摘要：【中文】本发明提供一种车载摄像头的姿态估计方法、装置和系统及电子设备。该方法包括：基于车载摄像头采集的车辆行驶路面的视频流进行路面的车道线检测；根据车道线的检测结果获取车辆行驶路面的地平线信息；根据地平线信息获取车载摄像头的姿态信息。本发明提供的车载摄像头的姿态估计方法中车载摄像头的位置无需固定，且摄像头的姿态可实时获取，因此提高了车载摄像头的姿态估计准确度。 【EN】The invention provides a method, a device and a system for estimating the attitude of a vehicle-mounted camera and electronic equipment. The method comprises the following steps: detecting lane lines of a road surface based on a video stream of a driving road surface of a vehicle, which is acquired by a vehicle-mounted camera; acquiring the horizon information of the running road surface of the vehicle according to the detection result of the lane line; and acquiring the attitude information of the vehicle-mounted camera according to the horizon information. According to the attitude estimation method of the vehicle-mounted camera, the position of the vehicle-mounted camera does not need to be fixed, and the attitude of the camera can be obtained in real time, so that the attitude estimation accuracy of the vehicle-mounted camera is improved.

摘要：【中文】本发明提供了一种CMOS双稳态振荡器及其实现方法，整体电路采用CMOS工艺，电路通过比较器电路和逻辑信号处理电路设计，可以产生稳定的开关频率信号，并且可以根据实际需求进行频率的设定。本发明的振荡器采用CMOS工艺，电路设计简单，开关频率误差小，振荡器开关频率灵活可调，可以通过改变电流源IDC1和电压VR的大小，调整开关波形的占空比，从而进行开关频率的改变。 【EN】The invention provides a CMOS bistable oscillator and an implementation method thereof.A whole circuit adopts a CMOS process, and the circuit can generate stable switching frequency signals through the design of a comparator circuit and a logic signal processing circuit and can set the frequency according to actual requirements. The oscillator adopts a CMOS (complementary metal oxide semiconductor) process, has simple circuit design, small error of switching frequency and flexible and adjustable switching frequency, and can adjust the duty ratio of a switching waveform by changing the sizes of the current source IDC1 and the voltage VR so as to change the switching frequency.

摘要：【中文】本发明公开一种3D食物打印机，属于食物3D打印技术领域，其包括PLC控制器以及分别与PLC控制器进行电性连接的打印喷头、可升降加热平台、可翻转红外锅盖以及XY平面驱动组件，打印喷头位于可升降加热平台的上方，XY平面驱动组件驱动连接打印喷头，以驱动打印喷头在可升降加热平台上方沿X轴方向及Y轴方向平移，可翻转红外锅盖位于可升降加热平台的一侧，以活动扣合在可升降加热平台的上方。本技术方案，其可对3D打印出来食物进行双面加热，确保用户吃到热气腾腾的食物的同时，提高整个3D打印食物的加热效率。 【EN】The invention discloses a 3D food printer, which belongs to the technical field of 3D printing of food and comprises a PLC (programmable logic controller) and a printing nozzle, a liftable heating platform, a turnable infrared pot cover and an XY plane driving assembly which are respectively and electrically connected with the PLC, wherein the printing nozzle is positioned above the liftable heating platform, the XY plane driving assembly is in driving connection with the printing nozzle so as to drive the printing nozzle to translate above the liftable heating platform along the X-axis direction and the Y-axis direction, and the turnable infrared pot cover is positioned on one side of the liftable heating platform and movably buckled above the liftable heating platform. This technical scheme, it can print out food to 3D and carry out two-sided heating, when guaranteeing that the user eats the food that steam soared, improves the heating efficiency that whole 3D printed food.

摘要：【中文】本发明公开了一种全自动环保处理一体机，包括发酵箱，所述发酵箱内设有进料系统、干湿分离系统、发酵搅拌系统、加热系统、曝气系统、喷淋除臭系统、螺旋输送系统；所述干湿分离系统与所述发酵搅拌系统连通，所述发酵搅拌系统包括可在发酵箱内部移动的翻耙机和固定于翻耙机轨道两端的限位开关，所述喷淋除臭系统位于所述发酵系统的上方，所述加热系统采用太阳能热源，所述曝气系统位于发酵箱下部，可对发酵物进行曝气，所述喷淋除臭系统位于发酵箱的顶部，所述螺旋输送系统位于发酵箱的末端。本发明高度集成、自动化程度高、方便运输、处理效率高，且产生异味少，解决了污染自然环境的问题，并能产生可观经济效益。 【EN】The invention discloses a full-automatic environment-friendly treatment integrated machine which comprises a fermentation box, wherein a feeding system, a dry-wet separation system, a fermentation stirring system, a heating system, an aeration system, a spraying deodorization system and a spiral conveying system are arranged in the fermentation box; the dry-wet separation system is communicated with the fermentation stirring system, the fermentation stirring system comprises a rake-turning machine capable of moving in a fermentation box and limit switches fixed at two ends of a track of the rake-turning machine, the spraying deodorization system is positioned above the fermentation system, the heating system adopts a solar heat source, the aeration system is positioned at the lower part of the fermentation box and can aerate fermented materials, the spraying deodorization system is positioned at the top of the fermentation box, and the spiral conveying system is positioned at the tail end of the fermentation box. The invention has the advantages of high integration, high automation degree, convenient transportation, high treatment efficiency and less generation of peculiar smell, solves the problem of natural environment pollution, and can generate considerable economic benefit.

摘要：【中文】本发明公开了一种全自动多仓位商用炒菜机，包括壳体，所述壳体内设有多个并排设置的电磁炒锅，所述电磁炒锅的上方设有传输带，所述传输带上可架放配菜彩盒，所述传输带由电机驱动运送所述配菜盒至所述电磁炒锅的正上方，所述配菜盒底部的仓门可受控打开；所述传输带下方设有开仓导杆、菜盒挡板、开仓按钮、开仓挂钩、红外传感器，可用于打开所述配菜盒底部的仓门。本发明提供了一种全自动多仓位商用炒菜机，一个壳体内有多个炒锅。其可以实现炒菜一键操作、无油烟无名火、无厨余、全自动清洗。 【EN】The invention discloses a full-automatic multi-bin commercial frying machine which comprises a shell, wherein a plurality of electromagnetic frying pans which are arranged side by side are arranged in the shell, a transmission belt is arranged above the electromagnetic frying pans, a side dish color box can be erected on the transmission belt, the transmission belt is driven by a motor to convey the side dish box to the position right above the electromagnetic frying pans, and a bin door at the bottom of the side dish box can be controlled to be opened; the conveying belt is provided with a bin opening guide rod, a vegetable box baffle, a bin opening button, a bin opening hook and an infrared sensor below, and can be used for opening a bin door at the bottom of the vegetable distribution box. The invention provides a full-automatic multi-bin commercial cooking machine, wherein a plurality of frying pans are arranged in a shell. It can realize one-key operation of cooking, no oil smoke, no name fire, no kitchen residue and full-automatic cleaning.

摘要：【中文】本发明提供了一种开关电源电路及电压升压方法，电压输入端连接到降压单元，降压单元的连接运放电路单元的负输入端，运放电路单元的正输入端连接功率管漏极，功率管栅极连接运放电路单元的输出端，功率管NM1的源极接地，运放电路单元连接振荡器，稳压单元连接振荡器且与电压输入端连接，稳压单元连接振荡器，且与运放电路单元的正输入端连接，电荷泵连接振荡器，电荷泵的输出端连接到电压输出端。本发明可以有效地在较低的输入电压下提供可以使后续电路正常的输出电压，并且使得输出电压更为稳定，既能够保证电路的正常工作，又不会导致功率管NM1产生较大的导通电阻值，提高系统可靠性，提高了输出电压的精确度和设计成本。 【EN】The invention provides a switching power supply circuit and a voltage boosting method, wherein a voltage input end is connected to a voltage reduction unit, the voltage reduction unit is connected with a negative input end of an operational amplifier circuit unit, a positive input end of the operational amplifier circuit unit is connected with a drain electrode of a power tube, a grid electrode of the power tube is connected with an output end of the operational amplifier circuit unit, a source electrode of an NM1 is grounded, the operational amplifier circuit unit is connected with an oscillator, a voltage stabilization unit is connected with the oscillator and is connected with the voltage input end, the voltage stabilization unit is connected with the oscillator and is connected with a positive input end of the operational amplifier circuit unit, a charge pump is connected with the oscillator, and an output end of. The invention can effectively provide output voltage which can enable a subsequent circuit to be normal under lower input voltage, and enables the output voltage to be more stable, thereby not only ensuring the normal work of the circuit, but also not causing the power tube NM1 to generate larger conduction resistance value, improving the reliability of the system and improving the accuracy and the design cost of the output voltage.

摘要：【中文】本公开提供了一种神经网络训练、目标对象的检测方法及装置，包括：利用待训练的神经网络对样本图像对应的深度图像进行特征提取，得到至少一个深度特征图；基于每个深度特征图，确定该深度特征图对应的卷积矩阵；利用神经网络根据各个深度特征图对应的卷积矩阵对样本图像进行特征提取，得到样本图像对应的样本特征图；根据样本特征图确定样本特征图中的每一个特征点所对应的样本图像中的多个目标检测区域分别对应的目标对象的存在概率；基于样本图像的目标对象的标注结果、样本特征图中的每一个特征点所对应的样本图像中的多个目标检测区域分别对应的目标对象的存在概率、以及样本特征图对应的特征向量，调整神经网络的网络参数。 【EN】The present disclosure provides a neural network training method and a target object detection method and device, including: performing feature extraction on the depth image corresponding to the sample image by using a neural network to be trained to obtain at least one depth feature map; determining a convolution matrix corresponding to each depth feature map based on the depth feature map; performing feature extraction on the sample image by using a neural network according to the convolution matrix corresponding to each depth feature map to obtain a sample feature map corresponding to the sample image; determining the existence probability of target objects corresponding to a plurality of target detection areas in the sample image corresponding to each feature point in the sample feature map according to the sample feature map; and adjusting network parameters of the neural network based on the labeling result of the target object of the sample image, the existence probability of the target object corresponding to each target detection area in the sample image corresponding to each feature point in the sample feature map, and the feature vector corresponding to the sample feature map.

摘要：【中文】本发明涉及无线充电技术领域，尤其是一种可拆卸式无线充电系统所述供电端包括供电电源，所述供电电源电性连接有升压电路，所述升压电路电性连接有发射线圈与微控制器，所述微控制器信号连接有信号发出端，所述充电端包括接收线圈，所述接收线圈电性连接有整流滤波电路，所述整流滤波电路电性连接有电流控制模块与电压控制模块，所述电流控制模块与电压控制模块电性连接有蓄电池，所述蓄电池电性连接有电量检测模块，所述电流控制模块与电压控制模块信号连接有控制器，本发明还提供了一种可拆卸式无线充电系统充电使用方法。本发明具有有利于节省充电的时间，同时对电池起到保护的效果。 【EN】The invention relates to the technical field of wireless charging, in particular to a detachable wireless charging system, wherein a power supply end comprises a power supply, the power supply is electrically connected with a booster circuit, the booster circuit is electrically connected with a transmitting coil and a microcontroller, the microcontroller is in signal connection with a signal transmitting end, the charging end comprises a receiving coil, the receiving coil is electrically connected with a rectifying and filtering circuit, the rectifying and filtering circuit is electrically connected with a current control module and a voltage control module, the current control module and the voltage control module are electrically connected with a storage battery, the storage battery is electrically connected with an electric quantity detection module, and the current control module and the voltage control module are in signal connection with a controller. The invention is beneficial to saving the charging time and has the effect of protecting the battery.

摘要：【中文】本发明公开了一种步进电机反电动势电压补偿方法、装置、设备及介质，用以改进电机电流波形正弦度，从而解决电机运行时振动及产生噪音的问题，且将电机电流控制在设定值。所述方法包括：基于电机设定电流、驱动电压角频率、反电动势常数、负载角和电机参数，确定驱动电压数值，其中，所述电机参数包括单个电机绕组的相电感和电机相电阻；基于所述驱动电压数值，控制H桥输出驱动电压；将所述驱动电压输出至步进电机，所述驱动电压用于驱动所述步进电机工作。 【EN】The invention discloses a method, a device, equipment and a medium for compensating back electromotive force voltage of a stepping motor, which are used for improving the sine degree of a current waveform of the motor, thereby solving the problems of vibration and noise generated when the motor runs and controlling the current of the motor to be a set value. The method comprises the following steps: determining a driving voltage value based on a motor set current, a driving voltage angular frequency, a back electromotive force constant, a load angle and motor parameters, wherein the motor parameters comprise phase inductance and motor phase resistance of a single motor winding; controlling the H bridge to output a driving voltage based on the driving voltage value; and outputting the driving voltage to a stepping motor, wherein the driving voltage is used for driving the stepping motor to work.

摘要：【中文】一种随膀胱压力变化而自动调节的抗反流方法及输尿管支架管。其方法在膀胱管段，在支架管膀胱管段出口接挡水软袖，储尿期的挡水软袖处于自由状态，肾盂内的尿液进入所述输尿管支架管并路经挡水软袖排入膀胱，排尿时的挡水软袖在膀胱压力下盖住膀胱管段的出口，实现抗反流。输尿管支架管是在膀胱管段出口处设挡水软袖，储尿期的挡水软袖处于自由状态，肾盂内的尿液进入所述输尿管支架管并路经挡水软袖排入膀胱，排尿时,挡水软袖在膀胱压力的作用下盖住膀胱管段出口；排尿完毕后，膀胱压力降低，挡水软袖恢复自由状态。本发明利用柔软的挡水软袖对输尿管支架管排尿口的遮盖封闭作用，阻止尿液反向进入输尿管支架管，实现输尿管支架管抗反流。 【EN】An anti-reflux method and a ureteral stent tube which are automatically adjusted along with the change of bladder pressure. The method is characterized in that a water-retaining soft sleeve is connected to the outlet of the bladder section of a support tube in the bladder section, the water-retaining soft sleeve is in a free state during urine storage, urine in a renal pelvis enters the ureteral support tube and is discharged into the bladder through the water-retaining soft sleeve, and the water-retaining soft sleeve covers the outlet of the bladder section under the pressure of the bladder during urine discharge, so that the anti-reflux is realized. The ureteral stent is characterized in that a water-retaining soft sleeve is arranged at the outlet of a bladder section, the water-retaining soft sleeve is in a free state during the urine storage period, urine in a renal pelvis enters the ureteral stent and is discharged into the bladder through the water-retaining soft sleeve, and the water-retaining soft sleeve covers the outlet of the bladder section under the action of the pressure of the bladder during the urine discharge; after urination is finished, the pressure of the bladder is reduced, and the water retaining soft sleeve is restored to a free state. According to the invention, the soft water-retaining soft sleeves are used for covering and sealing the urine outlet of the ureteral stent, so that urine is prevented from reversely entering the ureteral stent, and the anti-reflux of the ureteral stent is realized.