63results about How to "Compensate for positioning errors" patented technology

The invention discloses a master-slave mode multi-UUV cooperative location method based on underwater acoustic communication delay, and relates to a cooperative location method. The method solves the problem of big location errors of a conventional master-slave mode multi-UUV cooperative location system, and comprises the following steps: the master and slave UUVs perform clock synchronization preparation, the master UUV measures the distance between the master UUV and the slave UUV through underwater acoustic ranging; the master UUV sends location information, spacing information and the time stamp during sending information all of the master UUV to the slave UUV through underwater acoustic equipment; delay duration of the underwater acoustic communication is calculated after the slave UUV receives the underwater acoustic of the master UUV, and the state equation of the cooperative location system is built; the slave UUV utilizes the state of the system to transfer the matrix, and the measurement equation of the cooperative location system is built; measurement update of the cooperative location system is completed through utilizing the measurement equation of the system; the state update of the cooperative location system is completed through utilizing the state equation of the system; the slave UUV compensates the state estimation errors. The method is suitable for the master-slave mode multi-UUV cooperative location.

Disclosed are an apparatus and method for adaptively compensating a position error of a resolver. The apparatus adaptively estimating a position error contained in position information of a rotor of a motor, which is digitalized by a resolver-digital converter, and subtracting the estimated position error from the measured position information of the rotor, thereby calculating compensated position information. A regression equation and a recursive least square method applied to the regression equation are used for the adaptive estimation of the position information.

A method of producing a contact structure for establishing electrical connection with contact targets. The contact structure is formed of a contact substrate and a plurality of contactors. The contactor has a contact portion which is oriented in a vertical direction to form a contact point, an intermediate portion which is inserted in a through hole provided on the contact substrate, and a base portion having a base end which functions as a contact pad and a spring portion provided between the base end and the intermediate portion for producing a resilient contact force when the contactor is pressed against the contact target.

The invention belongs to the technical field of petroleum machinery equipment, particularly relates to a coupling automatic pre-screwing machine. The coupling automatic pre-screwing machine provided by the invention completes the screwing by pre-screwing a coupling mechanically and automatically. In order to solve the above technical problems, an adopted technical scheme is that the coupling automatic pre-screwing machine comprises a frame body, wherein a floating back-pincher, a coupling support frame and a main pincher are arranged on the top of the frame body from one side to the other side in sequence; the floating back-pincher clamps one end of an oil pipe tightly, a to-be-screwed coupling is elevated by the coupling support frame, and is concentric with a spindle of the main pincher; and the main pincher clamps the coupling, the coupling support frame falls, the main pincher drives the coupling to rotate and axially advance at a certain speed, and after the contact, the coupling and an oil pipe are screwed connected with each other.

The invention discloses a multi-linked clamp which can be automatically opened and closed, comprising a clamp beam, two ends of which are pivotally connected with a pulling rod respectively; each pulling rod is pivotally connected with a turning arm, the other end of the turning arm is pivotally connected with a connecting rod mechanism installation frame and a clamping jaw simultaneously; the clamp beam is connected with a heavy connecting rod by a hinge; the hinge hole where the upper end of the heavy connecting rod is pivotally connected with the clamp beam is a long round hinge hole with the aperture more than that of a pin shaft; the lower end of the heavy connecting rod is pivotally connected with an automatic unhooking device which can rotate by 90 degrees automatically after being pressed; the connecting rod mechanism installation frame of the self-gravity clamp is provided with a groove which is matched with the automatic unhooking device; the automatic unhooking device and the groove which are connected on the clamp beam and the connecting rod mechanism installation frame and matched with each other can automatically control the opening and closing of the clamping jaw of the self-gravity clamp when supporting carbon blocks; and the long round hinge hole at the upper end of the heavy connecting rod can be wholly lifted up with the connecting rod mechanism installation frame and the automatic unhooking device, thus compensating the horizontal position error of the clamped carbon blocks.

A method for producing a contact structure for establishing electrical connection with contact targets. The contact structure is formed of a contact substrate and a plurality of contactors. The contactor has a tip portion at one end of the contactor to contact with the contact target, a base portion at another end of the contactor which is inserted in a through hole provided on the contact substrate in such a way that an end of the contactor functions as a contact pad for electrical connection at a surface of the contact substrate, and a spring portion provided between the tip portion and the base portion which produces a contact force when the contactor is pressed against the contact target.

The invention provides a magnetic resonance scanning method, a system, a device and a storage medium. The method includes the following steps: generating a magnetic resonance radio-frequency pulse imaging sequence, and applying the magnetic resonance radio-frequency pulse imaging sequence to an imaging object to excite the imaging object at a radio frequency; collecting radio-frequency signal data generated by the imaging object according to the radio-frequency excitation; and implementing image reconstruction according to the radio-frequency signal data to form a magnetic resonance image, wherein, the magnetic resonance radio-frequency pulse imaging sequence includes at least one excitation pulse and a plurality of acquisition subsequences, and each acquisition subsequence contains a refocusing pulse and at least three readout gradient signals. The method, the system, the device and the storage medium disclosed by the invention significantly improve the imaging speed and the image quality.

The invention relates to a dynamic compensating device for a feedback position of an encoder and a dynamic compensating method thereof. When a driver which is applied to a servo control system drives a motor to rotate at a constant speed, the driver detects the feedback position of the encoder and provides the compensation for a position error for the feedback position. Firstly, a compensation dosage of the feedback position of the encoder is calculated by a compensation dosage calculating unit, and then a position area where the compensation dosage locates is determined by a position area determining unit, and lastly the compensation dosage is corrected in different weight modes by a compensation dosage correcting unit, thereby calculating the compensation dosage through the accumulation in an iteration mode, causing an error between the feedback position of the encoder detected by the driver and an ideal position to be in a permissible range, and increasing the accuracy of the encoder for dynamically compensating the feedback position.

The invention provides a stacking machine and a fork positioning method thereof. A lifting module in the stacking machine is used for lifting a cargo carrying table, and specifically the cargo carrying table is pulled by a steel wire rope to vertically ascend and descend along stand columns; a load detection module is arranged on the steel wire rope and can detect the weight of cargos on the cargocarrying table in real time; and the controller can calculate the deformation quantity of a fork according to the weight of the cargos and then calculate the extension length, needing to be compensated for, of the fork according to the deformation quantity, so that the normal use requirement of the fork for taking and placing the cargos is met. The stacking machine is simple in structure and convenient to install, dynamic compensation for the extending length of the fork can be achieved, the positioning error of the fork is reduced, and the cargo placing precision is improved.

Disclosed are an apparatus and method for adaptively compensating a position error of a resolver. The apparatus adaptively estimating a position error contained in position information of a rotor of a motor, which is digitalized by a resolver-digital converter, and subtracting the estimated position error from the measured position information of the rotor, thereby calculating compensated position information. A regression equation and a recursive least square method applied to the regression equation are used for the adaptive estimation of the position information.

The invention relates to a large allowance electronic controlling lock bolt, which is particularly applied to the lock of a retractable roof in a large stadium. The invention comprises a bolt, a first bolt support saddle, a second bolt support saddle, an electric drive pusher, a handspike support saddle, a reducing adjustment support saddle, and a bushing block; wherein, the first bolt support saddle and the second bolt support saddle are respectively fixed on two mechanisms which need locking; at least an otic placode is respectively arranged on the first bolt support saddle and the second bolt support saddle; the electric drive pusher pushes the bolt in the bushing block and ensures the bolt to be inserted into and used as the otic placode of locking ears to lock the two mechanisms. In application of the electronic controlling technology, the invention realizes the automatic lock of large roofing. A channeled slotted hole designed in the locking device allows an error band for the opposite hole site of two bolt support saddles, thereby ensuring safe and reliable insertion of the bolt; with large load bearing, the locking device can be applied to lock a large mechanism.

The invention relates to a strict imaging model and positioning method considering satellite fluttering. The method includes the following steps that (1), posture fluttering is expressed through a cosine coincidence form; (2), the strict imaging model considering the posture fluttering is established; (3), parameters of the strict imaging model are determined; (4), the strict imaging model considering the posture fluttering is adopted for three-dimensional positioning. Compared with the prior art, the method has the advantages that the defect that a traditional posture modeling method based on a high-degree polynomial or a sectioned polynomial can not perform precise modeling on the high-frequency posture fluttering in the operation process of a satellite is overcome, so that in the positioning process, positioning errors caused by high-frequency posture fluttering are effectively compensated.

The invention relates to a light guiding element (1) for a laser vehicle headlight (2), wherein the laser vehicle headlight (2) comprises at least one laser light source (3) and at least one luminous element (4) which can be irradiated by the laser light source (3) and can thus be excited to emit visible light. The light guiding element (1) has a first side (10), which is designed at least partly as a light entrance surface (5), and a second side (20) arranged opposite the first side (10), said second side being designed at least partly as a light exit surface (6) and being assigned at least one receptacle (7) for at least one luminous element (4), wherein the light entrance surface (5) is assigned at least one first reflection region (50) which is oriented in the direction of the interior of the light guiding element (1) and reflects light from the light entrance surface (5) in the direction of the receptacle (7) for the luminous element (4), and wherein the light exit surface (6) is assigned at least one second reflection region (60) which is oriented in the direction of the interior of the light guiding element (1) and reflects light from the luminous element (4) in the direction of the light exit surface (6). The invention furthermore relates to a vehicle headlight (2) comprising at least one light guiding element of this type.

The invention relates to a method of controlling the steering of a steerable portion (2, 3, 4, 5) of an aircraft undercarriage that is fitted both with a steering member (6) for steering the steerable portion and also with at least two angular position sensors (8, 8) for sensing the angular position of the steerable portion in order to deliver respective signals representative of the angular position (Theta 1 and Theta 2) of the steerable portion, wherein the steering member is controlled by means of servo-control using information that is representative of the angular position of the steerable portion. According to the invention, the information representative of the angular position that is used is a mean (Theta mean) of the angular positions sensed by the at least two angular position sensors.

The invention relates to a rotary body surface robot grinding and polishing device and method. According to the rotary body surface robot grinding and polishing device and method, a robot is used as an actuating mechanism to implement grinding. The device comprises the robot, softening devices, rotary pneumatic fixtures, a horizontal grinding machine and claw exchange devices. The grinding methodcomprises the following steps that S1, the robot grabs one ends of rotary bodies (workpieces) through the rotary pneumatic fixtures; S2, the robot are attached to the horizontal grinding machine according to the surface shapes of the rotary bodies, the rotary pneumatic fixtures rotate to conduct grinding on the surfaces of the rotary bodies, the grinding contact force is controlled through the softening devices, and position errors of the robot are compensated for; S3, the robot places the rotary bodies on the claw exchange devices, and the other ends of the rotary bodies are clamped through the rotary pneumatic fixtures after the claw exchange devices are turned over; and S4, the step S2 is repeated, and the remaining areas of the rotary bodies are subjected to grinding. The rotary body grinding method provided by the invention is simple, practical and applicable to surface grinding of rotary bodies such as metal cups, cylindrical containers and tube segments.

The invention relates to a device (10) for the finishing machining of an internal face of a workpiece (14), such as the track of a ball screw. The device includes a workpiece holder (18) and a finishing tool (46) held on a finishing tool holder (36). A rotary drive (22) is provided, by which the workpiece holder (18) and the finishing tool (46) are rotationally driven relative to one another about a rotational axis (24). A linear drive (26) is provided, by which the finishing tool (46) held on the finishing tool holder (36) and the workpiece holder (18) is driven in a translatory manner relative to one another along the rotational axis (24). An oscillating drive (32) is provided, by which the finishing tool (46) held on the finishing tool holder (36) and the workpiece holder (18) is driven in an oscillating manner relative to one another in the direction parallel to the rotational axis (24) and wherein the finishing tool (46) is pivotably held on the finishing tool holder (36) about a pivot axis (44). The invention also relates to a method for the finishing machining of an internal face of a workpiece (14).

The invention relates to an automatic transporting and feeding and discharging device for materials, in particular to a flexible transporting and feeding and discharging device for a robot. The flexible transporting and feeding and discharging device comprises an automatic guide vehicle, a multi-axis linkage robot, a grabbing mechanism and a vehicle body positioning tool. The multi-axis linkage robot and the vehicle body positioning tool are installed on the automatic guide vehicle. The output end of the multi-axis linkage robot is connected with the grabbing mechanism, and materials grabbed by the grabbing mechanism to the automatic guide vehicle are limited through the vehicle body positioning tool. The bottom of a vehicle body of the automatic guide vehicle is provided with a drive unit and multiple driven universal wheels, and the automatic guide vehicle moves in a reciprocating manner along a guide magnetic bar on the ground through driving by the driving unit. By means of the flexible transporting and feeding and discharging vehicle for the robot, the robot and the automatic guide vehicle are combined together, the flexible transporting and feeding and discharging vehicle is applied to the cargo carrying and feeding and discharging field, the system motion route can be planned at will, flexibility of the system is greatly improved, and the work range of the system is greatly enlarged.

The invention provides a frogman heading and attitude estimation method based on magnetic / inertial combination in emergency. The method is used for underwater heading and attitude estimation of a frogman in emergency, and comprises the following steps that aligning is carried out after the frogman is far away from magnetic interference, based on an underwater alignment result and a series state transition matrix from water-entry to underwater alignment completion time, an initial heading and attitude error is corrected and gyroscopic drift is estimated by adopting a state backtracking method,and navigation calculation is carried out again from the initial moment by combining corrected parameters with stored information. The method effectively calibrates the initial heading and attitude error, enables the initial heading and attitude error to be in a magnetic compass attitude measurement precision range, can effectively compensate position errors and speed errors caused by gyroscope drift, effectively compensates positioning errors caused by initial heading and attitude information errors during emergency diving, and improves navigation positioning precision.

The invention relates to an underwater electronic cabin, which comprises a pressure-resistant casing and an electronic docking frame. The pressure-resistant shell is installed on the underwater carrier, and the electronic docking frame is installed inside the pressure-resistant shell. The pressure-resistant shell is that the connector end head and the top end head are positioned radially with the jacket respectively through the slit groove and the slit boss, and are connected together by the connecting ring, the first connecting flange and the second connecting flange. Structure; the debugging of electronic components and testing instruments on the electronic docking frame is realized through the additional debugging adapter frame assembly. The sealing of the pressure-resistant shell of the present invention is realized by the O-shaped sealing ring between the shell and the head through the pre-tightening of the set screw so that the O-shaped sealing ring produces a certain amount of deformation, and the sealing performance is reliable; the socket connection of the present invention The device is a movable structure, which makes the docking of the electronic docking frame easy to realize; the electronic docking frame of the present invention has the functions of radial positioning, axial positioning, and radial buffering; the present invention debugs the docking of the adapter frame and the docking plate assembly, System remote debugging can be realized.

The invention provides a waterproof rapid plug-in type wiring device and belongs to the technical field of devices used for charging or depolarizing a battery pack or supplying power to a load by the battery pack. The waterproof rapid plug-in type wiring device comprises a female plugging part and a male plugging part; the male plugging part is upwards inserted into the female plugging part; the female plugging part comprises a female wiring terminal, a junction box and an insulating part; the female wiring terminal is in plugging fit with a male joint, so that the circuit forms a closed circuit; the male plugging part comprises a shell and the male joint; the male joint is provided with a plugging part; and the plugging part extends out of the shell and is in plugging fit with the plugging end of the female wiring terminal. Rainwater or flood can be prevented from entering the junction box to cause potential safety hazards to a motor, and it is guaranteed that the motor can still work normally and stably in water, and the requirement for stable operation in an outdoor severe environment is met.

The invention discloses a single-hole surgical device and a medical equipment system. The single-hole surgical device comprises a shell and at least one sheathing canal; the shell is tubular and comprises a horn mouth at the top and a shrink mouth at the bottom; one end of the sheathing canal extends into the shell and is communicated with the shrink mouth of the shell, and the other end of the sheathing canal extends out of the shell from the horn mouth; the sheathing canal comprises an inner sheathing canal section and an outer sheathing canal section; the inner sheathing canal section is located in the shell; the outer sheathing canal section is located outside the shell; and the outer sheathing canal section can deform; and deformation comprises deformation in the radial direction and / or the axial direction of the sheathing canal. The problem that the positioning precision of a moving arm is not enough due to machine control precision or other reasons is solved through partial structural improvement, higher permissibility is achieved for the position and angle of at least part of a medical tool entering a preset surgical site through the single-hole surgical device, and the production cost change is small.

The invention relates to a shaft coupling (1) and the application of the shaft coupling (1) in an electric switch (41). Furthermore, the invention relates to an electric switch (41). In order to compensate the error between the first shaft (2) and the second shaft (3) or another component to be connected with it in a structurally simple way, a method comprising at least one corresponding to the shaft (2, 3) is proposed. The shaft coupling (1) of the slider (4, 5) provided, wherein, in order to constitute the shaft coupling of lateral movement, the slider (4) is packaged in the coupling housing (6) under the condition of designed clearance fit ), and at least one elastic element (29, 33; 37) is provided which loads the slider when the slider (4, 5) is outside its rest position.

The invention relates to the field of environmental detection, in particular to a patrol inspection device and a use method thereof. The device comprises a plurality of Bluetooth BEACOM devices and ahandheld terminal, wherein the handheld terminal is provided with an analyzer module, a CPU, a display, a power supply, an employee information memory and a task memory, and the CPU is connected witha Bluetooth 4.0 module; The analyzer module, the CPU and the display screen are all connected with the power supply, and the task memory and the employee information memory are all connected with theCPU. The patrol device of the invention can receive the detailed patrol task when the security personnel arrive at the specific area through the cooperation of the Bluetooth BEACOM equipment, the analyzer module, the Bluetooth 4.0 module, the CPU, the display, the power supply, the employee information memory and the task memory, so as to avoid the security personnel from omitting part of the patrol task.

The invention relates to a light guide element ( 1 ) for a laser vehicle headlight ( 2 ), wherein the laser vehicle headlight ( 2 ) comprises at least one laser light source ( 3 ) and at least one irradiated by the laser light source ( 3 ) and thereby A light-emitting element (4) that can be excited for emitting visible light. The light guide element (1) has a first side surface (10), which is at least partially designed as a light entrance surface (5), and has a second side surface (20) opposite the first side surface (10), which is at least partially It is designed as a light exit surface (6) and at least one receiving body (7) for at least one light emitting element (4) is attached to it, wherein at least one alignment light guide element (1) is attached to the light entrance surface (5). The first reflection area ( 50 ) in the interior direction that reflects the light of the light incident surface ( 5 ) in the direction of the light-emitting element ( 4 ) containing body ( 7 ), wherein at least one alignment light guide element is attached to the light exit surface ( 6 ) (1) The second reflection area (60) in the inner direction, which reflects the light of the light-emitting element (4) in the direction of the light-emitting surface (6). The invention also relates to a motor vehicle headlight (2) having at least one such light-guiding element.

An adaptive centering wave aberration detection method of projection lens in a mask aligner comprises the following steps of: firstly acquiring a space image to be detected, then obtaining a major constituent and a regression matrix corresponding to the space image to be detected, followed by the interpolation of the major constituent; carrying out cutting of the space image to be detected, and passing through a crude centering flow, a position estimate determination flow of the space image to be detected and a fine centering flow to obtain a coefficient of the major constituent correspondingto the space image to be detected; and adopting least spuares to obtain the wave aberration of the projection lens according to the regression matrix and major constituent coefficient. According to the invention, large eccentricity space image can be processed adaptively, thus reducing the mask aligner alignment requirement and raising the repeatability of the wave aberration detection of the projection lens in the mask aligner.

The invention relates to a device (1) and a method for refining a thread (2) and / or processing a thread (2) into a planar structure. Said device comprises a process section (3) and an unwinding station which is connected upstream of the process section (3) and has a receptacle (11) for a material carrier (4) from which the group of threads (2) can be attracted in a process direction. One would like to be able to make the finishing or processing cost-effective. For this purpose, the receptacle (11) can be displaced transversely to the process direction and has a displacement drive (12), which is controlled by a control device (15).

The invention provides a force / torque adjustable sensor and a manufacturing method. The force / torque adjustable sensor comprises a mobile platform, a sensor bottom board (1), a cross-shaped double-cantilever unit, a sensor active regulation and control beam (2), a sensor passive regulation and control beam (3), a sensor front board (4), a sensor input board (5) and a sensor output board (6), wherein the sensor bottom board (1) fixes the sensor on the mobile platform, and the sensor bottom board (1) is grounded at the same time; the cross-shaped double-cantilever unit comprises the sensor active regulation and control beam (2) and the sensor passive regulation and control beam (3); the sensor active regulation and control beam (2) and the sensor passive regulation and control beam (3) are arranged in a crossed mode; capacitance change information can be generated by capacitance change of the output board; and the capacitance change information is matched with force / torque value measurement result information. According to the invention, a system fine adjustment function is achieved, and position errors and long-term measurement loss caused by sensor processing can be compensated.