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32results about How to "Few measurement points" patented technology

Alternating-current brushless generator fault detection method based on exciter exciting current

The invention provides an alternating-current brushless generator fault detection method based on an exciter exciting current. The method comprises the following steps: firstly, measuring the direct-current component and each subharmonic amplitude value of the exciter exciting current of a generator set; and then, detecting whether the generator set generates electrical failures or not with a stator winding turn-to-turn short circuit diagnosis algorithm, a rotor winding turn-to-turn short circuit diagnosis algorithm, an exciter fault diagnosis algorithm and a rotary rectifier fault diagnosis algorithm, wherein the electrical failures comprise stator winding turn-to-turn short circuit, rotor winding turn-to-turn short circuit, exciter rotor winding turn-to-turn short circuit, exciter rotor winding interphase short circuit, open circuit of one diode of the rotary rectifier and short circuit of one diode of the rotary rectifier. According to the LabView development fault diagnosis algorithm, various electrical faults can be detected by measuring the exciter exciting current so as to save measurement points, and various invasive sensors do not need to be installed in the generator. The alternating-current brushless generator fault detection method has good instantaneity, and the on-line detection requirement can be satisfied.
Owner:NAVAL UNIV OF ENG PLA

Brushless alternating current (AC) generator failure diagnosis instrument

The invention discloses a brushless alternating current (AC) generator failure diagnosis instrument, belongs to generator state monitoring and fault diagnosis equipment, and solves the problem that the conventional generator failure diagnosis device cannot perform unified monitoring and concentrated diagnosis on early electrical failures of the generator. The failure diagnosis instrument comprises a sensor group, a signal conditioning circuit, a sampling circuit, a data processor and a man-machine interaction unit, wherein the sensor group consists of three voltage sensors and four current sensors; the data processor loads a stator winding interturn short-circuit module, a rotor winding interturn short-circuit module, an exciter failure diagnosis module and a rotating rectifier failure diagnosis module for performing failure detection and recognition processing; and the man-machine interaction unit outputs a result. The failure diagnosis instrument is suitable for a marine generator in a narrow space, and various invasive sensors are not required to be arranged in the generator; and various corresponding electrical failures can be automatically calculated and judged, and the failure diagnosis instrument has high real-time property, has universality on generators with different model numbers and can meet an online detection requirement.
Owner:NAVAL UNIV OF ENG PLA

Non-contact high-precision calibration method and application of base reference coordinate system of robot

ActiveCN104165584AEliminate manual cumbersome operationsEfficient calibration workUsing optical meansContact highRobotic systems
The invention discloses a non-contact high-precision calibration method and application of the base reference coordinate system of a robot. The non-contact high-precision calibration method comprises the following steps: step 1: installing calibration index tool; step2. calibrating and getting points; step 3. obtaining calibration matrix of the base reference coordinate system of the robot through a coordinate transformation algorithm. By means of the advantages of high precision and non-contact measurement of a laser measuring instrument provided by the invention, through a position encoder and the calibration index tool of internal joint of the robot, the coordinate transformation algorithm is applied, and the non-contact high-precision calibration of the base reference coordinate system of the robot is realized. The non-contact high-precision calibration method of the base reference coordinate system of the robot, the non-contact high-precision calibration method of the workpiece coordinate system of the single robot and the non-contact high-precision calibration method of the tool coordinate system of the single robot are cooperated and applied, hence the non-contact high-precision calibration of the integral robot system is realized. The invention also discloses a non-contact high-precision calibration method of poses between a plurality of robots.
Owner:SHANGHAI MITSUBISHI ELEVATOR CO LTD

Improved transformer oil-paper insulation medium response equivalent circuit parameter identification method

An improved transformer oil-paper insulation medium response equivalent circuit parameter identification method comprises the steps that a return voltage method is adopted to measure return voltage peak, peak time and return voltage initial slope of a transformer oil-paper insulation system in a field; an extension Debye model is adopted to simulate an equivalent circuit of the transformer oil-paper insulation system; characteristic quantities of the return voltage peak, peak time and return voltage initial slope are established to solve improved mathematical models of a medium response equivalent circuit parameters, wherein the equivalent models of n relaxed branch circuits have 2n+2 model parameters to be solved, and accordingly a corresponding number of nonlinear equation systems are needed to be established through multiple return voltage testing cycles for solution; the solution of the nonlinear equation systems is converted into solution of the optimization problem of an objective function minimum value, a PSO mixed bacteria foraging optimization algorithm is adopted to identify the equivalent circuit parameters and calculate a return voltage curve, the return voltage curve is compared with a return voltage measurement curve to find that the main time constants of the two curves are identical, and the oil-paper insulation state of a transformer can be accurately judged.
Owner:CHINA THREE GORGES UNIV

Non-contact high-precision calibration method of tool coordinate system of single robot

The invention discloses a non-contact high-precision calibration method of a tool coordinate system of a single robot, comprising the following steps: first, calibrating a fundamental coordinate system of a robot; second, calibrating a workpiece coordinate system of the robot. The calibration employed by the invention is that a tool sleeve can perform a significantly complete calibration on the tool coordinate system of the robot. The calibration is that the tool sleeve can ensure repeatability of each operation, so as to furthest reduce errors generated by man-made calibration. The method provided by the invention, the non-contact high-precision calibration method of the fundamental coordinate system of the robot, and the non-contact high-precision calibration method of a tool coordinate system of the single robot are cooperated for application, so that basic technical basis is provided to realize accurate transformation of the robot pose, parameterization programming of the robot, high-precision coordination work of a robot group and pose transformation of the robot, resettlement of the robot system, multi-station program share of the robot and locus program of the robot and the like.
Owner:SHANGHAI MITSUBISHI ELEVATOR CO LTD

Noise source recognizing method

The invention aims to provide a noise source recognizing method. The noise source recognizing method comprises the steps that (A) a measurement surface is arranged in a measurement sound field, and mass point vibration velocity sensors are evenly arranged on the measurement surface and are used for measuring the vibration velocity of normal mass points on the measurement surface; (B) a virtual source surface is arranged inside a sound source, and equivalent sources are distributed continuously on the virtual source surface, wherein the equivalent sources are monopole sound sources; (C) the transitive relation between the equivalent sources and the vibration velocity of normal mass points on the measurement surface is established; (D) the transitive relation between the sound pressure and the normal vibration velocity on the equivalent sources and the sound source surface is established; (E) a sound pressure value of a reconstructed surface is solved according to the transitive relation. The noise source recognizing method overcomes the defects that the technical cost is high, the calculating efficiency is low, and the precision is low in the prior art, an integral is calculated through combination of a superposition method based on Fourier waves , the equivalent sources which are distributed continuously and the FFT algorithm, the calculation accuracy is high, and the stability is high.
Owner:GUANGXI UNIVERSITY OF TECHNOLOGY

Non-contact high-precision calibration method and application of workpiece coordinate system of robot

The invention discloses a non-contact high-precision calibration method of a workpiece coordinate system of a single robot, comprising: first, calibrating a fundamental coordinate system of a robot; second, calibrating a workpiece coordinate system of the robot. The method provided by the invention, the non-contact high-precision calibration method of the fundamental coordinate system of the robot, and the non-contact high-precision calibration method of a tool coordinate system of the single robot employ a unified non-contact high-precision way, so that the precision of the whole system reaches a height that the calibration method in the prior art cannot touch. The calibration employed by the invention is that a tool sleeve can calibrate the workpiece coordinate system of the robot on an inclined surface. The calibration is that the tool sleeve can ensure repeatability of each operation, so as to furthest reduce errors generated by man-made calibration. The invention also discloses a method of making a robot system adapt a method of the change of the robot and the environment pose.
Owner:SHANGHAI MITSUBISHI ELEVATOR CO LTD

Two-point determination method for clamping poses of intersected dual-tube based on nonlinear equation set

The invention relates to a two-point determination method for clamping poses of an intersected dual-tube based on a nonlinear equation set, which integrates numerical control measurement, mathematics model establishment and nonlinear equation solving. The machine tool coordinates of any two points on the outer wall of a branch tube are measured by a machine tool, and in combination with known intersection parameters of a tube set, a clamping pose of the tube set can be obtained. The method has the characteristics of no requirement for external measurement tool, less requirement for measurement point, high measurement precision and the like, greatly shortens the preparation time of pose adjustment of a tube set before an intersecting line is automatically welded, and improves the working efficiency. The preparation time of each unknown parameter measurement before the intersecting line is automatically welded is greatly shortened so as to achieve the purpose of rapidly generating an intersected tube welding process, thereby realizing the high efficiency of an automatic welding process of intersecting lines.
Owner:SHANDONG UNIV

Granary and stored grain weight detection system based on optimum bottom pressure intensity measurement point

The invention relates to a granary and a stored grain weight detection system based on an optimum bottom pressure intensity measurement point, and provides the granary stored grain quantity detection method based on the optimum bottom pressure intensity measurement point according to the change characteristics of the granary bottom pressure intensity distribution and pressure intensity measurement value. The core technology comprises a consistency measurement model of the bottom pressure intensity measurement points, a position detection method of the optimum bottom pressure intensity measurement point, a granary weight detection model based on the optimum bottom pressure intensity measurement point, and a system calibration and modeling method and the like. The method is high in detection precision; the needed pressure sensors are few, and only 2-3 pressure sensors are needed; the method is strong in versatility, and is suitable for quantity detection of stored grains in a plurality of granary structures; and the method has huge application value, and provides a new technological means for guaranteeing nation grain quantity safety.
Owner:HENAN UNIVERSITY OF TECHNOLOGY

Electric traction AC drive two-level single-phase four-quadrant pulse rectifier switching tube open-circuit fault diagnosis method

The invention discloses an electric traction AC drive two-level single-phase four-quadrant pulse rectifier switching tube open-circuit fault diagnosis method. The method is implemented based on the working principle of a two-level single-phase four-quadrant pulse rectifier, and specifically comprises the steps of extracting the harmonic features of an electric traction AC drive two-level single-phase four-quadrant pulse rectifier under a faulty condition, normalizing the harmonic features based on the load level, and getting a corresponding open-circuit fault diagnosis result according to the fault features under different open-circuit faults. Through the method, diagnosis of a two-level single-phase four-quadrant pulse rectifier under different switching tube fault states in an online real-time system is realized, and is unaffected by load change of the rectifier.
Owner:SOUTHWEST JIAOTONG UNIV

Dual-trail-weight balancing method of asymmetric rotor

ActiveCN105403364AEfficient and rapid dynamic balancing processFew measurement pointsStatic/dynamic balance measurementBalancing machineDynamic balance
Provided in the invention is a dual-trail-weight balancing method of an asymmetric rotor. The method comprises the following steps: 1, measuring original vibration of two measurement points of a rotor; 2, selecting two trail weight points at different axial positions to carry out trail weight processing simultaneously and carrying out calculation to obtain influence coefficients of symmetric weighting and anti-symmetric weighting without considering phase characteristics of trail weight points; 3, selecting a second group of trail weight points at different positions and repeating the last step to obtain a second group of influence coefficients of symmetric weighting and anti-symmetric weighting; 4, carrying out calculation respectively according to the two symmetric weighting influence coefficients and two anti-symmetric weighting influence coefficients so as to obtain weighing values needed for eliminating original symmetric vibration and anti-symmetric vibration; and 5, carrying out vector synthesis on the symmetric weighting value and the anti-symmetric weighting value that are obtained by calculation to obtain a balance weight value of a cross section where each trial weight point is located, and carrying out weighting balancing. According to the invention, trail weighting is only carries out twice and balance weighting is only carries out once, so that the dynamic balancing process is realized rapidly with high efficiency. Direct operation can be carried out on the traditional high-speed dynamic balancing machine directly, so that the operation becomes simple and convenient.
Owner:TIANJIN UNIV

A power generation energy consumption evaluation method of an energy balance unit of a thermal power plant

The invention provides a power generation energy consumption evaluation method of an energy balance unit of a thermal power plant, which comprises the following steps: (1) calculating a total fuel energy Q1 input to the energy balance unit; (2) calculating the energy Q2 of the external steam and the high temperature medium input to the energy balance unit; (3) calculating the medium energy Q3 outside the output unit of the energy balance unit; (4) calculating the standard coal consumption B1 of the power generation of the energy balance unit, This is calculated as follows in the description, calculating the standard coal consumption B2 of the energy balance unit. This is calculated as follows in the description, where Wf is the external electrical energy of the energy balance unit, W1 is the output power of the energy balance unit, and W3 is the output power of the energy balance unit. The power plant energy consumption evaluation method of the invention adopts the overall energy balance mode, only testing and calculating the energy input and the energy output of the energy balance unit can calculate the power generation standard coal consumption and the power supply standard coalconsumption of the energy balance unit.
Owner:广东粤电靖海发电有限公司

Grain silo and its storage weight detection system based on optimal bottom pressure measurement point

The invention relates to a granary and a stored grain weight detection system based on an optimum bottom pressure intensity measurement point, and provides the granary stored grain quantity detection method based on the optimum bottom pressure intensity measurement point according to the change characteristics of the granary bottom pressure intensity distribution and pressure intensity measurement value. The core technology comprises a consistency measurement model of the bottom pressure intensity measurement points, a position detection method of the optimum bottom pressure intensity measurement point, a granary weight detection model based on the optimum bottom pressure intensity measurement point, and a system calibration and modeling method and the like. The method is high in detection precision; the needed pressure sensors are few, and only 2-3 pressure sensors are needed; the method is strong in versatility, and is suitable for quantity detection of stored grains in a plurality of granary structures; and the method has huge application value, and provides a new technological means for guaranteeing nation grain quantity safety.
Owner:HENAN UNIVERSITY OF TECHNOLOGY

Intersection double-pipe intersection parameter and clamping pose four-point measuring method based on nonlinear equation system

The invention relates to an intersection double-pipe intersection parameter and clamping pose four-point measuring method based on a nonlinear equation system. According to the method, on the basis of integrating numerical control measurement, mathematical model building and nonlinear equation solving, a machine tool body is used for measuring machine tool coordinates of any four points on the outer wall of a branch pipe, an initial value is solved by means of the combination with estimated parameters to be solved, and intersection parameters and clamping poses of double pipes can be obtained. The method has the advantages that an external measurement tool is not needed, few points need to be measured, and the measuring precision is high; preparation time for measuring all unknown parameters before intersection lines are automatically welded is greatly shortened, the purpose of fast generating the intersection pipeline welding procedure is achieved, and high efficiency of the automatic intersection line welding process is achieved.
Owner:SHANDONG UNIV

Improved Method for Identification of Equivalent Circuit Parameters of Transformer Oil-paper Insulation Dielectric Response

An improved method for parameter identification of transformer oil-paper insulation dielectric response equivalent circuit, using the recovery voltage method to measure the recovery voltage peak value, peak time and initial slope of the recovery voltage of the transformer oil-paper insulation system on site; using the extended Debye model to simulate the equivalent circuit of the transformer oil-paper insulation system; Establish the recovery voltage peak value, peak time and initial slope characteristic quantity to solve the improved mathematical model of the equivalent circuit parameters of the dielectric response. The equivalent model of n relaxation branches has 2n+2 model parameters to be solved, so it is necessary to pass multiple recovery voltages The test cycle establishes a corresponding scale of nonlinear equations to solve; the solution of nonlinear equations is transformed into an optimization problem to solve the minimum value of the objective function, and the bacterial foraging optimization algorithm of hybrid PSO is used to identify equivalent circuit parameters and calculate the recovery voltage Compared with the recovery voltage measurement curve, it is found that the main time constant of the two is the same, which can accurately judge the insulation state of transformer oil paper.
Owner:CHINA THREE GORGES UNIV

A high-precision non-contact workpiece inner diameter measuring device and method

A device and method for measuring the inner diameter of a high-precision non-contact workpiece. The device includes a fixed bracket, a first measuring rod, a first drive mechanism, a first laser ranging sensor and a reflector. The fixed bracket is provided with a sliding track. The first measurement A slider is connected to the upper part of the rod, and the slider is connected to the sliding track, and the first driving mechanism drives the slider to move along the sliding track, so that the bottom of the first measuring rod can enter the inner bore of the workpiece to be measured; the first measuring rod is set The first laser distance measuring sensor, the bottom of the first measuring rod is equipped with a reflector, the first laser distance measuring sensor can emit a measuring laser, and the reflector can reflect the measuring laser to the inner wall of the workpiece to be measured, and reflect the diffusely reflected measuring laser to the first laser distance measuring sensor, and the first laser distance measuring sensor obtains the measurement result of the inner wall of the measured workpiece according to the received light information. The invention is non-contact detection, which avoids the adverse effects of object deformation, interference, work interruption and the like caused by contact.
Owner:SHENYANG LIGONG UNIV

Self-adapting measuring device and method for water temperature of reservoir

An adaptive measuring device for the water temperature of a reservoir, comprising: a probe (15), a fixed pulley (14), a lifting control device (12), a control system (1) and a data transmission line (13), wherein one end of the data transmission line (13), after twining the lifting control device (12), is connected to the control system (1), and the other end thereof is connected to the probe (15) through the fixed pulley (14) fixed above the reservoir. A microprocessor (2) in the control system (1) performs calculation according to input parameters, a selected measurement mode and data transferred back, and issues an instruction to make the lifting control device (12) act, thereby enabling the length of the data transmission line (13) entering the reservoir to change so as control the lifting of the probe (15) for measuring. Also provided is an adaptive measuring method for the water temperature of a reservoir. The provided adaptive measuring device and measuring method for the water temperature of a reservoir can realize efficient, rapid and accurate measurement of the water temperature of the reservoir, and capture the change of a thermocline well.
Owner:CHINA THREE GORGES CORPORATION

Rail transit feed current measurement method based on shunt coefficient

The invention provides a rail transit feed current measurement method based on a shunt coefficient. The method comprises the following steps: step A, acquiring the current of a feed cable, and measuring the current of a rail transit feed cable within a certain period through a clamp ammeter; step B, calculating a shunt coefficient of each feed cable in the measurement period based on the feed cable current obtained in the step A; step C, according to the feed cable shunt coefficient calculated in the step C, calculating characteristic indexes of the shunt coefficient, including an average value and a variance of the shunt coefficient; and step D, determining the shunt coefficient and calculating the feed current according to the shunt coefficient characteristic index calculated in the stepC. According to the method for determining the shunt coefficient of the feed cable, measurement points can be reduced, and the accuracy of rail transit feed current measurement is improved.
Owner:STATE GRID HUBEI ELECTRIC POWER RES INST +2

Noise source identification method

The invention aims to provide a noise source recognizing method. The noise source recognizing method comprises the steps that (A) a measurement surface is arranged in a measurement sound field, and mass point vibration velocity sensors are evenly arranged on the measurement surface and are used for measuring the vibration velocity of normal mass points on the measurement surface; (B) a virtual source surface is arranged inside a sound source, and equivalent sources are distributed continuously on the virtual source surface, wherein the equivalent sources are monopole sound sources; (C) the transitive relation between the equivalent sources and the vibration velocity of normal mass points on the measurement surface is established; (D) the transitive relation between the sound pressure and the normal vibration velocity on the equivalent sources and the sound source surface is established; (E) a sound pressure value of a reconstructed surface is solved according to the transitive relation. The noise source recognizing method overcomes the defects that the technical cost is high, the calculating efficiency is low, and the precision is low in the prior art, an integral is calculated through combination of a superposition method based on Fourier waves , the equivalent sources which are distributed continuously and the FFT algorithm, the calculation accuracy is high, and the stability is high.
Owner:GUANGXI UNIVERSITY OF TECHNOLOGY

System and method used for acquiring shafting state characteristic parameters of water-turbine generator set

The invention discloses a system and method used for acquiring shafting state characteristic parameters of a water-turbine generator set. The system comprises a phase acquisition device, a runner plate horizontal measurement device and a throw sensor; the phase acquisition device is arranged at a main shaft and is used for acquiring the phase of the main shaft during turning; the runner plate horizontal measurement device is arranged on the horizontal plane of a rotating component and is used for automatically and continuously measuring the levelness of a runner plate of the set during turning; the throw sensor is used for measuring a gap value between the throw sensor and the main shaft; and a sensor in-situ calibration device is used for carrying out on-site in-situ online calibration on the sensitivity coefficient of an eddy current sensor. By aiming to realize automatic data acquisition and automatic calculation and analysis in the process of adjusting the shafting state of the water-turbine generator set and provide a reliable basis for finally and automatically providing a shafting adjusting scheme, the system and method used for acquiring the shafting state characteristic parameters of the water-turbine generator set are provided.
Owner:CHINA YANGTZE POWER

A measurement method of rail transit feed current based on shunt coefficient

The invention provides a method for measuring rail transit feeding current based on shunt coefficient, comprising the following steps: A, obtaining the current size of the feeding cable, and measuring the current size of the rail transit feeding cable within a certain period by a clamp ammeter; B, based on the steps A. Calculate the shunt coefficient of each feeder cable in the measurement period by obtaining the feeder cable current; C. According to the feeder cable shunt coefficient calculated in step B, calculate the characteristic index of the shunt coefficient, including the average value and variance of the shunt coefficient D. According to the characteristic index of the shunt coefficient calculated in step C, the determination of the shunt coefficient and the calculation of the feed current are completed. The method for determining the shunt coefficient of the feeder cable proposed by the invention can reduce the measurement points and improve the accuracy of the feeder current measurement of the rail transit.
Owner:STATE GRID HUBEI ELECTRIC POWER RES INST +2

Asymmetric Rotor Double Trial Weight Balancing Method

ActiveCN105403364BEfficient and rapid dynamic balancing processFew measurement pointsStatic/dynamic balance measurementDoubling testBalancing machine
Provided in the invention is a dual-trail-weight balancing method of an asymmetric rotor. The method comprises the following steps: 1, measuring original vibration of two measurement points of a rotor; 2, selecting two trail weight points at different axial positions to carry out trail weight processing simultaneously and carrying out calculation to obtain influence coefficients of symmetric weighting and anti-symmetric weighting without considering phase characteristics of trail weight points; 3, selecting a second group of trail weight points at different positions and repeating the last step to obtain a second group of influence coefficients of symmetric weighting and anti-symmetric weighting; 4, carrying out calculation respectively according to the two symmetric weighting influence coefficients and two anti-symmetric weighting influence coefficients so as to obtain weighing values needed for eliminating original symmetric vibration and anti-symmetric vibration; and 5, carrying out vector synthesis on the symmetric weighting value and the anti-symmetric weighting value that are obtained by calculation to obtain a balance weight value of a cross section where each trial weight point is located, and carrying out weighting balancing. According to the invention, trail weighting is only carries out twice and balance weighting is only carries out once, so that the dynamic balancing process is realized rapidly with high efficiency. Direct operation can be carried out on the traditional high-speed dynamic balancing machine directly, so that the operation becomes simple and convenient.
Owner:TIANJIN UNIV

Brushless alternating current (AC) generator failure diagnosis instrument

The invention discloses a brushless alternating current (AC) generator failure diagnosis instrument, belongs to generator state monitoring and fault diagnosis equipment, and solves the problem that the conventional generator failure diagnosis device cannot perform unified monitoring and concentrated diagnosis on early electrical failures of the generator. The failure diagnosis instrument comprises a sensor group, a signal conditioning circuit, a sampling circuit, a data processor and a man-machine interaction unit, wherein the sensor group consists of three voltage sensors and four current sensors; the data processor loads a stator winding interturn short-circuit module, a rotor winding interturn short-circuit module, an exciter failure diagnosis module and a rotating rectifier failure diagnosis module for performing failure detection and recognition processing; and the man-machine interaction unit outputs a result. The failure diagnosis instrument is suitable for a marine generator in a narrow space, and various invasive sensors are not required to be arranged in the generator; and various corresponding electrical failures can be automatically calculated and judged, and the failure diagnosis instrument has high real-time property, has universality on generators with different model numbers and can meet an online detection requirement.
Owner:NAVAL UNIV OF ENG PLA

Diagnosis method for switch tube open circuit fault of two-level single-phase four-quadrant pulse rectifier in electric traction AC drive

The invention discloses a method for diagnosing the open circuit fault of a switch tube of a two-level single-phase four-quadrant pulse rectifier for electric traction AC transmission, which is completed based on the working principle of a two-level single-phase four-quadrant pulse rectifier. Harmonic feature extraction of level single-phase four-quadrant pulse rectifier under fault conditions, normalization of harmonic features based on load level and corresponding open circuit fault diagnosis results according to the fault characteristics of different types of open circuit faults. The method can realize the diagnosis of the two-level single-phase four-quadrant pulse rectifier in different switching tube fault states in an online real-time system, and is not affected by the load variation of the rectifier.
Owner:SOUTHWEST JIAOTONG UNIV

A Two-point Measurement Method of Intersecting Double Pipe Clamping Pose Based on Nonlinear Equations

The invention relates to a two-point determination method for clamping poses of an intersected dual-tube based on a nonlinear equation set, which integrates numerical control measurement, mathematics model establishment and nonlinear equation solving. The machine tool coordinates of any two points on the outer wall of a branch tube are measured by a machine tool, and in combination with known intersection parameters of a tube set, a clamping pose of the tube set can be obtained. The method has the characteristics of no requirement for external measurement tool, less requirement for measurement point, high measurement precision and the like, greatly shortens the preparation time of pose adjustment of a tube set before an intersecting line is automatically welded, and improves the working efficiency. The preparation time of each unknown parameter measurement before the intersecting line is automatically welded is greatly shortened so as to achieve the purpose of rapidly generating an intersected tube welding process, thereby realizing the high efficiency of an automatic welding process of intersecting lines.
Owner:SHANDONG UNIV

Non-contact high-precision calibration method of robot base coordinate system and its application

ActiveCN104165584BEliminate manual cumbersome operationsEfficient calibration workUsing optical meansContact highRobotic systems
The invention discloses a non-contact high-precision calibration method for a robot base coordinate system, comprising the following steps: step 1, installing a calibration finger tool; step 2, taking points for calibration; and step 3, obtaining the robot's The calibration matrix of the base coordinate system. With the help of the advantages of high precision and non-contact measurement of the laser measuring instrument, the invention can realize the non-contact high precision of the robot base coordinate system through the position encoder of the robot's internal joints and the calibration finger tooling set, and the algorithm of coordinate transformation. The calibration of the robot and the non-contact high-precision calibration method of the workpiece coordinate system of a single robot and the non-contact high-precision calibration method of the tool coordinate system of a single robot can realize the non-contact high-precision calibration of the entire robot system calibration. The invention also discloses a non-contact high-precision calibration method for poses among multiple robots.
Owner:SHANGHAI MITSUBISHI ELEVATOR CO LTD

A four-point measurement method of intersecting parameters and clamping pose of intersecting double pipes based on nonlinear equations

The invention relates to an intersection double-pipe intersection parameter and clamping pose four-point measuring method based on a nonlinear equation system. According to the method, on the basis of integrating numerical control measurement, mathematical model building and nonlinear equation solving, a machine tool body is used for measuring machine tool coordinates of any four points on the outer wall of a branch pipe, an initial value is solved by means of the combination with estimated parameters to be solved, and intersection parameters and clamping poses of double pipes can be obtained. The method has the advantages that an external measurement tool is not needed, few points need to be measured, and the measuring precision is high; preparation time for measuring all unknown parameters before intersection lines are automatically welded is greatly shortened, the purpose of fast generating the intersection pipeline welding procedure is achieved, and high efficiency of the automatic intersection line welding process is achieved.
Owner:SHANDONG UNIV

A high-precision scanning mine detection device and scanning detection method

The invention discloses a high-precision scanning mine detection device and a scanning detection method, and particularly relates to a device for judging existence of landmines and precisely locatingthe landmines through a PGNAA (Prompt Gamma-Ray Neutron Activation Analysis) technology. The high-precision scanning mine detection device is composed of a neutron source item system, a detection system, a shielding protection system and an energy spectrum analysis system, wherein the neutron source item system is used for exciting nitrogen feature gamma rays in a landmine sample, detectors collect the gamma rays and measure the energy spectrum, the shielding protection system of the detectors is made of a boron-containing polyethylene material, the activation interference of the detectors isreduced, and meanwhile, neutron damage of the detectors is lowered. According to the high-precision scanning mine detection device, the signal-to-noise ratio is regarded as a device design evaluationcriterion, the overall scanning mine detection device is designed based on a novel device evaluation optimization method, the signal-to-noise ratio is high, and the measurement level is improved; meanwhile, a novel scanning method is utilized for mine detection, the measurement time is shortened, and the precision of position detection of the landmines is improved at the same time.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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