60 results about "Motion error" patented technology

The invention relates to a multi-axis cooperative scanning motion control method and system for high-precision scanning imaging, and relates to the technical field of scanning imaging process.The method comprises the steps that in the scanning imaging process, an imaging mechanism model of light tube-sample-flat plate imaging is constructed based on a ray expected track of a ray source, and a light tube-sample-flat plate imaging model is constructed; and analyzing the expected position of the flat panel detector. Then, according to an expected position and a ray expected trajectory, analyzing a motion error and a coupling relationship between the expected position and the ray expected trajectory, and establishing a coupling influence; and according to the coupling influence, a high-precision synchronous motion controller is constructed. Then, kinematics capability limitation and coupling characteristics of each axis are analyzed, coupling mapping and speed constraint are introduced, and a control instruction of synchronous control is updated through speed correction; and finally, performing high-precision synchronous scanning control on each axis motion controller by using the control instruction. Therefore, the full-coverage detection and high-precision imaging of the detected sample are realized by limiting the motion and constraining a zooming synchronous control mechanism.

The invention belongs to the technical field of machine tool control, and particularly discloses a machine tool hydrostatic guideway feeding system motion error compensation method and a storage medium. The method comprises the following steps: measuring and acquiring Z-direction error data of the guide rail; processing the data by Fourier series and fitting a guide rail contour error; inputting load, oil pad geometric parameters and guide rail working parameters; a workbench-guide rail balance equation based on consideration of guide rail contour errors is established, and a Z-direction motion error model perpendicular to the feeding direction of a workbench is calculated to serve as a low-fidelity model; the Z-direction deviation ez'and the coordinate Y of the workbench are measured and obtained to serve as a high-fidelity model; constructing a multi-fidelity model by combining the low-fidelity model and the high-fidelity model based on a CO-Kriging method; and inputting the multi-fidelity model into a numerical control system, reading the position of the workbench in real time, substituting the position into the multi-fidelity model, and calculating and compensating the Z-direction motion error of the workbench. The method has the advantages of being easy to operate, high in compensation precision and good in reliability and flexibility.

This invention discloses a high-precision phase recovery method for tooth surface fringe images during gear rotation. The method first establishes an N-step static phase-shift image dataset of the gear at subdivided rotational positions. When constructing network training data pairs, three image combinations with different position indices and phases satisfying the standard three-step phase shift are selected to generate an input sequence simulating unidirectional rotation and motion errors. The high-precision sine and cosine terms calculated using the N-step static images are used as labels. Secondly, an encoder-decoder deep neural network with a bottleneck layer dual attention mechanism and global residual connections is constructed and trained using an adaptive loss function. Finally, the dynamic image to be tested is input into the network to directly predict the sine and cosine terms, calculating the wrap-around phase without motion artifacts. This invention effectively suppresses motion errors caused by gear rotation, contributing to the high-precision reconstruction of the three-dimensional morphology of the tooth surface.

The invention discloses a motion execution mechanism error determination method and device, equipment and a storage medium. The method comprises the following steps: acquiring instruction data corresponding to a motion control instruction of a motion execution mechanism; collecting displacement data of the motion execution mechanism in the process of executing the motion control instruction; and determining the motion error of the motion execution mechanism according to the instruction data and the displacement data. According to the scheme, an error analysis mechanism based on the instruction data and the actual displacement data is introduced, so that the motion performance of the motion execution mechanism is accurately evaluated and quantified. According to the scheme, the positioning precision and the overall operation stability of the motion executing mechanism can be remarkably improved, and the requirements of scenes such as high-precision industrial automation, robot operation and precision machining can be met.

A material conveying mechanism of a microcapsule pre-coating fastener comprises a material conveying rail, a base, a lifting sliding block, a driving motor set, a wheel disc, a connecting rod, a first intercepting rod and a second intercepting rod, and the first intercepting rod and the second intercepting rod on the lifting sliding block are driven by a crank connecting rod mechanism to be alternately inserted into the two sides of the moving direction of the fastener. And an integrated linkage scheme of the same power source is formed. Compared with the prior art that two sets of air cylinders need to be controlled by programs, hardware needs to be continuously adjusted, and the running state of the hardware needs to be detected, the integrated linkage scheme is simpler and more reliable, and the problem of alternating motion errors is solved.

The application discloses a kind of path planning methods for realizing Z-axis orientation constraint based on mechanical arm SDK, it is related to industrial robot control field, the path planning methods for realizing Z-axis orientation constraint based on mechanical arm SDK, including target positioning, path planning and analysis, split mechanical arm operating track and dynamically solve Z-axis optimal parameter, visual detection and posture real-time adjustment and transport data record analysis, relies on the real-time visual data of positioning detection system acquisition, realizes Z-axis pose dynamic monitoring, based on solving data, call mechanical arm SDK combined with Cartesian planning algorithm, real-time adjustment Z-axis orientation and end handling component posture and speed, can promptly correct motion error, the Z-axis deviation caused by workpiece deviation, combined with moveit2 frame collision detection capability and SDK fast response capability, realize the path planning method for Z-axis orientation constraint, effectively avoid collision risk, improve the stability and security of mechanical arm operation.

The invention relates to the technical field of microelectronic assembly equipment control, and discloses a chip pin alignment calibration method based on machine vision, comprising the following steps: establishing a real-time motion error model representing mechanical positioning errors, and obtaining pin polar coordinates through partition extraction; a tangential margin is deducted from the theoretical region to construct a static tolerance window; performing morphological erosion and parallel simulation on the static window at a multi-stage speed by using an error boundary output by the model, and calculating a full-pin dynamic window geometric intersection; and according to the intersection non-empty state, the optimal speed and the target coordinate are decided, equipment mounting is driven, and thermal drift parameters are updated based on an observation residual closed loop. According to the method, the real-time motion error model containing thermal drift compensation is constructed, dynamic morphological erosion based on the mechanical positioning error boundary value is executed on the static window, the effectiveness of mounting coordinates in different thermal states is guaranteed, and dynamic decoupling of precision and speed is achieved.

A device for monitoring a patient determines a set of predicted physiological variables using a model trained from physiological variables collected from the patient. The device receives a set of measured physiological variables and a motion measurement. The device compares the set of measured physiological variables to the set of predicted physiological variables to determine a residual vector. The device classifies the residual vector using a vector motion error based on the motion measurement, and performs an action based on the classification of the residual vector.

The invention discloses an ultra-wideband radio communication signal processing method based on motion error compensation, which relates to the technical field of communication signal processing, and comprises the following steps: establishing a continuous time chain for an area where the motion speed of a target changes suddenly in a dynamic propagation scene, and calibrating an energy peak transition point in a continuous time chain based on a time sequence of signal energy distribution, and extracting a kick starting point through time segmentation. By establishing a continuous time chain and introducing energy peak transition point calibration, time sequence continuity and energy smooth transition of a propagation path during speed sudden change are realized, and time drift caused by path index disorder is effectively avoided; and meanwhile, self-adaptive adjustment of the anchor point spacing is realized through breathing type time anchor scheduling, so that the path index keeps convergence in a high-dynamic environment, and the space-time consistency and the positioning precision of the ultra-wideband signal are improved.

This invention discloses a six-degree-of-freedom motion error measurement system and method for a rotating axis. The system includes a rotating axis and angular position error measurement components and tilt motion and radial runout error measurement components respectively connected to the rotating axis. The tilt motion and radial runout error measurement components include a first laser optical path and also include an axial runout error measurement component, which is integrated into the first laser optical path. The six-degree-of-freedom motion error measurement system of this invention has a simple structure, occupies little space, and is easy to operate. It can accurately measure two tilt motion errors, two radial runout errors, angular positioning errors, and axial runout errors.

The application relates to a kind of automatic cutter setting method and system based on machine vision, belong to milling cutter setting technical field.The method first locates the initial position coordinate of milling cutter, and plans the initial cutter setting path of milling cutter in combination with target cutter setting position coordinate;Then the image of milling cutter in initial cutter setting path is acquired to carry out image denoising and image deblurring processing, after obtaining second image, carry out edge detection, extract the edge profile of milling cutter, and calculate the edge point subpixel coordinates of profile to carry out parameterized fitting, obtain current milling cutter position and milling cutter attitude;And the initial cutter setting path, the wear degree of milling cutter, current milling cutter position and milling cutter attitude are input into error prediction model, and the current motion error of milling cutter is predicted;According to the current motion error of milling cutter, the path compensation amount is calculated, and the cutter setting path of milling cutter is adjusted according to the compensation amount.The application can reduce the interference of milling cutter motion blur and environmental factors, realizes the quantitative adjustment and correction of milling cutter setting.

Provided are a kinematic error calibration method, apparatus, storage medium, and program product wherein the method comprises: determining phase information for phase modulation of a first reflector and a second reflector, the phase information varying with time, the phase information being used for phase modulation of the first reflector and the second reflector; the absolute value of the difference value between the moving distance of the second equipment along the gradient direction of the interference pattern and the moving distance of the interference pattern in the space caused by the change of the phase information is less than half of the space period of the interference pattern, the interference pattern indicates the distribution of the amplitudes of interference signals generated by the first reflector and the second reflector in the space; first configuration information and second configuration information are sent based on the phase information, the first configuration information is used for configuring the phase corresponding to the first reflector, and the second configuration information is used for configuring the phase corresponding to the second reflector, so that the problem of fuzzy position of the second equipment is solved, and the accuracy of determining the position of the second equipment is improved.

The embodiment of the invention provides a precision optimization distribution method and system for an ultra-precision grinding machine. The method comprises the steps that the topological relation between moving parts of a machine tool is determined; based on the topological relation, constructing a machine tool motion error model representing the motion error of the motion part; based on the machine tool motion error model, determining the influence of the motion error item of each motion axis of the machine tool on the element surface shape precision; based on the influence of the motion error term of each motion axis on the element surface shape precision and the motion error term, constructing a machine tool precision optimization distribution model; and distributing the precision of the machine tool based on the machine tool precision optimization distribution model and the element surface shape precision requirement of the machine tool. According to the method, the machine tool motion precision index meeting the element machining precision can be determined, and the development cost of the ultra-precision grinding machine tool is reduced.

The invention provides a crossed ball guide rail workbench five-degree-of-freedom motion error analysis method, which comprises the steps of establishing a skin surface model based on part tolerance information and plane feature information, obtaining displacement spinor through constraint registration simulation, establishing a Jacobian matrix based on an assembly structure, and constructing a Jacobian skin surface model in combination with spinor information, calculating to obtain pose offset information of left and right guide rails and a slide rail in the guide rail pair, determining a space pose of a guide rail system in a global coordinate system by combining an actually measured raceway shape error, substituting the space pose into a crossed ball guide rail error model established based on a Hertz contact theory and static balance, and obtaining a five-degree-of-freedom motion error of the slide table through iterative solution. And finally, carrying out key error sensitivity analysis by adopting Monte Carlo simulation and a difference method. According to the method, the error transmission relation from the base to the working table function point can be accurately analyzed, the influence degree of the part tolerance on the motion precision is revealed, and an important reference basis is provided for design and assembly of the precise working table.

Provided are two guide rails (15, 16) arranged in parallel along a feed direction, sliders (17, 19, 21, 23) provided on the guide rails (15, 16), a moving table (3) on which the sliders (17, 19, 21, 23) are mounted and which moves along the feed direction, and a driving mechanism (11) that moves the moving table (3). Further, provided are a scale arranged on the guide rails (15, 16) along the feed direction, reading heads (18, 20, 22, 24) provided on the sliders (17, 19, 21, 23) respectively and reading information provided to the scale, detecting positions in the feed direction and positions in a direction orthogonal to the feed direction, and a motion error calculation unit (70) that calculates a motion error of the moving table (3) based on position information in the two directions detected by the reading heads (18, 20, 22, 24).

This invention discloses a composite measurement method, device, system, medium, and program product. By integrating global multi-view visual positioning and local fringe projection measurement technology, it accurately corrects the motion error of an industrial robot using externally measured pose. First, it completes multi-dimensional accurate calibration of local measurement, global positioning module, and hand-eye coordination, constructing a high-precision unified global coordinate system covering the entire measurement space. Then, through hardware triggering, it achieves strict spatiotemporal synchronization of local 3D topography data and robot end-effector global pose data, and combines intelligent path planning to complete a full-coverage scan of large-size structures, calculating the high-precision six-DOF global pose of the robot end-effector detached from its own sensing system. Subsequently, it accurately converts the local point cloud to the global coordinate system and completes seamless stitching and fusion of noise reduction, coarse registration, and fine registration, realizing high-precision, high-efficiency, and automated 3D topography measurement of large-size structures, ensuring the global consistency and accuracy reliability of the measurement results.

The invention provides a heavy-load train positioning correction method based on error state estimation. The method comprises the following steps: acquiring motion state data of a heavy-load train; inputting the motion state data into a pre-constructed error state prediction model to obtain a motion error state of the heavy haul train; the error state prediction model is obtained by training based on sample motion state data of a sample heavy haul train and a mixed loss function, the mixed loss function comprises a data loss function and a physical constraint loss function, and the physical constraint loss function is constructed based on a preset train motion joint error state updating differential equation; dynamically correcting the motion error state based on the observed value of the error state of the motion state of the heavy-load train; and correcting the motion state data of the heavy haul train based on the corrected motion error state to obtain corrected motion state data. According to the invention, the real-time performance, accuracy and stability of train positioning can be improved.

The application discloses a focusing calibration method and an exposure compensation method with an automatic focusing function, determines the relationship between the movement amount of an AF mechanism and the change amount of a platform focal plane, and specifically comprises the following steps: arranging the AF mechanism below an exposure lens, moving a suction disc camera on the platform to be directly below the exposure lens, determining the optimal focal plane position Z of the platform through the suction disc camera m ; determining the relationship between the movement amount of the AF mechanism and the change amount of the platform focal plane, obtaining the relationship model between the focusing position of the AF mechanism and the change amount of the platform focal plane, thereby ensuring the accuracy of the focal plane compensation of the AF mechanism, eliminating the different influences of machining errors and movement errors and movement amounts on the focal plane, and preventing the phenomenon that the difference between the theoretical compensation surface and the actual compensation surface is different.

The application provides a synthetic aperture radar range-aperture space-variant motion compensation method based on linear scaling, which adopts the first step of consistent compensation in two-step motion compensation to compensate for main distance non-space-variant motion error components of panoramic echo, obtains distance pulse pressure target migration curve image data, calculates sub-aperture bandwidth parameters by using image minimum defocus principle, and first-order Taylor expansion of residual range-aperture space-variant error, further introduces linear scaling in two-dimensional time domain to compensate for constant components and linear components, synchronously completes residual azimuth phase error compensation, finally splices sub-aperture data time domain to form ideal echo data without motion error, and outputs final panoramic image through traditional imaging processing. The application realizes high-precision residual range-aperture space-variant motion error compensation, has simple principle, is suitable for airborne and missile-borne platforms with complex trajectories, has high accuracy and strong robustness, and has high practicability.

The invention discloses a foot end slip detection and compensation method for a six-wheeled composite robot, and relates to the technical field of anti-slip of robot movement. The method mainly comprises the three steps that firstly, a sliding detection model is built based on a long short-term memory (LSTM) network model, and the model predicts the sliding amount of each foot end only by taking error information of an actual motion state and an expected state of a fuselage as input; secondly, according to the predicted slip amount, obtaining an instantaneous steering center and a compensation rotation angle generated by slipping of the robot through geometric calculation; and finally, according to the calculated steering parameters, the robot is controlled to execute pure rolling steering motion, a supporting polygon is reconfigured through the strategy that the non-slipping swing legs fall down and the slipping legs are lifted up, and motion errors are compensated in real time. The method has the beneficial effects that the hardware cost is low, the system is light in weight, the real-time performance and the self-adaptability are high, and the motion stability of the robot on the complex terrain can be effectively improved.

The application discloses a kind of multi-axis linkage's curved surface contour machining method, system, equipment and medium, it is related to curved surface contour machining technical field, method includes: the theoretical model of the curved surface contour to be processed is imported to the system software of corresponding multi-axis linkage equipment, obtains theoretical processing track data, to determine first movement position data;Obtain the profile data of the movement of the curved surface contour to be processed according to theoretical processing track data by multi-axis linkage equipment, determine the actual processing track data of the curved surface contour to be processed according to profile data, to determine second movement position data;Rotary shaft and linear axis of multi-axis linkage equipment are moved according to first movement position data and second movement position data respectively, and the curved surface contour to be processed is machined.The application can avoid the influence of data processing error introduced by collecting and splicing data in several times and the movement error of rotary shaft on the accuracy of actual curved surface contour processing, and improves the processing accuracy of curved surface contour.

The invention discloses a tool rotation control system and method of a round screw machining machine tool, relates to the technical field of machine tools, and aims to solve the technical problem that the machining precision of a tool bit is affected by error superposition during multiple kinds of movement, the tool rotation control system comprises a clamping module, a feeding module and a machining module, the clamping module is used for clamping and fixing a circular screw, the feeding module is used for driving the circular screw to rotate, the feeding module is used for periodically increasing and reducing the rotation state of the circular screw according to a cosine curve, and the machining module comprises a tool bit for forming a spiral groove of the circular screw. The machining module further comprises a revolution module and an autorotation module, and the autorotation module is constructed to meet different machining procedure requirements of the round screw. The device has the advantages that the device adapts to non-linear change of the screw pitch, the revolution and rotation modules of the machining module are matched with different tool bits according to needs, superposition of various motion errors is reduced, deformation of the tool bits is reduced, and the machining precision of the spiral groove of the circular screw is improved.

The application provides a kinematic calibration method and system for a redundant drive over-constrained parallel robot, comprising: constructing a companion error model of each branch of the ROPR by using an exponential product method; describing motion deviation of a redundant joint angle in the error model, and treating deviation of a non-redundant active joint angle as zero; establishing an error feasible space based on a configuration constraint equation; eliminating joint motion error by using a projection method, and establishing an error matrix of the ROPR; measuring end position and posture error of the robot by using a laser tracker; identifying error parameters of the ROPR by using a least square method; and determining drive input of the ROPR according to the identified parameters and performing error compensation. The kinematic calibration method has universality and is easy to be popularized to other redundant drive parallel robots. The kinematic calibration method starts from inherent characteristics of the redundant drive over-constrained parallel robot, and ensures rationality of the error model.

The invention relates to the technical field of spaceflight, and particularly provides an optical-mechanical structure motion error measurement method, device and product under microgravity. The method comprises the following steps: acquiring a pre-constructed microgravity simulation device and a measurement platform; the measuring platform is used for fixing and supporting a to-be-measured optical machine structure, and the to-be-measured optical machine structure comprises an optical delay line and a fast reflecting mirror; under the condition that the trigger signal is received, the measuring platform does free falling motion in the microgravity simulation device; after the measurement platform completes the free falling motion, motion error data of the to-be-measured optical machine structure is acquired; wherein the kinematic error data of the optical delay line represents the rotational kinematic error of the optical machine structure to be measured in three degrees of freedom and the translational kinematic error in one direction, and the kinematic error data of the fast reflecting mirror represents the translational kinematic error in three directions. According to the invention, the rotation motion error data and the translation motion error data of the to-be-tested optical machine structure are obtained by respectively measuring the motion error data of the optical delay line and the fast reflecting mirror.

The invention relates to a sports motion error correction method and device based on computer vision, equipment and a medium. The method comprises the following steps: firstly, acquiring visual motion video data of a target user in a sports process, extracting a visual spatial-temporal feature vector through a preset visual feature extraction network, further generating a disturbance visual feature vector, calculating a joint feature drift vector and an error perception statistical magnitude through a micro-error disturbance model, and calculating the visual motion video data according to the joint feature drift vector and the error perception statistical magnitude. And fusing the visual spatio-temporal feature vector and the error perception statistic to generate a fused feature vector, and generating an error correction instruction according to the fused feature vector. By adopting the method, through active evaluation and integration of stability information of visual features, negative conduction of underlying perception uncertainty to a final decision instruction is effectively inhibited, and the reliability of error correction guidance in a complex real scene is improved.

The invention discloses a motion error compensation and signal coherent accumulation method based on a deep network, which is applied to the field of radar signal processing, and aims at solving the problems of motion error compensation and echo signal accumulation of echo signals, and solving the problem that complex motion error and echo signal coherent accumulation compensated through the deep network is not considered in the prior art. Motion error compensation and signal accumulation of echoes containing airborne platform motion errors are difficult to deal with; according to the method, motion phase components in echoes are eliminated through a PWGRT algorithm, when search parameters are matched with a target, motion error phase components containing noise are output, then a 1D-Inception-ResNet-V2 structure capable of adapting to phase sequence input is designed, phase change characteristics between pulses are mined, and phase information of motion errors is further extracted. And finally, phase information of the motion error is extracted by using the deep network, and compensation and signal accumulation of the motion error are realized.

This invention discloses a motion teaching error correction system and method based on fine-grained temporal alignment, belonging to the field of artificial intelligence sports teaching technology. The system includes: breaking down standard sports movements into multiple fine-grained temporal stages; setting temporal time windows, posture key point thresholds, and error causal association rules between stages; constructing a two-dimensional temporal alignment parameter library for different age groups and sports projects; acquiring temporal frame data of student movements to be corrected; achieving fine-grained temporal alignment with standard movements through a dynamic temporal warping algorithm; detecting error points based on posture key point thresholds; tracing the root cause stage of the error using association rules; performing lightweight feature dimensionality reduction and error correction prompt generation on the terminal; monitoring computational latency in real time; and switching to a hybrid computation mode combining edge pre-computation and cloud optimization when thresholds are exceeded to ensure real-time performance. This invention can accurately locate motion errors and their root causes, is adaptable to multiple age groups and sports projects, and improves the efficiency and real-time performance of motion teaching error correction.

This invention provides a method for calculating correction parameters for motion errors in a machine tool, and the machine tool itself. The method comprises the following steps: a first measurement step, measuring three measuring surfaces A to C of a right-angle standard using a contact probe; a second right-angle calculation step, calculating a first right angle based on the measurement results of measuring surfaces A and B, and calculating a second right angle based on the measurement results of measuring surfaces A and C; a difference calculation step, calculating the difference between the two right angles; a judgment step, comparing the difference with a difference threshold; a right-angle identification step, calculating the average value of the two right angles if the difference is below the difference threshold, and calculating the angular deviation of the translation axis if the difference exceeds the difference threshold, and calculating a corrected right angle based on the angular deviation and either the first or second right angle; and a correction parameter setting step, setting the correction parameters based on the average value or the corrected right angle.

The application discloses a kind of video synthetic aperture radar interframe image motion error compensation method and device, the method includes: obtaining the expression of two sub-aperture images corresponding to the original echo data of video synthetic aperture radar (SAR) acquisition;Analyze the correlation between the expression of two sub-aperture images;With correlation as objective function, analyze the gradient expression of objective function;Based on a plurality of initial points and the gradient expression, the global optimal value of quadratic term coefficient is obtained by optimizing and estimating objective function;The global optimal value of quadratic term coefficient is substituted into the approximate expression of azimuth direction motion error compensation, the approximate expression of azimuth direction motion error compensation is intercepted according to different frame pulse starting position and end position, and the approximate expression of azimuth direction motion compensation corresponding to each frame is obtained, to carry out phase error compensation to the corresponding frame of two sub-aperture images.The application can realize phase error compensation to full-aperture video SAR interframe image.