22results about How to "Reduce calibration error" patented technology

The invention provides a calibration method and device of motion capture equipment, equipment and a medium, the motion capture equipment is worn on a limb of a human body, the method is applied to head-mounted display equipment, the head-mounted display equipment comprises a camera, and the method comprises the following steps: collecting an image of the motion capture equipment through the camera; according to the motion capture equipment image, determining target attitude information of an equipment coordinate system relative to a world coordinate system; and calibrating the motion capture equipment according to the target attitude information. The motion capture equipment is calibrated by using the image of the motion capture equipment, so that the calibration difficulty of the motion capture equipment can be effectively reduced, the calibration time can be shortened, the calibration error can be reduced, and the calibration precision of the motion capture equipment can be improved.

The invention discloses a multi-target detection method based on a multi-source high-frequency track and a high-precision map, which realizes conversion of a video coordinate system, a millimeter wave radar coordinate system and a world coordinate system and fuses a radar target and a video target. The method comprises the following steps: automatically calibrating video and thunder vision; performing automatic deviation correction on a north corner and an equipment position based on multi-straight-line regression; transforming the video sensor into a world coordinate system; and carrying out decision association of the Leiyu tracking target. According to the method, the target trajectory and the high-precision map data are tracked by utilizing the thunder vision high frequency, the complexity of calibration between the sensors and between the sensors and a world coordinate system is reduced, meanwhile, the precision errors of coordinate transformation between the thunder vision sensors and thunder vision data world coordinate transformation are reduced, and compared with the prior art, the method has the advantages that in the application of complex traffic roadside vehicle detection scenes, the detection efficiency is improved. The precision is higher; and the data association has robustness.

The utility model relates to the technical field of optical fiber temperature measurement, in particular to a distributed temperature measurement temperature calibration device which comprises a heat preservation shell, a heating cavity is arranged in the heat preservation shell, a cylindrical heating core column is arranged in the heating cavity, a heating piece is arranged at one end of the heating core column, and a first temperature sensor is further fixedly installed on the heating core column. Two sections of calibration optical fibers are wound on the peripheral surface of the heating core column, the two ends of the temperature measuring optical fiber are connected with the two sections of calibration optical fibers respectively, one end, away from the temperature measuring optical fiber, of one section of calibration optical fiber is connected with a reference optical fiber, and a heat preservation layer used for wrapping the heating core column is arranged in the heating cavity; a heating sheet is placed at the top of an aluminum alloy heating core column, a calibration optical fiber is tightly wound on the outer wall of the heating core column, and gaps between the heating core column and the heating sheet and between the heating core column and the calibration optical fiber are filled with heat-conducting silicone grease, so that the calibration optical fiber is uniformly heated.

The invention relates to a mechanical arm coordinate conversion calibration method and device based on an optical tracking system, and the method comprises the steps: installing the optical tracking system, and fixing an optical calibration plate on a base of a to-be-calibrated mechanical arm; adjusting the joint of the mechanical arm to be calibrated to a standard zero position; sampling sample points in a plurality of directions perpendicular to the base flange plate through an infrared optical probe; performing circle center calculation based on a space circle equation, and determining a coordinate axis of the base; determining an intersection point on a base shaft and a base center point of the mechanical arm; calculating a space coordinate transformation matrix of the base according to the center point of the base and the X axis and the Y axis of the base; and the conversion module is used for converting the mechanical arm base into a coordinate system of the optical tracking system in real time based on the position of the optical calibration plate. Compared with the prior art, the problems that in a traditional method, operation is complex, the calculated amount is large, and the environmental influence is large are effectively solved, the positioning workload of the mechanical arm is remarkably simplified, and the working efficiency and operation safety of the mechanical arm are improved.

The invention discloses a single-point calibration method and device, equipment, a storage medium and a product, and relates to the technical field of automation equipment, and the single-point calibration method comprises the steps that the first point position height of a current measurement point in a standard part measured by a 3D laser sensor and the second point position height of the current measurement point measured by an OMM are obtained; compensating the 3D laser sensor based on the first point position height and the second point position height to obtain a compensation point position height of the 3D laser sensor to the current measurement point; and performing single-point calibration on the 3D laser sensor based on the compensation point height. Namely, according to the height of the first point position and the height of the second point position, single-point compensation is carried out on the 3D laser sensor to obtain the height of the compensation point position, calibration compensation is carried out on the current measurement point of the 3D laser sensor, and because the measurement points of the 3D laser sensor and the OMM measurement are the same, and the points are not prone to being affected by the size of a product. And the calibration accuracy of the 3D laser sensor is improved.

The invention relates to the technical field of intelligent logistics navigation laser radars, in particular to a wheel type odometer and single-line laser radar combined calibration method, which comprises a calibration environment construction module used for constructing a good calibration environment. The method firstly focuses on the accurate calibration of the internal reference of the single-line laser radar. The step is crucial because the accurate internal reference of the laser radar is the basis of the subsequent calibration work. Through accurate internal reference calibration, the overall calibration error caused by the internal error of the laser radar can be remarkably reduced, and the precision and reliability of the whole calibration system are improved. The accuracy of vehicle navigation can be improved, and more accurate data support can be provided for subsequent intelligent logistics tasks.

The invention relates to the technical field of visual guidance, and provides a visual calibration method and device of a visual assembly system and a medium, and the visual assembly system comprises a camera, a motion control platform and a clamping device. The motion control platform at least comprises a first moving mechanism for driving the clamping device to move in a first direction and a second moving mechanism for driving the clamping device to move in a second direction, the first direction is perpendicular to the second direction, and the camera is used for observing a calibration object clamped by the clamping device. The method comprises the following steps: acquiring first coordinates of a plurality of preset calibration points in a platform coordinate system of the motion control platform; obtaining a deviation angle of a product coordinate system relative to a platform coordinate system; compensating the first coordinate according to the deviation angle to obtain a second coordinate of the calibration point position; and according to the second coordinates, calibrating a conversion relation between the coordinates in the platform coordinate system and the coordinates in the camera coordinate system of the camera.

The present invention discloses a method for optimizing calibration parameters of a binocular stereo vision camera, and relates to the technical field of computer vision. The method comprises the following steps: hierarchical optimization calibration of feature points of different scales in the extracted scene, establishing a multi-scale feature point model, and characterizing the scale difference of the feature points by a scale factor; using a time series analysis algorithm to dynamically optimize calibration data at different times and adjust the calibration parameters of the camera; establishing a self-learning calibration optimization mechanism, that is, performing error analysis based on real-time feedback data to automatically evaluate the accuracy of the current calibration parameters. The present invention performs hierarchical multi-scale modeling of feature points, introduces independent calibration parameters for feature points of different scales, enables the system to more effectively reduce calibration errors caused by parallax or perspective distortion, and also introduces a self-learning calibration optimization mechanism that can dynamically adjust calibration parameters based on real-time feedback data.

The invention provides a laser measuring device for steel bar deformation, and belongs to the technical field of laser measuring equipment, the laser measuring device is characterized in that a top cover frame is arranged above a device base, and a detection cavity is formed between the device base and the top cover frame; the detection assembly comprises a grating light emitter and a grating light receiver which are used for detecting the deformation amount of the reinforcing steel bar, and the grating light emitter and the grating light receiver are both installed in the detection cavity and located on the two sides of the reinforcing steel bar; the driving assembly is used for fixing the bottom end of the reinforcing steel bar, driving the reinforcing steel bar to rotate along the axis of the reinforcing steel bar and driving the grating light emitter and the grating light receiver to move along the axis of the reinforcing steel bar for deformation detection, so that full-section detection of rotary scanning and axial movement is formed, and light signal changes instead of the relative offset between the two sections are captured section by section. The problem that a traditional laser measuring device is prone to data deviation is solved, a fixing assembly comprises two sets of clamping forks used for clamping the top end of a steel bar, and lubricating assemblies used for lubricating the rotating connecting position of a clamping roller and a support are arranged on the clamping forks.

The application discloses a kind of analog signal calibration method, controller and system suitable for semiconductor equipment, method includes: control analog signal output module exports first preset electric signal;Through analog signal input module, first preset electric signal is collected, and first electric parameter acquisition value is obtained;First preset electric signal is measured by analog electric parameter measuring device, and first electric parameter measurement value is obtained;According to first electric parameter acquisition value and first electric parameter measurement value, analog signal input module is calibrated;Control analog signal output module exports second preset electric signal corresponding to first preset electric parameter value;Second preset electric signal is collected by calibrated analog signal input module, and second electric parameter acquisition value is obtained;According to first preset electric parameter value and second electric parameter acquisition value, the signal output by analog signal output module is calibrated.By the above-mentioned mode, analog input signal and analog output signal can be calibrated to improve precision.

The present invention discloses a laser welding robot tool calibration method and system based on focus positioning compensation, which belongs to the field of laser welding technology, including: setting a robot tool tool1 in a robot geodetic coordinate system, and calibrating a tool parameter P0 at tool1; generating a laser indicator light co-focal with the welding laser, and adjusting the robot so that the focus of the laser indicator light is located at point O on the plane of a pre-set sensor, and then obtaining the coordinate position of tool1 as the initial position; after controlling the robot to rotate a certain angle around a rotation axis passing through the initial position, controlling the robot to translate so that the focus returns to point O, and obtaining the coordinate position of tool1 as a newly added position; after obtaining N≥3 newly added positions that are not coplanar, spherical fitting is performed together with the initial position, and a vector pointing to the center of the sphere from the initial position is calculated, and P0 is compensated by the vector to obtain the tool parameters in the robot system, and the calibration ends. The present invention can improve the calibration accuracy of the robot tool parameters at the focus.

The present disclosure provides an AOI multi-station distance calibration method, device, equipment and medium, comprising: when the detection condition of the target product is triggered, the optical camera is controlled to perform synchronous optical detection; the frame number of the target image corresponding to the product mark collected by each optical camera in the optical detection process is obtained; the position code of the product mark relative to each detection station is determined according to the center point coordinates of the product mark in each target image and the pulse accuracy of the encoder moving synchronously with the target product; the position code of the starting motion position of each detection station relative to the product mark is determined according to the frequency division data and the frequency multiplication data of the optical camera, the pulse accuracy of the encoder moving synchronously with the target product, the frame number of each target image and the position code; and the position distance of each detection station is calibrated according to the position code of the starting motion position of each detection station relative to the product mark. Thus, the calibration error is effectively reduced.

The present application relates to a flowered stereo calibration box and a camera calibration method based on an OCAM algorithm, wherein the flowered stereo calibration box comprises five checkerboards, each checkerboard is a regular row and column distributed black and white checkerboard, the bottom checkerboard is a square, the four side checkerboards are rectangles, the four side checkerboards are connected with one bottom side of the bottom checkerboard respectively, the four side checkerboards are equal to the included angle of the bottom checkerboard, and the four side checkerboards are divergent and inclined upward with the bottom checkerboard as the center; the checkerboard small grid of the bottom checkerboard is provided with a closed black frame, the black frame does not intersect with the checkerboard small grid; the three sides of the four side checkerboards which do not intersect with the bottom side of the bottom checkerboard are provided with black frames, the black frames are connected with the checkerboard small grid of the side checkerboard; and the bottom checkerboard is provided with four circular calibration points. The present application reduces the requirement for image quality, and improves the operation precision and operation efficiency of panoramic camera calibration.

The application provides a position calibration method and system of a mechanical arm and an electronic device. The first pose information set of a laser device in a first coordinate system when the laser device emits laser spots to a plurality of calibration points on a work plane is obtained. The first true value coordinate information set of the plurality of calibration points in a second coordinate system is obtained. The projection coordinate information set of the laser spots emitted by the laser device to the plurality of calibration points in the second coordinate system is calculated according to the first pose information set and an expected conversion relationship. The projection error is calculated according to the projection coordinate information set and the first true value coordinate information set. The expected conversion relationship is iteratively updated and the projection error is recalculated until the projection error converges. Then, the target conversion relationship from the first coordinate system to the second coordinate system is determined according to the expected conversion relationship corresponding to the projection error convergence. Thus, the non-contact calibration of the mechanical arm can be realized, and the calibration error of the mechanical arm can be reduced, and the calibration accuracy can be improved.

The invention discloses an orthopedic surgery robot calibration device and method, and the method comprises the steps: obtaining the real-time position of a tail end execution mechanism through a position sensor, comparing the obtained real-time position of the tail end execution mechanism with the initial position of the tail end execution mechanism when the tail end execution mechanism leaves a factory, and carrying out the calibration of the real-time position of the tail end execution mechanism, obtaining a calibrated position parameter; the torque sensor is used for collecting torque parameters borne by the tail end executing mechanism, the collected torque parameters are calibrated according to the calibrated position parameters, and the calibrated torque parameters reduce operation errors of surgical instruments; the initial position of the surgical instrument is adjusted according to the calibrated position parameters, the stress condition of the surgical instrument is adjusted according to the calibration data of the torque, the position parameters are corrected firstly, then the torque parameters are corrected in an auxiliary mode through the corrected position parameters, and the surgical precision and safety of the surgical robot are improved.

The invention relates to the technical field of infrared temperature measurement, in particular to an infrared temperature measurement system calibration device and method. An infrared temperature measurement system calibration device comprises a detector platform, a detector moving assembly, a reflector assembly and a black body platform assembly. The infrared detector is connected to the detector moving assembly; the detector moving assembly is connected to the upper surface of the front end of the detector platform; the upper surface of the rear end of the detector platform is provided with a rectangular groove, and the reflector assembly is hinged in the rectangular groove and can swing up and down. And the black body platform assembly is hinged and accommodated at two sides of the bottom of the rear end of the detector platform. The detector calibration device is compact in structure, easy to carry and erect and suitable for calibration requirements of infrared temperature measurement systems in various occasions, the detector is calibrated through the high-temperature end and the low-temperature end of the blackbody radiation source, calibration accuracy and reliability are improved, and the problems that an existing calibration process is complex in operation and low in efficiency are effectively solved.

This invention relates to the field of gas analyzer calibration technology, specifically to a method for reducing calibration errors. The method includes collecting historical calibration data and current environmental parameters using a calibration error reduction device to construct a dataset. The calibration error reduction device includes an integrated probe, an environmental simulation section, and an analysis section. The integrated probe is entirely housed within the environmental simulation section. A machine learning model is trained using the dataset to obtain a parameter recommendation model that correlates parameters with calibration effectiveness. Based on the parameter recommendation model, calibration gas is input into the environmental simulation section, and the internal and external pressure values ​​of the environmental simulation section are measured. Based on these pressure values, automatic zero-point calibration, CO2 multi-parameter collaborative calibration across a range, H2O cross-validation range calibration, and operational verification are performed sequentially. This invention solves the technical problem of significant calibration errors caused by large differences in the operating environment between traditional calibration processes and actual measurement processes.

The present application discloses a method and device for processing room point cloud data, an electronic device, and a storage medium. The method for processing room point cloud data includes: generating an initial spatial body model corresponding to the initial room point cloud data; determining a surface network model corresponding to the initial spatial body model; performing denoising processing on the initial room point cloud data according to the vertex data of the surface network model to obtain denoised point cloud data after denoising; determining the ground normal vector of the denoised point cloud data, performing coordinate rotation on the denoised point cloud data according to the ground normal vector to obtain rotated point cloud data after rotation; performing error registration processing on the rotated point cloud data to obtain processed target point cloud data. The embodiments of the present application can effectively reduce calibration errors, measurement noise, etc., improve point cloud accuracy and modeling correctness, make the room VR model generated according to the processed point cloud data more accurate, effectively reduce the steps of manual correction, and improve modeling efficiency.

The embodiment of the invention provides a method for evaluating the blood vessel stenosis rate. The method is used for improving the accuracy of the calculated blood vessel stenosis rate. The method provided by the embodiment of the invention comprises the following steps: acquiring a vector blood flow velocity of a blood vessel stenosis area; acquiring a hemodynamic parameter calculated based on the vector blood flow velocity, and / or acquiring a first characteristic parameter of a blood vessel cross section acquired based on the ultrasonic image of the blood vessel stenosis region, the hemodynamic parameters comprise at least one of blood vessel wall surface shear stress, an oscillation shear index, relative residence time, blood flow dispersion, blood flow, a resistance index and a pulsation index, and the first characteristic parameters comprise at least one of a diameter parameter of a blood vessel cross section and an area parameter of the blood vessel cross section; and calculating the stenosis rate of the blood vessel stenosis area according to at least two of the vector blood flow velocity, the hemodynamic parameter and the first characteristic parameter.

The invention provides an X data transmission phased-array antenna multi-beam-position phase calibration method, the calibration method is realized by a calibration device, the calibration device comprises a to-be-measured data transmission phased-array antenna, an L-shaped tool, a waveguide probe and a balancing weight, the to-be-measured data transmission phased-array antenna and the balancing weight are both installed on the L-shaped tool, and the waveguide probe is arranged right opposite to the L-shaped tool. The method has the advantages that compared with single-beam-position normal direction calibration, multi-beam-position simultaneous calibration is adopted during calibration, calibration errors are reduced, measurement results are more accurate, sampling time of single-beam-position data and sampling time of multi-beam-position data are the same when data are collected at the same time, and when the scale of an array plane is large, the measurement accuracy is improved. The multi-channel multi-beam-position phase can be obtained through one-time testing, and the testing efficiency is high.

This invention provides a Hall chip calibration structure, method, system, apparatus, and Hall chip, belonging to the field of chip technology. The Hall chip calibration structure includes: at least one calibration Hall disk, the shape of which is identical to the Hall disk used for functional implementation in the Hall chip to be calibrated; the calibration Hall disk is provided with an input terminal and an output terminal, the input terminal of which is connected to the output terminal of an external excitation, and the output terminal of which is used to output a Hall voltage. Compared with the prior art that uses circuits or modules for calibration, this significantly reduces calibration errors and improves the accuracy of calibration results.

The invention discloses a zero calibration method and device for a motor rotary transformer, and relates to the technical field of power electronics. The method comprises the steps that three-phase currents corresponding to all rotor expected angles in N rotor expected angles are provided for a three-phase winding of the permanent magnet synchronous motor, so that a rotor of the permanent magnet synchronous motor is controlled to rotate to stop at the corresponding rotor expected angles, and N is a positive integer larger than 1; under the condition that the rotor of the permanent magnet synchronous motor stops to each rotor expected angle in the N rotor expected angles, N rotary transformer measurement angles, fed back by the corresponding rotary transformer, of the rotor are obtained respectively; and according to the N rotor expected angles and the N rotary transformer measurement angles, rotary transformer deviation parameters of the rotary transformer are obtained through calculation. According to the embodiment of the invention, the zero calibration of the motor rotary transformer can be efficiently and accurately realized, the zero calibration efficiency of the whole motor rotary transformer is effectively improved, and the operation complexity of zero calibration is reduced.