75results about How to "Eliminate error accumulation" patented technology

The embodiment of the invention discloses a method and system for optimizing a visual inertial speedometer. The method comprises the steps of obtaining IMU data and visual image data; extracting dotted line feature data of the visual image data; performing pre-integration processing on the IMU data to obtain scale information and IMU variables; performing joint initialization on the dotted line feature data based on the scale information to obtain a dotted line feature pixel gray value; calculating an IMU update amount between two adjacent frames of visual images; combining the IMU update amount to obtain a new pose; judging whether different frames of images meet target conditions or not; if so, obtaining a key frame; adding the key frame, the pose, the target dotted line feature data, pre-configured acceleration zero offset and gyro zero offset and an IMU speed to a sliding window to obtain marginalized prior; and obtaining an IMU residual error and a visual residual error, and performing optimization processing on visual image estimation based on the marginalized prior, the IMU residual and the visual residual error. The accumulation of errors can be eliminated to obtain an optimal trajectory of the visual images.

The invention provides an adjustable-precision time acquisition method based on second pulses. The method includes: receiving UTC time information, which is issued by a GPS receiver, by a PPC processor, and obtaining hour, minute and second data, which are synchronized with a GPS, after solution calculation; generating precision information by the PPC processor, and passing the hour, minute, second and less-than-second data obtained after solution calculation and the precision information to an FPGA clock acquisition unit; receiving a local clock signal from a local clock source by the FPGA clock acquisition unit, receiving a PPS signal from the GPS receiver, and calibrating the received hour, minute, second and less-than-second data; and sending back the calibrated hour, minute, second and less-than-second data to the PPC processor by the FPGA clock acquisition unit through an LBC bus to realize calibration of less-than-second data. According to the method, time precision configuringis flexible, and time acquisition precision is high.

The invention discloses a moving device and a positioning method thereof. The positioning method includes: in the moving process when the moving device collects visual feature points, extracting first feature descriptors of the visual feature points collected at the current moment; performing closed-loop detection on the first feature descriptors and feature descriptors extracted before respectively; when a closed loop is detected on the basis of the first feature descriptors and second feature descriptors, determining pose of the moving device at the current moment through spatial coordinates of the visual feature points described by the second feature descriptors which are one of the feature descriptors extracted before. By the moving device and the positioning method, the technical problem that positioning accuracy is affected seriously by accumulated errors of pose estimation when the moving device moves is solved, and accuracy of positioning based on the moving device is improved.

The invention provides a panoramic image splicing method in an airport environment. The panoramic image splicing method comprises the following steps: firstly, preprocessing acquired images; adpotinga color difference correction method based on a YUV space to realize color consistency among multiple cameras; projecting a camera image to a cylindrical plane, and detecting feature points in the image by adopting a feature point detection algorithm for images after cylindrical projection; achieving rough matching of the feature point pairs in adjacent images; removing error feature point pairs through an RANSAC algorithm, calculating an accurate homography matrix between images to achieve uniform transition splicing between registered images through a gradual-in gradual-out fusion technology; carrying out canny edge detection on the panoramic image, selecting the longest line segment as the skyline position, and fitting a skyline smooth curve by using a least square method so that imagedistortion caused by splicing can be eliminated. A grouping iteration splicing method is adopted, error accumulation in the multi-path image splicing process is eliminated, and the splicing success rate and the splicing effect are improved.

The invention discloses a process survival control method and device. An application service child process created by a server accumulates the number of application services responded by per se and stops responding the application services requested by application users when the response number reaches a set value, and the disabled application service child process is substituted by the new application service child process re-created by the server, thus error accumulation caused by programming error or run error can be eliminated and error of the application service child process in a running state is ensured to be smaller so as to improve the long-term stability of a server program.

The invention discloses a transmission shaft spline shaft metal processing technique. The processing technique comprises the following steps of: performing thermal refining by using a thermal refining automatic line; milling a small end surface by using a milling and drilling machine, and drilling centre bores at two ends; performing fine turning by using a numerically controlled lathe; milling a spline by using a numerical control spline milling machine; removing front points and burr; and performing mid frequency induction hardening by using a mid frequency induction hardening machine. The processing technique can guarantee the part accuracy to the maximum extent, eliminate various errors caused by position reference conversion, shortens the whole metal processing flow, reduce a large number of manpower and material resources, greatly reduce the processing cost, reduce the labor intensity, improve the working efficiency, and save processing cost.

The present invention provides a laser three-dimensional scanner system and a method of use, including a scanner bracket, a camera assembly, and a backboard. A camera assembly is installed on the scanner bracket, an object to be scanned is placed in front of the backboard, and the camera The components are connected to a computer through a USB interface, and laser three-dimensional scanner software is installed in the computer, and the camera assembly is aimed at the object to be scanned. Positioning accuracy also ensures the accuracy and reliability of subsequent photogrammetry; laser scanners are flexible, efficient, easy-to-use, and high-precision; use lasers to obtain object surface point clouds, and use visual image marking to determine the position of the scanner during work Spatial location.

The invention provides a guide rail assembling technological method for a large composite box, and relates to the technical field of guide rail assembling technologies for large composite boxes.The dimension of an inner cavity of the composite box is 8000 mm*1000 mm*1200 mm, a front guide rail and a rear guide rail are installed on the inner surface of the I quadrant of the box through guide rail bases, and the front guide rail and the rear guide rail are connected to the inner wall of the box through the guide rail bases.The guide rail assembling reference of the composite box is determined to adjust related dimensions of bottom corner parts, errors generated by tipping and defection of the composite box are eliminated, and the assembling precision of the guide rails relative to the installation reference is ensured; the inner wall of the box serves as the assembling reference to ensure the symmetry degree of the guide rails relative to the center of the box; a digital level gage is used for conveniently, rapidly and accurately measuring the parallelism and height difference dimensions of the guide rails, and a symmetry degree detection tool is used for achieving quick and effective guide rail precision detection.

The invention provides an ignition advancer of an oil/CNG double-fuel engine. The ignition advancer of the oil/CNG double-fuel engine comprises an MCU, a differential signal generating and processing circuit, a power supply module and a communication module, wherein the differential signal generating and processing circuit is used for changing a crankshaft position signal transmitted by the MCU into a differential signal output circuit, and the communication module is used for communication between the ignition advancer and an upper computer. The invention further provides an ignition advance angle control optimization method of the oil/CNG double-fuel engine. The ignition advance angle control optimization method of the oil/CNG double-fuel engine comprises the following steps that (STP1), after the crankshaft position signal is acquired by the MCU, missing teeth of a bent shaft are captured; (STP2), the tooth number of one circle of the crankshaft is calculated according to the missing teeth of the crankshaft, and meanwhile, the degrees of rotating angles between the adjacent teeth are calculated; (STP3), through MAP calculation, an ignition advance angle required under the current working condition is calculated; and (STP4), according to the rotating angles, between the adjacent teeth, of the crankshaft and the required advance angle value, the position of analogue output of the next tooth is calculated. According to the ignition advancer of the oil/CNG double-fuel engine, adjusting of the ignition advance angle can be achieved under the full working conditions, and the types of the crankshaft signal and the camshaft signal can be automatically recognized through a system.

The invention provides an aero-engine adjusting sheet machining tool and method, and relates to the technical field of machining. The machining tool comprises a clamp body (1), a pressing block (2), a taper positioning pin (3) and a cylindrical positioning pin (4), and a plurality of screw holes and a plurality of pin holes are formed in the center of the clamp body (1); the cylindrical positioning pin (4) is arranged in the pin hole; the pressing block (2) is arranged in the middle of the clamp body (1). The taper positioning pin (3) penetrates through the pressing block (2) and the clamping plate (102) at the same time. By means of the machining tool, the problems that machining procedures of the aviation adjusting piece are scattered, clamping is difficult, and machining efficiency is low are solved. The machining method is convenient to operate, the machining precision can be effectively improved, and the product machining quality is improved.

The invention discloses a curved ribbed beam processing and assembling construction process. A processed curved ribbed beam is a curved steel beam, the cross-section of the curved steel beam is in the shape of a Chinese character ri, an outer side beam body and an inner side beam body of the curved ribbed beam are connected with each other through straining beams, and each of the outer side beam body and the inner side beam body is spliced by a number M of steel beam sections, each steel beam section comprises a top flange plate, a bottom flange plate, two webs and a vertical stiffening plate, and each steel beam section is provided with a connecting base. The curved ribbed beam processing and assembling construction process comprises steps of (1) processing the steel beam sections in a factory, cutting steel plates, carrying out bending processing to the steel plates, carrying out measuring and scribing processes, assembling the webs and the vertical stiffening plate, assembling diaphragm plates, laying flange plate positioning mechanisms, assembling the flange plates and assembling the connecting bases; and (2) assembling the curved ribbed beam, determining the splicing positions of the steel beam sections, and splicing the steel beam sections. The curved ribbed beam processing and assembling construction process has simple steps, and is reasonable in design, convenient to implement and good in usage effect, and the processing and assembling construction process of the curved ribbed beam steel structure can be completed simply and quickly in high quality.

The invention discloses a construction method for a space curved rib girder steel structure. The constructed space curved rib girder steel structure comprises several curved rib girders distributed on a horizontal foundation from front to back; the cross section of the curved rib girders is H-shaped and its outer girder body and inner girder body are formed by splicing M steel girder sections; several curved rib girders are integrally connected by interlayer ring beams; the steel girder section comprises an upper flange plate, a lower flange plate, two webs and a longitudinal stiffening plate; and each steel girder section is provided with a connecting base. The construction process of the space curved rib girder steel structure comprises the steps: firstly, curved rib girder factory processing, processing each steel girder section of the curved rib girder; secondly, curved rib girder conveying; thirdly, curved rib girder field splicing; and fourthly, curved rib girder and interlayer ring beam field installation. The process is simple, the design is rational, the construction is convenient, and the using effect is good. The construction process of the space curved rib girder steel structure can be simply and conveniently completed, the construction process is safe and the construction period is short.

The invention discloses a method and a system for realizing indoor positioning by using virtual time synchronization. According to the invention, when positioning is carried out, hardware synchronization between anchor nodes is not needed, which saves network resources; since each time of virtual synchronization is a new start, synchronization error accumulation is eliminated, and the accuracy ofindoor positioning is improved; in addition, when virtual time synchronization is carried out, no additional equipment is required; the complexity and computational complexity of a traditional TDOA method are greatly reduced; and the cost is reduced.

The invention discloses a hybrid robot working accuracy compensation method and system, and a storage medium. The method comprises two stages of trial operation and formal operation: in the trial operation stage, the method comprises the step of establishing a database, wherein a corresponding relation table between the specific actions executed by the hybrid robot and the compensation value is stored in the database; and in the formal operation stage, the method comprises the steps of acquiring a compensation value corresponding to the specific action from the database when the hybrid robot needs to perform the specific action, and controlling the hybrid robot to move linearly according to the compensation value. The accumulate error of mechanical arms caused by the sliding of an AGV baseof the hybrid robot can be overcome, and the working accuracy of the hybrid robot can be guaranteed.

The invention belongs to the technical field of an industrial robot and particularly relates to an industrial robot with a self-failure detection function. The industrial robot with the self-failure detection function comprises a fixed pedestal and a horizontal swing arm; the top end of the fixed pedestal is in embedded connection with a movable sliding platform; a horizontal rotating disk is fixedly arranged at the top end of the movable sliding platform; an upright column is vertically fixed on the middle part of the top end of the horizontal rotating disk; a groove-shaped bracket is arranged at the top end of the upright column; the groove-shaped bracket is connected with the middle part of the horizontal swing arm through a clamping connection disk in the groove-shaped bracket; a firsttorsion disk and a second torsion disk are symmetrically fixed at the two ends of the horizontal swing arm; and a first work arm is fixed on the first torsion disk. An original point detection blockis provided and performs contact detection on a working part, so that error accumulation generated by the industrial robot during work is eliminated timely; meanwhile, a video recorder is provided andshoots corresponding self-detection pictures, a flaw detection machine is provided and performs flow detection operation on the internal structure of the working part, and the self-detection result is transmitted to a remote control terminal to perform real-time monitoring.

The invention relates to a drive shaft assembly assembling method. The drive shaft assembly assembling method includes of step 1, assembling of a subassembly A by mounting a universal joint on a flange yoke by an extruder and workbench equipment, and mounting a universal joint yoke on the universal joint; step 2, assembling of a subassembly B by mounting a universal joint on a flange yoke by the extruder and the workbench equipment, and mounting a spline shaft yoke and a splined hub subassembly or a slide yoke and a rear shaft head subassembly on the universal joint; step 3, assembling the subassembly A, the subassembly B and a shaft tube into a drive shaft assembly by means of extrusion by the extruder and a universal fixture; step 4, straightening and welding the drive shaft assembly by a special welding machine and the universal fixture; step 5, subjecting the drive shaft assembly to dynamic balance by a balance machine and the universal fixture. By the drive shaft assembly assembling method, assembling precision and product quality of the drive shaft assembly can be improved, processing errors of parts are eliminated, labor efficiency is improved, production cycle is shortened and production cost and labor intensity are lowered.

The invention provides a polyphone disambiguation and rhythm control combined method, a polyphone disambiguation and rhythm control combined system and electronic equipment. The method comprises the steps of: obtaining a to-be-processed text and part-of-speech thereof, converting the to-be-processed text and the part-of-speech thereof into a character vector and a part-of-speech vector, and splicing to obtain a spliced vector; training through an alternate training strategy to obtain a joint model, a first group of weights and a second group of weights, wherein the joint model comprises a first neural network and a second neural network, and encoding the splicing vector through the joint model to obtain a first in-sentence code and a second in-sentence code of the character; obtaining a polyphone weighted sum according to the first group of weights, and obtaining pronunciation probability distribution of polyphones through a first full connection layer; removing incorrect pronunciation in the pronunciation probability distribution of the polyphone through masks, and obtaining final pronunciation prediction; and obtaining a rhythm weighted sum according to the second group of weights, and obtaining a rhythm pause level through a second full connection layer and a conditional random field. Error accumulation caused by stream structure processing is eliminated, and the calculation speed of text-to-speech conversion is improved.

The invention discloses a fixture for an end-tooth flange york boring lug hole and a vehicle clamp spring groove and a machining technology achieved by means of the fixture. The fixture comprises a fixture body, a positioning disc and a hydraulic clamping mechanism; the machining technology comprises the step that the machining procedures of the end-tooth flange york boring lug hole and the vehicle clamp spring groove are both positioned through end face teeth arranged on the bottom face of an end-tooth flange york and end face teeth of the fixture positioning disc. Accordingly, in the machining process of the end-tooth flange york lug hole of a transmission shaft, two original tedious positioning steps are reduced into one precise positioning process, two machining machine tools are reduced into one machine tool, therefore, the production efficiency is improved, and the production cost is reduced.

The invention discloses a device and method for manufacturing staggered cylinder metal card clothing. The device comprises two pairs of vertically distributed pressing rollers and a squeezing box located between the two pairs of pressing rollers. The squeezing box comprises an upper pressing plate, a lower pressing plate and a positioning base. Grooves are formed around the circumferences of the upper pressing rollers of the two pairs of pressing rollers. A groove channel is formed in the lower pressing plate and internally provided with a plurality of protruding blocks for squeezing needle teeth. The opposite faces of the upper pressing plate and the positioning base are provided with a transmitting end and a receiving end of a photoelectric sensor respectively. A counter is installed inthe positioning base. The counter, the two pairs of pressing rollers and a mechanism which is used for driving the lower pressing plate to move up and down are connected with an electronic control unit. The manufacturing method includes the step that after being fed from one pair of vertically distributed pressing rollers into the squeezing box for staggered rolling, a rack is output by the otherpair of vertically distributed pressing rollers to prepare the staggered cylinder metal card clothing. By means of the device and method, the error accumulation of the pitch of teeth is eliminated, tooth staggering and breakage phenomena are effectively avoided, and the produced card clothing is excellent in quality and has great application prospects.

The invention provides a video processing method and a video processing device. The video processing method comprises the following steps: acquiring a current frame of a low-resolution video at a current moment and an adjacent frame adjacent to the current frame; obtaining a difference image for the current frame based on the current frame and the adjacent frame; determining time attention information for the current frame according to the difference image, wherein the time attention information represents image feature information concerned by the current frame relative to the adjacent frame; obtaining super-resolution characteristics of the current frame according to the time attention information and the adjacent frame; and generating a high-resolution image of the current frame based on the super-resolution feature.