86 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.

A tire is provided that can provide improved performance on snow without compromising wear resistance. A tread portion (1) is provided with at least three curved main grooves (10) extending in a zigzag along a circumferential direction of the tire. A land portion (20) between the curved main grooves (10) is defined by a plurality of lug grooves (30) in a plurality of blocks (20B). A road contact surface of each of the plurality of blocks (20B) is provided with a pair of sipes (40) and a pair of recess grooves (50). The pair of sipes (40) extend in the same direction within a range of an angular difference within 10°. Each of the pair of sipes (40) has one end open to the curved main grooves (10), and the other end blindly terminates in a block (20B) of the blocks (20B).The pair of recessed grooves (50) extend in the same direction within a range of angular difference within 10°. Each of the pair of recessed grooves (50) has one end open toward the curved main grooves (10), and the other end blindly terminates in the block (20B).

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 invention discloses a position correction method, device and equipment based on a position sensor and a storage medium, and the method comprises the steps: obtaining the position information of a motor rotor, and calculating an angle difference increment value based on the position information; determining an interference judgment coefficient based on the angle difference increment value; and judging whether the position of the motor rotor is interfered or not according to the angle difference increment value and the interference judgment coefficient, and if so, correcting the position of the motor rotor according to the position information and the angle difference increment value. According to the embodiment of the invention, whether the position of the motor rotor is interfered or not is accurately identified by calculating the angle difference increment value and the dynamic interference judgment coefficient in real time, and the interfered position of the motor rotor is corrected according to the position information and the angle difference increment value during interference, so that the problem of control misalignment caused by electromagnetic interference is effectively solved; the method has the technical effects of improving the anti-interference capability and guaranteeing the stable operation of the system.

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.

This invention relates to the field of steering system technology, specifically to an angle control method with smooth angle response and rapid intervention. The method includes an angular velocity feedforward PID algorithm. This algorithm calculates the angle difference by subtracting the requested angle from the actual angle. The angle difference is then processed by the PID algorithm to obtain the target motor torque. This target motor torque is then converted into the actual executed motor torque through gradient output, controlling the steering wheel rotation. The key feature is that the smooth angle response includes low-frequency compensation and high-frequency compensation strategies. Compared to existing technologies, this method provides an angle control method with smooth angle response and rapid intervention. It uses an angular velocity feedforward PID algorithm to calculate the motor torque and introduces low-frequency and high-frequency compensation strategies, as well as a rapid intervention strategy, to control the steering wheel to smoothly and quickly achieve the target angle.

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.

A method of controlling a movement of a hybrid robot including a locomotion stimulation device carried by an animal includes monitoring, via a positioning component the locomotion stimulation device, a position and an orientation of the hybrid robot; providing, via a stimulator of the locomotion stimulation device, a stimulus to the animal based on an angular difference between the orientation with respect to a direct path from the position to a predetermined destination to control the movement of the hybrid robot; monitoring, via the positioning component, one or a combination of a displacement, a velocity or an acceleration of the hybrid robot in response to the stimulus; ceasing provision of the stimulus to the animal in response to the one or the combination of the displacement, the velocity or the acceleration being below a corresponding pre-defined minimum so as to allow the animal to roam freely.

This paper presents an adaptive target shape detection method for seabed shipwrecks based on side-scan sonar images, belonging to the research field of seabed target detection using side-scan sonar images. First, in the feature extraction stage, we designed a dynamic rotational convolution to extract high-quality rotational features based on the target's orientation information. Next, to address the inconsistency in features required for classification and regression tasks, we designed a feature decoupling head, inputting rotation-dependent and rotation-invariant features into different task branches, thus improving the accuracy of classification and regression. Finally, in the training strategy, we proposed the S-A label allocation strategy, introducing the concept of alignment and comprehensively evaluating sample quality for label allocation by integrating information such as IoU, distance between center points, and angular differences. These three modules are efficiently coupled together, ultimately achieving efficient and accurate detection.

Measuring panel (2; 34) for optical measurement and / or calibration of a chassis and / or a driver assistance system of a vehicle (24), wherein the measuring panel (2; 34) has at least one optical feature (6) on its front side; wherein a device for checking and adjusting the horizontal position of the measuring panel (2; 34) is attached to the measuring panel (2; 34), which device is designed such that it enables an alignment of the measuring panel (2; 34) for a first measuring position on a front vehicle wheel (26) and an alignment of the measuring panel (2; 34) for a second measuring position on a rear vehicle wheel (28); wherein the device for checking and adjusting the horizontal position of the measuring panel (2; 34) is designed in the form of at least one pair of spirit levels (14, 20); and wherein the two vials (16, 18) of the vial pair (14, 20) each have a different orientation, which differs substantially by the angular amount of the difference in the orientation of the measuring panel (2; 34) in the first measuring position on a front vehicle wheel (26) to the orientation of the measuring panel (2; 34) in the second measuring position on a rear vehicle wheel (28).

The application relates to a vehicle transverse control method and system, a storage medium and an electronic device, which comprises the following steps: acquiring a current position point and a current heading angle of a vehicle in real time during vehicle driving; acquiring two trajectory points closest to the current position point in a planned trajectory, and determining a reference position point on the planned trajectory according to the current position point and the two trajectory points; calculating a position difference value of the current position point and the reference position point; acquiring a reference heading angle when the vehicle drives to the reference position point, and calculating an angle difference value of the current heading angle and the reference heading angle; determining a steering wheel turning angle control mode according to the type of the reference position point, determining a steering wheel turning angle value according to the position difference value, the angle difference value and the steering wheel turning angle control mode, and controlling the vehicle based on the steering wheel turning angle value; and the application can improve the comfort and stability of vehicle driving during automatic driving.

The present application relates to the technical field of container loading and unloading equipment, and in particular to a lifting arm mechanism and a container lifting and flipping loader, wherein the lifting arm mechanism includes a first mechanical arm, a second mechanical arm, a first lifting cylinder, a second lifting cylinder, a first leveling cylinder, and a second leveling cylinder. The first mechanical arm is rotatably connected to a first target object, the second mechanical arm is rotatably connected to a second target object, and the two mechanical arms are rotatably connected; the first lifting cylinder connects the first mechanical arm and the first target object, the second lifting cylinder connects the second mechanical arm and the first target object; the first leveling cylinder connects the first mechanical arm and the second mechanical arm; the second leveling cylinder connects the second mechanical arm and the second target object; the rod chambers of the first leveling cylinder and the second leveling cylinder are connected, and the rodless chambers of the first leveling cylinder and the second leveling cylinder are connected. It can be seen that the two leveling cylinders are used to adjust the angle between the auxiliary tool and the second mechanical arm, thereby compensating for the angular difference between the auxiliary tool and the ground plane coordinate system.

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.

A torque sensor device for measuring a torque acting on a rotatable shaft assembly, comprising a first multipole magnet (M1) and a second multipole magnet (M2); the rotatable shaft has an inner shaft portion and an outer shaft portion, at least one of the inner shaft portion and the outer shaft portion being elastically deformable; and a first and a second multipole magnet (M1, M2); the sensor device includes a plurality of magnetic sensors for measuring one or more magnetic field components; and processing circuitry for determining the first and second angles ([theta] 1, [theta] 2), and for determining an angular difference, and for providing a signal indicative of the torque. A torque sensor system. A method of determining torque.

The invention belongs to the technical field of geosteering and geological exploration, relates to a horizontal drilling underground geosteering automation method based on while-drilling gamma data, and aims to solve the problems of response lag, low decision efficiency and trajectory deviation in the prior art. The method comprises the following steps: acquiring natural gamma data and azimuth gamma data measured while drilling in real time; determining the relative position of the drill bit and the box body at the current moment; acquiring a hole drift angle at the current moment and the vertical depth of a drill bit, and calculating and updating a stratigraphic dip angle in combination with the relative position; and determining an angular difference based on the hole drift angle and the stratigraphic dip angle at the current moment, and adjusting the hole drift angle of the lower-section footage according to the angular difference and the relative position of the drill bit to carry out geosteering. Automatic decision logic is constructed, downhole response is quicker, and immediate adjustment can be achieved under critical working conditions that a drill bit is close to the boundary of a box body, and deviation between a hole drift angle and a stratigraphic dip angle is too large.

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.