66results about How to "Eliminate positional deviation" patented technology

The application discloses an unmanned vehicle lane dynamic obstacle detection method. The method comprises the steps of analyzing and processing the 64-wire laser data to detect and track the dynamic obstacles surrounding an unmanned vehicle; for a sector area in front of the unmanned vehicle having a higher accuracy, fusing a confidence distance theory with the 64-line laser data processing information and the motion state information outputted by the four-wire laser sensors to improve the detection accuracy of the obstacle motion states greatly; and then carrying out the time delay correction on the positions of the motion obstacles according to the fusion result; and finally, distinctively marking the positions occupied by the dynamic obstacles and the positions occupied by the static obstacles on an obstacle occupation grid map. According to the method, not only the obstacle motion information in an outdoor environment can be detected accurately, but also the dynamic obstacle position deviation brought by the sensor data processing time delay can be eliminated.

The invention provides a full-pose-and-position active-passive compliant robot and a valve screwing-twisting method utilizing the robot, and relates to a robot and a valve screwing-twisting method utilizing the robot. The full-pose-and-position active-passive compliant robot and the valve screwing-twisting method utilizing the robot aim to solve the problems that an industrial robot cannot conductlarge overall motion, and the operating range is narrow; rigid collision and radial contact force are generated between an end actuator and a valve handwheel; damage of operating devices is possiblycaused due to the fact that screwing-twisting resistance torques of different valves are different; and the valve handwheel can produce axial displacement while rotating, and axial contact force of the tail end is brought. The full-pose-and-position active-passive compliant robot comprises a wheel type moving platform, a four-degree-of-freedom manipulator and a compliant end actuator, the four-degree-of-freedom manipulator is mounted on the wheel type moving platform, and a six-axis force sensor is mounted between the four-degree-of-freedom manipulator and the wheel type moving platform; the compliant end actuator is mounted at the tail end of the four-degree-of-freedom manipulator, and a six-axis force sensor is mounted between the compliant end actuator and the four-degree-of-freedom manipulator; and through information of the two sensors, impedance control can be conducted on the wheel type moving platform and the four-degree-of-freedom manipulator. The full-pose-and-position active-passive compliant robot and the valve screwing-twisting method utilizing the robot are suitable for robot remote operation, robot compliant control and valve screwing-twisting operation.

A suction head including a first transmission part, a second transmission part and a suction nozzle is provided. The second transmission part is magnetically attracted by the first transmission part to permit a displacement of the second transmission part relative to the first transmission part. The suction nozzle is disposed on the second transmission part and transmitted by the first transmission part via the second transmission part. Additionally, a transporting machine including a shuttle, a transporting mechanism and the aforementioned suction nozzle is provided. The shuttle is capable of carrying an object being transported, and the suction head is driven by the transporting mechanism to take the object being transported. The suction head and the transporting machine applying the same provide high transporting efficiency and ensuring a normal operation in transporting process.

The invention discloses a digital projection raster image fitting correction method based on distortion global correction. The method is characterized in that a grating projection system is configuredto acquire a digital projection raster image; the grating projection system is used; an object to be tested is placed on a platform; a projector is connected to a computer; the projector and a cameraare placed on both sides over the object to be tested respectively; the lens of the projector and the lens of the camera are both oriented toward the object to be tested; the computer gives a signalfor inputting a raster mode, and inputs the signal into the projector to generate a raster pattern as a raster light source to irradiate the object to be tested and the platform; the camera acquires an image of the object to be tested and the platform irradiated by the raster light source as an output raster mode; and the input raster mode and the output raster mode are successively subjected to light intensity correction, pixel matching, and sinusoidal correction. The method of the invention improves the quality of the projection raster, improves the raster projection three-dimensional measurement accuracy based on a phase shift method, and can expand the adaptability of the digital raster projection device to a certain extent.

The invention belongs to composite-material structure forming technologies, and relates to a locating tool for frameworks/reinforced ribs of an integrated composite-material wing structural member and an application method of the locating tool. The locating tool is characterized in that: at the two ends of longitudinal direction of skin-covering molds (1), framework/reinforced rib curing mold locating devices are respectively arranged on the skin-covering molds outside a skin-covering molded surface; and the application method is characterized by comprising the following steps of: installing a wing root locator (3) and a wing tip locator (6); assembling and connecting a wing root connecting segment (4), a wing tip connecting segment (7) and a framework/reinforced rib curing mold (2); locating the framework/reinforced rib curing mold (2); placing a soft mold; packaging in a vacuum bag; installing a wing root transverse beam (5) and a wing tip transverse beam (8); and disassembling pins and fixing bolts of the locators. By the locating tool and the application method, the positional precision of the frameworks/reinforced ribs of an integrated composite-material wall panel is ensured, the requirement of assembly and coordination between the integrated composite-material wing structural member and other structural members is met, and the assembly quality is improved.

The present invention is anode twisting-shifting mechanical and breaking mechanism connecting method and unit. Two anode twisting-shifting mechanicals or one anode twisting-shifting mechanical and one breaking mechanism are connected via elastic spring connection. The connecting unit includes one knuckle bearing with one screwed pull rod; and on the pull rod, there are two locking shaft sleeves, two spring seats, two flanges and one spring set between the two spring seats, regulating nut, etc. The present invention has the advantages of convenient use, easy making, simple structure and capacity of replacing two anodes in once operation.

Erroneous detection of a moving body in a background region is suppressed. Specifically, the position of one input image of two input images is made to coincide with the position of the other input image so as to eliminate relative positional deviation between the two input images. The amount of residual positional deviation in the thus registered two input images is calculated. The resolution of the two input images is lowered so as to take on a resolution A if the amount of residual positional deviation is greater than a prescribed threshold value d and take on a resolution B if the amount of residual positional deviation is equal to or less than the prescribed threshold value d (resolution A<resolution B). Binary difference image data is generated using the input images of lowered resolution and a motion region is detected from a binary difference image represented by the binary difference image data.

The invention discloses an alignment mechanism for automatic charging, charging equipment and a charging system, and belongs to the technical field of automatic charging. The alignment mechanism includes a first base plate, a second base plate, a first spring and a limiting assembly, wherein the first base plate is arranged in the vertical direction, the second base plate is arranged opposite to the first base plate, the two ends of the first spring are separately connected to the opposite surfaces of the first base plate and the second base plate, and the limiting assembly is arranged betweenthe first base plate and the second base plate. The limiting assembly comprises at least two limiting plates parallel to each other and located in the same horizontal plane, and the two ends of eachlimiting plate are connected to the opposite surfaces of the first base plate and the second base plate in a manner which the limiting plates are enabled to rotate in the horizontal planes where the limiting plates are located separately. The alignment mechanism can automatically adapt to the position of an automated guided vehicle (AGV), the alignment mechanism is arranged in the charging equipment, a connector of the charging equipment is enabled to be connected with the surface, deviating from the first base plate, of the second base plate, so that when the AGV is automatically charged, theconnector of the charging equipment and a connector of the AGV can be quickly connected.

A closing type fence 9 is disposed at the downstream side leading end of a sheet table 5 of a punching device 1. Jogging rollers 12 having a torque limiter are arranged just upstream of a punching unit 6. The sheet, as fed into the sheet table by feed rollers 3, is pushed onto the closing type fence by the jogging rollers and is interposed between right and left positioning plates so that it is precisely positioned. When the punching treatment by the punching unit is executed, the closing type fence is opened so that the sheet is discharged by the jogging rollers and discharge rollers 4.

The present invention relates to a substrate transfer system, comprising a number of roller assemblies used for mobile transfer of the glass substrate on it, and a controller used for controlling rotation of the roller assemblies; the substrate transfer system further comprises a substrate positioning device, which is arranged at the end of the transfer direction of the glass substrate by the roller assemblies; the substrate positioning device comprises a positioning pole, which is used for blocking and positioning the glass substrate transferred by the roller assemblies; and a buffer positioning mechanism on which the positioning pole is mounted on, providing mobile buffer for the positioning pole and driving the positioning pole to reset. A buffer reset mechanism is arranged for controlling the position of the positioning pole, and the positioning deviation of the substrate can be further eliminated; it can provide buffer contact for eliminating the risk of fragmentation.

A point cloud simplifying and filtering method provided by the present invention comprises the steps of firstly establishing an angle distance coordinate system oxyz, then dividing cylinders, and simplifying the points in each minimum cylinder into a three dimensional angular distance point; and then utilizing the three dimensional angular distance points of the upper and lower and the right and left cylinders to filter the three dimensional angular distance point of the current cylinder; after the filtered three dimensional angular distance points in the angle distance coordinate system oxyz are transformed into the three dimensional angular distance points in a three dimensional position coordinate system o'x'y'z', furthering simplifying into the three dimensional distance points by the cylinder segmentation; and then in the three dimensional position coordinate system o'x'y'z', utilizing the three dimensional distance points of the upper and lower and the right and left cylinders to further filter the three dimensional distance point of the current cylinder. The method of the present invention is high in point cloud simplifying and filtering precision, fast in operation speed and small in memory occupation space.

A numerical controller includes a commanded movement-amount adjustment section, in addition to a position command section and a positional deviation counter but also. The commanded movement-amount adjustment section calculates an adjusted command movement amount based on a commanded movement amount output from the position command section, positional deviation acquired from the positional deviation counter, and an actual velocity of a control axis, and outputs the calculated adjusted command movement amount to the positional deviation counter. When a load acts on a servo motor so that positional deviation is accumulated and the load is abruptly removed, a situation in which the servo motor abruptly accelerates with its maximum torque in an attempt to eliminate the accumulated positional deviation is avoided.

The invention discloses a hydraulic cylinder position control system and control method based on bidirectional pressure inputting adjustment. The system involves a hydraulic cylinder, two symmetrically-arranged servo driving devices, a displacement sensor and a motion control unit used for distributing output, wherein the two servo driving devices are connected to an inlet and an outlet of the hydraulic cylinder respectively, the displacement sensor is connected with a piston of the hydraulic cylinder to obtain displacement information, the displacement sensor is connected with the motion control unit, and the motion control unit is connected with the two servo driving devices to form a closed-loop control loop. According to the control system and the control method, the responsiveness isvery high, the speed control range is wide, the controllability of the piston is good, the position can be bidirectionally adjusted at any speed and load, position deviation is eliminated, regenerative energy recovery can be carried out through direct current parallel connection, and energy is further saved.

The invention provides an elastic butt joint type new energy automobile automatic charging system based on the technology of the Internet of Vehicles. The system comprises an induction lifting devicearranged below a road surface, a limiting device arranged on the induction lifting device, a charging butt joint device and a charging interface device, wherein the charging butt joint device and thecharging interface device are arranged on the limiting device. The charging interface device comprises a charging interface component. The charging interface component comprises a rectangular installation board. A first supporting frame is arranged on the installation board. An interface barrel is hinged to the first supporting frame. A buffer mechanism is arranged between the interface barrel andthe first supporting frame and comprises a first boss coaxially arranged on the interface barrel and a second boss hinged to the first supporting frame. A second buffer spring is arranged between thefirst boss and the second boss. The induction lifting device comprises a fixed frame component and a floating frame component. The fixed frame component comprises a top board and a bottom board whichare arranged up and down and winding columns arranged between the top board and the bottom board, and volute spiral springs are arranged outside the winding columns and used for elastically supporting the floating frame component.

The invention provides an automatic energy suppLy method for a new energy automobiLe based on the technoLogy of the internet of vehicLes, which is characterized by comprising the foLLowing steps: a user drives the new energy automobiLe to sLowLy enter the asphaLt pavement of a charging station, the sensing probe detects the driving-in signaL of the new energy automobiLe and records the vehicLe information into the internet system, The internet system controLs the charging interface device inside the new energy automobiLe to be automaticaLLy switched from the retracted state to the extended state, and after the charging interface device is switched to the extended state, The internet system controLs the induction Lifting device arranged beLow the asphaLt pavement of the charging station tobe automaticaLLy switched to the fLoating state from the sinking state, a Limit device moves upwards synchronousLy aLong with the induction Lifting device and protrudes above the asphaLt pavement, andthe new energy automobiLe continues to traveL sLowLy, the Limit device guides, Limits and fixes the charging interface device; and after the charging interface device is fixed, a charging docking device is butted with the charging interface device after being fixed and the charging is carried out.