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290results about How to "Reduce error accumulation" patented technology
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System and method for providing copyback data integrity in a non-volatile memory system
InactiveUS20090193058A1Reduce error accumulationError detection/correctionDigital data processing detailsData integrityNon-volatile memory
An invention is provided for affording CopyBack data integrity in a non-volatile memory system. When the potential for moving data with a CopyBack command occurs, a counter corresponding to the data is examined. When the counter is below a predetermined limit, the counter is incremented and data from the block of data is moved using a CopyBack command. However, when the counter reaches the predetermined limit, the counter is reset and data from the block of data is moved to system memory and examined for errors. Once any errors are corrected, the data is transferred back to the non-volatile memory.
Owner:CADENCE DESIGN SYST INC
Three-dimensional registering method for single image
ActiveCN106327532AAccurate acquisitionAchieving corresponding registrationImage enhancementImage analysisInteractive modelingCamera auto-calibration
The invention relates to a three-dimensional registering method for a single image, and the method comprises three steps: camera calibration, interactive modeling and camera registration. The step of camera calibration comprises the substeps: extracting rough-resolution blanking points through employing a grid method, purifying the rough-resolution blanking points through combining with PClines spatial conversion and an alignment linear point detection algorithm, obtaining candidate blanking points, carrying out the optimization and updating of the candidate blanking points to obtain typical blanking points, taking the typical blanking points as the camera calibration features to build a Manhattan world model, carrying out the analysis of the typical blanking points, and obtaining the internal and external parameters of a camera, wherein the internal and external parameters comprises a focal length and a rotation matrix. The step of camera registration is mainly using a method based on the linear feature alignment to carry out the registering of a three-dimensional model and register the three-dimensional model in a unified three-dimensional scene. The method can iron out the defects that the number of accumulative errors of the three-dimensional registration technology of the single image based on the geometric projection information is larger, and obtain a more accurate three-dimensional reconstruction effect.
Owner:北京天睿空间科技股份有限公司
Accurate one-dimensional rotary and two-dimensional tilting table
InactiveCN101436436AImprove carrying capacityHigh adjustment accuracyInstrumental componentsPosition/direction controlEngineeringWork demand
Owner:TONGJI UNIV
Twin-translation-rotation partial decoupling parallel mechanism
InactiveCN101767335AEasy CalibrationEasy to controlProgramme-controlled manipulatorUniversal jointEngineering
The invention relates to a twin-translation-rotation partial decoupling parallel mechanism, relating to a three-degree-freedom parallel mechanism in the field of industrial robots. A movable platform is arranged above a fixed platform; a tail-end actuator is arranged above the movable platform; the fixed platform is connected with the movable platform through three alien branches; a first branch is provided with a rotary pair, and a movable pair of the first branch connected with the fixed platform is a rotary pair; a movable pair in the first branch connected with the movable platform is a universal joint or a ball pair; a movable pair in the second branch connected with the fixed platform is a rotary pair; a movable pair in the second branch connected with the movable platform is a universal joint or a ball pair; a third branch is formed by a branch chain with six degrees of freedom and is provided with a movable pair; a movable pair of the third branch connected with the fixed platform is a universal joint; a movable pair of the third branch connected with the movable platform is a ball pair; and the movable pair, the ball pair and the universal joint in the third branch are connected into UPS branch chain. The invention is suitable for machine tools, robots, and the like.
Owner:SHANDONG UNIV AT WEIHAI
Target tracking method for video sequence
ActiveCN106485732AImprove robustnessReduce error accumulationImage enhancementImage analysisConfidence mapVideo sequence
The invention discloses a target tracking method for a video sequence. The target tracking method comprises the steps of performing normalization processing on a target image firstly; then extracting space-tine contextual information of the target according to a target position of an initial frame, constructing a space-time contextual model, and establishing a relation between the space-time contextual model and a target position confidence map so as to perform target tracking; then determining whether the learning rate of the space-time contextual model is updated or not by adopting a sheltering mechanism, and updating the space-time contextual model by the updated learning rate; and finally, establishing a dimension updating process according to time-space significance between front and back frames in the target tracking process. According to the target tracking method, the target tracking is realized based on the space-tine information by combination with the sheltering processing mechanism and the space-time significance, so that the target tracking robustness and real-time property can be effectively improved.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Markov chain modeling and predicating method based on wind power variable quantity
InactiveCN104463371AState space fineHigh precisionForecastingPredictive methodsTransition probability matrix
The invention discloses a Markov chain modeling and predicating method based on wind power variable quantity. The method comprises the steps that firstly, linear transformation is carried out on existing original power data to obtain a wind power variable quantity data sample, then, according to the variable quantity data size and a statistical result of probability distribution, state space of a Markov chain model is divided as fine as possible, after the state is determined, a transition probability matrix of the variable quantity is obtained through statistical calculation, and Markov chain model construction is completed. The Markov chain model can be used for constructing a short-period and ultra-short period wind power predication method, and the theoretical basis is laid for real-time economic dispatch comprising a wind power system, optimized decision and model prediction control based on a Markov chain.
Owner:SHANDONG UNIV
Multi-information fusion vehicle side slip angle estimation method
ActiveCN107031654AImprove robustnessAccurate estimateDriver input parametersKinematicsEstimation methods
The invention relates to a multi-information fusion vehicle side slip angle estimation method. The method comprises the following steps that (1) a kinematics estimation method is adopted to estimate to obtain a kinematics side slip angle measuring estimation value beta <kin>; (2) a linear two-degree-of-freedom monorail vehicle model is adopted to establish a dragonberg observer based on the kinematics, and the observer is adopted to estimate to obtain the kinematics side slip angle measuring estimation value beta <model>; and (3) the kinematics side slip angle measuring estimation value beta is obtained by fusing beta<kin> and beta<model> according to a formula (please see the specifications for the formula), wherein Tau is filter constant, and s is laplacian. Compared with the prior art, the multi-information fusion vehicle side slip angle estimation method has the advantages of high estimation accuracy, good rubustness, wide application and the like.
Owner:TONGJI UNIV
High precision angle measurement system and method for spacecraft
The invention provides a high precision angle measurement system and method for a spacecraft. The high precision angle measurement system comprises an alignment measurement subsystem and a mechanical servo subsystem, wherein the mechanical servo subsystem comprises a spacecraft parking frame and the like; the alignment measurement subsystem comprises a first benchmark theodolite and the like; in a using process, a spacecraft body is statically put on the spacecraft parking frame; the first benchmark theodolite and a second benchmark theodolite are fixedly arranged on a benchmark locating support; an alignment theodolite is fixed on a vertical motion support and moves up and down along the vertical motion support; and the whole vertical motion support is mounted on an annular rotating table, the annular rotating table realizes rotation in the azimuth of 0-360 degrees, and motion of the whole mechanical servo system can form a cylindrical space at one height. The high precision angle measurement system provided by the invention adopts a CCD photoelectric auto-collimator for replacing the traditional optical theodolite telescope system, so that the accuracy and stability of measured data are improved, and the high precision angle measurement system has an automatic reading function.
Owner:SHANGHAI INST OF SATELLITE EQUIP
Method for gathering ships by calculating frames, half widths and heights with three-dimensional coordinates
ActiveCN106871880AHigh precisionFully intuitive reflectionSurveying instrumentsLinearityComputer science
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.
Owner:迈瑞菲(北京)科技发展有限公司
Method and device for locating underground personnel in coal mine
ActiveCN103217154AAchieve precise positioningSuitable for special applicationsNavigation by terrestrial meansNavigation by speed/acceleration measurementsAngular velocityMonitoring system
The invention discloses a method for automatic location of underground personnel in the coal mine. The method is as below: (a) detecting current triaxial acceleration and triaxial angular velocity of an underground personnel as a location object on real-time basis, and detecting the magnetic field strength of a current location; (b) collecting the above data periodically, and calculating location information, including motion velocity and relative position, of the location object in each collecting period by using these detection data; and (c) transmitting the calculated location information through a Zigbee wireless network to a ground monitoring system for storage and real-time display, thus completing the location process on the underground personnel. In addition, the invention also discloses a corresponding automatic location device, and optimization schemes for the implementation of posture estimation on the location object and zero velocity correction processing. By the invention, personnel location with high accuracy and reliability can be achieved, and good application of Zigbee network in the coal mine environment can be given full play.
Owner:HUAZHONG UNIV OF SCI & TECH
Visual course identification method based on target point identification
InactiveCN106529587AAchieving identifiabilityImplement trackingImage analysisGeometric image transformationReference imageFeature point matching
The invention discloses a visual course identification method based on a target point identification. The method comprises a step of loading an azimuth angle and pixel correspondence table obtained through camera calibration, selecting an initial target point in a first frame image, extracting and describing SURF characteristic points in first and second interest regions, and storing the frame image as a first reference image, a step of adjusting the position and size of an interest region in a collected next frame image, carrying out characteristic matching with the reference image, screen an ideal coplanar characteristic point, calculating a homography matrix, and identifying the current position of the target point, a step of updating the current frame image as the reference image when a reference image updating condition is satisfied, screening a stable ideal coplanar feature points set which is in accordance with affine transformation and is in a infinite plane, and correcting homography matrix and target point positions, and a step of finally identifying a target point corresponding course according to the azimuth angle and pixel correspondence table.
Owner:BEIHANG UNIV
Voice synthesis method and device, storage medium and electronic equipment
ActiveCN111402855AImprove accuracyReduce error accumulationSpeech synthesisSynthesis methodsEngineering
The invention relates to a voice synthesis method and device, a storage medium and electronic equipment, and the method comprises the steps: inputting a to-be-synthesized text into an information extraction model, and obtaining voice feature information corresponding to the to-be-synthesized text; inputting the voice feature information into a voice synthesis model to obtain acoustic features corresponding to the to-be-synthesized text, the voice synthesis model comprising a duration sub-model and an acoustics sub-model, and the duration sub-model and the acoustics sub-model being subjected tojoint training to obtain the voice synthesis model; and obtaining audio information corresponding to the to-be-synthesized text according to the acoustic features. Therefore, the acoustic features can be directly obtained through the voice synthesis model according to the voice feature information corresponding to the to-be-synthesized text without cooperation of multiple models, so that the voice synthesis efficiency can be improved, the error accumulation can be effectively reduced, and the accuracy of the voice synthesis method is improved.
Owner:BEIJING BYTEDANCE NETWORK TECH CO LTD
Optical motion capture data processing method based on module piecewise linear model
ActiveCN101533528AAchieve automatic processingReduce matching error3D modellingPattern recognitionHuman motion
The invention discloses an optical motion capture data processing method based on a module piecewise linear model. Based on overall information of optical human motion capture scattered data, a data processing algorithm based on the module piecewise linear model is provided. By using the module piecewise linear model to generalize the change characteristics of different modules, the method determines a matching priority and an intra-segment fitting function of module data, effectively performs overall layered prediction and tracking for each three-dimensional motion data module, performs de-noising processing for the noise data based on the module, and provides an interpolation fitting algorithm for the missing motion data based on segmenting Newton to perform reasonable supply. The optimized method does not need manual intervention during processing, and can meet real-time requirement.
Owner:DALIAN UNIV
Series-parallel walking robot construction method and series-parallel walking robot
ActiveCN107414793AImprove structural rigidityCompact structureProgramme-controlled manipulatorVehiclesSimulationKinematic pair
The invention discloses a series-parallel walking robot construction method and a series-parallel walking robot and belongs to the field of walking robots. The series-parallel walking robot comprises a leg mechanism A and a leg mechanism B, one leg mechanism is a series-parallel leg mechanism, and the other leg mechanism is a series-parallel leg mechanism or a foot parallel mechanism. The series-parallel leg mechanism is formed by connecting a thigh mechanism with a foot parallel mechanism in series. The two leg mechanisms have a specific combination of degree of freedom, the upper portions of the two leg mechanisms are fixedly connected together, all components of the two leg mechanisms contain and cross one another and each have an own independent moving space. Toes of the two leg mechanisms are triangular, and the projections of the toes on the horizontal plane are overlapped. When the robot goes forwards, steady walking in any direction can be conducted without adjusting the center of gravity leftwards and rightwards. The number of kinematic pairs of the robot is small, and the height of a robot body is small. The series-parallel walking robot has the advantages of being high in bearing capacity, flexible in steering, high in obstacle crossing ability and uphill and downhill ability, and the like, and can be applied to the service field, the industrial field, the agricultural field, the military field, the spaceflight field and other fields.
Owner:韩方元
Environment defocusing self-adaptation compensation method for airborne laser communication system
InactiveCN104765128AQuick responseReduce power consumptionFree-space transmissionMountingsElectric controlRADIUS
The invention relates to an environment defocusing self-adaptation compensation method for an airborne laser communication system, and belongs to the field of space laser communication. An optical antenna is used for shrinking a laser bundle of the airborne laser communication system; after passing through a liquid lens, the laser bundle is focused on an image detector through a defocusing detection optical module, and the image detector interprets the diameter of laser spots and transmits the diameter information of the laser spots to a system controller; the system controller obtains the environment defocusing amount of the laser communication optical system through calculation, then obtains the needed compensation amount of the liquid lens, converts the compensation amount of the liquid lens into an electric control signal and transmits the electric control signal to the liquid lens, and the liquid lens receives the electric control signal, changes the curvature radius and then changes the focal length to perform defocusing self-adaptation compensation. Compared with the prior art, the system controller is used for controlling the liquid lens to perform dynamic environment defocusing compensation without moving any optical components, response speed is high, and the structure is easy to lighten and miniaturize.
Owner:CHANGCHUN UNIV OF SCI & TECH
Processing method of gear reducer
InactiveCN101972920AEasy to findImprove processing efficiencyGearboxesGearing detailsPunchingEngineering
The invention relates to a processing method of a gear reducer. The method comprises the following steps of: firstly, scribing the center O2 of a driving gear hole by utilizing a central supporting disk and a centre gauge and using the outer wall of the driving gear hole of a gear reducer as a reference, scribing the center O1 of a driven gear hole of the gear reducer with a scribing template and the central supporting disk, then, prolonging a center connecting line O2O1 of the driven gear hole and the driving gear hole to a point (A) and a point (B) at both ends of the gear reducer body and punching points so as to conveniently calibrate a scribing line; hoisting the gear reducer on a processing clamp, wholly rotating the gear box through the up-and-down movement of a left adjustable support and a right adjustable support so that the center O2 of the driving gear hole and the center O1 of the driven gear hole are connected into a horizontal line, wherein the connecting line is horizontal to a worktable of a machine tool; and roughly processing all parts of a gearbox, processing the surfaces and the holes of a handle, a soleplate, an oil neilsbed, welding, processing and finely processing the driving gear hole and the driven gear hole. The invention reduces error accumulation, comprehends the processing accuracy and processes the gear reducer by utilizing traditional equipment to improve the processing efficiency of the gear reducer and ensure the processing pass rate over 90 percent.
Owner:CRRC CHANGCHUN RAILWAY VEHICLES CO LTD
Medical image pulmonary nodule detection method based on a cyclic feature pyramid
ActiveCN109919230AImprove generalization abilitySimplify the inspection processCharacter and pattern recognitionNeural architecturesNuclear medicineDiagnostic system
The invention discloses a medical image pulmonary nodule detection method based on a cyclic feature pyramid, and mainly solves the problem of low detection precision caused by high extraction difficulty of pulmonary nodules and ground glass nodules in the prior art. The method comprises the following implementation steps: 1) acquiring a medical image; 2) preprocessing the medical image, and expanding a sample data set; 3) constructing a circular feature pyramid detection model by combining the feature map; 4) training the detection model by using the extended data set sample to obtain a targetdetection model; and 5) inputting the test set in the data set into the trained detection model to carry out pulmonary nodule detection. The method constructs a new feature extraction network, accelerates the network training speed, enhances the sensitivity to nodules of different sizes, improves the detection precision of pulmonary nodules of medical images, and can be used for a computer-aidedmedical diagnosis system.
Owner:XIDIAN UNIV
Weighted DV _ Hop node positioning method based on minimum mean square error criterion
ActiveCN111556454AAvoid confictImprove accuracyParticular environment based servicesPosition fixationMean squareEngineering
The invention provides a weighted DV _ Hop node positioning method based on a minimum mean square error criterion, and the method comprises the steps: setting other anchor nodes to have the same weight under the minimum mean square error criterion, and obtaining a preliminary estimation value of the average distance of each hop of the anchor nodes; setting weights for other anchor nodes for the second time, and obtaining the corrected average hop-by-hop distance of the anchor nodes under the minimum mean square error criterion; calculating the connectivity of each adjacent anchor node and theaverage distance error of each hop; calculating the average hop distance of the unknown node and the estimated distance from the unknown node to the anchor node according to the average hop distance of the adjacent anchor nodes and the normalized weight value; and setting a linear solution of a weighted least square method as an iterative initial value, minimizing a weighted distance estimation error objective function through a nonlinear weighted iterative method, and taking an iterative result as a positioning coordinate of an unknown node. According to the method, the more accurate averagehop distance between the anchor node and the unknown node can be obtained, the calculated amount is small, and the positioning accuracy and stability are improved.
Owner:HENAN UNIVERSITY OF TECHNOLOGY
Intelligent wheelchair static gesture identification method
InactiveCN103345626AImprove accuracyReduce error accumulationCharacter and pattern recognitionSvm classifierWheelchair
Disclosed is an intelligent wheelchair static gesture identification method. The method includes the steps of 1) collecting scene depth information through Kinect, 2) separating gestures in the scene depth information according to the depth information, 3) extracting the feature vector of the gestures by using normalization central moment, and 4) conducting gesture identification through a DAGSVM classifier according to the feature vector of the gestures extracted in the step 3). According to the intelligent wheelchair static gesture identification method, in the generating process of the DAGSVM classifier, the between-class distance and the class standard deviation of each SVM classifier are calculated, SVM classifiers are arrayed in the descending order according to the between-class distances, and the SVM classifier with the largest between-class distance is chosen to be used as a root node classifier of the DAGSVM classifier. Similarly, the SVM classifiers with the largest between-class distance at the positions of the rest nodes can be chosen. The phenomenon of error accumulation can be effectively reduced, the correctness of a gesture recognition result is improved, and the safety and the reliability of an intelligent wheelchair man-machine interaction system are furthest guaranteed.
Owner:CHONGQING UNIV OF POSTS & TELECOMM
Simultaneous localization and mapping and inertial navigation combined error fusion system
InactiveCN106969784AReduce Feedback LatencySmall amount of calculationMeasurement devicesSimultaneous localization and mappingGyroscope
The invention belongs to the field of intelligent navigation devices and discloses a simultaneous localization and mapping and inertial navigation combined error fusion system. The system comprises a carrier, an inertial navigation device, a simultaneous localization and mapping device and an error fusion device. The inertial navigation device comprises an accelerometer, a gyroscope and an inertial navigation driving device. The simultaneous localization and mapping device comprises laser radar and an environment map building device. The error fusion device comprises a linear discrete simultaneous localization and mapping error module, an inertial navigation error module and a weight fusion module. Therefore, high accuracy and reliability in positioning and navigation of robots can be realized.
Owner:SHANDONG UNIV
Binocular vision-based unmanned aerial vehicle positioning and navigating method
ActiveCN108520559AImprove the problem that the target depth cannot be accurately estimatedHigh precisionImage data processingControl systemUncrewed vehicle
The invention discloses a binocular vision-based unmanned aerial vehicle positioning and navigating method. The method comprises the steps that an image left-right view and a camera parameter can be obtained based on a binocular camera of an unmanned airborne control system, and obtain a corrected left-right view, and further obtain the depth information of the corresponding pixel; the key pointsof the left view are extracted to be filtered and screened; a matched key point set is found through optical flow tracking in the current frame, and a matched key point pair is obtained; a final poseresult is obtained according to the matched key point pair calculation cost function; finally, the input continuous image frames are screened to obtain a key image frame, and a combined cost functionis calculated for the key point set and the pose of the key image frame, and the cost function can be optimized and solved to obtain a updated pose. According to the method, the reliable depth data can be quickly obtained through the binocular camera; meanwhile, the matching relation is quickly calculated by utilizing the optical flow method; the real-time performance is high, the algorithm robustness is high, and the unmanned aerial vehicle positioning and navigation work can be completed under the indoor and outdoor large and medium scenes.
Owner:西安因诺航空科技有限公司
Method and device for modeling superficial layer in earth surface based on seismic wave data
InactiveCN103913768AReduce non-linearityReduce error accumulationSeismic signal processingOriginal dataSource material
The invention discloses a method and device for modeling a superficial layer in an earth surface based on seismic wave data. The method includes the steps that seismic wave original data are preprocessed, a first model is obtained, the travel time and the offset distance of early-reached waves are determined based on the first model and the interesting depth; observation data about the early-reached waves are extracted from the original data according to the travel time and the offset distance; calculating data about the early-reached waves are generated according to the determined travel time ts and the determined offset distance on the basis of the first model; data field fitting is performed on the observation data and the calculating data so that the gradient can be obtained, and therefore a speed updating model is further obtained; the first model and the speed updating model are overlapped to obtain a second model, and the steps are executed repeatedly until the obtained speed updating model reaches the global optimum. Only part of early-reached wave information is used, nonlinearity of a target function is reduced, small offset distance information is adopted, error accumulation is reduced, and therefore by means of the method and device for modeling the superficial layer in the earth surface based on the seismic wave data, the global optimal solution can be converged more easily.
Owner:CHINA PETROLEUM & CHEM CORP +1
Air quality prediction method based on multi-step recursive prediction
InactiveCN110070224AGuaranteed prediction accuracyAccelerated trainingForecastingCharacter and pattern recognitionQuality dataAlgorithm
The invention discloses an air quality prediction method based on multi-step recursive prediction, and the method comprises the following steps: obtaining and preprocessing air quality data and weather data, and constructing input data and output data, wherein the input data of the encoder comprises pollutant data and historical meteorological data, the input data of the decoder comprises the output result of the encoder, the weather forecast data and the pollutant data at the previous moment; dividing the data into training data and test data; using the training data to train the Seq2Seq model; and using the test data to test the prediction result. According to the method, the air quality is predicted by using the Seq2Seq model. An RNN of an encoder is replaced by using a full connectionlayer, and a time sequence relation of an input sequence is reserved by using position coding, so that the effect of accelerating training while maintaining the prediction precision is achieved, erroraccumulation can be effectively reduced, and the prediction precision is improved.
Owner:BEIJING UNIV OF TECH
Time window online correction-based multi-AGV (Automated Guided Vehicle) path planning method
ActiveCN109976320ASolving Path ConflictsImprove accuracyPosition/course control in two dimensionsVehiclesPlanning approachOperation point
The invention relates to a time window online correction-based multi-AGV (Automated Guided Vehicle) path planning method. The method includes the following steps that: the operation point sites of anAGV are extracted according to workshop layout information and path information, independent road sections are obtained through division according to the operation point sites; a scheduling system updates an AGV status list and a real-time task list in real time, assigns a task in the real-time task list to an idle AGV, and informs the AGV of a start point and an end point; a feasible path list isestablished, whether a feasible path exists is judged, a task corresponding to the feasible path is added in a time window model, the AGV executes the tasks and feeds back current AGV position information in real time; and whether the current AGV position information is consistent with the position information of the AGV in the time window model is judged, and the time window model is corrected online and updated synchronously. With the time window online correction-based multi-AGV (Automated Guided Vehicle) path planning method of the invention adopted, error accumulation caused by actual errors can be decreased; and a multi-AGV path conflict problem can be solved. The time window online correction-based multi-AGV (Automated Guided Vehicle) path planning is a new dynamic path planning solution suitable for any environment and any number of AGVs, and is suitable for being popularized.
Owner:SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
Multi-camera measurement method based on refractive projection model and beam tracking method
ActiveCN109341668AHigh accuracy of measurement resultsSimplify the calibration processPicture interpretationFeature extractionMulti camera
The invention discloses a multi-camera measurement method based on a refractive projection model and a beam tracking method, and used for the field of visual detection and image measurement. The process of the present invention comprises the following steps of: building a multi-camera system; global calibrating by multi-camera based on the refractive projection model and the beam tracking method;respectively capturing images from different directions by a plurality of cameras; extracting and matching features to obtain measured three-dimensional points; converting the three-dimensional pointsobtained by each subsystem into the same coordinate system to obtain global measured data; and using the obtained three-dimensional point data to calculate an indirect amount (e.g., strain, displacement). The key of the present invention is the calibration of the multi-camera system, the result will affect the subsequent three-dimensional point acquisition. According to the multi-camera measurement method based on the refractive projection model and the beam tracking method, the features in the measurement process are that the multiple cameras in the system can be calibrated at the same timeto solve the problem that a planar calibration plate limits the distribution of multiple cameras, and the measurement process is flexible.
Owner:CHONGQING UNIV OF POSTS & TELECOMM
Finish machining method of the frame of the rotating table
ActiveCN101036948AAchieve finishingHigh precisionPrecision positioning equipmentMeasurement/indication equipmentsStanding frameAutocollimation
A fine machining method of the rolling stand frame belongs to machine finishing technology field. At first determining center of turning circle position of the fine boring machine table and mounting end face multiple tooth circular dividing table thereon, the tetrahedron is mounted on the end face multiple tooth circular dividing table, and adjusting it to collimate with the photoelectricity autocollimation to determine machineable machine zero position point; the rolling stand frame is mounted on the worktable, and adjusting it to symmetry with the center of gyration; boring the frame side face of each axle hole for the rolling stand frame and the axle hole until achieving to the required precise size, when the frame rotates from one side to another side, rotating relevant angle of the worktable contrasting to graduation value of the end face multiple tooth circular dividing table, the tetrahedron is measured by the photoelectricity autocollimation, fine tuning the worktable to collimate the corresponding face of the tetrahedron with the sending beam of the photoelectricity autocollimation, at this point, the rotating angle is exact value, then processing. The invention operates conveniently and audio-visually, with reliable processing manufacturability, and reducing accumulation of error and improving process precision of the frame.
Owner:BEIJING INST OF AEROSPACE CONTROL DEVICES
Harmonic reducer and machining process thereof
The invention discloses a harmonic reducer. The harmonic reducer comprises a rigid circular spline; a flexible output device is drivingly connected inside the rigid circular spline and composed of a flexible gear and an output shaft which are integrally formed. The invention also provides a machining process of the harmonic reducer. The machining process comprises a right circular spline machining step, a flexible output device machining step and an assembly step. An external roller pin groove and the rigid circular spline are integrally formed; the flexible gear, a bearing track, an internal roller pin groove and the output shaft are integrally formed. According to the machining process of the harmonic reducer, the external roller pin groove and the rigid circular spline are integrally formed; during the flexible output device machining step, the flexible gear, the bearing track, the internal roller pin groove and the output shaft are integrally formed and accordingly are simple in structure, so that error accumulation due to separate machining can be greatly reduced, the product precision can be improved, the concentricity and the location degree of the rigid circular spline, the flexible gear and the output shaft are ensured, the service life of the harmonic reducer can be prolonged by 50%, and the production cost can be reduced by 20-30%.
Owner:SHANDONG SHKE MACHINERY MFG
Parallel controllable drilling robot mechanism
InactiveCN102085657AGreat stiffness to weight ratioLarge space for exerciseProgramme-controlled manipulatorLarge fixed membersClosed loopElectric machinery
The invention relates to a parallel controllable drilling robot mechanism, comprising a revolving platform, a rack, a movable platform, a central branch chain provided with a closed-loop subchain and a controllable adjusting branch chain, The rack is arranged on the revolving platform, the revolving platform can be arranged on various travelling devices or fixing devices, and the rack is provided with five servo motors. The back of the movable platform is provided with five ball pairs, and a flange plate on the movable platform is used for mounting different devices such as a drilling gun, a spraying device, a welding gun and the like. All the servo motors of the mechanism are arranged on the rack, the motion inertia of the mechanism is small, the dynamic performances are good, and the mechanism is convenient to dismount, has strong expansion capability and can meet the operation requirements of high-precision large-load drilling and the like.
Owner:GUANGXI UNIV
Joint mechanism
The invention belongs to the field of joint structures and particularly relates to a joint mechanism. A mounting seat is taken as a fixed rack, a wave generator of a harmonic reducer is driven by a rotating shaft of a rotating driving element to rotate at a high speed and enables a flexible gear to deform flexibly, the flexible gear is in meshing drive with a rigid gear fixed on the mounting seat, power is output by an output shaft fixed on the flexible gear, and low-speed rotation is performed. The harmonic reducer has the small tooth difference and the high ratio, the axial size is small, and the joint mechanism adopts compact integral structure and has a short driving chain and small error accumulation. The joint mechanism has high structural rigidity and can bear large axial load, radial load, torsional force load, overturning force load and load in a combined form. The joint mechanism is applicable to occasions with the single rotation degree of freedom, when the joint mechanism is applied to a wearable exoskeleton robot, a rotating joint arm is driven directly, the rotating driving element is located on one side of joint rotating sides, so that wearing on the other side is facilitated, and the wearing experience is improved.
Owner:SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
Fire positioning method based on smoke concentration
ActiveCN106250930AReduce casualtiesImprove fire extinguishing efficiencyCharacter and pattern recognitionDesign optimisation/simulationDiffusionInterference resistance
The invention belongs to the fire positioning field, particularly relates to a fire positioning method on the basis of smoke concentration, is on the basis of a wireless sensor network and carries out positioning estimation on a fire source point through utilizing smoke concentration acquired by the concentration sensor on the basis of a smoke diffusion model. The method comprises steps that 1, the smoke diffusion model under the no wind environment is established, and a relationship between gas concentration under the no wind condition and a distance is determined; 2, on the basis of weight fusion of the gas concentration and a least square method, a fire source zone is positioned; 3, on the basis of a K-means cluster method, cluster analysis on the fire source zone positioned in the step 2 is carried out, and a fire source point is determined. The positioning method is applicable to conditions that a fire is at an early stage, a roof is flat, a wind speed is relatively small, and only a single fire source point exists, a smoke flow is taken as a two-dimensional plane, through the fire positioning method, a place below the zone of a positioning result is taken as a fire generation zone. The fire positioning method has advantages of low energy consumption, timeliness, low cost, interference resistance and strong practicality.
Owner:HENAN UNIVERSITY OF TECHNOLOGY
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