摘要：【中文】本申请公开了一种自动驾驶车辆的定位方法、装置、电子设备及存储介质，属于自动驾驶技术领域。该方法通过获取自动驾驶车辆在当前时刻的目标图像；将目标图像输入目标定位模型，该目标定位模型用于根据目标图像确定自动驾驶车辆的位姿，目标定位模型由损失函数约束项进行约束，损失函数约束项包括欧氏距离损失函数项、光度差损失函数项和结构相似性损失函数项中的至少一种；根据该目标定位模型的输出结果，确定自动驾驶车辆的目标位姿；基于该目标位姿对自动驾驶车辆进行定位。由于该目标定位模型的定位精度较高，一定程度上，可以提高自动驾驶车辆的定位精度，从而可以提高自动驾驶车辆的安全系数。 【EN】The application discloses a positioning method and device of an automatic driving vehicle, electronic equipment and a storage medium, and belongs to the technical field of automatic driving. The method comprises the steps of obtaining a target image of an automatic driving vehicle at the current moment; inputting a target image into a target positioning model, wherein the target positioning model is used for determining the pose of an automatic driving vehicle according to the target image, and the target positioning model is constrained by a loss function constraint term, wherein the loss function constraint term comprises at least one of an Euclidean distance loss function term, a luminosity difference loss function term and a structural similarity loss function term; determining the target pose of the automatic driving vehicle according to the output result of the target positioning model; the autonomous vehicle is positioned based on the target pose. Because the positioning accuracy of the target positioning model is higher, the positioning accuracy of the automatic driving vehicle can be improved to a certain extent, and the safety factor of the automatic driving vehicle can be improved.

摘要：【中文】本说明书公开了视觉定位方法及装置，可获取图像传感器采集的视频，并确定视频中各帧图像对应的视觉定位信息以及各帧图像对应的图像传感器的采集位姿变换关系，以各帧图像对应的采集位姿变换关系为边约束，对各帧图像对应的视觉定位信息进行优化处理，根据图像化处理的结果，可确定图像传感器采集视频时的视觉定位结果。相对于现有技术，本说明书视频中各帧图像对应的视觉定位信息满足各帧图像对应的采集位姿变换关系，根据图优化结果确定的图像传感器的视觉定位结果更加精确，同时，本说明书解决了在相同位置采集的若干帧图像对应的视觉定位结果差异较大的问题，避免相同位置处的定位结果不稳定的情况。 【EN】The present specification discloses a visual positioning method and apparatus, which can acquire a video acquired by an image sensor, determine visual positioning information corresponding to each frame of image in the video and an acquisition pose transformation relationship of the image sensor corresponding to each frame of image, perform optimization processing on the visual positioning information corresponding to each frame of image with the acquisition pose transformation relationship corresponding to each frame of image as side constraint, and determine a visual positioning result when the image sensor acquires the video according to the result of the imaging processing. Compared with the prior art, the visual positioning information corresponding to each frame of image in the video meets the acquisition pose transformation relation corresponding to each frame of image, the visual positioning result of the image sensor determined according to the image optimization result is more accurate, meanwhile, the video positioning method solves the problem that the visual positioning results corresponding to a plurality of frames of images acquired at the same position are different greatly, and the situation that the positioning result at the same position is unstable is avoided.

摘要：【中文】本发明公开了一种双动圈单元一体的喇叭单体，包括壳体、设置在壳体内的电声转换组件、以及电路板，所述电声转换组件包括第一动圈单元和第二动圈单元；所述壳体呈双筒状，包括平行设置且中间隔离的第一安装腔筒及第二安装腔筒，所述第一动圈单元和第二动圈单元分别安装于第一安装腔筒和第二安装腔筒内；所述电路板安装于壳体的端部，并与第一动圈单元和第二动圈单元电性连接。本发明在提升入耳式耳机音质的同时，减小了入耳式耳机的体积，同时提高了组装效率，降低了入耳式耳机的产品的不良率。 【EN】The invention discloses a loudspeaker unit integrating double moving coil units, which comprises a shell, an electroacoustic conversion assembly and a circuit board, wherein the electroacoustic conversion assembly is arranged in the shell and comprises a first moving coil unit and a second moving coil unit; the shell is in a double-cylinder shape and comprises a first mounting cavity cylinder and a second mounting cavity cylinder which are arranged in parallel and separated from each other in the middle, and the first moving coil unit and the second moving coil unit are respectively mounted in the first mounting cavity cylinder and the second mounting cavity cylinder; the circuit board is arranged at the end part of the shell and is electrically connected with the first moving coil unit and the second moving coil unit. The invention improves the tone quality of the in-ear earphone, reduces the volume of the in-ear earphone, improves the assembly efficiency and reduces the reject ratio of products of the in-ear earphone.

摘要：【中文】本发明公开了一种轮毂轴承结构，包括内圈和外圈，所述内圈和外圈之间设置有保持架，所述保持架内滚动设置有钢球，所述钢球两侧设置有密封组件，所述密封组件包括金属骨架组和密封圈，所述密封圈设置在金属骨架组内部，所述金属骨架组靠近钢球一侧设置有永磁体，所述永磁体靠近钢球的一侧设置有中和层。通过在轮毂轴承密封处设置永磁体吸附磨屑微粒，进而降低钢球滚道的磨损程度，提升轴承性能；再者，通过在密封处设置中和层可随润滑油脂的冲刷缓慢释放中和物质来调节润滑油脂的酸碱度，进而降低润滑油脂变性对轴承的腐蚀，有效延长润滑油脂处于优良性能的时限。 【EN】The invention discloses a hub bearing structure which comprises an inner ring and an outer ring, wherein a retainer is arranged between the inner ring and the outer ring, a steel ball is arranged in the retainer in a rolling manner, sealing assemblies are arranged on two sides of the steel ball and comprise a metal skeleton group and a sealing ring, the sealing ring is arranged in the metal skeleton group, a permanent magnet is arranged on one side, close to the steel ball, of the metal skeleton group, and a neutralization layer is arranged on one side, close to the steel ball, of the permanent magnet. The permanent magnet is arranged at the sealing position of the hub bearing to adsorb abrasive dust particles, so that the abrasion degree of the steel ball raceway is reduced, and the bearing performance is improved; moreover, the neutralization layer is arranged at the sealing position, so that the neutralization substance can be slowly released along with the flushing of the lubricating grease to adjust the pH value of the lubricating grease, the corrosion of the lubricating grease on the bearing due to the denaturation of the lubricating grease is reduced, and the time limit of the lubricating grease in excellent performance is effectively prolonged.

摘要：【中文】本发明公开了燃爆灾害点位置检测无人机，主要涉及灾害检测领域。包括无人机，所述无人机上设有耐高温红外温度探测装置，摄像装置，GPS定位系统，信息处理系统以及远程通信装置。本发明有益效果：可以无视地形和环境，迅速靠近灾害点，并对灾害点的位置进行确定，能够有效提升检测效率；有效规避人员伤亡。 【EN】The invention discloses an unmanned aerial vehicle for detecting the position of an explosion disaster point, and mainly relates to the field of disaster detection. The unmanned aerial vehicle is provided with a high-temperature-resistant infrared temperature detection device, a camera device, a GPS (global positioning system), an information processing system and a remote communication device. The invention has the beneficial effects that: the system can be used for approaching a disaster point quickly regardless of the terrain and environment, and determining the position of the disaster point, so that the detection efficiency can be effectively improved; the casualties are effectively avoided.

摘要：【中文】本发明公开了一种熔石英光学表面超光滑加工的组合加工工艺，步骤包括：前期预处理加工；纳米量级面形精度的高效磁流变抛光；中高频表面粗糙度的光顺加工；亚纳米精度光学表面的离子束超光滑抛光加工。本发明提出的加工工艺可以对表面/亚表面损伤、面形精度、表面粗糙度进行分阶段的控制，实现全频段误差一致收敛到亚纳米精度的高效加工，原理简单、容易实现、效率更高。 【EN】The invention discloses a combined processing technology for ultra-smooth processing of a fused quartz optical surface, which comprises the following steps: preprocessing and processing at the early stage; high-efficiency magneto-rheological polishing of nanometer level surface shape precision; smoothing processing of medium-high frequency surface roughness; and (4) performing ultra-smooth polishing processing on the ion beam of the sub-nanometer precision optical surface. The processing technology provided by the invention can control surface/subsurface damage, surface shape precision and surface roughness in stages, realizes high-efficiency processing of converging full-band errors to sub-nanometer precision, and has the advantages of simple principle, easy realization and higher efficiency.

摘要：【中文】本发明公开了一种面向亚纳米精度离子束抛光加工的面形误差优化去除方法，步骤包括：计算期望的材料去除总量；计算等比例去除方式的迭代加工材料去除量；计算迭代加工所需的驻留时间；材料的等比例加工去除；迭代抛光加工。本发明能够避免抛光过程中高频误差的产生，更有利于迭代抛光过程中机床的平稳运行，可在迭代抛光过程中实现全局面形误差的均匀修正，更适合亚纳米精度光学元件的离子束抛光加工。 【EN】The invention discloses a sub-nanometer precision ion beam polishing oriented surface shape error optimization removal method, which comprises the following steps: calculating a desired total material removal; calculating the removal amount of the iterative processing material in an equal proportion removal mode; calculating the residence time required by iterative processing; processing and removing materials in equal proportion; and (5) performing iterative polishing processing. The invention can avoid the generation of high frequency error in the polishing process, is more beneficial to the stable operation of a machine tool in the iterative polishing process, can realize the uniform correction of the global surface shape error in the iterative polishing process, and is more suitable for the ion beam polishing processing of the sub-nanometer precision optical element.

摘要：【中文】本发明涉及一种基于Petri网的无刷直流电机DSP逻辑控制程序的设计方法，通过对无刷直流电机的霍尔传感器和转向控制变量建模，得到功率管的Petri网，Petri网模型直观易懂，且易于分析。本发明通过Petri网可达图算法，计算无刷直流电机动态系统的状态集合，并根据梯形换向逻辑逐个验证，是否符合规范，若不符合，重新设计系统的Petri网模型，避免了程序中的逻辑错误。本发明给出无刷直流电机逻辑控制数学表达式，为DSP逻辑控制程序设计做铺垫，数学表达式描述逻辑控制更加严谨和清晰。 【EN】The invention relates to a design method of a DSP logic control program of a brushless direct current motor based on a Petri network. According to the invention, the state set of the brushless direct current motor dynamic system is calculated through a Petri network reachability graph algorithm, and is verified one by one according to the trapezoidal commutation logic, whether the state set meets the specification or not is verified, if the state set does not meet the specification, the Petri network model of the system is redesigned, and logic errors in a program are avoided. The invention provides a logic control mathematical expression of the brushless direct current motor, lays a cushion for designing a DSP logic control program, and describes more rigorous and clear logic control by the mathematical expression.

摘要：【中文】本发明公开了一种冗余网关系统，包括通过网络连接的多个网关，各网关存储有冗余配置信息表，所述冗余配置信息表包含对外IP地址、自身IP地址、以及冗余网关地址表，所述冗余网关地址表包含有各网关的自身IP地址；其中所述多个网关被配置为在开启后读取各自冗余网关地址表，并根据主网关继承规则确定占用对外IP地址来响应外部应用软件的主网关。通过在各网关内设置包含了所有其它冗余网关地址的冗余网关地址表，可以实现任意N个网关冗余。通过冗余组对外IP地址，上层应用软件只需要通过冗余组对外IP地址进行数据交互，不需要与冗余组所有网关自身地址进行数据交互，大大提升网关冗余的易用性。 【EN】The invention discloses a redundant gateway system, which comprises a plurality of gateways connected through a network, wherein each gateway stores a redundant configuration information table, the redundant configuration information table comprises an external IP address, a self IP address and a redundant gateway address table, and the redundant gateway address table comprises the self IP address of each gateway; the plurality of gateways are configured to read respective redundant gateway address tables after being started, and determine a main gateway occupying an external IP address to respond to external application software according to a main gateway inheritance rule. Any N gateway redundancies can be realized by setting a redundant gateway address table containing all other redundant gateway addresses in each gateway. Through the external IP address of the redundancy group, the upper application software only needs to carry out data interaction on the external IP address through the redundancy group and does not need to carry out data interaction with the addresses of all gateways of the redundancy group, and therefore the usability of the redundancy of the gateways is greatly improved.

摘要：【中文】一种镁/铝/铝复合板轧制复合方法，属于有色金属层状复合板的制备方法技术领域，可解决镁合金和6系铝合金复合轧制需要的下压量大，镁合金容易产生裂纹，不易实现复合板的制备的问题，在镁合金板材和6系铝合金板材之间添加1系铝合金板材为中间连接层，在较低的轧制温度和较小的下压量下制备出一种复合板。所述复合板为镁合金/铝合金/铝合金三层结构。制备出的层合板界面结合良好，无缺陷和孔隙存在。其强度达235MPa，延伸率达6.3%。此制备方法工艺简单、成本低廉、生产效率高，是先进的制备镁铝层状复合板的方法。 【EN】A rolling compounding method for a magnesium/aluminum composite plate belongs to the technical field of preparation methods for non-ferrous metal laminated composite plates and can solve the problems that the pressing quantity required by the composite rolling of magnesium alloy and 6 series aluminum alloy is large, the magnesium alloy is easy to crack and the preparation of the composite plate is difficult to realize. The composite board is of a magnesium alloy/aluminum alloy three-layer structure. The prepared laminated plate has good interface bonding, no defect and no pores. The strength reaches 235MPa, and the elongation reaches 6.3%. The preparation method has the advantages of simple process, low cost and high production efficiency, and is an advanced method for preparing the magnesium-aluminum layered composite board.