62results about How to "Simplify the calibration process" patented technology

The invention discloses an efficient somatosensory interaction prop and a physical space calibration method thereof, and the calibration method comprises the steps: S1, obtaining the internal parameters of cameras, the external parameters between the cameras, and the external parameters between the cameras and a display; s2, collecting data in interaction prop movement; s3, calculating the three-dimensional coordinate position of the light-emitting point through the internal reference of the camera and the external reference between the camera and the display, and converting the three-dimensional coordinate position of the light-emitting point to a spatial position taking the center of the display as the center of a world coordinate system to obtain the spatial position of the light-emitting point in the world coordinate system of the display; s4, interpolating the attitude data of the cascade inertial sensor IMU into the three-dimensional coordinate data of the luminous point according to a second timestamp to obtain the attitude data of the cascade inertial sensor IMU after interpolation; and S5, constructing a nonlinear equation set, and solving the nonlinear equation set to obtain the initial position and the initial attitude of the interactive prop and the relative coordinates of the luminous point in the space.

The invention discloses a three-dimensional geometric reconstruction camera calibration method and system, and relates to the technical field of three-dimensional geometric reconstruction, and the method comprises the steps: S1, image collection; s2, automatic calibration point selection; s3, estimating camera parameters; s4, distortion correction is carried out; and S5, performing three-dimensional reconstruction verification. According to the three-dimensional geometric reconstruction camera calibration method and system, a calibration point does not need to be selected manually, the calibration process is simplified, the complexity and time cost of the calibration process are reduced, a high-precision calibration result can be obtained without shooting a plurality of plane images and carrying out a plurality of optimization iterations, and the calibration efficiency is improved. The calculation amount and the time cost are further reduced, and camera calibration can be quickly and accurately realized; in addition, nonlinear distortion of a camera lens is fully considered, the calibration precision is further improved, and the method is particularly suitable for the situation that a wide-angle lens is used or an image contains large distortion.

The invention relates to the technical field of semiconductor test equipment, in particular to a full-automatic high-precision probe station, which utilizes multi-physics field coupling sensing and compensation to remarkably improve the positioning precision: by comprehensively collecting multi-physics field data such as a temperature field and a stress field and combining a coupling algorithm to optimize a compensation strategy, multi-factor interference is effectively counteracted, and the accuracy of the probe station is improved. The positioning repetition precision can reach + / -0.05 [mu] m, and the test requirement of the advanced semiconductor technology is met; a dynamic three-dimensional modeling technology and dynamic adaptability enhancement are achieved, a dynamic three-dimensional modeling system with the size affected by multi-physical field data can update the form of a test target in real time, test deviation caused by target deviation or surface fluctuation is avoided, and the adaptability of equipment to a complex test scene is improved. The automation degree is high, the testing efficiency is improved, the whole process of data acquisition, modeling, compensation and testing can be completed without manual intervention, the calibration process is simplified, the testing period is shortened, and the method is suitable for batch detection scenes.

The invention relates to an industrial robot control method. The industrial robot control method comprises the following steps: S1, initializing a system: setting an initial position coordinate, an attitude angle and a speed of a robot; s2, state acquisition: high-precision position sensors and speed sensors are mounted on a base, arm joints and an end effector of the robot to cover all degrees of freedom of the robot, sensor data including a position Pt and a speed Vt are recorded regularly, and position coordinates and speed of each joint are recorded; and S3, deviation calculation: calculating the ideal position of the robot according to the theoretical model, and extracting the actual position of the robot from the position sensor data. According to the overall system provided by the embodiment of the invention, the improved particle swarm optimization algorithm is introduced, real-time online correction of the positioning deviation of the robot is realized, manual intervention is not needed in the process, the system automatically responds, and it is ensured that the robot can keep high-precision operation performance in various complex environments.

This invention provides a depth mapping calibration method and system based on liquid lens control parameters, belonging to the field of optical measurement calibration technology. The calibration method includes: acquiring calibration points at multiple known depth locations corresponding to the liquid lens control parameters and depth locations; preprocessing the calibration points; establishing a bidirectional mapping relationship between the control parameters and depth locations using a monotonically holding piecewise interpolation fitting algorithm (preferably PCHIP); and saving the calibration configuration. This invention solves the depth measurement accuracy problem caused by the nonlinear response of the liquid lens, achieving scan control with equal physical depth steps through precise calibration mapping, thus improving the accuracy and stability of depth-focused three-dimensional measurement. The method has a simple calibration process, is suitable for rapid on-site calibration, and its unified configuration management facilitates traceability.

The utility model relates to the technical field of water faucet, concretely relates to a bathroom faucet convenient to assemble, technical solution main points include valve body, valve core subassembly, end cover and handle, the hot water flow channel, cold water flow channel, water outlet flow channel and installation groove are arranged in the valve body, the tank bottom of installation groove sets up hot water hole, cold water hole and water outlet hole, the isolation department is arranged in the valve body, the isolation department is symmetrically arranged two and separates hot water and cold water, two isolation departments form the hook groove area, the canyon area, hot water hole, cold water hole are in the hook groove area, and water outlet hole is in the canyon area, and at least two positioning grooves are arranged on the tank bottom, the positioning column of two with the positioning groove insertion is arranged on the valve core subassembly, makes the water pass hole of valve core subassembly and hot water hole, cold water hole and water outlet hole mutually coincide. The utility model realizes reliable convenient assembly through above -mentioned structure.

The invention relates to the field of phased radars, and discloses an active phased array radar calibration method, which is used for improving the accuracy of actually measured phase data. Comprising the following steps: calculating theoretical excitation phases of radiation units according to an antenna array physical geometric structure and a target beam directional angle; enabling the antenna to sequentially excite the radiation units and collect coupling signals in a single-channel mode, and performing analysis to obtain an actually measured amplitude, a phase and a phase deviation; synthesizing the theoretical excitation phase and the phase deviation to generate an actual emission phase, and constructing a phase compensation lookup table; and after compensation by using the lookup table, measuring the actual directional diagram, and if not, performing fine adjustment. The calibration precision and reliability are improved, and the high-precision detection requirement of the active phased array radar can be met.

The invention provides a spark source atomic emission spectrometry determination method for acid-soluble aluminum and inclusion aluminum, and belongs to the technical field of assessment of inclusions in steel. The spark source atomic emission spectrometry determination method for acid-soluble aluminum and inclusion aluminum comprises the following steps: establishing a calibration curve of all aluminum, then determining integral intensities of inclusion aluminum, all aluminum and acid-soluble aluminum in a sample under corresponding conditions, and calculating the intensity of the inclusion aluminum by using a difference value between the integral intensities; selecting two standard samples with adjacent strength according to the strength of aluminum inclusion in the sample, and calculating a calibration coefficient K according to the aluminum content Al% lt; the excitation rate F is calculated according to the peak integral intensity of the inclusion aluminum and the integral intensity of the total aluminum in the 0.0007% standard sample, the inclusion aluminum content Als% is equal to K * F * (IAlt-IAls), and the content of the acid-soluble aluminum is equal to the difference between the content of the total aluminum and the content of the inclusion aluminum. According to the method, the accuracy of a measurement result is effectively improved while high analysis speed, low cost and simplicity and convenience in operation are ensured.

The application discloses an R-2R digital-analog converter with an auxiliary calibration structure and relates to the technical field of high-precision digital-analog conversion. The converter comprises a main DAC, a calibration quantity calculation module, a compensation code generation module, an auxiliary DAC and an operational amplifier circuit. The main DAC converts a digital input into an analog current. The calibration quantity calculation module generates a 15-bit compensation code containing a 1-bit sign bit and a 14-bit data bit through a 24-bit ADC, a comparator and successive approximation logic, and only calibrates the high 12 bits of the main DAC bit by bit, and the low 4 bits do not need to be calibrated. The compensation code generation module generates a total compensation code through gating by a multiplexer and superposition by an adder. The auxiliary DAC is a 14-bit binary current type structure, and realizes bidirectional compensation in cooperation with a positive and negative reference voltage source. The application has the advantages of short calibration period, small storage consumption, no need for additional bias calibration, excellent linearity, and suitability for application in the fields of wireless communication, biological medicine and the like, and meets the application requirements of high resolution and high precision.

The invention discloses a sensor data processing method and device, electronic equipment and a readable storage medium, and belongs to the technical field of data processing. The method comprises the steps of obtaining fisheye image data collected by a fisheye camera of a target vehicle, wherein the fisheye image data comprises image data of calibration cloth at a preset position of the target vehicle; acquiring first internal reference data of the fisheye camera, and determining target image coordinate data of the calibration cloth corner point based on the fisheye image data and the first internal reference data; acquiring space coordinate data of the calibration cloth corner point, and determining a first mapping relation according to the target image coordinate data and the space coordinate data; and determining external parameter data of the fisheye camera according to the first internal parameter data and the first mapping relation. According to the embodiment of the invention, the calibration process of the single equipment in the vehicle is simplified.

This invention discloses an automatic calibration method for dual robots in confined spaces based on adaptive point planning, belonging to the field of dual robot calibration technology. Based on the ROS architecture, a three-dimensional simulation model of the dual-robot workspace is constructed on the Rviz platform. A collision detection module is used to randomly generate calibration points composed of collision-free joint angle vectors of the two robots. While driving the robots, motion capture camera data and the Cartesian coordinates of the dual robots' forward kinematics are simultaneously acquired. A hand-eye calibration algorithm is used, optimized by the least squares method to obtain the calibration result, and its validity is determined by the average value of the data calibration accuracy until the dual-robot calibration is complete. This invention integrates simulation modeling, collision detection, and hand-eye calibration technology. Through an adaptive sampling strategy and a synchronous data acquisition mechanism, the complex calibration problem is transformed into a virtual environment parameter optimization process, significantly improving calibration robustness and accuracy, and providing a guarantee for high-precision collaborative control of dual robots.

The present application relates to a kind of based on infrared detection's aviation piston engine throttle and opening detection and control method, belong to aero-engine control technical field.It includes: in the two ends of the cavity of throttle body respectively setting the transmitting end and receiving end of infrared detection device, receiving end according to the light intensity signal output corresponding voltage signal that changes with the throttle opening change;Engine ECU calculates throttle opening according to the voltage signal output by receiving end, realizes throttle opening detection;Based on the opening deviation between the opening calculated and the target opening preset by engine ECU, throttle opening feedback control is carried out, until the opening deviation between the actual opening of throttle and the target opening reaches within the set range.The present application can avoid throttle jam caused by mechanical failure, reduce the failure rate of throttle body, improve the feedback regulation accuracy of throttle body.

The invention discloses correction equipment which comprises a supporting frame, and the supporting frame is provided with a machining platform. The cushion block is located on the machining platform and used for supporting a workpiece to be machined; the pressure piece is installed on the supporting frame and located above the cushion block, and the pressure piece is configured to extrude the to-be-machined piece located on the cushion block in the vertical direction; and the cushion block is configured to move on the machining platform in the first direction, so that the projection area, on the pressure part in the vertical direction, of the cushion block is changed in the first direction. According to the correction equipment, the size of the correction area of the to-be-machined part can be adjusted, so that the local small-range deformation of the to-be-machined part is conveniently corrected, the correction equipment is simple in structure, and the correction procedure is simplified.

The invention provides a bandwidth calibration circuit of an active filter and a bandwidth calibration method of the active filter. The bandwidth calibration circuit of the active filter comprises a frequency divider, a detection module and a control module, wherein the frequency divider is used for carrying out frequency division on an input clock signal, generating at least two paths of switching signals and transmitting the switching signals to the detection module; the detection module is used for responding to the at least two paths of switching signals, detecting whether the bandwidth parameter of the active filter reaches a preset parameter range, and if not, sending a driving signal to the control module; and the control module is used for calibrating a control signal based on the driving signal, and the control signal is used for controlling on-off of a capacitor in the active filter. Through the bandwidth calibration circuit, it is ensured that the active filter always operates within the optimal performance range, the bandwidth calibration precision and efficiency are improved, the calibration process is simplified, the flexibility and reliability of the system are enhanced, the bandwidth calibration circuit is suitable for various application scenes, and the overall performance and stability of the active filter are remarkably improved.

The present invention discloses an online calibration device and method for the position and posture of a three-dimensional camera for an industrial robot, including an industrial robot driving a calibration stereo target to move to a calibration point in a certain posture; the three-dimensional camera can measure the three-dimensional point cloud data in space, and output the calibration stereo target and the local three-dimensional point cloud data of the nearby structural parts to the calibration control module of the industrial control computer, the calibration control module processes and solves to obtain the three-dimensional coordinates of the visible calibration feature vertices in the three-dimensional camera coordinate system; identifies and retrieves to obtain the three-dimensional coordinates of each visible calibration feature vertex in the industrial robot coordinate system; solves to obtain the coordinate conversion matrix between the three-dimensional camera and the industrial robot. The present invention does not require additional calibration tooling accessories, has the characteristics of high efficiency and high precision, and can also verify or calibrate the coordinate conversion matrix of the three-dimensional camera and the industrial robot online after the manipulator is installed and during use.

The invention discloses a multi-IMU (Inertial Measurement Unit) distributed attitude estimation adaptive fault tolerance method based on closed-loop feedback. According to the method, a closed-loop feedback architecture of'calibration data drive threshold generation, threshold guidance fault detection and detection result optimization fusion weight 'is constructed. The method comprises the following steps: deploying a plurality of IMU nodes and marking microsecond-level timestamps, and realizing online calibration by utilizing multi-surface overturning so as to obtain relative attitude constants among the nodes; dynamically generating a self-adaptive threshold strongly correlated with the node pair based on the calibration data, and continuously updating to compensate for sensor aging and temperature drift; carrying out Byzantine fault-tolerant level fault detection by adopting a space-time redundancy mechanism; and finally, performing weight-adaptive complementary filtering fusion on normal nodes according to a detection result. According to the method, the problems of threshold stiffness, calibration dependence on tools, weak fault-tolerant capability and the like in the prior art are thoroughly solved, high-reliability and high-precision attitude estimation is realized, and the method is easy to operate and maintain.

The utility model relates to rail flaw detection technical field, and disclose a new type railway double rail flaw detection car flaw dynamic and static calibration test block. The new type railway double rail flaw detection car flaw dynamic and static calibration test block, including base plate and rail, the rail includes rail head, rail waist and rail bottom, the top fixedly connected with the rail of base plate is before and after symmetry distribution, the surface of rail head all is inlayed and set with wear -resisting alloy layer, the surface of rail head all is equipped with transverse slot type defect, this device has the advantages such as simplifying calibration procedure, improving calibration stability, reducing economy and site restriction, perfecting detection function, reducing comprehensive cost and improving centring accuracy, guaranteeing the accuracy and efficiency of flaw detection car detection, adapting to the development demand of railway flaw detection technology, solve the calibration operation of the existing railway double rail flaw detection car flaw dynamic and static calibration technology complicated, poor stability, is restricted by economy and site, test block function is insufficient, detects the cost is high and the problem of low centring calibration accuracy.

The application discloses a high-precision six-axis motion platform, which comprises a steel frame assembly, a stone material assembly, an XY-axis assembly, an AC-axis rotary table, a Z-axis assembly and a B-axis rotary table, the stone material assembly is installed on the steel frame assembly, the XY-axis assembly is installed on a base of the stone material assembly, the AC-axis rotary table is horizontally installed on a Y-axis load plate of the XY-axis assembly, the Z-axis assembly is vertically installed on a cross beam of the stone material assembly, and the B-axis rotary table is installed on a Z-axis load plate of the Z-axis assembly. The six-degree-of-freedom independent collaborative control is realized through the brand-new modular independent partition structure and the direct drive transmission-free scheme, the transmission gap and coupling error are eliminated from the mechanical root, the platform positioning precision, the dynamic response speed and the structural rigidity are simultaneously improved, the assembly and calibration process is simplified, the production and maintenance costs are reduced, and the high-precision operation of the semiconductor and optical detection fields is adapted to the harsh working conditions.

The present invention provides a dust monitor and a working method thereof, wherein the working method of the dust monitor comprises a measuring stage and a calibration stage; the calibration stage is as follows: a light source emits a measuring light; a rotating part of a calibration chamber rotates to a first working state, the measuring light is blocked by an optical window having a zero transmittance to the measuring light on the rotating part, the light emitted from the calibration chamber enters a detector, and a zero point calibration is performed according to an output signal of the detector; as the rotating part rotates, the measuring light passes through optical windows having different transmittances to the measuring light in different time periods, the transmittance of the optical windows to the measuring light is between 0 and 100%, and then passes through the interior of the calibration chamber and an exit window, the scattered light emitted from the calibration chamber enters the detector, and a range and linear calibration is performed according to the output signal of the detector. The present invention has the advantages of convenient and accurate calibration.

This invention relates to the field of rehabilitation training equipment technology, specifically disclosing a wearable postoperative pulmonary function rehabilitation training device for respiratory medicine, including a front chest protective pad and a back protective pad behind the front chest protective pad; a chest impedance sensor is arranged on the inner side of the front chest protective pad near the two side edges, and a pressure and temperature sensor is arranged on the inner side of the chest impedance sensor; through the wearable structure of the front chest and back protective pads, and through the adhesive pads, it can be easily worn, providing comprehensive protection for the chest surgical incision, avoiding traction and collision damage, and breaking the activity restrictions of traditional equipment, allowing patients to train simultaneously in daily activities. It also integrates chest impedance, incision pressure and temperature sensors to monitor relevant indicators in real time and display them on the screen. Furthermore, it achieves precise oxygen supply during training through a built-in oxygen pump and integrated tracheal passage, without the need for additional equipment, realizing the integration of protection, monitoring, training and oxygen supply, and solving the core defects of traditional equipment.

The invention relates to the technical field of unmanned vehicles, and provides a sensor module of an unmanned vehicle and the unmanned vehicle, and the sensor module comprises a housing assembly which comprises an upper cover plate and a lower cover plate which are buckled with each other, and the middle part enclosed by the upper cover plate and the lower cover plate forms an accommodating space; the radar assembly comprises a first radar and a second radar, the first radar is arranged at the top of the upper cover plate, and the second radar is arranged on the side wall of the lower cover plate; the camera assembly comprises a first camera, a second camera and a third camera which are respectively arranged on the side wall of the lower cover plate; the inertial navigation assembly is arranged in the accommodating space and is positioned below the first radar; and the antenna assemblies are arranged in the accommodating space and are symmetrically arranged on the two sides of the inertial navigation assembly. The radar assembly, the camera assembly, the inertial navigation assembly, the antenna assembly and other assemblies are arranged in one module in a centralized mode, scattered installation is avoided, integrated and modular design is achieved, and the structure is simple and reasonable.

This invention relates to a high-precision pose measurement method based on docking surface features, to solve the technical problems of high equipment cost, complex calibration process, and susceptibility to industrial environment in existing large component assembly methods. The method includes: 1. building an assembly platform; 2. calibrating the intrinsic parameters of a monocular vision sensor; 3. calibrating the monocular vision sensor and motion execution components using a hand-eye calibration method; 4. calibrating the corresponding target and pin hole; 5. measuring the pose of the first component relative to the second component.

The invention relates to a low-frequency high-electric-field radiation testing device, system and method, and the device comprises an input end which is used for transmitting an electromagnetic signal; the load end is used for receiving an electromagnetic signal; the bracket is arranged between the input end and the load end; two ends of the transmission line group are respectively connected with the input end and the load end, the middle part of the transmission line group is erected on the bracket, and the transmission line group is used for generating an electromagnetic field below when an electromagnetic signal is introduced and taking the electromagnetic field as a test area; the transmission line group is provided with a plurality of transmission lines, one end of each transmission line is radially erected on the support with the input end or the load end as the center, and the middle of each transmission line is erected on the same horizontal plane at a preset interval. According to the low-frequency high-electric-field radiation testing device, system and method provided by the invention, the problems of non-uniform field intensity, low test efficiency and high cost of a traditional antenna radiation mode in an HIRF test can be solved, a more uniform radiation field is realized, the test efficiency is improved, and the test cost is reduced.

This disclosure describes a sensing capability resistant to crosstalk. A current sensor is provided for a target conductor among a plurality of conductors. The current sensor includes at least one magnetic sensor configured to provide two signals representing two different parameters of a field, the two different parameters being different components or their directional derivatives (e.g., gradients). The current sensor also includes a processor configured to derive a signal indicating a current based on a linear combination of a first signal and at least a second signal. At least one of these signals is weighted by coefficients that are constants selected based on the distance between the sensor and at least one of the plurality of conductors in at least a first or second direction. The coefficients are selected to reduce the contribution of parasitic magnetic fields to the signal indicating a current in the first conductor, wherein the parasitic magnetic field is generated by at least one other conductor.

This utility model provides a level tilt alarm device and a level instrument, including a control module, a gyroscope, an alarm module, and a power module. The control module includes a microcontroller, which receives and analyzes the monitoring data from the gyroscope and controls the alarm module to sound an alarm. The gyroscope is connected to the microcontroller. The alarm module includes a sound alarm module, a light alarm module, and a connector. The sound alarm module and the light alarm module are electrically connected to the microcontroller and the connector, respectively, and the connector is electrically connected to the microcontroller. The level tilt alarm device and level instrument described in this utility model monitor the tilt angle of the level instrument through the gyroscope. The alarm module integrates sound and light alarm modules, with a buzzer built into the eyepiece mount providing auditory cues and an alarm light located inside the eyepiece barrel providing visual warnings, forming a dual alarm mechanism.

The invention provides an aspheric system error calibration method and device, and relates to the technical field of aspheric system error calibration, and the method comprises the steps: obtaining an alignment error; acquiring a rotational symmetry part of the measured aspheric surface at the first wavefront of the original measurement position and a rotational symmetry part of the measured aspheric surface at the second wavefront after the measured aspheric surface is translated by the preset distance along the optical axis; calculating an error surface according to the rotational symmetry part of the first wavefront, the rotational symmetry part of the second wavefront and the alignment error; fitting the error surface with a pre-constructed rotational symmetry error base, and solving a coefficient of each rotational symmetry error term; according to the coefficient and the rotational symmetry error substrate, reconstructing a rotational symmetry surface shape component of the measured aspheric surface; obtaining a rotational symmetry part of a system error according to the difference between the rotational symmetry part of the first wavefront and the reconstructed rotational symmetry surface shape component; according to the invention, the calibration process is obviously simplified, the measurement time is shortened, and the calibration efficiency is improved.

The invention relates to the field of force sensors, and discloses an orthogonal bidirectional force sensor of a variable cross-section cantilever structure and a measurement method, and the orthogonal bidirectional force sensor comprises a base, an elastic body, a first strain gauge group for detecting a first direction load component, a second strain gauge group for detecting a second direction load component, and a signal processing unit. The first direction is orthogonal to the second direction; the elastic body comprises a first cantilever and a second cantilever, the root of the first cantilever is fixed to the base, the tail of the first cantilever is perpendicularly connected with the side face of the root of the second cantilever, the tail of the second cantilever is a free end, the first strain gauge set is arranged on the first cantilever, and the second strain gauge set is arranged on the second cantilever. The first strain gauge group and the second strain gauge group are connected with the signal processing unit; the first cantilever adopts a first variable cross-section design. The invention has the advantages that the cross interference is reduced, the optimal balance between the sensitivity and the rigidity is realized, the space compactness and the integration degree are extremely high, and the manufacturing and calibration process is simplified.

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.