401results about How to "Fix jitter" patented technology

The invention discloses a high-load and high-precision pneumatic force measurement device and a measurement method. An internal balance tail-supported aerial vehicle model is adopted to execute pneumatic force test in the prior art, and rising force of an aerial vehicle perpendicularly works on a cantilever type tail rod, so that the model severely shakes during the test. The high-load and high-precision pneumatic force measurement device comprises a balance and a supporting rod, wherein the balance adopts an internal balance and is connected with a balance sleeve; the supporting rod is connected with an incidence angle sliding rail mechanism, a side sliding angle mechanism connected with the incidence angle sliding rail mechanism, and a mechanism control and data acquisition device; the supporting rod is adopted to be connected with the balance and support the model; the internal balance is adopted to measure the pneumatic force of the aerial vehicle model; the balance is externally connected with a sleeve structure and is also connected with a data acquisition device; the data acquisition system obtains the pneumatic force on the model and is connected with automatic control equipment; therefore, the pneumatic force on the model can be obtained. The high-load and high-precision pneumatic force measurement device and the measurement method are used for measurement in a pressurized high-density and low-speed wind tunnel.

An imaging optical device configured such that shaking can be appropriately corrected by smoothly rocking a lens drive device on which a lens and an imaging element are mounted. An imaging optical device (1) comprises: a movable module (12) having a lens drive device (2) on which a lens and an imaging element are mounted; a support body (5) for supporting the movable module (12); a rocking drive mechanism for rocking the movable module (12); and a plate spring (17) for rockably supporting the movable module (12). The plate spring (17) is provided with a holding section (17a) for holding the movable module (12), a fixed section (17b) fixed to the support body (5), and a spring section (17c) for connecting the holding section (17a) and the fixed section (17b) to each other. The spring section (17c) can deform in the direction perpendicular to the optical axis (L) and in the direction of the optical axis.

The invention discloses a television audio signal processing device which comprises a control module, an audio transmitting module, a detection module and an adjustment module, wherein the control module is used for controlling the audio transmitting module to be in wireless fidelity (WIFI) connection with an audio receiving module of a wireless loudspeaker box; the audio transmitting module, the detection module and the adjustment module are connected with the control module; the audio transmitting module comprises a packet transmitting buffer region and is used for converting an audio signal output by a television into an audio data packet to be transmitted to the audio receiving module of the wireless loudspeaker box through a WIFI network; the detection module is used for detecting strength of a WIFI signal in real time; the adjustment module is used for correspondingly adjusting capacity of the packet transmitting buffer region and interval time of packet transmitting according to the range of the detected signal strength. The television audio signal processing device solves the problem of delay and shake caused by television audio signal transmission through WIFI and helps to improve sound playing effect of the wireless loudspeaker box.

The invention discloses a trajectory tracking control method of a three-joint spot welding robot. The trajectory tracking control method comprises the steps of 1) establishing a mathematical model of a three-joint spot welding robot system, wherein in practical engineering, an accurate mathematical model is quite difficult to obtain, so that when establishing the mathematical model of the spot welding robot, an operator needs to perform reasonable approximate treatment on the spot welding robot and ignore some indeterminate factors, and dynamic modeling is carried out on the horizontal three-joint spot welding robot through utilizing the Lagrange method; and 2) designing an expanded state observer, wherein through adopting the expanded state observer, indeterminate dynamic states can be adopted as part of the total disturbance for estimation. According to the trajectory tracking control method, decoupling control can be effectively carried out on multi-joint spot welding robots, and the method has quite high restraining ability for indeterminacy of multi-joint robots, internal and external disturbance of the system, and indeterminacy of the model.

The invention discloses an indoor path navigation method based on mixed reality, wherein a mobile terminal, a wireless local area network, a remote server, and a plurality of remote PC are provided, the mobile terminal comprises a mobile camera and a display screen, and the plurality of the remote PC are connected via a wired network. The method is characterized by comprising the following steps that: 1) a destination is input on the mobile terminal, and the destination is transmitted to the remote PC through the wireless local area network; 2) the mobile terminal forms an image sequence according to a current image captured by the camera, and transmits the image sequence to the remote PC through the wireless local area network; 3) the remote PC sequentially performs three steps such as reliable identification labeling, image sequence matching and position model screening according to the received image sequence to calculate current position information of a user; and 4) the remote PC calculates and forms path navigation according to the current position information of the user and the destination, overlays the path navigation by using a mixed reality technology in a 3D manner, and feeds the overlaid path navigation back to the display screen of the mobile terminal through the wireless local area network.

The invention discloses a method and a system for dynamically enhancing the input/output (I/O) throughput of a server and aims to overcome the defect that the service performance of the server is limited by the input/output throughput in the prior art. The method comprises the following steps that: the server resolves a read-write request sent by a client into a data block read-write operation request; the server judges whether a target data block is in a cache or not; the server performs read-write operation on the target data block if the target data block is in the cache, and traverses a data access information linked list in a rapid-access disk if the target data block is not in the cache; and the server copies the target data block to the cache to perform data read-write operation if the target data block is found, and reads the target data block from a low-speed disk, saves the target data block in the cache, performs the data read-write operation and maps the target data block to the rapid-access disk if the target data block is not found, wherein the data access information linked list is updated when the data read-write operation is performed. The read-write operation of the server is detected dynamically, so that the hit ratio of a buffer zone is enhanced and the technical effect of high I/O throughput of the server is realized.

The invention relates to a control method and device for eliminating system buffeting during sliding mode control of a linear motor. In the method, a sign function in the conventional sliding mode control formula is replaced by a diffusion hysteresis function, so that control voltage on a mover coil is evaluated. Due to the soft switching property of the diffusion hysteresis function, buffeting during sliding mode control is eliminated. Parameters in a formula are obtained by second-order approximation and an experiment. The device comprises a linear motor, a displacement sensor, a signal processor, a driving circuit and the like, wherein a control signal of the signal processor is connected to the driving circuit; the signal processor comprises a central processing unit, an A/D (Analog to Digital) circuit, a D/A (Digital to Analog) circuit, an ROM (Read Only Memory) module, an RAM (Random Access Memory) module, a pulse width modulation module and a signal receiving circuit, and is used for storing a formula and parameters of a sliding mode control method; and the central processing unit is used for obtaining a voltage signal of the mover coil according to the mover displacement data of the displacement sensor and regulating the voltage of the mover coil through the pulse width modulation module so as to realize stable linear movement of the mover. By adopting the method and the device, system buffeting is eliminated effectively, and the running reliability is enhanced; and the method and the device are easy to realize.

The invention discloses a motor over-temperature protection method. The motor over-temperature protection method comprises the following steps that S1, the current temperature value of a motor is obtained; S2, whether the current temperature value is within the preset temperature range is judged, and if ye, the step S3 is conducted; S3, whether the current temperature value is the same as the previous temperature value of the motor is judged, and if not, the step S4 is conducted; and S4, current maximum available power of the motor is adjusted at the preset changing gradient rate. The invention further discloses a motor over-temperature protection system. In addition, the invention further discloses an electric vehicle comprising the motor over-temperature protection system. According to the motor over-temperature protection method, the change of the maximum available power of the motor can also be stabilized while over temperature of the motor is prevented, and the problem of shaking of the vehicle in the driving process is solved.

The present application relates to a target object change posture recognition method and apparatus, a computer device and a storage medium. The method is characterized in that: original joint point maps of target objects in an image is recognized; and subsequent operation steps are also performed on the target objects of the image respectively, that is, information contained in different target objects in the image can be processed in a parallel manner, so that the change posture of multiple target objects in the video data can be quickly recognized, and the response rate of the system can beimproved. In addition, according to the method provided by embodiments of the present application, when recognizing the changing posture of the target objects, a joint point map sequence consisting ofjoint point maps is obtained through correction according to the corresponding original joint point maps in the adjacent frame image, obtaining stable joint points can be ensured, the problem of image jitter caused by that the target objects are in a dynamic situation is overcome, and that the obtained joint point maps of the target objects in each frame image are clear can be ensured, so that the target object recognition result obtained by using the method of the embodiments is clear and accurate.

An image-capturing optical device which can stably correct hand-shake blur and is thin. An image-capturing optical device (1) comprises: a movable module (18) having a camera module (2) on which a lens and an image-capturing element are mounted; a support body (5) for supporting the movable module (18); and a hand-shake blur-correcting mechanism for correcting hand-shake blur by rocking the movable module (18) in such a manner that the optical axis (L) of the camera module (2) tilts relative to the support body (5). The movable module (18) is provided with a sensor (4) for detecting the tilt of the camera module (2) and also with a cover member (12) for forming the outer peripheral surface of the movable module (18). The sensor (4) is disposed on the inner side of a side surface section (12b) of the cover member (12).

The invention discloses an electric inspection robot operating posture control method and device. The control method comprises the steps that an electric inspection robot operating posture linearizedmodel is built, and a sliding mode surface equation is calculated based on the linearized model; a basic sliding mode control law is calculated on the basis of the sliding mode surface equation, a preset lyapunov function and a preset index reaching law, the sliding mode surface equation is processed through a generalized type two fuzzy sliding mode control model built in advance, and a preliminary processing result is output; and the preliminary processing result is substituted into an expression of the basic sliding mode control law, a final sliding mode control law is obtained, and accordingly, control over the electric inspection robot operating posture is completed based on the final sliding mode control law. In this way, through the electric inspection robot operating posture controlmethod and device, the anti-jamming capability of an electric inspection robot in the inspection moving process can be effectively improved, the slip resistance and the obstacle avoidance performanceare good, and accordingly, the safety performance of the electric inspection robot in the inspection moving process is effectively improved.