39results about How to "Simple algorithm" patented technology

The invention belongs to the technical field of cutter wear monitoring, and discloses a titanium alloy aviation structural member rough machining cutter wear self-adaptive monitoring method, which comprises the following steps: step 1, determining a cutter wear monitoring threshold T0 according to a machine tool spindle load torque value; 2, within the fixed period T1, a numerical control machine tool spindle load torque value set A in the rough machining process of a tool is collected; 3, performing low-pass filtering on the data in the set A to obtain a data set B; 4, performing kurtosis value analysis and evaluation processing on the set B to obtain a data set X; 5, performing data classification on the data set X by using a support vector machine, and obtaining a data set T by taking a set with the maximum number after classification; step 6, calculating a torque average value # imgabs0 # of the data set T; and step 7, performing cutter wear self-adaptive monitoring on the torque average value # imgabs1 # of each period according to a threshold value T0.

The invention provides an on-orbit calibration method for a space target pose measurement system based on vision and laser fusion, which is used for solving the problems that in the existing calibration method based on a checkerboard and other special calibration objects, the calibration objects are poor in setting universality for specific use scenes; or the existing calibration method based on a common scene has the technical problems of large calculation amount and relatively high requirements on calculation resources. According to the vision and laser fused space target pose measurement system on-orbit calibration method provided by the invention, firstly, a joint calibration model of a vision sensor and a laser range finder is established, and on the basis, a traditional orthogonal iteration algorithm is improved from two aspects of calculation of an iteration initial value and simplification of the iteration algorithm, so that the calibration precision of the visual and laser fused space target pose measurement system is improved. In order to solve and optimize the pose conversion relation between a laser coordinate system and a visual coordinate system, only one part of a spatial non-cooperative target is used as a laser projection target, and in-orbit high-precision calibration of a visual sensor and laser range finder combined pose measurement system can be realized.

The invention discloses an ultrasonic oil smoke detector which comprises a support, an ultrasonic transmitter, an ultrasonic receiver and a main board, wherein the ultrasonic transmitter, the ultrasonic receiver and the main board are installed on the support. The ultrasonic transmitter faces the ultrasonic receiver; the mainboard comprises a power interface, a main control chip connected with the power interface, and a clock circuit and an operational amplifier circuit which are electrically connected with the main control chip; the ultrasonic transmitter is electrically connected with the main control chip, the ultrasonic receiver is connected with the input end of the operational amplifier circuit, and the output end of the operational amplifier circuit is electrically connected with the main control chip. According to the invention, the use of devices such as a temperature sensor and a pressure sensor which are greatly influenced by conditions such as temperature and humidity can be avoided, and the accuracy and sensitivity of the gas detector are improved by directly utilizing the characteristic that ultrasonic waves are not influenced by temperature and humidity.

The present invention provides a voice compensation method for a Bluetooth headset, which is used for compensating uplink voice in at least one predetermined noise environment, comprising: pre-storing at least one voice compensation spectrum, each voice compensation spectrum corresponding to a predetermined noise environment, each voice compensation spectrum including voice amplitude compensation values ​​at a plurality of preset frequency points in the corresponding predetermined noise environment; receiving current environmental noise, judging whether the current noise environment belongs to one of the predetermined noise environments, and if so, selecting the voice compensation spectrum in the predetermined noise environment corresponding to the current noise environment as the current voice compensation spectrum; receiving a current uplink audio signal, performing noise reduction processing on the current uplink audio signal, and obtaining a current noise reduction voice signal; and superimposing the voice amplitude compensation value corresponding to each target frequency point in the current voice compensation spectrum on the basis of the current noise reduction voice signal, wherein the target frequency point is a frequency point included in a frequency band of the current noise reduction voice signal.

The invention discloses an active damping parameter design method and device for a grid-forming flexible DC converter station. The method comprises the following steps: obtaining negative sequence impedance according to voltage and current at a grid-connected point; according to the negative sequence impedance, obtaining active damping impedance in a plural form and converter station original impedance; according to the active damping impedance and the converter station original impedance, combining with a damping compensation controller to construct functions of an impedance real part about frequency change, and respectively obtaining a first function and a second function; the damping compensation controller sequentially comprises a band-pass filtering link, a gain resistance link and a compensation gain link; obtaining a negative sequence equivalent resistance expression of the AC side of the converter station according to the first function and the second function; obtaining a parameter range of a damping compensation controller according to the negative sequence equivalent resistance expression in combination with an integral area method; and selecting parameters of the damping compensation controller according to the parameter range.

This invention discloses an infrared positioning system, including an electronic tag, a camera base station, and a processor. The camera base station includes a first camera, a second camera, and a filtering device. The filtering device includes a switching component and a narrowband filter. The narrowband filter and the switching component are connected and can move under the action of the switching component. The electronic tag is used to periodically radiate infrared encoded information. The first camera is used to capture a first visible light image. The second camera is used to capture a second visible light image when the narrowband filter is located to one side of the second camera, and to capture an infrared image when the narrowband filter is in front of it, so as to capture a target carrying an electronic tag. The processor is used to obtain the mapping relationship between the pixel position coordinates of the infrared image and the first visible light image, and to process the infrared image to obtain the center pixel coordinates of the target and the number of the carried electronic tag, thereby obtaining the position of the target according to the mapping relationship and the center pixel coordinates of the target.

The invention discloses a bus current estimation method and device based on a GTM module. The problems that existing bus current calculation is high in hardware cost, large in workload, short in collection period, poor in calculation precision and complex in algorithm, and a motor control algorithm needs to be combined are solved. The method comprises the steps of collecting and obtaining a three-phase current sampling value of a motor, obtaining a three-phase upper bridge arm IGBT switch state signal, determining a three-phase current value according to the IGBT switch state of the three-phase upper bridge arm, obtaining a candidate bus current value according to summation of the three-phase current value, obtaining all sampled candidate bus current values in a filtering period, and carrying out average filtering to obtain a bus current value. Real-time three-phase current is calculated through operation of the GTM module, rack calibration is reduced, a bus current sensor is canceled, the algorithm is simple, logic operation can be operated in the GTM programmable module, and CPU resources of a main chip do not need to be independently used.

The present disclosure relates to an image registration method, device, terminal and storage medium, the method comprising: obtaining a reference image of a photographed object and multiple target images; wherein the target image and the reference image are images generated by a terminal photographing the same photographed object at the same photographing position, and the reference image includes depth information; and performing image registration on the multiple target images according to the depth information of the reference image. The algorithm of the method is simple, the amount of calculation is small, and it is applicable to a variety of extreme scenes (such as scenes with very dark light, scenes with many repeated features of the photographed object, scenes with unclear features of the photographed object, or scenes with large information differences of multiple images obtained by multiple camera modules, etc.), and can well complete the registration of multiple target images, facilitate the subsequent processing of multiple target images, and thus improve the shooting effect.

The application relates to an online self-diagnosis optimization method and device for a gyroscope with an arbitrary configuration. The method comprises the following steps: determining a plurality of gyroscope groups from a first number of gyros of a gyroscope sensor in a combined manner; traversing the gyroscope groups, and judging whether three gyros in each traversed gyroscope group are singular; if yes, the gyroscope group is not processed, and the next gyroscope group is traversed; if no, other gyros except the gyroscope group in the first number of gyros are traversed in turn, a balance equation of each traversed gyroscope and the three gyros in the gyroscope group is constructed, the three gyros in the gyroscope group and the gyroscope are scored based on the balance equation, and the score of each gyroscope is recorded and accumulated; after each gyroscope except the gyroscope group is traversed, the next gyroscope group is traversed; and gyros with a total score lower than a preset value are determined as to-be-diagnosed gyros. The application can perform online diagnosis on gyros with an arbitrary configuration, and has strong universality.

The invention relates to a powder laying quality detection and grading processing method, device and equipment, and the powder laying quality detection and grading processing method comprises the steps: obtaining a powder laying image through a CCD (Charge Coupled Device) camera of which the shooting breadth fully covers a powder bed; performing defect identification on the powder spreading image by using a convolutional neural network, and determining a defect position and a defect type; and determining a position relationship between the defect position and a scanning path, and performing grading treatment on the powder spreading defect according to the position relationship and the defect type. The powder spreading defect can be detected in real time and corrected in time, the forming efficiency is improved, and resource waste caused by the powder spreading defect is reduced.

The invention discloses a permanent magnet synchronous motor harmonic suppression method based on an improved particle swarm algorithm, and relates to the technical field of PMSM harmonic suppression, and the method comprises the steps: S1, obtaining a harmonic current component through the electrical angle and three-phase current of a permanent magnet synchronous motor; s2, constructing an algorithm value function according to the harmonic current component; and S3, obtaining a harmonic suppression result of the permanent magnet synchronous motor based on an improved particle swarm algorithm according to the harmonic current component and the algorithm value function. According to the method, a current component under a rotating reference system is obtained by utilizing multiple synchronous rotating coordinate system transformation, and then a corresponding LPF is selected for filtering so as to extract current harmonics; according to the method, decoupling compensation of current harmonics is carried out by establishing a shift multi-reference system, and compared with other methods, the algorithm is simpler; according to the method, the amplitude and the phase of dead zone compensation by improving the particle swarm optimization are not affected by motor parameters, the iteration speed is high, and the method is not prone to falling into a local optimal solution.

The invention provides outdoor carrying equipment with a force transducer. The outdoor carrying equipment comprises a carriage assembly, a pull rod assembly and a sensing assembly. The carriage assembly comprises a carriage body and wheels, and the wheels are rotationally connected to the carriage body. The pull rod assembly comprises a handle and a pull rod, one end of the pull rod is connected to the carriage body, and the other end is connected with the handle. The sensing assembly is arranged on the handle and comprises a force measuring sensor and a controller which are electrically connected, the force measuring sensor is used for acquiring acting force applied to the handle in the vertical direction, and the controller is used for controlling the wheels. When the handle and the pull rod rotate to any angle, a user only needs to pull or push the handle, the force measuring sensor can obtain the acting force applied to the vertical direction, only the acting force of one shaft needs to be obtained, the situation that in the related technology, the acting force of two shafts or three shafts is collected, and the stress value is calculated and analyzed through trigonometric function conversion can be omitted, and therefore the working efficiency is improved. Therefore, the algorithm is simplified, and the detection precision and the response speed of the acting force applied to the handle are improved.

This invention relates to a log access method, apparatus, and storage medium, belonging to the field of embedded software log management technology. Addressing the problems of existing embedded log access systems, such as complexity, high resource consumption, low access efficiency, and poor operability, this invention employs a fast access algorithm based on time-address mapping. It directly calculates the physical storage address of the log using time information, eliminating the need for a file system and mapping table, and requiring no additional data structures. This invention features a simple algorithm, high efficiency, and low resource consumption, enabling rapid log location and stable access. It is suitable for resource-constrained scenarios such as embedded devices, effectively balancing the reliability, timeliness, and operability of log access.

The invention discloses a self-adaptive control method for hand joints of a humanoid robot. The method comprises the following steps: firstly, determining a position vector of a geometric center point of a grabbing surface by using pressure sensors mounted at the tail ends of fingers; calculating expected pressure and actual pressure vectors of the tail ends of the fingers; and calculating a finger end point position correction vector by using the contact elastic coefficient matrix to realize self-adaptive correction of the end point position. The method has the advantages that objects can be grabbed in a self-adaptive mode according to the set contact elastic coefficient only through the pressure sensors installed at the tail ends of the fingers, the flexibility is adjustable, the algorithm is simple, and the method is suitable for various humanoid robots with different finger numbers.

This invention relates to a single-stage fine-grained target detection method and apparatus based on remote sensing images. The method includes: acquiring image data and label data; cropping and flipping the image data to construct training and testing sets; constructing a feature extraction network using a convolutional neural network as the detection model; extracting features from the image data using the feature extraction network; and outputting the location and category information of fine-grained targets in the image. A positive and negative sample allocation algorithm is used to divide the location information boxes into positive and negative samples, and the convolutional neural network is used to learn the allocation of positive and negative samples. Based on the PyTorch deep learning framework, the network structure is written in Python, and the convolutional neural network is trained using the image and label data in the training set to obtain the target detection model. The image data to be detected is used as input to the target detection model to output the category and location information of the target objects in the image data to be detected.

The present invention provides an on-orbit calibration method for a space target posture measurement system that integrates vision and laser, which is used to solve the technical problems that the existing calibration methods based on special calibration objects such as chessboards have poor versatility in setting calibration objects for specific usage scenarios, or the existing calibration methods based on ordinary scenarios have large computational complexity and high requirements for computing resources. The on-orbit calibration method for a space target posture measurement system that integrates vision and laser provided by the present invention first establishes a joint calibration model of a visual sensor and a laser rangefinder, and on this basis, improves the traditional orthogonal iteration algorithm from two aspects: calculation of iterative initial values ​​and simplification of iterative algorithms, so as to solve and optimize the posture conversion relationship between the laser coordinate system and the visual coordinate system. It only uses a part of a non-cooperative target in space as a laser projection target, and can achieve on-orbit high-precision calibration of the joint posture measurement system of a visual sensor and a laser rangefinder.

The application discloses a network-constructing type flexible direct current station control method and device based on coupled virtual impedance, and the method comprises the following steps: obtaining three-phase currents and three-phase voltages of an alternating current side of a flexible direct current station; obtaining a control voltage of the flexible direct current station according to the three-phase voltages; filtering dq-axis fundamental frequency components of the three-phase currents according to a preselected filter to obtain dq-axis oscillation components; obtaining a dq-axis direct compensation voltage according to the dq-axis oscillation components and a first control coefficient; performing decoupling control on the dq-axis oscillation components, a second control coefficient and a third control coefficient, and then performing integral control to obtain a dq-axis decoupling compensation voltage; adding the dq-axis direct compensation voltage and the dq-axis decoupling compensation voltage to obtain a dq-axis damping remodeling compensation voltage; and superimposing the control voltage of the flexible direct current station and the dq-axis damping remodeling compensation voltage to perform modulation and control.

The invention discloses a three-dimensional image splicing method for a white light interferometer, and the method comprises the steps: placing a to-be-detected sample on an objective table, and enabling a motor to move and collect in a snakelike path according to a set direction and step pitch; according to a rule of platform movement and data acquisition during large-range measurement of the white light interferometer, a data alignment mode can be automatically judged, an optimal feature matching path can be identified, and image matching, splicing and cutting can be rapidly realized; and by utilizing the characteristic that the motor only translates, comparing the normalized standard deviation of the overlapped area, automatically searching the optimal matching area, identifying the actual overlapped area and finishing image splicing, the method has the characteristics of simple algorithm, small calculation amount, high speed and high efficiency, the requirement on the motor precision is low, the system cost is low, the characteristic area does not need to be manually judged and selected, and the method is suitable for large-scale popularization and application. The method can automatically identify overlapped areas and complete image splicing, and is high in automation and intelligence degree, low in sample requirement, suitable for large-scale measurement of most samples, and high in universality.

The invention provides a zero-free vector modulation method and system with low common-mode voltage frequency and a storage medium, the frequency of common-mode voltage is further reduced on the basis of common NSPWM, the strategy forms a voltage plane by three sectors, and a basic vector for synthesizing a reference vector in each sector is kept unchanged, so that the frequency of the common-mode voltage is reduced. The common-mode voltage in each 60-degree sector does not change, the PWM waveform of the strategy is in a three-section type, the frequency of the three-section type common-mode voltage is lower than that of a five-section type common-mode voltage, the frequency is further reduced on the basis that the amplitude of the common-mode voltage is reduced through traditional NSPWM, and the method is suitable for occasions with strict requirements for the common-mode voltage. The suppression effect on the common-mode voltage is further improved, and the frequency of the common-mode voltage is further reduced.

The 3D food printing curved surface printing universal platform and its processing steps of the present invention relate to the technical field of food production equipment, and in particular to a 3D food printing universal platform capable of printing curved surfaces. The universal platform of the present invention includes: a base, a horizontal rotating device, a universal rotating device, a printing platform and a driving device; the base is fixed in the middle position of the bottom of the printer frame; the horizontal rotating device is installed in the middle position of the upper part of the base; the universal rotating device is installed on the upper part of the horizontal rotating device, and the printing platform is installed on the upper part of the universal rotating device; the driving device is installed on the base and the horizontal rotating platform, and is connected to the horizontal rotating device and the universal rotating device to drive two full-time movements. The technical solution of the present invention solves the problem that the existing printing equipment cannot complete the overall modeling and external modification at one time; the external modification of the nozzle also has the problems of increased calculation difficulty and deformation of the modified material due to gravity.

The invention relates to exposure equipment, which comprises a target light projection module, a to-be-exposed workpiece, a focusing light processing module and a focusing module, and is characterized in that the target light projection module is used for forming a target focusing light beam and a target exposure light beam on the to-be-exposed workpiece; the focusing module comprises a one-dimensional second linear image sensor for receiving the first target projection beam to form a first focusing pattern and for receiving the second target projection beam to form a second focusing pattern; the target projection light beam is obtained by processing a target focusing light beam reflected by the to-be-exposed workpiece based on the focusing module, and the focus position of the target focusing light beam on the to-be-exposed workpiece is determined based on the light and shade contrast of the first focusing pattern and the second focusing pattern. The to-be-exposed workpiece is subjected to exposure processing at the focus position based on the target exposure light beam. The one-dimensional linear image sensor only needs to process one-dimensional data, and the algorithm and the processing process are relatively simple, so that the overall focusing speed of the exposure equipment is improved.

The present invention relates to a novel X-ray foreign body detection system with dual light sources and four viewing angles, comprising a transmission device and a first detection module and a second detection module symmetrically arranged, wherein the first detection module comprises a first X-ray light source generator device, a first collimating spectrometer device, a first viewing angle X-ray receiver device and a second viewing angle X-ray receiver device, and X-rays emitted from two output ends of the first collimating spectrometer device are respectively received by the first viewing angle X-ray receiver device and the second viewing angle X-ray receiver device; compared with the prior art, the present invention can solve the problem of poor detection effect of canned products with a single viewing angle and more blind spots by arranging X-ray light source generator devices on both sides and performing spectrometry based on the collimating spectrometer device, while being different from the traditional one-plus-one combination mode of a multi-light source system, and can obtain images on both sides, thereby improving consistency while improving imaging quality and imaging information.

The utility model relates to the technical field of battery production and manufacturing, and provides a device for cleaning a battery cell liquid injection hole, and the device comprises a fixing frame for fixing a battery cell, the fixing frame can drive the battery cell to rotate around a first axis and a second axis respectively, and the first axis is perpendicular to the second axis; the image sensor is used for shooting a liquid injection hole of the battery cell; the laser cleaning module and the fixing frame can get close to each other or get away from each other in the first direction, the laser cleaning module or the fixing frame can move in the second direction, the first direction is perpendicular to the first axis, and the second direction is perpendicular to the first direction. The upper step face, the lower step face and the side wall of the liquid injection hole can be cleaned, the cleaning mode is efficient and green, the cleaning effect is good, and the risks of explosion points and perforation after sealing nail welding can be greatly reduced.

The invention relates to a platform type laser ranging angular position measuring system, and belongs to the technical field of laser ranging. The device for measuring the angular position is placed in the electronic cabin through the laser distance measuring device, the laser beam is emitted through the distance measuring device, the laser return time is measured, and the relative position of the movement mechanism of the optical cabin is determined. According to the laser ranging type angular position measuring system, heading and pitching potentiometers or rotary transformers are omitted in the optical cabin. Compared with an existing potentiometer position measuring system, the laser ranging type angular position measuring system is simple in structure, simple in algorithm and small in occupied space, meanwhile, a movement mechanism is simplified, and the reliability of a product is improved. The system calculates a corresponding motion position through a calculation process of the laser ranging system. The design scheme is simple and reliable, and has obvious advantages in miniaturized product design.

The invention relates to a quick plugging device and method for preventing leaked liquid from spreading, and the quick plugging device comprises a chassis, and a wheel driving motor, a cloth twisting wheel control motor and a cloth twisting arrangement mechanism driven by the cloth twisting wheel control motor which are carried on the chassis, and the wheel driving motor drives wheels on the chassis to drive the chassis to walk; a navigation positioning device is arranged in front of the chassis, the twisted cloth arrangement mechanism comprises a discharging opening in the bottom of the chassis, and a cloth twisting wheel control motor drives twisted cloth to be discharged from the discharging opening. The plugging path is automatically planned through the navigation positioning device, rapid and accurate plugging operation is achieved, and the spreading time of leaked liquid on the ground is greatly shortened. The device is easy to operate, convenient to use and suitable for various liquid leakage accident scenes. The path adjustment can be performed in real time by simply identifying the distance information between the identification line on the twisted cloth and the liquid leakage edge, the final plugging effect picture can be generated according to the path navigation information after completion, the algorithm is simple, the efficiency is high, and the robustness is high.

The application discloses an image color style adjustment method and device based on an ISP. A source image is acquired from a first imaging system, and first probability density cumulative distribution data of the source image is determined; second probability density cumulative distribution data of a target image is acquired in advance, or the target image is acquired from a second imaging system, and the second probability density cumulative distribution data of the target image is determined; a gray scale mapping table of each component channel of the source image and the target image is obtained according to the first and second probability density cumulative distribution data; a third gray scale value of each pixel after adjustment is determined according to a first gray scale value of each pixel of each component channel of the source image and a corresponding gray scale mapping table, and an output image after color style adjustment is obtained. The color difference of different devices can be eliminated, an image with consistent color style is obtained, and the method has strong universality.

The present invention discloses a method and device for generating a through-hole layer layout, the method comprising: receiving an original through-hole layer layout, the original through-hole layer layout comprising more than two original through-holes; determining the candidate positions of the additional through-holes corresponding to each original through-hole on the original through-hole layer layout according to a pre-set feasible guide pattern, wherein the feasible guide pattern is a pattern corresponding to a through-hole combination; selecting the final position of the additional through-hole in the candidate position according to the manufacturing cost of the feasible guide pattern; inserting the additional through-hole at the final position; splitting all through-holes on the through-hole layer layout after the additional through-holes are inserted onto more than two mask plates to obtain the final through-hole layer layout. The method and device for generating a through-hole layer layout provided by the present invention take the manufacturing cost into consideration when inserting the additional through-holes, thereby reducing the manufacturing cost of the pattern.

The application discloses an aluminum-silicon coating plate integrated door ring lap joint double-beam laser tailor-welding process, and belongs to the technical field of the integrated door ring tailor-welding technology, and comprises the following steps: (1) obtaining each part of the sheet by laser cutting the aluminum-silicon coating plate; (2) sheet lap joint: the sheet lap joint position should be selected on one side of the patch plate, namely the weld seam side; the lap joint structure is two layers, when the two layers are lap jointed, the thinner sheet is placed on the upper layer, and the thickness ratio of the upper and lower layers is controlled to be 1; 1-3; (3) preparing a welding wire for the lap joint tailor-welding; the welding wire comprises a welding wire body and a composite layer on the surface; and (4) laser tailor-welding. The lap joint double-beam laser tailor-welding process solves the butt joint gap problem, can realize high tensile strength of the weld seam, standard penetration, no defects of the weld seam and a product yield of more than 99.5%.

The application discloses a cleaning method and a cleaning robot. The cleaning method is applied to the cleaning robot. The cleaning robot comprises a body, a swing arm mechanism and a skirting line cleaning module. The skirting line cleaning module is connected to the swing arm mechanism. The swing arm mechanism is movably connected to the body to move between a retracted position and a swing-out position. The method comprises the following steps: in response to a cleaning demand for a boundary of a working area, the cleaning robot is controlled to move to a boundary position; when the distance between the body and the boundary meets a predetermined requirement, the swing arm mechanism is controlled to move to an along-edge position to clean the boundary. The along-edge position is located between the retracted position and the swing-out position. The application controls the swing arm mechanism to be in the along-edge position to perform skirting line cleaning, which is beneficial to controlling the skirting line module and the boundary of the working area to keep a proper distance, and gives consideration to cleaning effect and working stability.

The utility model provides a pixel circuit, a display panel and electronic equipment, the pixel circuit comprises a first transistor and a second transistor, the control end of the first transistor is connected with a scanning line and a data line, the first access end of the first transistor is connected with a first power supply end, and the second access end of the first transistor is connected with the anode of a light emitting device; the cathode of the light-emitting device is connected with the second power end, the first access end of the second transistor is connected with the second access end of the first transistor, and the control end and the second access end of the second transistor are grounded. In the embodiment of the invention, through the grounding branch where the second transistor is located, the current generated by the irradiation of the infrared light signal can be grounded, the problem of light spots caused by the current passing through the light-emitting device is avoided, and the user experience is improved. Moreover, the algorithm is simple, the screen power consumption is lower, the sensor position is not required, and the distance detection effect and stability are improved.