34results about How to "There is no cumulative error" patented technology

The invention discloses a laser radar point cloud motion distortion correction method, and belongs to the technical field of unmanned vehicle automatic driving. The method aims at solving the problem that in laser radar point cloud motion distortion correction, the displacement accumulative error of an external sensor is large. The method comprises the following steps: adopting an RTK as a pulse generator, and synchronously triggering a laser radar and an IMU; establishing a global coordinate system for the first frame point cloud of the laser radar; establishing a local coordinate system for non-first frame point clouds; converting the corresponding IMU coordinate system into the local coordinate system; obtaining the IMU pose synchronously; obtaining an IMU pose corresponding to each data point in the point cloud of the current frame by adopting an interpolation method, and correcting the motion distortion of the point cloud of the current frame of the laser radar according to the IMU pose; converting the local coordinate system to the global coordinate system, and calibrating the IMU pose by using the RTK pose; and performing next frame point cloud correction until correction of the last frame laser radar point cloud motion distortion is completed. According to the invention, the robustness and stability of laser radar point cloud correction are enhanced.

The invention mainly provides a vehicle real-time positioning method. The vehicle real-time positioning method mainly comprises the steps: acquiring a feature true value database according to map information, wherein the map is global map data; acquiring surrounding information for the point cloud map to obtain feature position information; searching in a feature truth value database according tothe attribute of the feature position information to obtain a positioning feature position; performing position and posture calculation on the positioning feature position to obtain a calculated posture, performing data fusion on the GPS information, the vehicle motion posture and the calculated posture, and outputting a fused posture. According to the method, the used global information is known,and the searching speed is high; after the static global position is obtained, the global position information of the vehicle is deduced according to the geometrical relationship between the vehicleand the static global position; the number of the used static information is small, and accumulated errors do not exist.

The invention relates to an absolute stroke detecting technology, in particular to an absolute stroke detecting method used combining with a ceramic piston rod and a device thereof. The detecting section of the piston rod is divided into a plurality of continuous segments along an axial direction and a group of marks are arranged within each segment. The group of marks can be identified and converted into a group of unique codes by a sensor which is used for reading the codes of varied marks of current positions, then decoding and identification is carried out to the codes read by the sensor to know the segment where the sensor is located and the offset of the position of a corresponding segment where the sensor is located and then the current absolute position of the sensor can be obtained by combining the segment where the sensor is located with the offset of the position of the corresponding segment where the sensor is located. The sensor is an initiative magnetic detecting type and the marks on the piston rod represent to be a series of well-regulated grooves and bulge loops. The absolute stroke detecting technology guarantees that no impact is caused to the read of the position of the piston rod during power-off period and no accumulated error exists.

The invention discloses a method for setting out side piles on the road surface. The setting out method includes setting out the side piles of the road surface structure layer in the straight line section, setting out the side piles in the road surface structure layer in the curved section; setting out the side piles in the road surface structure layer in the straight section; The middle pile steel ruler measures the distance from the intersection to the fixed point, calculates the intersection distance in advance, and then goes to the site to stake out. If the longitudinal slope is large and the transverse superelevation is large, the slope surface distance is calculated according to the slope; besides the fixed distance between the corresponding middle piles, the stakeout of the side piles is adjacent to each other. The distance from the middle pile to the side pile needs to be calculated. For the straight line segment and the circular curve segment, as long as the distance between the piles is equal, the distance from the adjacent middle pile to the side pile is also the same. The invention has the advantages of simple and fast setting out of road surface side piles, no accumulation error and high precision.

The invention discloses a method for judging the elevator fatigue damage degree. The method comprises the following steps that S1, the real-time acceleration a of the elevator is obtained, and the number of moving floors of the elevator in one operation process and the number of load people of the elevator are judged; and S2, the fatigue damage degree of the elevator is calculated according to thenumber of the moving floors and the number of the load people of the elevator, wherein Th=(W*num+delta) *H*n+Th0, the Th is the elevator fatigue damage value, the Th0 is the previously accumulated fatigue damage value, the W is the average weight of one person, the num is the number of loaded persons, the H is the average height of one floor, the n is the number of the moving floors of the elevator, and the delta is a coefficient and represents the loss of the elevator during no-load operation. The method has the advantages of being simple in structure, wide in application range and high in judgment precision.

The invention provides an electronic tape measure. The electronic tape measure comprises: a control unit, a light emitting unit, a light receiving unit and a tape band, wherein the tape band is provided with a plurality of different image units, each of the image units corresponds to a minimum scale of the tape band and indicates a predetermined length, and the light emitting unit is configured toemit light onto the image units; the light receiving unit is configured to receive an optical signal reflected by the image units and convert the optical signal into an electrical signal; and the control unit is configured to determine a measured length according to the electrical signal. Compared with the existing scheme of reading the tape measure by using a photoelectric sensor or a Hall sensor, the electronic tape measure provided by the invention can realize real-time reading of the tape band data, can avoid problems such as slipping and losing steps and the like, and ensure relatively high measurement accuracy, etc.

The invention discloses a short pipe fixed-length discharging device and a pipeline fixed-length machining system with the device. The related short pipe fixed-length discharging device is arranged atone side of the discharging end of a cutting device so that the short pipe cutting length can be limited in the process that the cutting device cuts an original pipe into a short pipe, and the cut short pipe can be transferred. The short pipe fixed-length discharging device comprises a moving trolley, a fixed-length mechanism and a discharging mechanism, wherein the moving trolley is movably arranged in the original pipe length direction so as to get close to or get away from the cutting device, and the fixed-length mechanism and the discharging mechanism move along with the moving trolley. The fixed-length mechanism is provided with a baffle, the baffle moves to the set position and abuts against the front end of the original pipe for limiting further movement of the original pipe when the original pipe moves towards one side of the discharging end. The discharging mechanism is provided with a take-up lever, the take-up lever is inserted in the original pipe from the front end of theoriginal pipe to support the inner wall of the original pipe so as to lift the cut short pipe. According to the short pipe fixed-length discharging device, in the process that the cutting device cutsthe original pipe into the short pipe, the short pipe cutting length can be limited, and the cut short pipe is transferred.

The invention provides a panoramic viewpoint positioning and attitude determination method and system based on a plane graph, equipment and a medium, and the method comprises the steps: collecting a spherical panorama based on a viewpoint, and obtaining a plane expansion graph according to the spherical panorama; based on at least three non-collinear positioning reference points set in the indoor plane map, obtaining a non-coplanar reference direction vector corresponding to each positioning reference point in the plane expansion view, and obtaining a corresponding panoramic sight line direction in the spherical panoramic view according to a horizontal axis coordinate where the reference direction vector is located; taking a coordinate of an intersection point between a plurality of reference circular trajectories obtained by taking a connecting line of two adjacent positioning reference points as a chord and a difference value of panoramic sight directions corresponding to two adjacent reference direction vectors as an alternative coordinate set; and according to the plane coordinates of all the positioning reference points, obtaining projection coordinates and angles of the viewpoints in the indoor plane map. According to the invention, the convenience and accuracy of panoramic registration are improved.

The invention relates to a wireless gas meter reading device and method. The meter reading device comprises a data collector, a gas meter, a handheld device and a PC used for processing background data; the data collector is fixed to the gas meter; the handheld device is wirelessly connected with at least one data collector; and the PC is in wired or wireless connection with at least one handheld device. The meter reading device can reduce the control of expenditure of the gas charging of gas companies, reduce the trouble to the users, and the data collection only requires a camera and a single-chip microcomputer, thereby being simple in structure, convenient and durable.

The invention discloses an automatic punching die device. The die device comprises a working platform, wherein the working platform is provided with a motor, a rotary oil cylinder, a positioning device and a stamping column, the rotary oil cylinder is provided with a transmission gear, the motor is in transmission connection with the transmission gear to drive the rotary oil cylinder to rotate, the top of the rotary oil cylinder is provided with a bearing tray for placing a workpiece, the bottom of the bearing tray is provided with a ratchet wheel, the positioning device comprises a pawl blockmatched with the ratchet wheel, and the stamping column is provided with a stamping hole matched with a stamping head. By using the die device, automatic conveying and positioning of the workpiece can be achieved, the efficiency is high, and the precision is high.

The invention discloses a positioning method and system based on an image sensor and an inertial sensor. The positioning method first obtains the image sensor-based pose information and the inertial sensor-based pose information of a feature pattern deployed on a positioning target; then, The image sensor-based pose information and the inertial sensor-based pose information are optimized using the graph optimization method to obtain the orientation information of the positioning target. The present invention uses the position and attitude information based on the image sensor to optimize the position and attitude information based on the inertial sensor, overcomes the technical defect that the inertial sensor will drift with the increase of time and affects the positioning accuracy, and at the same time utilizes the inertial sensor to be free from the external environment. The advantage of the influence is to provide a high-precision positioning method that does not depend on external conditions and does not have accumulated errors.

The invention discloses a motor control circuit of a saline-alkali soil water and fertilizer integrated irrigation system. The motor control circuit comprises a control module, an input module and an output module, wherein the control module is a single chip microcomputer AT89C51 which comprises pins from No.1 to No.40; the input module comprises a motor driving chip L298 which comprises pins from No.1 to No.15, and the pin No.5, the pin No.6, the pin No.7, the pin No.10, the pin No.11 and the pin No.12 of the motor driving chip L298 are input end pins; and the output module comprises a motor driving chip L298 and a motor M, a pin No.2, a pin No.3, a pin No.13 and a pin No.14 of the motor driving chip L298 are output end pins, and the pin No.2, the pin No.3, the pin No.13 and the pin No.14 of the motor driving chip L298 are connected with the motor M. The motor control circuit has the advantages that the circuit structure is simple, the rotation frequency of the motor is uniform, the rotation period of the motor has no accumulated error, and the position control is accurate.