37results about How to "Reduce the introduction of error" patented technology

The invention discloses a robot calibration method based on exponent product model, comprising the following steps: providing an industrial robot, a measuring instrument independent of the robot, an end three-dimensional imaging device and a three-dimensional calibration block; building a robot kinematics model according to the mode of combination of spinor theory and exponent product; giving closed-form solution of all joint parameters; directly solving the joint spinor parameters by utilizing a linear method; compensating the nominal value of joint angle of the robot, thus avoiding the conversion of a coordinate system and a measuring coordinate system of the robot. In addition, the calibration process is simple, and calibration can be realized through the method that all joints rotate once and the coordinate values of n numbered mark points (n is more than or equal to 3) are measured simultaneously. The robot calibration method in the invention is realized simply, has good stability, and low introduced external error.

Disclosed is a real-time online monitoring device for an electromagnetic environment, which comprises a main controller (5), an acquisition unit (1) for power frequency electromagnetic data, a time synchronization unit (2), a data processing unit (3) and a power system (4); the acquisition unit (1) for power frequency electromagnetic data comprises a high-accuracy power frequency electromagnetic sensor (101), a high-capacity battery (102), a power managing module (103) which comprises a DC / DC converter (103-1) and a unilateral diode (103-2), and at least two physical isolators (104); the physical isolators (104) are connected successively, with an input end thereof connected to the power system (4) and an output end connected to the positive pole of the unilateral diode (103-2). The negative pole of the unilateral diode (103-2) is connected to the DC / DC converter (103-1) and the high-capacity battery (102), and the output end of the DC / DC converter (103-1) is connected to a power input end of the high-accuracy power frequency electromagnetic sensor (101), which high-accuracy power frequency electromagnetic sensor (101) is also connected to the main controller (5) and the high-capacity battery (102). The device can achieve a long-period power supply and automatic charging for the high-accuracy power frequency electromagnetic sensor, and can effectively shield the effect on the measuring result of the switching-in of power lines.

The invention discloses a fully-automatic calibration method for a hand-eye robot based on an exponential product model and particularly relates to a fully-automatic calibration method for achieving synchronization of three parts including a robot body, hands and eyes as well as a camera. The method can be achieved by utilizing a mirror and a plurality of beacon scaffolds instead of additional auxiliary measuring instruments. The fully-automatic calibration method is mainly characterized in that firstly, hand information outside the view field of a terminal camera is converted to a coordinate system of the camera by utilizing mirror reflection principle to finish hand and eye calibration; and secondly, the terminal camera carried by the robot is used as a measuring instrument and a checkerboard on a spacial mirror surface is used as a measuring target, so that the times for shooting the target by using the camera in a rotating process of each joint of the robot are increased, and meanwhile, the camera calibration and the joint parameter calibration are achieved under a special motion strategy. The fully-automatic calibration method for the robot is simple and effective.

The invention discloses a measurement method for a differential antenna, wherein use of a Balun is reduced to the greatest extent, a comprehensive measurement is carried out on Balun characteristics in the case that the Balun needs to be used, and a measurement error introduced by the Balun is eliminated in the subsequent data processing, thus the measurement is more accurate; the measurement method is higher in accuracy compared with the traditional measurement method, low in introduction error, and capable of being widely applied to a measurement for the differential antenna; a matching load is reasonably used during the measurement process, thus the adverse effect of a suspended antenna arm on the characteristics of the antenna during the single-end measurement for the differential antenna is reduced, and the impedance characteristic and the radiation characteristic of the antenna are really reflected in a manner of power synthesis; the measurement for the differential antenna by virtue of a coaxial cable is realized. The measurement method adequately considers the application environment of the antenna, all the measurements simulate the real environment of the antenna, and the obtained measurement result is capable of keeping consistent with the characteristics during the applications of the antenna.

The invention discloses a high-precision dynamic thrust test system for miniature pyrotechnic actuating devices. The high-precision dynamic thrust test system comprises the miniature pyrotechnic actuating devices, appropriate-strength small-size cantilever beams, small-size strain sensors, a signal conditioner, a digital acquisition system, miniature pyrotechnic actuating device fixing clamps and the like. Compared with the traditional measurement methods, the high-precision dynamic thrust test system has the advantages that kinetic characteristics of a plurality of miniature pyrotechnic actuating devices can be simultaneously measured in one time, a thrust-time relationship of a whole stroke can be obtained by one-time thrust measurement, the thrust interference influence on tested samples is low, and a measurement system has the characteristics of safety, stability, high measurement accuracy and the like; the operating principle of the test system disclosed by the invention has very good popularization and application prospects in the aspects of test methods for accurately measuring kinetic characteristics, such as thrust and displacement, of the pyrotechnic actuating devices.

The invention discloses an implantable human blood glucose concentration continuous monitoring system based on optical fiber attenuation total reflection, consisting of double optical paths and comprising a light source, an attenuator, a spectroscope, an optical fiber coupling device, an optical fiber ATR sensor, a measurement photodetector, a reference photodetector, a data collection system and a computer, wherein after being attenuated by the attenuator, the light source is divided into two optical paths formed by a measurement light and a reference light; in one optical path, the measurement light enters the optical fiber ATR sensor in a coupling way through a coupling method by the optical fiber coupling device and is received by the measurement photodetector via a transmission light of the optical fiber ATR sensor; in the other optical path, the reference light is directly received by the reference photodetector; signals recevied by the measurement photodetector and the reference photodetector are synchronously collected by the data collection system, are sent to the computer and are in analysis treatment, and the computer displays a measurement result and is also connected with the light source. The invention adopts a direct measurement in vivo method to directly measure the glucose concentration in a tissue fluid, thereby avoiding an error of measurement in vitro.

The invention relates to a method for measuring substance dielectric constant by using a monopole antenna. Transmitting characteristics of the monopole antenna are used for measuring the frequency of microwave when the transmit power of the microwave is maximal in a substance to be measured. Therefore, the dielectric constant of the substance to be measured is obtained. When part length of the monopole antenna has a certain relationship with the wavelength of transmitted electromagnetic waves in the substance to be measured, the transmitting power of the antenna reaches the maximum. The monopole antenna method just uses such relationship to measure the dielectric constant. The method can measure the dielectric constant of the substance more simply and accurately.

The invention discloses an in-place detection device and method for the planeness of an ultra-precise grinding large-aperture optical element. The detection device comprises a computer, a dynamic interferometer, a main measuring stand, an x-direction guide rail, a z-direction guide rail, a stand guide rail and an isolating device. The detection device combines a detection device for a planeness error of the large-aperture optical element with a grinding machine to achieve in-place detection of the optical element, so that the processing efficiency is improved greatly, and the introduction error during carrying of an element to be tested is reduced to the utmost extent. The detection device and the ultra-precise grinding machine adopt a separated structure, so that not only can the precision of the detection device be prevented from being influenced by the working vibration of the grinding machine, but also the detection device can be used independently as universal equipment for in-place detection of the planeness of the large-aperture optical element. The detection method adopts a stitching interferometer technology and uses the high-precision three-dimensional movement of the dynamic interferometer in the device to achieve subaperture measurement; and further, the size range of the detectable element is enlarged, the environmental error of a workshop is restrained effectively, and the detection precision is improved.

The invention discloses a three-dimensional acquisition and reconstruction system based on a mobile sparse camera acquisition array. Through the simultaneous movement of a plurality of camera acquisition units (at most 8 camera acquisition units) arranged at random within a certain range, collection of three dimensional surface information is performed on a collected object, and each pixel point in all collected images is compared, and depth information of the collected object is obtained through an optimization algorithm, therefore, a three-dimensional coordinate of the pixel point can be calculated, and finally, a digital model which satisfies a real physical size of the collected object can be obtained. The three-dimensional acquisition and reconstruction system based on the mobile sparse camera acquisition array provided by the invention not only simplifies the whole system, but also reduces a link of introducing an error when calculating internal and external parameters in an acquisition process.