一种基于视觉识别的运粮车粮箱装载状态检测方法

本发明涉及一种基于视觉识别的运粮车粮箱装载状态检测方法，在粮箱边缘布置多个深度相机，用于采集粮箱内装载的状态信息；构建粮箱体角落处的3D模型图，对3D模型图进行多视角采样，形成模版库，该模版库用于模版匹配；对多个深度相机进行标定，构建深度相机与粮箱坐标系之间的映射关系；对多个深度相机采集到的点云进行滤波降噪处理，得到粮箱有效点云信息；对粮箱有效点云信息进行点云融合，得到粮箱内装载的粮食空间分布信息。本发明实现基于模板匹配的深度相机的标定方法，同时对点云实现滤波降噪处理，能够有效对装载状态进行检测；通过视觉识别检测粮箱装载状态，能够准确的描述粮食在粮箱内的空间分布状态，适用性强，便于维护

一种用于电控系统的在线可调直流低压电源

本发明提供了一种用于电控系统的在线可调直流低压电源。该电源包括通用控制器、数字电位器芯片和电平转换模块。通用控制器通过控制与数字电位器芯片连接的三个引脚电平高低确定数字电位器芯片的电阻值，电平转换模块根据数字电位器芯片的电阻值输出期望的电压值。数字电位器芯片与通用控制器一起由3.3V或5V供电。电平转换模块能够将5V‑40V输入电压转化为3V‑36V输出电压，输出电压低于输入电压。该电源解决常规电源不能在线调节输出电压的问题，通过通用控制器能够在线实时控制输出电压值。输出电流最大6A，转换效率82％以上，能够满足常见的低压控制系统供电需求

Design of a path-following controller based on a new tracked vehicle kinematics model

In order to improve the tracking accuracy of tracked vehicle in the process of automatic navigation. This paper combines the position and posture changes of the tracked vehicle to derive the kinematics model, and establishes the kinematics equations about the vehicle yaw rate and spatial position coordinates. According to the requirements for the convergence speed and stability of the lateral error and the rate of change of the lateral error, a steering controller combining kinematics model and state feedback system is designed. Combined with the vehicle speed and the yaw rate output by the system, the speed of the driving wheels on both sides of the track is controlled by controlling the steering angle, so as to realize the differential steering control. The simulation and experimental results show that the controller is effective and can accurately track the target path of the tracked vehicle