19results about How to "Overcome positioning error" patented technology

The invention discloses a heavy-load automatic guided vehicle repeated positioning precision self-correction method and device, and the method comprises the steps: obtaining AGV operation state data and environment data collected by different sensors, and forming a multi-source data set; preprocessing the multi-source data set, constructing an environment model, and calculating attitude information in real time; based on an environment model, determining a positioning error and carrying out error modeling, correcting the weight of each sensor, each filter parameter, AGV position information and AGV attitude information in real time, and optimizing an AGV advancing path; fusing the multi-source data set by using an improved Kalman filtering algorithm, optimizing a Kalman filter in real time, and correcting a positioning error so as to further correct AGV position information; correcting an AGV advancing path in real time according to the image data of the surrounding environment of the AGV; and a regular correction mechanism is set, and the AGV is controlled to regularly execute a specified correction action. According to the method, the repeated positioning precision is improved, and stable operation of the AGV in a dynamic environment is ensured.

The invention discloses a personnel positioning method based on a Beidou and LoRa ad hoc network, and relates to the technical field of Beidou and LoRa ad hoc networks. By combining a Beidou positioning module and a LoRa communication module, accurate transmission and error prediction of positioning information in a complex terrain or an urban environment are realized, specifically, the LoRa module forms an ad hoc network through automatic scanning and carries out detailed signal strength and quality data measurement and analysis in a multi-path effect influence area, so that the accuracy and the accuracy of the positioning information are improved. Through deep analysis of the multipath effect, the system can evaluate and predict positioning errors in advance, thereby improving accuracy and reliability of positioning information, effectively coping with delay and interference caused by signal reflection, and ensuring stable communication and accurate positioning in a complex environment.

The invention discloses a processing method of a burr-free lug clamp spring. The processing method comprises the following steps: step 1, punching a positioning hole and two small holes; 2, pre-cutting and leveling are conducted, specifically, the blank is preliminarily separated through a pre-cutting and leveling die, and a blanking gap Z is controlled to be larger than or equal to t * 5% and smaller than or equal to t * 8% at the thickness t of a stamped profile, so that the blank is leveled, and the angle collapse of a blanking section is reduced; 3, positive and negative pressure flashing is carried out, positive and negative pressure flashing treatment is carried out on the blank piece and the small holes in the blank piece along the circumference through a positive and negative pressure flashing mold, burrs are removed through the profiling design of a boss and a sinking table, and secondary leveling of the blank piece is completed; step 4, blanking; and 5, waste is cut off. The stamping die can replace an existing process scheme to effectively solve the problem of burrs of stamped products.

The utility model relates to a dynamic elastic thin plate modal testing platform, and discloses a moving plate strip modal measuring platform which is simple and accurate to operate, and the technical scheme is that the device comprises a frame, a driving roller unit, a fixed roller unit, a tensioning roller unit, a sink roller unit, a plate strip, a data acquisition and processing unit and the like. The driving roller, the fixed roller and the tensioning roller are mounted on the upper edge of the mounting rack I; the sink roll is mounted at the lower edge of the mounting rack II; the tensioning device is installed in cooperation with the tensioning roller. The data acquisition unit comprises a modal force hammer, a force sensor and a displacement sensor, the force sensor is used for testing tensile force, data are acquired through the force sensor and the displacement sensor and input into a data processing end, and modal analysis is performed on a DASP vibration test analysis platform. The simple and effective tensioning device and the driving device of the platform enable the platform to accurately and comprehensively test the modals of the plate strip under various working conditions. According to the utility model, the problem of lack of plate and strip modal experiment platforms and technologies in a motion state is solved, and the functions are comprehensive.

The invention relates to a laminated slab positioning device for constructional engineering, which comprises a bearing seat arranged in a beam; the multi-connecting-rod telescopic frame is arranged on the bearing seat; the positioning assembly is arranged at the end of the multi-connecting-rod telescopic frame and comprises a dismounting and mounting sleeve, a bearing plate and a top plate, the dismounting and mounting sleeve is arranged on the multi-connecting-rod telescopic frame, the bearing plate is arranged at the end of the dismounting and mounting sleeve and bears one side of the bottom of a laminated plate, and the top plate is arranged on the bottom of the laminated plate. The top plate is arranged on the end face of the bearing plate in a sliding mode, and the top plate abuts against the laminated plate. And a limiting assembly is arranged on the outer surface of the disassembly and assembly sleeve in a penetrating mode, and the limiting assembly is used for limiting between the disassembly and assembly sleeve and the multi-connecting-rod telescopic frame. According to the invention, precise positioning and stable supporting of the laminated slab can be realized.

The utility model relates to the technical field of automobile battery cover plate machining, in particular to an automobile battery cover plate edge trimmer which comprises a workbench, a rack is fixedly connected to the top of the right side of the workbench, and a cutting mechanism is arranged on the front face of the rack. Sliding bases are movably installed at the two ends of the top of the left side of the workbench, and overturning clamping mechanisms are arranged on the opposite sides of the top ends of the two sliding bases. According to the utility model, the bidirectional screw rod drives the sliding seat to be matched with the turnover clamping mechanism for use, and the electric push rod B controls the limiting block and the motor C drives the clamping frame to cooperatively act, so that cover plates with different lengths are clamped and limited and locked after being turned over; the problems of positioning errors and machining interruption caused by manual clamp adjustment and workpiece overturning in the prior art are solved, and the clamping precision, the machining consistency and the production continuity are remarkably improved.

The invention discloses a metal pipeline anchor pattern degree detection method and system based on image analysis, and relates to the technical field of pipeline quality detection, and the method comprises the steps: collecting a panoramic image; identifying an independent anchor pattern depression core area; generating a contour mask of the independent anchor pattern recess; segmenting the anchor pattern depression contours to determine independent anchor pattern depression contours; determining the depth estimated value of the independent anchor pattern recess; screening key detection pits; dividing the key detection recesses into a plurality of measurement groups; controlling the photoelectric measuring head to project measuring light to the corresponding measuring group, and calculating actual depth data of the key detection recess based on the reflected light; and summarizing all actual depth data to obtain an anchor grain degree detection result. According to the method, the three-dimensional space coordinates of each anchor pattern recess can be accurately obtained, the deepest position of the anchor pattern can be directly positioned, meanwhile, key recesses which have great influence on the overall anchor pattern depth average value are screened out based on the anchor pattern depth estimated value, general recesses are ignored, and invalid measurement operation is directly reduced by more than 50%.

The present invention discloses a method for synchronous positioning and mapping of a mobile robot in an underground space, which belongs to the fields of mobile robot SLAM, unmanned driving, surveying and mapping, and underground engineering. It adopts a scanning method combining axial motion and circular motion to realize point cloud acquisition, construct a three-dimensional point cloud, and utilizes circular trajectory measurement IMU pre-integration to realize fine measurement of posture. It utilizes UWB base station for global correction to eliminate cumulative errors. Binocular speckle structured light is used to realize point cloud picking in a low-illumination underground environment. Inter-frame point cloud coarse registration is realized by the posture fusion of circular trajectory measurement IMU and UWB base station, and iterative optimization is realized according to the ICP iterative algorithm to improve the accuracy of point cloud registration, and obtain a global space map and robot positioning. The present invention is suitable for three-dimensional mapping and robot positioning of underground narrow and long spaces such as underground caves, large pipe galleries, underground pipe galleries, and mine tunnels, and serves application scenarios such as unmanned construction operations.

The invention discloses a power distribution network voltage disturbance source positioning method and device, a medium and a program product, and belongs to the field of positioning, and the method comprises the steps: obtaining the network topology and line impedance parameters of a power distribution network and real-time voltage monitoring data, constructing an equivalent impedance matrix and an electrical distance matrix, recognizing a voltage disturbance event, and extracting a response time difference. And combining the electrical distance matrix and the disturbance propagation speed to construct an error function so as to determine a preliminary disturbance source node, and verifying whether the preliminary disturbance source node is an actual disturbance source through a parameter identification method. If verification is passed, the deviation between the theoretical disturbance arrival time and the actual disturbance arrival time is calculated, the positioning error is evaluated, and finally a high-precision disturbance source positioning result is obtained, and the problem that the voltage disturbance source of the power distribution network cannot be accurately and efficiently positioned in the prior art is effectively solved.

The application discloses a metal pipeline anchor concave degree detection method and system based on image analysis, and relates to the technical field of pipeline quality detection. The method comprises the following steps: collecting panoramic images; identifying independent anchor concave core areas; generating independent anchor concave contour masks; segmenting anchor concave contours to determine independent anchor concave contours; determining depth estimates of independent anchor concaves; screening key detection concaves; dividing the key detection concaves into multiple measurement groups; controlling a photoelectric probe to project measurement light to the corresponding measurement groups, calculating actual depth data of the key detection concaves based on the reflected light; and collecting all the actual depth data to obtain anchor concave degree detection results. The application can accurately obtain the three-dimensional space coordinates of each anchor concave, directly locate the deepest part of the anchor concave, and screen out key concaves that have a greater impact on the average value of the overall anchor concave depth based on the anchor concave depth estimates, thereby ignoring general concaves and directly reducing more than 50% of invalid measurement operations.

The application discloses a kind of robust DOA estimation methods based on sparse bayesian learning, belong to array signal processing field, the method of this application first introduces position error parameter, and determines the prior distribution of grid error and element position error, secondly with the aid of sparse bayesian learning model, establish joint probability density distribution function, finally with the aid of maximum expectation algorithm to each unknown parameter is iterated, obtains spatial spectrum diagram, estimates the direction of incident signal.This application method can better azimuth estimation accuracy and azimuth resolution, still have good performance under the condition of less snapshot, low signal-to-noise ratio, and the application method has good robustness to the array system that exists element position error, has greater engineering application value.

The progressive die comprises a pre-cutting and leveling die and a positive and negative burr pressing die which are sequentially arranged in the feeding direction of a stamping profile, the pre-cutting and leveling die comprises a pre-cutting and leveling female die and a pre-cutting and leveling male die, the pre-cutting and leveling female die is provided with a die hole corresponding to the lug clamp spring in shape, and the pre-cutting and leveling male die is provided with a die hole corresponding to the lug clamp spring in shape. A pressing head corresponding to the lug clamp spring in shape is arranged on the pre-cutting leveling male die; the positive and negative pressure flashing die comprises a positive and negative pressure flashing male die and a positive and negative pressure flashing female die, the positive and negative pressure flashing female die is provided with a sinking table corresponding to the lug clamp spring in shape, the positive and negative pressure flashing male die is provided with a boss corresponding to the lug clamp spring in shape, and the pre-cutting leveling male die and the positive and negative pressure flashing female die are both located above a stamping profile. The pre-cutting and leveling female die and the positive and negative pressure burr male die are both located below a stamping profile. The stamping die can replace an existing process scheme to effectively solve the problem of burrs of stamped products.

The invention discloses an optical fiber sound wave and temperature scale detection device and method based on a logging winch, and belongs to the technical field of optical fiber logging. The vibration control device provides frequency-adjustable driving current for the vibration component, and the constant temperature control device provides driving current for the heating component, detects the internal temperature and has a constant temperature function; the vibration component can generate mechanical vibration with different frequencies under the action of the driving current; the heating component increases the internal temperature of the graduator to a preset value under the control of the driving current; two scale detection devices are arranged, and temperature and vibration signal scales are achieved by changing the constant temperature and the vibration frequency; further, two scale devices are arranged, the distance between the two scale devices measured by acquisition software and the actual distance of the two scale devices are compared and calculated, optical cable length coefficient scales are achieved, the problem of optical fiber space positioning errors in the optical cable is solved, and help is provided for interpreters to analyze stratum information.

The invention discloses automatic paving and winding forming equipment, relates to the technical field of manufacturing of electric power system insulation bucket arm vehicles, and particularly belongs to a design and manufacturing method of automatic paving and winding forming equipment of an insulation extension arm. In order to realize the automatic winding, paving and enhancing process of the extending arm of the insulated boom truck, the invention designs a special forming device for a multi-edge cylinder extending arm structure, and the high-precision automatic paving and enhancing of the insulated extending arm in an edge area is realized by assembling trapezoidal cushion angle rolls at two ends of a core mold and integrating a cloth tape carding and rapid clamping device; according to the equipment, the flatness and compactness of a paving layer are guaranteed, meanwhile, the position precision of cushion corner paving and the overall stability of a system are remarkably improved, and the equipment has the advantages of being convenient and fast to install and adjust, high in paving and positioning precision, good in operation simplicity and convenience, long in service life and high in economic benefit; the technical problems that in the traditional technology, a corner padding cloth belt is prone to sliding, the mechanism manufacturing cost is high, and operation is complex are effectively solved.

The application relates to a knee replacement implant positioning method, system and storage medium. The method comprises the following steps: acquiring a three-dimensional bone model of an anatomical structure; the three-dimensional bone model is a three-dimensional femur model and / or a three-dimensional tibia model; marking a plurality of anatomical landmark points on the three-dimensional bone model; establishing a bone coordinate system of the three-dimensional bone model according to the adjusted anatomical landmark points; and placing an implant three-dimensional model on the three-dimensional bone model under the bone coordinate system or an image coordinate system. The method can fine-tune the positions of the anatomical landmark points, and accurate implant positioning planning values can be obtained; the bone coordinate system established according to the adjusted anatomical landmark points can solve the position error problem caused by the fact that the bones are not directly opposite to the image coordinate system when the patient takes CT, so that the position parameters of the prosthesis placement are more accurate; the implant placement parameters are calculated in a simulation mode, instead of the manual adjustment mode, so that the automation and intelligent degree can be improved.

The utility model discloses a hydraulic type mechanical opening degree limiting mechanism of water turbine relates to water turbine technical field. The utility model discloses an installation board, the top of installation board is provided with adjusting assembly, one side of installation board bottom is provided with limit mechanism, the limit mechanism includes the shell, the top of shell is fixedly connected with installation board, the one side fixed connection of shell inner chamber has motor, the output fixed connection of motor has the lead screw, one side of lead screw is through bearing and the inner wall movable joint of shell. The utility model discloses through motor drive lead screw and drive screw bushing movement, cooperate electric push rod drive limit post telescopic, and the automation adjustment limit position does not need to disassemble oil cylinder like pure hydraulic scheme, also does not need staff to enter the narrow space manual rotation screw rod, and the adjustment process of opening degree limiting range is greatly simplified, improves the operation efficiency, and also avoids the security risk of personnel operation in the narrow space.

The utility model provides a light source adjusting device of a visual inspection system, which relates to the technical field of laser cutting equipment and comprises a waste suction box, a material leakage port is arranged at the top of the waste suction box, a lower light source is arranged in the waste suction box, and a light source support is arranged between the lower light source and the waste suction box and comprises a bottom shaft fixed on the bottom wall of the waste suction box. A first connecting rod is hinged to one end of the bottom shaft, a second connecting rod is hinged to the other end of the first connecting rod, a top shaft is hinged to the other end, away from the second connecting rod, of the second connecting rod, the lower light source is fixed to the top shaft, and fastening screws are installed at the hinged position of the bottom shaft and the first connecting rod, the hinged position of the first connecting rod and the second connecting rod and the hinged position of the second connecting rod and the top shaft. According to the utility model, the adjustable lower light source matched with the upper light source is additionally arranged, so that accurate positioning of a cutting site by a visual system is realized, and the problem of positioning errors of the visual system caused by insufficient light sources is solved.

The utility model belongs to the field of perpendicularity detection devices, and particularly relates to a hydraulic pump blade notch perpendicularity detection device which comprises a base assembly, a supporting assembly and a clamping assembly, the base assembly comprises a bottom box, a step groove is formed in the top of the bottom box, and the supporting assembly comprises a supporting plate and a servo motor. Four through grooves are formed in the supporting plate at equal angles, a support is fixedly connected to the bottom end face of the supporting plate, a worm gear is fixedly connected to the center of the support, a coupler is matched with the output end of the servo motor, a worm is matched with the coupler, and the clamping assembly comprises an electric push rod. The output end of the electric push rod is fixedly connected with a clamping block; precise rotary positioning of the supporting plate is achieved through meshing transmission of the worm and the worm wheel, synchronous data collection is achieved through the symmetrically-arranged perpendicularity detectors, distributed clamping guided by the through grooves is adopted, the blade notch perpendicularity detection speed is increased, and perpendicularity detection of blade notches of different sizes is compatible.

The invention discloses a positioning method combining an L-M algorithm and Kalman filtering and related equipment, and relates to the technical field of wireless communication. The method is applied to a data processing module of a positioning system, and the system comprises a signal transmitting module and at least three base stations. A positioning signal is transmitted through a signal transmitting module, a base station receives the signal and records the arrival time, the time difference of arrival (TDOA) of the signal is calculated, and a nonlinear coordinate calculation formula of the position of an article is constructed in combination with the position of the base station. An objective function is iteratively optimized by using an L-M algorithm, and an optimal solution is gradually approached by dynamically adjusting a damping parameter, so that measurement errors caused by a multipath effect and non-line-of-sight propagation are overcome. And then, performing dynamic prediction and updating by adopting an adaptive extended Kalman filter (AEKF) algorithm, and optimizing an initial positioning result to further improve positioning precision and stability. According to the invention, the problem of insufficient positioning precision and stability in a complex environment is solved, and the precision and robustness of article positioning are improved.