1693results about How to "Solve the speed problem" patented technology

The present invention relates to an indoor mobile robot positioning system and method based on two-dimensional code. The system includes a two-dimensional code positioning controller mounted on a mobile robot, a two-dimensional code acquisition device and a two-dimensional code label distributed in the indoor environment. The two-dimensional code positioning controller is composed of a microprocessor and a communication interface that are connected together. The microprocessor is connected with the two-dimensional code acquisition device through the communication interface and is used for controlling the two-dimensional code acquisition device to acquire two-dimensional code images, receive the two-dimensional code images acquired by the two-dimensional code image acquisition device and realize precise positioning function. The method acquires an actual position of the mobile robot through photographing the indoor two-dimensional code labels, transforming coordinates and mapping code values. The method of the invention organically combines visual positioning technique, two-dimensional code positioning technology and two degree of freedom measuring technology to realize the function of precise positioning of the mobile robot and solve problems of complex image processing and inaccurate positioning of a traditional vision positioning system.

The invention pertains to the technical field permanent magnet motors, and relates to a permanent magnet motor sliding mode control strategy. The permanent magnet motor is controlled by adopting double-closed speed current. The permanent magnet motor sliding mode control strategy is characterized in that a sliding mode speed controller and an extended sliding mode observer are adopted in the control strategy, the sliding mode speed controller adopts an exponential approach law containing the speed error and the sliding mode surface information, the deviation between a given rotating speed and a feedback rotating speed is taken as the input quantity, and a q-axis current given value is outputted through the sliding mode control quantity; the extended sliding mode observer is used to estimate the rotor position, the rotating speed and the load torque on a real-time basis, the rotating speed and the rotor position are used to provide the information of speed closed-loop control and coordinate transformation, and the load torque is compensated to the sliding mode speed controller, so that the high-accuracy vector control of the permanent magnet motor can be realized. The control strategy of the invention can be used to make the system fast track a given speed in the dynamic state, reduce the speed overshoot and the current fluctuation, and improve the disturbance resistance performance of the system.

The invention discloses a facial avatar cartoonization realization method based on cyclic generative adversarial nets. The method includes the steps of crawling a number of real people pictures and cartoon character pictures from the network; identifying the face in the pictures based on the face detection algorithm to obtain a real face avatar and a cartoon face avatar as training samples; constructing cyclic generative adversarial nets composed of generators and discriminators and designing a loss function; taking the real face avatar and the cartoon face avatar as the input, training the cyclic generative adversarial nets to minimize the loss function; and inputting the real face avatar to be processed into the generators of the trained cyclic generative adversarial nets to obtain the corresponding cartoon face avatar. The performance of the first generator of the cyclic generative adversarial nets can be optimal, the input real face avatar can be cartoonized, and the real-timenessand effectiveness of face cartoonization can be realized.

The invention relates to the field of machining equipment, in particular to a movable clamping working table for round steel machining. The movable clamping working table comprises a table top, a rotating table, a two-way lead screw and a movable bracket, the upper surface of the table top is rotationally connected with the rotating table, a sliding groove is formed in the upper surface of the rotating table, the two-way lead screw is mounted inside the sliding groove, the outer side wall of the rotating table is fixedly connected with a clamping motor, the movable bracket sleeves the two-waylead screw, a guiding groove is longitudinally formed in the side wall of the movable bracket, a lifting lead screw is arranged in the guiding groove, a lifting block sleeves the lifting lead screw, and a clamping mechanism is mounted on the side wall of the lifting block. By arranging the two-way lead screw and the movable bracket, the end of round steel is clamped by a clamping plate to completeclamping action, the clamping speed is high, the working efficiency is greatly improved, by arranging the lifting block and the lifting lead screw, the height of the round steel can be adjusted according to the actual machining needs, and by arranging universal wheels capable of rising and falling, the movable clamping working table can be conveniently pushed to move.

The present invention discloses a deep learning-based SAR remote sensing image water surface target detection method, which mainly solves the problems of the slow detection speed and low positioning accuracy in the existing SAR image water surface detection method. The specific implementation is: designing and pre-training an image classification model; then designing and training a target detection model based on the model, wherein the target detection model comprises an RPN region suggestion network and a Fast R-CNN target detector; and finally using the trained model to detect the SAR imagewater level. The method disclosed by the present invention has the advantages of a high detection speed and high detection accuracy, and can be used for water surface target detection of large-area SAR images.

The invention discloses an image segmentation method for a dynamic contrast-enhanced mammary gland MRI sequence, pertaining to the field of magnetic resonance image processing techniques, which is characterized by comprising the following steps: a three-dimensional magnetic resonance image sequence of the section of the mammary gland is put into a computer; the image is divided into two parts including a mammary gland-air interface and a mammary gland-chest interface; a breast-air boundary is obtained by a splitting transaction in which a dynamic threshold controls the regional growth; an initial profile of the mammary gland and the chest is obtained in the same way, the complex profile of the breast and the chest is obtained with a method of controlling a level set; a three-dimensional magnetic resonance image sequence of a point-in-time is obtained by split jointing the segmentation results and taken as an initial position of the next group three-dimensional image segmentation. The image segmentation method of the invention increases the segmentation speed, solves the problem that a level set algorithm can not easily determine the initial profile and the velocity function and realizes an automatic segmentation of the complex dynamic contrast-enhanced mammary-gland magnetic resonance image with plenty of data.

The invention discloses tread rubber for a large project tire and the large project tire using the tread rubber. The tread rubber for the large project tire consists of (A) tread cap rubber, (B) tread center rubber and (C) tread base rubber. On one hand, the invention adopts rubber matrixes with three different formulas to well solve the problem that an outer layer is easy to overcure if the tread rubber for the large project tire is thick; and on the other hand, the tread rubber prepared by the three formulas of the rubber matrixes can obtain superior equilibrium between abrasion resistance, heat resistance, tear resistance, low heat generation and curing speed.

The invention discloses a building surveying method utilizing a total station combined with a three-dimensional laser scanner. The method comprises the steps of: setting stations on the surrounding of a building, selecting one station as a benchmark station, and measuring the WGS-84 coordinate value of the benchmark station; arranging control points on the outer surface and the inner surface of the building, measuring and recording the coordinates of the points through the total station one by one, and scanning and measuring an obtained control point set [xi] through the three-dimensional laser scanner one by one to obtain building viewpoint cloud data, wherein a control point set [yi] is available; and realizing coarse registration on the viewpoint cloud through the [xi] and the [yi], converting the viewpoint cloud data into a WGS-84 standard coordinate system, and finally, performing global registration through the coarse registration result.

The invention discloses a control method for a robot automatic spraying system. The control method of the robot automatic spraying system comprises the following steps of (1) acquiring feature data of a workpiece to be sprayed; (2) processing acquired data by using an image processing system; (3) automatically generating a track; (4) simulating; (5) controlling a user interface; (6) determining a spraying parameter; and (7) performing spraying. The control method of the robot automatic spraying system has the advantages of high automation degree, high machining precision, wide application range and the like. Different workpiece spraying tracks can be generated automatically, the operation difficulty of a user is reduced, the traditional manual programming on single different-model workpieces to be sprayed is replaced, consumed time on spraying is shortened, and the production efficiency is improved.

A surgical navigation method comprises collecting the three-dimensional images of an organ through nuclear magnetic resonance or CT (computed tomography) before an operation; receiving a planned puncture trace input by a user and displaying the planned puncture trace in the three-dimensional images; collecting the three-dimensional images of the organ through an ultrasonic device during the operation, and converting the three-dimensional images into an operating room coordinate system through a tracer; registering the three-dimensional images before the operation with the three-dimensional images during the operation to obtain final displacement vectors and rotation matrixes; according to the final displacement vectors and the rotation matrixes, converting the three-dimensional images and the planned puncture trace into the operating room coordinate system for displaying; obtaining the motion trace of a puncture needle utilized during the operation through the tracer and displaying the motion trace, the three-dimensional images before the operation and the planned puncture trace in the operating room coordinate system synchronously. The invention also provides a corresponding surgical navigation system. According to the surgical navigation system, blurred images during the operation are replaced by clear images before the operation to provide great help to aspects such as operation, time and image clearness.

The invention relates to the field of the language processing, and provides a decoding method based on a deep neural network translation model. The problems of high model training complexity, large training difficulty and slow decoding speed in a machine translation model are solved. The specific implementation way of the method comprises the following steps: performing word segmentation processing on the to-be-translated sentence to obtain source language vocabulary; step two, performing word alignment on the linguistic data in a preset translation model glossary by using an automatic alignment tool so as to obtain a target language word aligned to the source language vocabulary; and step three, determining a target-side dynamic glossary of the to-be-translated sentence based on the target language word obtained in the step two, and using the sentence decoded by using a column searching method as the output of the translation model according to the pre-constructed translation model, wherein the translation model is the deep neural network based on the threshold residual mechanism and the parallel attention mechanism. Through the decoding method disclosed by the invention, the model translation quality is improved, and the mode coding speed is improved.

The invention discloses a high-slew-rate error amplifier-based high-accuracy and high-speed low dropout (LDO) regulator circuit, which comprises an over-the-air (OTA) circuit, a second-stage push-pull output circuit, a Miller compensation and dynamic zero compensation circuit, a load current detection circuit, a super source-level follower, a dynamic offset pipe, a feedback network and an output and load circuit. By the LDO circuit, the problems of low gain, low accuracy, low power supply suppression ratio and low response speed of the conventional LDO are solved.

The invention relates to a soft sensing method for load parameters of a ball mill. The method is that a hardware supporting platform is used to obtain vibration signals, vibration sound signals and current signals of a ball mill cylinder to soft sense ball mill internal parameters (ratio of material to ball, pulp density and filling ratio) characterizing ball mill load. The method comprises the following steps that: the vibration, the vibration sound, the current data and the time-domain filtering of the ball mill cylinder are acquired, time frequency conversion is conducted to the vibration and the vibration sound data, kernel principal component analysis based nonlinear features of the sub band of the vibration and the vibration sound data in frequency domain are extracted, nonlinear features of the time domain current data are extracted, feature selection is conducted to the fused nonlinear feature data and a soft sensing model based on a least squares support vector machine is established. The soft sensing method of the invention has the advantages that the sensitivity is high, the sensed results are accurate, the practical value and the popularization prospect are very good, and the realization of the stability control, the optimization control, the energy saving and the consumption reduction of the grinding production process is facilitated.

Disclosed is a method and equipment for treatment of polluted fluid, wherein ferrum family flocculating agents of a finite concentration are charged into the membrane bioreactor, in which they are subject to domestication and become compact biological ferrum sludge with improved property.

The invention relates to a recycling method for treating ammonia nitrogen containing high-salt catalyst wastewater by adopting a membrane separation technology. The process flow of 'acid regulation, micro-filtration, membrane distillation, cooling and crystallization' is adopted in the method. By adopting the process flow, salts, ammonia nitrogen and metal ions in the wastewater can be effectively removed, and deep treatment and recycle of the ammonia nitrogen containing high-salt catalyst wastewater are realized. The process flow makes full use of the technical advantages of membrane distillation, solves the problem that the discharge of high salts, ammonia nitrogen and metal ions of the ammonia nitrogen containing high-salt catalyst wastewater does not reach the standards, and realizes recycle of the produced water. After the ammonia nitrogen containing high-salt catalyst wastewater is treated by the process flow, the reclamation rate of the wastewater is more than 90 percent, and high recycle of the ammonia nitrogen containing high-salt catalyst wastewater is realized; and the method accords with the development strategies of energy conservation and emission reduction, and has remarkable social benefit and economic benefit.

The invention relates to an explosion-proof reconnaissance robot, which comprises an explosion-proof reconnaissance robot moving platform, an explosion-proof environment parameter acquisition mechanism, an explosion-proof infrared data acquisition mechanism, an explosion-proof camera mechanism and a host computer console. Crawler belt falling or rolling over does not happen when the explosion-proof reconnaissance robot passes an object with different left and right heights; the explosion-proof reconnaissance robot can still travel safely when high-temperature flame burns a body per se or crawler belts; through the communication protocol and the control mechanism, the chassis control algorithm driven by the target can be realized, and the response speed and control precision of the robot are improved; the movement performance, safety and applicability of the reconnaissance robot in the complex, harsh or even high-risk environments are improved, the survival rate of the reconnaissance robot is increased, the reconnaissance robot can enter the scenes of dangerous disasters and accidents, such as radioactive, high-temperature, flammable and combustible, toxic, oxygen-deficient and heavy-smoke scenes, for reconnaissance, data acquisition and even rescue by replacing workers, and thus the problems such as personal safety of workers and insufficient data acquisition at the scenes areeffectively solved.

The invention provides a continuous wave slurry pulse generator. A power and transmission device is arranged at the bottom; a pressure balancing and sealing module is arranged in the middle; a rotary valve is arranged on the top; the power and transmission device is composed of a motor driver, a motor assembly, a universal coupler, a secondary sealing transmission shaft and a main transmission shaft; the motor assembly is fixedly arranged in a pressure-resisting cylinder; the secondary sealing transmission shaft is connected with the motor assembly through the universal coupler; the pressure balancing and sealing module is composed of the pressure-resisting cylinder, a balancing piston and a high-pressure plug; the pressure-resisting cylinder is provided with a pore path through which the slurry flows; the pressure-resisting cylinder is provided with a pore path through which the hydraulic oil flows; and the rotary valve is composed of a stator, a rotor and a sleeve. The continuous wave slurry pulse generator is simple in structure, is reliable in working and is suitable for a wireless system for measuring while drilling. The problems of low speed and high error rate for information transmission are solved.

The invention belongs to the technical field of a servo driver, in particular to a high torque starting method for the servo driver. The aim of the invention is to solve the problem of serious influence on the control accuracy of a servo system due to executive mechanism vibration caused by disturbed torque in the starting process of an alternating current (AC) permanent-magnet servo motor. The technical scheme provided by the invention comprises the following steps of: firstly, establishing a simulation model of the servo driver in MATLAB according to the hardware circuit of the servo driver; secondly, acquiring a proportion integration differentiation (PID) value according to a multi-model control method based on pattern recognition; and finally, acquiring a control signal by a space vector pulse width modulation (SVPWM) method according to the acquired PID value to drive the servo motor and realize the startup of the servo driver. Based on a correction and control technology for current and position deviation in the starting process of the servo driver, the method is effective and rapid and can weaken the ripple wave torque generated by countering electromotive force of the motor and stator current harmonic, improve the low speed stability and control the accuracy.

The invention discloses a method and a server for providing picture data to a computing terminal. The method comprises the following steps of: receiving a picture visit request sent by the computing terminal, wherein the picture visit request comprises picture information to be visited and the terminal type information of the computing terminal; determining the compression ratio of a picture according to the terminal type information of the computing terminal; acquiring the picture data corresponding to the picture information in the picture visit request, and carrying out compression processing on the picture data according to the determined compression ratio; and sending the picture data processed by compression to the computing terminal. The problems of low loading speed and great consumed network traffic when the picture is visited by a mobile terminal are solved. The picture can be quickly loaded by the mobile terminal, and the traffic consumed when the picture is visited is reduced.

The invention discloses an encrypted data file storage and retrieval method. The method comprises the steps that after content metadata is extracted from a data file, the data file is encrypted to generate an encrypted data file to be stored in storage equipment of a cloud storage system; the content metadata is added with a file global identifier of the data file in an encrypted state and then stored in a content metadatabase of the cloud storage system; when the encrypted data file stored in the cloud storage system is retrieved, the content metadatabase is retrieved through an inverted index method to acquire the file global identifier matched with a retrieval keyword, and attribute information and content information of the encrypted data file corresponding to the file global identifier are listed to serve as a retrieval result. According to the method, the content metadata is extracted before the data file is encrypted, the file global identifier of the file in the encrypted state is added into the content metadata, the encrypted data file stored in the cloud storage system is retrieved through the file global identifier, and the retrieval convenience of the data file is guaranteed while the safety and the privacy of the data file in a cloud storage environment are guaranteed.

The invention discloses a license plate character recognition method based on the combination of K-L transformation and LS-SVM. Firstly, the method of K-L transformation is adopted to carry out dimensionality reduction of features to a character image of the license plate; then, according to the permutation features of the character image of the license plate, the cluster distance method of cluster analysis is adopted, and four groups of optimal LS-SVM classifiers of binary trees are designed to respectively realize the recognition of English alphabets, numbers, characters and English alphabets plus numbers in license plate characters. The method adopted by the invention better solves the problem that other license plate character recognition methods have unidentifiable fields, does not require to traverse all classifiers when classifying, thus greatly improving classifying efficiency, shortening the feature extraction process of the license plate characters, reducing the calculation work of sample training and the recognition time of the license plate characters and simultaneously improving the recognition rate of a license plate recognition system and the capability of classification and promotion.

The invention discloses a software upgrading method and an upgrading device. The method comprises the following steps: equipment to be upgraded is taken as a client side, a PC is taken as a server side, and socket-based network link is established between the equipment to be upgraded and the PC; the PC transmits an upgraded file to the equipment to be upgraded through the socket-based network link; and the equipment to be upgraded receives the upgraded file and updates a program memory thereof. In the upgrading method, the equipment to be upgraded is taken as the client side based on socket programming, thus achieving software upgrading for a plurality of client sides through a network, and improving the software upgrading efficiency.

The invention provides an urban disaster thematic map real-time generating method based on network information. The method comprises the following steps that S1, the urban disaster information is obtained from networks in real time; S2, the urban disaster information is subjected to automatic place name recognition and is then subjected to spatial orientation; S3, the semantic mapping technology based on space time correlation rules is applied, and the urban disaster information subjected to the spatial orientation is subjected to semantic parsing; S4, the urban disaster information subjected to the semantic parsing is subjected to spatial data mining with graphic correlation, and the urban disaster thematic data with graphic spatial correlation is generated; S5, the urban disaster thematic data are subjected to visual representation, and an urban disaster thematic map is generated. The urban disaster thematic map real-time generating method has the advantages that the urban disaster information can be obtained in real time, the obtained urban disaster information is subjected to intelligent mining, the urban disaster thematic map is quickly generated and dynamically issued, and the quick generation and dynamical issuing level of the urban disaster thematic map is improved, and service is provided for urban management and emergency relief.

The invention discloses a high-density flexible substrate appearance defect detection system and a method based on depth learning, the method comprises a hardware platform and a software detection platform. The detecting method comprises the following steps: FICS images containing different defects is collected as training samples; pre-processing on the sample image is carried out, including the unified standard size and manual marking of the defect position and the category in the sample; a sample image is input into a depth learning model based on an improved YOLO convolution neural networkto carry out training to obtain model parameters which are output as defect positions and categories; the collected image size is standardized and input into a trained depth learning model for detection, and the defect position and the category information in the acquired image are obtained. The method can achieve the rapid positioning and the type identification of the appearance defects of the high-density flexible substrate, and solves the problem that the traditional defect detection system and the method are low in speed and is difficult to achieve high-density FICS appearance defects.

The invention discloses a 3D printing bionic porous biological ceramic artificial bone and a preparation method thereof. A porous biological ceramic artificial bone model is designed through a TPMS and CSG combined method, slurry capable of being used for printing is prepared through biological ceramic powder and a binding agent, macropores and micropores are distributed in the porous biological ceramic artificial bone prepared through the combination with the 3D filament-free printing process, the pore diameter of the micropores is smaller than 100 micrometers, the pore diameter of the macropores is 200-800 micrometers, the total porosity is 20% to 80%, the communicating rate between the macropores is not lower than 99%, precise design of porosity, communication and homogeneity in the artificial bone is achieved, and meanwhile good pore communication is ensured. Adopted raw materials have good biocompatibility, entry passageways of cells and tissue fluid are provided by the macropores, the micropores can better adsorb tissue fluid nearby for cell growth, the cell growth speed and the new bone generation speed can be increased by combining the micropores with the marcropores, and application of the porous biological ceramic artificial bone in human body large bone defect repair clinic treatment is facilitated.

The invention discloses a biochip analysis method based on an active contour model and a cell neural network. The method comprises the following steps that improved Hough transformation is adopted to perform slant correction on a rectangular sampling point, and improved Radon transformation is adopted for a circular sampling point; initial positioning is performed on the sampling points by using a projection method, and an optimized network is generated; then the network is adaptively adjusted on the basis of neighborhood search, and secondary precise positioning is performed on the sampling points; the active contour model is optimized by using a greedy algorithm, and a CNN (Cable News Network) is utilized to classify the sampling points in accordance with signal strength; Multiple snakes are combined with the CNN, the CNN first learns about the convergence behavior of the sampling point snake with a strong signal and then guides the convergence of the sampling point snake with a weak signal, and finally, reasonable partition of the sampling points is realized; and signal data of microarray sampling points is extracted and output. By using the method, the problems of slant correction of a biochip image, difficulty in partition of sampling points with irregular shapes and sampling points with weak signals and the like are solved, automatic identification of biochip sampling points is realized, and the method is suitable for quick analysis of large-scale biochip sampling points.

The invention belongs to the field of a power system, and particularly relates to an equivalent aggregation simulation method for electromagnetic transient simulation of a large-scale wind farm. The invention provides an aggregation simulation method for simulating the large-scale wind farm by a single wind turbine and an ideal controlled current source according to the basal principle of an electromagnetic transient simulation algorithm of a power system and the characteristics of dynamic equations of a motor and a control system as well as an algebraic equation solving algorithm of an electric network. By adopting the equivalent aggregation simulation method for carrying out related research on synchronization of the large-scale wind farm, the complexity of modeling the large-scale windfarm can be reduced, and the modeling efficiency can be improved.

The invention discloses a method and a device for reducing and roasting manganese dioxide into manganese monoxide in electrolytic manganese industry. The method comprises the following steps: dried manganese dioxide mineral powder is ground, well mixed with reducing powder and conveyed to a feeding bin on the top of a roasting furnace, and then enters hermetic roasting devices; a plurality of burners are arranged among the hermetic roasting devices; fuel is burnt so as to roast manganese dioxide ore; the manganese dioxide ore and the reducing powder are heated and roasted to 900 to 970 DEG C in the hermetic roasting devices with no oxygen supplement; under the circumstance of oxygen-free contact after reaction in the lower ends in the hermetic roasting devices, the temperature of roasted manganese ore is lowered, so as to recover heat and cool the manganese ore; and finally, the manganese ore is discharged out of a furnace by an automatic discharging device and then is subjected to a subsequent process. The method and the device can reduce and roast the high / low-grade manganese dioxide ore, have the advantages of low production cost, simple process and convenient operation, can control the reduction rate of manganese dioxide and other metals through the automatic discharging device, and improve the quality of final products.

The invention provides a powerless optimizing method based on a primal-dual interior-point method and a taboo search method. The method combines the primal-dual interior-point method and the taboo search method together and can quickly and conveniently process the powerless optimizing calculation of a large scale electric network with a discrete variable by utilizing the characteristics of good astringency of the primal-dual interior-point method as well as the characteristic of convenient processing on the discrete variable of the taboo search method. The optimizing method is also suitable for an automatic voltage control system.

The invention relates to a wide motion range macro-micro dual-drive positioning platform. A lower platform substrate of the invention is provided with two parallel guide rails; an upper platform substrate is arranged on the two parallel guide rails of a lower platform through linear motion guide assembly; the upper platform substrate is processed into a micro displacement worktable supported by flexible hinges through linear cutting; a stator of a linear motion actuator is fixed on the lower platform substrate; a connecting frame of a rotor of the linear motion actuator is fixed with the upper platform substrate; a grating ruler is arranged on one side of the lower platform substrate and fixed on the lower platform substrate through a fixed mount; a reading head of the grating ruler matched with the grating ruler is fixed with the micro displacement worktable through the connecting frame. A coarse motion worktable of the invention completes wide range high speed movement and the positioning accuracy is in micrometer grade; the micro displacement worktable compensates for positioning error and swing error of the coarse motion worktable so that the positioning accuracy reaches nanometer accuracy.