53 results about "Angular difference" patented technology

According to the robot joint motor output position evaluation method and device and the storage medium, the encoder positions of the two engaged gears are reconstructed to obtain the number of rotation turns and the reconstruction position of the main gear, the difference between the reconstruction position of the main gear and the encoder position of the main gear is compared, and the output position of the robot joint motor is evaluated. And extracting the angle difference value as an evaluation index of the multi-circle value reliability. And judging whether the multi-circle value of the main gear is reliable or not by judging the reliability index in the rotating process. Finally, whether the multi-turn value analyzed by the positions of the two gear encoders is absolutely reliable or not is utilized, the influence of the encoder precision, the gear precision, the gear back clearance and other factors on analysis of the multi-turn value is eliminated, and the product consistency and reliability margin can be judged in the production process.

The invention relates to the technical field of aircrafts, in particular to a sensor parameter adjustment method and device, equipment and a medium, and the method comprises the steps: obtaining the acceleration data of an unmanned plane, the acceleration data of a holder, and the sensing data; and acquiring a detected pitch angle and a detected roll angle based on the sensor parameters and the sensing data. The pitching angle and the rolling angle of the holder are obtained, and the pitching angle and the rolling angle of the unmanned aerial vehicle are obtained. And obtaining an estimated pitch angle according to the pitch angle of the holder and the pitch angle of the unmanned aerial vehicle, and obtaining an estimated roll angle according to the roll angle of the holder and the roll angle of the unmanned aerial vehicle. If the angle difference between the estimated pitch angle and the detected pitch angle is larger than or equal to an angle difference threshold value, or the angle difference between the estimated roll angle and the detected roll angle is larger than or equal to the angle difference threshold value, sensor parameters are adjusted. According to the scheme, the parameters of the sensor can be adjusted in a wide range of scenes, normal use of the holder is ensured, and the user experience is improved.

The invention relates to a normal detection method and device, a three-coordinate measuring instrument and a readable storage medium. The method comprises the following steps: determining an initial normal direction of a model surface based on a to-be-measured object model displayed on a screen; determining an observation direction corresponding to the screen, and determining an angle difference value between the observation direction and the initial normal direction; the observation direction is related to a projection coordinate system used by the screen display picture, and the observation direction represents a direction in which a sight line faces the screen; judging whether the initial normal direction is matched with a measurement path or not according to the angle range of the angle difference value; the measurement path is a detection path of a probe of the three-coordinate machine. The method can give consideration to both accuracy and high efficiency.

The invention relates to a simulation scanning method for guiding the routing angle of adjacent layers, and the method comprises the steps: building a transmission line model containing two pairs of differential lines with the vertical projections of the adjacent layers coinciding, setting a center coordinate, controlling the two pairs of differential lines to rotate reversely at the same value, scanning the angle, obtaining crosstalk data of different angles through simulation, and improving the amplitude. Therefore, the wiring angle design of adjacent layers is guided. According to the method, two pairs of differential lines of adjacent layers are set as reverse same-value rotation variables, the angle difference and a single variable are associated, control is simplified, and traceability is achieved; a projection center is used as a rotation reference, so that accurate control and reliable simulation are guaranteed; crosstalk data are obtained through angle scanning, quantization limitation is broken through, and efficiency is improved; the data shows that the difference is improved, the optimal angle is selected by combining the assistance with the space limitation, crosstalk exceeding or space waste is avoided, and experience dependence is got rid of.

The robot has an actuator that changes the angle of a second member relative to a first member in accordance with a command value. In a first process of the angle calibration method, a distance between two measurement target portions, one of which is disposed on the first member and the other of which is disposed on the second member, is measured while an arbitrary command value is given to the actuator, and a measurement target portion distance is obtained. In a second process, an angle difference corresponding to the difference between the two measurement target portion distances is calculated based on a reference measurement target portion distance obtained by measuring the measurement target portion distance while an arbitrary command value is given to the actuator in the past and the measurement target portion distance obtained in the first process.

The invention discloses a casing windowing orientation measurement method, and belongs to the technical field of drilling and completion, and the casing windowing orientation measurement method comprises the steps: 1, connecting a first joint to a drill rod, measuring the angle difference between a whipstock and the first joint, and recording the angle difference as a first angle; 2, the drill rod is moved to the first position, and the azimuth angle of the first connector at the moment is measured and recorded as a second angle; 3, a second connector is connected to the drill rod, and the azimuth angle of the second connector at the moment is measured and recorded as a third angle; 4, the drill rod is moved to the target position, and the azimuth angle at the moment is measured as a fourth angle; and 5, substituting the first angle, the second angle, the third angle and the fourth angle into a preset angle algorithm to obtain a target angle difference value between the whipstock and the target position. And through cooperation of the first connector and the second connector, the problem that key setting of the positioning connector in the sleeve section with high inclination and super-large inclination is difficult is ingeniously avoided, and high convenience and adaptability are achieved.

This invention provides a dual-speed transfer case with a single actuator. The transfer case can realize both the axial movement function of the shift fork and the ball ramp operation function by using a single actuator. Furthermore, it can determine the angle difference before and after the torsion spring by means of the MR sensor of the motor, the position sensor that directly detects the axial position of the shift fork, or the angle sensor that directly measures the rotation angle of the cylindrical cam, thereby accurately identifying the impact or fault state.

A detection device (10), a lidar and a terminal, which are applied to the technical field of detection. The detection device (10) comprises a transceiving module (11) and a rotating mirror (12), wherein the rotating mirror (12) comprises a plurality of reflecting surfaces (R1, R2, R3, R4, R5), the rotating mirror (12) has a pyramidal error of a first angle (α), and the pyramidal error enables the included angles between the plurality of reflecting surfaces (R1, R2, R3, R4, R5) and a cross section of the rotating mirror (12) to be equally distributed at an angular difference of the first angle (α); and the transceiving module (11) comprises a plurality of transceiving ports (1101), and the plurality of transceiving ports (1101) can generate a plurality of transmitting beams (#1, #2, #3, #4, #5, #6, #7, #8) having different pointing angles. The combination of the multiple channels of transmitting beams (#1, #2, #3, #4, #5, #6, #7, #8) having different pointing angles and the rotating mirror (12) having the pyramidal error implements encrypted scanning and uniform scanning, and can significantly improve the resolution of the detection device, and control the manufacturing cost of the detection device (10), thereby facilitating the realization of low power consumption, high reliability and miniaturization of the lidar and the terminal.

The present application relates to a kind of arch trolley and its arm frame anti-interference control method, scheme is through judging the angle difference of pitch direction between any two arm frames, in the case where the angle difference of pitch direction between two arm frames is less than set angle, when one of the arm frames reaches the interference region relative to another arm frame, the movement of the arm frame is limited;The interference region is, when one of the arm frames is rotated to another arm frame direction, the region after reaching the critical position where the interference between two arm frames occurs.The scheme of the present application makes the arm frame limit control more flexible, easy to adjust, can realize the dynamic limit of arm frame anti-interference between arm frames during arm frame operation, realizes the anti-interference protection during the use of arm frame, effectively improves the safety and support efficiency of tunnel construction, and provides safety guarantee for the intelligent control such as remote control and remote control of arch trolley.

The invention provides a rotation turn number counting method and device, computer equipment and a storage medium, and is applied to target equipment, the target equipment comprises a gyroscope, and the target equipment is in a rotation process; the method comprises the following steps: determining an angle difference between a next integer angle corresponding to a target integer angle and the target integer angle; the target integer angle is an integer angle corresponding to the first rotation angle, and the next integer angle corresponding to the target integer angle is an integer angle corresponding to the second rotation angle; the second rotation angle is a rotation angle acquired after the first rotation angle is acquired through the gyroscope; accumulating the angle difference to obtain an accumulated angle difference; and when the accumulated angle difference reaches the first preset angle, adding one to the number of rotation turns of the target equipment. According to the technical scheme, the number of rotation turns in the rotation process is counted, and the accuracy of the number of rotation turns is guaranteed.

The utility model discloses a measuring tool for detecting positions of multiple holes in a cylindrical surface, which comprises a fixed base, a rotatable fillet measuring assembly and a fixedly arranged height measuring assembly are arranged on the fixed base, and a detected piece is fixedly arranged on the fillet measuring assembly. The angle difference and the height difference between a hole in the cylinder and a certain hole can be obtained by rotating the fillet measuring assembly to drive the measured piece to rotate together. According to the measuring tool for detecting the positions of the holes in the cylindrical surface, the principle of equal angles in the same sector and the principle that a vernier caliper measures the movement of a measured piece are ingeniously utilized, and the change of angle dimensions is reflected on the circular angle scale turntable; compared with conventional hole position measurement such as three-coordinate measurement, the method is more economical, convenient and rapid.

The application discloses a tower crane intelligent object hoisting method and system based on automatic path planning. The method comprises the following steps: obtaining the information of the current position and the target position of the hook to obtain the starting position and the target position; determining the angle difference by adopting polar coordinate conversion according to the starting position and the target position, determining the rotation direction based on the angle difference and the obstacle condition, and determining the luffing path; wherein the obstacle condition is obtained by traversing the large arm rotation sector in the manner of stepping by several degrees each time and detecting the obstacles along the radius axis by using a sliding window; determining the highest height of the path operation and the lifting height of the hook; identifying and positioning the object position and the specific coordinates of the object relative to the tower crane; moving the hook to the object position based on the automatic planning path to transport the object to the designated place, wherein the automatic planning path comprises the rotation direction, the luffing path and the lifting height of the hook. By implementing the method of the application, the path planning can be automatically performed and the object hoisting task can be completed.

The present invention relates to a method for analysing a medium using an array of transducers (T1-Tn), the method comprising: —acquiring (100) two reception signals each associated with a respective pair of waves transmitted and received according to transmission and reception directions; —deforming (200) the two reception signals to obtain two deformed signals, the deformation step comprising, for each reception signal, composition of the reception signal with an affine function dependent on half the angular difference between the transmission and reception directions of the pair associated with the reception signal; —locally estimating (300) the speed of sound in a region of interest of the medium based on the comparison of the two deformed signals.

The present disclosure provides a two-speed transfer case with a single actuator that may implement both the fork axial movement function and the ball ramp operation function by using the single actuator, and can accurately identify the butting or failure state by determining the angular difference before and after the torsion spring through the MR sensor of the motor, the position sensor that directly detects the axial position of the fork, or the angle sensor that directly measures the rotation angle of the cylindrical cam.

Method for detecting a rotational position of a rotor of a permanent magnet synchronous machine (101), wherein • a first measurement signal (uc) designed as an alternating signal in rotor coordinates (d, q) is provided, transformed by a transformer control signal to the transformer stage (112) in stator coordinates (a, b) and fed into the permanent magnet synchronous machine (101), • the first measurement signal (uc), transformed in stator coordinates (a, b) and formed by a carrier voltage (uc), generates a second measurement signal (ic, ic1, ic2) as a reaction in at least one stator winding of the permanent magnet synchronous machine (101), designed as an alternating signal and formed by a carrier current (ic, ic1, ic2). • the second measurement signal (ic, ic1, ic2) is measured and back-transformed into the rotor coordinates (d, q) by the transformer control signal to the transformer stage (113), • an angle difference to the first measurement signal (uc) is obtained from the second measurement signal (ic, ic1, ic2) which has been transformed back into the rotor coordinates (d, q), • the transform control signal is formed from the angle difference by PI control and subsequent integration, and the transform control signal forms a measure of the rotational position of the rotor, • through the PI control, the angle difference is further regulated at least almost to zero, thereby achieving an alignment of the orientation of a real axis (d) of the rotor coordinates (d, q) with a rotor axis (118) along which a resultant permanent magnet flux of the rotor caused by permanent magnets encompassed by the rotor is aligned, • to determine the polarity of the permanent magnet flux with respect to the real axis (d) of the rotor coordinates (d, q), at least one operating point setting signal (ia, ua) is additively superimposed on the first measurement signal (uc). • a change in the amplitude of the second measurement signal (ic, ic1, ic2) is caused by at least one operating point setting signal (ia, ua) superimposed on the first measurement signal (uc) and • from the change in the amplitude of the second measurement signal (ic, ic1, ic2) or of the second measurement signal (ic, ic1, ic2) transformed back into the rotor coordinates (d, q) information about the polarity of the permanent magnet flux with respect to the real axis (d) of the rotor coordinates (d, q) is obtained by the fact that - a decrease in the amplitude of the second measurement signal (ic, ic1, ic2) with the same polarity and - an increase in the amplitude of the second measurement signal (ic, ic1, ic2) occurs with opposite polarity.

The application discloses a kind of inspection methods for cam switch, carry out cam switch deceleration ratio monitoring in turn, carry out the comparison of datum angle data and the cam piece angle parameter set, and carry out the comparison of cam piece test angle curve and the angle difference parameter set, to complete the detection of cam product.The present application can realize the high-precision detection of cam switch.

The application discloses a shift drum angle control method and device, equipment and a storage medium, wherein the method comprises the following steps: in the case of receiving a shift request instruction, determining a target angle and an initial angle of a shift drum; judging whether the initial angle difference between the initial angle and the target angle is less than the lower limit value of a preset interval; in the case that the initial angle difference is less than the lower limit value, keeping the rotating speed of a shift motor unchanged and determining the current angle difference between the current angle of the shift drum and the target angle; in the case that the current angle difference is greater than the upper limit value of the preset interval, adjusting the rotating speed of the shift motor according to the current angle difference until the current angle difference is less than a preset threshold. Through the above scheme, the reciprocating fluctuation of the rotating speed of the shift motor caused by the rebound of the shift drum during the shift process is effectively avoided, and the service life of the hybrid transmission is increased.

This utility model discloses a roll material anti-wrinkle winding guide device, including a machine tool and a guiding and correcting mechanism. A first tensioning roller is rotatably connected to the machine tool, and the guiding and correcting mechanism is mounted on the machine tool. The guiding and correcting mechanism includes a guiding and correcting mechanism, an upper housing, and a lower housing. The lower housing is fixedly connected to the machine tool, and an electric push rod is disposed inside the lower housing. A receiver is disposed on the side end of the lower housing, and the upper housing is fixedly connected to the electric push rod. The roll material anti-wrinkle winding guide device uses a laser sensor and a receiver to monitor the roll material position in real time. It adjusts the distance between the upper and lower housings in conjunction with the electric push rod to achieve dynamic control of the pressure of the drive wheel on the roll material. When the roll material deviates, the rotating motor drives the rotating disk to slightly deflect, generating an angular difference in the drive wheel. The lateral component of the frictional force is used to precisely correct the roll material position, ensuring neat winding and effectively avoiding wrinkles caused by deviation.

To provide a component mounting device and an inspection method of a mounting head capable of easily and quickly inspecting a belt provided in the mounting head.SOLUTION: The motor is servo-controlled to rotate the motor shaft from a reference position to a predetermined rotation position (ST1 to ST3. The rotational position (Φ 1) of the motor shaft detected by the encoder is read (ST4. First rotational position reading step). Then, the servo control of the motor is released (ST5. In a state where the motor shaft is returned by a minute angle by the belt, the rotational position (Φ 2) of the motor shaft detected by the encoder is read (ST6. Second rotational position reading step). An angular difference between the read rotational position (Φ 1) and rotational position (Φ 2) of the motor shaft is calculated as a return angle Δ Φ of the motor shaft (ST7. Based on the calculated return angle Δ Φ, the state of the belt is determined (ST8 to ST10. Determination step).SELECTED DRAWING: Figure 9

The application discloses a rail grinding parameter compensation control method, obtains the configuration angle of an abnormal grinding motor, and finds the configuration angle of other grinding motors in the grinding mode. If there is a grinding motor with the same angle configuration, the power / current compensation parameter is obtained according to the angle and power / current of the grinding motor, and the new grinding power / current value is obtained according to the power / current of the grinding motor and the power / current compensation parameter. If there is no grinding motor with the same angle configuration, the adjacent grinding motor is found in the left and right directions, and the angle compensation parameter is obtained according to the angle of the adjacent grinding motor, the angle difference of the missing grinding motor and the power / current of the grinding motor. The angle configuration value of the adjacent grinding motor and the angle compensation parameter obtain the new grinding angle value, and the angle compensation is performed on the grinding motor of the working edge or the non-working edge. The application can solve the technical problems of long operation time, low efficiency, poor grinding quality and effect of the existing grinding compensation mode.

The application belongs to the field of aircraft fatigue test design, and particularly relates to a kind of aircraft slat fatigue test servo system angle compensation control method and device.The method comprises obtaining the displacement value fed back by actuator cylinder, and calculating the first deflection angle of the deflection of servo frame caused by the extension and retraction of actuator cylinder based on the displacement value and pre-set displacement angle model;Intercept the second deflection angle sent by current slat surface driving system to surface driving mechanism;Determine the angle difference value of the first deflection angle and the second deflection angle;The displacement compensation amount is obtained by displacement angle model inversion to the angle difference value;The displacement compensation amount is superimposed to displacement instruction, and angle compensation control of servo system is realized.The application realizes accurate angle compensation control.

The method describes a method for determining the direction of rotation of a crankshaft driving a camshaft in an internal combustion engine with at least four cylinders, using one magnetic sensor for the crankshaft and another for the camshaft. The crankshaft sensor detects the passage of the teeth of a target mounted on the crankshaft, while the camshaft sensor detects the teeth of its target. The method begins with a calibration to determine a reference angular difference. Then, when a camshaft edge-front is detected, a check is made to determine whether a local minimum of crankshaft speed is observed. If it is, two angular distances are calculated between the camshaft edge-fronts and the speed minimum so as to compare these with the angular difference, thereby enabling the direction of rotation of the crankshaft to be determined.

The invention relates to the technical field of precise instruments and control, in particular to a small angle generation system and method based on magnetorheological fluid and a fine adjustment motor. The device comprises two capacitance angular displacement sensors which are used for measuring the relative rotation angle between an inner shaft and an outer shaft; the angle sensor signal acquisition module is used for acquiring relative rotation angles measured by the two capacitance angular displacement sensors, subtracting the two relative rotation angles and transmitting an angle difference value to the feedback controller; the feedback controller is used for comparing the angle difference value with a preset target angle and calculating an angle error, and the signal processing and analyzing unit is used for analyzing and processing the angle error through a closed-loop control strategy so as to control the motor driving control unit and the magnetic field control unit according to the angle error. And the relative rotation angle between the inner shaft and the outer shaft is stabilized within the target angle. The characteristics of motor micro-step subdivision driving and magnetorheological fluid damping vibration suppression are combined, and high-accuracy micro angle generation is achieved.

The invention discloses an alignment platform and an alignment control method. The alignment platform comprises a moving platform, a supporting platform and four moving units connected between the two platforms in a distributed mode. Each motion unit comprises a first linear driving mechanism used for providing active linear motion in the first direction, a second linear driving mechanism used for providing active linear motion in the second direction orthogonal to the first direction, and a rotary connecting mechanism used for providing passive rotation freedom degree. The center of the mobile platform is taken as an original point, and the angle difference between any two adjacent azimuth angles is not less than 60 degrees. And by cooperatively controlling the eight linear driving mechanisms of the four motion units, three-degree-of-freedom motion of the mobile platform in a plane relative to the supporting platform is realized. Through optimized layout and redundant driving of the four motion units, the positioning precision, the bearing capacity and the anti-interference performance are remarkably improved.

A method for determining runout error includes generating a first magnetic field to interact with a second magnetic field generated by four or more poles of a magnet ring mounted to a first platform. The interaction may cause the first platform to rotate relative to a second platform. The method may further include receiving, from a magnetic field sensor, data including respective boundaries between neighboring poles of the four or more poles relative to a corresponding nominal boundary defined by substantially uniform boundary spacing. The method may include determining a magnetic field pattern from the data and, based on the pattern, determining an angular position of the four or more poles. The method may further include determining an angular difference between the determined angular position and a nominal angular position. The method may also include determining a runout error based on an amplitude of the angular difference.

A measurement device (20) comprises: a conduit opening insertion part (21) having a shape that allows the outer diameter thereof to fit the inner surface of a conduit (11) and the inner diameter thereof to fit a probe (12); a support column (22) having a lower portion that is installed inside a manhole (10) and an upper portion that is installed outside the manhole (10), the support column (22) holding the conduit opening insertion part (21) such that the vertical position, the horizontal position, and the orientation thereof are variable; a tripod (23) (supporting part) that vertically supports the support column (22) outside the manhole (10); a satellite positioning device (25) that measures the absolute coordinates of a reference point (24) of the support column (22) set outside the manhole (10); a first distance meter (26) that measures the vertical distance between the conduit opening insertion part (21) and the reference point (24); a second distance meter (27) that measures the horizontal distance between the conduit opening insertion part (21) and the reference point (24); an azimuth meter (28) that measures a reference azimuth; and an angle meter (30) that measures the angular difference between the measured reference azimuth and the orientation of the conduit opening insertion part (21).

A method for determining runout error includes generating a first magnetic field to interact with a second magnetic field generated by four or more magnetic poles of a magnet ring mounted to a first platform. The interaction can cause the first platform to rotate relative to a second platform. The method can also include receiving data from a magnetic field sensor, the data including each boundary between adjacent ones of the four or more magnetic poles relative to a corresponding nominal boundary defined by a substantially uniform boundary spacing. The method can include determining a magnetic field pattern from the data, and determining an angular position of the four or more magnetic poles based on the pattern. The method can also include determining an angular difference between the determined angular position and a nominal angular position. The method can also include determining a runout error based on a magnitude of the angular difference.

Tread (1) for a vehicle tire (2), wherein the tread (1) has a negative profile (3) and a positive profile (4), wherein the positive profile (4) is bounded in a radial direction (R) on the outside by a base surface (5) of the tread (1), wherein the positive profile (4) is delimited at least sectionally by a flank surface (6) from the negative profile (3), wherein a transition surface (8) is formed between the flank surface (6) and the base surface (5), wherein the transition surface (8) adjoins the base surface (5) along an edge contour (9). Radially below the transition surface (8) an imaginary flank contour (10) runs at a constant radial height on the flank surface (6), wherein the edge contour (9) at a first axial position (11) encloses an angle (18) with an axial direction (A) that is larger by a first angular difference than the flank contour (10).

A method for determining runout error includes generating a first magnetic field to interact with a second magnetic field generated by four or more poles of a magnet ring mounted to a first platform. The interaction may cause the first platform to rotate relative to a second platform. The method may further include receiving, from a magnetic field sensor, data including respective boundaries between neighboring poles of the four or more poles relative to a corresponding nominal boundary defined by substantially uniform boundary spacing. The method may include determining a magnetic field pattern from the data and, based on the pattern, determining an angular position of the four or more poles. The method may further include determining an angular difference between the determined angular position and a nominal angular position. The method may also include determining a runout error based on an amplitude of the angular difference.

The invention discloses an angle-adjustable micro-scale capacitive measuring instrument, which relates to the technical field of high-precision measuring instruments, is used for detecting the relative position between two adjacent lenses in a telescope reflector array, and comprises a target carrier used for mounting a measured target object; the sensor carrier is arranged opposite to the target carrier, and a sensing element used for detecting the position of a detected target object is arranged on the sensor carrier; the number of the fixing units is two; the two groups of fixing units are respectively used for fixing the target carrier and the sensor carrier relative to the lens; the angle adjusting unit is used for detecting the angle difference of the fixing units on the two lenses and adjusting the angle when the target carrier and the fixing units are relatively fixed according to the angle difference, so that the detected target object and the sensing element are kept in a parallel state; according to the invention, the sensing element and the measured target object can be ensured to be strictly parallel and right opposite all the time, the oblique detection deviation caused by the included angle of the lenses is thoroughly eliminated, and the precision of micro-scale capacitive measurement is greatly improved.