328 results about "Distance error" patented technology

Disclosed are a moving distance sensing apparatus for a robot cleaner and a method therefor capable of determining a precise moving distance with respect to the robot cleaner by setting a long distance sensor and a short distance sensor having respectively different sensing method from each other on the same sensing line in the robot cleaner to sense the long distance and the short distance for the same direction, and then by determining coherency to each moving distance on the basis of information provided by the two different sensors, the moving distance sensing apparatus comprising: a long distance sensor for sensing a moving distance with respect to a long distance; a short distance sensor mounted on the same sensing line in one-to-one correspondence with the long distance sensor, for sensing a moving distance with respect to a short distance; and a micro computer for determining a moving distance error on the basis of moving distance information with respect to the same direction provided by the long distance sensor and the short distance sensor.

A positioning method, which is related to a technique to measure a correct position of a terminal by preventing time required for the position measurement, of calculating a position of a receiver according to signals from a plurality of wireless transmitters includes a first step of measuring propagation delay time of the signal from each of the wireless transmitters and calculating a position of the receiver and a standard deviation about measuring distance error, a second step of calculating a positioning error of the receiver a third step of determining, according to the positioning error calculated by the second step, wireless transmitters in directions nearer to a direction in which the positioning error is large, and a fourth step of re-detecting signals from the wireless transmitters determined by the third step and thereby re-calculating the position of the receiver.

The invention relates to a vehicle multi-target coordinating lane changing assisting adaptive cruise control method. The method comprises the following steps that 1) LCACC combination property indexes are set according to two-front-vehicle traceability, multi-vehicle movement safety and longitudinal driving comfort requirements, and the LCACC combination property indexes comprise a cost function and I/O constraints; 2) a multi-target coordinating optimal control problem is built, solving is carried out through a rolling time domain optimization algorithm, the optimal control quantity is obtained, and optimal control is achieved. The LCACC cost function is set according to the following steps that a) a traceability cost function is built through a two-norm linear combination of the vehicle distance errors and vehicle speed errors of the own vehicle and two front vehicles; b) a comfort cost function is built by restraining longitudinal acceleration. The LCACC I/O constraints are set according to the steps that a) in the respect of tracking performance, vehicle following error constraints which are used for limiting the vehicle speed errors and the vehicle distance errors and allowed by a driver are obtained through driver experimental data in a statistic mode; b) in the respect of safety performance, the safety distance between the own vehicle and multiple surrounding vehicles is restrained in the view of vehicle following and collision avoidance; c) in the respect of comfort performance, the expected longitudinal acceleration data range is restrained.

The invention discloses an industrial robot calibration method based on distance error models. The method comprises: establishing a robot MDH (modified Denavit-Hartenberg) kinematic model; subjecting the errors of a matrix to homogeneous transformation; establishing a robot distance error calibration model; measuring the end actual pose of a robot; calibrating geometrical parameter errors of every connecting rod of the robot; and performing experimental verification. The industrial robot calibration method based on the distance error models has the advantages of being simple, practical, high-efficiency and rapid, is applicable to any series articulated robots, has a strong commonality, and can improve the positioning accuracy and the distance accuracy of an industrial robot simultaneously.

The invention discloses a control device for a PTZ camera with an altitude self-calibration function. The control device comprises a rail, a rail platform, a rail motor, the PTZ camera, a PTZ motor, a first sensor, a second sensor and an embedded microcontroller, wherein the rail platform is arranged on the rail and can slide along the rail; the rail motor is connected with the rail platform and provides power for motion of the rail platform; the PTZ camera is installed on the rail platform and can move along with the rail platform; the PTZ motor is connected with the PTZ camera and provides power for pitching and deflection of the PTZ camera; the first sensor is arranged on the rail platform and can move along with the rail platform; the second sensor is arranged on the PTZ camera and can pitch and deflect along with the PTZ camera; the first sensor and the second sensor are connected with the signal input end of the embedded microcontroller respectively, and the rail motor and the PTZ motor are connected with the output end of the embedded microcontroller respectively. The invention further discloses a control method. According to the control device and method, travel distance errors and deflection and pitching angle errors caused by mechanical abrasion, thermal expansion and cold contraction and other factors can be compensated, and altitude self-calibration is achieved.

The invention discloses a method for creating a 3D map based on a 3D laser, and belongs to the technical field of data processing. The method comprises the steps of performing rich information processing on point cloud data obtained by a 3D laser sensor to obtain an ordered laser point cloud data frame; performing feature extraction on the point cloud data frame to obtain feature points of the point cloud data frame; optimizing a transformation matrix according to an LM algorithm, and enabling the transformation matrix capable of enabling the sum of squares of distance errors of the matching of all feature points to be the minimum to serve the pose of radar; transforming each frame of the point cloud data into a point cloud map under a global coordinate system according to the pose of theradar, and transforming the point cloud map into a map expressed by voxels. According to the invention, rich information processing is performed on the original laser data, thereby providing a data basis for the creation of the 3D map. The method avoids a problem that it is inconvenient to perform filtering and denoising by adopting a point cloud map through adopting an expression mode of the voxel map, and the definition of the 3D map is improved.

A method of an industrial robot including a control unit and a manipulator including a tool including a defined tool center point and a device for determining a distance error between an inaccurately programmed position for a spot on a surface of a work piece and a corresponding actual position.

The invention discloses a novel general obstacle avoidance module for a UAV (unmanned aerial vehicle). The module consists of a range sensor, an inertial sensor, a single-chip microcomputer and a wireless communication module, wherein a connecting structure is as follows: the range sensor, the inertial sensor and the wireless communication module are connected with the single-chip microcomputer respectively; the single-chip microcomputer is also connected with a UAV flight control and a remote-control receiver respectively; the range sensor is used for detecting the distance between the UAV and an obstacle; the inertial sensor is used for compensating a distance error caused by inclination of the UAV during flight; the wireless communication module is responsible for transmission of the flight state of the UAV; the single-chip microcomputer is used for processing data. The module has the benefits that the module is simple in structure, stable, reliable, higher in universality and capable of effectively preventing the UAV from colliding with the obstacle and can be mounted on various UAVs through simple setting.

A feedback loop corrects timing errors by reducing deviations from a constant radar sweep rate. Errors are detected and fed back to a phase corrector in a high gain feedback system. A precision radar rangefinder can be implemented with a direct digital synthesizer (DDS) that includes feedback error correction for reducing range errors by, for example, 100 times, or to 0.1 mm. An error-corrected DDS swept timing system can enable a new generation of highly flexible, repeatable and accurate radar, laser and guided wave rangefinders.

The invention discloses a visual online image ferrography imaging system, which comprises an image acquisition device, a lens base, a focusing mechanism, an LED (Light Emitting Diode) annular reflection light source and a bicolourable ultra-thin LED backlight source; the image acquisition device is sleeved and fixed at the upper part of the focusing mechanism through the lens base; the bottom of the focusing mechanism is connected with an oil flow channel in ferrography through a thread; the LED annular reflection light source is fixedly connected with a threaded lens cone in the focusing mechanism; the bicolourable ultra-thin LED backlight source is adhered to a sedimentary slide in the oil flow channel in the ferrography. According to the invention, the object distance and the image distance are respectively adjusted through the focusing mechanism; the focal distance error of the lens is corrected; ferrography imaging with the fixed rate of 1.8 times can be realized; simultaneously, high-brightness and uniform illumination can be provided by adopting the LED annular reflection light source; the bicolourable ultra-thin LED backlight source as the transmission light source is wide in illumination range; the full-field ferrography imaging can be realized; the visual online image ferrography imaging system disclosed by the invention has the characteristics of being small in volume, high in imaging quality and easy for extracting visual abrasive particle characteristic information.

The invention discloses a muti-constraint-based high-precision binocular camera calibration method. The method comprises the steps that initial binocular camera parameters are calculated through a Zhang zhengyou calibration method, and re-projection errors and polar line errors are calculated, and then according to feature point coordinates in left and right camera images and the binocular cameraparameters, three-dimensional feature points are rebuilt; 3D geometric errors formed by adjacent distance errors, collinear errors and right angle errors are calculated. An optimized objective function formed by re-projection error cumulative sum, adjacent distance error cumulative sum, collinear error cumulative sum and right angle error cumulative sum is built, the optimized objective function is solved through a Levenberg-Marquardt method, and the optimal binocular camera parameters are obtained. Compared with the Zhang zhengyou calibration method, a binocular camera is calibrated, the distance measurement errors, collinear errors and right angle errors are obviously lowered.

The invention discloses a single classifier anomaly detection method based on a multilayer random neural network. The the method comprises: only inputting a training data set of a normal class; through multilayer ELM-AE autoencoder and decoding processing, input sample data obtaining a reconstructed characteristic value; inputting the reconstructed characteristic value into the last layer of ELM to obtain actual output; sorting the obtained distance error vectors of the actual output and output tags from large to small, and determining a threshold for separating a normal class from an abnormalclass according to a set threshold parameter; and finally, inputting the test data into the multi-layer random neural network single classification abnormity detection model, and testing the recognition effect of the model. According to the method, main information is extracted more quickly and efficiently, dimensionality reduction is carried out, and then recognition and classification are carried out. And the speed is higher, the accuracy is higher, and the generalization performance is better. The method is not only suitable for small data sets, but also suitable for high-dimensional largedata sets, and has universality. And the method has important significance for practical application in future.

The present invention relates to a method for hard-fine machining of tooth flanks with corrections and/or modifications on a gear-cutting machine, wherein respective toothed wheel pairings which mesh with one another within a transmission or a test device are machined while taking account of the respective mating flanks, and wherein the tooth flanks of the relevant workpieces are provided with periodic waviness corrections or waviness modifications. In accordance with the invention, the rotational error extent is determined by means of rotational distance error measurement of the toothed wheel pairs in a gear measuring device and/or transmission. This measurement result serves as an input value for defining the amplitude, frequency and phase position for the periodic flank waviness corrections on the tooth flanks of the toothed wheel pairings for production in the gear-cutting machine.

The invention discloses a TOF depth camera distance calibration method and device. The method comprises the steps: S1, delaying a modulation clock signal of a TOF camera by a delay circuit, and driving a light source to emit an optical signal by using the delayed modulation clock signal; S2, reflecting the emitted optical signal to a plurality of pixels on the TOF camera sensor through a to-be-calibrated target; S3, building a distance error calibration table for a plurality of different delay amounts according to the theoretical distance and the actual distance between each pixel point and the to-be-calibrated target; S4, performing the distance compensation for each pixel by using the distance error calibration table in the actual measurement. The above technical solution of the presentinvention can solve the problem of the difference between pixel points, so that each pixel point maintains consistency within the measurement range of the TOF depth camera, and can effectively improvethe accuracy of the TOF depth camera for spatial target measurement.

The invention discloses a method for creasing a distance map based on monocular camera machine vision, which comprises the following steps: carrying out red component extraction on an image collected by a car camera for obtaining a baseline image; utilizing an edge detection operator for carrying out boundary detection on the baseline image, and further carrying out Hough transform on discontinuity points in the boundary for detecting a boundary line; carrying out the Hough transform on the boundary detection result for finding out straight lines in the image, then carrying out statistical weighting on end points of a plurality of straight lines approaching a vanishing point, taking the average value of detected column coordinates of a group of the straight lines as the column coordinate of the vanishing point of an optical axis of the camera, and taking the average value of row coordinates as the row coordinate position of a vanishing line; and respectively filling distance information from a projection line of the optical axis to the boundaries on the two sides, carrying out approximate treatment on scenes being far away from the vanishing line, eliminating the impacts of long-distance errors on defogging treatment and obtaining the distance-depth map of the scenes. The utilization of the method can solve the problems of difficult creation of the distance map and expensive distance measuring equipment during model defogging.

The invention discloses an integrated real-time correction system for atmosphere convection layer and ionized layer radio wave refraction errors, which comprises a microwave radiometer, a single-station GPS (Global Positioning System) and an integrated real-time correction unit, wherein the microwave radiometer is used for detecting a convection layer refractivity profile; the single-station GPS is used for detecting an ionized layer electron density profile in real time; and the integrated real-time correction unit is used for calculating radio wave refraction error corrections in real time by adopting a ray tracing method based on the convection layer refractivity profile, the ionized layer electron density profile and the apparent distance and the apparent elevation angle parameter of a detection target, wherein the radio wave refraction error corrections comprise a distance error correction, an elevation angle error correction and a speed error correction. The integrated real-time correction device for atmosphere convection layer and ionized layer radio wave refraction errors overcomes the defect that the parameters of a convection layer and an ionized layer cannot be simultaneously detected by adopting the traditional method, realizes the real-time correction of the radio wave refraction errors of the convection layer and the ionized layer, has the advantages of high accuracy, good real-time performance, unattended operation, strong mobility, low cost, simplicity in operation and the like, and provides a technical support for improving the accuracy of systems for aerial survey, deep-space survey, ballistic trajectory measurement and the like in China.

A speed control method of a vehicle including the steps of obtaining a steering angle, a velocity error and a distance error. The velocity and the distance error being determined by mathematical combinations of a GPS position, a required path and speed set points. The steering angle, velocity errors and distance error are applied to fuzzy logic membership functions to produce an output that is applied to a velocity rule base. An output from the velocity rule base is defuzzified to produce a speed signal.