2 results about "Median filter" patented technology

The invention relates to a dedicated controller for an intelligent wall plastering robot. The controller has an automatic control mode and a manual control mode. The controller comprises an ARM processor and a peripheral module. The peripheral module comprises a power module, a laser distance-measuring sensor data receiving module, a DC propulsion motor speed regulation module, a DC lifting motor control module, a stepping motor angle control module, a DC support motor control module, a motor current feedback module, an magnetic encoder interface module, a limit switch interface module and a man-machine interaction module. The controller adopts a median filtering algorithm to carry out filtering and noise reduction on the collected data, and track interpolation calculation is carried out; and an incremental PID algorithm is adopted to carry out rotating speed loop and current loop double closed loop control on the motor. Real-time measurement data is obtained through a laser distance-measuring sensor and a magnetic encoder; and the ARM controller controls each motor of the wall plastering robot to move cooperatively, so that the wall plastering robot is allowed to plaster the wall accurately and smoothly, and the error thickness meets plastering work requirement.

The invention discloses a median filtering implementation method for integrated circuit design. The median filtering implementation method for the integrated circuit design is implemented based on a memory and an FSM. The median filtering implementation method for the integrated circuit design comprises the step S1 of initialization and the step S2 of filtering output. The step S1 of initialization comprises the step that N data which are sorted by size are stored in the memory according to a data structure so as to establish a data table, wherein when the number of stored data is smaller than N, and new data come, polling is conducted from any one end of a stored sorted data table, the stored data and the new data are compared, the appropriate positions of the new data in the sorted data table are found out, the new data are inserted into the sorted data table, and the new data are inserted one by one until the number of the data is equal to N, and therefore initialization is completed. The step S2 of filtering output comprises the steps that the data table is reestablished in a deletion and insertion mode according to the time sequence on the basis of the established data table, and a median of the N data is outputted according to the reestablished data table. When the median filtering implementation method is applied, the hardware cost can be reduced, the median filtering rate can be increased to 700 KHz, the median filtering depth can be increased to 32, and therefore the comprehensive constraint conditions can be changed.