22results about How to "Maintain smoothness" patented technology

The invention relates to the technical field of robot control instruction analysis, in particular to a robot control instruction analysis system based on multi-algorithm fusion, which comprises a data collection module, an environment map analysis module, a global path analysis module and a moving trajectory analysis module, wherein the data collection module collects state data of a robot, surrounding environment data of the robot and a target position; the environment map analysis module determines an environment occupation grid map according to the environment data; the global path analysis module determines a global path according to an environment occupation grid map, a target position, self state data and robot motion constraint parameters; the running track analysis module determines a smooth track according to the global path and the state data of the running track analysis module and detects an environment occupation grid map, if a dynamic obstacle avoidance object exists in the environment occupation grid map, the environment occupation grid map is updated, the smooth track is modified according to the environment occupation grid map updated in real time, and the dynamic obstacle avoidance object is obtained. And the final robot moving trajectory is obtained.

The invention discloses a forming method of an integrated metal structural part and the integrated metal structural part. The forming method comprises the following steps that firstly, stainless steel 316L powder is selected as metal powder, and aluminum oxide nano powder is selected as ceramic nano powder; 2, injecting the slurry into a preheated mold, and after injection is completed, keeping the pressure in the mold for 5-10 seconds to ensure that the slurry fully fills the mold and is cured; thirdly, the injection-molded product is subjected to heat treatment, and the surface of the taken-out operation panel is in a rough state; 4, preparing a silver nanoparticle self-repairing coating; 5, depositing the nano-particles on the surface of the nano-metal ceramic composite material to form a coating by adopting an electrophoretic deposition method and utilizing the action of an electric field; sixthly, the self-repairing coating is subjected to curing treatment; and seventhly, the cured coating is ground and polished. The problem that the operation panel is poor in abrasion resistance and corrosion resistance after being used for a long time is solved.

The invention discloses a photovoltaic panel surface dust deposition resistant coating and a preparation method thereof, and belongs to the technical field of new materials. The dust deposition resistant coating for the surface of the photovoltaic panel is prepared from the following raw materials in percentage by mass: 1 to 8 percent of FEP, 3.5 to 7.5 percent of nano indium tin oxide, 0.08 to 0.8 percent of a surfactant, 0.02 to 0.5 percent of FC-4 and the balance of a solvent. When the anti-dust deposition coating is applied (sprayed) to the surface of a photovoltaic panel, an FEP-nano indium tin oxide composite coating can be formed, and the coating can show lasting anti-pollution ability and is easy to clean. When the photovoltaic cell coated with the special coating is used in a dusty environment, compared with a photovoltaic cell without a coating or only with a traditional antireflection coating, the photovoltaic cell coated with the special coating has unique advantages.

The utility model belongs to the technical field of paper embossing equipment, and particularly relates to an embossing structure not easy to peel off paper, which comprises a U-shaped base, a flat roller and an embossing roller are rotatably arranged in a groove of the base, and the embossing roller is movably arranged above the flat roller; the lifting structure is arranged between the knurling roller and the base and is used for adjusting the height of the knurling roller; and the convex blocks are arranged on the outer wall of the embossing roller, and a plurality of convex blocks are uniformly distributed in the circumferential direction of the embossing roller. The effects that the paper layers are tightly combined in a physical mode, and meanwhile the overall quality of the paper is maintained are achieved.

The invention provides a four-steering-wheel chassis motion control method and system. The method belongs to the field of steering wheel chassis control, and comprises the following steps: calculating the total traction required by a chassis based on the required acceleration, the whole vehicle mass and the chassis and environment interaction force information obtained by the feedback of a sensor; according to the total traction force, target torques of the four motors are calculated and output through a preset torque distribution method; calculating a target steering angle of each steering wheel based on the turning radius and the chassis advancing direction angle; according to the difference value between the target steering angle and the actual steering angle of each steering wheel, the acceleration required by each motor is calculated and output in real time; and synchronously outputting the target torque and the acceleration required by the motor to the corresponding motor controller, and collecting the speed, steering angle and IMU data of each steering wheel encoder to form closed-loop feedback for updating the calculation of the next control period. According to the invention, the control mode is smoother, the anti-interference capability is stronger, and the control is more synchronous.

The utility model discloses a non-woven fabric lustring device, and relates to the technical field of non-woven fabric production. The non-woven fabric lustring equipment comprises a bottom plate, an adjusting mechanism and a cooling mechanism, two sets of first vertical plates are fixedly installed at the top of the bottom plate, a first lustring roller is rotatably installed between the two sets of first vertical plates, the cooling mechanism is arranged on the bottom plate, and the cooling mechanism comprises a third vertical plate, a rotating connector and a hollow roller. The top of the bottom plate is fixedly provided with two sets of third vertical plates, and the two sets of third vertical plates are each provided with two sets of penetrating grooves in a penetrating mode. According to the non-woven fabric lustring equipment, through the cooling mechanism, after the fabric is lustring through the second lustring roller and the first lustring roller, water cooling is conducted on the fabric in time, cooling is achieved through heat exchange, the temperature of the non-woven fabric is rapidly reduced, the lustring effect is fixed, other adverse effects caused by high temperature are prevented, and the service life of the non-woven fabric is prolonged. The smoothness and the flatness after lustring are kept, and the practicability of the equipment is improved.

According to the dam flood drainage power generation device and method, a propeller and a power generator are arranged in water flow, kinetic energy of the water flow can be directly captured and utilized, the kinetic energy is converted into electric energy, secondary utilization of water resources is achieved, a supporting frame serves as a base body of the dam flood drainage power generation device, disassembly is convenient, arrangement is flexible, and the dam flood drainage power generation device is convenient to use. Flexible configuration and adjustment are conducted according to the specific dam terrain, water flow conditions and power generation requirements, the floating units are arranged, the positions of the floating units can be automatically adjusted according to rising or falling of the water level, it is ensured that the propellers are always kept at the optimal water flow impact positions, and the fixing units provide stable support; according to the device, power generated by hydraulic power during flood discharge can be utilized to the maximum extent, the arrangement position of the device can be adjusted at any time according to the flood discharge condition, water resources are utilized to the maximum extent, and the power generation efficiency is improved.

The invention discloses a power generation power prediction method, a control device and a power grid system, the power generation power prediction method is applied to the power grid system, and the method comprises the steps: obtaining historical power generation data of the power grid system in a first preset time period, the historical power generation data comprising historical power generation power and meteorological data, constructing a feature matrix according to the historical power generation data of the first preset time period; performing feature processing on the feature matrix to obtain a training data set; training a deep learning hybrid model based on time sequence prediction through the training data set to obtain a prediction model; and according to different time steps of a time sliding window of the prediction model, predicting the historical power generation data of the second preset time period to obtain a power generation power prediction result obtained by predicting at different time steps. According to the embodiment of the invention, the accuracy of power prediction can be improved.

This invention relates to the field of computer-aided engineering technology and discloses a method for generating unstructured meshes based on graph convolutional networks (GCNs) and high-order size fields. It aims to solve the problems of striping artifacts easily generated when generating size fields from STL background meshes, and the excessive computational burden caused by global encryption. The method first generates an initial size field based on an STL mesh; then, it constructs a GCN model to extract features and classifies edges to identify striped edges; next, it employs a "detection-selective order-upgrading" strategy, inserting high-order nodes only on striped mesh edges to construct a high-order background mesh; finally, it uses a hybrid interpolation strategy, employing linear interpolation for non-striped mesh edges and cubic spline interpolation for high-order edges to calculate size values. This invention efficiently eliminates artifacts without changing the global topology, enabling the generation of high-quality unstructured meshes.

The present invention relates to the technical field of remote sensing data processing, and in particular to an optical satellite remote sensing image orthophoto fusion method based on CPU and GPU collaborative processing, the method comprising: decomposing an orthophoto fusion task into multiple fusion subtasks; evaluating task complexity and allocating them to a CPU or GPU; executing tasks and monitoring resource occupancy; adjusting the processing order of short-term tasks; and optimizing the number of real-time tasks and priority scores. The present invention optimizes resource allocation and task priority sorting while ensuring efficient task execution based on CPU and GPU collaborative processing, can dynamically adjust execution strategies, maximize resource utilization, effectively cope with fluctuations in resource occupancy through real-time monitoring and adjustment, and is more flexible and efficient in processing optical satellite remote sensing image fusion tasks, effectively solving the problem of low processing efficiency and insufficient resource utilization due to poor rationality of processing resource allocation.

The invention discloses an intelligent weighing and sampling device for garlic granules, and relates to the technical field of garlic sampling. The device comprises a machine body, a transport seat is arranged on the upper surface of the machine body, a weighing plate is arranged on the upper surface of the transport seat, and a sample pushing and maintaining mechanism and a cleaning and collecting mechanism. The cleaning and collecting mechanism is driven by the sample pushing and maintaining mechanism, so as to realize the combination of automatic sampling and cleaning of garlic granules after sampling. The process reduces the steps of manual operation, avoids the situation that after sampling, some garlic granule fragments in the sampling box body are still retained in the sampling box body, prevents the retained fragments from deteriorating, ensures the purity of the next batch of garlic granules, and improves the quality of garlic granule sampling. Moreover, by setting a driving wheel and using friction as a power source, the spraying of the cleaning liquid does not need to install an additional driving pump body, thus saving the installation of the driving source and reducing the cleaning cost.

The invention discloses a conference live broadcast method and device and electronic equipment, and relates to the field of data processing. The method comprises the following steps: acquiring video data; splicing the video data to obtain panoramic video data; acquiring audio data of a conference room; performing sound source positioning on the audio data to obtain spatial position coordinates of each spokesman; generating an audio data stream; performing voice recognition on the audio data stream to obtain a voice text of a spokesman; translating the voice text into a target language to obtain a translated text, and generating a subtitle data stream; performing time synchronization on the panoramic video data stream, the audio data stream and the subtitle data stream to obtain a target audio and video data stream; and sending the target audio and video data stream to VR glasses, so that the VR glasses can perform live broadcast on conference content of the conference room. According to the technical scheme, the recognized voice text is translated into the translated text of the target language, it is ensured that participants of different languages can understand the conference content, and the experience feeling of the conference participants is improved.

The utility model belongs to the field of inorganic millstones, particularly relates to a luminous inorganic millstone for a basement, and aims to solve the problems that the existing luminous inorganic millstone is relatively weak in wear resistance, durability and adaptability to long-term stress change, the surface of a terrace is easy to wear and crack, and the service life is shortened. The inorganic millstone comprises an inorganic millstone body, and the inorganic millstone body comprises a wear-resistant layer, a luminous layer, a pigment layer, an anti-crack cushion layer and a mixed base layer from top to bottom. Through the combination of the anti-crack cushion layer and the wear-resistant layer, the wear resistance and durability of the terrace are greatly improved, the friction caused by long-term vehicle driving and personnel treading is effectively resisted, the adaptive capacity of the terrace to stress change is remarkably enhanced, cracks are reduced, the service life of the terrace is prolonged, and the service life of the terrace is prolonged. And the later maintenance cost is reduced, and a safer and more reliable ground is provided for complex environments such as basements.

The invention provides an intelligent fire needle bloodletting lower limb varicose vein treatment device, and belongs to the field of medical equipment. Comprising a shell and a cavity formed in the shell, a lifting unit is connected into the shell, and the lifting unit is connected with a position adjusting part and used for driving the position adjusting part to ascend and descend; the position adjusting part comprises an arc-shaped seat connected with the lifting unit, two through grooves and a tooth groove which are formed in the arc-shaped seat, a support connected in the two through grooves in a sliding mode, a second motor fixedly connected to the upper end of the support and a gear rotationally connected to the inner wall of the support and meshed with the tooth groove, and an output shaft of the second motor is fixedly connected with one side of the gear; the operation process of the device is completely automatic, errors and risks possibly caused by manual operation are avoided, the operation process of the device can be repeated and standardized, it is ensured that the puncturing effect is consistent every time, and treatment effect fluctuation caused by human factors is avoided.

The utility model relates to the field of water heaters, and provides a water heater inner container and a water heater. The water heater inner container comprises an inner container body, a reinforcing layer and a container opening flange, the inner container body comprises a container body and a container opening outward turning structure which are integrally connected, a container opening is defined by the container opening outward turning structure, the outer surface of the container body is smoothly arranged, the reinforcing layer covers the periphery of the container body, and a clamping part is arranged at the end, facing the container opening outward turning structure, of the reinforcing layer; a clamping gap is formed between the clamping part and the container body, the container opening flange comprises a base and a flange plate which are integrally connected, the flange plate is arranged on the container opening outward turning structure in a sleeving mode, and at least part of the base is embedded in the clamping gap and attached to the container body and the reinforcing layer. According to the inner container of the water heater, an annular containing groove does not need to be formed in the container body, so that the surface of the container body does not have structural sudden change, a stress concentration area does not exist, the problem of deformation or damage caused by stress concentration is effectively avoided, and the stability and reliability of the inner container under the high-temperature or high-pressure condition are improved.

The present invention discloses an elastic long sleeper ballast for urban rail transit, with double-sided drainage ditches arranged on both sides of the ballast, and a drainage pipe buried inside the ballast in the middle of the ballast. Vibration-damping pads are installed on both sides of the bottom of the prestressed concrete long sleeper, a low-rigidity pad is installed in the middle of the bottom of the long sleeper, and isolation pads are installed around the sides of the long sleeper; an anti-debris filter block structure is arranged on both sides of the middle of the long sleeper to prevent debris from entering, and the contact range between the top of the drainage pipe and the bottom of the long sleeper and the contact range between the top of the drainage pipe and the bottom of the anti-debris filter block is cut off. Inspection wells are arranged at intervals in the center of the ballast, and the inspection wells are connected to the buried drainage pipes. The present invention can solve the technical problems of the poor flatness and patency of the evacuation surface of the traditional elastic long sleeper ballast with a central open ditch, the complex ditch forming template, the smoothness and stability of the track structure being greatly affected by construction factors, the weakening of the overall strength of the ballast structure, and the impact of local mold running on the vibration reduction performance.

The invention relates to the technical field of rail transit train operation control and navigation positioning, and discloses a seamless integrated positioning system and method in a complex railway tunnel environment, and the system employs a three-dimensional laser radar to construct a local environment map in real time, detects the physical shielding condition of an ultra-wideband signal propagation path through a light tracing technology, and achieves the real-time positioning of the ultra-wideband signal. And the non-line-of-sight propagation state is accurately identified. And based on an identification result, the system dynamically adjusts a measurement noise covariance, reduces the weight of non-line-of-sight measurement under a factor graph optimization framework, and fuses IMU pre-integration and LiDAR odometer data to carry out real-time pose calculation. In addition, high-precision satellite positioning states of the entrance and exit of the tunnel are used as double-end boundary constraints, and global adjustment is carried out on the whole-process track of the tunnel. According to the method, the non-line-of-sight error is effectively inhibited from the physical level, dead reckoning accumulated drifting is eliminated, and the positioning robustness and precision of the train in the complex tunnel environment are improved.

The invention provides a heart rate data drawing method and device and intelligent wearable equipment applying the same, and the method can respond to a first query task, call first heart rate data specified by the first query task, divide the first heart rate data into a plurality of sub-data corresponding to different time periods, and display the sub-data in the first query task. And determining each sub-data as valid data or invalid data based on a preset rule, so as to generate a first heart rate data graph based on each valid data, each invalid data and a time period corresponding to each sub-data. According to the scheme provided by the invention, the heart rate data is divided into a plurality of sub-data and validity judgment is carried out, so that invalid data in the heart rate data can be effectively searched, and graphical display is carried out based on the valid data and the invalid data, so that the trend and characteristics of the heart rate changing along with time can be intuitively reflected; and the user can conveniently and quickly understand the heart rate condition of himself.

The present invention discloses an inter-frame error concealment method, device and medium based on a variational autoencoder, which relates to the field of image processing technology, and includes the steps of: extracting the inter-frame images before and after the lost frame in the video compression process, and extracting the features of the inter-frame images before and after; outputting the mean and standard deviation of the latent variables by mapping the extracted features to a latent space; generating latent variables by sampling from a standard normal distribution, combining the output mean and standard deviation, and mapping the latent variables back to the original image space to obtain a generated image; taking minimizing the reconstruction error as the goal, measuring the difference between the generated image and the real image based on a difference loss function, and optimizing the parameters of the variational autoencoder; and mapping the inter-frame images before and after to the latent space and reconstructing them into a filling frame by using the variational autoencoder after parameter optimization. The present invention can effectively improve the video quality and reduce the visual distortion introduced by inter-frame image errors.

The invention relates to the technical field of remote sensing data processing, in particular to an optical satellite remote sensing image orthographic fusion method based on CPU and GPU co-processing, and the method comprises the steps: decomposing an orthographic fusion task into a plurality of fusion sub-tasks; evaluating task complexity and distributing the task complexity to the CPU or the GPU; executing the task and monitoring a resource occupancy rate; adjusting the processing sequence of the short-term tasks; and optimizing the number of real-time tasks and the priority score. Through cooperative processing based on the CPU and the GPU, resource allocation and task priority ranking are optimized while efficient execution of tasks is guaranteed, an execution strategy can be dynamically adjusted, the utilization rate of resources is increased to the maximum extent, fluctuation of resource occupation can be effectively dealt with through real-time monitoring and adjustment, and the resource utilization rate is increased. The optical satellite remote sensing image fusion task is processed more flexibly and efficiently, and the problems of low processing efficiency and insufficient resource utilization rate caused by poor processing resource allocation reasonability are effectively solved.

The invention discloses an intelligent weighing and sample separating device for garlic granules, and relates to the technical field of garlic sample separating and sampling, the intelligent weighing and sample separating device comprises a machine body, a sample pushing maintenance mechanism and a cleaning and collecting mechanism, a conveying seat is arranged on the upper surface of the machine body, a weighing disc is arranged on the upper surface of the conveying seat, and the cleaning and collecting mechanism is driven by the sample pushing maintenance mechanism. Automatic sampling and cleaning are combined after garlic particles are subjected to sample separation, manual operation steps are reduced in the process, the situation that after the garlic particles in the sample separation box body are sampled, part of garlic particle chippings are still retained in the sample separation box body is avoided, the situation that the retained chippings go bad is prevented, the purity of the next batch of garlic particles is ensured, and the quality of the garlic particles is improved. According to the garlic particle sampling device, the garlic particle sampling quality is improved, the driving wheel is arranged, friction force is used as a power source, cleaning liquid can be sprayed out without an additional driving pump body, installation of a driving source is omitted, and the cleaning cost is reduced.

The invention discloses a closed chain leg mechanism of a walking robot and a foot end track control method of the closed chain leg mechanism, and relates to the technical field of robots, the leg mechanism comprises a first third pair of components, a second third pair of components, a third third pair of components, a first second pair of components, a second second pair of components, a third second pair of components, a fourth second pair of components and a fifth second pair of components, the first three-pair component is used as a body of the robot, and the fifth two-pair component is used as a foot of the robot; and the foot end p of the fifth secondary component is a free end and is in contact with the ground. The invention further provides a foot end track control method of the walking robot, predetermined walking movement can be achieved only through 360-circle rotation of one driving link, and control is easy and convenient; the robot leg mechanism comprises a composite hinge, kinematics analysis of the mechanism is facilitated, the occupied space of the leg structure is reduced, the structure is compact, and the size, weight and manufacturing cost of the robot leg mechanism are reduced. The walking movement requirements of the legs of the robot are met, and the excellent comprehensive performance is achieved.