306 results about "Fast tracking" patented technology

The invention relates to a method for automatically and smoothly tracking a target by a cradle head, which comprises the following steps of: (1) acquiring target position information and cradle head state information and updating in real time; (2) calculating actual rotating speed and direction of a cradle head tracked moving target according to the target position information and cradle head state information, wherein the calculation method comprises the following steps of: calculating the angular speed and direction of the target moving relative to the cradle head, and correcting the angular speed and direction of the target moving relative to the cradle head according to deviation between the current actual rotating angle of the cradle head and a theoretical rotating angle of the target in the center of an image so as to obtain the actual rotating speed and direction of the cradle head tracked moving target; and (3) controlling the rotation of the cradle head to track the moving target according to the actual rotating speed and direction of the cradle head tracked moving target. The method is reasonable in design, realizes intelligent monitoring function of the moving target so as to position the moving target in a central range of a monitored picture, and has the characteristics of simple implementation, fast tracking, high accuracy, high real-time property and the like.

The invention discloses antenna beam tracking device and method of a moving communication satellite communication system. The antenna beam tracking device comprises a geographical position detection device, a carrier gesture detection unit, a signal intensity detection unit, a signal conditioning circuit and a master control computer, wherein the master control computer controls a servo driver; and the servo driver controls an azimuth and pitching motor. The antenna beam tracking method comprises the following steps of: 1, initially capturing a target satellite; 2, tracking: setting initial parameters, storing and updating the initial parameters in real time, generating simultaneous disturbance random vectors, driving disturbance, measuring the intensity of received signals, estimating gradient, determining tracking error signals, regulating antenna beam pointing directions, and judging the received signals; and 3, recapturing. The invention has the advantages of simple design, low cost, system implementation without changing the hardware structure of an original tracking system, easy operation, high tracking accuracy and fast tracking speed and overcomes the defects of inconvenient operation, complex tracking step, lower tracking accuracy and tracking speed, and the like of the traditional method.

A limit time cooperative control method of a mechanical arm servo system includes: building the dynamic model of the mechanical arm servo system, and initiating the system state, sampling time and related control parameters; approximating the nonlinear input dead zone linearity in the system into a simple time-varying system according to the differential mean value theorem, and deriving a mechanical arm servo system model with an unknown dead zone; calculating the tracking error, the non-singular terminal sliding mode surface and the first derivative of a control system; selecting a neural network approximation unknown function on the basis of the mechanical arm servo system model with the unknown dead zone, designing a neural network limit time cooperative controller according to the system tracking error and the non-singular terminal sliding mode surface, and updating a neural network weight matrix. By the method, additional inverted compensation of a nonlinear dead zone can be avoided, sliding model high-frequency buffeting is reduced, and limit time fast tracking of the mechanical arm servo system is achieved.

Aiming at the problems of video multi-target data association and tracking with a large monitoring range and few target appearance features, the invention provides a video multi-target fast tracking method based on a complex condition of improved joint probability data association (JPDA) by utilizing target movement features, that is, the video multi-target fast tracking method is based on the joint probability data association. The invention comprises the steps of calculating the optimal k joint events of JPDA by adopting simplified Murthy algorithm to greatly reduce the computational complexity; discussing movement conditions of targets according to association probability of JPDA, analyzing the current frame measurement and the data association problem of tracking targets in the event of complicated cases such as new appearance, shielding, disappearance, separation and the like of multi targets, and acquires the multi-target tracking trajectory of the complex movements. The method provided by the invention can achieve the video multi-target fast tracking under large monitoring range and greatly improve the tracking performance.

The invention discloses a cloud computation based early oncotherapy efficacy evaluation system and method. The system comprises a multimodal imaging acquisition device in the oncotherapy process, a voxel-based multimodal image registration and fusion cloud computation device, a voxel-based early evaluation cloud computation device for efficacies in the oncotherapy process, and a posttreatment cloud computation evaluation device. The system and method provides more accurate, reliable and real-time information abundant in information amount to doctors, and accurate bases are provided for establishing patient-orientated personalized treatment programs. By establishment of a molecular image guided early oncotherapy efficacy evaluation cloud system with high-speed processing capacity, a posttreatment historical data reference platform is provided for medical staff, and a platform used for providing bases to timely adjustment, fast tracking or implementation of treatment schemes on the basis of real-time data in the current treatment course can be provided.

The invention discloses an invoicing system for automobile accessories based on a two-dimensional code. The invoicing system comprises a server, a database, a two-dimensional code printer and scanning equipment. Work stations are respectively and correspondingly arranged at each node in the purchase, sales and inventory processes, wherein each work station is connected with the scanning equipment and is connected with the server; and the server is connected with the database. Manufacturers, brands, types and time sequences of the automobile accessories are subjected to two-dimensional coding, and thus a unique tracking method is processed and the problem that the accessories are quickly tracked and positioned in the invoicing system and management information is excessively dispersed are solved. The requirements for quick query and positioning of the accessories are met. Due to the adoption of a unique tracking system, purchase, pricing, price adjustment, sales and changing or refunding of any accessory in the system as well as the accuracy, real-time property and reliability of corresponding loading/unloading management information are ensured. The function for tracking the state of the accessories during the invoicing management is achieved and the speed of an invoicing management system for the automobile accessories for the state tracking of the accessories and the financial settlement as well as the service quality of the invoicing management system are improved.

The invention provides a mechanical arm system saturation compensation control method based on back-stepping sliding mode control. The method comprises the following steps of building a dynamic model of a mechanical arm servo system, and initializing the system state, the sampling time and the control parameter; carrying out saturation linearization processing on the nonlinear input in a system according to the differential mean value theorem, and deriving a mechanical arm servo system model with unknown saturation; calculating the control system tracking error, the sliding mode surface and the differentiation. The invention provides the back-stepping sliding mode control method capable of effectively avoiding the influence of unknown saturation input on the system position tracking control performance and using the saturation compensation control method based on back-stepping sliding mode control and the stable and fast tracking of the system is realized.

The invention relates to output power control for a photovoltaic cell, in particular a tracking control method for the maximum power point of a photovoltaic cell, solving problems that the existing interference observation method can not ensure the tracking accuracy and speed at the same time due to use of a fixed tracking step length. According to the invention, based on the interference observation method, tracking accuracy and speed are taken into account by a more reasonable given tracking step length. The method comprises: using a current fixing method when a working point is on the leftof the maximum power point and far from the maximum power point and using a voltage fixing method when the working point is on the right of the maximum power point and far from the maximum power point, thereby realizing fast tracking and modulation when the working point is far from the maximum power point; using a varied step length disturbance method when the working point is near the maximum power point, therefore ensuring fine modification of the working point of the photovoltaic cell when the working point is near the maximum power point, thus, effectively eliminating oscillating of the system near the maximum power point, realizing fast tracking, effectively improving voltage utilization rate and greatly lowering switching waste of power devices.

The invention belongs to the field of target tracking, and in particular relates to a fast target tracking method with an improved SIFT algorithm. The fast target tracking method comprises the steps of: obtaining a dynamic video by a collection device, obtaining a target image from the dynamic video, extracting SIFT features of the target image and storing into a database, matching the SIFT features of the target with SIFT features of every frame image in the dynamic video, after detecting the target, determining the position of the target in the image, initializing a Mean Shift template according to the area of the target position, iteratively tracking every frame image behind the dynamic video by the Mean Shift, and determining the update frequency of the template according to the tracking target. The fast target tracking method achieves a very effective way for fast tracking objects, and can be widely applied to fields of video monitoring, movement analysis and the like. Compared with the traditional SIFT tracking method, the fast target tracking method with the improved SIFT algorithm is greatly promoted in speed and can completely meet the requirement of being real-time.

The invention discloses a noncontact measurement method for human heart rate and respiration, and belongs to the technical field of heart rate and respiration measurement methods. The purpose of the invention is to improve signal acquisition robustness by using face detection and a fast tracking algorithm. The real-time and continuous measurement of heart rate and respiration is achieved by appropriately reducing the sampling rate of a camera and setting a sliding window. The method comprises a first step of acquiring data; a second step of preprocessing; and a third step of obtaining the heart rate and the respiratory rate. The method has a result substantially the same as the measurement result of a medical electrocardiograph. Compared with the prior art, the method uses the face detection and the CSK fast tracking algorithm to reduce the artifact due to motion and improve the signal acquisition robustness.

The invention provides a people number counting method based on image grey level matching. The method comprises the following steps of: S1, obtaining the video streaming image of a monitoring area as an input image; S2, obtaining a difference image via an inter-frame difference method according to the input image, and performing binaryzation processing on the difference image to obtain a moving target area; S3, scanning the moving target area via a rectangular window, and extracting a pedestrian area; S4, taking the grey level information of the pedestrian area as a template, and performing searching and matching in the central point neighbourhood of the pedestrian area in the next image; and S5, storing the central point position information of the pedestrian area to a target chain, so as to obtain the number of people. According to the invention, the grey level information of the pedestrian area is used as the template, and searching and matching are performed in the central point neighbourhood of the pedestrian area in the next image without a need to search in the whole image, thus reducing the operation processing capacity and the processing time, and realizing rapid tracking for pedestrians.

The present invention discloses a hypersonic aerocraft neural network composite learning non-backstepping control method. The technical problem is solved that a current hypersonic aerocraft control method is bad in practicality. The technical scheme comprises: performing transformation of an attitude subsystem strict feedback form, obtaining an output feedback form, employing a high-gain observer to perform estimation of newly defined variables, and providing basis for subsequent design of a controller; allowing the controller to consider the lump nondeterminacy of the system, and only requiring one neural network to perform approximation, wherein the controller is simple in design and is convenient for engineering realization; aiming at control of unknown cases of a gain function, designing the controller based on the parameter linearization expression mode; and introducing system modeling errors, and constructing a neural network composite updating rule and a parameter adaptive composite updating rule to realize fast tracking of a hypersonic aerocraft. The effective estimation of unknown states is realized based on the high-gain observer, the repeat design of the virtual controlled quantity is not needed so as to simple the design of the controller. the realization is easy, and the practicality is good.

The invention discloses a frequency tracking system for output signals of an ultrasonic power supply based on a fuzzy PI control technology, which is composed of a hardware circuit and software programs, wherein the hardware circuit includes a voltage and current sampling circuit, a band-pass filtering circuit, a phase discrimination circuit, an STM32 chip, an IGBT driving circuit and a display screen connected with the STM32 chip, the phase discrimination circuit collects the phase difference between voltage and current and realizes a digital phase-locked loop, the fuzzy PI control technologyis implemented in the form of the software programs, the software programs are executed by the STM32 chip, the main control program includes a system initialization program, a display screen program,a phase difference information capturing program and a PWM frequency control output program, and the PWM frequency control output program includes a PWM output program and a fuzzy PI algorithm program. The frequency tracking system disclosed by the invention can enable the frequency of the output signals of the ultrasonic power supply to change along with the resonant frequency of a transducer, thereby achieving automatic, accurate and fast tracking for the resonant frequency of the transducer.

The invention relates to a compound control method for the fast and accurate tracking control of the maximum power of a photovoltaic power generation system The photovoltaic power generation system samples the output voltage upv, the current ipv and the working temperature T of the current time of a photovoltaic battery array in real time; photovoltaic output power Ppv (k) is calculated on line and compared with the power Ppv (k-1) of previous time; and if power deviation is larger than a set error range e, a controller fast regulates the output voltage upv by adopting a constant voltage improvement control method till the output power deviation is smaller than the set error range e and then carries out the further accurate tracking control of the maximum power by adopting an admittance incremental method till power error is approximately equal to zero, therefore the purpose of the fast tracking control is achieved. The compound control method can be applied to a photovoltaic power generation MPPT (Maximum Power Point Tracking) control system controlled by adopting an MCU (Microprogrammed Control Unit) or DSP (Digital Signal Processor) chip and has the characteristics of fast response and accurate control.

The invention discloses a fast tracking recognition method for overlapped fruits by a picking robot. The fast tracking recognition method comprises the following steps: continuously collecting the latest ten frames of overlapped apple images through a camera; segmenting the collected first frame of image, and removing a background; determining the position of the circle center of overlapped apples by calculating the maximal value of the minimal distance from points in a circle to the edge of an outline; calculating the distance from the circle center to the edge of the outline to determine a radius; intercepting a subsequently matched template according to the circle center and the radius; determining the circle centers of overlapped apples in the continuously collected latest tens frames of images, and carrying out fitting and pre-judging on the motion path of the robot according to the circle center of each frame of image; determining the positions of overlapped apples in a next frame of image by synthesizing the radius and the pre-judging path, and intercepting the area of the overlapped apples; finally carrying out matching recognition by adopting a rapid normalized cross-correlation matching algorithm. According to the method, tracking recognition of near-spherical overlapped fruits such as the overlapped apples can be achieved; the running time is short; the picking efficiency of the picking robot can be effectively improved.

The invention discloses a method for tracking formation of an antenna beam of a phase array in a mobile satellite communication, relating to a fast antenna tracking technology in the field of mobile satellite communication. The method comprises the steps that: a receiving channel of antenna equipment is divided into a communication channel and a beaconing channel; in the beaconing channel, orthogonal and digital down-conversion of a beaconing signal is carried out and then a low-frequency signal is formed after decimation filtering and processed by an arrival algorithm; the direction of arrival of waves from a satellite is estimated and then the beam formation calculation of the communication channel is carried out based on the direction of arrival of waves and the weight of each communication channel is calculated; according to the weight, phase-shifting is carried out on the radio frequency of the communication channel and beams pointing at the satellite are formed on the communication channel to realize the tracking. The method of the invention has the capacity of fast tracking, saves the servo-mechanical structure, and has the advantages of good performance in impact resistance and shock resistance, small volume, light weight, convenient installation, small breadth, etc., especially applicable to tracking the objects in mobile carriers, such as vehicles, and airplanes, etc.

The invention discloses a permanent magnet synchronous motor control algorithm for improving the transient stability of a small capacity DC bus capacitor voltage. According to the difference between a DC bus voltage and an absolute value of a grid voltage, a given component of a motor direct-axis current is adjusted, the transient stability of the DC bus voltage is improved, and the distortion rate of a grid input current is reduced. A small capacity thin-film capacitor is used for replacing a power factor correction circuit to extend the service life of the entire system. However, the capacitance of the thin-film capacitor is small and the capacitor voltage is susceptible to motor back electromotive force, which results in a series of problems of a high distortion rate of the grid input current and the like. For this reason, the invention adjusts the given component of the direct-axis current based on the difference between the DC bus voltage and the absolute value of the grid voltage, and adopts an internal model controller or a repetitive controller or a PR controller as a current controller to realize the fast tracking of period demand signals by d-q currents of the motor.

The invention discloses a KCF-based improved anti-shielding target tracking method. The KCF-based improved anti-shielding target tracking method is based on a KCF algorithm and combined with a Kalmanfilter. The KCF algorithm has the advantages of fast tracking speed, high tracking precision and wide application in the target tracking field, but cannot cope with situations of scale changes and target large-area shielding. The KCF-based improved anti-shielding target tracking method adopts parallel computing to realize multi-scale target detection of a KCF, and designs an effective algorithm for determining target shielding. When determining that the target is severely shielded, the KCF-based improved anti-shielding target tracking method adopts a prediction result of the Kalman filter as acurrent frame target position. Experiments prove that the KCF-based improved anti-shielding target tracking method can effectively cope with the occurrence of tracking drift situation when the KCF algorithm encounters target large-area shielding, so that the KCF algorithm can track the target more precisely when encountering the shielding.

The invention discloses a photovoltaic grid-connected inverter MPPT (Maximum Power Point Tracking) system based on the admittance optimization algorithm. In the invention, the advantages of the conductance increment algorithm and the fuzzy control algorithm are combined, the admittance optimization algorithm is independently researched and developed, and the fuzzified transfer function and the defuzzification judgment are established. A photovoltaic array Pmax is calculated through a photovoltaic array P-U curve, the voltage level fluctuation can be fast followed, no complex algorithm is required, the maximum power of a solar battery can be fast tracked, and the requirement for MPPT control on the photovoltaic system in various occasions can be well satisfied. Test results verify that the algorithm has better effects such as compatibility with different systems, fastness and the like in comparison with the conductance increment algorithm. The results of a great deal of experiments and test show that the photovoltaic grid-connected inverter MPPT system based on the admittance optimization algorithm has excellent real-time performance and dynamic performance, and is stable in tracking without misjudgment, with tracking accuracy reaching up to 99%.

The invention discloses a monitoring video-based rapid suspicion tracking method. The method comprises the following steps of: obtaining a video of a venue or nearby in an appointed time period; eliminating ineffective parts in the video; appointing a possible suspicion in the video by criminal investigation policemen according to experiences; obtaining features of the suspicion from an appointedsuspicion image; analyzing a video image input in a system; recording the analysis result and marking the analysis result in the video; outputting the marked suspicion image as a front-calibrated image; watching and confirming the marked video section by the policemen and recording the confirmation result; displaying the whereabouts of the recorded suspicion on a digital map; and for the confirmedsuspicion, comparing and querying information of the suspicion in a database. According to the method, a plurality of criminal cases in which a certain suspicion appears can be put together, and a plurality of criminal cases in which a plurality of persons appear also can be put together, so that the policemen can be helped to solve the cases and rapidly arrest the suspicions.