11 results about "Master slave synchronization" patented technology

The utility model belongs to the technical field of surgical robots, and discloses a main control hand and a surgical robot. The problem that a master control hand of an existing surgical robot is insensitive to change of electric charge quantity of a hand clamp and cannot start linkage of a slave manipulator is solved. The main control hand comprises a hand clamp and a charge quantity processing module. The hand clamp is provided with at least two preset acquisition points for acquiring electric charge quantity change signals; the charge quantity processing module is provided with at least two charge quantity processing circuits, and each charge quantity processing circuit can correspondingly process a charge quantity change signal of a preset acquisition point of the hand clamp and then send the charge quantity change signal to the controller. When a hand gets close to the hand clamp, charge quantity changes generated at at least two preset positions are processed through the corresponding charge quantity processing circuits and then sent to the controller, and the controller transmits the charge quantity changes to the slave manipulator to achieve master-slave operation linkage, so that the situation that linkage signals cannot be accurately and rapidly transmitted due to small charge quantity change quantity at a single position is avoided; and the accuracy and timeliness of master-slave synchronous communication are realized.

The application discloses an autonomous explosive disposal detection system and control method based on an edge full-stack cluster, aiming to solve the computing power bottleneck of the explosive disposal robot in a weak network environment and the reliability problem of grabbing in a complex scene. The system is composed of a four-legged mobile chassis and an execution mechanical arm carrying an airborne edge computing node, and the computing node integrates video processing, Web business hub and comprehensive control layer. The method constructs a full life cycle tactical closed loop: precise searching is realized through spatial tactical calibration, target tracing and macroscopic approach; a dual-mode fault-tolerant architecture based on confidence is innovatively proposed, autonomous grabbing confidence is calculated in real time after tactical anchoring, visual servo grabbing is performed when the confidence is high, the process is automatically suspended and seamlessly switched to a low-delay master-slave synchronous remote control mode when the confidence is low, and finally the safe transfer of explosives is completed. The application greatly improves the operation survival rate and safety of special robots in a broken network and unstructured environment.

The invention relates to the technical field of carrier synchronization, in particular to a carrier synchronization method and a synchronization control device based on an FPGA (Field Programmable Gate Array), and the method comprises the three stages of phase preprocessing, phase verification and dynamic synchronization regulation: the FPGA captures Sync0 signals generated by an EtherCAT distributed clock, the Sync0 triggering moment is calibrated to an effective regulation interval in the preprocessing stage, and the Sync0 signals are subjected to dynamic synchronization regulation in the dynamic synchronization regulation stage; phase stability is confirmed through continuous ten Sync0 trigger detection in the verification stage, and phase synchronization and frequency compensation are executed based on the Sync0 in the dynamic adjustment stage; the device comprises an MCU (Microprogrammed Control Unit) and an FPGA (Field Programmable Gate Array) which are integrated with the ESC and form a bidirectional link transmission signal through an IO (Input / Output According to the invention, the EtherCAT distributed clock compensation technology and the FPGA nanosecond time sequence control capability are combined, the Sync0 synchronization precision can reach up to 20ns, the synchronization stability and anti-interference performance are improved through a three-level adjustment mechanism, the dependence of a single host is eliminated, the multi-node cooperation is supported, the problems of low precision, poor stability and limited expandability of a traditional master-slave synchronization method are solved, and the synchronization precision of the Sync0 is improved. The method is suitable for scenes of multi-axis synchronous control, distributed parallel inversion and the like.

The present disclosure relates to a central control unit master-slave synchronization control method, device and control system, the method comprising real-time detection of state information and fault information of a master central control unit; automatic synchronization based on the state information and the fault information, which can realize synchronization consistency after seamless hot standby redundancy switching of the central control unit, effectively guaranteeing safe and reliable operation of the train.

This invention relates to the field of stainless steel plate leveling and rewinding technology, and provides an online leveling and rewinding collaborative control system and method for stainless steel plates. The system includes a collaborative control main unit with a built-in speed-tension collaborative control module, a plate shape-tension collaborative model, and a process parameter optimization model; a process control system including a leveling machine PLC control unit and a rewinding machine PLC control unit, which use a master-slave synchronous communication protocol, with the leveling machine PLC control unit as the master and the rewinding machine PLC control unit as the slave; and a field execution system including a leveling execution unit, a rewinding execution unit, and a sensing and detection unit. The collaborative control system and the process control system communicate via industrial Ethernet. The roll diameter is updated in real time by an adaptive roll diameter calculation unit, and predictive speed matching is achieved in conjunction with a speed feedforward unit. Accurate compensation during acceleration and deceleration is achieved using a dynamic tension compensation formula, effectively eliminating speed lag and tension fluctuations caused by changes in roll diameter.

This invention belongs to the field of electronic digital data processing technology and discloses a high-speed offset printing positioning control system for corrugated cardboard boxes based on machine vision. The synchronous acquisition module processes encoder pulse signals to convert rotation pulses into micron-level displacement digital trigger signals. The fusion positioning module synchronously extracts four types of positioning features and uses sub-pixel edge detection algorithms, adaptive weight scheduling, and random sampling consistency abnormal data removal algorithms to complete damaged features and filter invalid data, thereby calculating high-precision cardboard actual pose data. The error calculation module completes full-dimensional global error calculation and decomposes it into independent compensation parameters for each monochrome group. The feedforward control module builds a master-slave synchronous control architecture, combining feedforward control and fuzzy PID closed-loop control to synchronize the preceding error of each slave color group and compensate it in advance. The prediction compensation module constructs a dynamic delay model, uses a Kalman filter algorithm to predict deviations in advance, and issues synchronous compensation commands.

The invention relates to the technical field of data snapshots, and discloses a dynamic data snapshot efficient construction method based on dual-mechanism collaboration, which comprises the following steps: creating master-slave database instances, configuring slave database instances into slave nodes of the master database instances, and establishing a master-slave replication relationship; the master database instance comprises a source data table, and the slave database instance comprises a snapshot data table corresponding to the source data table; at a preset snapshot time point, pausing the master-slave replication process of the slave database instance, so that the snapshot data table stops synchronizing the data of the source data table, and a snapshot data table at the preset snapshot time point is obtained; renaming the snapshot data table to obtain a snapshot supply table; in the slave database instance, creating a backup data table with the same data structure as the snapshot supply table; copying total data of the snapshot supply table into a backup data table in a physical file copying mode to serve as a new snapshot data table, and reconstructing a master-slave synchronous link; and recovering the master-slave replication process.

The invention discloses a virtual master-slave synchronous control method and system for a multi-hook crane, and belongs to the technical field of crane automation control, the master-slave synchronous control method comprises the following steps: data acquisition: acquiring real-time height and running speed of each hook through an acquisition module; a virtual host generation and control module calculates a virtual height and a virtual speed; compensation adjustment: generating a speed compensation amount based on a proportional-integral model; synchronously executing, and adjusting the speed by a driving module through a speed smoothing algorithm; and safety monitoring: judging the height difference of the lifting hook in real time, and triggering three-level safety response. The system comprises an acquisition module, a control module and a driving module, single-point fault risks are eliminated, synchronization precision and system reliability are improved, different load working conditions are adapted, mechanical loss is reduced, hardware cost is low, upgrading is easy, and the method is suitable for large component hoisting scenes.

This invention discloses a hierarchical power line communication time synchronization method for ships, relating to the field of power distribution network technology. The method includes the following steps: triggering a time synchronization process via a host computer; performing primary synchronization using a multi-CCO pseudo-synchronization mechanism; performing secondary synchronization using a CCO-multi-STA master-slave synchronization protocol; detecting the STA synchronization status; if synchronization is complete, network-wide time synchronization is achieved; otherwise, a STA collaborative auxiliary synchronization mechanism is used for network-wide time synchronization. The hierarchical synchronization mechanism effectively improves synchronization accuracy and network scalability. Through delay scheduling, time-varying asymmetric delay modeling, and adaptive Kalman filtering, it suppresses delay jitter, asymmetric interference, and noise in the ship's power line channel, achieving microsecond-level high-precision synchronization. The introduction of STA collaborative auxiliary synchronization allows synchronization to be maintained through neighboring nodes even during momentary link interruptions, improving synchronization coverage and system robustness.

The application provides a database master-slave synchronization method, device, equipment, medium and product, wherein the method comprises the following steps: obtaining a first redo log including a first globally unique number generated by a master database end for a first log as a data definition language log; in the case that a log analysis thread judges that the log type of the first redo log is the first occurrence, obtaining a corresponding first binary log cached in a relay log file according to the first globally unique number, and applying the binary log to a slave database through a database language thread. The database master-slave synchronization is realized based on the binary log and the redo log, and the method of generating the log based on the globally unique number is supplemented, so that the replication delay problem caused by the method of realizing the database master-slave synchronization based on the binary log only is solved, and the synchronization of the data definition language log is realized.

The invention belongs to the field of embedded hardware data transmission, and particularly relates to a system and a method for converting lossless data from an SPI format to an I2S format based on a master-slave synchronization mechanism. The system comprises an SPI interface sensor, a slave and a host control module. The slave module reads 24-bit acceleration and 14-bit temperature complement data output by the sensor, bit field extraction, complement-to-original code conversion and 32-bit I2S format alignment are carried out through the data format conversion unit, and the 24-bit acceleration and 14-bit temperature complement data are sent through the non-blocking data sending unit based on DMA cyclic transmission. The host module multiplexes an SPI peripheral into an I2S interface and serves as a unique clock source, and synchronously receives and reconstructs a data frame through a DMA receiving unit. The scheme does not need a special conversion chip, realizes lossless, stable and master-slave synchronous transmission of the complement data of the SPI sensor to the standard I2S format, and has the advantages of low hardware cost, high data precision and good communication stability.