442results about How to "Reduce positioning errors" patented technology

The invention discloses a park sweeper positioning and environment mapping method based on multi-sensor fusion. The method comprises the following steps: S1, preprocessing multi-modal data acquired by a plurality of sensors; s2, extracting and fusing semantic features and geometric features in the multi-modal data preprocessed by the plurality of sensors; s3, performing geometric feature extraction and recognition on the point cloud data by using a VoxelNet point cloud processing algorithm; s4, performing pose estimation and track plotting by fusing multi-sensor data; s5, identifying places where the motor sweeper repeatedly passes through through loopback detection, and correcting accumulated errors; and S6, constructing a three-dimensional environment map by fusing the laser radar, the visual features and the IMU data, performing global optimization by applying a map optimization technology, correcting errors, improving map precision, and updating the map in real time. According to the invention, the autonomous navigation capability of the sweeper is enhanced, the sweeping efficiency and safety are improved, and the sweeper is suitable for various complex and dynamic park environments.

The invention discloses a flight control method and system of an unmanned aerial vehicle tracking technology, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the following steps: before an unmanned aerial vehicle takes off, starting an airborne sensor in advance, executing parameter initialization and calibration operation, and installing a magnetic marker on a tracking target; acquiring the body position of the unmanned aerial vehicle in the flight process, and sensing the target position of the tracking target in real time by adopting a multi-sensor data fusion algorithm; obstacles existing in the flight path are detected in real time, a three-dimensional environment model is integrated, and the motion state of a tracking target is captured in combination with a follow-up visual tracking algorithm; target tracking data are stored and fed back in real time, and the battery state and the energy consumption speed of the unmanned aerial vehicle are monitored. By combining the magnetic guidance technology, multi-sensor data fusion and a follow-up visual tracking algorithm, high-precision target tracking can be realized in a dynamic complex environment, meanwhile, obstacles are effectively avoided, and the flight stability and tracking precision of the unmanned aerial vehicle are ensured.

The invention discloses a lung puncture navigation system for pneumology department, which relates to the technical field of lung puncture navigation and comprises a data collection module, a data processing module, a calculation module and a navigation module. The method has the advantages that the focus position can be accurately positioned in real time by collecting the lung image data and the respiratory movement data of the patient and utilizing calculation of respiratory compensation, the need of adjusting the position of a puncture needle for multiple times is avoided, the optimal puncture path can be calculated, and the puncture accuracy is improved. Therefore, intelligent biopsy puncture path planning can be carried out according to specific conditions of the patient, biopsy risks are reduced, focus position changes caused by respiratory movement can be accurately compensated through real-time respiratory compensation application, and it is ensured that navigation precision and biopsy effects are not affected by the respiratory movement.

The invention discloses a method and a system for accurately positioning an article by using an RFID (Radio Frequency Identification Device) technology, and relates to the technical field of article positioning, an antenna array starts to receive an RFID signal sent by a product label, the relative position of a product is generated after the time difference of the RFID signal reaching each antenna is obtained, and the relative position is corrected by a reflection path identification algorithm, so that the product positioning accuracy is improved. And estimating an incident angle of the signal according to the phase difference received by each antenna, generating a relative azimuth angle of the product, calculating an actual position coordinate of the product by combining the relative position and the relative azimuth angle of the product by utilizing a fusion algorithm, and performing real-time positioning when the product is in a moving state. The positioning system performs position coordinate calculation on a product through a fusion algorithm, effectively reduces positioning errors of a single algorithm, improves positioning precision, dynamically adapts to warehouse structure and environment characteristics, and enhances space adaptability of the positioning system.

The invention discloses a TEC space-time prediction method based on fusion of feature analysis and a self-attention mechanism, and the method comprises the steps: screening strong effective features through analyzing the correlation between TEC historical data and each feature parameter, calculating the attention weight between data points on each time sequence through employing a self-attention coding mechanism, and carrying out the weighted summation to obtain the attention output. In an ionosphere total electron content prediction task, firstly, for sun and geomagnetic activity characteristic parameters, the correlation between each parameter and a TEC sequence in the same time period and a TEC sequence after a day interval is evaluated, strong correlation characteristics are screened, TEC sequences of adjacent grid points are used as characteristic quantities, multiple spatio-temporal characteristic matrixes of different time scales in a global range are established, and the total electron content of the ionosphere is predicted. And encoding the input feature information according to a self-attention encoding mechanism to obtain an attention output result, and decoding in a decoding layer through a linear model to obtain a TEC predicted value at a future moment. According to the method, efficient extraction of spatio-temporal information can be completed, and higher-precision prediction of the TEC is realized through a self-attention mechanism.

The invention relates to the technical field of meteorological monitoring and lightning protection, and discloses a radio signal-based lightning protection detection method for a meteorological station, which comprises the following steps of: receiving electromagnetic wave signals generated by lightning discharge in real time through radio receiving equipment of a plurality of meteorological stations, and acquiring characteristic data of time, frequency and intensity of the signals; an effective light velocity model is adopted to correct the influence of the propagation velocity of the lightning signal in the atmosphere, and the effective propagation velocity of the lightning signal is calculated by considering the ionospheric and atmospheric refraction effects; the position of the lightning power supply is estimated by measuring the arrival time difference and the time difference of lightning signals received by different sites and utilizing the geometric positions of the multiple sites. The positioning precision of the lightning power supply is greatly improved by adopting the cooperative work of the radio receiving equipment of a plurality of meteorological stations and combining the technologies of accurate lightning signal propagation speed correction, time synchronization error correction, geometric precision optimization and the like.

The invention discloses a power distribution network fault management system and method with a rapid positioning function, and relates to the technical field of power distribution network management, and the system comprises a data collection module, a data analysis and processing module, a fault positioning module and a display and decision module. According to the power distribution network fault management system and method capable of achieving rapid positioning, the power distribution network fault management system is arranged, positioning errors caused by inaccurate data are reduced by means of high precision of a sensor and data preprocessing measures, multiple times of fault positioning are completed, the fault generation area is determined preferentially, and the fault management efficiency is improved. And then the node is combined to realize the specific judgment of the fault generation position, so that the exact positioning operation of the fault can be quickly completed, the interference of external factors is eliminated, the positioning accuracy is effectively improved, and meanwhile, the omnibearing management of each region of the power distribution network is facilitated.

The invention discloses a transition area personnel positioning method and system based on dynamic link inference, and the method comprises the steps: positioning a transition area, activating and scanning surrounding Bluetooth equipment through mobile terminal equipment, and providing basic data for link generation; estimating an initial position; determining a first-level anchor point, and determining a preset-level anchor point according to a weight decline method; generating a preliminary link based on the Bluetooth parameter data, distributing a weight for each node, and calculating an optimal path; and forming a plurality of candidate paths according to the position information between the anchor points and the equipment, comprehensively processing the information of different candidate paths, and deducing the final position of the equipment. According to the method, in the transition area of the outer edge of the building, RSSI, AoA and multi-path inference technologies are combined, self-adaptive link optimization can be achieved, real-time monitoring and positioning path adjustment can be achieved, anchor point resources are effectively utilized for position inference through anchor point hierarchical management and a weight decreasing mechanism, and the positioning precision is enhanced.

The invention provides a large-size Demura sub-pixel positioning method, system and device based on multiple cameras, and relates to the technical field of screen calibration and optimizing.The method comprises the steps that firstly, an overlapping sub-region positioning map is designed according to screen parameters; then, images of all the sub-regions are collected; extracting features through an image processing technology, and establishing mapping between a screen and a camera; correcting features by using mapping and a two-dimensional Gaussian function, and establishing high-precision mapping; calculating coordinates of R and B channel cameras, and performing polynomial fitting and secondary correction on curved surface pixel points; and finally, combining sub-image coordinates, evaluating the imaging quality, and selecting an optimal coordinate as a final result to ensure high precision and stability. According to the method, the positioning precision and the processing efficiency are improved, the stability and the anti-interference capability of the mapping relation are enhanced, and powerful support is provided for the Demura process of the vehicle-mounted display screen.

The invention discloses a visual positioning method and system based on multi-modal information fusion, and belongs to the field of computer vision. The method comprises the following steps: acquiring an RGB image and a depth image in the same scene, extracting semantic features from the RGB image through a multi-modal feature extraction network, and extracting structural features from the depth image; performing weight distribution and deep fusion on the semantic features through a feature balance module to obtain final multi-modal fusion features; predicting three-dimensional scene coordinates of each two-dimensional pixel point and uncertainty corresponding to the three-dimensional scene coordinates on the basis of the final multi-modal fusion features; and calculating the six-degree-of-freedom pose of the camera based on the predicted coordinates. According to the method, the problems of texture dependence and structure fuzziness in the existing single-mode visual positioning method are solved.

The invention discloses an indoor visual positioning method and positioning system based on an occlusion clearing algorithm, and belongs to the technical field of occlusion image processing, image restoration and indoor positioning. The method is characterized by comprising the following steps: step 1, querying an image in a database, extracting feature information of the image in the database, and storing the feature information; step 2, shielding object detection is carried out, and shielding objects in all query images are removed; 3, performing image restoration by adopting the image restoration model, and restoring a query image; and step 4, indoor positioning is carried out. According to the indoor vision positioning method and positioning system based on the occlusion clearing algorithm, target detection, image restoration and feature matching technologies are combined, and the positioning accuracy and robustness are improved. According to the method and the device, the blocking objects in all the query images are detected and removed, so that the pixels of the blocking objects do not interfere with subsequent processing, and meanwhile, a clear target area is provided for an image recovery process.

The invention discloses a dynamic window-based graph optimization GNSS (Global Navigation Satellite System) and IMU (Inertial Measurement Unit) integrated navigation method, which improves the adaptability, calculation efficiency and positioning accuracy of a system in a dynamic environment by introducing a dynamic window strategy and a key frame mechanism. According to the method, the size of a sliding window is dynamically adjusted according to a real-time motion state, environment change and computing resources: when the environment is complex or high precision is needed, the window is enlarged to contain more historical information; when the environment is stable or computing resources are limited, windows are reduced to improve computing efficiency. Meanwhile, threshold values of position and posture changes are set, and only when the variable quantity of the current state and the latest key frame state exceeds the threshold values, new key frame nodes are added, key motion information is captured, and redundant calculation is avoided; according to the method, the optimal balance between the positioning precision and the calculation efficiency in a complex dynamic environment is realized, the method is suitable for an embedded platform with limited resources, and the requirement of high-precision real-time navigation is met.

The invention discloses an automobile shock absorber technology, and aims to provide a mistake proofing device for spring plate spiral lift point position height and a control method thereof. The technical scheme is that the mistake proofing device comprises a base used for bearing all mechanisms, a rotating table mechanism is arranged on the base, and a liquid storage barrel placing rod is installed on the rotating table mechanism; an expansion head mechanism for expanding and fixing the liquid storage cylinder is arranged at the top of the placing rod; the pressing mechanism is arranged on the rear side of the base and used for pressing and fixing the spring plate; the positioning mechanism is arranged on the base and used for positioning and supporting the spring plate; the detection mechanism is arranged at the bottom of the positioning mechanism and used for precise detection; the control system is connected with all the mechanisms through a PLC and used for controlling all the mechanisms; the control system can also remotely control the welding robot to facilitate subsequent welding work; through a plurality of components such as the base, the pressing mechanism and the positioning mechanism, the accuracy of the mounting, pressing, positioning and detecting processes is ensured; the invention is suitable for the technical field of automobile shock absorbers.

The invention belongs to the technical field of pedestrian navigation and positioning, and relates to a pedestrian inertial navigation method based on action recognition. The method comprises the following steps: collecting IMU data and muscle electricity data by using a wearable device; in a static state, calculating an Euler angle and solving a coordinate rotation matrix by means of IMU data, converting an acceleration in a carrier coordinate system into a navigation coordinate system, and obtaining speed information after integration; after the muscle electricity data is subjected to preprocessing and feature extraction, an SVM model based on statistics and an action correction algorithm is used for recognizing the motion state of the human body in a mixed motion mode, and an action recognition result is obtained; the action recognition result is used for self-adaptively adjusting threshold detection of the zero speed interval, finally, the zero speed is corrected in the zero speed interval through a speed correction method based on the EKF, integration is conducted on the corrected speed, and therefore position information is obtained. According to the method, high positioning precision, small positioning error and good robustness can be realized in a mixed motion mode, and an accurate track can be drawn.

The invention relates to the technical field of semiconductors, in particular to a SiC epitaxy merging detection method and system.According to the SiC epitaxy merging detection method and system, a graphite ring or a wafer or a graphite disc can be independently subjected to edge searching and deviation correction through a merging and splitting module, an edge finder and a deviation correction platform, and a mechanical arm can complete transferring of the wafer or the graphite ring or the graphite disc through fixed grabbing or placing actions; the positioning precision of the wafer is improved, the positioning error in the wafer installation process is effectively eliminated, the combination and separation module can quickly complete the separation and combination action between the graphite ring and the wafer or the graphite disc, the wafer, the graphite ring and the graphite disc which are combined can be smoothly put into an epitaxial growth environment, and the wafer processing quality is ensured; and through arrangement of the laser sensor and the acquisition equipment, automatic detection is realized, manpower is effectively saved, and positioning errors caused by manpower are reduced.

The invention discloses a multi-source data-based mining equipment positioning system and method. The system is characterized in that a plurality of ultra-wideband base stations are sequentially mounted in a crossheading roadway at intervals; the coding identifiers are mounted on supporting columns of the hydraulic supports in a one-to-one correspondence manner, and are positioned on one side close to the coal mining machine; the inertial sensing unit, the camera, the ultra wide band positioning module and the controller are all mounted on the body of the coal mining machine; the visual angle of the camera faces a supporting column of the hydraulic support. The ultra-wideband positioning module is positioned on one side, close to a crossheading roadway, of a coal mining machine body and is connected with the ultra-wideband base station; the controller is respectively connected with the inertial sensing unit, the camera and the ultra-wideband base station. The method comprises the following steps: carrying out initial position calibration by using the ultra-wideband positioning module; predicting the position of the coal mining machine based on inertial navigation; updating the prediction state of the inertial sensing unit based on the identification of the coding standard by the camera; and the positioning continuity is ensured by fusing the data of the inertial sensing unit and the camera. According to the system and the method, real-time and accurate positioning operation of the coal mining machine in the working process can be realized.

The invention provides a robot 3D visual positioning error correction method and system based on deep learning, and relates to the technical field of robot visual positioning, and the method comprises the steps: obtaining the initial position information of a robot in a three-dimensional space, extracting image features through a deep learning model, calculating a displacement error, comparing the displacement error with a distance threshold value, and executing the correction step. Through multi-sensor data fusion and dynamic target position adjustment, the positioning precision and reliability of the robot in a complex environment are optimized. The invention aims to improve the positioning accuracy of the robot in a three-dimensional space through deep learning and a multi-sensor fusion technology and reduce the positioning deviation caused by environment change and sensor errors, so that the more intelligent and autonomous robot navigation capability is realized.

The embodiment of the invention provides an ultrasonic transducer, a preparation method of the ultrasonic transducer, an ultrasonic fingerprint module and electronic equipment. The preparation method of the ultrasonic transducer comprises the following steps: forming a bottom electrode on the upper surface of a substrate, and forming a piezoelectric layer covering the bottom electrode above the substrate; at least forming a seed metal layer on the upper surface of the piezoelectric layer; a first enclosure structure is formed above the substrate, and a containing space used for preparing a top electrode is defined above the piezoelectric layer through the first enclosure structure; and electrifying the seed metal layer, and electroplating at least the seed metal layer in the accommodating space to obtain a top electrode so as to obtain the ultrasonic transducer. According to the technical scheme provided by the embodiment of the invention, the ultrasonic transducer with relatively good performance can be prepared.

The utility model relates to an automatic anus carving system for a hog in a slaughter house production line, and belongs to the technical field of splitting of hog in a slaughter house. According to the technical scheme, an anus carving knife (3) is mounted on a mechanical arm (1) through a jig (33); the air motor (17) is arranged on the RV speed reducer (18), and the RV speed reducer is arranged on the jig; a connecting shaft (20) is rotationally arranged at the output end of the RV reducer, two ends of the connecting shaft extend out of the RV reducer, the upper end of the connecting shaft is connected with a rotary joint (19), and the lower end of the connecting shaft is connected with a guide rod (14); holes are formed in the rotary joint (19), the connecting shaft (20) and the guide rod to form a channel; and a cutter (15) is arranged on the guide rod and is fixed with the guide rod through a connecting shaft. The automatic anus carving machine has the advantages that manual operation is replaced at the anus carving position of a slaughter house, cutting is more accurate than manual cutting, position errors are reduced, and product quality is improved; the automation degree is improved and the labor intensity of workers is reduced.

The invention discloses storage tank bottom plate detection equipment based on an in-oil detection robot, and relates to the technical field of storage tank detection, and the equipment comprises the in-oil detection robot, a navigation module and an upper computer; the navigation module is used for collecting positioning points of the oil detection robot at all moments, and performing path tracking on the oil detection robot by adopting a path tracking algorithm based on linear regression according to the collected positioning points and the reference path; the oil detection robot comprises a magnetic flux leakage detection module and an ultrasonic and acoustic emission detection module which are connected with the upper computer, and the upper computer is used for carrying out defect detection on the storage tank bottom plate according to a magnetic field signal collected by the magnetic flux leakage detection module and an ultrasonic echo signal and an acoustic reflection signal collected by the ultrasonic and acoustic emission detection module. The positioning error can be reduced, and the reliability of path control is improved.

The invention provides an improved sliding-mode observer for permanent magnet synchronous motor position sensorless control. A traditional sliding-mode observer can cause a jitter phenomenon of observation information in motor control. According to the method, the control equation of the sliding-mode observer is redesigned, the adaptive rate is combined, and a low-pass filter is replaced, so that the estimation precision of the back electromotive force is improved. A hyperbolic tangent function is used to replace a sign function to alleviate the jitter problem of the observer, and a phase-locked loop technology is used to replace an arc tangent function to reduce estimation errors and phase delay. The feasibility of the control system is verified by building a system simulation model based on a static coordinate system in MATLAB / Simulink. A simulation result shows that the control system reduces the rotor speed error and the rotor position error, so that the control performance and the stability of the permanent magnet synchronous motor are improved.

The present invention discloses a flight control method and system of unmanned aerial vehicle tracking technology, which relates to the field of unmanned aerial vehicle control technology. The method comprises the following steps: before the unmanned aerial vehicle takes off, the airborne sensor is pre-started, parameter initialization and calibration operations are performed, and magnetic markers are installed on the tracking target at the same time; the body position of the unmanned aerial vehicle during flight is obtained, and a multi-sensor data fusion algorithm is used to sense the target position of the tracking target in real time; obstacles existing in the flight path are detected in real time, integrated into a three-dimensional environmental model, and combined with a follow-up visual tracking algorithm to capture the motion state of the tracking target; target tracking data is saved and fed back in real time, and the battery status and energy consumption rate of the unmanned aerial vehicle are monitored. By combining magnetic guidance technology, multi-sensor data fusion and a follow-up visual tracking algorithm, the present invention can achieve high-precision target tracking in a dynamic and complex environment, while effectively avoiding obstacles and ensuring the flight stability and tracking accuracy of the unmanned aerial vehicle.

The invention provides a clamping device for machining an engine cylinder block blank, and belongs to the field of machining of the engine cylinder block blank, the clamping device comprises a machining table, and a clamping unit for clamping the engine cylinder block blank is arranged above the machining table. According to the clamping unit, the bottom of the engine cylinder block blank can be stably supported and clamped through cooperation between the bottom clamping assembly and the crankshaft supporting groove, and the interior of the engine cylinder block blank can be stably and reliably internally clamped through cooperation between the internal clamping assembly and the air cylinder hole channel; the engine cylinder block blank can be effectively prevented from vibrating or shaking in the machining process, it is guaranteed that the engine cylinder block blank does not move or rotate in the machining process, the stability of the engine cylinder block blank is further improved, meanwhile, the engine cylinder block blank can be accurately positioned on a machining table, the machining size and shape precision is guaranteed, and the machining efficiency is improved. And the processing quality and the processing efficiency of the engine cylinder block blank can be improved.

The invention discloses a multi-frequency multi-system combined pseudo-range observation value calculation method and system, and relates to the technical field of information, and the method comprises the steps: obtaining satellite observation data received by a GNSS receiver, constructing a diagonal weight matrix, and carrying out the calculation to obtain a preliminary multi-frequency combined model coefficient estimation matrix; calculating standardized residual identification of the observation value, correcting an abnormal pseudo-range observation value, and iteratively correcting and updating the weight matrix to obtain an updated multi-frequency combination model coefficient estimation matrix; and judging whether the multi-frequency combination model coefficient estimation matrix meets a cut-off requirement or not to obtain an optimal multi-frequency combination model coefficient matrix calculation combination pseudo-range observation value. The method can better adapt to the change of observation data, improves the accuracy of model estimation, reduces the positioning error, and enables the positioning result to be more reliable. Unnecessary iterative computation is avoided, computing resources are saved, the accuracy and reliability of a final model coefficient matrix are ensured, and the overall performance of the system is improved.

The invention discloses a rental vehicle cruise path calculation method and system based on expected cruise mileage, and the method comprises the steps: determining a road section according with a driving path, correcting a preliminary track point, and obtaining a corresponding road section number; according to the taxi track data of the road sections corresponding to the taxi track points, determining the taxi transportation force and demand quantity of different road sections; predicting the taxi transport capacity and demand quantity of each road section in the future and the passenger carrying probability of each road section; evaluating the time sequence period rule degree of the transportation capacity and the demand quantity of each road section, and correcting the passenger carrying probability prediction value of each road section; determining a candidate path set according to the information of all the road sections, calculating the expected cruise mileage of each candidate path, and determining a recommended path; and updating the transport capacity data of the road section, and re-determining the recommended path. According to the invention, the cruising efficiency of the taxi is effectively improved, the resource configuration is optimized, the overall operation level is improved, the operation cost is reduced, and the travel experience and satisfaction of passengers are enhanced.

The invention discloses a pipeline defect positioning method, device and equipment, a medium and a product. An SPPF-LSKA optimization instance segmentation model is combined with an ORB-SLAN3 framework, and dynamic feature points are eliminated by using information of an RGB-D depth map and an instance segmentation mask; secondly, a sliding window confidence evaluation mechanism is introduced, the credibility of feature points can be dynamically evaluated, wrong feature points generated due to instantaneous false detection are removed in time, and high-precision dynamic point removal is achieved; and finally, in a back-end optimization stage, a double-layer map strategy is adopted, a static mapping layer participates in BA optimization to reduce a positioning error, and a dynamic observation layer independently records an optical flow speed and a segmentation result of a dynamic region for dynamic interference analysis and does not participate in global optimization, so that interference of dynamic factors on positioning precision is avoided.

The invention discloses a mold size measuring device and method for vehicle lamp injection mold processing, and relates to the technical field of mold size measurement. The mold size measuring device and method for vehicle lamp injection mold machining comprises an image measuring instrument body used for measuring the size of a vehicle lamp groove formed in a mold body, an annular light source installed on the image measuring instrument body and used for illumination, a point light source and a displacement sensor. The image measuring instrument body is provided with an adjusting assembly used for changing the inclination angle of the mold body, and the adjusting assembly comprises a sliding column which is fixed to the top of the positioning rod to drive the inclination angle of the mold body to be changed, so that the light source irradiates the interior of the vehicle lamp groove from multiple directions. According to the invention, shadow areas generated by single-angle irradiation of the light source are reduced or eliminated, which is helpful for obtaining clearer and more complete images, thereby improving the accuracy of measurement results, and improving the measurement efficiency and precision.

The invention discloses a deep sea cable fault accurate positioning method based on electromagnetic induction and transient characteristic analysis, and relates to deep sea electric power engineering. According to the technical scheme, the method comprises the steps of 1, signal excitation used for transmitting a signal source; 2, signal filtering is carried out to counteract geomagnetic background noise; 3, signal correction is carried out to solve the problems of modal aliasing and endpoint effect existing when a traditional EMD is used for processing complex signals; 4, signal feature extraction, wherein transient pulse features in the signals can be effectively enhanced; and step 5, fault positioning. The method is mainly used for non-intrusive fault detection of the power cable in the kilometer-level deep sea high-pressure environment, and high-precision fault point positioning is achieved.

The invention discloses a control system of a numerical control machine tool, which comprises a control acquisition module, a communication supervision module, a sensitivity evaluation module, a sensitivity grading module and an intervention guiding module, and is characterized in that the control acquisition module calculates a fuzzy control complexity coefficient, the communication supervision module calculates a communication response gain coefficient, and the sensitivity evaluation module constructs a sensitive state model; the precision sensitive control index is output, the sensitive grading module grades the influence degree of the communication delay and the complexity of the control variable on the control system of the numerical control machine tool, and the intervention guiding module intervenes the control system of the numerical control machine tool according to the grading result. The problems of positioning errors and machining surface quality reduction are reduced, the machining precision of the numerical control machine tool is improved, the response capability of a communication system is monitored and evaluated in real time, timely transmission and execution of control instructions are ensured, and response delay and overshoot phenomena are avoided.

The invention belongs to the technical field of photoetching detection, and particularly discloses a photoetching defect detection method and system based on orbital angular momentum. According to the method, the OAM light beam is used for replacing the Gaussian light beam for illumination, the defect position is determined by analyzing the far-field asymmetric signal generated along the scanning path, and the far-field asymmetric signal caused by the defect under the irradiation of the OAM light beam is more obvious, so that the signal-to-noise ratio can be increased by 5.57 times at most, and the sensitivity of defect detection is remarkably improved; according to the method, OAM light beam illumination is used, the scanning step length is the integral multiple of the minimum period of the sample pattern in the scanning direction, the left-right asymmetric information and the up-down asymmetric information of the specific scanning points are synthesized, the coordinate position of the defect is determined, more available information is achieved, and the false detection rate is reduced. Diffraction processing is carried out on the diffraction images corresponding to the adjacent scanning points of the defect-containing sample, diffraction image difference between the defect-containing sample and a defect-free sample is not needed, the position error is small in the actual implementation process, symmetry is not needed for the sample pattern, and the applicability is higher.