The invention discloses an intelligent wheelchair and a control method thereof. The intelligent wheelchair comprises an intelligent wheelchair body, a front laserradar, a rear laserradar, an input device and a processor, wherein the front and rear laser radars are arranged on the intelligent wheelchair body, the input device receives a command input by a user, and the processor obtains an establishment command of a map, establishes a map of the current environment according to the establishment command and the received information of target points in the current environment, and saves the map, wherein the information is returned by the front and rear laser radars after the front and rear radars scan the current environment. The processor obtains a driving command for indicating the to-be-reached named place in the current environment, and controls the intelligent wheelchair to move the named place according to the driving command and the map of the current environment. According to the intelligent wheelchair and the control method thereof, the intelligent wheelchair automatically travels to the destination through navigation according to the command of the user, the operating steps of the user are simplified, and the requirements are met.
The invention provides a steering controlling method of an automatic steering device of an unmanned vehicle. The steering controlling method comprises the following steps that an absolute zero position is demarcated; a steering controller controls the unmanned vehicle to enter an automatic driving mode; the steering controller amends an expected steering angle of an output shaft of a motor (111); the steering controller obtains an actual steering angle of the output shaft of the current motor (111) through an encoder (115); and the steering controller controls an algebraic difference value of the expected steering angle and the actual steering angle, and steering is achieved. The controlling steps are simple; switching between manual driving and automatic driving can be completed; software is adopted to conduct limiting; setting is relatively flexible; the phenomenon of overlarge steering of a steering wheel can be effectively prevented; and precise steering is achieved.
The invention provides an electronic parking control method and system. The electronic parking control method comprises the following steps: 101, starting an electronic parking system; 102, judging whether a vehicle stays at a starting state or not; executing the step 103 when the vehicle stays at the starting state; executing the step 107 when the vehicle does not stay at the starting state; 103, judging whether the vehicle speed is greater than 0km / h; executing the step 104 when the vehicle speed is greater than 0km / h; executing the step 105 when the vehicle speed is less than or equal to 0km / h; 104, unlocking the electronic parking system; 105, judging whether the vehicle stays at a brake state or not; executing the step 104 when the vehicle stays at the brake state; executing the step 106 when the vehicle does not stay at the brake state; 106, judging whether the vehicle is located on a slope or stays at a low-speed running state; executing the step 104 when the vehicle is located on the slope or stays at the low-speed running state; 107, locking the electronic parking system. By adopting the electronic parking control method provided by the embodiment of the invention, the process that a shift lever is pushed into or unplugged from a gear P by a driver can be avoided, and the teeth fighting and damage problem of a parking gear can be avoided.
The invention relates to a control technique of a photovoltaic power generationsystem device and particularly relates to a control method for a neutral-point voltage of a bus of a 10kW three-phase grid-connected inverter. The method comprises the following steps of: alternately sampling voltages at two ends of voltage dividing capacitor C1 and C2 of the bus at the same interval T to respectively obtain sampling values VC1 and VC2; and comparing VC1 and VC2 with 1 / 2 of the voltage value of the bus, if the deviation range exceeds a set value, regulating the duty ratio of main switch tubes in two Boost converters to ensure that the values of VC1 and VC2 are returned to be equal to the 1 / 2 of the voltage value of the bus. The method provided by the invention is simple in control step, a voltage dividing resistor is not required to be arranged, and the power consumption is reduced; and the whole process is controlled by virtue of computer software, so that the control precision is high, the stability of the neutral-point voltage of the bus is good, and therefore, the higher power output quality requirement can be fulfilled.
The embodiment of the invention discloses a method and device for controlling audio frequency.The method comprises the steps that after Bluetooth connection is established between the device and Bluetooth equipment successfully, a starting instruction sent by the Bluetooth equipment is received, a voice control mode of a mobile terminal is started according to the starting instruction, voice signals of a user aiming at the mobile terminal are collected, and the audio frequency is controlled to be played according to the voice signals.According to the method for controlling the audio frequency, when the user needs to control audio frequency playing, the terminal does not need to be operated by hand, the audio frequency can be controlled to be played through the voice signals of the user, and therefore the efficiency and convenience of audio frequency control are improved, and user experience is enhanced.
The embodiment of the invention discloses a terminal control method which comprises the following steps: acquiring azimuth information and eye information of a user; acquiring corresponding terminal control information according to the azimuth information and the eye information of the user; transmitting the terminal control information to a terminal, thereby controlling a terminal. The embodiment of the invention further discloses a terminal control device and a wearable device. According to the embodiment of the invention, after the azimuth information and the eye information of the user are acquired, corresponding terminal control information can be acquired according to the corresponding relationship of the preset azimuth information and eye information of the user and the terminal control information, then the terminal can be controlled, the control steps are simple and short in time, hands of people can be freed, and convenient man-machine interaction can be achieved.
The invention discloses a decoupling control method for a suspension system of a four-degree-of-freedom magnetic levitation motor, which is divided into a suspension system and a torque system. In thesuspension system, there is electromagnetic coupling between the front displacement x1, y1 and the rear displacement x2, y2 in the radial direction, and the coaxial displacement between x1 and x2, y1and y2 will influence each other, so there is mechanical coupling. In order to solve these two kinds of coupling, the input of the controlled object is the current in the suspension winding, and theoutput is the front and rear displacement of the suspension rotor. Two closed-loop controllers are designed to control the front and rear displacement respectively. The displacement sensor is used todetect the radial displacement of the rotor and the displacement signal is fed back to the closed-loop controller. Electromagnetic decoupling controller is constructed to solve the electromagnetic coupling between the front and rear sides of the rotor, and mechanical decoupling controller is constructed to output compensation current to the suspension winding to solve the mechanical coupling.
A master end control module of an interventional operation robot is used for being matched with a slave end robot, the slave end robot receives operation information of the master end control module and executes corresponding actions, and the master end control module of the interventional operation robot comprises a receiving and transmitting device, a system controller, an operation handle and a switching device. The operation handle sends operating information given by the master end to the system controller, the receiving and transmitting device is in signal connection with an external slave end robot, the switching device can be switched to different states, the master end control module of the interventional operation robot recognizes the gear after the shifting rod is switched, gear information is transmitted to the slave end robot through the receiving and transmitting device, the slave end robot confirms the object of the operation according to the gear information, and then operates the corresponding guide wire or catheter according to the operation information given by the operation handle. Precise control of one wire and multiple pipes is achieved, the practicability is high, and the high popularization significance is achieved.
The invention discloses a collecting type 90-degree steel wire cord fabric cuttingmachine. The collecting type 90-degree steel wire cord fabric cuttingmachine comprises an unwinding device, an input device, a cutting device, a fabric pulling device, a fabric collecting device, a splicing device, an output device and a winding device, wherein the input device comprises a plurality of unpowered rollers; the cutting device and the fabric pulling device are sequentially arranged in front of the input device; the fabric pulling device comprises a row of clamps in parallel to the unpowered rollers, a fabric pulling motor capable of driving the clamps to move forwards and backwards, and a screw nut mechanism for transmission; the fabric collecting device comprises a conveying belt which is inclined downwards along the feeding direction and a supporting beam which is arranged in the middle of the conveying belt; the supporting beam can be driven to be lifted so as to support the conveying belt at the front section for material collection. Meanwhile, the invention discloses a control method of the collecting type 90-degree steel wire cord fabric cutting machine. Due to the integrated design of fabric pulling and unwinding, a set of servo and control systems is simplified, and the cost is reduced; meanwhile, the efficiency is greatly improved from 8 times per minute to 16 times per minute, and the splicing and edge-aligning accuracy is improved by aligning an edge-checking roller on the side of the conveying belt with the output device.
The invention discloses a preparation method of traditional Chinese medicine medicated leaven. The preparation method is characterized by comprising the following steps of: S1: grindingphaseolus calcaratus and semen armeniacae amarae into coarse powder A, S2: mixing flour and the sieved coarse powder A to form a powdermedicine B, S3: cutting cocklebur, sweet wormwood and red-knees herb into small sections, adding water for decocting, performing filtration to prepare filtrate C, S4: putting the powder medicine B in a mixer for premixing to form a uniform mixture D, S5: mixing the filtrate C and the mixture D in the mixer to form a medicine composition E, S6: preparing the medicine composition E into a medicated leaven block F, S7: putting the medicated leaven block F in a fermentation tank for fermentation, S8: dicing the fermented medicated leaven block F, and S9: putting the cut cubical blocks G into an oven. High-efficiency preparation of the medical traditional Chinese medicine medicated leaven is achieved; the production efficiency of the medicated leaven is improved; and the quality of the medicated leaven in modernized production is ensured.
The invention discloses a motor control apparatus used for restraining the occurrence of overvoltage abnormity and preventing circuit components from being damaged. An upper switching device and a lower switching device in an electric-power conversion unit are separately driven to close by an upper closing command signal and a lower closing command signal, respectively, generated by a calculationcontrol unit; in response to occurrence of an excessive current abnormality or an excessive voltageabnormality, upper and lower selection circuits and a penetration prevention circuit provided in a signal path select an upper three-phase short-circuiting command signal or a lower three-phase short-circuiting command signal, or an upper-and-lower six-phase cutoff command signal, and a penetrationprevention time prohibits upper and lower switching devices from being concurrently closed; when an excessive voltageabnormality occurs, the three-phase short-circuiting command signal is immediatelygenerated, without an advanced cutoff operation being performed. As a result, excessive-voltage breakage of the circuit components is prevented.
The invention discloses a smart home controlsystem for the elder. The smart home controlsystem for the elder comprises a host, an environment monitoring module, an entrance guard module, an antitheft module and a lighting module. The host is used for receiving and transmitting instructions to control working of all the modules. The environment monitoring module comprises a smoke sensor, a temperature sensor and a flame sensor. The smoke sensor is used for detecting the indoor smoke concentration. The temperature sensor is used for detecting the indoor temperature change. The flame sensor isused for detecting the indoor flame situation. The entrance guard module comprises a face recognition unit and a remote control unit. The face recognition unit is used for intelligently recognizing the face of the elder to open and close the door. The remote control unit is used for remotely controlling opening and closing of the doors and the windows through the mobile phone. The antitheft modulecomprises an infrared sensor and an electronic monitor. The smart home controlsystem for the elder is low in cost, easy to operate, high in degree of automation and suitable for the elder and can provide the high-quality service for the elder.
The invention discloses a method for preparing an oxazoline insecticide arfamarin intermediate. The intermediate is 4-formyl-naphthalene-1-carboxylic acid, and compared with a synthesis route of US6613942B1, the synthesis route of the oxazoline insecticide arfamarin is simple. According to the method provided by some embodiments of the invention, through exploration, the reaction steps are shortened from three steps to one step, so the oxazoline insecticide arforlaana intermediate product with qualified purity can be obtained. The intermediate control steps are simplified, meanwhile, the product yield is increased, and industrial production is easier.
The application relates to a smart control panel comprising a housing assembly, a display screen installed at the housing assembly, a touch screen stacked at one side, deviating from the housing assembly, of the display screen, a key assembly being adjacent to the touch screen and being connected to the housing assembly, and a main control board arranged inside the housing assembly. The main control board is used for presetting a control mode in the key assembly according to a setting instruction of a user, wherein the control mode includes one or more control parameters corresponding to different intelligent devices respectively. And the main control board is also used for associating the set control mode with a designated key. In addition, the application also relates to a smart controlpanel and a control apparatus thereof. With the smart control panel and the control method and control apparatus thereof, the control steps of the user are simplified; the convenience of controlling of an intelligent device is improved; and the user experience is enhanced.
The invention discloses a telemetry radio-frequency power and frequency controller which comprises an FPGA chip, a control switch, an interface chip, a power supply chip, a crystal oscillator and a base. The interface chip, the FPGA chip and the crystal oscillator are all connected with the power supply chip. The interface chip is connected with the FPGA chip. The interface chip and the FPGA chipare bidirectionally communicated. The FPGA chip is connected with the crystal oscillator. The FPGA chip is connected with a dial switch, a power selector switch, a confirmation setting switch and an LED indicator. According to the invention, the controller can be applied to a telemetry product which needs to change the transmission power level and the transmission frequency; control steps can be greatly simplified; when transmission power and a frequency point are controlled, the dial switch of the controller is adjusted to a needed value; remembering relevant control commands is not needed; unsuccessful transmission power and frequency point control caused by an instruction transmission error or a serial portsoftware setting error is prevented; the controller is small in size and convenient to carry; and a user simply needs to carry the controller and related cables when controlling the transmission power and the frequency point of the telemetry product.
The invention discloses a control method of a sweeping robot. The method comprises the following steps that: when a voice wake-up instruction is received, a camera device is started; user gesture features are obtained through the camera device, wherein the gesture features comprise hand shape features and hand motion trails; and control information corresponding to the gesture features is obtained, and the sweeping robot is controlled to operate according to the control information. The invention further discloses a sweeping robot and a computer readable storage medium. The control steps of the sweeping robot can be simplified.
The invention relates to the technical field of direct-buried bolt installation, and provides a direct-buried bolt positioning control method. An X-direction control line and a Y-direction control line are set out on the basis, an X-direction laser emission source and a Y-direction laser emission source are installed with the control lines as the basis, and the installation precision of the X-direction laser emission source and the Y-direction laser emission source is guaranteed; and the position and perpendicularity of a direct-buried bolt are accurately controlled through the X-direction laser emission source and the Y-direction laser emission source, the control steps are simplified, the working efficiency is improved, the accumulated error in the control process is reduced, the installation precision of a reference bolt is improved, and then the position precision of equipment after installation is guaranteed.
An application method of four-footed walking robotleg mechanism based on Solidworks relates to the robot technical field; the application method comprises the following steps: 1, collecting motion images of the four-footed walking robotleg mechanism based on Solidworks, analyzing the images, and setting up a database after analysis; 2, collecting images of a walking floor, carrying out filter process for the images, and sending the images to a model database; 3, combining the model database with the database, and using a motion algorithm to calculate motion tracks; 4, searching the database according to the motion tracks, and selecting a proper motion mode; 5, sending the motion mode to a controller, and the controller controls the four-footed walking robot to walk according to the motion mode. The four-footed walking robot leg mechanism application method simplifies acquisition and control steps, saves time, improves work efficiency, and is accurate in control and convenient in usage.
The invention relates to a household appliance control method based on a cleaning robot, the cleaning robot and a chip. The method comprises the following steps that a sweeping robot receives control information sent by a user, and the control information comprises the voice information and / or gesture information; a target household appliance and a control instruction are determined according to the control information; and the sweeping robot sends the control instruction to the control target household electrical appliance to control the target household electrical appliance to execute the control instruction, so the effect of simplifying the control steps of the intelligent household electrical appliance is achieved, and convenience of the intelligent life of a user is improved.
The invention discloses a method of preparing an obeticholic acid intermediate and obeticholic acid. A synthesis route of the intermediate is shown below as shown in the specification. The preparationmethod has good stereoselectivity in a reaction process, so that the synthesis difficulty of obeticholic acid is greatly reduced, and the synthesis cost of obeticholic acid is lowered. The method ismild in reaction conditions and easy to realize industrially, and the low-impurity obeticholic acid intermediate and obeticholic acid can be obtained. Raw materials used by the method are safe and lowin cost, and the production cost is effectively lowered.