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Device for realizing laser welding and seam tracking and control method thereof

The invention relates to a device for realizing laser welding and seam tracking and a control method thereof. The device of the invention comprises an image collecting and processing unit for collecting and processing the image data of laser welding and seam characteristics and outputting the seam position information, a motion control unit for receiving the seam position information and transmitting a motion control command to a motion shaft actuating mechanism, and an upper parameter setting and control unit for setting the parameters and being respectively connected with the image collecting and processing unit and the motion control unit in a communication mode. The method of the invention comprises the following steps: setting the parameters by utilizing the upper parameter setting and control unit; collecting and processing seam images to obtain the seam image data; caching and calibrating the seam image data, and determining the offset of a welding gun; carrying out filtering, fitting and track planning on tracking tracks by utilizing a motion controller in the motion control unit; and transmitting the result to a motion shaft driver. The invention can be suitable for various seam types and techniques and has the advantages of good generality, strong flexibility, high independence, high precision, accurate positioning, strong adaptability, and the like.
Owner:SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI

Equalisation apparatus and methods

The invention relates to apparatus, methods and computer program code for equalisation. A soft-in-soft-out (SISO) equaliser for use in a receiver for receiving data from a transmitter configured to transmit data from a plurality of transmit antennas simultaneously is described. The equaliser comprises at least one received signal input for inputting a received signal; a plurality of likelihood value inputs, one for each transmit antenna, for inputting a plurality of decoded signal likelihood values from a SISO decoder; a processor configured to determine from said plurality of signal likelihood values an estimated mean and covariance value for a signal from each of said transmit antennas; an expected signal determiner coupled to said processor to determine an expected received signal value using said mean values; a subtractor coupled to said received signal input to subtract said expected received signal value from said received signal to provide a compensated signal; a filter coupled to said subtractor to filter said compensated signal to provide a plurality of estimated transmitted signal values, one for each said transmit antenna; a filter coefficient determiner coupled to said processor to determine coefficients of said filter using said covariance values; and an output stage coupled to said filter to output a plurality of transmitted signal likelihood values, one for each said transmit antenna, for input to said SISO decoder.
Owner:KK TOSHIBA

Magnetic tile surface defect feature extraction and defect classification method based on machine vision

The invention provides a magnetic tile surface defect feature extraction and defect classification method based on machine vision. A concrete algorithm comprises a first step of building a 5-scale and 8-direction Gabor filter bank suitable for magnetic tile surface defect feature extraction, conducting filtering to an original image and obtaining a 40-width component plot, a second step of respectively extracting a gray average and a variance feature of the component plot and forming a 80-dimension feature vector, a third step of conducting dimensionality reduction to the original 80-dimension feature vector through a principal component analysis (PCA) method and an independent component analysis (ICA) method, removing relevance and redundancy and obtaining a 20-dimension feature vector, a fourth step of conducting normalization pretreatment to feature vector data, wherein the original data are normalized between zero and one, and a fifth step of adopting a grid method and a K-CV method to achieve SVM parameter optimization at first and training an SVM model using training sample data offline, wherein pretreated testing sample data are input into a support vector machine during online testing, and automatic classification and identification of defects can be achieved. The feature extraction method can effectively filter interference and prominent defects of magnetic tile surface texture, extracted features can reflect defect information accurately, data values are small, and a classifier used for classifying the defects can achieve defect identification fast and accurately online.
Owner:JIANGNAN UNIV

Scanning type laser vision sensing-based narrow-gap deep-groove automatic laser multilayer welding method for thick plate

The invention discloses a scanning type laser vision sensing-based narrow-gap deep-groove automatic laser multilayer welding method for a thick plate, relates to a welding method, and aims to solve the problems that the conventional structured light vision sensing-based welding method can only be used for a simple shallow-groove laser weld seam tracking task and that when the conventional structured light vision sensing-based welding method is used for the narrow-gap deep-groove weld seam welding of the thick plate, a covering phenomenon is easily produced, the groove identification accuracy is lower, only real-time weld seam alignment calibration can be realized and narrow-gap deep-groove laser multilayer welding bead planning and welding cannot be realized. The method specifically comprises the following steps of: 1, selecting a groove form; 2, scanning a groove section image of a thick plate workpiece to be welded by using an image scanning unit; 3, processing the acquired groove section image by using an image algorithm to obtain weld seam image data; 4, performing fitting calculation; and 5, finishing the welding of welding beads layer by layer. The method is used for the deep-groove weld seam welding of the thick plate.
Owner:HARBIN INST OF TECH

Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom

The invention discloses a bolt assembly and disassembly manipulator capable of moving with three degrees of freedom. Moving elements of body, shoulders and arms are connected one another through guide rail sliding blocks, the movement of each element in a specified direction is limited, and the movement of a motor is transferred through a lead screw nut. A spring of a spanner head and a baffle plate are used for limiting the position of a bolt, a pressure sensor is used for measuring the axial force of the bolt, and the measured axial force is a basis for next operation. During disassembling or assembling the bolt, the pressure value detected by the pressure sensor arranged in the spanner head is used as the basis, the three moving elements are driven to ensure the precise positioning of the spanner head, and an elastic coupling for connecting the motor and a lead screw can ensure that the arms successfully realize flexible guide and positioning under the condition of certain butting error. The manipulator has the characteristics of compact structure and wide application range; and the manipulator has low positioning requirement of the bolt position so as to reduce the complexity of equipment and broaden the space of automatic application.
Owner:HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI

Audible distance measurer-object discriminator cognition stimulant system device

An audible distance measurer object-face discriminator cognition stimulant system device housed in a handheld shaft, walking stick, belt attachment, or portable housing. The system device will capture, detect, merge, convert, process, compute and/or synthesize signals, measurements, images, objects-faces, colors, and shapes to output assistive phrases and measurements in electronic voice, to inform and make the user knowledgeable of objects and aware of surroundings and environment directly in path of movement-direction pointed, comprising in combination strategically positioned signal receivers, transmitters or satellite, embedded distance measurer sensor, digital video camera, cellular phone, radio, electronic travel aid (ETA), electronic orientation aid (EOA), position locator device (PLD), embedded restroom facility locator sensor, and embedded vehicle presence alert system (VPAS) sensor, which will generally aid sighted and visually impaired students, teachers and students of the No Child Left Behind (NCLB) Act, and more particularly, the elderly, and visually impaired military war veterans in a Right to Personal Privacy, while simultaneously providing sighted and blind-visually impaired children with an educational toy and interactive game.
Owner:BROWN ROBERT JR
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