摘要：【中文】本申请提出了一种图像处理方法及其装置，该处理方法包括获取目标图像的图像参数；根据该目标图像的图像参数，判断该目标图像是否为自然图像或人工图像；当该目标图像为自然图像时，利用第一函数获取该目标图像的第一质量评分；当该目标图像为人工图像时，利用第二函数获取该目标图像的第二质量评分。本申请通过建立两种图像评价体系，无需获取原始图像的信息即可以对超分辨率自然图像及超分辨率人工图像进行质量评价。 【EN】The application provides an image processing method and a device thereof, wherein the image processing method comprises the steps of obtaining image parameters of a target image; judging whether the target image is a natural image or an artificial image according to the image parameters of the target image; when the target image is a natural image, acquiring a first quality score of the target image by using a first function; and when the target image is an artificial image, acquiring a second quality score of the target image by using a second function. According to the method and the device, two image evaluation systems are established, and the quality evaluation can be performed on the super-resolution natural image and the super-resolution artificial image without acquiring the information of the original image.

摘要：【中文】本发明公开了一种基于分布式预测控制的多水下机器人系统协调控制方法，属于机器人技术领域，建立多水下机器人系统、数据采集服务器和控制策略服务器，解决了在带有静态障碍物的受限工作空间中，多水下机器人系统的分布式协调控制策略的技术问题，本发明提出了一个分布式非线性模型预测控制系统^NMPC，实现在受限工作空间中让^N个水下机器人系统牢固地抓住一个目标物体，通过利用机器人与物体之间的耦合动力学并使用一定的负载分配系数，将水下机器人从初始位置导航到最终位置，通过协调控制策略控制水下机器人将其沿着在工作空间中计算出的路径运动。 【EN】The invention discloses a distributed predictive control-based coordinated control method for a multi-underwater robot system, belongs to the technical field of robots, establishes the multi-underwater robot system, a data acquisition server and a control strategy server, solves the technical problem of a distributed coordinated control strategy of the multi-underwater robot system in a limited working space with static obstacles, and provides a distributed nonlinear model predictive control system^NMPCTo realize giving in a limited work space^NThe underwater robot system firmly grasps a target object, navigates the underwater robot from an initial position to a final position by using coupling dynamics between the robot and the object and using a certain load distribution coefficient, and controls the underwater robot to move along a path calculated in a working space through a coordinated control strategy.

摘要：【中文】本发明提供了一种基于声纳图像处理的水下机器人水下定位和路径规划方法，包括以下步骤：获取水下结构的声纳图像、方向信息、位置信息和几何信息；获取水下机器人在水下结构中的运行情况；根据水下结构的声纳图像、方向信息、位置信息、几何信息和水下机器人的运行情况得到水下机器人的当前位置；根据水下结构的方向信息、位置信息和几何信息构建占用网格图；根据原始图像和占用网格图检测水下机器人在水下结构中运行遇到的障碍物；根据占用网格图和障碍物规划水下机器人的运行路径。本发明能够降低水下机器人在水下定位和路径规划过程中受到的测量偏差影响和水下噪声干扰的问题，从而提高水下机器人水下定位和路径规划的准确度和适应性。 【EN】The invention provides an underwater robot underwater positioning and path planning method based on sonar image processing, which comprises the following steps: acquiring sonar images, direction information, position information and geometric information of an underwater structure; acquiring the running condition of the underwater robot in an underwater structure; obtaining the current position of the underwater robot according to the sonar image, the direction information, the position information, the geometric information and the running condition of the underwater robot of the underwater structure; constructing an occupation grid graph according to the direction information, the position information and the geometric information of the underwater structure; detecting obstacles encountered by the underwater robot in the operation of an underwater structure according to the original image and the occupation grid map; and planning the running path of the underwater robot according to the occupancy grid map and the obstacles. The invention can reduce the problems of measurement deviation influence and underwater noise interference on the underwater robot in the underwater positioning and path planning process, thereby improving the accuracy and adaptability of the underwater robot in the underwater positioning and path planning.

摘要：【中文】本发明提供了一种水下机器人定位声纳数据的配准方法，包括步骤：获取水下环境的定位声纳数据；处理定位声纳数据；根据处理后的定位声纳数据构建水下环境的结构概率点云；通过多回波水下声纳概率迭代算法对结构概率点云进行配准。本发明能够对连续采集的扫描序列进行配准，逐步估计水下机器人的位姿信息，从而能够提高了水下机器人定位能力，以实现水下机器人的全局定位。 【EN】The invention provides a registration method of underwater robot positioning sonar data, which comprises the following steps: acquiring positioning sonar data of an underwater environment; processing positioning sonar data; constructing a structure probability point cloud of an underwater environment according to the processed positioning sonar data; and registering the structure probability point cloud through a multi-echo underwater sonar probability iterative algorithm. The invention can register the continuously collected scanning sequence and gradually estimate the pose information of the underwater robot, thereby improving the positioning capability of the underwater robot and realizing the global positioning of the underwater robot.

摘要：【中文】本发明公开了一种基于条件生成对抗网络的水下图像实时增强方法，属于图像处理技术领域，包括在机器人视觉系统中建立条件生成对抗网络体系系统，通过遵循U‑net的原理建立一个图像模型网络，并通过判别器模块建立采用马尔可夫数据链生成对抗网络架构，解决了水下图像的噪声和失真的技术问题，利用深度卷积方法对生成对抗网络进行优化，提高了水下机器人视觉图像增强能力，采用深度卷积方法对生成对抗网络参数进行优化，本发明基于深度卷积生成对抗网络的水下机器人图像增强方法，通过基于图像的整体内容、颜色、局部纹理和风格信息评估图像的感知质量，制定了一个多模态目标函数来训练模型。 【EN】The invention discloses an underwater image real-time enhancement method based on condition generation confrontation network, belonging to the technical field of image processing, comprising establishing a condition generation confrontation network system in a robot vision system, establishing an image model network by following the principle of U-net, and establishing a confrontation network architecture by adopting a Markov data chain through a discriminator module, thereby solving the technical problems of noise and distortion of the underwater image, optimizing the generated confrontation network by utilizing a deep convolution method, improving the visual image enhancement capability of the underwater robot, optimizing the parameters of the generated confrontation network by adopting a deep convolution method, evaluating the perception quality of the image by utilizing the whole content, color, local texture and information based on the image, a multi-modal objective function is formulated to train the model.

摘要：【中文】本发明公开了一种用于遥控器的控制方法，涉及遥控器的技术领域，其技术方案要点包括：步骤S1、使用遥控器获取预要控制的电器的种类信息并输出；步骤S2、控制中心响应于种类信息并输出对应电器的类型信号；步骤S3、遥控器接收类型信号并根据类型信号切换至对应电器的遥控器代码；步骤S4、遥控器显示切换成功并显示当下控制的电器的种类；步骤S5、使用遥控器控制对应电器，本发明具有方便控制操作的效果。 【EN】The invention discloses a control method for a remote controller, which relates to the technical field of remote controllers and adopts the technical scheme that the method comprises the following steps: step S1, obtaining the type information of the electric appliance to be controlled by using the remote controller and outputting the information; step S2, the control center responds to the type information and outputs a type signal of the corresponding electric appliance; step S3, the remote controller receives the type signal and switches to the remote controller code of the corresponding electric appliance according to the type signal; step S4, the remote controller displays the switching success and displays the type of the electric appliance which is controlled at present; and step S5, controlling the corresponding electric appliance by using the remote controller, and the invention has the effect of convenient control operation.

摘要：【中文】本发明公开的齿轮传动系统的工作转速设置方法及系统，通过建立齿轮轮体的超单元模型，并将超单元模型与构建的轴单元模型、轴承模型、齿轮啮合模型构建出精度更高的齿轮传动模型，通过齿轮传动模型求解出齿轮传动系统的固有频率，并根据固有频率设置齿轮传动系统的工作转速。由于该齿轮传动模型相对于现有的齿轮集中质量模型精度更高，用该齿轮传动模型求解出的齿轮传动系统的固有频率精度更高，因而根据精度更高的模型求解出的固有频率的精度更加准确，根据固有频率设置齿轮的工作转速更能避免齿轮的共振的发生，提高齿轮工作的安全性，进而解决现有根据精度不高的固有频率设置的工作转速并未避免实际的工作频率，造成齿轮产生共振的技术问题。 【EN】The invention discloses a method and a system for setting the working rotating speed of a gear transmission system. Because the gear transmission model has higher precision compared with the existing gear concentrated quality model, and the natural frequency precision of the gear transmission system solved by the gear transmission model is higher, the precision of the natural frequency solved according to the model with higher precision is more accurate, the resonance of the gear can be avoided by setting the working rotating speed of the gear according to the natural frequency, the safety of the gear working is improved, and the technical problem that the actual working frequency is not avoided by the existing working rotating speed set according to the natural frequency with low precision, so that the gear generates resonance is solved.

摘要：【中文】本发明应用于移动设备数据分析领域，在开源和基于Web的数据可视化工具中实现移动手机数据和人流量信息的分析及可视化。每个移动手机都可以被视为一个传感器，可以实时感知用户持有者的地理位置，因此移动设备由于传感器技术的突飞猛进产生了大量的用户数据，这些数据关于城市动态和人类活动提供了丰富的信息，为了帮助用户更好的利用移动手机的数据，本发明开发了一种新的移动手机数据分析和可视化工具，并提供友好的数据可视化界面，便于用户直观地分析数据趋势以及利用数据趋势做进一步的数据分析工作。 【EN】The invention is applied to the field of mobile equipment data analysis, and realizes the analysis and visualization of mobile phone data and people flow information in an open source and Web-based data visualization tool. Each mobile phone can be regarded as a sensor, the geographical position of a user holder can be sensed in real time, therefore, the mobile device generates a large amount of user data due to the sudden and violent advancement of the sensor technology, the data provides rich information about urban dynamics and human activities, in order to help the user to better utilize the data of the mobile phone, a new mobile phone data analysis and visualization tool is developed, a friendly data visualization interface is provided, and the user can intuitively analyze data trends and perform further data analysis work by utilizing the data trends.

摘要：【中文】本发明涉及二芳基甲烷类化合物及其制备方法。本发明以醌类衍生物为底物和各种烷基化试剂反应，以硝酸铀酰为催化剂在蓝光照射下合成二芳基类化合物。本发明方法以光照代替加热，不需要加入配体，工艺简单，条件温和，经济成本低，同时具有更高的官能团兼容性和普适性。 【EN】The invention relates to diarylmethane compounds and a preparation method thereof. The invention takes quinone derivatives as a substrate to react with various alkylating reagents, and takes uranyl nitrate as a catalyst to synthesize diaryl compounds under the irradiation of blue light. The method replaces heating with illumination, does not need to add a ligand, has simple process, mild condition and low economic cost, and simultaneously has higher functional group compatibility and universality.

摘要：【中文】一种以区块链实现的取得电子医疗健康记录的方法，方法运行于一伺服系统中，伺服系统用于管理一或多个医疗健康记录数据库以及管理使用者的区块链身份，多个医疗健康记录数据库可设于不同的医疗健康机构。当伺服系统接收终端装置传送的联机请求，能验证其中使用者的区块链身份，使用者利用查询接口产生查询指令，使得伺服系统可以根据使用者的区块链身份以及查询指令，经区块链验证后得出一或多笔医疗健康记录索引，再经医疗健康记录索引查询数据库后得出对应的医疗健康记录。 【EN】A method for obtaining electronic medical health records by using a block chain is operated in a servo system, the servo system is used for managing one or more medical health record databases and managing the block chain identity of a user, and a plurality of medical health record databases can be arranged in different medical health institutions. When the servo system receives the on-line request transmitted by the terminal device, the identity of the user's block chain can be verified, the user generates a query instruction by using the query interface, so that the servo system can obtain one or more medical health record indexes after the block chain verification according to the user's block chain identity and the query instruction, and then obtain corresponding medical health records after the database is queried by the medical health record indexes.