54 results about "Structural error" patented technology

The invention discloses a robot accuracy compensation method synthesizing a pose error model and rigidity compensation. The method comprises the following steps: step 1, establishing a robot motion model according to structural parameter of a robot; step 2, establishing a robot error model; step 3, in a robot working space, randomly giving a target pose point, and when a tail end of the robot moves a designated point, recording a joint angle at the moment; step 4, using a position measuring instrument to measure actual coordinates Pa of the given target pose point; step 5, using a least square method to recognize an error parameter; step 6, applying a load at the tail end of the robot, measuring the deformation amount of the robot, then returning to step 3, compensating a re-recognized structural error for the motion model again, thereby eliminating the pose error of the tail end due to the deformation caused by the load, and meanwhile, data of the deformation amount caused by the load is stored in a database for later accuracy compensation. According to the invention, the absolute positioning accuracy of the robot can be improved remarkably, and high simplicity and high efficiency are realized.

The invention discloses an optimization design method for the sagging problem of a car door based on CAE structural analysis, which comprises the steps of: obtaining a design input condition from total arrangement and configuration of a car body; creating a CAD (Computer Aided Design) model by modeling software; dividing grids of the CAD model; simulating actual conditions to create a connection relationship; simulating a boundary constraint condition during an actual test of a car door assembly; carrying out solution analysis on a finite element model generated finally; comparing a result obtained by finite element simulation operation with an industry standard; if an obtained conclusion is lower than the industry standard, providing a structural optimization design; and if the obtained conclusion is higher than the industry standard, completing final design output. The method not only enhances the inspection accuracy, but also greatly reduces the period of a whole repair part so as to shorten the time of developing the whole car. Structural errors can be corrected in time by CAE analysis in early design, thereby reducing the cost of developing the whole car.

A rotation angle sensing device calculates an average value of calculation values of time necessary for rotation of each one of sections provided by equally dividing one rotation of a crankshaft. The device calculates an average value of the average values of the entire sections to calculate an entire section average value. The device calculates ratios of the average values of the respective sections to the entire section average value. The device eliminates an influence of rotation fluctuation of the crankshaft from the ratios by using reference ratios, which are calculated as ratios of the average values of the respective sections to the entire section average value in the case where there is no structural error. Thus, the device calculates learning values for compensating for the structural error.

The invention discloses a pull-cord encoder based calibration method of an industrial robot. The method includes: calculating an error model of the robot according to a kinematic model of the robot and the structure of a pull-cord robot; allowing structural errors of the robot to fully affect rules of an end effector to demonstrate the robot; according to a command of a demonstration program, allowing the robot to move a specified position, and acquiring distances of the pull-cord encoder when the robot is at different positions; according to the acquired measurement data and end positional data of the robot, calculating a reference position of the pull-cord encoder; by means of the calculated reference position and the error model built, calibrating structural parameters of the robot; according to structural errors obtained in the calibration process, correcting the structural parameters of the robot; repeating the steps from five to seven until that the precision is satisfactory. The method is easy to implement and convenient to operate.

Disclosed is an automatic measuring compensation and correction method for five-axis machine tool structure errors. A five-axis correction block is mounted on a machine tool worktable and comprises adatum square table and a datum circular ring. The side surface and the top surface of the datum square table are parallel to the coordinate axis of a machine tool. A five-axis error model is established, and the error components delta<x>, delta<y> and delta<z> in the x, y and z directions and the main shaft axial error L<spd> are obtained; a machine tool numerical control system is used for starting a five-axis structural error automatic measuring cycle macroprogram, the axis angle error of a rotating shaft of the machine tool and the position error of the rotating shaft axis and the main shaft axis are measured; the axial error of a main shaft is measured; and the measured and obtained axis structural error of the main shaft and the main shaft axis error are substituted into the established five-axis error model, and compensated to all movement coordinate axes in the interpolation cycle of the machine tool numerical control system. The invention further discloses an automatic measuring and compensating correction device for the five-axis machine tool structure errors, automatic measuring and compensating of the five-axis machine tool structure errors are achieved.

The invention belongs to the technical field of numerical control, and particularly provides the design of a five-axis machine tool measuring method based on AxiSet. The method includes the steps that according to kinetic models of five-axis machine tools, the influence of structural errors of the five-axis machine tools on cutter location points is determined, and a five-axis machine tool kinetic error model is set up; the error model is analyzed, so that the sources of error terms of the machine tools are determined; the characteristics of the models of the three types of machine tools are analyzed, and measuring schemes for the machine tools are determined; according to hardware equipment adopting an AxiSet<TM> Check-up assembly, a touch trigger probe is used for collecting data of a master ball; and the collected data are substituted into the error models, and after the error terms are worked out, the kinetic models of the machine tools are corrected. By means of the five-axis machine tool measuring method, machining precision of an existing numerically controlled machine tool can be improved, and measurement bases are provided for measurement of multi-axis machine tools in the future.

A rotation angle sensing device calculates an average value of calculation values of time necessary for rotation of each one of sections provided by equally dividing one rotation of a crankshaft. The device calculates an average value of the average values of the entire sections to calculate an entire section average value. The device calculates ratios of the average values of the respective sections to the entire section average value. The device eliminates an influence of rotation fluctuation of the crankshaft from the ratios by using reference ratios, which are calculated as ratios of the average values of the respective sections to the entire section average value in the case where there is no structural error. Thus, the device calculates learning values for compensating for the structural error.

The invention provides a method for classifying remote sensing images, comprising the following steps of: firstly acquiring samples of surface features in a remote sensing image, then constructing a semi-supervised neural network model used for surface feature classification, and finally classifying the surface features based on a semi-supervised neural network. According to the method for classifying the remote sensing images provided by the invention, a structural error is introduced into the semi-supervised neural network for substituting an experience error, so that classification error caused by local minimum locally obtained by a target function is effectively avoided; and a quasi-Newton extreme value solving algorithm used for solving non-linear optimization is introduced in an extreme value solving process, so that surface feature classification accuracy is effectively improved, and beneficial guarantee is provided for applications such as environmental monitoring and topographic mapping which are further carried out subsequently.

The invention discloses an electrical property prediction method of an offset reflector antenna based on an electromechanical coupling model. The electrical property prediction method comprises the steps of: 1) establishing an antenna finite element model in I-DEAS; 2) analyzing in the I-DEAS to obtain the temperature distribution of each node of the finite element model of the offset reflector antenna; 3) reading a finite element model file in an Ansys file and computing structural deformation caused by temperature; 4) computing items of influence caused by reflector errors and feed source errors of the offset reflector antenna to aperture field amplitude-phase of the antenna; 5) computing the electrical property of the offset reflector antenna; and 6) judging whether design requirements are satisfied. The electrical property prediction method of the offset reflector antenna based on the electromechanical coupling model has the advantages that the influence of temperature on the structure of the offset reflector antenna can be accurately analyzed and the structural field and electromagnetic field coupling analysis of the offset reflector antenna is realized; and the influence of various structural errors to the working performance of the antenna is analyzed, the major structural factors can be found out, the reasonable requirement on structural precision can be given out according to actual demands, the development cycle is shortened and the development cost is reduced.

The invention discloses a Chinese character skeleton automatic synthesis method and a large-scale Chinese character library automatic generation method. Chinese characters are regarded as point sequences (namely writing tracks), automatic synthesis of a Chinese character skeleton is carried out by constructing a recurrent neural network model FontRNN with a monotonous attention mechanism, other Chinese characters with the same style are learned and synthesized from a small number of training samples, and automatic synthesis of the Chinese character skeleton is realized. According to the method, the defects of fuzzy synthesized Chinese characters, stroke loss, structural errors and the like in the existing Chinese character synthesis technology can be overcome, and the model can learn how to synthesize thousands of rest Chinese characters with the same style from hundreds of training samples. Therefore, the cost for manufacturing the large-scale Chinese character library can be greatlyreduced, and the method has great practical application value.

A double-crawler-wheel obstacle crossing wheelchair comprises a chair part and a switching mechanism which is used for switching the roller transmission and the crawler wheel transmission of the double-crawler-wheel obstacle crossing wheelchair, wherein the crawler wheel transmission is provided with a first crawler wheel and a second crawler wheel, which are connected with each other through a connection bracket, the maximal angular speed of the crawler wheels is described in the specification, wherein omega represents the angular speed, m represents the mass of a multifunctional climbing wheelchair, h represents a gravity core height of the multifunctional climbing wheelchair, L represents the contact length between the crawler wheel and the floor, J represents the rotation inertness of the multifunctional climbing wheelchair, alpha represents an angle between a bottom line of the crawler wheel and the floor, and r represents an angle between a connection line of the gravity core of the multifunctional climbing chair and a front landing point and the crawler wheel. The structural error of a four-bar mechanism is compensated by applying a five-bar mechanism, so that the switching mechanism of the double-crawler-wheel obstacle crossing wheelchair realizes high-precision movement output, or completes a complicated movement principle; and the obstacles are crossed by adopting the double-crawler-wheel way, so that the obstacle crossing stability can be guaranteed.

The invention discloses a structural error compensation control method of a space phase modulation annular traveling wave ultrasonic motor. Piezoelectric ceramics are divided into an A area and a B area, two power supply excitations with same time phase and adjustable amplitude values are exerted on the A area, one power supply excitation or two power supply excitations with the same amplitude value and time phase is / are exerted on the B area, the power supply difference between the A area and the B area is a pi / 2 time phase difference, and space synthesized error standing waves caused by structural errors of the motor are decomposed into two standing wave components with fixed positions for compensation respectively. By means of the structural error compensation control method of the space phase modulation annular traveling wave ultrasonic motor, the defect that traditional schemes for correcting errors through mechanical structures are unrecoverable and not visual is avoided, the error correcting difficulty is reduced, continuous error compensating is achieved, small errors can be effectively compensated, the structural errors are compensated by control signals, and thereby means can be provided for on-line error compensation of the motor.

The invention discloses a method and structure for packaging probes of a differential pressure sensor. The structure is characterized in that a gasket (86) is arranged on the periphery of a detection fluid inlet of a detection cavity (111), a filter screen (84) is arranged on the detection fluid inlet, a check ring (85) is arranged between an elastic membrane (113) and the detection cavity (111) to be used for shielding the elastic membrane (113), and an end cover (81) in a fixing hole is utilized to extrude and fix the elastic membrane (113) in the direction from the outside to the check ring (85); a thread sleeve (82) is arranged in the end cover (81) to fix optical fibers inside. The mode can guarantee machining precision and assembling precision, structures of the machined probes can be the same, therefore, realization of standardization, serialization and universalization is facilitated, and detection errors brought by the structural errors can be well avoided. The packaging structure can well fix fiber optics bundles.

The invention relates to a knee joint load-bearing power assisting exoskeleton device which comprises a frame foot, wherein an ankle joint is arranged at the outer side end of the frame foot and is hinged to a shank rod piece, the shank rod piece is further hinged to a thigh rod piece, a servo electric cylinder component for driving the thigh rod piece to move is hinged between the rear side end of the frame foot and the thigh rod piece, a plurality of pressure sensors are distributed on the frame foot and are electrically connected with a control module, and the control module is electrically connected with the servo electric cylinder component. The invention further relates to a working method of the knee joint load-bearing power assisting exoskeleton device. The knee joint load-bearing power assisting exoskeleton device is simple, compact and reasonable in structural design, accords with ergonomics, is small in size and structural error and low in cost and energy consumption, and accords with the ideas of energy conservation and environment protection.

The invention provides a calibration method of an aircraft automatic drilling and riveting parallel attitude adjusting bracket, and can be used for calibration of the industrial parallel robot. The ideal displacement of each active movement pair is solved by using inverse kinematics under the nominal structural parameters for aiming at the target attitude; the active movement pairs are driven to move according to the solved ideal displacement of each active movement pair; the actual attitude of the bracket is obtained through fitting by measuring the coordinates of the specific point on the bracket through the laser tracker after stop of movement; the actual attitude of the bracket is compared with the target attitude so as to determine the bracket attitude error before calibration; an error model between the bracket attitude error and the structural error and the active movement pair displacement is established by using a space vector chain method, and structural error identificationis performed by using the least square method; and the active movement pair of the bracket are corrected and inverse kinematics is performed again so as to determine the displacement of each active movement pair when reaching the target attitude. The method is simple and high in identification accuracy so that the movement accuracy of the bracket can be enhanced and the requirements of the bracketattitude adjusting accuracy can be met to the greatest extent.

The invention discloses a stand-assisting stair-climbing wheelchair, comprising a chair part, a switching mechanism and a stand-assisting mechanism, wherein the chair part is used to allow a user to sit; the switching mechanism is arranged below the chair and is used to switch between the wheel transmission and crawler transmission of the stand-assisting stair-climbing mechanism; and the stand-assisting mechanism is arranged on the lower side of the chair part and is used to assist a user to stand; and the switching mechanism of the stand-assisting stair-climbing wheelchair is a five-rod mechanism, is controlled by two linear motors, comprises eight movable mechanisms and eleven lower pairs and has two degrees of freedom. The stand-assisting stair-climbing wheelchair provided by the invention compensates the structural error of a four-rod mechanism with the five-rod mechanism, realizes the high-precision movement output or finishes more complicated movement rule to realize the switching between the wheel transmission and the crawler transmission. Meanwhile, the stand-assisting stair-climbing wheelchair assists the user to stand by the stand-assisting mechanism with a parallelogram structure, and realizes the functions of keeping the horizontal condition of the chair and adjusting the centre of the gravity of the chair when climbing stairs or getting over barriers.

The invention discloses an error detection and separation method of a high-precision laser measurement system. Total errors include laser beam drift errors of high-precision laser measurement and measurement system structural errors, wherein the laser beam drift errors comprise flat floating, angular floating and random drifting of laser beams. The errors refer to micro deformations generated by the fact that the system structure and tools are affected by the environment. Accuracy and stability of laser precision measurement will be seriously affected. According to the invention, by establishing a mathematical mode of the laser measurement system errors, and using a special device combining a laser source and a four-quadrant detector, the total errors of the high-precision laser measurement system are detected, and the laser beam drifting errors and the system structural errors are calculated and separated.

According to prior art, structural errors in substrates in epitactic crystal growth are often carried over from the substrate on which the new material is to be deposited. This leads to a reduction in mechanical properties. According to the method, an intermediate layer is deposited prior to the deposition of epitactic material. Said intermediate layer prevents structural errors in the substrate from being carried over to the newly filled area.

The invention provides a multi-axis numerical control machining post-processing method considering a structural error of a machine tool. The method comprises the following steps of: respectively establishing a machine tool motion transformation chain containing no structural error and a machine tool motion transformation chain containing the structural error according to the structure of the machine tool, wherein the machine tool motion transformation chain containing no structural error is used for figuring out ideal motion coordinate of each motion axis of tool motion and the structural error of the machine tool is not taken into consideration in the ideal motion coordinate; and then figuring out the compensating quantity of the ideal motion coordinate by using the machine tool motion transformation chain containing the structural error; and enabling the offset between an actual motion track and a set motion track of the machine tool to fall within an allowed range through compensating the ideal motion coordinate so that the consistency between the actual track and the set track of the tool is assured. According to the invention, the shortcomings in the traditional post-processing method are made up; the multi-axis post-processing containing geometrical structure error of the machine tool can be realized so that the multi-axis numerical control machining post-processing method is helpful to improve the motion precision in the processing process of the machine tool and improve the processing quality of the parts.

The invention discloses a method for generating a noise model of a mobile electrocardiogram signal. The method comprises the following steps: using a time varying coefficient to replace an autoregressive coefficient in a traditional AR model sequence, forming a multistage time varying coefficient AR model, then a multistage time varying coefficient AR model sequence is obtained, wherein the sequence comprises an unknown time varying coefficient and an order; according to the obtained multistage time varying coefficient AR model sequence, using past values of the time varying coefficient and sequence to obtain an expression of a forecasting sequence; using a method of a basis function to estimate a time varying coefficient of the multistage time varying coefficient AR model sequence; based on a forgetting factor method, determining an order of the multistage time varying coefficient AR model sequence of a non-stationary random signal; and according to the time varying coefficient and order, finally obtaining the time varying coefficient to replace the traditional AR model sequence. According to the method for generating the noise model of the mobile electrocardiogram signal provided by the invention, compared with the methods like parameter estimation that a hypothetical sequence is stable in a short time, the invention directly uses the time varying AR model to simulate an ECG noise source model, which is more reasonable and small in structural error, thus a result is more accurate.

The invention relates to a wheelchair capable of crossing obstacles and assisting in standing. The wheelchair capable of crossing obstacles and assisting in standing comprises a chair part, a switching mechanism and an auxiliary standing mechanism, wherein the switching mechanism is used for switching between roller wheel transmission and crawler wheel transmission of the wheelchair capable of crossing obstacles and assisting in standing; the crawler wheel transmission is provided with a first crawler wheel and a second crawler wheel which are connected through a bracket; and the auxiliary standing mechanism is used for assisting a user in standing. The wheelchair capable of crossing obstacles and assisting in standing adopts a double caterpillar track transmission mode when walking up and down the stairs and crossing obstacles. According to the wheelchair capable of crossing obstacles and assisting in standing, the switching mechanism adopts a five-rod mechanism to compensate the structural error of a four-rod mechanism, so that high-precision motion output is realized or a complicated motion rule is finished, switching between the roller wheel transmission and the crawler wheel transmission is realized, the auxiliary standing mechanism with a parallelogram structure can assist the user in standing, and obstacles can be crossed stably by the double caterpillar track transmission mode in the obstacle-crossing process.

A construction technology for large overhead cable-steel structure system features that its master rigid supporter is installed by an alternative installation and step interpolation method, which includes such steps as dividing whole engineering into multiple working positions for simultaneous installation, installing the first and then the third rigid supporting units, installing the second unit between the first and the third unit while eliminating the accumulated structural error, repeating said installing steps untile the rigid supporting skeleton system is installed, and installed suspended truss and other accessories. Its advantages are high safety and high structure precision.

A rotation angle sensing device calculates an average value of calculation values of time necessary for rotation of each one of sections provided by equally dividing one rotation of a crankshaft. The device calculates an average value of the average values of the entire sections to calculate an entire section average value. The device calculates ratios of the average values of the respective sections to the entire section average value. The device eliminates an influence of rotation fluctuation of the crankshaft from the ratios by using reference ratios, which are calculated as ratios of the average values of the respective sections to the entire section average value in the case where there is no structural error. Thus, the device calculates learning values for compensating for the structural error.

The invention discloses an iron ring binding machine with a precise pressure ring size selection device. The limit degree of a pressure ring can be adjusted at random according to different binding rings by arranging an arc-shaped limit structure, and the limit precision is guaranteed by controlling the limit degree of the arc-shaped limit structure through a rotary button; the arc-shaped limit structure is arranged on a support which is located at the same side of a pressure ring handle, so that the precision of the pressure ring influenced by the structural error of left and right supports can be avoided. The limit precision of the pressure ring of the iron ring binding machine is high, which is applicable to the precise pressure ring limit of various dual iron ring binding rings.

The invention relates to a detection system for a storage device and a detection method therefor. The detection system for storage device includes a chassis, a storage module, a transmission wire and a detecting module. The chassis includes a receiving groove and a para-position sensor. The para-position sensor is installed aside of the receiving groove. The storage module corresponds to the receiving groove. The storage module includes a base board and a connecting module installed on the base board. The para-position sensor generates a first structural-error signal when the storage module is not correctly positioned into the receiving groove. The transmission wire is plugged into the connecting module of the storage module and correspondingly coupled with the connecting module. The detecting module is electrically connected to the transmission wire. The detecting module generates a second structural-error signal when the transmission wire is not correctly connected to the connecting module. A structural-error detecting method is also provided. Accordingly, repair personnel can find out and solve the structural errors quickly, and the efficiency of the repair personnel can be improved.

The invention discloses a line feed deflexion detecting device of a roller reclaimer, comprising a connecting rod amplifying system, a rotational shaft device, a speed increaser, an encoder and a protecting device, wherein connecting rod reamed points of the connecting rod amplifying system are maintenance-free self-lubricating joint bearings, and the rotational device adopts a rolling bearing and a sealing structure. When the roller relcaimer generates line feed deflexion, a bridge frame and a door leg generate miniature rotor angle around the central line M, and the rotor angle is further amplified by the connecting rod amplifying system, the rotational shaft device and the speed increaser and is transmitted to the encoder which transmits the deflexion rotor angle to a control system of the roller relaimer, the deflexion correction is performed by the control system of the roller reclaimer, and the protecting device realizes the protection function in the failure state. The device can remove the jammed phenomenon of the line feed deflexion detecting device caused by the structural error, realizes the flexible rotation of the rotational shaft, accurate detection and the automatic control, and does not have maintenance workload.

The invention relates to a file automatic reviewing tool used for automatically reviewing files; the file automatic reviewing tool comprises the following structures: a file importing module used forimporting reviewed files; a file model defining module used for defining demands of the reviewed file, wherein the file ambiguity, completeness and functionality are included; a natural language identification module used for identifying wrong words in the file, and automatically analyzing the file structural errors and partial logic conflicts; a file reviewing list forming module used for screening reviewing items and automatically forming a file reviewing list of a new project; an automatic reviewing module used for automatically reviewing the file ambiguity, completeness and functionality;an automatic analysis module used for automatically forming a reviewing report according to the reviewing results. The file automatic reviewing tool can use an intelligent file reviewing tool to replace a conventional pure manual reviewing mode.

The invention provides a method for detecting human face shielding based on structure perception. Shielding can exist in various forms, but structural differences from normal human face image mainly lie in three aspects, such as color, direction and texture, and generally a certain difference is the most explicit. To highlight potential explicit structural differences, 6 characteristic transformation domains are proposed: an identical transformation domain, a logarithm transformation domain, a logarithm-gradient module transformation domain, a gradient direction transformation domain, a Laplace transformation domain, and a differential excitement transformation domain. Based on the 6 characteristic transformation domains, all kinds of structural errors between the shielding and a human face image are measured, and the structural errors are subject to two-value mean-value clustering and morphological filtering, so that 6 possible shielding results can be obtained. For an automatic determination of the best shielding detection result, a structure perception criterion is proposed: the minimum boundary regularization criterion. Experiments show that the method proposed in the invention can effectively detect the position of the shielding, and perceives explicit structures that are shielded, and has a strong practicality.

A method is disclosed to detect and repair a broken dataset. The method creates and maintains a backup log and an update log for a dataset. If the method finds a dataset structural error, then the method deletes the corrupted dataset, obtains the most current backup copy of the dataset, obtains all dataset updates made after the most current backup copy of the dataset was saved, and generates a recovered dataset using the most current backup and the dataset updates.