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

The invention discloses a method for quickly acquiring an object surface model, which comprises the following steps of: (1) automatically controlling the movement of a bearing platform and acquiring qualified sequence images through software; (2) accurately marking a laser plane, a camera parameter and a bearing platform movement space through coordinate of each marking point of a marking block, position of a laser line on the image and relative relationship between an object space point and the laser line; (3) accurately extracting the image coordinate sequence of the laser line; (4) reading the marking parameter, and obtaining a three-dimensional coordinate point cloud of an object by using forward intersection of triangulation principle; and (5) obtaining a complete three-dimensional model by using Polyworks equal point cloud processing software for editing. The method can quickly reconstruct the three-dimensional surface model of the object, and can judge whether to meet the requirements by using the quickly generated accurate three-dimensional model.

The invention discloses a method for connecting flow-type 3D visual measurement based on two-sided target, including the steps of: A setting two digital cameras capable of observing the panorama of the measured object; B calibrating the coordinate conversion relations of the inner parameters of the two digital cameras and therebetween; C placing the two-sided target at the measuring area of the measured object, shooting at least three non-collinear feature points on the two-sided target separately by the two digital cameras and visual sensor; D moving the two-sided target, and performing 3D visual measurement to the measuring area by the visual sensor; E calculating the coordinate of the feature point in the global coordinate system and visual sensor coordinate system; F determining the conversion relation of visual sensor coordinate system to the global coordinate system based on at least three non-collinear feature points, thereby converting the 3D visual measurement data of the measuring area to the global coordinate system; G performing repeatly C, D, E and F, so as to realize the connection of the 3D visual measurement data. The invention improves the data connection precision and efficiency.

The invention discloses a microgrid energy storage SOC estimation method and a system based on a least square support vector machine. Firstly, a microgrid experiment platform comprising an energy storage system is used, and through measurement, voltage, current, temperature and an SOC data sequence of the energy storage system during a charging and discharging process are obtained; according to the measurement data, training set and test set samples for the least square support vector machine are obtained; a cross validation method is then used for selecting the optimal training parameters for the training set of the least square support vector machine, and a training model is further obtained; and the testing set is then used for testing the training model, the result is evaluated, and finally, the training model can be used for SOC estimation determination on the corresponding type of energy storage system in the microgrid. Defects in the traditional SOC calculation method can be overcome, reference is provided for charging and discharging control on the energy storage system, deep charging and discharging of a battery can be prevented, and the service life of the battery and the operation safety of the microgrid can be improved.

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 time service method and device for a power grid terminal. The method comprises the following steps: acquiring a broadcast timing signal, wherein the broadcast timing signal comprises a time code; decoding the time code to determine time information corresponding to the time code; and updating the current time of the power grid terminal according to the time information. The method disclosed by the invention is wide in applicable geographic range and free from network connection, namely, the time correction can be executed when the power grid terminal is not communicated with a main station of a power information acquisition system; and meanwhile, the time service precision of the method is high, the 24-hour automatic correction can be realized, and an accumulated error in RTC circuit time correction is inexistent.

The invention discloses a full-automatic assembly machine track of a split conductor plug. The full-automatic assembly machine track comprises a rack, and is characterized in that the rack is fixedlyconnected with a set quantity of line pressing devices and a track fixing plate which is fixedly connected with the rack and is arranged along the length direction of the rack; a straight track is installed, along the length direction, on the track fixing plate; the straight track is slidably connected with a track clamp installing plate; the track clamp installing plate is connected with a drivedevice for performing a reciprocating motion; the track clamp installing plate is fixedly connected with a set quantity of clamps which are in a reciprocating manner, the installation positions of theclamps at front and back positions are fixed, the precision is accurate, the operational process is free of accumulated error and is standard compared with repeated positioning existing in a circularchain, a reciprocating track does not need repeated positioning, and the track can operate all the time after first positioning, so that the positioning time is saved; the reciprocating track is simple in structure, the whole eight is greatly reduced, the frictional coefficient in the operation is small, the installation is simple, and the track is convenient to position.

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 an intelligent left ventricle magnetic resonance image classification method and device, equipment and a medium. The method comprises the steps of obtaining a first word embedding vector corresponding to first data of a detection object, a second word embedding vector corresponding to second data of the detection object, and a numerical feature vector spliced by third data; extracting a short-axis video and a long-axis video in the heart magnetic resonance image of the detected object, and performing preprocessing to obtain target video data; and splicing and inputting the three vectors into the first feature analysis model to obtain a first feature analysis result, inputting the target video data into the second feature analysis model to obtain a second feature analysis result, splicing the first feature analysis result and the second feature analysis result to obtain a third feature analysis result, and inputting the third feature analysis result into the third feature analysis model to obtain a classification probability value of the left ventricle image of the detected object. According to the method, the multi-sequence nuclear magnetic image data and the clinical data are utilized to jointly perform classification prediction, the result is more reliable and accurate, a complex post-processing flow is not needed, accumulated errors do not exist, and the robustness is improved.

The invention provides a digital display gradienter and a machine tool guiding rail leveling method. The digital display gradienter comprises a gradienter and a water channel, wherein the gradienter comprises a horizontal base, a vertical guiding rail, a ball screw, a vertical sliding block, a stepping motor, a stepping motor driver, a hand-cranking wheel, a digital display grating ruler, a static wire, an indicating lamp and a working power source. The stepping motor drives the ball screw which drives the vertical sliding block to move vertically. The digital display grating ruler comprises a grating ruler, a grating ruler reading head and a grating ruler displayer. Two ends of the working power source are respectively connected with a water tank and one end of the indicating lamp, the other end of the indicating lamp is connected with the upper end of the static wire, and the lower end of the static wire is arranged corresponding to the water tank. By means of the method, three gradienters simultaneously perform leveling on a machine tool guiding rail, a first gradienter is separately fixed and provides reference coordinates of the plane, and the other two gradienters are respectively placed on a level guiding rail and a V-shaped guiding rail for dynamically testing the relative horizontal degree of the guiding rails. The digital display gradienter is high in accuracy, and leveling through the method is high in efficiency.

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 rail equipment RFID (Radio Frequency Identification) positioning system and a control method thereof. The rail equipment RFID positioning system comprises an electronic scale, a plurality of RFID transmitters, an RFID card reader, a control communicator and external equipment. By use of the system, quick positioning can be carried out; since RFID information is protected by a password, contents are not unlikely to be forged or altered, safety is high, and a non-contact working way is adopted; an absolute address can be detected at high accuracy in a discrete form without the management and control of frequency; position scales can be continuously arranged at intervals, can be arranged in a point way, also can be continuously arranged and is convenient in construction and installation and simple in replacement and maintenance; the system is high in antijamming capability: a digital near field communication technology is adopted so as to be unlikely to generate communication data errors; the system is suitable for hostile industrial environments: the shell of the equipment adopts an antiseptic and firm shell, is of an IP65 protection grade and is long in service life; and an explosion-proof occasion product can be provided, and various communication ways and protocols can be provided.

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 a method for judging moving floors of an elevator. The method comprises the steps that S1, the real-time accelerated speed a of the elevator is obtained; S2, the instantaneousspeed v of the elevator is obtained according to the real-time accelerated speed a; S3, the moving distance H of the elevator is calculated; and S4, when the elevator is static, the number of the moving floors of the elevator n=[h / H]+n0 is calculated, wherein rounding operation is conducted, n0 represents the recorded accumulated value of the moving floors, H represents the average height of one floor, and then h0 and h are reset to wait for the next operation process. The method for judging the moving floors of the elevator has the beneficial effects of being simple in structure, wide in application range, high in judgment precision and the like.

The invention discloses a train positioning device based on a vibration signal, which comprises a plurality of first vibration sensors arranged at the station track, a communication module, a PC data processor and a plurality of second vibration sensors arranged on the train; The PC data processor is used to receive the vibration signals sent by the communication module and divide the signals collected by multiple first vibration sensors into track vibration signal groups, and divide the signals collected by multiple second vibration sensors into train vibration signal groups. In the present invention, the vibration sensor detects the vibration of the train and the track in real time, and feeds back the detection result to the PC data processor through the communication device in time, and the PC data processor analyzes and calculates the feedback vibration signal, and determines whether the train enters the station according to the calculation result , compared with the train positioning method based on speed measurement in the prior art, the positioning device in this solution has high positioning accuracy and no cumulative error.

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 field positioning method based on a wireless positioning device for agricultural machinery. The field positioning method includes steps that (1), a positioning point and a reference points are set; (2), the positioning point transmits activation instructions to actuate the peripheral reference points; (3), position signals carrying corresponding position information of the reference points are transmitted by the activated reference points, the positioning point receives the position signals, and the distance from the positioning point to each reference point is computed according to the intensity of the corresponding signal; (4), the number of the reference points corresponding to the received positioning signals is judged, if the number of the reference points is smaller than 3, the step (2) is repeated, and all the other reference points are controlled to sleep except for three reference points with the shortest distances to the positioning point if the number of the reference points is equal to or larger than 3; and (5), coordinates of the position of the positioning point are computed according to the position information of the three reference points with the shortest distances to the positioning point. The field positioning method for the agricultural machinery is high in positioning precision and low in power consumption, the positioning precision is irrelevant to the driving distance of the machinery, and cost is saved.

The invention provides a digital display gradienter and a machine tool guiding rail leveling method. The digital display gradienter comprises a gradienter and a water channel, wherein the gradienter comprises a horizontal base, a vertical guiding rail, a ball screw, a vertical sliding block, a stepping motor, a stepping motor driver, a hand-cranking wheel, a digital display grating ruler, a static wire, an indicating lamp and a working power source. The stepping motor drives the ball screw which drives the vertical sliding block to move vertically. The digital display grating ruler comprises a grating ruler, a grating ruler reading head and a grating ruler displayer. Two ends of the working power source are respectively connected with a water tank and one end of the indicating lamp, the other end of the indicating lamp is connected with the upper end of the static wire, and the lower end of the static wire is arranged corresponding to the water tank. By means of the method, three gradienters simultaneously perform leveling on a machine tool guiding rail, a first gradienter is separately fixed and provides reference coordinates of the plane, and the other two gradienters are respectively placed on a level guiding rail and a V-shaped guiding rail for dynamically testing the relative horizontal degree of the guiding rails. The digital display gradienter is high in accuracy, and leveling through the method is high in efficiency.

The invention discloses a method for judging the degree of elevator strain. The steps include: step S1: obtaining the real-time acceleration a of the elevator; judging the number of floors moved by the elevator in a running process and the number of people loaded by the elevator; step S2: combining the moving The number of floors and the number of people loaded by the elevator are used to calculate the degree of fatigue of the elevator: Th=(W×num+δ)×H×n+Th 0 ; where Th is the elevator strain value, Th 0 is the previous accumulated strain value, W is the average weight of a person, num is the number of people loaded, H is the average height of a floor, n is the number of floors moved by the elevator, and δ is a coefficient that represents the loss when the elevator runs without load . The invention has the advantages of simple rationale, wide application range and high judgment accuracy.

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.

The invention discloses a method for quickly acquiring an object surface model, which comprises the following steps of: (1) automatically controlling the movement of a bearing platform and acquiring qualified sequence images through software; (2) accurately marking a laser plane, a camera parameter and a bearing platform movement space through coordinate of each marking point of a marking block, position of a laser line on the image and relative relationship between an object space point and the laser line; (3) accurately extracting the image coordinate sequence of the laser line; (4) readingthe marking parameter, and obtaining a three-dimensional coordinate point cloud of an object by using forward intersection of triangulation principle; and (5) obtaining a complete three-dimensional model by using Polyworks equal point cloud processing software for editing. The method can quickly reconstruct the three-dimensional surface model of the object, and can judge whether to meet the requirements by using the quickly generated accurate three-dimensional model.

The invention belongs to the field of linear motors, and particularly relates to a primary iron core structure of a linear motor, which comprises a primary yoke and primary teeth, wherein the primary teeth are composed of a plurality of fixed teeth and nested teeth, and the fixed teeth are uniformly arranged on the primary yoke and fixedly connected with the primary yoke into a whole; and the nested teeth are respectively arranged between the two fixed teeth and are in nesting fit with the primary yoke through the clamping grooves. During winding, the fixed teeth are separated from the nested teeth, a large tooth groove space can be obtained, winding is not hindered, the groove fullness rate is high, heating is small, automatic winding is easy to achieve, the manufacturing efficiency is high, and the cost is low. In addition, the fixed teeth are of an integrated structure, the nested teeth can also be integrally formed, the mechanical strength is high, accumulated errors do not exist during combination, and the precision is easy to guarantee.

The present application discloses a method, device, device, and medium for intelligent classification of left ventricular magnetic resonance images. The method includes: acquiring a first word embedding vector corresponding to the first data of a detection object, a second word embedding vector corresponding to the second data, The numerical feature vector formed by splicing the third data; extracting the short-axis video and long-axis video in the heart magnetic resonance image of the detection object, and preprocessing to obtain the target video data; splicing and inputting the above three vectors into the first feature analysis model to obtain the second The first feature analysis result and the target video data are input into the second feature analysis model to obtain the second feature analysis result, and the third feature analysis result is obtained, and input to the third feature analysis model to obtain the classification probability of the left ventricle image of the detection object value. The method uses multi-sequence nuclear magnetic imaging data and clinical data to make classification predictions. The results are more reliable and accurate, and it does not require complicated post-processing procedures, and there is no cumulative error, which improves the robustness.