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.

The invention discloses lifting type charging tray feeding and discharging equipment. The lifting type charging tray feeding and discharging equipment comprises an empty charging tray lifting mechanism, a discharge lifting mechanism and a moving mechanism. The empty charging tray lifting mechanism and the discharge lifting mechanism each comprise a lifting motor, a lead screw, a supporting plate and a guiding device, wherein the lead screw is connected with the lifting motor and vertically arranged; the supporting plate is in threaded connection with the lead screw and horizontally arranged; the guiding device is used for guiding ascending and descending of the supporting plate; a charging tray is borne by the supporting plate. The moving mechanism comprises a cross beam, a moving cylinder mounted on the cross beam and an unloading mechanism mounted on a piston of the moving cylinder. The moving cylinder drives the unloading mechanism to horizontally move between the empty charging tray lifting mechanism and the discharge lifting mechanism. According to the technical scheme, the lifting type charging tray feeding and discharging equipment has the beneficial effects that multiple empty charging trays can be placed at a time, and labor and time are saved; the charging trays can be taken at a time when all fully loaded with materials in the material taking process, and labor and time are saved.

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 invention discloses a magnetic navigation AGV (Automatic Guided Vehicle) linear route correcting method based on proportional differential regulation. The method comprises the following steps: arranging magnetic induction sensors on a front side and a back side of a magnetic navigation AGV vehicle body; building vehicle-loaded system upper-lower computer communication; acquiring an initial position and a motion direction of the magnetic navigation AGV vehicle body; determining a proportional coefficient and a differential coefficient of a proportional differential regulation way so as to realize magnetic navigation AGV linear route correction. Double magnetic induction sensors are adopted, and path converging conditions of a plurality of initial position conditions are analyzed to determine a proportional differential coefficient suitable for all position conditions, so that forward and backward bidirectional linear position adjustment of the magnetic navigation AGV vehicle body is realized, position deviations can be eliminated within a short time, the driving stability is ensured, and the industrial application demand is met.

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.

The invention discloses a container clamping conveying device of a straight-line filling device. The container clamping conveying device comprises a circulating conveying mechanism, a container clamping mechanism, an opening and closing mechanism, a lifting mechanism and a position deviation correcting mechanism, wherein both the circulating conveying mechanism and the opening and closing mechanism are movably connected with the container clamping mechanism; the container clamping mechanism is movably connected to the circulating conveying mechanism; the lifting mechanism and the opening and closing mechanism are located on the same station; the container clamping mechanism is located between the lifting mechanism and the opening and closing mechanism; and both the lifting mechanism and the opening and closing mechanism are arranged on the position deviation correcting mechanism. According to the container clamping conveying device of the straight-line filling device, when an obvious position deviation of the container clamping mechanism occurs on the circulating conveying mechanism due to error accumulation, the problem can be detected in time by the position deviation correcting mechanism, and the position of the opening and closing mechanism is adjusted by a driving mechanism, so that the opening and closing mechanism is re-aligned to the container clamping mechanism and the problem of the position deviation of the container clamping mechanism is completely solved.

The invention provides an overlapped particulate matter layered counting method based on a color image and a depth image. Color and depth images are acquired by the Kinect camera and registered, and improved K-is adopted. a color image target area is extracted by using a means algorithm, dividing the color image target area into single target particles, adhesion types and overlapping types by using contour characteristics of the color image target area, and reconstructing an extractable contour by using an interpolation algorithm to obtain a corresponding area target quantity; For overlapped target contours which cannot be extracted by the method, the average area of a single particulate matter can be estimated, and the corresponding number is obtained by dividing the total area of the target area by the average area; And for the upper layer target which cannot be extracted by using the color image, threshold segmentation is performed on the depth image of the upper layer target so asto complete extraction and classification counting of the upper layer target. According to the method, the paper-skin walnuts which are uniform in size and similar to a circle are adopted as researchobjects, the walnuts which are placed at will are counted, the average correct rate reaches 99.38%, it is indicated that the method is effective, and meanwhile a new idea is provided for counting overlapped particulate matter.

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 invention discloses a packaging device and a tensioning and adjusting device of a wafer blue film thereof. The base is provided with an abutting member and a guide member. At least two guide members surround and form a guide region and cooperate to form a first guide portion, and the abutting member is arranged in the guide region. The rotating body is sleeved on the abutment member and is guided and cooperated with the first guide part; The drive mechanism is used for enabling the rotating body to rotate about the axis of the abutment member; The discharge platform can rotate relative tothe abutment about the axis of the abutment, and the discharge platform can reciprocate relative to the abutment along the length of the abutment. The tensioning and adjusting device of the wafer bluefilm can adjust and eliminate the position deviation of the wafer blue film and the wafer placed on the tensioning and adjusting device, thereby ensuring that the subsequent production process can becarried out accurately; Thus, the packaging device using the tensioning and adjusting device can adjust and eliminate the position deviation of the wafer blue film and the wafer, and each productionprocess can be carried out accurately, so as to ensure the production quality of the product.

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.

Problems, which occur when printing is performed on the surface of a rotating disk using by using a print head arranged in the outer circumferential direction from the center of rotation, are resolved. Light emitting sections performs exposure in synchronism with rotational driving for rotating a medium, and pixels which are adjacent in the circumferential direction of rotation are exposed in a partially superimposed fashion by making the amount of movement in the circumferential direction along which the outermost circumference of the medium moves between exposures smaller than the width in the circumferential direction of the pixels formed by exposure. In a plurality of light emitting sections provided in an optical unit, the quantity of light for exposing a pixel on the inner circumferential side in the radial direction is set to be smaller than the quantity of light for exposing a pixel on the outer circumferential side in the radial direction for the respective exposure positions for the medium. Therefore, difference in the tonal shading caused by superposition is reduced by lowering the density created by each exposure in respect of the pixels on the inner circumferential side in the radial direction where there is a large overlap between exposures.

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.

An elevator controller is composed of two towing motors, two counterweights, two inverters, encoder, current transformer, and controller which consists of one or more microprocessors to control two inverters and two towing motors for smooth running of elevator. Its advantages are use of low-power motor and low-capacity power module, and no or very-low-speed rotation of the rope wheel of the cage.

The invention relates to a multi-degree-of-freedom self-adaptive exoskeleton for knee joint rehabilitation training. The exoskeleton comprises a thigh bandage, a fixing shell, a self-adaptive follow-up device, a shank driving plate and a shank bandage; and the self-adaptive follow-up device comprises a driving belt wheel, a synchronous belt wheel, a transition belt wheel, a driven belt wheel, an upper connecting plate and a lower connecting plate. The exoskeleton is fixed on the thigh and the shank on the same leg of a patient through the thigh bandage and the shank bandage respectively, the driving belt wheel drives the synchronous belt wheel which is coaxially fixed with the driving belt wheel through the drive of a driving belt, and the synchronous belt wheel transmits power to the transition belt wheel through an upper transmission belt; the transition belt wheel is used for continuously transmitting the power to the driven belt wheel through a lower transmission belt, and the driven belt wheel drives the shank driving plate which is fixed by the driven belt wheel to swing; the shank driving plate drives the shank to swing through the shank bandage; and the exoskeleton is usedfor driving the shank to swing in a reciprocation mode so as to achieve the purpose of performing knee joint rehabilitation training, the structure is compact, and the adaptability is good.

The invention provides a new energy automobile arc surface intercepting automatic docking and charging method based on an internet of vehicles technology. The new energy automobile arc surface intercepting automatic docking and charging method based on the internet of vehicles technology is characterized by comprising the steps that a user drives a new energy automobile to directly run to a position above a mounting box; a sensing probe detects and recognizes a running signal of the new energy automobile and transmits the running signal to an internet of vehicles control system; the internet of vehicles control system transmits the running signal to a charging connector device at the bottom of the new energy automobile and the charging connector device vertically extends downwards from thebottom of the new energy automobile; a plugging plate in the mounting box is switched to an open state; the internet of vehicles control system transmits the running signal to an arc surface limitingdevice and the arc surface limiting device drives a docking device to vertically extend out to a position above a road surface from the interior of the mounting box; the user drives the new energy vehicle to continue to slowly advance; the arc surface limiting device limits and intercepts the charging connector device which extends out; the docking device is automatically started to realize docking with the intercepted and limited charging connector device; and the new energy automobile begins to be charged.

The invention discloses a four-closed-loop stepping servo control method. The four-closed-loop stepping servo control method comprises the step 1: acquiring a position signal to be executed of the current period by adding a position command signal and a position feedback signal, and acquiring the position signal deviation by subtracting the position signal to be executed of the current period from the position signal to be executed of the previous period; the step 2: acquiring a position signal output value by multiplying the position signal deviation with a proportion adjusting coefficient; the step 3: performing filtering processing of the position signal output value; the step 4: acquiring a stepping position signal according to the position signal output value after filtering, outputting the current phase value of the current period according to the stepping position signal, and acquiring the current amplitude of the current period by comparing the position signal after filtering with a current set value after multiplying the position signal after filtering with the current amplitude multiplying power; and the step 5: acquiring the phase value in the current output value after performing PI adjustment of the current phase value of the current period and the current phase value of the previous period, and acquiring the amplitude in the current output value after performing PI adjustment of the current amplitude of the current period and the current amplitude of the previous period.

The invention discloses a cantilever type automatic-locating welder. The cantilever type automatic-locating welder comprises a horizontal guide rail base, a vertical guide rail base, a cantilever support, a cantilever assembly, a welding gun head assembly and an electric control table, wherein the vertical guide rail base moves along the X axis; the cantilever support moves on the vertical guide base along the Y-axis; under the driving of the cantilever assembly, the welding gun head assembly moves along the Z axis; and in the X-axis direction, the Y-axis direction and the Z-axis direction, awelding gun head is equipped with a proximity switch for obtaining spacing between a welding gun and an oil tank. The cantilever type welder enables the welding gun head to extend into the oil tank toweld, replaces manual work to enter the oil tank to weld, and improves welding efficiency and welding effect; three axial proximity switches are additionally arranged on the welding gun head, and onegroup of proximity switches in the same direction are staggered, so that the cantilever type welder automatically calibrates a distance between the welding head and the oil tank wall, eliminates position deviation, and guarantees welding quality.

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 discloses a track and posture composite control method in a shield tunneling process. The method comprises the following steps of: performing control by setting threshold values for a posture and a track; immediately adjusting the posture as long as the posture deviates to exceed the limit even though the track does not reach a deviation correction threshold; solving current positional deviation Si and angular deviation theta I of a shield machine through measurement and calculation when a shield works; continuously propelling the shield machine when the Si is less than or equalto a positional deviation threshold value Scmin of a track and posture composite controller and theta i is less than or equal to an angular deviation threshold value theta cmin of the track and posture composite controller or when the Si is less than or equal to positional allowable deviation Smin of actual tunnel construction and theta i is equal to 0; contrarily, automatically adjusting propelling pressure of a hydraulic cylinder of each sub-region and propelling displacement to simultaneously eliminate the positional deviation and the angular deviation generated in a tunneling process. Thus, an actual tunneling route of the shield machine is controlled within a design axial range of a tunnel, unnecessary overbreak and underbreak are avoided, and the forming quality of the tunnel is improved.

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.