32results about How to "Solve automatic control problems" patented technology

The invention relates to an industrial mechanical arm automatic control method based on deep reinforcement learning. The industrial mechanical arm automatic control method based on deep reinforcementlearning includes the steps: constructing a deep reinforcement learning model, constructing output interference, establishing a reward rt calculation model, constructing a simulation environment, accumulating an experience pool, training a deep reinforcement learning neural network, and controlling an industrial mechanical arm to move in reality by means of the trained deep reinforcement learningmodel. By adding into the deep reinforcement learning network, the industrial mechanical arm automatic control method based on deep reinforcement learning can solve the automatic control problem of the industrial mechanical arm in an complicated environment, so as to complete automatic control of the mechanical arm, and the operating speed and the accuracy of the industrial mechanical arm are highafter completion of training.

The present invention relates to the automatic control of industrial thermal process and is especially the intelligent control process of sintering alumina clinker in rotary kiln. The present invention features that the alumina clinker sintering process is controlled by means of industrial control computer adopting control software with intelligent prediction, coordination, adaptation, multiple-target decision and multimode control technology. The control system has satisfactory effects of improving combustion status, maintaining stable kiln operation and ensuring clinker quality. The present invention can raise clinker quality and yield in the rotary kiln, reduce environmental pollution and lower coal consumption.

The hollow fiber membrane separator includes membeane assembly, control valve, pressure gauge, pump, air compressor, water tank, connecting pipes and other parts; and features that the upper mouth ofthe membrane assembly is connected via a back washing flow meter as well as a back washing regulating valve in one channel and a back washing automatic valve to the back washing pump pipe and the back washing pump via its inlet valve is connected to back washing water tank pipe in one channel and discharge valve pipe in the other channel; that the back water tank is connected to the filtering liquid outlet valve pipe via change-over valve and filtering liquid flow meter with the change-over valve being connected to circular water tank. The running process includes two steps in different cleaning states. The present invention makes it possible to realize ideal membrane separation and membrane cleaning.

In order to solve the automatically controlled problem of constant temperature of the temperature and humidity of in the computer lab of the SPC exchange, the invention offers one kind of self-adaptive device of special-purpose air conditioner of the computer lab, the device which is thermostatic, energy-saving and supervisory is a kind of chip microcomputer-based CPU which communicates with the temperature and humidity collector chip through the synchronous and asynchronous serial port and the communication chip, at the same time, it also communicates with transcriber of air conditioner and wireless transmitter module; transcriber of air conditioner connects with all air conditioners in the computer lab, practicable environment temperature and humidity collected by the temperature and humidity collector is compared with temperature and humidity established, the CPU sends out the order to control the start of some air conditioner in some area or not. The merits of the invention is that the data of temperature and humidity concerned of air conditioner automatically set up can achieve the most rational state in order to save electric energy.

The invention provides a sand feeding system and a sand feeding method for use in a river sediment model experiment. The system comprises a transducer controlled by a computer, changes the outflow of a sand slinging machine by changing the frequency of the transducer and feeds sand automatically to a plurality of model cross sections under the control of the computer respectively. The sand feeding device can meet requirements of suspended sediment experiments on the similarity of the simulation of a sediment concentration field. Practical applications show that the sand feeding system and the sand feeding method have good effect and promotional value.

The invention belongs to the technical field of electronic automatic control and relates to a human body induction toilet lighting switch. The human body induction toilet lighting switch is characterized by comprising a 12V direct-current power supply, an induction antenna, a radio frequency oscillating circuit, a voltage-multiplying detector circuit and a direct-current signal amplification and control circuit. Generally a lighting lamp in a toilet is controlled by a common hand switch, a user often forgets closing the lighting lamp to enable the lamp to be lit for a long time and waste energy, and the user can difficultly find the switch of the common hand switch when toileting at night. In order to solve the concrete problems, the human body induction toilet lighting switch solves an automatic control problem of the lighting lamp in the toilet and can be used for controlling street lamps in corridors. The lighting lamp can automatically light when people come, and the lighting lamp can automatically extinguish when the people go away. The human body induction toilet lighting switch is concise in circuit design structure and reliable in working, and all circuits are made of common electron components.

The invention provides a frequency-variable and energy-saving constant-oil-pressure automatic control system of a fuel feed pump of a fluid coupler and belongs to the technical field of fluid couplers. Through the manner that a lubricating oil pump and an operating oil pump are respectively connected with a frequency conversion and speed control gear oil pump in parallel, the frequency-variable and energy-saving constant-oil-pressure automatic control system of the fuel feed pump of the fluid coupler solves the problems that the externally-arranged constant-speed running lubricating oil pump and the operating oil pump are high in energy consumption and the constant-oil-pressure oil mass can not be automatically controlled. The frequency conversion and speed control lubricating oil pump and the frequency conversion and speed control operating oil pump are additionally arranged outside the fluid coupler, wherein the lubricating oil pump and the operating oil pump are driven by an input shaft, and the frequency conversion and speed control lubricating oil pump and the frequency conversion and speed control operating oil pump are connected with the lubricating oil pump and the operating oil pump respectively in parallel to operate. When the fluid coupler is on an operating condition, the frequency conversion and speed control operation of the lubricating oil pump and the operating oil pump which are driven by the input shaft is achieved; the externally-arranged frequency conversion and speed control lubricating oil pump, the externally-arranged frequency conversion and speed control operating oil pump and a constant-oil-pressure frequency-variable automatic control system composed of a pressure transmitter and frequency converters are arranged, wherein the externally-arranged frequency conversion and speed control lubricating oil pump and the externally-arranged frequency conversion and speed control operating oil pump are connected with the lubricating oil pump and the operating oil pump in parallel respectively, and the lubricating oil pump and the operating oil pump are driven by the input shaft; the problems that energy consumption is high and the constant-oil-pressure oil mass can not be automatically controlled are solved.

The invention relates to a separating system with hollow fiber membranes and an operating method. A dual backwash loop which is a pipeline connecting a top port of the said membrane assembly to a cleaning pump through a first branch and a second branch. The first branch is designed to fill a small amount of cleaning liquid into the said membrane assembly; and the second branch is designed to fill a relatively large amount of cleaning liquid in order to clean the membrane adequately. The said system operates in the following procedures: operation status, cleaning status 1, cleaning status 2, drain status, returning to the operation status. The technology of the present invention may be used to enhance the cleaning effect to the membrane system, further save water for the cleaning process, shorten the cleaning time, thus benefiting the continuous large scale industrial production and having higher efficiency.

The invention discloses a method for controlling a cutting knife of a tea-leaf picker based on visual inspection. The method comprises the steps that a camera is mounted on the right ahead portion of the tea-leaf picker, the visual angle of tea leaf picking condition of a leaf inlet is shot, two areas which are obviously different from tea trees in color and are different from each other in color are marked on the cutting knife of the tea-leaf picker in advance, the number of pixel points in the two areas of a collected image are detected to judge the relative position of the cutting knife and the crowns of the tea trees, and control signals are output to automatically adjust the position and the angle of the cutting knife. According to the method, a computer visual inspection technology is used for judging the position of the cutting knife relative to the crows of the tea trees, the control signals are output in time to automatically adjust the position and the angle of the cutting knife, the cutting knife is made to be matched with tea crown faces, the tea leaf picking quality and the tea leaf picking efficiency are improved, and meanwhile the requirements for the terrain of a tea garden and the flatness of the crowns of the tea-leaf picker are lowered.

The invention discloses parking and charging equipment for an electric power investigation flying robot, which comprises a box body and vertical plates, the vertical plates are arranged on the left side and the right side of the outer wall of the box body, a top plate is arranged above the box body, and transmission assemblies are arranged in the vertical plates. The transmission assembly comprises a third rack, a fourth gear, a third gear, a fourth rack, a box cover, a vertical rod and a second rotating shaft, and the box cover is slidably connected with the box body. The parking and charging equipment for the electric power investigation flying robot is scientific and reasonable in structure and safe and convenient to use, through cooperation of the robot, a top plate, a third rack, a first rack, a box body, a first charging plate and a second charging plate, the robot is controlled to fly to the position above the top plate, and at the moment, the third rack can drive a third gear to rotate; compared with the prior art that the charging connection position of the robot needs to be manually connected, the problem that automatic connection of the charging position cannot be controlled through the parking weight of the robot to achieve charging is avoided.

The invention provides a biological denitrification method for realizing short-cut nitrification and denitrification with a sequencing batch activated sludge process. The method comprises the following steps: feeding water, performing aerated aerobic nitrification, stirring for anoxic denitrification, performing aerated aerobic nitrification, stirring for short-time aeration stripping of N2, precipitating and draining water; controlling the reaction time of all aerobic and anoxic stages within the period according to the characteristic changes of parameters of DO, ORP and pH in real time. According to the method, the reaction time of all the alternative aerobic and anoxic stages of an SBR can be controlled in real time, so that the problem of automatic control of the SBR is solved; in addition, through adoption of the real-time control method, aeration is ended timely, and the water temperature is controlled at the temperature of 25-30 DEG C, so that nitrobacteria can be prevented frombeing cultivated in a system. Meanwhile, NO3-N / NOx-N is always 5% or below in a nitrification reaction process, so that the stable operation of the short-cut nitrification and denitrification can beensured.

The invention relates to a cloth-dragging wheel automatic control device and method for sewing machine auxiliary material delivery mechanism. The control principle of the invention is that: by using unilateral conductivity principle of diode, when the operator sends out instruction for reverse stitching or presser foot lifting, the cloth-dragging wheel electromagnetic valve also receives the signal, and makes the cloth-dragging wheel and the reverse stitching or presser foot air cylinder get the pressure and link operate without interference to each other; when material delivery by the cloth-dragging wheel is not needed, air source is switched by the self-locking switch and the cloth-dragging wheel is lifted. The invention solves the problem of thick material sewing machine cloth-dragging wheel automatic control, not only improves working efficiency, eases labor intensity of operator, lowers cost of the sewing machine, thus making operation by the operator free and easy.

The invention relates to the technical field of power systems, in particular to a power distribution network end-to-end power transaction real-time settlement method based on a block chain, which comprises the following steps that: S1, a market subject meeting a market access condition and meeting a transaction condition is allowed to enter a market to participate in power transaction; S2, a market subject locates a self transaction role, calls a market quotation optimization intelligent contract to optimize end-to-end transaction quotation information, and submits the quotation information to a bidirectional auction intelligent contract; S3, based on a bidirectional auction market mechanism, market clearing is completed to obtain a transaction result, and the transaction result is submitted to a real-time settlement intelligent contract; and S4, the real-time settlement intelligent contract completes transaction settlement according to the transaction result. According to the invention, the qualification that the market subject is allowed to enter the market to participate in the power transaction is limited through the market admission condition and the transaction condition, and the problems of real-time transaction decision and automatic control of the market subject are solved through market quotation optimization of the smart contract, bidirectional auction of the smart contract and real-time settlement of the smart contract.

The method of controlling the concentration and proportion of catalyst Co2+ ion and Mn2+ ion and cocatalyst Br- ion for p-xylene oxidizing reaction includes installing sampling filter with less jamming; homogenizing processing of analyzer measured data by means of industrial process data cooperating and correcting technology, dynamic process leading / lagging compensation technology, etc.; and rolling optimizing correction of the measured data with manual analysis value to obtain real-time measured value of catalyst concentration. Based on the method, one real-time control system for the induction, feedforward and feedback of Co2+, Mn2+ and Br- ion concentrations is developed.

The invention relates to the technical field of the Internet of Things, in particular to an indoor lighting control method and system based on the Internet of Things. The indoor lighting control method based on the Internet of Things includes: judging whether the current time is a set time period, and if so, obtaining The operation information of the mobile phone connected to the system; the operation mode of the air conditioner is controlled according to the operation information, and the operation mode includes normal operation, light sleep and deep sleep; the working state of the lamp is controlled according to the operation mode of the air conditioner and its duration. The method provided by the invention controls the operation module of the air conditioner by acquiring the operation information of the mobile phone, and controls the working state of the lamp by the operation mode and operation time of the air conditioner, which can solve the problem of automatic control of the air conditioner and the lamp at night, and realize the linkage between the air conditioner and the lamp. Coordinated automatic control, high intelligence and good applicability.

The invention discloses an optical system for automatically controlling the size of the laser analysis mode spot of a mass spectrometer, which is composed of an incident lens, a reflection mirror with a central transmission hole, a relay lens, a correction reflection mirror and a photoelectric detector. The incident lens, the mirror with the central transmission hole, the relay lens and the correction mirror are arranged sequentially in space, the mirror with the central transmission hole is placed at 45 degrees to the optical axis of the incident laser light, and the photodetector is placed at the center of the incident laser light The vertical direction of the axis. According to the laser power received by the photodetector, the laser spot size of the incident laser beam incident on the correction mirror is determined. By moving the relay lens and changing the distance between the relay lens and the correction mirror, the size of the laser spot incident on the correction mirror is dynamically adjusted. The invention provides an automatic control optical system capable of dynamically controlling the size of the analytical laser spot. By controlling the size of the laser analytical spot, the requirements of the mass spectrometer under different test conditions are met, and the working performance of the mass spectrometer is enhanced.

The invention discloses a tea leaf picking method based on image and point cloud data processing, and relates to the technical field of tea leaf picking. The invention discloses a tea picking method based on image and point cloud data processing, and the method comprises the following steps: carrying out the shooting of a thermal image of a cutting knife and a tea tree crown through a thermal imager, carrying out the scanning of a laser radar, obtaining the point cloud information of the cutting knife and the tea tree crown, and selecting a region of interest S according to the thermal image, calculating to obtain the number n of tender shoots in the region of interest S; fitting to obtain a curve of the tea tree crown, and calculating to obtain a distance d2 between the cutting knife and the tea tree crown; and judging according to n and d2, then adjusting the position of the cutting knife, and finally cutting. The invention discloses a tea picking method based on image and point cloud data processing, and the method comprises the steps: processing the crown information of a tea tree through a thermal imager and a laser radar, and adjusting the relative position between a cutting knife and the crown of the tea tree, thereby effectively improving the tea picking precision.

The invention relates to an automatic control mechanism of a skin-residue separator for tomatoes. The automatic control mechanism comprises an overflowing device, a liquid level detecting device, a liquid level adjusting device, a controller, a feeding pipeline and a discharging pipeline, wherein the overflowing device comprises an overflowing groove, an overflowing groove driving device, a sliding groove and a settling chamber; the liquid level detecting device is arranged at one side of the settling chamber and comprises a liquid level box and a liquid level sensor; the liquid level sensor is arranged in the liquid level box; the liquid level adjusting device is connected with the settling chamber by a water pumping pipe, a water supplying electromagnetic valve and a water supplying pipeline and comprises a water storage pool, a water pump, a water source pipeline, a flow returning pipeline, the water pumping pipe, the water supplying pipeline, the water supplying electromagnetic valve and a flow returning electromagnetic valve. The automatic control mechanism has the advantages that the liquid level of the settling chamber for separating skins from residues of the tomatoes is automatically adjusted by the overflowing groove, and is detected in real time, and the switching on and off of the flow returning electromagnetic valve and the water supplying electromagnetic valve are controlled to adjust the flow rate of the overflowing groove, the separating rate and the separating purity of the skins and the residues are improved and the overflowing loss is reduced.

The invention relates to a metallurgical process control technique and provides a roughly-rolled plate blank tracking control method. By the adoption of the roughly-rolled plate blank tracking control method, the problem that in an existing steel rolling process, a plate blank rough rolling process needs to be tracked is solved. The roughly-rolled plate blank tracking control method comprises the following steps that firstly, a rough-rolling area is divided into six tracking areas, wherein the six tracking areas sequentially include the heating furnace area, the approaching area, the first rough-rolling area body, the intermediate area, the second rough-rolling area body and the outlet area; and secondly, after a plate blank comes out of a heating furnace, a heating process machine sends the number of a plate blank steel coil discharged out of the furnace to a rough rolling process machine, the rough rolling process machine places the number of steel coil on the heating furnace area, then tracking is started, one-time tracked rolling control over the six tracking areas is completed through a system according to the fact that whether an actual signal of a field is obtained or not through detection, and the plate blank is transferred to a finish-rolling position after the rough rolling process is completed. The roughly-rolled plate blank tracking control method is suitable for tracking control over the roughly-rolled plate blank in a hot continuous rolling process.

The invention relates to a cloth-dragging wheel automatic control device and method for sewing machine auxiliary material delivery mechanism. The control principle of the invention is that: by using unilateral conductivity principle of diode, when the operator sends out instruction for reverse stitching or presser foot lifting, the cloth-dragging wheel electromagnetic valve also receives the signal, and makes the cloth-dragging wheel and the reverse stitching or presser foot air cylinder get the pressure and link operate without interference to each other; when material delivery by the cloth-dragging wheel is not needed, air source is switched by the self-locking switch and the cloth-dragging wheel is lifted. The invention solves the problem of thick material sewing machine cloth-draggingwheel automatic control, not only improves working efficiency, eases labor intensity of operator, lowers cost of the sewing machine, thus making operation by the operator free and easy.

The invention relates to a tab film and adapting nickel tape conveying control device. The device comprises a case and a PLC control system, wherein the case is provided with a master tape conveying line and a sub-tape conveying line, the master tape and sub-tape conveying lines are distributed in parallel on the front and back sides of the case, an adapting welding station and an adhesive tape thermal compounding station are sequentially arranged above the master tape conveying line, the output end of the master tape conveying line is provided with a master tape cutting mechanism, a sub-tapecutting mechanism is arranged below the output end of the sub-tape conveying line, an adapting sub-tape clamping mechanism used for conveying a sub-tape to a master tape is arranged below the output end of the sub-tape conveying line, and the case is provided with a first automatic monitoring device for monitoring the two edge positions of an adapting nickel tape, and a second automatic monitoringdevice for monitoring the two edge positions of a composite adhesive tape. The tab film and adapting nickel tape conveying control device has the advantages that relative positions of the adapting nickel tape and the composite adhesive tape can be automatically monitored, the product quality stability is improved, the equipment utilization rate is improved and the labor intensity is reduced.

The invention discloses a method for controlling a cutting knife of a tea-leaf picker based on visual inspection. The method comprises the steps that a camera is mounted on the right ahead portion of the tea-leaf picker, the visual angle of tea leaf picking condition of a leaf inlet is shot, two areas which are obviously different from tea trees in color and are different from each other in color are marked on the cutting knife of the tea-leaf picker in advance, the number of pixel points in the two areas of a collected image are detected to judge the relative position of the cutting knife and the crowns of the tea trees, and control signals are output to automatically adjust the position and the angle of the cutting knife. According to the method, a computer visual inspection technology is used for judging the position of the cutting knife relative to the crows of the tea trees, the control signals are output in time to automatically adjust the position and the angle of the cutting knife, the cutting knife is made to be matched with tea crown faces, the tea leaf picking quality and the tea leaf picking efficiency are improved, and meanwhile the requirements for the terrain of a tea garden and the flatness of the crowns of the tea-leaf picker are lowered.

The invention discloses an air pressure balance compensator used in a rolling type air excitation negative pressure system, belonging to the technical field of air pressure controllers and solving the problems of complicated structure and larger occupied space of the air pressure controller in the prior art. The air pressure balance compensator comprises an air pressure mechanism, wherein the air pressure mechanism is internally divided into a low air pressure cavity and a high air pressure cavity, a balance compensator main body is arranged between the low air pressure cavity and the high air pressure cavity, a main body support is arranged at the center of the balance compensator main body, a balance compensator spring is arranged on the main body support, a compensator cushion pad and a compensator sealing pad are also connected on the balance compensator main body, the compensator cushion pad and the compensator sealing pad are symmetrically arranged around the center of the center axis of the balance compensator spring, the compensator sealing pad is connected with an upper sealing layer, the compensator cushion pad is connected with a lower sealing layer, the upper sealing, the lower sealing layer and the balance compensator main body separate the interior of the air pressure mechanism to form a low air pressure cavity and a high air pressure cavity. The air pressure balance compensator adopts the lever principle, and has a simple and compact structure.

The present application discloses a testing method, device and system for application programs running on a mobile terminal. Wherein said testing method comprises: intercepting the response information that network server returns, obtains the information characteristic relevant with information simulation; Described response information refers to following information: the process of the application program being tested that is positioned at described mobile terminal reports to network server Initiate a network request, the response information is the response information returned for the network request; determine whether the information characteristics related to information simulation are consistent with the simulation information characteristics in the preset configuration information; if so, then according to the intercepted According to the type of the response information, the test simulation information corresponding to the type is generated, and the test simulation information is returned to the process of the tested application program of the mobile terminal. The present application realizes the automatic simulation of the return result of the operating third-party server in the mobile terminal test, and also provides a means of automatic simulation of special scenarios.

The invention relates to a transmission control device for ear glue and nickel transfer belt, comprising a case and a PLC control system, the case is provided with a master belt transmission line and a sub-belt transmission line, and the master belt transmission line and the sub-belt transmission line are parallel Distributed on both sides of the front and back of the chassis, the transfer welding station and the tape thermal lamination station are arranged successively above the master tape transmission line, and the master tape cutting mechanism is provided at the output end of the master tape transmission line. A sub-tape cutting mechanism is provided under the output end of the tape transmission line, and an adapter sub-tape clamping mechanism for transferring the sub-tape to the master tape is provided under the output end of the sub-transmission line. A first automatic monitoring device for monitoring the positions of the two edges of the transfer nickel tape, and a second automatic monitoring device for monitoring the positions of the two edges of the composite tape. The transmission control device for the tab glue and the nickel-transfer belt of the present invention has the advantages of automatically monitoring the relative position of the nickel-transfer belt and the composite tape, improving product quality stability, improving equipment utilization rate, and reducing manual work intensity.

The invention relates to an automatic control mechanism of a skin-residue separator for tomatoes. The automatic control mechanism comprises an overflowing device, a liquid level detecting device, a liquid level adjusting device, a controller, a feeding pipeline and a discharging pipeline, wherein the overflowing device comprises an overflowing groove, an overflowing groove driving device, a sliding groove and a settling chamber; the liquid level detecting device is arranged at one side of the settling chamber and comprises a liquid level box and a liquid level sensor; the liquid level sensor is arranged in the liquid level box; the liquid level adjusting device is connected with the settling chamber by a water pumping pipe, a water supplying electromagnetic valve and a water supplying pipeline and comprises a water storage pool, a water pump, a water source pipeline, a flow returning pipeline, the water pumping pipe, the water supplying pipeline, the water supplying electromagnetic valve and a flow returning electromagnetic valve. The automatic control mechanism has the advantages that the liquid level of the settling chamber for separating skins from residues of the tomatoes is automatically adjusted by the overflowing groove, and is detected in real time, and the switching on and off of the flow returning electromagnetic valve and the water supplying electromagnetic valve are controlled to adjust the flow rate of the overflowing groove, the separating rate and the separating purity of the skins and the residues are improved and the overflowing loss is reduced.

The invention discloses an offshore crane time optimal trajectory control method and system, and aims to solve the problem of automatic control of an offshore crane system. Good load positioning and load swing eliminating performance is achieved, firstly, a kinematic model of the system is transformed for subsequent analysis, a kinematic model is analyzed to find that the system accords with differential flat characteristics, coordinates of a load in a geodetic coordinate system are flat output, a complex coupling relationship between state variables is processed, a track planning problem of the offshore crane system is converted into a flat output planning problem, and then, a series of physical constraints including mast movement speed and acceleration constraints, lifting rope movement speed and acceleration constraints and load swing angle and angular velocity constraints are considered, a time optimization problem is further constructed, and then the optimal transportation time and the corresponding optimal reference trajectory are obtained by using a dichotomy-based method. A simulation result shows that a good control effect can be obtained.

The invention discloses a high-temperature region signal detection device and a casting blank counting method. The device comprises a cantilever hanging ball limit device and a control loop, the lowerportion of the cantilever hanging ball limit device is connected with a movable hanging ball by the aid of a high-temperature-resistant fire resistant cable, and a relay in the control loop is controlled by the hanging ball to generate limit signals when casting blanks come. According to the counting method, the number of the casting blanks is counted by the aid of limit detection signals received by an industrial control computer. Limit signals can be stably detected, an automatic knockout control function in a high-temperature region is achieved, continuous casting and continuous casting machine data statistics are ensured, and continuous casting operation standard refinement and product quality are improved.

The invention relates to the field of image processing, and discloses a vehicle-mounted-based automatic calibration control method. The method comprises the steps of obtaining video image data, identifying the number of calibration points, and obtaining positioning data of vehicle-mounted positioning points; acquiring positioning data of a first calibration position at the first calibration distance; acquiring positioning data of a second calibration position at a second calibration distance; calculating the course of the vehicle body according to the positioning data of the first calibrationposition and the second calibration position; calculating an included angle between the vehicle body heading and a connecting line of the first calibration point and the second calibration point; andtriggering calibration when the absolute value of the included angle-90 degrees is smaller than or equal to a first threshold value. The invention further discloses a corresponding storage medium andsystem. Some technical effects of the invention are that automatic control of camera calibration is realized.