755results about How to "The calculation process is simple" patented technology

The invention provides a power weight quantification-based nerve network forward operation hardware structure comprising the following elements: an input buffer memory module used for caching input data and nerve network power weight transferred to a chip from a global memory, wherein the nerve network power weight comprises a convolution core and a full-connecting matrix; a computing module used for carrying out convolution and full-connecting matrix vector multiplying operation based on power weight quantification; an output buffer memory module used for caching the convolution and full-connecting matrix vector multiplying operational result obtained by the computing module; a control module used for carrying out data transfer and operational resource scheduling for the input buffer memory module, the computing module and the output buffer memory module. The power weight quantification-based nerve network forward operation hardware structure can effectively reduce the nerve network memory space, and can effectively reduce nerve network operational expenses, thus obviously improving the application space of the nerve network calculating system on the terminal equipment.

A camera layout and calibration method for improving the depth-of-field measurement precision of the invention belongs to the field of computer vision, and relates to a camera layout and depth-of-field calibration method for improving the measurement precision of cameras in the depth-of-field direction. The calibration method starts from both optimized camera layout and depth-of-field calibration, and improves the measurement precision of a vision measurement system in the depth-of-field direction. First, the baseline length and the angle between the optical axes of two cameras are determined to optimize camera layout; then, the scope of depth of field is determined according to the measurement object distance, the focusing state and the lens parameters, a calibration plate is driven by a high-precision electric control device to move between multiple positions in the depth-of-field direction of the camera, and the parameters of the binocular camera are calibrated by using multiple images of the calibration plate in each position; and during measurement, different camera parameters are selected in different positions of depth of field according to feature information to reconstruct feature 3D information. According to the invention, no prediction of the distortion model of any space in the depth of field is needed during calibration, and the robustness of calibration is improved. The calibration method has the advantages of simple process, high precision, and easy implementation.

The invention declares a correction method used for attitude and course angles of a navigation system. The method comprises the following step of providing an effective method of conducting magnetometer error compensation and attitude angle error secondary modeling and correction, and realizing error correction of a whole system on the basis of an ellipsoid fitting method of improving expanded Kalman filter. The correction method is used for error correction of the attitude and course angles in an inertial integrated navigation and positioning system composed of an inertial measuring unit (IMU), a magnetometer and the like. According to the invention, a magnetic field compensation method is expanded to three-dimensional ellipsoid fitting from two dimensional elliptical fitting; a new ellipsoidal model and an improved extended Kalman filter method are utilized to conduct ellipsoid fitting; through the adoption of the method, the dynamical and real-time compensation for three-dimensional magnetic field interference of a carrier self can be effectively realized, and the accuracy in the measurement of the geomagnetic field is improved, thereby improving the precision of the course angle of the carrier; the error secondary modeling is conducted on the attitude angle information output by the navigation system, and then compensation is conducted on the output attitude angle to improve the precision of the attitude angle in real time.

The invention discloses a bone grinding robot which comprises a bone drill for grinding a focal bone, a mechanical arm for driving the bone drill to move, a multi-dimensional force sensor for collecting acting force generated by the bone drill during grinding of the focal bone, and a robot controller, wherein the bone drill, the mechanical arm and the multi-dimensional force sensor are electrically connected to the robot controller respectively; the robot controller is used for decomposing the acting force collected by the multi-dimensional sensor into tangential force along the tangent plane of the focal bone and axial force along the axis of the bone drill, controlling the moving posture of the mechanical arm so as to keep the tangential force at a preset value, and obtaining a grinding depth position of the bone drill for the focal bone according to a force value of the axial force. According to the bone grinding robot, the calculation processing process can be simplified, and the grinding depth can be judged, so that the surgical precision is improved, and the surgical accuracy and safety are improved.

The invention discloses a subsection space aligning method based on a homography transformational matrix. According to the subsection space aligning method based on the homography transformational matrix, large marked distance is sectioned, the homography transformational matrix between a camera coordinate system and a millimeter-wave radar coordinate system of each subsection is acquired, errors caused by using a same homography transformational matrix to represent coordinate relations of two sensors in the prior art are avoided, and space aligning of target detection of the large marked distance can be achieved. Relations of different coordinate systems between the camera and the millimeter-wave radar are deduced and represented, and finally the relations of the coordinate systems between the camera and the millimeter-wave radar are represented by the homography transformational matrix N. The two sensors are used for obtaining target data and solving the homography transformational matrix N, and a camera internal parameter matrix and a rotation matrix which are composed of solving scaling factors, focal distance and the like are avoided and a camera external parameter matrix composed of translation vectors is avoided. Therefore, operation process is greatly simplified and operation time is saved.

The invention discloses a device and a method for estimating the health status and the state of charge of a battery pack on line. A monitoring unit measures the running status of the battery pack in real time; a storage unit stores data measured by the monitoring unit; an iterative computation unit computes an iteration parameter of a battery model; a voltage prediction unit calculates and outputs a voltage predicted value; an error computation unit computes an error between the voltage predicted value and a measured value; a parameter prediction unit calculates equivalent internal resistance and equivalent capacitance of the battery pack; an average temperature computation unit computes an environmental temperature average value within one hour; a temperature correction unit converts the parameter value of the battery pack into a corrected value at the normal temperature of 25DEG C; a health status estimation unit predicts the health status of batteries; a decoupling unit decouples the heath status and the state of charge of the batteries; a stage of charge estimation unit predicts the state of charge of the batteries. The device can estimate the health status and the state of charge of the batteries under real-time working condition.

A color detector is prepared as fixing light source and sensor on shell, shining detection light of three basic color as red and green as well as blue on object to be detected by light source, using sensor to receive reflection lights generated separately by object to be detected as per three basic colors and generating electric signal corresponding to color of object to be detected according to light parameter of said reflection light. The color identification device and relevant color identifying method are also disclosed.

Provided is a moving trajectory planning method for a space moving multi-arm robot. The moving trajectory planning method includes that firstly, according to the specific position transfer task of the space moving multi-arm robot, the position to be reached by the two ends of a first robot arm and the position to be reached by the two ends of a second robot arm are determined; the moving trajectories of the two ends of the first robot arm and the moving trajectories of the two ends of the second robot arm are calculated based on a quintic polynomial planning method; the moving trajectories of the joints of the first robot arm and the moving trajectories of the joints of the second robot arm are calculated according to the kinematic equation of the robot arms to determine the moving trajectory of the space moving multi-arm robot; and a collision detection algorithm is designed to detect the collision safety between the robot arms and a robot platform, between the robot arms and a target spacecraft, and between the robot arms during the movement of the robot.

The invention provides a micro-grid power supply capacity optimization configuration method. An island micro-grid is taken as a research object, the influences of the charge and discharge depth and frequency of a lead acid battery on life are analyzed, the influence of the energy storage life of the lead acid battery on micro-grid power supply capacity optimization configuration and the influence of wind curtailment punitive cost, reliability constraints and the like on the micro-grid power supply capacity optimization configuration are taken into consideration, an established model is more comprehensive, and a micro-grid power supply capacity optimal configuration scheme obtained through solving the established micro-grid power supply capacity optimal configuration model by use of a genetic algorithm of linearity weight can help to improve utilization rate of power supply capacity configuration of a micro-grid system, reduce power supply configuration waste and decrease investment cost and operation cost of the micro-grid system; and at the same time, the operation process of the micro-grid power supply capacity optimization configuration method is quite simple, the versatility is quite good, and the method can be widely applied to micro-grid power supply configuration planning on different application occasions and has quite good market popularization and application values.

The invention relates to a panoramic video synchronous splicing system and method of a video collection module and a panoramic video display device. The system comprises a video collecting module, a data transmission module and an image splicing processor; the video collecting module is connected with the image splicing processor through the data transmission module; the video collecting module comprises a plurality of cameras, wherein the cameras are arranged on the same plane in preset sequence, the angle of the two adjacent cameras meets the requirement that the video image photographing range has an overlapped area, and the cameras are combined for photographing a panoramic video image. According to the scheme, the image processor rapidly determines the overlapped area of video frame images of the two adjacent paths in multi-channel video frame data according to the preset camera sequence, according to the overlapped area, image splicing is sequentially performed on video frames of the two adjacent paths according to the overlapped area, the panoramic video frame image is obtained, the image splicing operation process is simplified, equipment operation loads are relieved, and the video splicing efficiency is improved.

The invention provides a soft abrasive flow ultra-precision machining two-phase flow monitoring method based on a discrete phase model, comprising the following steps: 1) a two-phase flow discrete phase model facing to the soft abrasive flow ultra-precision machining is established, a soft abrasive flow work runner is a straight channel with a U-shaped cross section which consists of a structured surface to be processed and a constraint model and is meshed by an unstructured hexahedral grid, and the motion curve of discrete phase particles is solved by the differential equation of particle acting forces under an integral Lagrangian coordinate system; and 2) particle pressure is reflected by pressure additionally applied on the wall surface of the runner due to the action of collision among the particles, and the variation condition of the soft abrasive flow line etching rate along the runner direction is obtained by extracting the particle pressure and particle speed. The invention can effectively monitor grinding quality in the whole runner environment and simplify calculation.

The invention provides a user implicit rating method for recommending a video, which is characterized by comprising the following steps of: a, receiving operation information which is executed on a video to be rated by a user; b, calculating a primary score based on video duration and a user observation proportion; and c, carrying out further calculation on the primary score according to a degeneration time difference to obtain a final score, wherein the degeneration time difference is a difference of time for carrying out operation on a video by a user and carrying out implicit rating on the video. The method disclosed by the invention is a method for adjusting user implicit rating by combing time degeneration according to the video duration; and the method has the advantages of more accurately grasping interests of the user, being more close to a user interesting changing tendency and being more efficient and portable.

The present invention relates to a method and system of capturing a three-frequency multichannel radio measurement system signal. The method comprises the steps of S1: adopting three high speed analog-to-digital converters to carry out the low pass sampling on three frequency band analog intermediate frequency signals simultaneously to obtain the digital intermediate frequency signals; S2: carrying out the down-conversion processing on the three frequency band digital intermediate frequency signals simultaneously according to the respective set carrier frequencies to obtain three frequency band to-be- despread data flows; S3: capturing three frequency band multichannel signals in a time division multiplexing capture manner; S4: carrying out the code phase search; S5: waiting for the next memorizer switching moment; S6: converging a Doppler frequency search range step by step by utilizing the speed of searching one frequency unit within one data sampling cycle to obtain the carrier parameters of the signals; S7: searching the code phase time delay of a time evaluation peak point signal; S8: obtaining an accurate instant code phase, and outputting a capture result. The system is used to realize the above method. The method and the system of the present invention have the advantages of being easy to realize, being high in precision, being able to satisfy the current engineering conditions, etc.

The invention provides a neural network model establishing method and a voice waking method, a device thereof, a medium and equipment. The model establishing method comprises the following steps: extracting acoustic features of each frame in a speech signal; obtaining a feature spectrum based on the acoustic features; inputting the feature spectrum into the neural network model and performing treatment through a convolution layer, a pooling layer and a fully connected layer to obtain a wake-up word probability value; and correcting the model parameters according to the comparison result of thewake-up word probability value and a preset value. The voice waking method includes the steps of receiving the voice signal input by a user; extracting an acoustic feature of the voice signal; and obtaining the feature spectrum based on the acoustic spectrum; processing the feature spectrum by the neural network model to determine the wake-up word probability value; and determining whether the voice waking is performed or not based on the wake-up word probability value. The method obtains the feature spectrum by extracting the acoustic features of the speech signal, and processes the featurespectrum by using the neural network to obtain the wake-up word probability value, which improves the computational efficiency while reducing the computational complexity.

The invention discloses a target real-time tracking method and device, a computer device and a storage medium. The target real-time tracking method comprises the following steps: acquiring original video data; selecting a reference image from the original video data and detecting an object to obtain at least one reference tracking object and a corresponding reference object feature vector; performing target detection on the current image to obtain at least one current tracking target and a corresponding current target feature vector; determining feature similarity of each benchmark tracking target based on the benchmark target feature vector and the current target feature vector; if the feature similarity is less than the preset similarity, determining the reference tracking target corresponding to the feature similarity to be a missing tracking target in the current image; and if the feature similarity is less than the preset similarity; if the reference tracking target is lost in theN consecutive frames after the current image, releasing the reference tracking target. The real-time target tracking method can judge and release the lost target, and improve the accuracy and efficiency of target tracking.

The application aims to provide a cache management method and device. The method comprises: storing first index information of each data block and the data block to a disk, wherein the storage position of the data block in the disk corresponds to the first index information; and writing all first index information in the disk into corresponding caches. Compared with the prior art, multiple pieces of index information established with the method can break through value range limitation of single piece of index information to realize query on mass data; meanwhile, the matching of query keywords is performed in the cache with relatively high access speed, so that the query speed is greatly increased; and in addition, the data blocks stored in the disk are stored in the caches when necessary as needed, so that the cache space is saved while the query efficiency is ensured. Through the cache management method and device, users can quickly access to the mass data, so that great convenience is brought for applications of instant data statistics, calculation, analysis and the like on the basis of obtaining the mass data.

The invention discloses a controlling method for the image partition brightness. Firstly inputs a display image; then the display image is divided into several blocks and the average brightness of every block is calculated, control the related block brightness according to the average brightness of every block, build an enquiry form to store several chromatic value and several weighted chromatic value, the form is built in the display, the brightness of every block could be controlled according to the form; the invention also can be used to control the brightness of light-emitting diode in a backlight module.

The invention discloses an economic optimization operation method for a combined heat and power generation type microgrid. According to the method, the influences in multiple aspects of electrothermal characteristics of a heat pump apparatus in a combined heat and power generation type microgrid system, charge / discharge life loss expenses of an energy storage apparatus, wind curtailment loss, startup and fuel expenses of a combined heat and power generation unit and the like are researched; the influences are converted into expense costs to be added into a target function; an optimal economic operation model of the microgrid is established and solved by adopting a particle swarm algorithm; related constraint conditions are made in the solving process to perform particle swarm constraint adjustment so as to improve the solving efficiency; and an optimal economic operation scheme of the combined heat and power generation type microgrid is obtained, and the heat-electricity performance of the combined heat and power generation type microgrid in a scheduling cycle is controlled according to the optimal economic operation scheme, so that the situations of excessive generated energy and waste of power and energy resources in the microgrid system are reduced, and the operation cost of the microgrid system is assistantly reduced under the condition of meeting power supply load demands.

The invention provides a robot time optimal trajectory planning method, and belongs to the technical field of robot control. The trajectory planning method solves the problem that in the prior art, atrack planning method is poor in practical applicability. The robot time optimal trajectory planning method comprises the steps of obtaining and discretizing a task path and obtaining coordinates of discrete points, and further comprises the steps of A, obtaining kinematics parameters; B, determining variables and constraint conditions, and establishing a constraint inequality; C, calculating to obtain an optimal variable constraint maximum value and an actually allowable optimal solution; D, acquiring information of each discrete point, and generating a discrete point interpolation array; andE, regenerating a discrete point sequence about time, and calculating and outputting joint information about time, so that the adaptability of method application is improved, the calculation difficulty is reduced, and the working efficiency is improved.

The invention provides a three-dimensional coordinate transformation method and device based on coordinate projection. The method comprises the following steps: establishing a track-detection car coordinate system and a geodetic coordinate system; acquiring relative position relationship between the track-detection car coordinate system and the geodetic coordinate system by measurement; selecting reference points and directly measuring out initial coordinate values of the reference points in the track-detection car coordinate system and final coordinate values of the reference points in the geodetic coordinate system; according to the relative position relationship and the initial coordinate values and the final coordinate values of the reference points, solving a corresponding relation formula which adopts coordinate projection, coordinate rotation and coordinate translation for the initial coordinate value of any point in the track-detection car coordinate system to obtain the finial coordinate value; and measuring initial coordinate values of track-detection target points in the track-detection car coordinate system, and substituting into the corresponding relation formula obtained in the former step to acquire finial coordinate values of the track-detection target points in the geodetic coordinate system. The three-dimensional coordinate transformation method and device provided by the invention have the advantages that by dimension-reducing processing, the operation process is simplified and the computational accuracy is increased.

The invention relates to an automatic removing method of a vehicle-mounted laser point cloud noisy point based on angle and intensity. The operation steps comprise: acquiring point cloud data by utilizing a laser scanner, and calculating the solar altitude angle according to the time and longitude and latitude of each scan circle of the point cloud data; solving the equation of a POS (point of sale) plane of each scan circle time according to the posture and position information of a POS system; calculating an included angle between a connection line formed by three-dimensional coordinate points in a scan circle and the POS center and the POS plane, calculating the difference value of the included angle and the complementary angle of the solar altitude angle, comparing the difference value and the threshold value of the angle, and determining the points less than the angle threshold value to be the noisy points; calculating the covariance matrix of point coordinates in neighborhood of the noisy points, solving the property value of the matrix, determining the coplanarity and colinearity of the matrix, and determining the points less than the threshold value to be noisy points again; and calculating the variance value of intensity distribution in the neighborhood of the noisy points, and determining the points greater than the threshold value as the noisy points. The method has the advantages of high automation degree, quickness and high efficiency.

The invention discloses a cycle slip repair method of carrier phase in the satellite navigation positioning, belonging to the technical field of satellite navigation positioning and relating to the cycle slip repair method of a positioning receiver based on the carrier phase positioning process. The phase observation values of n epochs of carriers before the occurrence of the cycle-slip are selected to constitute a sequence (Xt), the (Xt) is firstly carried out with the modeling to obtain a forecast value x n plus 1 of the trend component and a first residual sequence (Yt); the first residual sequence (Yt) is then carried out with the modeling to obtain the forecast value y n plus 1 of the periodic component and a second residual sequence (Zt); then the second residual sequence (Zt) is carried out with the modeling to obtain the forecast value z n plus 1 containing the random component; the corresponding inverse transformation is finally carried out according to the forecast values obtained by various models, thereby obtaining the forecast value x n plus 1 of the carrier phase of the n plus 1st epoch at the occurrence of the cycle-slip and further completing the repair of the cycle-slip. The cycle slip repair method does not need the additional auxiliary information and can rapidly and accurately complete the cycle slip repair. The cycle slip repair method can rapidly, conveniently and reliably realize the high-precision positioning of the carrier phase measurement and can be widely applied in a high-precision navigation positioning system.

The invention relates to a movement target detection and extraction method based on a movement attention fusion model. The movement target detection and extraction method is characterized in that the movement attention fusion model is constructed through change characteristics of motion vectors in time and space according to movement contrasts of target movement in the time and the space, and accurate extraction on a movement target under an overall movement scene is achieved by combining noise removal, median filtering and edge detection. In order to remove limitations of target detection and extraction under the overall movement scene at present, the time-space movement attention fusion model, the noise removal technology, the image filtering technology and the edge tracking and detection technology are adopted. Testing results of multiple overall movement video scenes display that compared with other algorithms, the algorithm has the advantages that the accuracy is high, the complexity is low, the operation amount is small, and the instantaneity is high.

The invention discloses a method for fast and accurately realizing concrete pump truck cantilever crane movement locus. The method comprises the following steps: analyzing a movement space of the concrete pump truck cantilever crane, providing a regional planning law of the movement locus of a concrete pump truck cantilever crane system, reasonably dividing a working region of the cantilever crane, and selecting proper regional parameters, setting a transition area between adjacent regions, obtaining a target joint variable of the unique group of concrete pump truck cantilever crane system by searching the region of a tracing point, thereby substituting the traditional robot positive and inverse solution computation which can be completed by computing a large number of transcendental equations. By planning the movement locus of the concrete pump truck cantilever crane, the solution difficulty of the concrete pump truck cantilever crane system joint variable is greatly reduced, the method is a fast and accurate inverse solution algorithm, and has the characteristics of being high in automation degree and high in instantaneity.

The invention belongs to the field of relaying protection device reliability assessment and relates to an ultrahigh-voltage circuit relaying protection system reliability assessment method with covert faults taken into consideration. An ultrahigh-voltage circuit relaying protection system is provided with two sets of main protection devices and a set of backup protection devices. According to the reliability assessment method, at first, every single protection system is assessed, and then the whole protection system is assessed. According to assessment of the single protection system, the state space of a single protection device is determined, the states comprise the normal operation state, the off-line state of a protected element, the off-line state of a protecting element, the operation state with the covert maloperation fault hidden danger, the operation state with the covert rejection hidden danger, the protected element and protecting element off-line operation state with the covert maloperation hidden danger, and the simultaneous off-line state of the protected element and the protecting element, a state space model is set up, a markov transition matrix corresponding to the model is determined, and the probability value of each state is obtained. By means of the method, the relaying protection device can be assessed more accurately and reliably in real time.

The invention relates to a path navigation method for large-scale virtual crowd, which comprises the steps of: firstly, processing static scene objects and generating static local potential energy; secondly, generating a corresponding global potential energy field aiming at each target point according to the static local potential energy; thirdly, processing face-type dynamic objects and generating dynamic local potential energy; fourthly, processing point-type dynamic objects and updating a collision detection grid, and fifthly, for each individual, calculating to obtain the acting force of each potential energy, obtaining final navigation capacity and updating individual state according to the final navigation capacity. The invention has the advantages that the global navigation potential energy is generated by using the static local potential energy field, the arithmetic process of the global potential energy is simplified, the target point can be quickly navigated through a global optimal path, the dynamic objects are considered categorically, the collision among the dynamic objects can be quickly avoided, the individual in the crowed uses independent perception and policy, and various behavioral characteristics are allowed to express.

The invention discloses a multi-motor torque output and distribution controlling method. The multi-motor torque output and distribution controlling method comprises the following steps of: a, calculating torques, needed by a vehicle during running, by using vehicle controller modules; b, comparing motor working efficiency of different motor numbers during working, selecting the motor number with the high efficiency, calculating the total motor working efficiency at different torque distributing modes according to the selected motor number, and selecting a torque scheme when the total motor working efficiency is highest as the optimal scheme; c, distributing the motor torques according to an optimal scheme; d; distributing the torques, needed by the vehicle during running, to the motor controller modules with a set number; e; exerting the motor controller modules to control the adaptive motors to work according to the distributed torques; and f, exerting the motors to output the torques to the same driving shaft. According to the scheme, the motor working efficiency can reach the highest level through small calculated amount so that the energy is saved and the driving mileage is increased. The scheme is applied to electric automobiles, which are driven by two and more non-independent motors.

The invention relates to the technical field of intelligent traffic signal lights, in particular to a dynamic controllable intelligent traffic information prompt system based on big data. The dynamiccontrollable intelligent traffic information prompt system based on the big data comprises a central system module, an information acquisition module, an extensible control management end, a client end and a display terminal, wherein the central system module comprises a data storage module based on Hadoop, a distributed deep learning module, a satellite communication transmission module and a computer cluster, and the computer cluster is used as a running carrier by the data storage module based on the Hadoop and the distributed deep learning module; the information acquisition module comprises a vehicle flow information acquisition module, a human flow information acquisition module, a pavement information analysis module, a weather information acquisition module and a data translation module; the client end comprises a user terminal APP and a developer terminal APP; and the display terminal comprises a traffic information light and a speaker. According to the dynamic controllable intelligent traffic information prompt system based on the big data, self-learning is achieved, the more intelligent, more humanized intelligent transportation system is formed, and it is suitable for popularization.