24results about How to "Reduce positioning accuracy" patented technology

The invention discloses a dynamic window-based graph optimization GNSS (Global Navigation Satellite System) and IMU (Inertial Measurement Unit) integrated navigation method, which improves the adaptability, calculation efficiency and positioning accuracy of a system in a dynamic environment by introducing a dynamic window strategy and a key frame mechanism. According to the method, the size of a sliding window is dynamically adjusted according to a real-time motion state, environment change and computing resources: when the environment is complex or high precision is needed, the window is enlarged to contain more historical information; when the environment is stable or computing resources are limited, windows are reduced to improve computing efficiency. Meanwhile, threshold values of position and posture changes are set, and only when the variable quantity of the current state and the latest key frame state exceeds the threshold values, new key frame nodes are added, key motion information is captured, and redundant calculation is avoided; according to the method, the optimal balance between the positioning precision and the calculation efficiency in a complex dynamic environment is realized, the method is suitable for an embedded platform with limited resources, and the requirement of high-precision real-time navigation is met.

The invention relates to the field of servo motors, and discloses a motor rotor iron core and a motor cogging torque reduction method and device.The motor rotor iron core of a hemispheroid-like structure is composed of an iron core buckling point structure and a permanent magnet ring, and the outer contour of the bottom of the motor rotor iron core is a circle-like shape formed by connecting a plurality of three-section type geometric lines; the rotor has a unique three-section type rotor core excircle structure. According to the structure, the cogging torque can be reduced, the back electromotive force waveform sinusoidal property of the motor can be improved, the pole-arc coefficient is optimized by changing the circumscribed included angle between the straight line section and the arc section and the eccentric distance between the center of the arc section and the center of the rotor core, and the design target is completed through finite element analogue simulation analysis. Finally, the effects of reducing the cogging torque of the motor, improving the sine property of the back electromotive force waveform and guaranteeing the positioning and control precision of the motor are achieved.

This invention relates to the field of pile foundation testing, and more particularly to a pile foundation testing device and method for civil engineering construction. The device includes a tamping apparatus for testing the pile body and testing components. In this invention, when the pile body tilts, the light spot undergoes vertical and / or lateral displacement on the receiving plane. If the tilt causes the light spot to move upward or downward, it may partially or completely enter the light aperture range of adjacent adjustment apertures. For example, when the top of the pile tilts to the right, due to the clockwise rotation of the transmitting end, the projection point of the 45° beam moves upward on the receiving end plane. The light spot originally illuminating the middle adjustment aperture may simultaneously cover the edge of the light aperture of one or two upper adjustment apertures. If the tilt angle is large, the center of the light spot may completely move out of the original aperture and into the adjacent aperture area, or even cross multiple apertures. Therefore, the tilt amount of the pile body can be determined by monitoring the number of infrared receivers that have sensed infrared radiation.

The present invention provides a pressure water pipeline leakage detection / monitoring system, method and medium, including: a sensor device for sensing the leakage noise of the water pipeline; a data acquisition module for receiving the leakage noise sensed by the sensor device and converting it into a leakage noise digital signal; a central server receives the leakage noise digital signal fed back by the data acquisition module, analyzes the received leakage noise digital signal, determines whether the water pipeline is leaking through calculation and analysis, and locates the position of the leakage noise source according to the analysis result, that is, determines the position of the leakage point, and calculates the leakage amount at the leakage point; at the same time, the central server sends a control instruction to the data acquisition module to detect or monitor the leakage of the pressure water pipeline. The present invention detects / monitors the leakage noise of the pipeline, uses the source tracing method to accurately locate the position of the noise source, and calculates the noise source intensity, so as to achieve the purpose of leakage detection / monitoring.

Paper currencies are appropriately transported. A banknote transport diverting mechanism 1 includes: a switching gate 10 that is rotatable about a shaft 22 to predetermined multiple positions for switching transport paths 34 by connecting a set of transport passages among transport passages 30 to 32; a switching actuator 40 that rotates the switching gate 10; a contact portion that comes into contact with the switching gate to restrict a rotation range of the switching gate; a sensor that detects the switching gate in a switching position where a direction in which the switching gate rotates is switched; a control portion that controls the switching actuator and records a detection signal output from the sensor, an action amount in an abutment direction for moving the switching gate toward the contact portion, and an action amount in a search direction for returning to the switching position from a stop position of the switching gate that has moved by the action amount in the abutment direction. The control portion calculates, on the basis of the action amount in the abutment direction and the action amount in the search direction in a state in which the action amount in the abutment direction is greater than the action amount in the search direction, the phase between the contact portion and the switching position.

The utility model relates to a steel structure beam supporting device which comprises two fixing blocks which are arranged in a bilateral symmetry mode, a sinking groove is formed in the lower end face of each fixing block, each sinking groove penetrates through the adjacent end faces of the two fixing blocks, and a bearing rod is arranged between the two fixing blocks. The two ends of the bearing rod are arranged in the two sinking grooves respectively, transverse rods are fixed to the left end and the right end of the bearing rod, oblong holes are formed in the front end and the rear end of each sinking groove, a blind hole is formed in the end face of the outer side of each sinking groove, a supporting block capable of sliding left and right along the corresponding blind hole is arranged in each blind hole, and each supporting block extends out of the corresponding blind hole all the time and can be fixed to any position of the corresponding blind hole. The bearing rod is arranged in the sinking groove in the fixing block and connected with the transverse rod on the bearing rod through the long round hole, so that the bearing rod has a certain degree of freedom when the fixing block is installed, and the positioning accuracy of the fixing block during installation can be greatly reduced while the requirement for adaptive supporting of different cross beam and vertical beam included angles can be met; the mounting difficulty is reduced.

The invention relates to the technical field of seabed pile stabilizing, and discloses a pile stabilizing platform and a using method.The pile stabilizing platform comprises a traction system and seabed equipment and further comprises a control assembly, a pile stabilizing assembly and a leveling assembly, the pile stabilizing assembly comprises a sleeve, a triangular frame and an M-shaped righting assembly, and the seabed equipment is arranged in the triangular frame; the sleeves are fixedly connected to the triangular positions of the triangular frame, the M-shaped righting assemblies are annularly arranged on the peripheral sides of the sleeves, the clamping ends of the M-shaped righting assemblies extend into the sleeves, the leveling assemblies are distributed at the triangular positions of the triangular frame in pairs, and each leveling assembly is composed of a hydraulic leveling execution unit, a telescopic leg and a mud pad. The distance threshold monitoring module can monitor parameters of the end distance, the pushing distance and the supporting distance, the problem that a platform or a sleeve touches the bottom due to the fact that landform bearing and detection distance enter and exit is solved, the pushing length of the hydraulic leveling execution unit is shortened, the service life of an air cylinder is prolonged, and the stability of the air cylinder is improved.

The application relates to a positioning mechanism and a conveying system, which comprises a mounting base provided with a guide sliding hole penetrating through two ends, a positioning driver arranged on the mounting base, a positioning blocking shaft, the length direction of the positioning blocking shaft is provided with a connecting end and a positioning end respectively, the connecting end is connected with a telescopic shaft of the positioning driver, and the positioning blocking shaft is movably arranged in the guide sliding hole, and a matching block used for being mounted on a conveying trolley, the matching block is provided with a matching hole, and when the positioning driver drives the positioning blocking shaft to extend, the positioning end can be inserted into the matching hole. The strength of the positioning blocking shaft is enhanced, so that the positioning blocking shaft is not prone to bending deformation even if frequently impacted by the conveying trolley, the positioning precision of the positioning mechanism to the conveying trolley is ensured, the conveying trolley cannot accurately convey materials to a specified station, and the normal machining problem is solved.

The large die spotting machine with the rotary workbench comprises a base, a left machine frame, a right machine frame, a sliding table, an upper platform, a lower platform, a movable table, the rotary workbench and the like, the left machine frame and the right machine frame are arranged at the two ends of the base respectively, and the upper end of the left machine frame and the upper end of the right machine frame are connected with a top cover. One end of the upper platform is hinged to one end of the sliding table through a hinge, the lower platform is arranged on the base, the moving table is arranged on the lower platform, a rotating shaft is arranged on the center bottom face of the rotating workbench, and the rotating workbench is rotationally installed on the moving table through the rotating shaft. According to the utility model, the positioning precision is less than 0.05, the maximum rotation capacity of the equipment reaches 40 tons, the maximum static pressure bearing capacity reaches 600 tons, the die assembly of single-color, double-color and three-color dies can be met, the multi-purpose of one machine is realized, and the production efficiency is improved. The problems that an existing mold closing machine cannot achieve mold closing of a single-color mold, a double-color mold and a three-color mold on one device and a traditional mold closing machine can only conduct mold closing on one mold at a time are solved.

The invention provides a multi-source data fused power equipment fault root cause analysis method and system. The method comprises the steps of performing credibility evaluation on multi-source power equipment data; the power equipment comprises sensing monitoring data, operation and maintenance record data and power grid topology data; calculating a fusion weight according to a credibility evaluation result; fusing the power equipment data by using the fusion weight to obtain an equipment fault feature vector; performing correlation calculation on the fault root causes and the key features to obtain a correlation matrix; performing root cause matching degree calculation and screening according to the incidence matrix and the equipment fault feature vector to obtain candidate root causes; constructing a Bayesian network according to the candidate root causes and the corresponding key features, dynamically initializing the conditional probability of the Bayesian network by using real-time data update factors according to an incidence matrix, and adjusting the Bayesian network by using fault reasoning knowledge of a fault knowledge graph; and performing root cause screening on the equipment fault feature vector by adopting a Bayesian network to obtain a power equipment matching fault root cause and a corresponding confidence coefficient. Through the scheme, the accuracy and the disposal efficiency of fault root cause analysis in a complex scene can be improved, and the operation and maintenance cost is reduced.

The invention provides a positioning method and device, electronic equipment and a storage medium, the positioning method and device are applied to mobile equipment, the mobile equipment is loaded with an inertial measurement unit and an image acquisition unit, and the positioning method comprises the following steps: determining an initial state vector of the mobile equipment; data measured by the inertial measurement unit and data collected by the image collection unit are obtained, timestamp matching is carried out on the data measured by the inertial measurement unit and the data collected by the image collection unit, first data and second data are obtained, the first data comprise accelerated speeds and angular speeds at multiple moments, and the second data comprise accelerated speeds and angular speeds at multiple moments; the second data comprises feature points corresponding to a plurality of moments; determining a first pose of the mobile device at the current moment based on the first data and the initial state vector; determining a second pose of the mobile device at the current moment based on the first pose and the second data; and determining a current pose of the mobile device based on the first pose and the second pose. According to the technical scheme, the positioning precision can be improved.

This disclosure provides an elevator positioning method and an elevator positioning device that can suppress the reduction in positioning accuracy of the landing sills of each floor. In the elevator positioning method, in the target floor setting step (S5), the floor immediately above the reference floor where the positioned landing sill is located is set as the target floor. In the sill positioning step (S6), the target sill (3b) of the target floor is positioned with reference to the reference sill (3a) of the reference floor. The sill positioning step (S6) includes a light emitter step, a light receiver step, and an adjustment step. In the light emitter step, a light emitter (51) is installed on the reference sill (3a), and in the light receiver step, a light receiver (52) is installed on the target sill (3b). In the adjustment step, after the light emitter step and the light receiver step, the position of the target sill (3b) relative to the reference sill (3a) is adjusted based on the amount of light received by the light receiver (52) that receives the laser emitted from the light emitter (51).

The application belongs to but is not limited to the technical field of indoor positioning and navigation, and discloses a GNSS signal forwarding-based indoor floor identification method and system based on CNN-SVM; the method obtains GNSS original observation data by deploying a GNSS signal forwarding system in an indoor environment, extracts satellite observation features mainly including satellite number, pseudo-range, carrier phase, signal-to-noise ratio and carrier-to-noise density ratio, extracts deep features by using a convolutional neural network, and completes floor classification by using a support vector machine, so that indoor floor identification is realized under the condition of reducing dependence on Wi-Fi or a barometer.

The utility model discloses an energy accumulator, which relates to the technical field of fluid energy storage equipment and comprises an energy accumulator body, a piston, a heavy hammer and an air bag, the energy accumulator body comprises an energy accumulator cylinder body; the lower portion of the energy accumulator cylinder body is provided with an oil inlet connector, an oil discharge connector and an oil supply port, and the upper portion of the energy accumulator cylinder body is provided with an oil recovery port. The piston, the heavy hammer and the air bag are arranged in the energy accumulator cylinder body; the heavy hammer is arranged above the piston; an air bag is arranged in a central groove in the lower part of the piston; the piston lifting device comprises a driving unit and a pulley mechanism; the driving unit is connected with the pulley mechanism, and the pulley mechanism is connected with the piston, so that when the piston, the air bag and the heavy hammer act together, the effect of the heavy hammer energy accumulator which assists in increasing the pressure regulating reaction speed through the air bag is achieved; or when the driving unit, the pulley mechanism, the piston, the heavy hammer and the air bag act together, the effect of the heavy hammer energy accumulator which can adjust the output pressure through the driving unit and can assist in improving the pressure adjusting reaction speed through the air bag is achieved.

The application discloses a navigation path generation method, system, electronic equipment and readable storage medium, and relates to the navigation field, and solves the problems of reduced positioning accuracy and significant influence of light conditions in the prior art navigation path generation technology in a crop canopy shielding scene. The application discloses a navigation path generation method, which comprises the following steps: in a data acquisition stage, three-dimensional point cloud data is obtained by using a laser radar sensor; in a plane projection stage, vertical projection is performed on the three-dimensional point cloud data to obtain two-dimensional projection point cloud; in an inner crop row extraction stage, the two-dimensional projection point cloud is segmented to obtain left crop fitting parameters and right crop fitting parameters; and in a navigation path generation stage, three-level smoothing processing is performed based on the left crop fitting parameters and the right crop fitting parameters, smooth navigation path is obtained, and the generation of the navigation path is completed. The application is suitable for the fields of agricultural robots, autonomous navigation, laser radars, point cloud processing and precision agriculture.

The application discloses a kind of precision manufacturing annular permanent magnet synchronous motor anti-interference control methods, comprising:1, design annular permanent magnet synchronous motor;2, according to the annular permanent magnet synchronous motor of design constructs annular permanent magnet synchronous motor second-order motion equation;3, based on annular permanent magnet synchronous motor second-order motion equation, constructs adaptive nonlinear disturbance observer;4, based on fixed time control principle, design single-loop speed-current fixed time controller and fixed time d-axis current controller, obtain q-axis reference voltage and d-axis reference voltage.The application can improve the response speed of annular permanent magnet synchronous motor, steady precision, control bandwidth, and then improve the machining precision of precision manufacturing system.

The invention relates to the technical field of powder-liquid double-chamber bag production, and discloses a powder-liquid double-chamber bag lamp inspection bag feeding device and method.The lamp inspection bag feeding device comprises a first-stage carrying mechanism, a bag arranging annular belt mechanism, a second-stage carrying mechanism and a lamp inspection annular belt mechanism, and the bag arranging annular belt mechanism is provided with a plurality of first-stage clamping stations; the first-stage carrying mechanism grabs the powder-liquid double-chamber bags and enables the powder-liquid double-chamber bags to enter first-stage clamping stations, the bag arranging annular belt mechanism transfers the powder-liquid double-chamber bags to the second-stage carrying mechanism, the second-stage carrying mechanism comprises a carrying rack and a grabbing clamp, and the lamp inspection annular belt mechanism is provided with a plurality of second-stage clamping stations. The carrying rack can drive the grabbing clamp to reciprocate in the horizontal direction and the vertical direction, the grabbing clamp is used for grabbing and releasing a plurality of powder-liquid double-chamber bags at the same time, the second-stage carrying mechanism grabs the powder-liquid double-chamber bags in the first-stage clamping station and presses the powder-liquid double-chamber bags into the second-stage clamping station, and the lamp inspection annular belt mechanism transfers the powder-liquid double-chamber bags to a lamp inspection area. The two-stage grabbing and positioning mechanism with progressive precision is adopted, accurate positioning of the powder-liquid double-chamber bag is completed step by step, the positioned powder-liquid double-chamber bag is automatically conveyed to the lamp inspection procedure, and the powder-liquid double-chamber bag clamping and positioning device has the advantages of being high in clamping and positioning precision and automation degree, saving manpower, improving production efficiency, reducing production cost and the like.

The present application relates to a kind of intensity adjustable wide spectrum light source device, including solar tracking system, secondary mirror array system, sample support.Solar tracking system receives and reflects sunlight to secondary mirror array system, secondary mirror array system is reflected to secondary reflection, secondary reflection light is focused to the irradiation experimental sample fixed by sample support on it.This application also relates to a kind of light intensity time-varying adjustment method, including the steps of sun tracking, light intensity adjustment, irradiation experiment.The present application can realize automatic sun tracking, ensure the accurate positioning of the irradiation area of the light spot formed by secondary reflection light, and the positioning accuracy is less than 1mrad.The intensity of secondary reflection light irradiated to sample can be adjusted, the irradiation light spot is uniform, the power consumption is small, the maintenance is simple, the use efficiency is high, the floor area is smaller, and the use requirements in laboratory environment are met.

The invention relates to the technical field of radar navigation, in particular to a navigator for a spraying robot, which comprises a shell, a laser radar, an optical lens, a cooling fan, an electric push rod, a sliding shield and the like, a laser radar is arranged in the shell; an optical lens is arranged on the front side of the laser radar; the front side of the housing is provided with a window, and the window is flush with the laser radar. The shell is fixedly connected with a cooling fan, and the cooling fan is located behind the laser radar. The shell is fixedly connected with a plurality of electric push rods; and the telescopic parts of all the electric push rods are fixedly connected with a sliding protective cover. The cooling fan rotates to drive air to blow out downwards from the flow channel along the surface of the sliding shield, an air curtain is formed on the surface of the sliding shield, the surface of the sliding shield is cleaned and protected, and coating and dust in external air are prevented from being attached to the surface of the sliding shield and reducing the positioning precision of the laser radar.

The application discloses a kind of visual positioning method and system for building robot.The visual positioning method includes: obtaining the positioning image of positioning target, judging whether the target image in positioning image is complete based on pre-constructed identification model, when target image is not complete, it is defined as broken target;Based on the pre-stored complete target, the broken target is corrected and completed to generate a completed image;According to the completed image and the parameters of the robot itself, the position and posture of the robot are calculated;Two-way pose data are obtained based on the inner code and outer code of the completed image respectively, each way of pose data is information scored according to the preset parameters, and the position and posture of the robot are adjusted according to the information score, wherein the completed image includes outer code and inner code arranged in outer code.The technical scheme of the application can effectively improve the visual positioning accuracy of the robot in complex engineering environment and reduce safety accidents.

The utility model relates to an automatic boat carrying device for annealing quartz boats, which comprises an extension frame, a movable frame, a movable frame and a control device, wherein one end of the extension frame extends out of annealing equipment; the three-axis moving mechanism comprises an X-axis moving assembly, a Y-axis moving assembly and a Z-axis moving assembly; the boat carrying assembly is connected with the three-axis moving mechanism, the boat carrying assembly is used for clamping the quartz boat, and the three-axis moving mechanism is used for driving the boat carrying assembly to move; the boat carrying assembly comprises a mounting frame body and a plurality of clamping assemblies, and quartz boats are clamped among the clamping assemblies. According to the automatic boat carrying device for the annealing quartz boat, the three-axis lifting mechanism can move in three directions, so that the positioning precision of the boat in transmission can be reduced; the stroke is increased through the extension of the frame, and the frame can be directly placed on butt joint equipment and does not need to be overlapped with the butt joint equipment frame, so that the equipment width is effectively shortened, the space above is fully utilized, the structure is compact, the space utilization rate of the equipment is improved, and the optimization of plant layout is facilitated.

According to the short line method prefabricated segment beam installation system and the construction method, firstly, pier top cast-in-place section pouring construction is conducted by means of a first section matching beam, and then installation of a middle segment beam and a closure segment is conducted in sequence; assembling type vertical supporting frames and sliding supporting frames are arranged on the outer side of the cast-in-place pier; the transverse position of the first section matching beam is controlled through the inclined tie bar, the height adjusting body and the transverse tie bar; height lifting and lifting construction of the prefabricated segmental beam are conducted by means of a segmental lifting body and a beam erecting crane; when a closure section is installed, transverse pressure and pulling force are applied to the first section beam and the second section beam through the opposite supporting and pressing ribs and the supplementary pulling ribs, and freezing shrinkage of the first section beam and the second section beam is conducted synchronously through the external water cooling system and the inner freezing pipe. The installation quality and efficiency of the prefabricated segmental beam can be improved, and the site construction difficulty is reduced.

The application discloses an UWB error compensation positioning method based on Vegas+ algorithm improvement, relates to the technical field of indoor accurate positioning, and mainly comprises the following steps: obtaining a preliminary sample set by preprocessing original collected data, obtaining a complete sample set by using a VEGAS+ algorithm for secondary sampling, constructing a space error function by using a sparse polynomial to obtain an error model, and performing error prediction and compensation on UWB real-time positioning results to obtain a corrected position signal. The UWB error compensation positioning method based on Vegas+ algorithm improvement can reduce delay and positioning error, and improve long-term stability and environmental adaptability of the system.