40results about How to "Calibration operation is simple" patented technology

The invention discloses a detection method for track geometric irregularity based on a two-dimensional laser displacement sensor. A left laser sensor, a right laser sensor, a longitudinal inclinometer, a lateral inclination meter, a gyroscope, a lateral accelerometer, and a left vertical acceleration are installed on the detection beam. meter, right vertical accelerometer, the left laser sensor and the right laser sensor are two-dimensional laser sensors; perform the following measurements: track gauge detection, height detection, rail direction detection, horizontal superhigh detection, twist detection, curvature detection, Rail vertical as well as side wear measurements. The present invention adopts a high-speed two-dimensional laser displacement sensor, which has strong anti-interference ability. Based on the two-dimensional sensor, there is no complicated image processing step, and with simple and effective back-end algorithm processing, it has higher detection and calculation speed. It can effectively eliminate the influence of vehicle body vibration on the detection result, the detection result has high repeatability, can compensate the detection result, and has higher detection accuracy.

The invention provides a double-strap-down inertial set orientation deviation calibration device of a rocket launcher. A double-strap-down inertial set of the rocket launcher comprises two strap-down inertial sets which are installed on one integrated support in parallel so that a complete strap-down inertial set can be formed; the two strap-down inertial sets are movably placed on a horizontal flat plate calibration table; a standard hexahedron and right-angle prisms of the two strap-down inertial sets are arranged at equal height; the standard hexahedron and the strap-down inertial sets are alternately located in the view fields of a first theodolite and a second theodolite as a whole; the first theodolite and the second theodolite are arranged on the two sides of the flat plate calibration table respectively. Meanwhile, a calibration method of the calibration device is provided. The calibration device and the calibration method of the calibration device achieve the purpose that after double-strap-down inertial measurement combination main and salve redundancy is adopted for a control system of the rocket launcher, the orientation deviation of the two strap-down inertial sets is determined. After the main strap-down inertial set is aimed at at the initial orientation in front of the rocket launcher, the orientation of the slave strap-down inertial set is determined through the calibration deviation, the initial alignment and launching process of the rocket launcher provided with the redundant strap-down inertial sets can be simplified, and engineering practicability is high.

The invention discloses a method and apparatus for calibrating a tool on a robot flange coordinate system. The method for calibrating the tool in the robot flange coordinate system comprises the following steps: obtaining a rotation angle of each joint when a tool to be calibrated fixed at a robot tail-end joint installation portion moves until the center point of the tool to be calibrated is superposed with a calibration reference point; obtaining calibration information of the center point of an already calibrated tool on the robot flange coordinate system; and according to the calibration information of the center point of the calibrated tool and the rotation angles of the tool to be calibrated, completing calibration of the center point of the tool to be calibrated on the robot flange coordinate system. According to the invention, the needed tool center point movement path quantity can be reduced, the calibration operation is quite simple, and the calibration efficiency of a tool coordinate system is enabled to be quite high.

The invention discloses a method and a device for calibrating a dynamic response characteristic of sonde humidity by a double flow method. The method includes that a sonde test chamber with given relative humidity is arranged, a humidity detected value of the sonde is real-timely received and recorded, gases with the given relative humidity are formed by uniformly mixing one way of a known amount of dry nitrogen and another way of a known amount of saturated humidity nitrogen, the nitrogen and the test chamber, both with the given relative humidity, have same environment temperatures which can simulate a lift-off state of the sonde, and the test chamber has a pressure environment which can simulate a high lift-off state of the sonde. The device comprises a control system, a water bath tank, the test chamber, an electrical control adjusting valve, a vacuum pump, a first gas inlet pipeline, a second gas inlet pipeline and the like, and the first gas inlet pipeline and the second gas inlet pipeline are respectively used for providing dry nitrogen and saturated humidity nitrogen which are provided with set amount. The method and the device for calibrating the dynamic response characteristic of the sonde humidity by the double flow method have the advantages that the calibration by the calibration method is accurate, the manufacturing is simple, the calibration efficiency is high, the calibration device is simple in structure, a reliable simulated lift-off environment can be provided for the sonde, and the accurate calibration can be guaranteed.

The invention belongs to the automobile maintenance and equipment calibration technical field and discloses a vehicle-mounted radar calibration device and method. The vehicle-mounted radar calibrationdevice comprises a bracket device and a radar calibration component; the radar calibration component is mounted on the bracket device; the radar calibration component includes a substrate; and the radar calibration component is used for reflecting radar waves emitted by the vehicle-mounted radar of a vehicle to be calibrated to the vehicle-mounted radar so as to calibrate the vehicle-mounted radar after the vertical surface of the substrate is calibrated. According to the vehicle-mounted radar calibration device and method of the invention, after the vertical surface of the substrate is calibrated, the radar calibration component is adopted to reflect the radar waves emitted by the vehicle-mounted radar to the vehicle-mounted radar, and therefore, the vehicle-mounted radars of different vehicle models can be calibrated, and therefore, the calibration work of the vehicle-mounted radars can be facilitated.

The embodiment of the invention provides a radar system calibration method and device, electronic equipment and a storage medium. The radar system calibration method comprises the steps of: acquiringradar data obtained by scanning of a plurality of laser radars in a radar system at the same moment; processing the radar data to obtain a radar coordinate system; in a scanning overlapping region formed by scanning surfaces of a main laser radar and an auxiliary laser radar, respectively acquiring main radar data and auxiliary radar data of a plane angle point of a target object, carrying out optimizing iterative operation on the main radar data and the auxiliary radar data to determine the pose parameters of the auxiliary laser radar relative to the main laser radar, thus enabling all laserradars in the radar system to find out radar data of the plane angle point of the target object under a plurality of laser radars directly based on the radar data, also determining the pose parametersof the laser radars based on the radar data, and completing calibration of the laser radars in the radar system. The calibration operation is simple, and the method can be suitable for different scenes and has high applicability.

The invention discloses a shield tunnel surface image calibration method, a splicing method and a splicing system, and belongs to the field of tunnel detection. The method is characterized in that itis guaranteed that the optical axis of each camera is perpendicular to the surface of a tunnel, and the field angle of each camera is at least equal to (alphs-sigma(n-1))/n; the calibration paper is pasted in an overlapped area of each view field range on the surface of the tunnel, so that each overlapped area comprises a plurality of candidate saddle points to be calibrated; each camera collectsa tunnel surface image at the same time; the candidate to-be-calibrated saddle points which are shot at the same time and have the best quality are found out as the to-be-calibrated saddle points of the adjacent cameras; and the coordinate information of each to-be-calibrated saddle point of each tunnel surface image is calcluated. According to the present invention, the saddle point of the view field overlapping area is selected as the calibration point, only one high-quality image needs to be shot, the operation is easy, and the method is suitable for the tunnel environment. The curved planeof the tunnel is unfolded into a plane through the mapping relation between the distorted image and the plane image, the splicing under the same coordinate system is achieved, the cost is lower, thetime is short, and the visual effect is better met.

The invention relates to a Kalman filtering based online calibrating method of a Stewart mechanism. The calibrating method comprises the steps that 1) a pose measuring device is fixed at one side of the Stewart mechanism, and the working space of the pose measuring device covers the motion range of the Stewart mechanism; 2) the pose of the Stewart mechanism is adjusted so that a moving platform of the Stewart mechanism moves in different directions, the pose measuring device measures the pose of the moving platform of the Stewart mechanism, and measured pose data is compared with theoretical pose data to obtain pose error data; 3) the theoretical pose data and the pose error data are substituted into the Kalman filtering algorithm, and error source data is obtained via iteration; 4) the error source data is substituted into the kinematic positive solution of the Stewart mechanism to correct the kinematic positive solution; and 5) the steps 2) to 4) are implemented cycled till the pose error data is converged. According to the invention, operation is simple, the cost is low, and the calibration efficiency is high.

The invention discloses an industrial robot positioning precision calibration method, device and system, and the method comprises the steps: S101, respectively obtaining the actual positions and theoretical positions of a robot at n sampling points; S102, performing difference processing on the actual position and the theoretical position to obtain error values of the robot at n sampling points; S103, taking the theoretical position of the robot as an input layer, taking an error value corresponding to the theoretical position as an output layer, training a hidden layer by adopting an optimalpruning extreme learning machine model, and establishing an error model; S104, inputting a target position to be reached by the robot into the error model, and calculating a deviation value of the target position; S105, superposing the target position to be reached by the robot with the compensation value corresponding to the position to obtain an expected target position of the robot. Motion parameters of the industrial robot control system do not need to be modified, the development degree of the industrial robot control system is reduced, and the use cost of enterprises is reduced.

A 2D (two-dimensional) laser positioning method of a door and a window on a train body of a train includes a process of performing calibration measurement on the train body of the train, wherein the process includes the steps of: first, manually moving an AGV (automatic guided vehicle) to a working station, positioning the AGV through visual observation, and setting the center position of a door and window frame as the manipulator base coordinate origin; indicating a manipulator to operate, and saving a trajectory of the manipulator as a work trajectory; indicating the manipulator to perform the calibration measurement; performing the calibration measurement on trisection positions of each edge of the frame, indicating the manipulator to carry a 2D sensor for scanning the 2D outline of theframe and record data, then calculating out six freedom degree coordinate value of the frame, and using the coordinate value as calibration position value; keeping a calibration measurement path of the manipulator as a path of following measurement work; and then moving the AGV to all stations to perform operation, calculating coordinate deviation between the current frame coordinate and the calibration position value, invoking the work trajectory of the manipulator, compensating the coordinate deviation, and obtaining a new work trajectory. The 2D laser positioning method of the door and thewindow on the train body of the train improves robustness and usability of a system, and is easy in calibration.

The invention relates to an automatic calibration device for the seeding quantity and the fertilizing quantity of a seeder. A power part capable of rotating forwards and reversely is provided with two-side power output ends, one side is connected with an operation row seed-metering and fertilizer-discharging part through a first transmission one-way bearing, and the other side is connected with a calibration seed-metering and fertilizer-discharging part through a second transmission one-way bearing; the locking directions and the free rotation directions of the first transmission one-way bearing and the second transmission one-way bearing are opposite; a seed-receiving and fertilizer-receiving box is arranged below the calibration seed-metering and fertilizer-discharging part, and a load-bearing sensor is arranged on the lower portion of the seed-receiving and fertilizer-receiving box; a matched control system is connected with the load-bearing sensor and the power part; and a comparator is used for comparing the target seeding quantity or fertilizing quantity with a value measured by the load-bearing sensor, and the control system adjusts the relative working rotating speed of a driving motor according to a corresponding proportion, so that the seed-metering quantity and the fertilizing quantity reach target values. The automatic calibration device can be used on the seeder driven by a motor to meter seeds and discharge fertilizers, is matched with a calibration control system, and can realize on-line automatic rapid calibration.

The invention provides a dynamic tool tip position calibration method and system based on an optical locator, a medium and equipment. The method comprises the steps of constructing a structure; mounting an optical positioning device by forming a conical groove in a specific surface position of a reference block, and mounting the optical locater in a specific position; preparing for data collectionby tightly jacking the tool tip against the groove of the reference positioning block, and preparing to acquire data; acquiring attitude information by rotating a tool around the tool tip , and acquiring the attitude information of the tool and the attitude information of the reference positioning block through the optical locator; and acquiring relative attitude information by transmitting the acquired information to a conversion algorithm, transmitting the attitude information of the tool relative to the reference positioning block into a spherical fitting algorithm, and obtaining the offset coordinates of the tool tip phase under a tool coordinate system. According to the invention, the purpose of obtaining accurate tool tip offset data can be achieved, and meanwhile calibration operation becomes more convenient.

The plane crystal spectrometer capable of directly calibrating spectral line wavelength includes reflector using plate crystal as parallel plate which is placed on the oblique plane of long trapezoidal internal cavity in the base body, and on the surface of parallel plate reflector an auxiliary light diaphragm containing n (n is greater than or equal to 3) equidistant parallel lines formed from metal wire is placed. When the light beam sent by tested light source is projected on the parallel plate reflector, a reference zone coverong the auxiliary light diaphragm and a measuring zone non-covering auxiliary light diaphram are formed, and the parallel lines on the auxiliary light diaphragm in the reference zone are formed into shaded image on the receiving surface of receiver, it utilizes the measurement of distance between the formed shade images, and can define the absolute wavelength of any spectral line in the spectral film on the receiving surface. As compared with existent technique it features high calibrating accuracy and extensive application.

The invention relates to a combined seed and fertilizer drill with an automatic calibration function. A power component capable of rotating positively and negatively is provided with double-side power output ends; one side is connected with an operation row seed-metering and fertilizer-discharging part through a first transmission one-way bearing, and the other side is connected with a calibration seed-metering and fertilizer-discharging part through a second transmission one-way bearing; the locking directions of the first transmission one-way bearing and the second transmission one-way bearing are opposite, and the free rotation directions are opposite; a comparator compares the target seeding quantity or fertilizing quantity with a value measured by a load-bearing sensor, and a control system adjusts the relative working speed of a driving motor according to a corresponding proportion, so that the seeding quantity and the fertilizing quantity reach target values; a seed and fertilizer receiving box and the load-bearing sensor are integrally supported by a discharging shaft, and the discharging shaft is driven by a discharging power part to rotate to drive the seed and fertilizer receiving box to turn over, so that seeds or fertilizers in the seed and fertilizer receiving box are poured out and emptied, and normal calibration of next time is facilitated; and a turnover conical disc device is arranged below a weighing and collecting module.

The invention discloses a line laser sensor space pose calibration piece and a calibration method, which combine the advantages of gear measurement center contact measurement and a simple geometric feature calibration piece, and realize accurate calibration of a line laser sensor through simple and easy calibration operation. On the basis of a standard mandrel, a cuboid metal block is arranged in the middle of the axis, and the centers of the upper end face and the lower end face of the standard mandrel are each provided with a conical hole for fixing. The coaxiality and cylindricity of an upper shaft section S1 and a lower shaft section S2 of a standard core shaft part of the calibration piece are required to be 1 [mu]m. The perpendicularity of the plane I and the plane II is 1 [mu]m, and the parallelism of the plane I and the plane II and the axis of the standard mandrel is 1 [mu]m. The calibration piece is simple in structure, the existing manufacturing process can meet the machining requirement of high-precision geometrical characteristics, the calibration piece is combined with the advantage of gear measurement center contact type measurement, calibration operation is simple and easy to implement, and accurate calibration of the line laser sensor can be achieved.