42results about How to "Realize dynamic compensation" patented technology

The invention relates to the technical field of spiral flatcar machine control, and discloses an automatic operation control method and system for a spiral flatcar machine. The method comprises the following steps: according to a spiral motion characteristic parameter set and a working condition prediction matrix, carrying out n equal division processing on a transmission area of the spiral flatcar machine according to a spiral direction to obtain n self-adaptive data acquisition control units and a multi-dimensional state monitoring matrix; performing feature extraction processing on the multi-dimensional state monitoring matrix to obtain a working condition evaluation vector and a dynamic deviation feature set; performing iterative optimization processing on the working condition evaluation vector and the dynamic deviation feature set to obtain a real-time feedback control instruction set and a dynamic compensation parameter matrix; and according to the real-time feedback control instruction set and the dynamic compensation parameter matrix, intelligent closed-loop control is carried out on the spiral flatcar machine, and real-time control data and a process feature mapping set are obtained. According to the invention, high-precision automatic control of the spiral flatcar machine in the continuous loading operation process is realized, and the material loading uniformity and the operation efficiency are ensured.

An attitude dynamic compensation control method for a multi-stage satellite platform with a motion load comprises the following steps: establishing a kinetic model of a scanning accessory, analyzing transmission characteristics of disturbance in the multi-stage satellite platform by combining a motion law of the kinetic model, and designing a feed-forward torque compensation method of an upper platform secondary system; calculating disturbance values of the scanning accessory in the upper platform secondary control period and the lower platform primary control period, and designing an angular momentum attitude compensation method of the lower platform; based on a kinetic model of a multistage satellite, designing a multi-step forecasting algorithm, determining the gain of an observer, and reducing the measurement time delay of the sensor; and calculating the control reaction torque of the upper platform, and dynamically correcting the feed-forward compensation value of the lower platform in real time. The attitude control method provided by the invention can be applied to attitude control of a multi-stage satellite platform and a traditional single-stage satellite platform, and high-precision and high-stability attitude control of a multi-stage satellite can be realized.

The invention discloses a rapid visual positioning method for an industrial robot, and relates to the technical field of rapid positioning of industrial robots, and the method comprises the steps: collecting depth image data and color image data of a target object through an image collection module, and extracting and preprocessing the collected depth image data and color image data through an image processing module; a target detection and recognition module is adopted to analyze the processed depth image data and color image data, feature information of a target object needing to be processed is recognized, and based on the target detection and recognition module, comprehensive adjustment of rapid visual positioning is carried out through a comprehensive positioning adjustment module. And the comprehensive positioning and adjusting module comprises a depth image visual coarse positioning unit, a color image feature recognition and adjusting unit and a comprehensive positioning and adjusting unit, and is used for uploading collected image data to an industrial robot control system terminal.

The invention relates to the field of dispensing. The method comprises the following steps: setting a rotation angle of a camera, selecting a 3D calibration path and angle, pre-processing a 3D calibration image, calibrating a 2D camera VS and 3D camera, setting 2D Mark, setting a scanning path of the 3D camera, pre-processing a 3D dispensing image, exporting a dispensing template path, setting dispensing parameters, and pre-processing detection after dispensing; according to the invention, the processing of multi-angle 3D visual images is added, and the precise positioning of the 2D camera on the product Mark is combined, so that the dynamic compensation of the multi-angle 3D camera on the dispensing path of various complicated structure products is realized, the problems of poor consistency of the customer product assembly process, single scanning path of the 3D camera and non-horizontal dispensing plane are solved, the actual dispensing path is completely precise and controllable, and the production efficiency is improved. Dependence of product process assembly tolerance is greatly reduced, multi-point height detection CT is saved, more complex products are compatible, and 2D or 3D dispensing coordinates can be freely selected.

The invention provides a dynamic compensation method of an exposure system in a photoetching machine, the photoetching machine, equipment and a medium, and relates to the technical field of photoetching machines. The method comprises the following steps: receiving a light intensity signal sensed by a light intensity detector and sent by a front-end module; acquiring compensation parameters corresponding to the light intensity signal according to a preset compensation algorithm, wherein the compensation parameters comprise at least one of the following parameters: a voltage compensation parameter and a time compensation parameter; according to the light intensity signal and the compensation parameter corresponding to the light intensity signal, an adjusting instruction is sent to the front-end module, so that the front-end module adjusts the light source intensity and / or the exposure time of the light source module according to the adjusting instruction, dynamic compensation can be achieved in the exposure system, actual exposure better meets the expected design requirement, and therefore the quality of a final product is improved; and the stability and reliability of the exposure system are improved.

This application relates to the field of scanner image acquisition technology, and in particular to a method and apparatus for dynamic compensation of exposure time of a reverse-side CIS sensor. The method is applied to a duplex automatic document feeder scanning system, which is equipped with independent CIS sensors for the front and back sides to achieve synchronous scanning of the front and back sides. The method includes: upon receiving a duplex scanning task instruction initiated by a user, obtaining the current relative luminous intensity of the reverse-side CIS sensor LED based on the current cumulative illumination time of the LED and a pre-stored attenuation curve model of the reverse-side CIS sensor LED; obtaining the compensated exposure time based on the current relative luminous intensity and pre-stored initial parameters of the reverse-side CIS sensor; and controlling the reverse-side CIS sensor LED to illuminate according to the compensated exposure time, thereby achieving exposure compensation and image quality maintenance of the reverse-side image during duplex scanning.

The invention discloses a coherent optical frequency signal regeneration amplification system based on optical fiber transmission. The coherent optical frequency signal regeneration amplification system comprises a local narrow linewidth laser which outputs narrow linewidth laser; the first optical fiber coupler couples the narrow linewidth laser to the first acoustic optical modulator and the second acoustic optical modulator respectively; the output of the first acousto-optic modulator and superior transmission light are jointly coupled into a photoelectric detector by a second optical fiber coupler to generate a beat frequency signal; the signal processing module samples the beat frequency signal after conditioning the beat frequency signal, performs phase discrimination on the sampled signal and the digital reference signal to generate an error signal, and generates a first feedback signal and a second feedback signal according to the error signal to be respectively used by the local narrow linewidth laser and the first acousto-optic modulator; performing real-time cycle slip detection on the error signal and repairing a phase abnormal point to generate a third feedback signal to be used by a second acousto-optic modulator; and the second acousto-optic modulator outputs amplified regenerated laser. According to the invention, high-precision optical frequency signal transmission can be realized in a complex and changeable optical fiber environment with large noise.

This utility model relates to the technical field of tension adjustment devices, specifically a tension adjustment device for the production of flame-retardant needle-punched fabric. Its purpose is to solve the problem that existing tension rollers require height adjustment when guiding needle-punched fabrics of different specifications. However, the adjustment of the tension roller is cumbersome and time-consuming, achieved by raising and lowering screws on a bracket. Therefore, this new device improves the efficiency and effectiveness of the tension adjustment, thus enhancing its practicality. The device includes a tension roller, a rotating shaft, and fixed plates. The rotating shaft is fixedly mounted to the tension roller, and both sides of the rotating shaft are rotatably connected to corresponding fixed plates. The tension roller is guided and pressed by the flame-retardant needle-punched fabric. A pre-tightening mechanism is provided at the bottom of the two sets of fixed plates. The pre-tightening mechanism also includes a sliding block, a lifting plate, a limiting plate, and a spring. A groove is provided at the top of the lifting plate, and a working cavity is provided at the bottom of the groove.

The invention relates to the technical field of data transmission, and discloses a wireless self-calibration high-precision mine pressure sensor device and an accurate data transmission method thereof, and the method comprises the steps: carrying out the periodic or triggering correction of the zero point and sensitivity of a pressure sensitive part through an embedded self-calibration unit, so as to maintain the long-time measurement accuracy; in a data transmission link, a specific channel coding and error correction mechanism is used for packaging pressure data, and the pressure data is sent to a receiving end in an anti-interference modulation mode. According to the invention, negative effects of underground high-humidity and strong-vibration environments on sensor attributes and wireless signal transmission are overcome, and accurate acquisition and reliable return of mine pressure data are realized.

The method comprises obtaining text information to be sent, mapping the text information through word embedding to obtain a vector sequence of discrete words in the text information, encoding the vector sequence to obtain semantic representation information of the text information, performing nonlinear mapping conversion on the semantic representation information to obtain symbol vector information of the text information, performing adaptive denoising based on a signal-to-noise ratio on the symbol vector information to obtain a corrected signal, and sending the corrected signal. The technical scheme provided in the embodiments of the present disclosure realizes explicit modeling and dynamic compensation of channel noise through adaptive denoising based on a signal-to-noise ratio, and also discards high delay, high complexity and bandwidth waste caused by repeated retransmission in a poor channel through an end-to-end strong robustness design.

The invention relates to the technical field of pipeline safety monitoring, and discloses a thermal stress self-adaptive compensation method for an external heating pipeline of a BOPP film production line, which comprises the steps of high-temperature-resistant sensor arrangement and data acquisition, temperature-strain-vibration decoupling and basic parameter calculation in a high-temperature environment, and a BOPP production line exclusive multi-load coupling stress calculation model. The invention relates to an integrated technical path of multi-section hinge type corrugated pipe compensator parameter optimization, self-adaptive compensation adjustment and double-closed-loop iteration optimization, and high-temperature-resistant multi-dimensional sensing monitoring-parameter linkage type stress calculation-high-frequency response corrugated pipe compensation optimization-stress-thin film thickness double-closed-loop iteration. The thermal stress self-adaptive compensation of the external heating pipeline of the BOPP film production line under the working conditions of high temperature of 200-250 DEG C and high-frequency load is realized.

The application discloses an energy-saving gasoline generator set for heat separation discharge, and relates to the technical field of generators, which comprises a base, a shielding box, a gasoline generator set device, a dustproof and dehumidifying structure, a backflow air duct and a heat dissipation mechanism, wherein the heat dissipation mechanism comprises an air inlet duct, a first air duct and a second air duct which are arranged in the inner side wall of the shielding box; the first air duct comprises a plurality of air outlets which are uniformly arranged at the bottom of the side wall of the shielding box and are used for precooling the bottom through the cold air sinking principle; the second air duct is provided with a plurality of air outlets which are used for targeted and accurate cooling of different heat generation areas of the gasoline generator set device; a capsule for actively compensating the suction of cold air power and a self-adaptive component for targeted and rapid cooling according to the position of the part in different heat generation states are fixed in each chamber; and the energy-saving gasoline generator set can realize the technical effects of improving heat dissipation uniformity, optimizing heat dissipation resource distribution, ensuring sufficient heat dissipation power, improving flexibility and improving heat dissipation efficiency.

The invention provides a solid transfer lubrication hybrid transmission bearing and a manufacturing method, the solid transfer lubrication hybrid transmission bearing comprises an outer ferrule, an inner ferrule, a retainer, rolling balls and lubricating balls, the retainer is arranged between the outer ferrule and the inner ferrule; a plurality of rolling ball pockets are formed in at least one axial side of the retainer, the rolling ball pockets are arranged in the circumferential direction of the retainer, the outer ferrule, the inner ferrule and the rolling ball pockets form a first space for containing rolling balls, and an isolation lubricating layer is arranged on the inner wall of each rolling ball pocket. The hardness of the rolling ball is greater than that of the isolation lubricating layer; a plurality of lubricating ball pockets are formed in the outer circle face of the retainer in the circumferential direction of the retainer, and a second space for containing lubricating balls is formed by the outer ferrule and the lubricating ball pockets. The double lubricating effect is achieved, the solid transfer lubricating phase is used for lubricating, sliding friction with the low friction coefficient can be achieved, and dynamic compensation of rolling and sliding can also be achieved.

The present invention relates to the technical field of multi-axis linkage processing, and discloses a contour processing method and device for a multi-axis linkage machine tool. The method comprises: performing multi-angle image acquisition and three-dimensional convolution feature extraction on a rough workpiece to obtain a three-dimensional rough workpiece feature map; performing layered enhancement processing of contour features to obtain a multi-layer enhanced feature map; performing spatial adaptive transformation and feature correction to obtain a target correction feature map; performing iterative contour reconstruction and refinement processing to obtain a target contour model; performing multi-objective optimization calculation on processing parameters based on the target contour model to obtain a dynamic optimal processing parameter set; performing real-time workpiece deformation prediction and adaptive compensation control on the dynamic optimal processing parameter set and multi-source processing data collected in real time to obtain a target compensation instruction sequence. The present invention is used for accurate contour recognition, adaptive parameter optimization, and real-time deformation prediction and compensation control, thereby significantly improving processing accuracy and efficiency.

The invention provides an error dynamic compensation system and method based on multiple millimeter-wave radars. The method comprises the following steps: step 1, a data processing unit sends a trigger acquisition signal to each millimeter-wave radar; 2, the millimeter-wave radar sends target detection data and state information of the millimeter-wave radar to a data processing unit; 3, the track generation module writes the rough transformation parameters into an internal reference file; step 4, the parameter system provides the internal reference file for each millimeter wave radar; step 5, obtaining target information subjected to rough transformation; 6, static targets of the target information are filtered, dynamic targets are numbered and tracked, and whether the targets are new targets or not is judged according to the numbers; step 7, if the target is not a new target, storing the tracking trajectory; step 8, matching the tracking trajectory with the adjacent trajectory; and 9, taking the coordinate transformation matrixes of the angular millimeter wave radar and the corresponding forward and backward millimeter wave radars as update parameters, and writing the update parameters into an external parameter file.

The invention discloses automatic feeding equipment for an incinerator, and relates to the technical field of material conveying, the automatic feeding equipment comprises a rack, a hopper, a control system, a conveying system and an adjusting system, the hopper is fixedly connected with the rack, the control system is fixedly connected with the rack, and the control system is electrically connected with the conveying system and the adjusting system; the conveying system is in fastening connection with the rack, the adjusting system is in fastening connection with the rack, the adjusting system is used for adjusting the distribution state of materials, and a discharging port is formed in the side, away from the hopper, of the rack; when the automatic feeding equipment works, the control system starts the conveying system, materials in the hopper fall onto the conveying system at a certain speed, and then the conveying system conveys the materials to the discharging port so that the materials can enter the incinerator to be combusted; and meanwhile, in order to ensure that the flow of the conveying system is stable when the conveying system conveys the materials, the materials passing through the conveying system are adjusted in real time through the adjusting system, so that the materials tend to be uniformly distributed, and the materials entering the incinerator are stably combusted.

The invention provides an offshore wind power operation and maintenance method and system based on a digital twinning technology, and relates to the technical field of offshore wind power operation and maintenance methods, and the method comprises the steps: calculating the maximum theoretical power of a fan according to the Betz limit definition; converting a dynamic ratio of wind energy efficiency conversion into a difference equation by adopting forward Euler discretization, and constructing a state space model by adopting Kalman filtering to update the wind energy conversion efficiency of each sampling point; and constructing a dynamic threshold value of the wind energy conversion efficiency by adopting an exponential weighted movement method. The air density is dynamically corrected through a temperature compensation method, so that theoretical power calculation better fits the real atmospheric environment where the fan is located; kalman filtering is adopted to solve the discretized state space model, and prediction and actual observation values of the mechanism model can be optimally fused; a dynamic threshold value is generated by adopting an exponential weighted moving method, and the threshold value can be adaptively adjusted along with the long-term trend and short-term fluctuation of the wind energy conversion efficiency.

This invention discloses an intelligent walking and positioning system and control method for hanging baskets in bridge construction. This invention relates to the field of bridge construction technology, constructing a multi-module collaborative system to achieve coupled driving of walking and anchoring, safety interlocking of the rear anchor, and dynamic positioning under all working conditions. Through digital twin predictive control, it solves the pain points of traditional hanging basket operations. The advantages of this invention are: through the collaborative design of the walking and anchoring driving module and the decoupled and re-anchored rear anchor module, combined with the safety interlocking logic of the central control module, it optimizes the inherent defects of traditional hanging baskets, such as mutual exclusion between walking and anchoring, lack of active safety redundancy during walking, poor synchronization of multiple jacking mechanisms leading to deviation and jamming, and cumbersome rear anchor disassembly and assembly procedures. It adopts a step-by-step driving architecture with coupled walking and anchoring, combined with a two-level linkage decoupled and re-anchored rear anchor structure, to achieve dynamic anchoring and locking throughout the entire walking process of the hanging basket. Simultaneously, the central control module achieves synchronous control of multiple trusses and safety interlocking throughout the entire operation process.

The yarn tensioner for the warp knitting machine comprises a base and further comprises a stand column, a sensor base, a pressure sensor, a tension platform, a controller, a displacement adjusting mechanism and a yarn guide ball, the stand column is perpendicularly and fixedly connected to the side wall of the base, the sensor base is fixed to the lower portion of the stand column, the pressure sensor is integrated in the sensor base, and the tension platform is connected with the controller. The tension platform is assembled on the sensor base in a sliding mode through a linear guide rail and makes contact with the pressure sensor to form a pressure feedback interface, the tension platform is used for bearing yarn, the displacement adjusting mechanism is movably arranged on the base through a sliding rail, and the yarn guide ball is rotationally assembled at the tail end of the displacement adjusting mechanism. The displacement adjusting mechanism can drive the yarn guide ball to apply controllable radial pressure to the yarn so as to adjust the tension of the yarn, and the controller is arranged on the base, electrically connected with the pressure sensor and used for controlling the displacement adjusting mechanism to drive the yarn guide ball to adjust the position.

The application discloses a guar gum composition for oil field exploitation and a preparation method thereof, and relates to the technical field of guar gum. The method comprises the following steps: alkalizing, cation etherizing and copolymerizing AM-AMPS with natural guar gum to obtain an organic modified guar gum; introducing active groups through a silane coupling agent KH-560; and finally, carrying out in-situ sol-gel reaction with SiO2-TiO2 composite precursors to form an organic-inorganic interpenetrating network structure. The guar gum composition has good structural stability and viscosity retention capacity at high temperatures, and is suitable for fracturing construction of deep high-temperature oil and gas reservoirs.

The invention discloses an SAA-DoA high-precision direction finding method based on LSTM time sequence prediction, and the method comprises the following steps: sequentially switching a plurality of antenna units through a sequential sampling mode of a switch antenna array, and obtaining the signal sampling data of a target direction; performing phase processing on the signal sampling data, and extracting an instantaneous frequency time sequence representing carrier frequency drift; inputting the instantaneous frequency time sequence into a pre-trained long short-term memory network model, learning a dynamic change rule of carrier frequency drift through the model, and predicting an instantaneous frequency value of an unsampled time slot; based on the predicted instantaneous frequency value, reconstructing a complete parallel sampling data matrix through phase integral operation; based on the reconstructed parallel sampling data matrix, an array signal processing algorithm is adopted to calculate the arrival angle of the signal; according to the method, the precision of DoA estimation under the SAA architecture and the robustness in a real wireless environment are remarkably improved.

The invention relates to the technical field of process parameter analysis, and discloses a process parameter analysis method, system and storage medium for a foam material molding process. The method comprises: performing parameter collection and data statistics on an MPPO material under a standard process condition of 160°C to obtain process parameter benchmark data; performing an orthogonal test on a pressure-carrying parameter of the material to obtain a pressure-carrying process parameter database; performing a molding temperature gradient analysis, sampling and testing from 160°C to 190°C at intervals of 5°C to obtain a temperature control curve; performing coupling analysis and pressure dynamic compensation to obtain a molding process parameter combination; performing wet weight, dry weight and size detection on a product produced under the molding process parameter combination, and performing multidimensional parameter calculation to obtain a quality control index; performing correlation verification and parameter correction on the quality control index and the molding process parameter combination, and outputting target process specification data. The invention improves the control accuracy of the process parameters.

The present application relates to the field of spiral flat car machine control technology, and discloses a spiral flat car machine automatic operation control method and system. The method comprises: according to the spiral motion characteristic parameter set and the working condition prediction matrix, the transmission area of ​​the spiral flat car machine is divided into n equal parts according to the spiral direction to obtain n adaptive data acquisition control units and a multi-dimensional state monitoring matrix; the multi-dimensional state monitoring matrix is ​​subjected to feature extraction processing to obtain a working condition evaluation vector and a dynamic deviation feature set; the working condition evaluation vector and the dynamic deviation feature set are subjected to iterative optimization processing to obtain a real-time feedback control instruction set and a dynamic compensation parameter matrix; the spiral flat car machine is subjected to intelligent closed-loop control according to the real-time feedback control instruction set and the dynamic compensation parameter matrix to obtain real-time control data and a process feature mapping set. The present application realizes high-precision automatic control of the spiral flat car machine during continuous loading operations, ensuring the uniformity of material loading and operating efficiency.

The invention relates to the technical field of SMT, and discloses an SMT quality control method and system, and the method comprises the steps: calculating a PCB rotation deviation angle and a PCB translation deviation, and superposing the PCB rotation deviation angle and the PCB translation deviation for a target mounting point coordinate, and obtaining a component position deviation value; when the position deviation value of the component exceeds an allowable deviation threshold value, calculating an additional displacement value generated by the rotation action, and deducting the additional displacement value from the position deviation value of the component to obtain a comprehensive compensation displacement value; and a rotation instruction is sent to a rotating head servo motor according to the component position deviation amount, a stepping pulse signal is sent to a gantry stepping motor according to the comprehensive compensation displacement amount, and a rotating head and a gantry execute compensation actions in parallel to complete component alignment. The problem that in the prior art, fixed coordinate mapping cannot adapt to PCB position changes is solved, the double-gantry cooperation efficiency is improved, and the overall production period is shortened.

The utility model discloses an on-line non-stop convenient terminal feeding mechanism, which comprises a feeding assembly, a terminal crimping machine is arranged on one side of the feeding assembly, a wire clamp assembly is arranged on the opposite side of the terminal crimping machine, the feeding assembly comprises a winding module, a guide module and a moving module, the guide module is connected with the moving module, and the wire clamp assembly is connected with the winding module. The winding module is installed on the bottom face of the workbench and comprises a terminal disc, a material belt paper winder and a terminal disc supporting arm, the terminal disc is used for collecting wound terminal material belts and is rotationally connected with one end of the terminal disc supporting arm, and the material belt paper winder is used for driving the terminal disc to rotate and enabling the terminal material belts to be wound out to the guiding module; the moving module comprises a rodless cylinder, a reset tension spring and a first guide rail, the rodless cylinder is used for driving the guide module to perform synchronous displacement adjustment along with the terminal crimping machine, the reset tension spring is used for providing tension to assist the guide module in resetting, and the first guide rail is slidably connected with the guide module.

The present application relates to the technical field of endoscopes, in particular to a micro endoscope and an ultrasonic detection probe for pipeline welds in narrow spaces, comprising a wiring module and a probe module. The micro endoscope integrates the ultrasonic detection probe, realizes dual-mode detection of "optics + ultrasound", and can complete surface and internal detection in a single insertion. The wiring module and the braided curved probe pipe are tightly connected through a connecting mechanism, which is convenient to disassemble and assemble. The setting of the capsule fastener satisfies the assembly connection of the connecting cover body and the probe mounting seat, and also satisfies the limiting function of the lead wire. Through the combination of the limiting support assembly and the elastic compensation assembly, the excessive twisting of the lead wire of the ultrasonic detection probe and the braided curved probe pipe is avoided when turning, the minimum bending radius is increased, dynamic compensation is realized when bending, the minimum bending radius is limited, and the efficiency and accuracy of detection are improved.

The utility model discloses a four-head riveting machine for an automobile seat framework, and relates to the technical field of automobile part manufacturing equipment. The device comprises a machining table, the machining table is obliquely arranged, a mounting plate is arranged on the machining table, a machining unit is arranged on the mounting plate, the machining unit comprises a clamping mechanism, the clamping mechanism is correspondingly provided with a riveting mechanism, a sliding plate is further arranged between the machining table and the mounting plate, and the sliding plate is connected with the mounting plate. The air cylinder pulls the sliding plate to enable the workpiece to be smoothly separated from the clamping mechanism. The utility model has the beneficial effects that the inclined machining table design is adopted, so that the operation height of an operator better accords with ergonomics, and the fatigue of long-time operation is effectively relieved; the automatic demolding mechanism of the sliding plate is driven by the air cylinder, automatic separation of the workpiece and the clamping system after riveting is completed is achieved, manual knocking demolding is not needed, the risk of surface scratching caused by manual knocking demolding is also avoided, and the demolding efficiency is improved.

The application discloses a kind of heat deformation compensation systems for segmented aluminum-coated shutter of coating machine, it is related to advanced non-ferrous metal material technical field, can solve the heat deformation compensation system of segmented aluminum-coated shutter of coating machine at present stage, because of lacking the precise analysis and compensation lag evaluation of local thermal load and thermal deformation coupling, leading to the technical problems of insufficient compensation accuracy, film thickness instability, comprising: data acquisition module is used to obtain multidimensional detection data;Thermal deformation correlation analysis module is used to determine the effective thermal deformation sensitivity of segmented shutter according to multidimensional detection data;Compensation delay evaluation module is used to determine the delay index of heat deformation compensation system according to the execution response time and decision lag time of heat deformation compensation system;Compensation decision and execution module is used to determine compensation decision and execution according to effective thermal deformation sensitivity and delay index.The application is used for the heat deformation compensation of segmented aluminum-coated shutter of coating machine.

The application discloses a kind of full-automatic carrying robot of potted flower flowerpot, including walking and moving mechanism, flowerpot clamping mechanism, sensing and positioning system, navigation system and flowerpot placing system;Walking and moving mechanism is used to drive robot to move and adapt to topography fluctuation;Flowerpot clamping mechanism includes mechanical arm and clamping device, for performing the grabbing, lifting and releasing operation to flowerpot;Sensing and positioning system includes camera and laser radar, for identifying and positioning target flowerpot;Flowerpot placing system is electrically connected with walking and moving mechanism, flowerpot clamping mechanism and sensing and positioning system respectively, for controlling walking and moving mechanism and flowerpot clamping mechanism according to the information of sensing and positioning system, complete the autonomous grabbing and placing of flowerpot;Navigation system combines boundary line identification to carry out path planning and decision-making, realize the autonomous navigation of robot.The application realizes the full autonomous identification, grabbing, transport and placing of potted flower flowerpot by multi-sensor fusion and visual navigation technology.

The present application relates to a kind of self-adapting filter mutual inductor error dynamic compensation method and system, it is related to mutual inductor technical field, including the following steps, to the current, voltage sampling of mutual inductor secondary side and temperature measurement, construct working condition parameter matrix;In combination with pre-calibrated iron core hysteresis curve, mapping obtains prior excitation sequence;Through residual feedback and gain update generation posteriori excitation sequence;Accordingly, the error of secondary electric quantity is converted, obtains dynamic compensation sequence, and inverse superposition obtains correction secondary sequence;Finally, according to the ratio conversion, restore primary electric quantity sequence, the problem that the prior art cannot track the dynamic change of iron core hysteresis nonlinearity and operating condition in real time is solved, leading to excitation error is difficult to accurately separate from secondary side signal, and then influence primary side electric quantity restoration precision problem.