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.

A moving ground penetrating radar is comprised of multiple transmitters and receivers with multiple, e.g., Horizontal and Vertical, polarizations to detect buried targets with standoff capability. Novel signal and imaging techniques are used to form high quality radar imagery with low artifacts that are due to various sources of self-induced resonances, e.g., transmitter-receiver coupling, calibration errors, and motion errors in the multi transmitter / receiver channels of the radar system. The irradiated target area image is formed via exploiting both the spatial diversity of the physical multi-transmitter and multi-receiver array and synthetic aperture / array that is generated by the motion of the platform that carries the radar system. The images that are formed from the multiple polarizations are combined to remove surface targets / clutter and, thus, enhance signatures of buried targets.

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.

Apparatus and methods for generating a shutter-time compensated high spatial resolution (HR) image output by enhancing lower spatial resolution (LR) video images with information obtained from higher spatial resolution still images which are temporally decimated. Super-resolved images and LR SAD information is generated from the LR images and used for directing the extracting of information from the temporally decimated HR images to enhance the spatial resolution of the LR images in a blending process. By way of example blending can comprise: motion estimation, motion compensation of a temporally displaced HR still images and a super-resolved (SR) image input, transformation (e.g., DCT), generating motion error output, blending motion compensated images in response to LR motion error information; inverse-transformation into a shutter-time compensated HR video image output. Accordingly, a more cost effective solution is taught for obtaining a desired shutter time and video resolution.

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 electronic coach realization method and system comprising the following steps: S1, obtaining ID information of a login user, and calling a sport scheme matched with the user ID; S2, guiding the user to move according to the first sport guide information message in an un-executed sport guide information series; S3, taking user sport images; S4, extracting a user present motion posture to compare with a standard motion posture, determining whether the difference of the two is in the preset range, if not, sending feedback motion error prompt information to the user and executing step 5, and if yes, executing step6; S5, sending present motion standard posture information to the user, guiding the user to repeat the present motion, and executing step3; S6, determining whether the presently executed sport guide information is the last sport guide information message or not, if yes, finishing the sport, and if not, returning to the step2. The electronic coach realization method and system can automatically compare and correct motions of the user in sports, thus guiding users to sport in real time.

The invention discloses a fine-adjustment positioning method of a fruit and vegetable picking point, which comprises the following steps of: collecting close-range position information of a fruit and vegetable picking region by utilizing a picking robot to acquire first positioning data; controlling a picking terminal executer to move to a space point according to the first positioning data; collecting the current image by a camera and processing the collected image to acquire an image coordinate of a picking point; converting the image coordinate of the picking point into space three-dimensional coordinates of the picking point; and controlling the picking terminal executer to move from the current position to a position corresponding to the space three-dimensional coordinates according to the space three-dimensional coordinates of the picking point by a picking mechanical arm controller and positioning the picking point. By secondary precise positioning, the invention finely adjusts and corrects the terminal motion error of the mechanical arm and enables a robot target positioning system to form a closed ring so as to accurately position picking division points, accurately cut and pick cucumber fruits, and improve the working reliability of the picking robot.

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 apparatus and method for estimating motion are provided. An exemplary motion estimating apparatus comprises a background representative calculator for calculating a background representative vector representing background motion of a frame to be interpolated on the basis of motion vectors of the frame to be interpolated, a block motion calculator for calculating motion vectors for respective blocks of the frame to be interpolated on the basis of a current frame and a previous frame, for providing the motion vectors to the background representative calculator, and for calculating background motion vectors for the respective blocks through local search on the basis of the background representative vector output from the background representative calculator, a motion error detector for determining whether each block is in a text area on the basis of the motion vectors and the background motion vectors output from the block motion calculator and a motion correcting unit for determining whether each block in the text area is in a boundary area on the basis of motion vectors of peripheral blocks of each block when each block is in the text area, and for correcting a motion vector of each block in the boundary area when each block in the text area is in the boundary area.

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.

The invention discloses a device and a method for detecting movement errors of a working platform in multiple degrees of freedom. Reflected light is reflected onto a three-surface reflector fixed on the working platform through a light path regulation reflector, returns to the light path regulation reflector after being reflected by the three-surface reflector in sequence, is reflected onto a second light splitting piece, enters a beam expanding mirror after being reflected by the second light splitting piece, and is projected onto a detector. Transmission light enters the beam expanding mirror after being transmitted by the second light splitting piece and is projected onto the detector. Two beams of light generate interference on the detector, and measurement on deflection and movement displacement of the working platform can be achieved by regulating shapes of interference fringes and measuring phase displacement. By means of the device and the method for detecting movement errors of the working platform, synchronous and real-time measurement on an angle of oscillation, an angle of pitch and axial movement displacement of the working platform can be performed, real-time compensation is performed according to the measurement result to eliminate effect caused by movement errors, and measurement precision and manufacturing precision can be improved. The angle measurement ranges from +3rad to -3mrad, and measurement requirements of the working platform can be met.

The invention belongs to the radar technology field, discloses a high precision compensation method for an airborne SAR orientation space-variant motion error and aims to precisely compensate the higher-order orientation space-variant motion error. The method comprises steps that an echo signal is received by an airborne SAR radar device, and two-step compensation for the echo signal is carried out; distance partitioning of the echo signal after two-step compensation is carried out; orientation partitioning of the echo signal after distance partitioning is carried out; an orientation space-variant motion error of a center point of an ith sub block of the echo signal after orientation partitioning is calculated, and a polynomial of a stationary phase point of the sub block is further solved; the center point of the ith sub block is taken as reference, the stationary phase point of the sub block is solved, a compensation function is constructed, the sub block is compensated by employing the compensation function, reverse FFT is carried out, and an image of the sub block after compensation is acquired; images of all sub blocks after compensation are acquired, and an airborne SAR image after compensation is acquired.

The invention discloses a measuring device of workpiece rotary table error separation based on double-probe scan data splicing and a method thereof. The device employs two sets of probe systems (1, 1') to carry out scanning measurement simultaneously on a swing arm contourgraph which is formed by a probe system (1), a transverse arm (2), a column (3), a counterweight (4), a standard flat crystal (5), a workpiece rotary table (6) and a transverse arm rotary table (7). After two sets of the probe systems scan one time, two scanning loci M1 are obtained, then the workpiece rotary table is rotated with a certain angle beta and scanning is carried out once more, and another two scanning loci M2 are obtained. According to the device and the method, a method of double-probe scan data splicing is employed, influence of a motion error of the workpiece rotary table on a measurement result can be effectively separated and removed, thus measurement precision is raised substantially, and a practical solution scheme is provided for on-position measurement of the swing arm contourgraph at an optical processing field.

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 provides an underwater high-resolution side-looking acoustic imaging system. The system comprises a transmitting array, a receiving array and a receiver, wherein the receiver comprises a signal conditioning and acquisition functional module, a data transmission module and a data processing module, the signal conditioning and acquisition functional module is used for filtering and amplifying underwater acoustic signals and converting analog signals into digital signals, the data processing module also comprises a memory module, an image reconstruction module, a movement error estimation and compensation processing module and an image display module. The system is characterized in that: the transmitting array is a transmitting array group which consists of two transmitting arrays, and is used for transmitting acoustic signals with different frequency bands, and each transmitting array is driven by a transmitter. The invention also puts forward a method for utilizing the transmitting array group to carry out underwater high-resolution side-looking acoustic imaging. The invention has the advantages that: the limitation of the length of a plurality of sub-arrays of a sonar array on the moving speed is reduced, and thereby the surveying efficiency of the imaging system is increased.

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 relates to a robot movement locus key point error measurement method. According to the method, key discrete point motion error measurement in a robot movement process can be realized, in the robot movement process, a robot is controlled for stopping movement at a certain key point, a tail end actual space point coordinate of the robot at present is acquired through a vision imaging system, a double-prism tracking device generated at the key point generates a theory coordinate of the key point to which place the robot moves, through comparing and calculating the distance between the two points, a robot movement error at a key discrete point can be acquired. The method belongs to a non-contact measurement robot movement locus error method, direct contact with the robot is not required, and movement locus key point error measurement of the robot can be accurately carried out on the condition that no damage to the robot is guaranteed.

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.

An apparatus and method for detecting movement errors due to the wheel slip or transient current generated while a mobile robot is traveling. The movement error detecting method includes: detecting movement of the wheels in a sensor part according to a movement command input to a drive motor, and outputting an actual output value from the sensor part; calculating an ideal output value for output from the sensor part as the wheels are moved according to the movement command; and comparing the actual output value with the ideal output value to determine and residual fault and detect movement errors.

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.