40results about How to "Solve the problem of deviation" patented technology

The invention provides a motorcade autonomous car following system, a portable device and a method; the system comprises the following parts: a GPS module in a data acquisition unit is used for gathering vehicle positioning information, and an inertial navigation module in the data acquisition unit is used for gathering vehicle acceleration information and angular velocity information; a fusion positioning module in a data processing unit is used for fusing the GPS information and inertial navigation information in real time, thus obtaining a self-vehicle absolute pose; a car following controlcalculation module is used for planning an absolute route according to the self-vehicle absolute pose information, front vehicle absolute pose information and a head vehicle history route, updating an absolute route table, and calculating to obtain a vehicle target velocity and direction turning angle for vehicle control. The system and method can realize combined positioning via the GPS module and the INS module, are high in positioning precision, high in data refreshing frequency, and cannot be affected by illumination and weather environment factors, thus effectively improving the autonomous car following system precision and reliability. The device is portable and easy to construct, and low in cost.

The present invention discloses an arrival angle estimation method based on the sparse Bayesian theory in existence of cross coupling. The method comprises the steps of: constructing a sparse signal model in the existence of antenna array cross coupling and arrival angle grid deviation; initializing unknown parameters in the sparse signal model; according to the current unknown parameter values, solving a joint probability distribution function based on the Bayesian theory, and estimating a receiving signal mean value and a covariance matrix; through adoption of the maximization likelihood function, estimating the variance of noise and variance of the receiving signals; calculating and obtaining a spatial spectrum of the receiving signals; through adoption of the maximization likelihood function, estimating the arrival angle grid deviation, and updating a dictionary matrix in the existence of the grid deviation; estimating the variance of the array antenna cross coupling vector and thecross coupling vector of the array antenna; and performing iteration calculation until reaching the set number of times of iteration, finishing the iteration, and outputting the spatial spectrum of the receiving signals and the solved receiving signal arrival angle. The arrival angle estimation method based on the sparse Bayesian theory in existence of cross coupling improves the arrival angle estimation performance and achieves the high-precision estimation of the signal arrival angle.

The invention relates to a design method of a counter flow cooling tower. The method comprises the following steps: 1, setting the Lewis number to be 1 and correcting a Lewis relation formula; 2, correcting the performance number N of the cooling tower by a correction coefficient k2; 3, iteratively calculating according to the steps 1 and 2 and a formula described in the specifications to obtain the outlet water temperature of the counter flow cooling tower; 4, iteratively calculating by a formula described in the specifications according to the same line relationship of state points of air entering and exiting from the tower and state points of atmosphere on a psychrometric chart to obtain the moisture content of the air exiting from the tower; 5, iteratively calculating according to a reflux ratio formula to obtain the enthalpy value of the air exiting from the tower; 6, obtaining the corrected outlet water temperature and the corrected state parameters of the air entering and exiting from the tower in the counter flow cooling tower which takes the Lewis number and a filler coefficient into account. According to the design method, the Lewis number and the filler coefficient are fully considered during correction and reflux, the calculation precision is very high, a calculation result is matched with an actual measurement result, and the technical problem that the temperature and humidity of the air entering and exiting from the tower cannot be calculated by taking the enthalpy value as the intermediate quantity is solved.

The invention discloses a method for fast breeding male sterile broccoli by using molecular marking, comprising following steps: (1) taking cytoplasm male sterile heterozygote of broccoli as female parent and good auto-copulation of broccoli as male parent, carrying out sexual crossing; taking its auto-copulation as recurrent parent for continuous backcross; (2) choosing sterile deseription in sprout period for backcross generation by using PCR checking technology; (3) choosing the genetic background for said single plants by applying AFLP labeling; (4) choosing plant with its molecular marking reaction being positive for backcross; (5) repeating steps (2) and (3), getting stable sterile broccoli and its relevant maintenance line through 3-4 generation backcross. The invention applies molecular marking connected with male sterile gene for the first time to breed purified male sterile line. The bred male sterile line is free from influence from temperature change, and the sterile degree is 100%.

The invention discloses a textile machine capable of removing fabric rough selvedges. The textile machine comprises a working table. Supporting legs are fixedly connected with the four corners of thebottom of the working table respectively. A placement table is fixedly connected with the center of the top of the working table. Cutting grooves are formed in the two sides of the top of the placement table respectively. By arranging the cutting grooves, a box body, a motor, a rotating shaft, a rotating rod, a slide column, a limiting block, a movable plate, a first slide groove, a movable column, a cutter, a pressing wheel, a collecting box, an air outlet pipe, an exhaust fan, an exhaust pipe, an air suction cover, a second slide groove, a slider, a buckle, an installation frame and a buffering cushion in cooperation, the advantage of removing the fabric rough selvedges is achieved, the problem that an existing textile machine does not have the function of removing the fabric rough selvedges, so the fabric rough selvedges need to be manually removed is solved, the textile machine can automatically remove the fabric rough selvedges, the labor amount of workers is relieved, the work efficiency of the workers is improved, and therefore the practicability of the textile machine is improved.

The invention discloses a differential privacy k-means clustering method based on cluster similarity and transformation invariance. The differential privacy k-means clustering method comprises the following steps: preprocessing a data set; reversely sorting the probabilities P that the sample is selected as the next initial cluster center, and selecting K initial cluster centers by using a roulette method; calculating the product of the Euclidean distance from each sample to K cluster centers and the similarity to each cluster set, and taking the product as a similarity measurement index; dividing clusters according to similarity measurement indexes; calculating a new cluster center u'j, and performing privacy protection on the new cluster center by using a differential privacy Laplace noise mechanism; correcting the new cluster center disturbed by the Laplace noise mechanism according to the transformation invariance of the differential privacy; and repeating the steps until a convergence condition is met or the maximum number N of iterations is reached. According to the method, the problem that the result availability of an existing differential privacy clustering method is poorafter Laplace noise disturbance is added is solved.

The embodiment of the invention provides an image processing method and electronic equipment. The image processing method comprises the steps of obtaining the information of human face feature pointsin an input image, and enabling the human face feature points to comprise orbit feature points and original pupil feature points; determining a deviation direction and a deviation degree of pupils according to the information of the face feature points; and correcting an eyeball area in the input image according to the deviation direction and the deviation degree of the pupil to obtain a correctedimage. The invention discloses the image processing method. The pupil deviation direction and degree are obtained by detecting the face feature information in the input image. Eyeball correction is achieved according to the pupil deviation direction and degree, and therefore the eyeball deviation problem caused by the fact that the camera is not located in the center of a screen is solved. The camera shooting rate of the electronic equipment is increased, and the shooting experience of a user is improved.

The invention discloses an AGV (automated guided vehicle) trolley positioning device and positioning method. The device comprises an AGV trolley walking track setting device, a micro controller and alight flow sensor, wherein the micro controller and the light flow sensor are respectively arranged on the AGV trolley; the AGV trolley walking track setting device is connected with the micro controller arranged on the AGV trolley through a wireless communication module; the light flow sensor arranged on the AGV trolley is connected with the micro controller arranged on the light flow sensor; themicro controller arranged on the AGV trolley is connected with a walking control mechanism of the AGV trolley and is used for obtaining the displacement quantity to walk of the AGV trolley accordingto the AGV trolley walking track, and is used for comparing the AGV trolley practical displacement quantity detected by the light flow sensor and the displacement quantity to walk of the AGV trolley,and regulating the walking speed of left and right wheels of the AGV trolley according to the comparison result. The AGV trolley walking path precision can be greatly improved, so that the sorting efficiency of the AGV trolley can be improved.

The invention relates to a design method of a transverse flow type cooling tower. The design method comprises the following steps: I, modifying a Lewis relational expression; II, modifying a characteristic number of a cooling tower; III, meshing a calculation area space, and performing iterative computation according to the step I, the step II and the equation as shown in the specification to obtain parameters of final water outlet temperature and air outlet state of grids; IV, performing iterative computation according to the equation as shown in the specification and the calculation result of the step III to obtain the moisture content of air discharged from the tower; V, performing iterative computation according to a backflow rate equation as shown in the specification and the calculation result of the step III to obtain the enthalpy of air discharged from the tower; VI, modifying the water outlet temperature and the tower inlet / outlet air state parameter of the transverse flow type cooling tower according to the Lewis number and packing coefficients obtained from the step I to the step V. According to the design method, the Lewis number and the packing coefficients are sufficiently considered for modification and backflow, the calculation accuracy is very high, the calculation result is fit with the practical measurement result, and the technical problem that the inlet / outlet temperature and the humidity of the tower cannot be solved by taking the enthalpy value as an intermediate quantity is solved.

The present invention relates to the technical field of measuring instruments, and in particular to a deviation-proof pull-type truck scale apparatus. The apparatus comprises a supporting seat, a slope, a bull stick, and a stripper plate. The slope is fixedly connected to left and right sides of the supporting seat. An electronic scale body is disposed on the supporting seat. A supporting lever ishinged at each of four corners on the bottom of the slope. A roll is disposed on the bottom of the supporting lever. The roll is supported by an electric telescopic rod. A side baffle is disposed oneach of front and back sides on the top of the supporting seat. An indicator light is fixedly connected to the top of a marker post on a right side of the side baffle. The bottom of the supporting seat is fixedly connected to a ring pull by using a third connection block. The apparatus is reasonable in structure and design. The adjustable supporting levers are used, so that the apparatus is supported by the roll, or the bottom of the slope contacts the ground, so as to implement dragging movement and fixation of the apparatus. The two side baffles on the front and back sides may be used to prevent weighing precision due to wheel falling from one side of a truck scale as a vehicle deviates when driving onto the truck scale. The indicator light is used for indicating whether the vehicle deviates.

The invention relates to the technical field of key parameters of InP-based avalanche diode devices, in particular to a method for acquiring key parameters of an avalanche diode, which comprises the following steps of determining corresponding measuring point gains according to measuring point light currents by actually measuring the measuring point light currents and measuring point voltages of a plurality of measuring points of a to-be-measured avalanche diode, carrying out mathematical transformation on the measuring point gain and the measuring point voltage of the corresponding measuring point, then carrying out linear fitting, and determining the slope and the intercept of a fitting line shape, and in practical application, determining the breakdown voltage through the slope and the intercept. The corresponding relation between the gain of the device and the applied voltage can be determined according to the slope and the breakdown voltage, the M value at several times of Vbr can be rapidly obtained, and the condition that the M value is obtained by calculating the voltage value according to the Vbr and the multiple and then searching the corresponding light current is not needed; according to the scheme, the problem of device working point deviation caused by inaccurate breakdown voltage calculation according to the fixed dark current can be solved.

The invention discloses a method for producing a medium and small aperture seamless steel tube by reducing and rolling a hollow continuous cast tube blank. The technical process thereof is as follows: utilizing a large-scale round blank heating furnace to heat a hollow tube blank to 1050-1200 DEG C; after discharging the tube pipe out of the furnace, carrying out high-pressure descaling on the tube blank so as to remove scale on the surface of the tube blank; transmitting the tube blank to the front desk of an elongator through a rollgang, aligning with the center of the hole pattern of the elongator, and enabling a push rod trolley to move towards the inlet direction of the elongator so as to lead the push rod to penetrate into the blank; causing the rollgang to rotate so as to feed the blank into the elongator; utilizing the elongator to carry out rolling, wherein the wall thickness of the blank is reduced to the needed wall thickness, the outer diameter is reduced to the needed diameter, the diameter reducing rate of the blank reaches 60%, and the wall reducing rate reaches 96%; and utilizing the rollgang to feed a hollow billet into a cooling bed for cooling, and feeding the hollow billet into a three-roller longitudinal rolling tensile force reducing and sizing unit for reducing and sizing rolling, thereby finally obtaining the needed dimension. The invention lowers the perforation process, and solves the eccentric perforation problem caused in the process of perforating solid core blanks.

The invention provides a perforation auxiliary tool for producing corona wires, and relates to the technical field of auxiliary equipment for machining corona wires. The tool is provided with a fixing tube seat and an adjusting and fixing clamping piece, wherein a corona wire round tube is fixed through the fixing tube seat; the elasticity of the adjusting and fixing clamping piece is adjusted to control assembling and disassembling of the core wire round tube; and after being adjusted to a suitable position, the corona wire round tube is fixed and perforated. The problem that when perforated by a machine in the prior art, a round tube rolls and deviates is solved. The tool is provided with a plurality of perforation cushion plates, perforated holes which penetrate in perforation cushion plate bodies are formed in the upper portions of the perforation cushion plates, a corona wire round tube can be perforated by a perforation electric drill through the perforated holes in the perforation cushion plates, and is prevented from sliding and deviating, the perforating precision is improved, and the perforating efficiency is also improved.

The invention discloses a blasting driving coal roadway mucking self-shift device, which is used for underground coal mining. The blasting driving coal roadway mucking self-shift device comprises a rake scraper and a trolley, wherein the rake scraper is installed on the trolley; a power device is installed on the trolley; and the trolley is fixed on a rake scraper chassis through a blocking device. The rake scraper chassis is connected with a winch chassis; a prop pulling hoist and a motor are installed on the winch chassis; a rake scraper supporting rod is installed on the winch chassis; and the other end of the rake scraper supporting rod is connected with the rake scraper. The blasting driving coal roadway mucking self-shift device has the advantages of convenience, quickness, high safety property, high efficiency and high economic benefit.

The invention provides a magnetic refrigerator air conditioning system which solves the problem that magnetic working medium particles are prone to deviation in rotation, so that the magnetic working medium particles are not even. The magnetic refrigerator air conditioning system is characterized in that a hot side airtight water tank, a heat dissipating heat exchanger, a magnetic refrigerator, a heat absorption heat exchanger and a cool side airtight water tank are sequentially connected on a water conveying pipeline. The two air outlet pipes of an air cylinder are inserted into the two airtight water tanks respectively and above a liquid level, and a linear motor is used for driving the air cylinder. A servomotor is used for driving the magnetic refrigerator to rotate back and forth in the range of 180 degrees through a gear transmission system. When the magnetic refrigerator rotates to the demagnetization direction, a piston of the air cylinder operates towards an air cylinder hot side cavity. When the magnetic refrigerator rotates to the magnetization direction, the piston of the air cylinder operates to an air cylinder cold side cavity. The magnetic refrigerator air conditioning system has the advantages that the problem that the magnetic working medium particles deviate in continuous rotation is solved and the system can operate for a long time.

The invention discloses a using method of a multifunctional circuit board punching mechanism. Not only the circuit board punching problem is solved, but also the problem of circuit board shifting in the production process is solved. A circuit board clamp device is arranged and is capable of firmly pressing a circuit board, the stability of the circuit board is improved, the whole device can be adjusted longitudinally and transversely, the whole operation process is simple, the circuit board clamp device is extremely high in accuracy and low in manufacturing cost, greatly improves overall efficiency and operation reliability, and the function is enhanced remarkably.

The invention discloses a method for estimating the angle of arrival based on sparse Bayesian theory in the presence of mutual coupling, comprising: constructing a sparse signal model when there is mutual coupling of antenna arrays and a grid deviation of the arrival angle; initializing unknown parameters in the sparse signal model ;According to the current unknown parameter value, the joint probability distribution function is solved based on Bayesian theory, and the mean value and covariance matrix of the received signal are estimated; By maximizing the likelihood function, the variance of the noise and the variance of the received signal are estimated; the calculated The spatial spectrum of the received signal; by maximizing the likelihood function, estimating the grid deviation of the arrival angle, and updating the dictionary matrix when there is a grid deviation; estimating the variance of the mutual coupling vector of the array antenna and the mutual coupling vector of the array antenna; iteration The calculation stops until the set number of iterations is reached, and the spatial spectrum of the received signal and the solved angle of arrival of the received signal are output. The invention improves the performance of estimating the angle of arrival and realizes the high-precision estimation of the angle of arrival of the signal.

The invention provides a magnetic refrigerator air conditioning system which solves the problem that magnetic working medium particles are prone to deviation in rotation, so that the magnetic working medium particles are not even. The magnetic refrigerator air conditioning system is characterized in that a hot side airtight water tank, a heat dissipating heat exchanger, a magnetic refrigerator, a heat absorption heat exchanger and a cool side airtight water tank are sequentially connected on a water conveying pipeline. The two air outlet pipes of an air cylinder are inserted into the two airtight water tanks respectively and above a liquid level, and a linear motor is used for driving the air cylinder. A servomotor is used for driving the magnetic refrigerator to rotate back and forth in the range of 180 degrees through a gear transmission system. When the magnetic refrigerator rotates to the demagnetization direction, a piston of the air cylinder operates towards an air cylinder hot side cavity. When the magnetic refrigerator rotates to the magnetization direction, the piston of the air cylinder operates to an air cylinder cold side cavity. The magnetic refrigerator air conditioning system has the advantages that the problem that the magnetic working medium particles deviate in continuous rotation is solved and the system can operate for a long time.

An embodiment of the present invention provides an image processing method and an electronic device, wherein the image processing method includes: acquiring information of facial feature points in an input image, and the facial feature points include orbital feature points and original pupil feature points ; According to the information of the facial feature points, determine the deviation direction and degree of pupil deviation; according to the deviation direction and degree of pupil deviation, correct the eyeball area in the input image to obtain a corrected image. The image processing method in the present invention obtains the pupil deviation direction and degree by detecting the facial feature information in the input image, and realizes the correction of the eyeballs according to the pupil deviation direction and degree, thereby solving the eyeball deviation caused by the camera position not being in the center of the screen Problems, improve the camera filming rate of electronic equipment, and improve the user's shooting experience.

The invention discloses a multifunctional micro metering hole electric spark machining clamp. The multifunctional micro metering hole electric spark machining clamp comprises a base, a clamping blockI and a clamping block II, wherein the center of the base is provided with a variable diameter hole, and the diameter of an upper hole is smaller than the diameter of a lower hole in the variable diameter hole; a positioning shaft I is arranged at the bottom of the clamping block I, the diameter of the positioning shaft I is matched with the diameter of the upper hole, an eccentric sliding valve mounting groove is formed in the upper part of the clamping block I, and a to-be-machined sliding valve is arranged in the sliding valve mounting groove; a positioning shaft II is arranged at the bottom of the clamping block II, the diameter of the positioning shaft II is matched with the diameter of the upper hole, an eccentric valve block mounting groove is formed in the upper part of the clamping block I, and a to-be-machined valve block is arranged in the valve block mounting groove; when the clamp is used for machining the sliding valve, the clamping block I is arranged on the base, and the sliding valve is arranged into the clamping block I; and when the valve block is machined, the clamping block II is arranged on the base, and the valve block is arranged in the clamping block II. The multifunctional micro metering hole electric spark machining clamp has the advantages that the clamp assembly is simple in structure, clamping of an operator is fast, the manufacturability is high,the machining freedom degree of a part is reasonably limited, and the size precision of the pat is guaranteed easily.

The invention discloses a mobile platform calibration device for 3D printing of a disinfection robot shell, and relates to the field of 3D printing, the mobile platform calibration device comprises a base, wherein a support is mounted at the top end of the base, a printing head is mounted at the bottom end of the support, a limiting plate is mounted in the base, and a rotating ball is connected to the bottom end of the limiting plate; and a positioning magnet is mounted in the rotating ball. According to the invention, through the arrangement of the limiting plate, the mobile platform which is reset at the moment is detected through a horizontal measuring plate; and if the moving platform deviates, air in a calibration liquid tank can move into the corresponding calibration tube and is attached to the outer side of a buoy, so that the buoy does not fall off due to the buoyancy of liquid; a power connection head connects a wire to an annular power connection wire, the wire transmits current into a single chip microcomputer, the single chip microcomputer processes signals and then transmits deviation information of the mobile platform into a control ring, and the power of the electromagnet is controlled through the control ring until the mobile platform returns to the horizontal position.

The invention relates to the technical field of measuring instruments, in particular to an anti-deviation traction truck scale device, which includes a support base, a slope, a rotating rod and an extruding plate. The slope is fixedly connected to the left and right sides of the support base, and There is an electronic scale main body, the four corners of the lower end of the slope are hinged with support rods, the lower end of the support rods is provided with rollers, and the rollers are supported by electric telescopic rods, and side baffles are provided on the front and rear sides of the upper end of the support base, and the right side of the side baffles An indicator light is affixed to the top of the marking rod, and a pull ring is affixed to the lower end of the support seat through the third connecting block. The structure design of the present invention is reasonable, the device is supported by rollers or the bottom surface of the slope touches the ground through the adjustable support rod, and then the traction, movement and fixation of the device are realized. The wheels fall off the side of the truck scale, which affects the weighing accuracy, and the indicator light is used to indicate whether the vehicle has deviated.

The invention provides a perforation auxiliary tool for producing corona wires, and relates to the technical field of auxiliary equipment for machining corona wires. The tool is provided with a fixing tube seat and an adjusting and fixing clamping piece, wherein a corona wire round tube is fixed through the fixing tube seat; the elasticity of the adjusting and fixing clamping piece is adjusted to control assembling and disassembling of the core wire round tube; and after being adjusted to a suitable position, the corona wire round tube is fixed and perforated. The problem that when perforated by a machine in the prior art, a round tube rolls and deviates is solved. The tool is provided with a plurality of perforation cushion plates, perforated holes which penetrate in perforation cushion plate bodies are formed in the upper portions of the perforation cushion plates, a corona wire round tube can be perforated by a perforation electric drill through the perforated holes in the perforation cushion plates, and is prevented from sliding and deviating, the perforating precision is improved, and the perforating efficiency is also improved.