598 results about "Pulse number" patented technology

The present application discloses a gate drive circuit and a display panel. The gate drive circuit includes a plurality of cascaded gate drive units. Each of the gate drive units includes a stage transmission signal selection circuit, a pull-up control circuit, a pulse number reduction circuit, a first inversion circuit, a first output stage and a second output stage, and can output a second gate control signal with a greater number of pulses and a first gate control signal with a less number of pulses.

The invention discloses a transformer equipment state real-time monitoring method and system based on multi-source data fusion, and particularly relates to the technical field of transformer equipment state monitoring, and the method comprises the steps: firstly obtaining a unified time reference through the multi-channel time alignment driven by an event anchor point, and employing a strategy of combining rough alignment with refined alignment; on the basis, the channel alignment confidence coefficient is constructed according to the main peak sharpness ratio, the group delay consistency, the phase locking consistency and the geometric consistency of temperature compensation; then acoustic emission spectrum energy and pulse number, vibration impact characteristics and cross-sensor consistency characteristics are extracted under a unified time reference, and dynamic threshold setting is carried out in combination with load and environment context; performing gating weighting, intra-group decorrelation and probability calibration on the multi-source evidence according to the channel health factor to obtain calibrated fault probability and inconsistency; and finally, outputting a grading result under the constraint of multi-stage judgment and physical consistency rechecking controlled by the error discovery rate.

The invention discloses a radar signal pattern recognition method based on multi-modal feature fusion, and the method comprises the steps: obtaining in-pulse IQ sampling data and full-pulse PDW data of a radar signal, and carrying out the time-frequency transformation of the IQ sampling data, and obtaining a time-frequency image; respectively preprocessing the time-frequency image and the full-pulse PDW data; performing feature extraction on the preprocessed time-frequency image and the full-pulse PDW data to obtain intra-pulse features and inter-pulse features; carrying out multi-modal feature adaptive fusion on the intra-pulse features and the inter-pulse features; and the fused features are used as classifier input data for classification and identification, and radar signal pattern identification is realized. The method shows high recognition accuracy under different signal-to-noise ratio conditions, can still maintain good performance especially under the condition of low signal-to-noise ratio, and can effectively improve the recognition accuracy and robustness.

The invention discloses a motor using a single sensor, an application and a high-precision rotating speed calculation method, the motor is provided with the single sensor, the rotating speed and the rotating direction of the motor are detected through the single sensor, and the sensor is a Hall sensor or an encoder; the motor is applied to a driving mechanism with a self-locking structure. The high-precision rotating speed calculation method comprises the following steps: step 1, obtaining the rotating direction of the motor according to the input voltage direction or the current direction of the motor, step 2, measuring to obtain the pulse number Np of a sensor, step 3, obtaining the estimated speed of the motor through the input voltage, the duty ratio, the current and the total resistance, and step 4, calculating the rotating speed of the motor according to the estimated speed. 4, obtaining an estimated pulse number according to the estimated speed, and 5, calculating the rotating speed of the motor according to the measured pulse number Np and the estimated pulse number. The method has the advantages that the motor cost can be reduced, the pin consumption of the single-chip microcomputer is reduced, and the measurement precision is high.

Provided is a time measurement apparatus which includes a pixel (PZ) that includes a light receiving element and generates a pulse signal (a pixel signal SIG) including a logic pulse on the basis of a light reception result in the light receiving element, a timing detector (a counter section) to detect a light reception timing in the light receiving element on the basis of the pulse signal, a pulse number detector (a time measurement section) to detect a pulse number of the logic pulse included in the pulse signal; and a controller to control, on the basis of the pulse number, an operation of a light source outputting a plurality of light pulses.

The embodiment of the invention discloses an elevator control method, an elevator control device and a storage medium, and belongs to the technical field of elevators. In the embodiment of the invention, before the elevator is put into operation, the floor data of each floor and the initial transmission ratio between the traction wheel and the friction wheel of the encoder are recorded; after the elevator is put into operation, the current transmission ratio between the traction wheel and the friction wheel of the encoder is determined based on the target pulse number of the guide wheel and the pulse line number of the encoder, and the real-time transmission ratio is obtained by updating the current transmission ratio; the floor data of each floor is updated through the real-time transmission ratio and the initial transmission ratio, and even if the friction wheel of the encoder of the elevator is abraded, the floor data of each floor can be accurately obtained; and elevator leveling control is carried out by using the updated floor data, so that the elevator can be prevented from underleveling or over-leveling, and normal operation of the elevator is ensured.

Disclosed in the present application is an electrode sheet roll-pressing and cutting system and method. The system comprises: an encoder, detection mechanisms, a programmable logic controller and a marking mechanism. The detection mechanisms shoot images of an electrode sheet in the system on the basis of the frequency of a pulse signal output by the encoder. An upper computer determines a defect region of the electrode sheet on the basis of the N-th image of the electrode sheet shot by the detection mechanisms and, on the basis of the defect region, determines the number S of pulses that the programmable logic controller needs to await. When determining that the S pulses have been awaited, the programmable logic controller sends a marking instruction to the marking mechanism. The marking mechanism marks the defect region of the electrode sheet on the basis of the marking instruction. In addition, the upper computer is further used for identifying edges of a tab region image among the images shot by the detection mechanisms, and determining the size of a tab region on the basis of the edges. Thus, the present application can determine the defect region of the electrode sheet, accurately mark the defect region on the basis of the position of the defect region in the electrode sheet, and determine the size of the tab region of the electrode sheet.

The invention belongs to the technical field of machining process simulation optimization, and particularly discloses a liquid metal bearing surface laser machining process parameter simulation optimization method, which comprises the following steps of: constructing a temperature field model of femtosecond laser ablation liquid metal, and respectively carrying out single-factor simulation tests of energy density, equivalent pulse number and scanning number under the model to obtain a temperature field model of the femtosecond laser ablation liquid metal; therefore, the optimal energy density, the equivalent pulse number and the scanning frequency are determined by measuring the ablation effect parameter and the heat influence parameter under the simulation test, optimization of the femtosecond laser processing technology is achieved, and the femtosecond laser processing effect is guaranteed. Meanwhile, after the optimal energy density, the equivalent pulse number and the scanning number are obtained through a simulation test, an environmental factor multivariable test carried out under the process condition is added, so that the ablation effect and the ablation aging under different environmental conditions are evaluated, the adaptive environmental condition is determined, and efficient exertion of the optimal process condition can be ensured.

Systems and methods for detecting multiple events during nuclear imaging scans, and for reconstructing images based on the detected events, are disclosed. In some embodiments, an image scanning system scans a subject, and generates a signal characterizing a detection event. The system generates sampled data based on sampling the at least one signal. Further, the system applies a trained machine learning process to the sampled data. Based on the application of the trained machine learning process, the system generates pulse data characterizing a plurality of decoupled pulses. For example, the pulse data may characterize pulse energy values of each of the decoupled pulses, and corresponding times for each of the pulses. Further, the method includes transmitting the pulse data to generate time-coincident pairs for image reconstruction.

A method for controlling an electrical converter comprises determining an actual modulation index (m) and an actual pulse number (d); determining a neutral point voltage (vnp) of the neutral point (NP); determining an actual neutral point balancing value from the neutral point voltage (vnp); determining an optimized pulse pattern to be applied to the electrical converter from a table of optimized pulse patterns stored in a controller of the electrical converter; and applying the determined optimized pulse pattern to the electrical converter. The table of optimized pulse patterns is indexed with respect to a set of modulation indices (m) and a set of pulse numbers (d) and the optimized pulse pattern is determined based on the actual modulation index (m) and the actual pulse number (d). For a modulation index (m) and a pulse number (d), an optimized pulse pattern stored in the table comprises switching angles and at least one of a switching state and switching transition of the at least one phase leg for each switching angle. For at least some modulation indices (m) and some pulse numbers (d), an optimized pulse pattern stored in the table with respect to a modulation index (m) and a pulse number (d) comprises switching angles, which correspond to different neutral point balancing values. The switching angles of the optimized pulse pattern to be applied to the electrical converter are determined from the switching angles, which correspond to different neutral point balancing values, as a function of the actual neutral point balancing value.

The invention provides a single-particle transient pulse detection circuit in a nanometer integrated circuit, and relates to the technical field of single-particle transient effect detection, and the circuit comprises a chain-type to-be-detected circuit, a single-particle transient pulse capture circuit and a single-particle transient pulse number counting circuit. Wherein the single-particle transient pulse capture circuit and the chain type circuit to be detected are tightly coupled circuits, the single-particle transient pulse capture circuit comprises a plurality of D-type latches with reset, and when the width of a single-particle transient pulse is larger than the propagation delay time of the buffer, the single-particle transient pulse is captured and stored by the D-type latches; therefore, the width of the single-particle transient pulse is detected. The single-particle transient pulse number counting circuit comprises a plurality of D-type trigger groups with reset and a counter group; when the D-type trigger group detects a single-particle transient pulse signal entering the input end of the D-type trigger group, a counting signal is input to the counter group, and counting is completed by the counter group. According to the invention, specific quantitative detection of the single-particle transient effect can be realized.

The invention belongs to the technical field of laser pulse modulation, and particularly relates to an ultrafast laser multi-pulse sequence preparation device and method. According to the invention, ultrafast pulse laser is divided into a transmission light path and a reflection light path through a beam splitter, a spatial light modulator is utilized to perform programming control on a target pulse in the transmission light path, and amplitude and pulse width parameters can be controlled while multiple pulse strings are generated; and the light path of the reflection light path is controlled through the high-precision one-dimensional displacement table, so that the time delay of a reflection light path pulse relative to a transmission light path pulse is controlled. And after the reflected light path and the transmission path subjected to pulse shaping are combined again, a periodic pulse string sequence with controllable time delay, pulse number, pulse width parameter and pulse intensity is realized. The problem that high-precision multi-pulse dynamic programming cannot be achieved through a traditional adjusting mode is solved, and the problems that in the prior art, the number of excitation pulses and pulse width parameters cannot be controlled at the same time, and an ordered periodic pulse sequence cannot be generated are solved.

The invention discloses an incremental encoder speed measurement method and device and a computer readable storage medium, and the method comprises the steps: obtaining the number of captured pulses and the time of capturing pulses at the current rotating speed calculation time, and obtaining the number of captured pulses and the time of capturing pulses at the last rotating speed calculation time; according to the number of captured pulses at the current rotating speed calculation moment and the number of captured pulses at the last rotating speed calculation moment, pulse number deviation is determined, and according to the capture pulse moment at the current rotating speed calculation moment and the capture pulse moment at the last rotating speed calculation moment, pulse time deviation is determined; acquiring a pulse number and a timer clock frequency corresponding to each circle; determining a first ratio of the pulse number deviation to the pulse number corresponding to each circle, and determining a second ratio of the pulse time deviation to the clock frequency of the timer; according to the product of the first ratio and the second ratio, the actual rotating speed of the motor is determined, and the speed measurement precision in the full speed range is improved.

The invention belongs to the related technical field of laser micro-nano machining, and particularly relates to a 2.5 D micro-pattern laser machining method based on an acousto-optic deflector and a galvanometer, which is realized by adopting a laser device based on combination of an acousto-optic deflection module and the galvanometer, and comprises the following steps: in single track scanning of the galvanometer, according to a preset pulse machining sequence corresponding to a machined pattern, carrying out laser processing on the machined pattern according to a preset pulse processing sequence corresponding to the machined pattern; frequency control signals corresponding to the pulses are input into the two acousto-optic deflectors respectively, so that laser pulse distribution formed on the machined part after single-time track scanning of the galvanometer is shown as the pulse superposition number in the depth direction and the lap joint rate between adjacent pulses in the normal direction of the advancing direction of the galvanometer; the pulse superposition number of each pulse position in the depth direction reflects the processing depth of the pulse position, and the pulse number and the pulse overlap rate of each positioning position in the normal direction of the moving direction of the galvanometer are determined according to the section width and the contour radian in the width direction of a processing graph. According to the invention, the processing of any 2.5 D micro-pattern can be realized.

The embodiment of the invention provides a backlight adjusting method and device. The method comprises the steps that the nth frame of image is displayed; wherein when the nth frame of image is displayed, the backlight value of the terminal equipment is a first backlight value, and the number of pulses in unit time in a pulse adjustment PWM (Pulse Width Modulation) signal, used for backlight adjustment, of the terminal equipment is a first pulse number; displaying the (n + 1) th frame of image; wherein when the (n + 1) th frame of image is displayed, the backlight value of the terminal equipment is the second backlight value, and the pulse number in unit time in the PWM signal, used for backlight adjustment, of the terminal equipment is the second pulse number, so that when the terminal equipment detects that the backlight value is changed, the pulse number can be reduced while the transition backlight is increased, and the display effect of the terminal equipment is improved. The problem of screen brightness jump is relieved, and smooth transition of the screen brightness can be achieved.

The invention provides a standardized pulse diagnosis method based on a wearable pulse instrument, which comprises the following steps: initializing, pressurizing for multiple times from low to high to obtain wrist pulse pressure data, fitting a curve, determining a reference wave, identifying a trough, calculating a single average wave, evaluating a pulse position, a pulse number, a pulse shape and a pulse potential in multiple dimensions, and the like. A corresponding pulse condition processing method is combined, the principle that traditional Chinese medicine finger pressing pulse taking feels pulse wave changes is simulated, a wrist strap air bag is adopted for pressurization to simulate manual pressing pressure, a sensor monitors and collects pulse change data after pressurization, and after an AI algorithm completes conversion of an electric signal and a pressure value, a human body pulse condition change curve is generated in a fitting mode. Therefore, subjective judgment of manual pulse taking is replaced. The accuracy of manual pulse taking is influenced by the mood of a pulse taking person and external environment factors, and the sensor can continuously and objectively monitor the pulse change of the patient, so that more objective pulse taking data is obtained.

The invention provides a single-line communication method and device based on pulse counting, electronic equipment and a medium, and relates to the technical field of switches and servers. The method is executed by a main board in a system, the main board is connected with a sub-board through a single in-place signal line, and the method specifically comprises the following steps: within a first preset time period after the system is powered on, sending a first pulse sequence through the single in-place signal line, and verifying the connection state of a cable based on a received response signal; if the connection state is verified to be normal, sending a second pulse sequence through a single in-place signal line, and performing data communication with the daughter board; wherein the second pulse sequence forms communication bytes in a pulse number coding mode. According to the invention, an in-place signal line which is only used for static level detection traditionally is transformed into a dynamic multifunctional channel, so that the dual defects of low communication efficiency and high misplugging risk of a traditional scheme are synchronously overcome on the premise of not increasing any hardware cost and wiring complexity.

The quality of signal sorting directly affects the signal recognition performance of a radar radiation source and the subsequent decision judgment of a combat system, so that the comprehensive performance of EDW (Emitter Descriptions Words) of signal sorting needs to be evaluated. The invention provides a comprehensive evaluation method for an electronic warfare passive reconnaissance signal sorting result, and the method comprises the steps: carrying out the comprehensive performance evaluation and confidence judgment of an EDW through introducing an AHP (Analytic Hierarchy Process) according to the parameters, such as the frequency, the pulse width, the repetition period and the associated pulse number, after the sorting of a radiation source signal, carrying out the trace point association and target recognition based on the judgment result, and carrying out the recognition of the target. And the reliability and the accuracy of a signal sorting result are greatly improved. The technology provides a stable and reliable comprehensive evaluation method for the signal sorting result (EDW) in the complex electromagnetic environment, improves the accuracy and target recognition probability of signal sorting in the complex electromagnetic environment, and reduces the batch increasing rate of the system.

The invention discloses a cloud management method and device for a shelf propeller and a storage medium, and relates to the technical field of intelligent shelf systems, and the method comprises the steps: determining commodity information corresponding to the shelf propeller and pulse number information contained in goods change information according to the goods change information sent by the shelf propeller; according to the pulse number information and the unit distance of the pulse signal corresponding to the pulse number information, the advancing distance of the goods shelf propeller is determined; obtaining the size information of a target commodity corresponding to the commodity information, and obtaining the commodity sales quantity of the target commodity according to the ratio of the size information to the advancing distance; according to the commodity sales quantity, the commodity management information in the database is updated, and the commodity management information is synchronized to the shelf thruster, so that the technical problems that the commodity information updating of the commodity management system is lagged, and conditions encountered in the commodity sales process are difficult to respond in time are solved, and the management efficiency of the shelf thruster is improved.

Disclosed in the present application are a pulse digitization method and apparatus, a correction method and apparatus, and an electronic device and a storage medium. The pulse digitization method comprises: providing amplitude-energy mapping relationship data of a plurality of reference pulses; setting a plurality of energy channel addresses or amplitude channel addresses having representation values; on the basis of results of comparison between amplitudes of a plurality of pulses to be measured and amplitude representation values of the plurality of channel addresses, determining channel addresses corresponding to the plurality of pulses to be measured; and on the basis of the count of pulses to be measured that are in each channel address and the amplitude-energy mapping relationship data or energy representation values of the energy channel addresses, obtaining energy information of the plurality of pulses to be measured. In the present application, complex fitting calculation that is required in a conventional oil exploration process is avoided, and energy information of pulses is directly and quickly obtained by means of threshold value comparison, thereby greatly shortening the dead time of the operation of a collection circuit, and improving the signal collection performance and efficiency. The present application is especially suitable for an ultra-high-temperature environment.

A method, apparatus, and non-transitory, computer readable medium are disclosed herein for optimizing a pressure pulse signal during ramp down operations for a hydraulic fracturing process in a wellbore. In one embodiment, a method comprises: obtaining pressure pulse data from a wellbore; calculating wave speed for the wellbore; and determining a rate change schedule for use during a ramp down procedure based on the wave speed.

The invention relates to the technical field of integrated circuit packaging, solves the problem that a calibration process in the prior art lacks a stable displacement reference consistent with actual movement of equipment, and provides an integrated circuit visual positioning calibration method based on a pulse displacement reference and a medium. The method comprises the following steps: controlling a motion platform to move along a first direction and a second direction from a preset starting point according to a preset pulse number, and obtaining a calibration data set; acquiring pulse deviation data and pixel change data according to the calibration data set; according to the pulse deviation data and the pixel change data, obtaining a rotation deviation angle between the motion coordinate system and the imaging coordinate system; and when a target chip comprising an integrated circuit is subjected to die bonding, compensating a conversion relation between an imaging coordinate system and a motion coordinate system according to the rotation deviation angle. According to the invention, pulse displacement is introduced as a unified calibration reference, and the reliability of a visual positioning result in an integrated circuit die bonding process is improved.

The invention relates to the technical field of error correction, in particular to a motor driving precision correction method and system based on force feedback data, and the method comprises the following steps: obtaining a force feedback and pulse number calculation growth rate peak value definition early warning threshold value, extracting multi-speed frequency domain amplitude, screening characteristic frequency bands, and constructing a mapping table; in the initial driving stage, abnormity is judged, a prospective correction torque is generated, frequency domain characteristics are extracted, energy is calculated, a mapping table is called for interpolation correction, and prospective and dynamic correction torque is superposed to adjust a current instruction. According to the invention, through combination of a force feedback sensor and frequency domain feature extraction, construction of a force feedback growth rate peak early warning threshold value, screening of a dynamic error feature frequency band, prospective identification of an abnormal state, error compensation according to frequency band energy and steady-state average force feedback mapping, and dual-path linkage, prospective correction and dynamic adjustment are completed. Frequency domain compensation inhibits transient control drift, precision is kept under multiple loads, the abnormal response and correction efficiency without hardware intervention is improved, and stability and continuity of system control are guaranteed.

A rotating speed estimation method for an incremental encoder includes generating a plurality of pulse signals according to a plurality of square waves, detecting a time length when the pulse signals reach a predetermined number, and generating a rotating speed of a rotating wheel according to the predetermined number, the time length and a total number of pulses when the rotating wheel of the incremental encoder rotates a circle.

Machine tool control device for driving a feed axis or a main axis by a motor, comprising: a feedback counter (1) for receiving A- and B-phase signals of square waves or sine waves and a 1-revolution signal generated each time the motor or main axis completes one revolution, wherein the A and B phase signals and the 1-revolution signal are provided by a sensor for detecting the position or speed of the driven axis or of the motor to calculate a feedback count, which is a count of the number of feedback pulses generated by the A and B phase signals; a feedback count storage unit (2) for storing an inter-1-revolution signal feedback count, which is the feedback count counted between two sequential 1-revolution signals; a reference value storage unit (3) for storing an abnormality determination reference value for determining the presence or absence of an abnormality according to the inter-1-revolution signal feedback count value; and an abnormality cause determination unit (4) for determining the cause of the abnormality by comparing the inter-1-revolution signal feedback count value with the abnormality determination reference value, wherein, when the inter-1-revolution signal feedback count is higher than the anomaly determination reference value and a difference between the inter-1-revolution signal feedback count and an inter-1-revolution signal feedback count in the normal case corresponds to an integer multiple of an error calculated from the number of pulses or waves of the A- and B-phase signals per revolution, the anomaly cause determination unit (4) determines that noise is disturbing the A- and B-phase signals; and if the difference is not an integer multiple of the error, the abnormality cause determination unit (4) determines that there is an abnormality in the 1-turn signal.

The embodiments of the present application provide a backlight adjustment method and apparatus. The method comprises: displaying an nth image frame, wherein when the nth image frame is displayed, a backlight value of a terminal device is a first backlight value, and the number of pulses per unit time in a pulse adjustment PWM signal of the terminal device for backlight adjustment is a first pulse number; displaying an (n+1)th image frame, wherein when the (n+1)th image frame is displayed, the backlight value of the terminal device is a second backlight value, and the number of pulses per unit time in the PWM signal of the terminal device for backlight adjustment is a second pulse number. Thus, when it is detected that a backlight value has changed, a terminal device can reduce the number of pulses while increasing transition backlight, thereby alleviating the problem in respect of screen brightness jumps, such that a relatively smooth transition of screen brightness can be realized.

The invention discloses an electric energy meter misalignment checking method and system based on electric energy pulse acquisition, and a medium. The method comprises the following steps: respectively acquiring a first pulse number corresponding to a general meter and second pulse numbers corresponding to a plurality of sub-meters in a meter box; respectively smoothing the first pulse number and each second pulse number to obtain a first average electric energy pulse number corresponding to a general meter and a second average electric energy pulse number corresponding to each sub-meter; inputting the first average electric energy pulse number and each second average electric energy pulse number into a preset misalignment analysis model for solving to respectively obtain a line loss rate, a fixed loss and a plurality of sub-meter errors; and determining a misalignment sub-meter needing to be calibrated according to the plurality of sub-meter errors, and checking the misalignment sub-meter based on the line loss rate and the fixed loss. According to the invention, the accuracy and efficiency of electric energy meter misalignment checking can be improved.

The invention relates to the field of glue dispensing, and particularly discloses a method for monitoring glue output precision through pulse number comparison, which comprises the following steps: S1, initial parameter setting: carrying out initial setting on related parameters, and generating a corresponding PSO valve opening signal instruction; s2, calculating an expected pulse number: obtaining a corresponding conversion ratio according to a proportion that each unit of dispensing amount corresponds to one pulse, and obtaining the expected pulse number according to the conversion ratio and a preset glue output amount; s4, adjusting dispensing: acquiring an expected pulse number and an actual pulse number in the current period, comparing and analyzing the expected pulse number and the actual pulse number, and calculating an actual deviation value; according to the direction of the actual deviation value and the actual glue discharging amount, corresponding increase or decrease is carried out; and S5, monitoring and adjustment are cycled, and the dispensing adjustment step is continuously executed until the whole dispensing process is completed or preset conditions are met.

The invention discloses a multi-parameter fusion non-intrusive partial discharge on-line monitoring method and system. Six types of sensors are arranged on the outer wall of each switch cabinet in a non-intrusive mode; according to six-channel partial discharge pulse data corresponding to the switch cabinet, establishing a two-dimensional phase difference confidence ellipse, and reserving pulse data falling into the two-dimensional phase difference confidence ellipse as a homologous event; dividing a set interval in the Noise channel into a plurality of sub-bands; constructing a temperature and humidity-noise gain matrix in each sub-band in real time, and performing reverse compensation on the frequency spectrum in the homologous event; constructing a six-dimensional vector for the compensated frequency spectrum, sending the six-dimensional vector to a Light CNN (Convolutional Neural Network) in the edge device, and outputting an initial discharge probability; correcting the initial discharge probability to obtain a final discharge probability; and based on the final discharge probability, carrying out risk grading on the partial discharge event in combination with edge calculation, and giving an alarm according to a risk grading result. According to the method, the partial discharge identification accuracy can be remarkably improved, and all-weather and full-life-cycle monitoring in a real sense is realized.

The present application provides a method for controlling a working component of a self - moving device, a self - moving device, and a medium. The method for controlling the working component includes: receiving a height adjustment instruction; the height adjustment instruction includes a target height; obtaining feedback data of a preset sensor of the self - moving device; the preset sensor is used to detect the height of the working component; identifying the state of the preset sensor according to the feedback data; when the state of the preset sensor is abnormal, determining the initial height of the working component according to the type of abnormality; determining a first height difference according to the target height and the initial height; determining the number of pulses corresponding to the first height difference according to the first height difference and a preset mapping relationship; generating a first pulse control signal according to the number of pulses, and the first pulse control signal is used to control a motor to drive the working component to move to the target height. The present application can normally control the height of the working component when the sensor of the self - moving device is abnormal.