99results about How to "No error accumulation" patented technology

The invention discloses a flexible micro-positioning stage with two degrees of freedom, the design of the flexible micro-positioning stage with two degrees of freedom comprises a flexible mechanism and an integral structure, two piezoelectric ceramic drivers are adopted in the structure, the tail part of each driver is connected with a base through a bolt, and the top end of each driver is connected with a spherical joint through a thread, thereby realizing Hertz contact. The flexible mechanism of the positioning stage mainly comprises three parts of the base, flexible branched chains with entirely consistent structures and a supporting movable platform thereof. Two displacement sensors are used for measuring actual output of the movable platform and respectively fixed between the base and the movable platform through an L-shaped support and a Z-shaped support. The flexible micro-positioning stage is characterized by high resolution and fast dynamic response speed, and can be taken as an auxiliary positioning platform of a nano-imprint lithography positioning system for realizing micro-feeding and precise positioning.

The present invention discloses an ageing rate estimation method of storage battery. Said method includes the following steps: defining discharge data and discharge capacity characteristic data of storage battery; using nominal life of storage battery as reference, using its discharge curve as ageing curve; when the storage battery is come into floating charge state from equalizing charge state, defining its position in ageing curve and estimating its ageing rate; when the discharge exceeds predefined discharge depth, according to the comparison result of capacity discharged from the present discharge to described selected capacitor point and new storage battery capacity renewing ageing rate; then utilizing said renewed ageing rate to correct the position of storage battery in ageing curve. Said invention also discloses a fault detection method of storage battery and a storage battery management monitoring device.

The invention discloses a three-degree of freedom flexible precision positioning workbench. In a structure of the workbench, six piezoelectric ceramic drivers are adopted, the tail of each driver is connected with a substrate through bolts, and the top end is in threaded connection with a ball joint to realize hertz contact; a flexible structure of the positioning workbench mainly comprises the substrate, six flexible branched chains with identical structures and a movable platform supported by the flexible branched chains; and three position sensors are used for measuring the actual output of the movable platform and are respectively fixed between a rigid support and the movable platform. The precision positioning workbench has the characteristics of high resolution ratio and high speed of dynamic response, and can be used as an assisted positioning platform of a nano-imprint lithography positioning system to realize microscale feeding and precision positioning.

The invention discloses a two-degree of freedom precise positioning work table, which comprises a base, a moving platform, a rigid support which is connected with the bottom of the base, and four flexible branched chains which are connected between the moving platform and the base, wherein each flexible branched chain comprises a moving block and three groups of flexible plate spring structures; each flexible plate spring structure consists of two '-'-shaped flexible plate springs; a first group and a second group of the flexible plate spring structures are respectively positioned at the left side and the right side of the moving block; the lower ends of the two '-'-shaped flexible plate springs of a third group of the flexible plate spring structures are connected with the side wall of the upper end of the moving block, and the upper ends thereof are connected with the side wall of the moving platform; four piezoelectric ceramics driving devices are respectively horizontally arranged; a ball-shaped joint of each driving device is supported on the side wall of the lower end of the moving block; and conducting strips of two position sensors are respectively connected with the upper plane of the rigid support and the lower plane of the moving platform. The positioning work table can be taken as an auxiliary positioning platform of a nanometer embossing photoetching positioning system to realize the microscale feeding and the precise positioning.

A plane parallel type three-freedom-degree precise positioning work table has three flexible branched chains which are total the same in structure and respectively and correspondingly arranged on the inner sides of three equal sides of a base of a triangular structure and a movable platform arranged on the inner sides of the three flexible branch chains and arranged at the center of the base, wherein the base, the three flexible branched chains and the movable platform are integrally formed, the three flexible branched chains are in flexible connection with the base, displacement input ends of the three flexible branched chains respectively correspond to three included angles of the base, the movable platform is in flexible connection with the three flexible branched chains, a groove is formed between the inner side of each included angle of the base and the corresponding flexible branched chain, a piezoelectric ceramic driver is horizontally arranged in the groove, one end of the piezoelectric ceramic driver is in hertz contact with the displacement input ends of the flexible branched chains, and the other end of the piezoelectric ceramic driver is fixedly connected on the base through bolts. The plane parallel type three-freedom-degree precise positioning work table is compact in structure, flexible to control, high in static and dynamic stiffness, high in kinematic accuracy, low in inertia, free of error accumulation, free of friction and heating and fast in responding.

The invention discloses a flexible micro-positioning platform, which is characterized in that the positioning platform comprises a movable platform, four pairs of arched leaf springs, two flexible lever displacement amplification mechanisms, two piezoelectric ceramic drivers and a base, wherein the movable platform is in a square structure and is supported by the four pairs of amplified arched leaf springs distributed on four edges of the movable platform; the fixed ends of the flexible lever displacement amplification mechanisms are in rigid connection with the base by threads; the input ends of the flexible lever displacement amplification mechanisms are abutted against the working ends of the two piezoelectric ceramic drivers; the directions of the two flexible lever displacement amplification mechanisms are respectively parallel with the edge directions of the movable platform connected with the flexible lever displacement amplification mechanisms; the working ends of the two piezoelectric ceramic drivers are supported on the input ends of the two flexible lever displacement amplification mechanisms; the non-working ends of the two piezoelectric ceramic drivers are supported on ''L''-shaped rigid blocks extending from the fixed ends of the flexible lever displacement amplification mechanisms; and the ''L''-shaped rigid blocks are provided with threaded holes used for connecting with the piezoelectric ceramic drivers and the base.

The invention discloses a six-freedom-degree precision positioning table for a nano-imprint lithography system, wherein a spatial flexibility mechanism comprises a pre-tightening mechanism, three first displacement sensor and three first piezoelectric ceramic drivers, the pre-tightening mechanism comprises an elastic pre-tightening ring connected with a rigid ring, a base, a vertical column, three bottom elastic hinges and a first displacement sensor, the piezoelectric ceramic drivers are pushed on the elastic hinges; a plane flexibility mechanism comprises a rigid ring, a rigid supporting table, three flexible branched chains and three second piezoelectric ceramic drivers, each flexible branched chain comprises three top part elastic gemels, three second elastic gemels are connected by a driving connecting rod and a middle connecting rod, two second elastic gemels are respectively connected with the rigid ring and the rigid supporting table, the second piezoelectric ceramic drivers are pushed against on the driving connecting rod, three pairs of the supports are arranged, and each pair of the supports are connected with a second displacement sensor, and the rigid supporting table is connected with a movable platform; the working table has high resolution ratio and rapid dynamic response speed.

The invention discloses a method and a device for tracking control of solar electrical energy generation. The method comprises the following steps: automatically selecting a maximum power tracking mode or a timed tracking mode according to the level of the real-time output power of a solar battery; when the timed tracking mode is run, controlling tracking according to the current time and the detected current position signal of a solar panel; and when the maximum power tracking mode is run, determining the tracking direction of a mechanical structure according to the changing condition of the output power of the solar battery. The device comprises a centralized control module, a position detecting module for detecting the actual rotating position of the solar panel, and an array detecting module for detecting the real-time output power of the solar battery. The invention has the advantages of simple and convenient operation, accurate rotating position, realization of automatic control, simple structure, high detecting accuracy and low cost.

The invention discloses a two-degree-of-freedom nanometer positioning platform. The nanometer positioning platform comprises a movable platform and a base which are connected with each other through a flexible branched chain in an x-axis direction and a flexible branched chain in an y-axis direction. As adopting a flexible parallel connection structure, the nanometer positioning platform has the advantages of high rigidity, high precision, low inertia, compact structure, no error accumulation and the like; and as adopting a flexible plate spring as a transmission component, the nanometer positioning platform has the advantages of no mechanical friction and no gap. Furthermore, based on the elastic deformation of materials, the tiny deformation generated by the flexible plate spring and a tiny working space at the tail end of an actuator, the nanometer positioning platform can effectively eliminate the defects of non-linearity and the like of a parallel connection mechanism; and two piezoelectric ceramic drivers are used for respectively driving the two flexible branched chains, so that a relative position of a template and a substrate in an imprint lithography process can be initiatively adjusted. The two-degree-of-freedom nanometer positioning platform provided by the invention can be taken as an auxiliary positioning platform of a nanometer imprint lithography positioning system, and can implement micro-scale feeding and precise positioning.

The invention discloses a three DOF micro-positioning workbench for a nano-imprint lithography system, which comprises six piezoelectric ceramic drives; and each drive is connected with a base, and the top end is connected with a spherical connector by thread. The workbench also comprises six flexible fork chains of a flexible mechanism with totally consistent structure and a moving platform which is supported by the flexible fork chains; and three position sensors are used to measure the actual output of the moving platform, and are respectively fixed between a rigid support and the moving platform. The micro-positioning workbench is characterized by high resolution and high dynamic response speed, can serves as an auxiliary positioning platform of a nano-imprint lithography positioning system, and realize micro feeding and precise positioning.

The invention discloses a 2R1T three degree of freedom space flexible precision positioning platform, which is characterized by comprising, from up to bottom, a moving platform, a rigid end bracing frame, three rectangular branched chains, three piezoelectric ceramic driver and a rigid pedestal. The moving platform is in an inverted boss shape; the rigid end bracing frame is in an equilateral triangle shape; the three rectangular branched chains are in a same shape and structure, which comprises eight single degree of freedom flexible hinges arranged on an upper beam and a lower beam; the three rectangular branched chains are arranged along three edges of the triangle rigid pedestal; the three piezoelectric ceramic drivers are arranged horizontally between two vertical beams of each rectangular branched chain to form an H-shape structure; the rigid pedestal is in a hollow equilateral triangle structure; and the three rectangular branched chains are rigidly fixed on the rigid pedestal.

The invention provides a real-time non-contact measuring and compensating device of local deformation quantity. According to the technical scheme, the real-time obtaining and position compensating of the deformation quantity can be realized through the control of a laser sensor and a feeding shaft. The real-time non-contact measuring and compensating device comprises a real-time laser measuring module and a feeding shaft position compensating module, wherein the real-time laser measuring module is used for measuring and collecting the position of a workpiece in milling in a cycling mode, the feeding shaft position compensating device is used for obtaining the position compensating quantity of a targeted feeding shaft, and the current position of the targeted feeding shaft can be fast and evenly adjusted. The position compensating quantity of the surface of the workpiece opposite to a tool nose is calculated in real time through tracking the deformation quantity of the thin-wall workpiece, an internally coordinate bias module of a numerical control system is invoked to realize the automatic compensation of the deformation of the workpiece during processing, the real-time non-contact measuring and compensating device has the characteristics of being without error accumulation and rapid in responding speed, the influence of the workpiece deformation to the milling quality can be effectively lowered, and the real-time non-contact measuring and compensating device can be applied in thin-wall workpiece numerical control milling processing.

The invention provides a printing method of an ink-jet printer. The method comprises the steps that a control system controls a to-be-printed object to continuously rotate and controls a printing trolley to continuously move in a first direction and to jet out a required image or a required text in a to-be-printed area. Specifically, the method comprises the following steps that 1, the boundary dimension of the to-be-printed object is acquired; 2, according to the boundary dimension, a programmable device FPGA calculates the numerical value of the frequency division coefficient N and the numerical value of the frequency multiplication coefficient M independently or through the assistance of an external processor; 3, based on the frequency division coefficient N and the frequency multiplication coefficient M, the programmable device FPGA converts fixed resolution of an encoder into actual image printing resolution; and 4, converted encoder signals are transmitted to a printing control module for printing. By the adoption of the method, the image and the text with consistent resolution and excellent quality can be printed under the condition that the boundary dimensions of the to-be-printed objects are different.

The invention relates to the technical field of shipbuilding, in particular to a method for gathering ships by calculating frames, half widths and heights with three-dimensional coordinates, and aims to solve the problems of low accuracy, waste of time and force, and large error accumulation in the conventional measuring method. The method comprises the following specific steps: 1) building a coordinate system; 2) building a station for an instrument freely; 3) gathering segmentally; 4) floating and positioning; 5) measuring the principal dimension of ships. The measuring method has the advantages of high accuracy, saving of time and force, and free from error accumulation; measured data can be used for fully and visually reflecting posture of shipbuilding, so that the principal dimension and linearity of ship bodies can be measured and controlled strictly.

The invention relates to a global positioning system data acquisition-based method for computing the slip angle of an automobile body, belonging to the technical field of an automobile test data acquisition and kinetic parameter measurement method. The method comprises the following steps of: firstly, setting a double-antenna global positioning system and a GPS (global positioning system) receiver data acquisition processing module on the automobile body to receive satellite signals, and intercept and process some automobile body motion state information so as to convert the geographic coordinate system to the local relative coordinate system, and compute the slip angle of the automobile body according to the position and angle information of the automobile body in the local relative coordinate system. The method provided by the invention is convenient, quick and reliable to measure, and free from error accumulation, the complexity set by the system hardware related to the computation can be reduced, and the hardware configuration cost can be saved. Furthermore, the method provided by the invention is suitable for the single-GPS or double-GPS measurement scheme which is output by the binary system, and is good in generality and compatibility.

The invention provides an FBLMS adaptive filtering method, and aims providing the adaptive filtering method capable of balancing a non-minimum phase system, having the same convergence with a time-domain LMS algorithm, and being lower in computing complexity. The method is realized by that a data sequence string to be filtered is converted into parallel data blocks in the length of L, each of adjacent parallel data blocks is cascaded with M / 2 data respectively, a cascaded data block in the length of N=L+M is formed, FFT operation is carried out, input data of N frequency domains is obtained, the input data of N frequency domains is multiplied by weight coefficients of N filters to obtain filtered frequency-domain data of the N filters, and IFFT of N points is carried out to obtain N filtered time-domain data; conjugate multiplication is carried out on N frequency-domain error signals and the input data of N frequency domains, IFFT is carried out to obtain a time-frequency gradient vector in the length of N; and a weight coefficient of an adaptive filter is updated, and a processed frequency-domain gradient vector is obtained.

The invention provides an endoscopic liquid conveying pipe leakage and blockage ultrasonic detection device and method based on channel association. The device comprises soft fish-shaped inner detectors, an external passive sound label and an external active receiver. The soft fish-shaped inner detectors flow in a liquid conveying pipe along with liquid, and the pipe where the soft fish-shaped inner detectors flow through is detected through ultrasounds; and meanwhile, the external passive sound label with identity information is detected, and accurate positions of pipe defects are analyzed in cooperation with mileage recording. The external active receiver receives entrant sound signals transmitted by the soft fish-shaped inner detectors in the liquid conveying pipe on the outer side of the pipe, the passing time of the soft fish-shaped inner detectors is recorded, and the passing time of the multiple soft fish-shaped inner detectors can be combined to analyze which section of line is in blockage. By means of the method, each soft fish-shaped inner detector is provided with a plurality of ultrasonic receiving probes for full-directional receiving, and the multiple soft fish-shaped inner detectors conduct repeated detection, and the detection accuracy is high. The appearance of the soft fish-shaped inner detectors is in a fish shape, the size is small, the soft fish-shaped inner detectors are suitable for pipes with different pipe diameters, and use of an existing detector is not influenced.

The invention discloses a two-freedom-degree precision positioning working table for a nano-imprint photoetching system, comprising a base, a movable platform, a rigid bracket connected to the bottom part of the base and four flexible branched chains connected between the movable platform and the base; in the structure, four piezoelectric ceramic drivers are adopted, the tail part of each driver is connected with the base by a bolt, and the top end thereof is connected with a ball joint by threads to realize Hertz contact; two position sensors are used for measuring practical output of the movable platform and are respectively fixed between the rigid bracket and the movable platform. The precision positioning working table has the characteristics of high resolution ratio and rapid dynamic response speed, and can be used as an auxiliary locating platform of the nano-imprint photoetching system for realizing micro feeding and precision location.

The invention discloses a two-degree-of-freedom flexible parallel mechanism for motion decoupling. The two-degree-of-freedom flexible parallel mechanism comprises a base, a movable platform, an X-axis branch and a Y-axis branch. The base and the movable platform are connected through the X-axis branch and the Y-axis branch. The X-axis branch and the Y-axis branch are distributed in an orthogonal mode and are of the same structure. The X-axis branch and the Y-axis branch each comprise a first parallel four-rod guiding mechanism, a second parallel four-rod guiding mechanism and a displacement amplification mechanism; the first parallel four-rod guiding mechanism is connected with the base; the second parallel four-rod guiding mechanism is connected with the movable platform; and the displacement amplification mechanism is connected between the first parallel four-rod guiding mechanism and the second parallel four-rod guiding mechanism. According to the two-degree-of-freedom flexible parallel mechanism, the parallel structure is adopted, and the structure is compact; each branch comprises two parallel four-rod guiding mechanisms and one displacement amplification mechanism, the input displacement of a piezoelectric ceramic driver can be amplified, and a large operating stroke is achieved; and meanwhile coupling between X-axis movement and Y-axis movement is avoided.

An engineering stage-prediction method of oil deposit containing water in utilizing polymer displacement of reservoir oil sets up prediction model to reflect five stages of different mechanism in polymer displacement of reservoir oil such as preliminary period of polymer injection, effective period of polymer injection, stable production period with low water content, rerising period of water content and follow-up water displacement period according to water dynamics, oil deposit basic theory and on-site practical experience.

The invention discloses a symmetrical decoupling and single degree of freedom flexible operation mechanism. The symmetrical decoupling and single degree of freedom flexible operation mechanism is characterized in that the flexible operation mechanism comprises the following components connected and assembled according to design requirements: a piezoelectric ceramics driver, a spherical connector, a driving end flexible hinge, a rigid connecting block, four groups of flexible hinge combinations, two flexible chains, a rigid moving platform, a rigid support frame and a base. The mechanism adopting the flexible connecting structure, the single degree of freedom flexible hinges and the piezoelectric ceramics driver driving technology has one actuation terminal, can be applied to micro / nano operation mechanical systems, and has the advantages of being high in precision, low in inertia, compact in structure, free of error accumulation, free of mechanical friction, free of clearance, convenient to process, convenient to manufacture, convenient to industrially implement and the like.

The invention relates to a combining-optics prism parallel connection micro-motion device for laser gyroscope combining-optics assembly. The device comprises an optical platform, a combining-optics prism parallel connection micro-motion platform and an optical element to be assembled in the laser gyroscope combining-optics assembly. A combining-optics prism adjusting mechanism established through a method of combined control of piezoelectric ceramics and a linear driving rod is flexible in motion output track, small in rotational inertia, good in operability, high in locating precision and favorable for improving the angle and position adjusting precision of a combining-optics prism, and further improves the combining-optics assembly quality and efficiency of a laser gyroscope.

The invention discloses an ultrasonic handle tuning method for a cataract ultrasonic emulsification instrument. In the tuning method, an ultrasonic handle in a cataract ultrasonic emulsification instrument is tuned through the amplitude frequency characteristics of a resonant network; the resonant network is composed of a first switching tube, a second switching tube, a not gate, an output transformer, a matching inductor and the ultrasonic handle; a CPU (Central Processing Unit) outputs a frequency signal to carry out frequency sweeping on the resonant network, the direct current power supply at both ends of the resonant network is monitored by an A / D (Analog to Digital) converter, and the frequency corresponding to the minimum voltage value of the direct current power supply is the initial resonant frequency output by the CPU; and in the working process of the ultrasonic handle, the minimum voltage value of the direct current power supply is tracked so as to track the resonant frequency of the ultrasonic handle. The invention also discloses a process for tracking the resonant frequency of the ultrasonic handle. The invention has the advantages of high anti-jamming capability, large tracking range and easy implementation.

The invention relates to a satellite optical fiber compass system and a combined navigation method thereof. Its technical characteristics are: the system includes two GNSS antennas, a satellite compass unit and an optical fiber compass unit, and the two GNSS antennas, satellite compass units and optical fiber compass units are connected in sequence Together; the integrated navigation method uses satellite direction finding information and fiber optic gyroscope information for error compensation and attitude calculation, and at the same time adds polar region processing design to obtain high-precision, high-reliability ship heading and attitude information. The invention is reasonable in design, it combines the advantages of satellite direction finding and optical fiber gyroscope, learns from each other, has the characteristics of high precision, fast start-up, convenient use, etc., can realize all-weather, full-latitude direction determination and attitude determination, and helps to ensure the navigation of ships Safety.

The invention discloses a driving assembly and a flexible precise positioning platform and relates to the technical field of flexible precision positioning platforms. The driving assembly comprises a first piezoelectric driver and a flexible driving body; and the flexible driving body comprises a half-bridge type driving part, a first flexile hinge piece and a fixing platform. The fixing platform and the half-bridge type driving part are located on the two sides of the first flexible hinge piece correspondingly and are fixedly connected with the first flexible hinge piece; and the first piezoelectric driver is fixedly connected with the half-bridge type driving part. The flexible precise positioning platform comprises a vertical driving assembly, a supporting piece and a driving assembly; and the vertical driving assembly is perpendicular to the driving assembly. The flexible precise positioning platform has five decoupling freedom degrees, can achieve flat movement along the X axis, the Y axis and the Z axis and deflecting rotation around the X axis and the Y axis, and has the beneficial effects of achieving high precision, large travel, high rigidity and the like.

The invention discloses a mounting and constructing method for a deepwater comb-shaped slide cross beam, which is based on and integrates short section matched prefabrication, rolling pre-assembly and underwater mounting and construction, and solves the difficult problems in the traditional construction method that the construction risk is higher as long-time diving operation of divers is required, besides, the elevation and axis alignment are difficult to control and the requirement for high-precision mounting of rails on the slide cross beam cannot be met as the slide cross beam is simultaneously influenced by storms and water flows. According to the method, the prefabricating line type, the pre-assembly line type and the mounting line type of the slide cross beam are dynamically adjusted and controlled in a real-time manner, no error accumulation is generated during the whole beam construction, so that the beam is precise in size and line type; the method has the advantages of high technological content, high degree of factory-like and mechanized operation, environmental protection and the like, and facilitates the organic integration of the advanced computer technology and electrical and mechanical manufacturing technology with the slipway slide construction technology.

The invention discloses a multi-high-resolution remote sensing image mosaic method considering surface feature category difference. The method comprises the steps of performing geometric registrationand overlapping region coordinate determination on high-resolution images; performing color uniformization on the whole input image by using a histogram matching method by adopting an integral and local color matching strategy, and further performing local color uniformization on different ground objects by using a moment matching method; generating an initial seam line network by utilizing the Voronoi diagram; endowing different ground objects in the overlapping area with different weights, searching for a path with the minimum total weight in the buffer area based on a dynamic planning method, and taking the path as an optimized seam line network; and eliminating splicing seams by using an inverse distance weighted image fusion algorithm to obtain a final mosaic image. According to the method, the tone consistency of the mosaic image on the whole can be ensured, the local chromatic aberration can be remarkably weakened, the joint line network bypassing the building can be automatically generated, the error accumulation of searching the joint lines one by one is effectively avoided, and the mosaic image with visual nature is quickly obtained.

The invention discloses a tunneling machine positioning-tunneling method and system, and belongs to the field of building method and equipment. A positioning punching device for a hard rock layer based on the tunneling machine positioning-tunneling method and the new system is included. The tunneling machine positioning-tunneling method comprises the following steps that S1, a tunnel model is generated according to tunnel design, and a model is generated according to the moving range of a cutting head; S2, a positioning original point is determined, a coordinate system is established, and tunnel model coordinates and cutting range model coordinates are generated; S3, a tunneling machine is positioned preliminarily, and cutting model coordinates of the tunneling machine are determined; S4,a base point is selected, and a datum plane is determined; S5, coordinates of a to-be-cut body are determined according to the datum plane and the cutting depth of each time; and S6, tunneling operation is started. By adopting small-section type cutting and matching automatic positioning control, the problem that under the situation that a cutting machine is manually controlled, the tunnel position error and the accumulative error are prone to being generated is solved.

The invention provides a water gauge of a solar water heater. A gauge dial is provided with a limiting block used for limiting a gauge hand; the limiting block comprises a water full limiting block arranged on a water full position of the gauge dial; the gauge dial is provided with holes used for the water full limiting block to insert; the holes are set at the different volume indicating positions of the gauge dial; and the limiting block also comprises a 0 position limiting block arranged at a 0 position of the gauge dial. The water gauge can prevent improper water level reading of the solar water heater due to continuous rotation of the gauge hand when the water is full, so that the water gauge accurately indicates the water level in a water tank of the solar water heater and does not generate error accumulation. When the water gauge is used, the water limiting block can be inserted into a corresponding hole according to the volume of the water tank of the solar water heater, so that the water gauge is suitable for solar water heaters with different water tank volumes, greatly reduces the cost, and prevents the error accumulation in two directions. The water gauge has the advantages of simple structure and low cost.

The present disclosure is directed to performing head tracking. The method comprises: (a) receiving an input of an image including a facial area; and (b) tracking a movement of the facial area. The step (b) comprises: (b-1) if a rotation angle of a facial area is within a predetermined angle range from a front side, searching for a location change of feature points within a facial area through a comparison with a template learned in advance; and (b-2) if a rotation angle of a facial area is beyond a predetermined angle range from a front side, searching for a location change of feature points within a facial area through a comparison with a facial area image frame previously inputted.