robot and a user; the method includes: determining an original direction where a voice signal is generated upon receiving a voice signal; adjusting a robot from a current direction to the original direction, and capturing a picture corresponding to the original direction; detecting whether a human face exists in the picture; when a human face exists in the picture, recognizing whether a user corresponding to the human face is a legal user; and when the user corresponding to the human face is a legal user, interacting with the legal user. The method can improve the accuracy of instruction execution of the robot.

The invention discloses a steady flow area laser/ultrasonic composite low-damage complex microstructure machining device, and belongs to the technical field of precise non-traditional machining. The device comprises a base, a workpiece clamping sliding table unit, a laser unit, a jet gun unit and an upper computer; the workpiece clamping sliding table unit, the laser unit and the jet gun unit are arranged on the base; a workpiece is clamped on the workpiece clamping sliding table unit; An optical axis of laser emitted by the laser unit is in a horizontal state and is perpendicular to the surface of the workpiece, and laser spots achieve high-frequency micro-displacement modification and macroscopic machining track coupling in the direction perpendicular to the optical axis; and a high-pressure water jet participates in laser in high-frequency reciprocating motion to act on the surface of the workpiece at the same time, and attachments on the surface of the machined workpiece are peeled off while a heat affected zone and a recast layer are reduced. According to the device and method, the recast layer on the machined surface is peeled off in real time, the attachments on the machined surface are cleared, and the quality and the subsurface performance of the machined surface are improved.

The invention provides a water-secluding pipe filling valve control system for a marine drilling platform. The water-secluding pipe filling valve control system comprises a balance valve, a control valve, a lock valve, a change-over valve, an energy accumulator and a drive oil cylinder, wherein the control valve separately communicates with the balance valve and the lock valve through oil tubes; the change-over valve separately communicates with the lock valve, the energy accumulator and the drive oil cylinder; and the control valve is additionally equipped with a remote control interface, and the control valve communicates with an external hydraulic control source through the remote control interface. A using method for the water-secluding pipe filling valve control system comprises five steps of system initialization, system pressure drop, filling valve opening, opening keeping and filling valve closing. The system provided by the invention is simple in structure, is high in fault resistance, is various and flexible in control way, and is good in operation stability and interference resistance, so that automation degree, reliability and stability of filling valve operation are improved, and the defects such as low filling valve control speed and low implementation precision as a result of balance valve pressure difference in a conventional control system are effectively solved, and therefore, control precision of the water-secluding pipe filling valve control system is greatly improved.

The invention relates to a rotation driving telescopic mechanism in the technical field of driving mechanism design. The rotary driving telescopic mechanism comprises a flange sleeve, a rotating rod, a telescopic rod, a protective sleeve, a positioning pin, a screw head pin shaft and a fastening screwed plug, the flange sleeve comprises a sleeve shell and a flange plate, two countersunk head through holes are formed in the outer wall of the flange sleeve, a screw head pin shaft and a fastening screwed plug are arranged in the two countersunk head through holes respectively, a positioning spring and a positioning ball are sequentially arranged at the inner end of the fastening screwed plug, and two kidney-shaped holes are formed in the shell wall of the other end of the sleeve shell; an inner square hole is formed in one end face of the rotating rod, a first center hole is formed in the other end face of the rotating rod, and a groove, two limiting ball sockets and two spiral grooves are formed in the outer wall of the rotating rod; a second center hole is formed in the telescopic rod, a compression spring is arranged between the first center hole and the second center hole, and a pin hole is formed in a rod body of the telescopic rod; the protective sleeve comprises a sleeve and a sealing head plate; a through hole is formed in the center of the sealing head plate; and the telescopic mechanism is convenient to operate, accurate in positioning, compact in structure, high in reliability and capable of meeting the wide requirements of manufacturing and using.

The embodiment of the invention provides a robot position control method and device based on a differential model, wherein the method comprises the steps: the relative position of a robot relative to a destination is obtained, and a motion path of the robot is determined, wherein the motion path comprises a linear motion distance and/or an in-situ rotation angle; the linear motion distance and/or the in-situ rotation angle included in the motion path are/is converted into target pulse numbers of wheels of the robot through the differential model; and the wheels of the robot are controlled to execute the corresponding target pulse number, the corresponding linear motion distance and/or the in-situ rotation angle. The invention provides a position control method based on a differential model robot. The problems that the process is complex and the precision is poor when a speed mode is used for conducting accurate position navigation are solved.

The invention discloses an autonomous operation method of an agile satellite data transmission subsystem, and belongs to the technical field of agile satellites. The method comprises the following steps of: firstly, determining five meta-task modes according to the working mode of the data transmission subsystem, and proposing meta-task data block content requirements and sending time requirements; then, providing a meta-task autonomous operation method based on instruction pool traversal execution, reading meta-task data blocks from a storage area and analyzing the meta-task data blocks, judging instructions meeting sending conditions in an instruction pool in a traversal mode, generating an instruction sequence, sending and executing the instruction sequence one by one at the designatedtime on the basis of an appropriate instruction interval; and repeating the above steps until executing all meta-tasks at this time. The method is low in implementation complexity, improves the instruction execution efficiency, execution timeliness and use flexibility, and is suitable for agile satellites with a large number of monorail tasks, high requirements for task response timeliness and high requirements for action execution accuracy.