33results about How to "High coordinate accuracy" patented technology

The invention provides a collaborative robot hand-eye relation automatic calibration device and method. The calibration device comprises a collaborative robot force control pulling teaching button, acalibration probe, a calibration plate with a marker and a calibration system, wherein the calibration system is mainly used for controlling the robot button to move according to a preset track; target points in the preset track automatically acquire pixel coordinates of the center point of the marker and coordinate dot pairs of a robot; and calibration parameters are calculated according to the obtained multiple dot pairs. The calibration method comprises the steps of placing the calibration plate; pulling the collaborative robot to a teaching point and recording coordinates of the robot; pulling the collaborative robot to an initial photographing point, recording the coordinates of the robot and configuring a matched template; controlling the robot to continuously change the photographing point and acquiring the coordinates of the robot and the pixel coordinate dot pairs of the marker; and calculating the calibration parameters. Through the collaborative robot hand-eye relation automatic calibration device and method, the hand-eye relation of the collaborative robot can be conveniently and quickly calibrated, the calibration precision is high, and the collaborative robot hand-eyerelation automatic calibration device and method have the important significance in industrial grabbing and application of the collaborative robot.

A reference signal is transmitted from one of a plurality of robot control devices connected by communication connecting means to the other robot control device. The timing of generation of an operation basic period signal in each of the other robot control devices is synchronized with the timing of generation of an operation basic period signal in the one of the plurality of robot control devices, based on a time interval from generation of the operation basic period signal until transmission of the reference signal in the one of the plurality of robot control devices, a time interval from generation of the operation basic period signal until reception of the reference signal in each of the other robot control devices, and a communication delay time required for communication between the one of the plurality of robot control devices and each of the other robot control devices.

The present invention discloses an optimal configuration method for positioning a target point by using five to seven beacon points. The present invention comprises two parts, wherein the first part is respectively giving a target point and an optimal measurement configuration of five to seven beacon points; and the second part is when respectively the target point is given and the optimal measurement configuration is adopted by the five to seven beacon points, configuring an influence coefficient on coordinate precision of the target point. According to the optimal configuration method for positioning the target point by using five to seven beacon points provided by the present invention, an optimal solution of a spatial coordinate of the target point can be obtained by adopting the optimal measurement configuration, and using a coordinate of a beacon point and a distance between the target point and the beacon point.

The invention provides a photomask manufacturing method, a photomask inspection method, a photomask inspection apparatus, and a drawing device, which are capable of improving the coordinate precision of a pattern formed on a transferred body. The photomask manufacturing method according to the invention comprises the steps of: preparing pattern design data (A); obtaining transferred face correction data (D) representing the deformation of a main surface due to the maintaining of a photomask to an exposure apparatus and the deformation other than the dead weight deflection component; obtaining height distribution data (E) in the drawing which represent the height distribution of the main surface under such a state that the photomask green body is loaded to a work table of the drawing device; obtaining drawing differential data through the difference between the height distribution data (E) in the drawing and the transferred face correction data (D); calculating a coordinate deviation value corresponding to the drawing differential data (F), and determining coordinate deviation value data (G) for drawing; and using the coordinate deviation value data (G) for drawing and the pattern design data (A) for a drawing process on the photomask green body.

The invention provides a substrate for a photomask, the photomask, a method for manufacturing the photomask and a method for transfering a pattern, and transferring precision of the pattern is improved in proximity exposure. The photomask is provided with: a transparent substrate; and a transferring pattern formed by composing a shading film formed at the surface of the transparent substrate to be a predetermined transferring pattern, wherein, a worktable using a depicting machine supports the second main surface of the transparent substrate from the lower part; and the transferring pattern is formed, for the flatness of the second main surface of the transparent surface when no supporting part is sued to support the transparent substrate from the lower part, when the height difference between each arbitrary two points, is disposed to be Delta Zb([mu]m), Delta Zb<=(1/T)*3.0.

The invention discloses a detector signal readout circuit, a detector and a signal processing method. Cathode signal output ends of each row of SiPM (Silicon Photomultipliers) pixels of an SiPM arrayare connected to form M row common connection ends, anode signal output ends of each column of the SiPM pixels are connected to form N column common connection ends, each row common connection end andeach column common connection end are connected with a signal readout circuit, in the case that the SiPM array is in a Geiger mode, the signal readout circuit can filter out alternating current signals of each row and each column, the M-row signal readout circuit can carry out weighted summation on the M-row cathode alternating current signals to obtain two row signals, the N-column signal readout circuit can carry out weighted summation on the N-column anode alternating current signals to obtain two column signals. According to the circuit, the detector and the method in the invention, setting of weight coefficients of the sub-circuits in the rows and columns enables the coordinate precision of the position of a scintillation crystal obtained through a gravity center method based on therow and column signals higher, also, large numbers of shunting resistors and analog amplifiers are not needed, so that the electronics complexity of the circuit and the area of the readout board are reduced.

The invention provides a face gear error detection and machining control method, device and system. The face gear error detection and machining control method comprises the following steps: obtaining tooth surface grid node coordinates of a standard face gear; determining a tooth surface grid node theoretical coordinate C and a tooth surface normal vector nc in the tooth center theoretical coordinate system according to the tooth surface grid node coordinate of the standard surface gear; acquiring the actual coordinate Tf of a tooth surface grid node in the actual coordinate system of the tooth center of the to-be-corrected face gear; determining a correction value H of the to-be-corrected face gear according to the theoretical coordinate C and the tooth surface normal vector nc of the tooth surface grid node in the tooth center theoretical coordinate system and the actual coordinate Tf of the tooth surface grid node in the tooth center actual coordinate system; and controlling the face gear correction equipment to correct the to-be-corrected face gear according to the correction value H. According to the scheme, operation is easy, face gear detection and machining precision is improved, errors are reduced, and meanwhile the method is suitable for error detection and control of tooth surfaces of different face gears.

The invention relates to a novel CNC wire cutting machine which can effectively improve the coordinate accuracy of a horizontal plate and a longitudinal plate. The novel CNC wire cutting machine comprises a machine tool body, a workbench, a wire walking mechanism, a high-frequency pulse power supply, a liquid supply system and an electrode wire. The workbench comprises a horizontal plate, a longitudinal plate and a displacement device. The horizontal plate is arranged on the top face of the machine tool body through the displacement device. The longitudinal plate is arranged on the top of the horizontal plate through the displacement device. The displacement device comprises a bottom plate and a top plate. A thread rod is fixed at the end of the top plate in a parallel mode. A middle rotating shaft is vertically arranged on the bottom plate. A worm wheel is arranged on the middle rotating shaft through a bearing. The worm wheel is meshed with a thread face of the thread rod. A motor box is arranged on the bottom plate. The motor box comprises a speed reducing motor, a worm and a worm adjusting sleeve. One end of the worm is arranged at the output end of the speed reducing motor. Spiral-shaped gear teeth meshed with the worm wheel are arranged on the worm. The thickness of the gear teeth are gradually increased from one end to the other end in the axial direction. The other end of the worm moves relatively in the axial direction in a worm adjusting sleeve.

The invention discloses an RGBY-based shadow elimination method. Firstly, background difference of a gray Y channel and a high threshold of a sampling threshold method in a fixed background are used for extracting a rough moving target and a shadow thereof; in combination with a gray low threshold and an RGB color model, Gaussian blur is carried out on an RGB channel in a light spot extracted by the high threshold; and recursive integral processing is then carried out, and RGB after integral processing is converted into a Y signal. According to the shadow elimination method provided by the invention, the performance is excellent; the adaptability is strong; the shadow part in a contour of the moving object extracted in the fixed background can be quickly and accurately eliminated in various conditions; influences from the shadow are eliminated; and thus, the coordinate precision of the moving object in the fixed background is improved.

The embodiment of the invention provides image an image acquisition equipment, water level detection equipment, a water level detection method and a storage medium. The image acquisition equipment comprises a visible light imaging unit which is used for imaging a visible light signal reflected by a water gauge, and obtaining a visible light image of the water gauge, an invisible light imaging unitwhich is used for imaging an invisible light signal reflected by the water gauge to obtain an invisible light image of the water gauge, and an image processing unit which is used for determining coordinates of a water line in the invisible light image of the water gauge and calculating water level data according to the calibration data in the visible light image of the water gauge and the coordinates of the water line in the invisible light image of the water gauge. A water area has high absorptivity to non-visible light, the contrast ratio of the water area and the water gauge in the non-visible light image is high, and and therefore, influence of various external factors on the image definition is reduced, so that the accuracy of the water line detected in the non-visible light image ishigh, and the accuracy of a water level detection result is improved.

The invention discloses a target surface impact point detection and positioning method based on a convolutional neural network, and belongs to the field of image detection. The objective of the invention is to more accurately position the central dot coordinate position of an impact point on a target surface and improve the resolution and precision of target scoring. The detection and positioning method comprises the following steps: firstly, acquiring a target surface image through a camera, processing the target surface image to obtain a target image expressed by a pixel point array, then performing brightness and color difference judgment on the target image, and constructing a rectangular frame for the pixel points passing judgment to obtain a candidate rectangular frame set; and processing the candidate rectangular frame set by adopting a convolutional neural network full connection layer to obtain a group of feature vectors, performing judgment through a classifier, and finally obtaining an accurate position of a target surface impact point by utilizing a regression device.