442 results about "Motion error" patented technology

A self-moving robot capable of correcting movement errors is provided. The self-moving robot includes a plurality of drive wheels, motors for rotating the drive wheels, drive wheel rotation detectors for detecting the amount of rotation of the drive wheels, a rotation detection unit for detecting rotation of the self-moving robot, and a controller for determining, through the rotation detection unit, whether or not the self-moving robot has deviated from a movement path and controlling the drive wheels according to the determination to correct movement of the self-moving robot for the deviation from the movement path. The self-moving robot can move along the movement path without deviation by automatically correcting the deviation that may occur during movement.

The invention relates to a bionic lower limb exoskeleton robot based on rope drive. The bionic lower limb exoskeleton robot comprises a backpack, a waist mechanism, thigh fixing devices, knee joint mechanisms, shank fixing devices and ankle joint mechanisms. A drive control system is placed in the backpack, the backpack is mounted on a waist support of the waist mechanism, a hip joint box is connected to the lower end of the waist support, the upper ends of the thigh fixing devices are connected with thigh connecting parts stretching out of the hip joint box, the lower ends of the thigh fixing devices are connected with the inner side of a knee joint box, the lower end of a swing plate stretching out of the lower end of the knee joint box is connected with the upper ends of the shank fixing devices, the lower ends of the shank fixing devices are connected with an ankle joint connecting plate on an ankle joint box, and ankle joint shafts stretching out of the inner side of the ankle joint box are connected with shoes. The motion error of the exoskeleton robot and the human body can be greatly reduced, the exoskeleton robot can be batter attached to the thighs, the bionic property is high, the size is small, the thickness is small, the mass is small, wearing is comfortable, operation is easy and convenient, and walking is stable.

The invention mainly aims at precision testing of characteristic parameters such as facial form and surface roughness of a large-scale sphere and an aspheric surface and particularly relates to an outline scanning measuring method and a device of the large-scale sphere and the aspheric surface. The large-scale sphere and the aspheric surface can separate an axial end jump error and a rectilinear motion guide rail error in an X direction in real-time, achieve real-time self-detaching of the axial end jump error of a drive shaft system and an aspheric surface outline measurement value, adopt a reference beam with high direction stability to monitor and compensate a guide rail motion error in real-time and be capable of conduct autonomous detaching and real-time compensation on the high-precision large-scale sphere and the aspheric surface such as the axial end jump error of the drive shaft system and the rectilinear motion guide rail error in the X direction. The outline scanning measuring method and the device of the large-scale sphere and the aspheric surface provides a new method and a new technology for high-accuracy measurement of parameters such as the facial forms of the large-scale sphere or aspheric surface, surface roughness, radius of curvature and the like.

The present invention belongs to the field of precise instrument manufacture and measurement technology, and is especially self-separation method and device for spatial error of super-precise revolution reference. The method of Z-direction section-by-section separation of super-precise revolution reference spatial motion error can meet the requirement of high precision cylindricity instrument to reduce spatial revolution error. The self-separation device for spatial error of super-precise revolution reference is developed by means of integrating roundness error separating system and cylindricity instrument revolution main shaft system. The bench revolving single-transposition small-angle error separation method is adopted in realizing the section-by-section separation of spatial revolution motion error of cylindricity instrument revolution main shaft, so as to reach the aim of reducing the effect of the spatial revolution motion error on measurement result.

The invention discloses an SAR (synthetic aperture radar) real-time imaging method based on a frequency modulated continuous wave, and the problem that a conventional method cannot process the real-time echo data of the frequency modulated continuous wave is mainly solved. The SAR real-time imaging method comprises the following realization steps of: carrying out previous wave filtration on initial data; carrying out Doppler center estimation, walking correction and Doppler center translation on the data subjected to the previous wave filtration; carrying out inverse fast Fourier transform (IFFT) on the data subjected to the center translation along a distance direction; carrying out Doppler frequency modulation rate estimation on the data subjected to the IFFT to obtain a frequency modulation rate value; calculating the motion error parameter of a loader according to the frequency modulation rate value; carrying out motion compensation on the data subjected to the previous wave filtration according to the motion error parameter; carrying out the walking correction, the Doppler center translation and bending correction on the data subjected to the motion compensation; carrying outthe frequency modulation rate estimation on the data subjected to the bending correction; and carrying out focusing and imaging on the data along an azimuth direction according to the obtained frequency modulation rate value to obtain an SAR image. The SAR real-time imaging method has the advantage that the SAR imaging resolution is high, and can be applied to the processing of the real-time echodata of the frequency modulated continuous wave.

The invention discloses a method for conducting arm control through deep learning. The method comprises the steps that firstly, an image of the motion process of a mechanical arm is collected, meanwhile, a control command of the arm is recorded at a certain frequency, and a controller expressed through a deep neural network is obtained through an end-to-end training method. On that basis, close observation shows that the control structure is expressed through the deep neural network, the motion error of the arm can be further reduced through the end-to-end training method, and obstacle avoidance motion can still be achieved greatly under the condition that an obstacle exists. The method is flexible to implement, samples needed by training are decreased to a great extent, and the method has a great advantage for the condition that large samples cannot be obtained easily for motion of the mechanical arm.

An interpolation image generation method and apparatus for adaptively converting a frame rate based on a motion vector, and a display device having an adaptive frame rate conversion function are provided. The interpolation image generation method includes an interpolation image generation process calculating motion vectors from a previous image unit and a subsequent image unit that are continuous and generating an interpolation image using the motion vectors; a motion error boundary detection process detecting an area, in which a motion error determined from the motion vectors is greater than a predetermined value, as a boundary area of the interpolation image; and a motion compensation process compensating for a motion error inside the detected boundary area based on a dominant direction of the motion vectors using at least one of the previous image unit and the subsequent image unit.

The invention discloses a precision detection method for a numerical control machine based on laser-tracking combined measurement. According to the method, a numerical control machine is fed along the pre-set route in a three-dimensional space or a two-dimensional plane, and a laser tracker is operated to measure the same motion trace of the numerical control machine at three positions at least successively. The motion error at each measurement position can be known by processing the measurement data. During the measurement, the point coordinates measured by the laser tracker is taken as parameters to determine the initial position of the base station in which the laser tracker is located, and then the measurements made by the laser tracker is used to determine the spatial location of the base station, and finally the spatial coordinates of each measurement point is determined. in the invention, the problem that the initial position of the base station is difficult to determine is solved, the method in the invention improves the reliability and calculation efficiency for determining the bas station and measurement points. In addition, the method has the advantages of speediness and high precision and the like, and is capable of meeting the precision requirements of various of numerical control machines.

A method for computing a high resolution gray-tone image from a sequence of low-resolution images uses an L₁ norm minimization. In a preferred embodiment, the technique also uses a robust regularization based on a bilateral prior to deal with different data and noise models. This robust super-resolution technique uses the L₁ norm both for the regularization and the data fusion terms. Whereas the former is responsible for edge preservation, the latter seeks robustness with respect to motion error, blur, outliers, and other kinds of errors not explicitly modeled in the fused images. This computationally inexpensive method is resilient against errors in motion and blur estimation, resulting in images with sharp edges. The method also reduces the effects of aliasing, noise and compression artifacts. The method's performance is superior to other super-resolution methods and has fast convergence.

The invention discloses a motion compensating method applicable to high-speed-mobile-aircraft-mounted SAR (synthetic aperture radar) imaging. The motion compensating method includes: establishing a motion error model applicable to high-speed-mobile-aircraft-mounted SAR imaging according to characters of high-speed-mobile-aircraft-mounted SAR imaging; on the basis of the model, analyzing influence on SAR imaging from an inertial navigation error; after distance-direction processing and initial direction Deramp processing are finished, utilizing inertial navigation information and combining with Doppler frequency estimation to obtain residue Doppler frequency modulation information of an echo, utilizing the obtained residue Doppler frequency modulation information to construct a corresponding compensating function to reasonably compensate an error phase, and thereby focusing quality of high-speed-mobile-aircraft-mounted SAR images is effectively improved.

The invention discloses a method for detecting the geometrical motion error of triaxial numerical control equipment in the technical field of mechanical detection. In accordance with the characteristic that a plane grating can measure the linear motion error and the circular motion error of the triaxial numerical control equipment, the method separates 12 error components including the linear error, the position error and the vertical error of a guide rail X, a guide rail Y and a guide rail Z, and then separates 9 rotation angle error components of the three guide rails.

The invention provides a point diffraction interferometer and comprises a light source module, a mask which can produce an ideal spherical wave, an optical diffraction component which can produce multi-level sub-diffraction light, an image sensor and an optical component. The measured optical component is arranged between the mask and the optical diffraction component and the diffraction light of some levels can permeate the optical component completely, wherein, the diffraction light of a certain level can permeate the optical component partly while being diffracted partly; the diffraction light of some levels can permeate the optical component completely, wherein, the diffraction light of a certain level can be diffracted or the optical component consists of a plurality of windows and a plurality of small holes; diffraction light of some levels can selectively permeate the window, however, the non-diffracted light can be diffracted through the small hole on the optical component. The point diffraction interferometer of the invention conducts measurement through a plurality of interference graphs which are produced at the same time and the sampling frequency is improved, moreover, the design and operation of the whole system is simplified and the motion error of a phase-shift component can be avoided.

The invention discloses a synthetic aperture radar (SAR) imaging method based on non-linear frequency-modulated signals. The method comprises the steps of: carrying out range pulse compression on echo data according to emitted non-linear frequency-modulated signals; compensating a motion error at a reference distance according to determined slant range error; then adopting Stolt mapping; and finally compensating a residual motion error and carrying out azimuth focusing. In this way, the imaging o the non-linear frequency-modulated signals is completed. The invention further discloses an SAR imaging device based on the non-linear frequency-modulated signals.

The invention relates to a rod arm measurement and compensation method based on synthetic aperture radar (SAR) remote sensing imaging. When remote sensing load motion error compensation is provided, errors of three grades of rod arms are required to be precisely measured, and error compensation is executed according to characteristics of the errors of the three grades of rod arms. The three grades of rod arms comprise a one-grade rod arm at a relative position of a global positioning system (GPS) antenna and an inertial measurement unit (IMU) sensing center, a two grades of rod arms at a relative position of the IMU sensing center and a remote sensing load phase center; and a size effect length from three accelerators to the IMU sensing center is calculated according to a structural size of IMU design. The rod arm measurement and compensation method has the characteristic that errors of positions, speed and attitudes and output errors of the accelerators which are caused by a rod arm effect error are eliminated; the motion measurement precision of a point of sale (POS) system is improved; and precise motion information of the remote sensing load phase center can be acquired, so that the remote sensing load imaging precision can be improved.

The invention discloses a bistatic SAR motion compensation method based on phase gradient autofocus improvement. The method mainly solves the problem that in the prior art, motion compensation cannot be carried out under the condition of large motion errors. The method comprises the complementation steps that 1) range migration correction, range compression and deramp processing are carried out on sub-aperture data; 2) non-empty variable phase error estimation is carried out on signals through a PGA method, rough compensation is carried out on the data through the error estimation result, and residual phase errors are obtained; 3) the residual phase errors are unfolded to be a second-order polynomial of the range, and a constant term coefficient and linear and quadratic term coefficients are obtained; 4) the minimum mean square gradient estimation of the three coefficients is obtained through a phase weighting PGA, and the sub-aperture phase errors are obtained through the gradient estimation result; 5) the phase errors of the sub-aperture data are spliced to obtain full-aperture phase errors; 6) motion compensation and bistatic SAR imaging are carried out through the full-aperture phase errors. The method can be used for processing the bistatic SAR data under the condition of the large motion errors.

The invention relates to method for measuring synthetic aperture sonar movement error and underwater sound channel error. The invention employs an irradiation matrix which is arranged along platform trace and different phase center to irradiate plural orthogonal signal with same frequency at the same time.

The invention provides a compensating method with associated movement of synthetic aperture sonar and a system. According to the requirements of a basic matrix carrier of the synthetic aperture sonar and movement compensation accuracy, the configuration of the invention comprises a synthetic aperture sonar multi-collection submatrix and a system of a required sensor. The position of an adjoint matrix coordinate system original point is estimated through information obtained by the sensor, and central positions of each equivalent phase on the sonar basic matrix are determined according to the movement of the adjoint matrix coordinate system original point so as to obtain the movement errors of each current equivalent phase on the sonar basic matrix. Various sensor data capable of being deployed is fully utilized to improve the movement compensation accuracy. A movement compensation calculating process has simplicity and convenience and is convenient for real time system application.

The invention discloses a bistatic forward-looking SAR (Synthetic Aperture Radar) motion compensation method. Azimuth-slow time decoupling operation is adopted, and different azimuth point targets in the same distance unit are separated and processed. The method mainly comprises steps of: (1) space-invariant motion error compensation; (2) distance focus processing; (3) distance space-variant motion error compensation; (4) azimuth space-variant motion error compensation; and (5) azimuth compression. The problem that the traditional SAR motion compensation method and the existing bistatic SAR motion compensation method are hard to correct motion error azimuth space variance can be overcome. The motion error azimuth space variance can be effectively removed, and precise compensation and focusing of the bistatic forward-looking SAR can be realized.

The invention relates to a method about diametrical two points and six level measuring roll roundness error and machine tool spindle error., it makes the analysis when time-finite signal collected by two displacement sensors which are set according to diametrical method during six different displacement measuring changes into frequency domain, it makes separation of roundness error of roll which makes eccentric rotatoexercise and spindle motion error, and it realizes measures online about roundness error of roll and spindle motion error, thus, it improves the precision of measuring.