101results about How to "Realize self-calibration" patented technology

The invention discloses a statistical machine translation method with error self-diagnosis and self-correction functions. The method comprises the following steps: firstly, defining the translation error type, training an error classifier, carrying out translation error classifying on a test set, then mapping the translation error from a target language terminal to a source language terminal and constructing a repeated word graph network, optimizing the repeated word graph network of the source language, and finally, carrying out word graph decoding to obtain a self-correction result. Compared with the current statistical machine translation method, according to the statistical machine translation method with error self-diagnosis and self-correction functions, the translation error rate is effectively lowered, and the translation performance is improved.

The invention discloses a high-precision galvanometer error self-correcting device and a high-precision galvanometer error self-correcting method based on machine vision. The self-correcting device comprises a laser, a marking square head, a focusing lens, an XY-axis movement platform, a camera, an X-axis movement guiderail and a mounting base. The mounting base is provided with an X-axis movement guiderail and a vertical plate. The XY-axis movement platform is mounted on the X-axis movement guiderail. The laser and the camera are mounted on the side surface of the mounting base. The camera is connected with an external image processor. The marking square head is mounted on the side surface of the laser. The focusing lens is mounted on the lower end surface of the marking square head. According to the self-correcting method of the invention, a two-dimensional correction table in practical application of laser marking is obtained through a vision method, namely utilizing the camera and the lens; a laser marking device is corrected by means of the vision method; a unique correction table can be generated for each laser marking device, thereby improving precision and reliability in laser marking and preventing linear distortion and nonlinear distortion in the marking process.

The invention discloses a robot tool central point calibration method using a two-dimensional measurement functional tablet. A robot is controlled to enable a TCP to make contact with a measurement area of a calibration tool more than three times in different postures in the calibration process, joint coordinate information of the robot is recorded in the contact process, and the two-dimensional coordinates of the contact points in a measurement plane are output through the two-dimensional position measurement function of the calibration tool; the coordinates of the TCP in a robot tail end tool coordinate system are calculated according to measured joint rotation angle information of the robot and the coordinate data of the contact points on the tablet and in combination with the structural parameters of the robot, and the calibration accuracy is evaluated. According to the calibration method, the TCP of the robot does not need to coincide with the same fixed point multiple times, the point-point coincidence requirement is weakened to point-surface coincidence, and operation is easy. When the TCP of the robot has small deviation, autonomous calibration can be realized.

The multipoint dynamic flexibility/displacement measurement device includes target set on the measured object, photoelectronic camera system and computer. The target includes two light sources in regular shape and separated by certain distance. The present invention also provides the self calibrating and self coding imaging process for the multipoint dynamic flexibility/displacement measurement with the said device. The present invention has the advantages of self calibration of imaging magnification, self coding of the target and simple dynamic measurement.

The invention belongs to the technical field of biomedical engineering and relates to a cuff-free noninvasive long-time continuous blood pressure monitoring method. The method includes: acquiring physiological and pathological characteristic parameters through an electrocardiosignal and photoplethysmography signal monitoring subsystem connected with a computer; subjecting the parameters to seamless fusion and processing analysis through a blood pressure noninvasive dynamic monitoring model cluster and a blood pressure dynamic long-time monitoring software subsystem to obtain a blood pressure value of each heart beat and realize dynamic long-time continuous blood pressure monitoring. Starting from cuff-free blood pressure measurement, the blood pressure noninvasive dynamic monitoring modelcluster is constructed according to the patient's physiological and pathological characteristic parameters monitored by the signal monitoring subsystem on the basis of a patient individual difference-characteristic parameter average influence value-machine learning method, and accordingly a model self-correction function of the system in blood pressure long-time continuous measurement is achieved.By adoption of the method, monitoring precision and stability in blood pressure long-time measurement are improved, and continuous beats or long-time measurement of the blood pressure are realized, so that an effective foundation can be laid for hypertension prevention and treatment.

The invention discloses a method for calibrating a central point of a robot tool through employing a plane calibration plate. The method comprises the steps: controlling a robot to enable a TCP to carry out plane contact with a calibrating tool for more than six times at different attitudes during calibration; just recording the coordinate information of a robot joint; combing with the structure parameter of the robot to calculate the coordinates of the TCP in a flange coordinate system at the tail end of the robot; and evaluating the calibration precision. The method does not need to enable the TCP of the robot to repeatedly coincide with the same fixed point, and lowers the point-point coincidence to the point-plane coincidence. A calibration tool is simple, and the method is easy to implement. When the TCP of the robot deflects lightly, the method can achieve autonomous calibration.

The invention relates to a crystal grain angle correction method applied to a chip separating system, which mainly comprises the following steps: judging a deflection angle of target crystal grains; driving a swinging arm of a crystal grain conveying mechanism to rotate 90 degrees minus alpha when the deflection angle alpha of the target crystal grains is a positive number, simultaneously executing the difference-alpha deflection angle position compensation on an arrangement region, and placing the target crystal grains into the arrangement region; driving the swinging arm of the crystal grain conveying mechanism to rotate 90 degrees plus alpha when the deflection angle alpha of the target crystal grains is a negative number, simultaneously executing the multi-alpha deflection angle position compensation on the arrangement region, and placing the target crystal grains into the arrangement region; and driving the swinging arm of the crystal grain conveying mechanism to rotate 90 degrees when the deflection angle alpha of the target crystal grains is zero, and directly placing the target crystal grains into the arrangement region. The invention combines the rotation movement of the crystal grain conveying mechanism and the translational movement of the arrangement region for compensating the angle deflection of the crystal grains, carries out parallel dispatch between the position compensation of a material supply region and the arrangement region, and realizes the automatic correction of the crystal grain angle under the condition of not reducing the conveying speed.

The invention discloses a vanishing point extraction method, a camera calibration method and a storage medium. The vanishing point extraction method comprises the following steps: acquiring continuousN frames of images according to a vehicle-mounted camera to extract invariant edge images; further fitting vanishing points according to effective straight lines in the invariant edge image. According to the vanishing point extraction method provided by the invention, a driver does not need to deliberately keep the vehicle driving path parallel to the lane line, and images of the vehicle drivingpath parallel to the lane line can be automatically screened and extracted in a vehicle driving scene for vanishing point extraction and calculation, so that the vanishing point extraction method hasno very high requirements on actual driving roads and scenes. According to the vanishing point extraction method and the vehicle-mounted camera calibration method of the traffic signboard, the problems that an existing camera parameter calibration method is large in calculation amount, prone to being disturbed by the external environment and the like are solved, the robustness is good, and the applicability is high.

The invention discloses a method for digitally driving and detecting a multi-gauge head gyroscope, and belongs to the field of micro-mechanical gyroscope signal processing. The method comprises the following steps of: generating a carrier wave Vi by a digital method, simultaneously generating drive signals Vd1, Vd2,..., and VdN by a drive circuit, and loading the carrier wave Vi and the drive signals Vd1, Vd2,..., and VdN on the gauge head 1, the gauge head 2,..., and the gauge head N of the gyroscope in sequence, wherein N is more than or equal to 2; detecting drive mode capacitors C1, C2,..., and CN, adjusting the drive signals Vd1, Vd2,..., and VdN according to the detected signals so as to make the N gauge heads of the gyroscope work at resonance points; and based on the driving of the gyroscope, detecting sensitive mode capacitors C'1, C'2,..., and C'N, obtaining N angular velocity signals of the gyroscope, and according to N frequency sweeping states S1, S2,..., and SN of the gyroscope, processing the detected angular velocity signals and outputting the final angular velocity by a controller. The method is mainly characterized by locking the resonance frequency by a method of detecting the amplitude of the drive output signal by sweep frequency and has the advantages of the realization of self correction, high frequency stability and high anti-interference ability.

The invention discloses a coal cutter autonomous navigation system and method. The system comprises a total station, a UWB fixed base station group, a UWB mobile base station group, a UWB positioningnode, a north seeker and a tilt angle sensor, wherein the total station is adopted as the system standard to be installed at the conveying uphill and zone haulage way intersection point. The UWB fixedbase station group is installed at a reversed loader at the fully mechanized coal mining face and the haulage way intersection point and adopted as the coordinate reference of the coal face. The UWBmobile base station group is installed below a roof of a hydraulic support, and is autonomously calibrated along with the hydraulic support. The UWB node, the north seeker and the tilt angle sensor are installed on a coal cutter body. When the coal cutter works, the UWB mobile base station positions the UWB node and transmits the UWB node to the UWB fixed base station group. The UWB fixed base station group is calibrated by the total station. The coal cutter is positioned at a reference coordinate system through a coordinate transformation matrix, the north seeker and the tilt angle sensor areused for performing absolute measurement on the posture of the coal cutter body, and therefore full-autonomous navigation of the coal cutter in complete coal seam coal mining can be completed.

The invention discloses a self-calibration and compensation method for a framework nonorthogonal angle of a triaxial rotating inertial navigation system. The method includes the following steps that the triaxial rotating inertial navigation system is powered on to be preheated, and coarse alignment is completed; the triaxial rotating inertial navigation system controls a framework to rotate according to a preset selection strategy and carries out navigation solution at the same time; posture output and speed output in the navigation process are recorded, and a recursive least-square method is used for calibrating the framework nonorthogonal angle of the triaxial rotating inertial navigation system; influence on the posture output of the triaxial rotating inertial navigation system is compensated through a compensation model. The calibration method for the framework nonorthogonal angle of the triaxial rotating inertial navigation system is simple in process, high in calibration precision and capable of achieving self-calibration of the framework nonorthogonal angle without machine disassembling and facilitates engineering implementation. The compensation algorithm of the framework nonorthogonal angle is easy to implement, and the precision of posture output of the triaxial rotating inertial navigation system is remarkably improved after compensation.

The invention discloses an external parameter calibration method and system for a single-line laser radar and a visible light camera, and the method comprises the steps: collecting time and space synchronous furnace charge image data and point cloud data, correcting a furnace charge image according to a camera distortion model, and further extracting a laser scanning center line; determining a two-dimensional coordinate corresponding to a local extreme value of a laser scanning center line in an image coordinate system, and performing interpolation on the sparse point cloud data to obtain a three-dimensional coordinate of the local extreme value of the point cloud data in a radar coordinate system; according to the feature point pairs of the two-dimensional coordinate corresponding to the local extreme value of the laser scanning center line in the image coordinate system and the three-dimensional coordinate of the local extreme value of the point cloud data in the radar coordinate system, utilizing a linear least square method to obtain an external parameter matrix of the camera and the single-line laser radar; the technical problem that the existing laser radar and camera external parameter calibration precision is low is solved, the single-line laser radar and the visible light camera can be calibrated online in real time, and the external parameter matrix is corrected.

The invention discloses a method for calibrating a combined error coefficient of an accelerometer under the condition of reference uncertainty. The method comprises the following steps: rotating a double-shaft rotating mechanism by establishing a reference mathematic model to obtain an output value of an inert measuring system arranged on a rotary platform, wherein an initial pitch and roll angle error is used as a variable in an error equation of the inert measuring system, and estimating the initial pitch and roll angle error to obtain an accurate pitch and roll angle. In a conventional laboratory calibrating method, if the position of a rotary table changes and the rotary table is transferred to an external field for testing, methods such as metering are adopted for calibrating the rotary table again, time and labor are wasted, and the rapid calibration under the maneuvering condition is not facilitated. According to the method, by establishing mathematic accurate reference, the separating effectiveness of the error of the inert measuring system is ensured, so that a horizontal reference precision index meets the use requirement. Under the condition of the reference uncertainty, the combined error coefficient of the accelerometer can be calibrated, the calibration efficiency of the external field is improved, the precision of a calibrating coefficient is improved, and the combined error coefficient of the accelerator is accurately calibrated.

The invention discloses an automatic instrument equipment leveling device and method. The device comprises a PLC, double-shaft dip angle sensors and a workbench; the workbench is used for supporting instrument equipment needing to be leveled; the PLC is used for signal acquiring, data operation processing and movement control of the automatic leveling device; the double-shaft dip angle sensors atleast comprise the first double-shaft dip angle sensor and the second double-shaft dip angle sensor; the first double-shaft dip angle sensor is used for measuring an included angle between the workbench and the horizontal plane; the second double-shaft dip angle sensor is used for measuring an included angle between the instrument equipment and the horizontal plane; and a table board of the workbench rotates under the effect of supporting legs of the workbench, and leveling of the instrument equipment is achieved. The device can be independently used to provide the horizontal workbench, and can also be used for automatic leveling of the instrument equipment on the workbench, and therefore richer and more flexible high-precision automatic leveling means are provided for industrial manufacturing, assembling and measuring and other application fields.

The invention provides a method for discriminating a neutral gear on the basis of an electromagnetic neutral gear sensor. The method includes storing a plurality of self-learning neutral gear duty cycle values in a memory, reading the self-learning neutral gear duty cycle values after a vehicle is powered on, solving a median value or an average value of the self-learning neutral gear duty cycle values, then using a complementary value of the median value or the average value as a base point of a neutral gear duty cycle discriminating range, judging whether duty cycle values of currently outputted first PWM (pulse width modulation) waves are in a range with the base point as the center or not, and determining that the vehicle is in the neutral gear if the duty cycle values of the first PWM waves are within the range; performing self-learning on the neutral gear duty cycle values, and storing duty cycle values of second PWM waves which are currently outputted by the electromagnetic neutral gear sensor so that the duty cycle values of the second PWM waves can be used when the vehicle is powered on for the next time. The method has the advantages that the base point of the range for discriminating the neutral gear duty cycle values can be acquired by a software algorithm, so that self-learning, self-correcting and self-compensating can be performed on a neutral gear duty cycle, the neutral gear discriminating accuracy and instantaneity can be improved, and the adaptability to different types of vehicles can be improved.

The invention discloses a two-axis integrated gyroscope accelerometer and a servo control method. The gyroscope accelerometer comprises a header part, a servo loop part, an output part and a housing body. The header part comprises a gyro-rotor with eccentric mass, a bench body, a bench body shaft, a framework and a framework shaft. An angle sensor is installed on one end of the bench body shaft and a torque motor is installed on the other end. An angle sensor is installed on one end of the framework shaft and a torque motor is installed on the other end. The servo loop part comprises one loopwhere bench body shaft angle amplifier acts on the framework torque motor through the amplifier, and another loop where the framework angle sensor acts on the bench body torque motor through the amplifier. The output part comprises a current value acts on the two motors. The current values are acquired and output to an on-missile computer. According to the invention, it is achieved that accelerated speed in two directions is measured by one accelerometer.

The invention relates to a vehicle-mounted electronic altitude compass having a dip angle compensation function. The vehicle-mounted electronic altitude compass comprises an integrated electronic compass chip for detecting the triaxial acceleration and the triaxial magnetic field, an air pressure sensor and a temperature sensor, wherein the integrated electronic compass chip, the air pressure sensor and the temperature sensor are connected with a singlechip respectively. The vehicle-mounted electronic altitude compass can monitor external environment parameters such as temperature, azimuth angle, altitude, vehicle body posture and the like in a driving process in real time through self calibration of the motion condition of the vehicle and the automatic correction of the dig angle, and the precision of the vehicle-mounted electronic compass is effectively improved.

The invention discloses a gravity-gradiometer self-calibration method and a gravity-gradiometer centrifugal gradient compensation method. The gravity-gradiometer self-calibration method includes: changing sensitive centrifugal gradient of a gravity gradiometer by changing level elevation angle of the gravity gradiometer or rotational angular velocity of an inertial stabilization platform, recording centrifugal gradient data of output and detection of the gravity gradiometer under different centrifugal gradient excitation and completing calibration of scale coefficient and zero deviation of thegravity gradiometer; acquiring the gravity gradient data with centrifugal gradient according to output of a calibration model and the gravity gradiometer, and subtracting the gravity gradient data from the detected centrifugal gradient to achieve centrifugal gradient compensation. The calibration method can be automatically operated through a computer, self-calibration is realized, calibration can be completely by only depending on the gravity gradiometer instead of external quality detection, and the calibration method is convenient, concise and easy to implement.

The invention belongs to the ring laser technique for measuring angles, and relates to a ground velocity projection component error self-calibration method of a ring laser angle measuring device. The method includes the steps that by using a least square method, the angle information from a circle inductosyn arranged on a measured turntable is combined with the angle information from the ring laser angle measuring device, and by using discrete treatment separating, error terms are separated, so as to eliminate the angle measuring errors introduced by the ground velocity projection component. The ring laser angle measuring device has the advantages that the accuracy is high in a short time and the angle errors of the turntable do not diverge with the time, and by using the advantages adequately, the measuring errors caused by the ground velocity projection component can be reduced successfully, thereby obtaining the angle and angular velocity information with higher accuracy and smaller noise.

The invention discloses a vehicle tracking method based on automatic characteristic weight correction. The characteristic weight can be automatically corrected, it is ensured that the vehicle tracking can be accurate, timely and efficient, and useful data information is provided for traffic safety of an expressway tunnel. The method comprises the following steps that firstly, a foreground target of a vehicle is extracted; secondly, the characteristics of the vehicle target are extracted; thirdly, whether two targets in a front frame and a back frame belong to the same vehicle or not is judged, wherein the matching degree of the shape characteristics, the position characteristics and the color characteristics of the two targets is calculated, the comprehensive characteristic matching degree of the two targets is calculate, and whether the two targets in the front frame and the back frame belong to the same vehicle or not is judged; fourthly, the characteristic weight is automatically corrected, wherein when the comprehensive characteristic matching degree is larger than the set correction threshold value, characteristic matching degree data of the corresponding vehicle target are added into an automatically-corrected reference database, the average values of the characteristic matching degree data in a plurality of sets of reference data of the reference database are calculated, and the characteristic weight is calculated.

The invention provides a CT or PETCT intelligent positioning scanning method under a monocular camera, relates to the technical field of CT or PETCT intelligent positioning scanning, and realizes direct calculation from a target frame selection range to a real scanning start-stop position by establishing a mapping model of a real space and an image between shields. Meanwhile, self-calibration andself-verification methods of imaging equipment parameters and mapping model parameters are realized, system assembling and debugging steps are simplified, and the method can automatically adapt to different camera types and different shielding room environments; and meanwhile, through intelligent identification of the target part of the patient, after the patient lies on the diagnostic bed, the starting and stopping position of the scanning can be determined without extra operation, and meanwhile, the motion control module is notified to execute downwards, so that the scanning and positioningefficiency is improved.

The invention discloses a single-pole ground fault locating system for a pseudo bipolar DC transmission and distribution line, and can meet the DC line voltage measurement of at least kilovolts undernormal working condition of the pseudo bipolar DC transmission and distribution system. The method of time-sharing sampling can be used to achieve the effect of stable output, high accuracy, good reliability and automatic calibration of DC high voltage measurement, and ensure long-term accuracy stability of the measurement system. At the same time, the single-pole ground fault locating system provided by the invention can automatically switch the range when a single-pole ground fault occurs on the DC line, so that the residual voltage of the ground fault point to the measurement point of up to100 volts can be accurately measured, whether there is a shunt branch between the measurement points is further determined according to the measurement result, and the ground fault point position islocated in the corresponding situation.