摘要：【中文】本发明涉及一种智能老人护理床，其包括固定床架、升降床架，固定床架包括床头固定架及床尾固定架，升降床架包括头部升降单元及尾部升降单元，头部升降单元包括床头升降架、前床身升降架及前升降驱动机构，尾部升降单元包括床尾升降架、后床身升降架及后升降驱动机构，床头升降架及床尾升降架与床头固定架、床尾固定架之间分别安装前、后升降驱动机构，前、后床身升降架之间设置垂直升降及角度升降切换机构，由前、后升降驱动机构驱动升降单元及尾部升降单元进行同步升降，或者切换为独立角度升降。本发明可实现不用移动老人、病人即可进行洗澡的智能老人护理床，操作方便，自动化程度高，大大降低护理难度。 【EN】The invention relates to an intelligent nursing bed for old people, which comprises a fixed bed frame and a lifting bed frame, wherein the fixed bed frame comprises a bed head fixing frame and a bed tail fixing frame, the lifting bed frame comprises a head lifting unit and a tail lifting unit, the head lifting unit comprises a bed head lifting frame, a front bed body lifting frame and a front lifting driving mechanism, the tail lifting unit comprises a bed tail lifting frame, a rear bed body lifting frame and a rear lifting driving mechanism, the front lifting driving mechanism and the rear lifting driving mechanism are respectively arranged between the bed head lifting frame and the bed tail lifting frame and the bed head fixing frame and between the bed head lifting frame and the bed tail fixing frame, a vertical lifting and angle lifting switching mechanism is arranged between the front bed body lifting frame and the rear bed body lifting frame, and the front lifting driving mechanism and the rear lifting driving. The intelligent nursing bed for the old people can realize the intelligent nursing bed for the old people to take a bath without moving the old people and patients, is convenient to operate and high in automation degree, and greatly reduces the nursing difficulty.

摘要：【中文】本发明公开了用于送粉式激光增材制造设备的离焦量测控系统，包括计算机数控系统，计算机数控系统与人机交互系统、距离传感器双向连接；人机交互系统负责程序的编写、参数的输入，以及系统状态信息的可视化显示；计算机数控系统通过数据线分别与运动控制器、激光控制器和送粉控制器连接；送粉控制器通过送粉管道连接送粉头，送粉头正对工作平面设置、距离传感器安装在送粉头侧壁，运动控制器用于控制机床和送粉头的运动。本发明还公开了用于送粉式激光增材制造设备的离焦量测控方法。本发明可以预设并实时测控增材制造过程中工作平面与送粉头的离焦量，提高每层的工艺稳定性，进而提升送粉式激光增材制造产品的质量。 【EN】The invention discloses a defocusing amount measurement and control system for powder feeding type laser additive manufacturing equipment, which comprises a computer numerical control system, wherein the computer numerical control system is connected with a human-computer interaction system and a distance sensor in a two-way mode; the human-computer interaction system is responsible for programming programs, inputting parameters and visually displaying system state information; the computer numerical control system is respectively connected with the motion controller, the laser controller and the powder feeding controller through data lines; the powder feeding controller is connected with the powder feeding head through a powder feeding pipeline, the powder feeding head is arranged right opposite to the working plane, the distance sensor is arranged on the side wall of the powder feeding head, and the motion controller is used for controlling the motion of the machine tool and the powder feeding head. The invention also discloses a defocusing amount control method for the powder feeding type laser additive manufacturing equipment. The method can preset and measure the defocusing amount of the working plane and the powder feeding head in the additive manufacturing process in real time, improve the process stability of each layer, and further improve the quality of powder feeding type laser additive manufacturing products.

摘要：【中文】本发明公开了一种多功能医用防护眼镜，所述多功能医用防护眼镜包括：镜腿、镜框、防花粉抗菌镜片；防花粉抗菌镜片外侧和内侧表面分别涂敷有二氧化鈦‑銀纳米抗菌剂防花粉抗菌镜片镶嵌在镜框内部且两条镜腿分别连接镜框两侧，由此与佩戴者的面部围合成相对封闭空腔。本发明公开的多功能医用防护眼镜通过二氧化鈦‑銀有效抗病毒、降解细菌，防止交叉感染且能有效防止佩戴者花粉过敏，并使用柔软的硅胶垫片使眼镜与佩戴者面部更大程度的贴合，由此大幅降低眼部空气的流动，避免泪液过多蒸发，保持眼部的湿润度，而且柔软的硅胶垫片提高了佩戴者的舒适性。 【EN】The invention discloses a pair of multifunctional medical protective glasses, which comprises: glasses legs, glasses frames and pollen-proof antibacterial lenses; titanium dioxide-mercury nano antibacterial agent pollen-resistant antibacterial lenses coated on the outer side and inner side surfaces of the pollen-resistant antibacterial lenses are inlaid in the glasses frame, and two glasses legs are connected to two sides of the glasses frame respectively, so that a relatively closed cavity is formed by surrounding the face of a wearer. The multifunctional medical protective glasses disclosed by the invention effectively resist viruses and degrade bacteria through titanium dioxide-mercury, prevent cross infection and effectively prevent pollen allergy of a wearer, and the glasses are attached to the face of the wearer to a greater extent by using the soft silica gel gasket, so that the air flow of eyes is greatly reduced, excessive evaporation of tears is avoided, the wettability of the eyes is kept, and the comfort of the wearer is improved by the soft silica gel gasket.

摘要：【中文】本申请涉及一种多飞机协同航路规划方法，包括：步骤一、构建态势模型；步骤二、将多条初始航路划分至各飞机子种群中；步骤三、基于初始航路生成相应的新航路；步骤四～六、判断新航路的代价是否小于对应的初始航路；若否，将对应的遗弃次数加1，在遗弃次数小于最大遗弃次数时，返回步骤三；若是，将遗弃次数置零，以该新航路更新对应的初始航路，基于更新的初始航路生成相应的新航路，返回判断新航路的代价是否小于对应的初始航路；步骤七～九、每个飞机子种群中以代价最小的初始航路为其精英航路，判断各条精英航路是否满足各飞机协同飞行的要求；若各否，在未达到最大迭代次数时，返回步骤三；若是，以精英航路作为对应飞机的协同航路。 【EN】The application relates to a multi-airplane collaborative route planning method, which comprises the following steps: step one, constructing a situation model; dividing a plurality of initial routes into each airplane sub-population; step three, generating a corresponding new air route based on the initial air route; step four-sixth, judge whether the cost of the new route is smaller than the correspondent initial route; if not, adding 1 to the corresponding abandon times, and returning to the step three when the abandon times are smaller than the maximum abandon times; if yes, setting the abandoned number to be zero, updating the corresponding initial route by the new route, generating a corresponding new route based on the updated initial route, and returning to judge whether the cost of the new route is less than the corresponding initial route; seventhly, judging whether each elite air route meets the requirement of cooperative flight of each airplane or not by taking the initial air route with the minimum cost as the elite air route in each airplane sub-population; if not, returning to the third step when the maximum iteration times is not reached; and if so, taking the elite air route as the cooperative air route of the corresponding airplane.

摘要：【中文】一种自动调整元件之间间距的方法，包括以下步骤：1）获取器件的参数列表信息；2）确定所述器件左侧边界位置坐标；3）根据所述参数列表信息确定所述器件宽度；4）根据所述器件左侧边界位置坐标和所述器件宽度确定所述器件右侧边界位置坐标；5）设置所述器件间距。6）根据所述器件右侧边界位置坐标和所述器件间距确定下一个器件左侧边界位置坐标。本发明的自动调整元件之间间距的方法，避免了因器件宽度不同而对器件之间间距产生影响，不会出现器件重叠或排列过于稀疏的情况。 【EN】A method of automatically adjusting the spacing between components, comprising the steps of: 1) acquiring parameter list information of a device; 2) determining the position coordinates of the left boundary of the device; 3) determining the width of the device according to the parameter list information; 4) determining the position coordinate of the boundary of the right side of the device according to the position coordinate of the boundary of the left side of the device and the width of the device; 5) setting the device pitch. 6) And determining the position coordinate of the left boundary of the next device according to the position coordinate of the right boundary of the device and the distance between the devices. The method for automatically adjusting the spacing between the elements avoids the influence on the spacing between the devices due to different widths of the devices, and avoids the situation that the devices are overlapped or arranged sparsely.

摘要：【中文】本发明公开了一种电弧增材制造单道熔覆层竖向搭接形貌的控制方法，首先在成形基板上成形第一熔覆层，通过测量第一熔覆层的宽度、高度来确定抛物线拟合参数，根据拟合参数确定最佳层高，然后根据拟合参数保持熔覆层润湿性条件稳定的前提下，进行第二熔覆层的成形，从而实现了对第一熔覆层到第二熔覆层搭接形貌的控制；将第二熔覆层作为新的熔覆层，再对新的熔覆层的搭接形貌进行控制，直至竖向搭接结束，实现了熔覆层竖向搭接形貌的控制。本发明一种电弧增材制造单道熔覆层竖向搭接形貌的控制方法，对熔覆层竖向搭接形貌的控制效果与实际情况符合，准确度高，可以实现较好的熔覆层竖向搭接效果。 【EN】The invention discloses a control method for vertical lapping morphology of a single-channel cladding layer in electric arc additive manufacturing, which comprises the steps of firstly forming a first cladding layer on a forming substrate, determining parabolic fitting parameters by measuring the width and the height of the first cladding layer, determining the optimal layer height according to the fitting parameters, and then forming a second cladding layer on the premise of keeping the wettability condition of the cladding layer stable according to the fitting parameters, thereby realizing the control of the lapping morphology from the first cladding layer to the second cladding layer; and taking the second cladding layer as a new cladding layer, and controlling the lapping appearance of the new cladding layer until the vertical lapping is finished, thereby realizing the control of the vertical lapping appearance of the cladding layer. The control method for the vertical lapping appearance of the single-channel cladding layer manufactured by the electric arc additive has the advantages that the control effect on the vertical lapping appearance of the cladding layer is in accordance with the actual situation, the accuracy is high, and the better vertical lapping effect of the cladding layer can be realized.

摘要：【中文】本发明公开了基于润湿性的熔覆层竖向搭接形貌的控制方法，首先在成形基板上成形第一熔覆层，通过测量第一熔覆层的宽度、高度来确定抛物线拟合参数，根据拟合参数确定最佳层高，然后根据拟合参数保持熔覆层润湿性条件稳定的前提下，进行第二熔覆层的成形，从而实现了对第一熔覆层到第二熔覆层搭接形貌的控制；将第二熔覆层作为新的熔覆层，再对新的熔覆层的搭接形貌进行控制，直至竖向搭接结束，实现了熔覆层竖向搭接形貌的控制。本发明基于润湿性的熔覆层竖向搭接形貌的控制方法，对熔覆层竖向搭接形貌的控制效果与实际情况符合，准确度高，可以实现较好的熔覆层竖向搭接效果。 【EN】The invention discloses a control method of vertical lapping appearance of a cladding layer based on wettability, which comprises the steps of firstly forming a first cladding layer on a forming substrate, determining a parabola fitting parameter by measuring the width and the height of the first cladding layer, determining the optimal layer height according to the fitting parameter, and then forming a second cladding layer on the premise of keeping the wettability condition of the cladding layer stable according to the fitting parameter, thereby realizing the control of the lapping appearance from the first cladding layer to the second cladding layer; and taking the second cladding layer as a new cladding layer, and controlling the lapping appearance of the new cladding layer until the vertical lapping is finished, thereby realizing the control of the vertical lapping appearance of the cladding layer. The control method of the vertical lapping appearance of the cladding layer based on the wettability has the advantages that the control effect of the vertical lapping appearance of the cladding layer is in accordance with the actual situation, the accuracy is high, and the better vertical lapping effect of the cladding layer can be realized.

摘要：【中文】本发明公开了一种面向多视图三维重建的初始视图选取方法，属于计算机视觉与计算机图形学领域。该方法包括以下步骤：S1：输入应用场景的图像序列、特征点以及所采用的摄像机的内部参数；S2：计算任意两幅视图之间的基本矩阵；S3：计算摄像机的投影矩阵；S4：计算三维点在视图上的投影点和反投影误差；S5：计算任意两幅视图之间的单应性矩阵和单应性误差；S6：计算任意两幅视图之间的特征点位置误差之和；S7：选取输入图像序列中特征点位置误差之和最小的两幅视图作为多视图重建的初始视图。本发明的方法能够快速稳健地进行初始视图选取，选取效果好，并能适用任意场景，具有较强的通用性。 【EN】The invention discloses an initial view selection method for multi-view three-dimensional reconstruction, and belongs to the field of computer vision and computer graphics. The method comprises the following steps: s1: inputting an image sequence, feature points and internal parameters of an adopted camera of an application scene; s2: calculating a basic matrix between any two views; s3: calculating a projection matrix of the camera; s4: calculating projection points and back projection errors of the three-dimensional points on the view; s5: calculating a homography matrix and a homography error between any two views; s6: calculating the sum of the position errors of the feature points between any two views; s7: and selecting two views with the minimum sum of the errors of the positions of the characteristic points in the input image sequence as initial views of the multi-view reconstruction. The method can quickly and steadily select the initial view, has good selection effect, can be suitable for any scene, and has stronger universality.

摘要：【中文】本发明公开了一种面向大规模三维重建的快速鲁棒特征跟踪方法，属于计算机视觉与计算机图形学领域。该方法对于场景的图像序列，根据像素点之间的对比关系检测图像的特征点；在差分高斯空间内，根据中心像素与邻域像素之间的对比关系计算特征描述子；采用AP聚类方法对特征描述子进行聚类，将特征描述子划分为若干个不同的特征集合；采用并查集方法，对特征集合中的不同特征描述子进行匹配，获得特征跟踪链；采用极线约束方法去除特征跟踪链中的错误匹配关系，得到精确的特征跟踪链。该方法能够从噪声数据中检测足够多的特征点，高效准确地对特征进行跟踪，满足了三维重建的需求，从而简化三维重建的过程，降低了设计人员负担。 【EN】The invention discloses a rapid robust feature tracking method for large-scale three-dimensional reconstruction, and belongs to the field of computer vision and computer graphics. The method comprises the steps of detecting characteristic points of an image according to a contrast relation between pixel points for an image sequence of a scene; in a differential Gaussian space, calculating a feature descriptor according to a contrast relation between a central pixel and a neighborhood pixel; clustering the feature descriptors by adopting an AP clustering method, and dividing the feature descriptors into a plurality of different feature sets; matching different feature descriptors in the feature set by adopting a parallel searching method to obtain a feature tracking chain; and removing the error matching relation in the characteristic tracking chain by adopting an epipolar constraint method to obtain an accurate characteristic tracking chain. The method can detect enough characteristic points from noise data, efficiently and accurately track the characteristics, and meet the requirement of three-dimensional reconstruction, thereby simplifying the process of three-dimensional reconstruction and reducing the burden of designers.

摘要：【中文】本发明公开了一种快速鲁棒的摄像机绝对姿态估计方法，属于计算机视觉与计算机图形学领域。该方法首先确定应用场景的二维点、三维点以及所采用的摄像机参数，然后根据摄像机的成像原理，在核空间下建立摄像机的投影方程，并得到简化的摄像机的投影方程；将给定的二维点和三维点代入简化后的摄像机投影方程中，计算得出简化后的摄像机投影方程的系数矩阵；采用奇异值分解法对系数矩阵进行分解，求解得出初始的摄像机绝对姿态信息，然后采用非线性优化方法，得到精确的摄像机绝对姿态信息。该方法需要较少的二维点和三维点，不依赖三维点深度信息，快速准确地计算摄像机的绝对姿态信息，具有较强的通用性和鲁棒性，更加满足三维系统的重建需求。 【EN】The invention discloses a fast robust camera absolute attitude estimation method, and belongs to the field of computer vision and computer graphics. The method comprises the steps of firstly determining two-dimensional points and three-dimensional points of an application scene and adopted camera parameters, then establishing a projection equation of a camera in a nuclear space according to the imaging principle of the camera, and obtaining a simplified projection equation of the camera; substituting the given two-dimensional point and the given three-dimensional point into the simplified camera projection equation, and calculating to obtain a coefficient matrix of the simplified camera projection equation; and decomposing the coefficient matrix by adopting a singular value decomposition method, solving to obtain initial absolute attitude information of the camera, and then obtaining accurate absolute attitude information of the camera by adopting a nonlinear optimization method. The method needs fewer two-dimensional points and three-dimensional points, does not depend on the depth information of the three-dimensional points, quickly and accurately calculates the absolute attitude information of the camera, has stronger universality and robustness, and better meets the reconstruction requirement of a three-dimensional system.