17 results about "Position bias" patented technology

A three-axis machine tool track contour error calculation method considering geometric and motion characteristics comprises the following steps: firstly, establishing a geometric error equivalent mapping model of a three-axis machine tool, and uniformly describing a positioning error, a straightness error, an angle error and an inter-axis perpendicularity error of each motion axis; the geometric error is mapped to a tool nose space position error through homogeneous coordinate transformation; secondly, a three-ring servo linkage control equivalent model containing a position loop, a speed loop and a current loop is established, a dynamic response relation between interpolation instruction displacement and actual axis displacement is obtained through transfer function derivation, and a three-axis machine tool servo linkage control equivalent model is established; integrating the geometric error mapping result with the three-axis linkage control dynamic position deviation to realize the prediction of the actual track of the tool nose of the tool; and finally, based on the interpolation instruction position point and the predicted actual position point, a contour error is calculated by adopting an interpolation line segment perpendicular foot method. The method has the advantages of unified modeling, high calculation efficiency and high engineering applicability.

The application discloses a kind of information fusion methods suitable for multi-architecture heterogeneous cooperative navigation, belong to cooperative navigation technical field.The application includes respectively receiving the carrier inertial navigation position data that inertial navigation system real-time sends, the carrier position data that global positioning system real-time sends and the carrier relative position data that multi-carrier cooperative positioning system real-time sends;The position deviation amount is obtained by comparing the received position data with the inertial navigation position data at corresponding moment;According to the current moment existing global positioning system data or cooperative positioning system data, the position deviation amount is used as input, and the inertial navigation solution result at the current moment is corrected by filtering mode;Finally, the corrected carrier navigation information is output, the GPS position information and cooperative positioning relative position information can be simultaneously accessed into combined navigation system by the application, and effective fusion is carried out.

The present application relates to the technical field of device positioning, in particular to a large rotating device full-position intelligent positioning system, comprising: determining a three-dimensional coordinate set of each search direction according to a reference coordinate system of a current rotating device; calculating an attitude angle deviation of a current search direction and a preset search direction, correlating a position deviation through the attitude angle deviation, and configuring a position deviation matrix of each reference point; calculating a deviation probability of each reference point under a combination of multiple search directions, and combining into a deviation probability matrix; correlating the deviation probability of each reference point with each search direction according to the deviation probability matrix, coordinating and optimizing the probability distribution of the search direction through the relative spatial coordinates between each reference point; mapping the optimized probability distribution of each search direction into the reference coordinate system, correcting the three-dimensional coordinates of each search direction, and obtaining the final output positioning result. The accuracy and efficiency of rotating device positioning are realized.

The application discloses a marine mobile channel adaptive coding modulation transmission method and system, relates to the technical field of wireless communication, and comprises the following steps: acquiring dynamic sensing data, spatial position and channel state information history sequence of a mobile platform; reconstructing the absolute motion velocity vector of an antenna in a reference navigation coordinate system based on the antenna installation position bias feature; extracting an effective radial velocity scalar in combination with a line-of-sight direction vector; determining the dynamic channel coherence time boundary according to the effective radial velocity scalar, performing truncation processing on the channel sequence to obtain a target prediction input sequence; generating a reference signal-to-noise ratio prediction value by using a time series prediction model; determining a nonlinear rollback compensation amount based on the angular acceleration obtained by differentiating the angular velocity, and then correcting the reference prediction value to obtain a target signal-to-noise ratio and performing physical layer resource mapping; and the application can effectively cope with the prediction failure caused by the dramatic mutation of the carrier attitude, and improve the robustness and throughput of the marine communication link.

The invention discloses a workpiece positioning method and a workpiece positioning device. A correction block is arranged in a machine table, and for any inner side wall of the correction block, a probe is adopted to obtain the actual distance between the probe and the inner side wall; adjusting the position of the probe in the machine table according to the actual distance corresponding to each inner side wall; acquiring position coordinates of each preset point location of the target workpieces by adopting a probe, and obtaining a set of the target workpieces according to the left sides of the positions of the plurality of preset point locations; and compensation values of the target workpiece in the width direction, the length direction and the height direction are obtained according to the position coordinate set, and the initial position of the target workpiece is compensated according to the compensation values. By arranging the correction block, the position of the probe is adjusted based on the actual distance of the inner side wall of the correction block, and the installation error and calibration deviation of the probe can be effectively eliminated; compensation values of a workpiece in the length direction, the width direction and the height direction are calculated through a collected point position coordinate set, and the position deviation generated in the clamping link can be comprehensively covered.

The application discloses a part relative position detection method and system under three-axis movement and a medium, relates to the technical field of position detection, and comprises the following steps: scanning a target part to obtain three-dimensional point cloud data, performing region segmentation and identification, and performing clustering analysis to obtain point cloud clusters of a plurality of feature points for global fitting to determine a plurality of feature space coordinates; a part local coordinate system is constructed, the plurality of feature space coordinates are mapped to the part local coordinate system for position calculation to obtain a plurality of feature relative position relationship graphs; deviation marks are added to the plurality of feature relative position relationship graphs, a plurality of out-of-tolerance items are obtained, and the target part is bound and stored to construct a position detection anomaly database, and position deviation training is performed to construct a position deviation prediction channel to feed back and optimize a detection path. The application solves the technical problems of insufficient part relative position detection precision and low efficiency in the prior art, and achieves the technical effects of improving part relative position detection precision and detection efficiency.

The application provides a method and system for determining position deviation, wherein the method comprises the following steps: obtaining first photoelectric data and second photoelectric data corresponding to a conveyed object; bringing the first photoelectric data into a corresponding first mathematical model to obtain an actual horizontal coordinate value, and bringing the second photoelectric data into a corresponding second mathematical model to obtain an actual vertical coordinate value; subtracting a standard horizontal coordinate value from the actual horizontal coordinate value to obtain a horizontal coordinate deviation, and subtracting a standard vertical coordinate value from the actual vertical coordinate value to obtain a vertical coordinate deviation; and taking the horizontal coordinate deviation and the vertical coordinate deviation as the position deviation of the conveyed object. The first photoelectric data and the second photoelectric data are respectively brought into the corresponding first mathematical model and the second mathematical model to determine the actual horizontal coordinate value and the actual vertical coordinate value of the conveying mechanism, and then the horizontal coordinate deviation and the vertical coordinate deviation are determined, so that the technical problem that the position deviation of the conveyed object cannot be determined is solved, and the technical effect of improving the conveying accuracy is achieved.

The embodiment of the application provides an AGV parameter calibration method, device, equipment, medium and product, relates to the field of engineering machinery control, and the method replaces the cumbersome process that manual data collection, deviation recording in the prior art use physical tools by automatically collecting the attitude angle difference of AGV at the preset starting point and terminal point and the deviation distance of the actual terminal point of AGV and the preset straight line path, automatically optimizes the rudder wheel angle bias value based on the attitude angle difference, and automatically optimizes the zero position bias coefficient based on the deviation distance, replaces the manual parameter adjustment process of manual dependence on empirical formula or trial-and-error method in an algorithm-driven parameter optimization mode, does not need manual repeated participation in testing and adjustment, reduces manual intervention in the calibration process, shortens the calibration period, and the parameter optimization process is accurate and controllable, avoids the uncertainty caused by human experience, solves the low AGV parameter calibration efficiency problem in the prior art, and realizes the rapid and accurate calibration of AGV parameters.

The application aims to provide a shaft heading machine posture determination method and system, and belongs to the underground engineering monitoring field. The method establishes a fixed coordinate system and a carrier coordinate system, uses a shaft wall ultrasonic transmitter and a platform receiver to obtain a propagation time, and calculates an absolute coordinate of the receiver and an absolute posture of the platform based on a spatial spherical intersection. Meanwhile, the gyro and accelerometer are used to collect angular velocity and specific force information, and high-frequency and low-frequency predicted postures are calculated. The absolute posture and the predicted posture are combined to obtain an optimal posture angle through a fusion algorithm, and a conversion matrix is constructed to process the specific force information to calculate the optimal position deviation. The application uses the advantages of strong ultrasonic penetration and continuous inertial navigation to solve the problem of laser guidance failure in a dusty and muddy environment, and realizes high-precision, anti-interference and real-time monitoring of the shaft heading machine posture.

The invention discloses a real-time fitness posture recognition method based on local and global feature fusion. The method comprises the following steps: firstly, extracting preliminary features of an input image through a CSPNeXt backbone network; afterwards, by utilizing an improved AFT-RPB reasoning module, by introducing relative position bias and fusing a Sigmoid weighting mechanism, the modeling capability of the model for a complex dependency relationship between key points is enhanced, and local details and global context information are effectively balanced; further, probability graph model optimization is carried out on the spatial relation between the key points through an NCRFs reasoning module, and the consistency of attitude estimation is improved; meanwhile, a lightweight depth block formed by depth separable convolution is adopted to replace traditional large kernel convolution, so that the complexity and parameter quantity of the model are reduced; finally, key point coordinate prediction is converted into a classification task based on a SimCC algorithm, quantization errors are reduced, and high-precision and real-time fitness posture recognition is achieved. The reasoning speed and the lightweight level of the model are remarkably improved, and the method is suitable for real-time application scenes with limited resources.

The invention relates to the technical field of equipment positioning, in particular to a large rotating equipment all-position intelligent positioning system which comprises the following steps: determining a three-dimensional coordinate set of each search direction according to a reference coordinate system of current rotating equipment; calculating an attitude angle deviation between the current search direction and a preset search direction, associating the attitude angle deviation with the position deviation, and configuring a position deviation matrix of each reference point; calculating the deviation probability of each datum point under the multi-search direction combination, and combining the deviation probability into a deviation probability matrix; according to the deviation probability matrix, the deviation probability of each datum point is associated with each search direction, and the probability distribution of the search directions is coordinated and optimized according to the relative space coordinates between the datum points; and mapping the optimized probability distribution of each search direction into a reference coordinate system, and correcting the three-dimensional coordinate of each search direction to obtain a final output positioning result. And the accuracy and efficiency of positioning of the rotating equipment are realized.

The application discloses a method and device for secondary positioning of a seabed node based on quadrant division. 2 The method comprises the following steps: establishing an orthogonal coordinate system with the current position of the seabed node as a coordinate origin; positioning a target window in the orthogonal coordinate system with a set shot point offset distance as a limit; dividing the target window into n 2 quadrants based on the coordinate axes, wherein n is greater than or equal to 2; judging whether the difference amplitude of the dynamic corrected shot point data first arrival wave between the quadrants meets the error requirement; if not, determining the offset of the current position of the seabed node relative to the real position according to the difference amplitude, adjusting the current position, returning to the above step until the difference amplitude of the dynamic corrected shot point data first arrival wave between the quadrants is small enough, and determining that the current position of the seabed node is the real position. The method can verify the correctness of the node position in marine OBN exploration, and accurately position the node with a position deviation.

The invention discloses a three-coordinate measuring machine volume error modeling method based on the Abbe principle, and aims to improve the CMM measurement precision. Firstly, Abbe arm parameters of the CMM are defined and initialized, and the parameters describe spatial deviation between a measuring point of a probe and a reading head of a grating ruler of each motion axis; secondly, on the basis of a Denavit-Hartenberg (DH) modeling idea, a sequential cascade coordinate system from a workpiece coordinate system to a probe tail end tool coordinate system is established, and a unified kinematic chain topological structure is formed; then, calculating an Abbe error introduced by single-axis motion according to the Abbe principle, and establishing a single-axis error homogeneous transformation matrix containing angle and position deviations in combination with a DH modeling method; and finally, solving the actual position of the probe in a workpiece coordinate system by cascading the error homogeneous transformation matrix of each axis, and finally establishing a CMM volume error model based on the Abbe principle by subtracting the actual position vector from the theoretical position vector.

The application provides a kind of visual detection system and method for positioning injection molding part weld point, comprising: obtaining original image data of workpiece, determining actual position of workpiece, generating position deviation data based on actual position of workpiece and preset reference coordinate;According to the position deviation data, calculate the position deviation of workpiece and judge whether it exceeds the preset threshold range, if it exceeds, dynamically adjust the preset reference coordinate, obtain the corrected coordinate reference information, according to the corrected coordinate reference information, divide the original image data into regions, lock the target area where the weld point may exist as the weld point candidate area combined with the deviation influence area range;According to the shape constraint condition and screening rule of weld point, extract the weld point feature pixel set from the weld point candidate area, obtain the preliminary identification result of weld point, then carry out secondary filtration, determine the final weld point position coordinate data.The application effectively improves the accuracy and reliability of weld point detection through multi-level accurate positioning and correction.

The application discloses a textile machine control method based on an absolute value encoder and particularly relates to the technical field of textile machine control. The position deviation coefficient is constructed by fusing the electrical angle deviation and the mechanical zero point switch state, and the maximum physical offset threshold based on the transmission chain gap, elastic deformation and wear data is introduced for comparison. When the position deviation coefficient is out of limit, the calibration process is accurately triggered. When calibration is needed, the spindle is controlled to move at low speed, the motor torque feedback waveform is collected in real time, the actual zero point is accurately positioned by using the physical characteristics of the first mutation of the torque in the mechanical blocking moment, the control system zero point reference is corrected by the position compensation coefficient, and the corrected reference is matched and verified with the key angle stored before power-off, so that the corrected reference can accurately reproduce the weaving process requirements.

The present disclosure provides a pose estimation method and device, electronic equipment, computer readable storage medium and computer product, relating to the technical field of artificial intelligence, and the method comprises: obtaining model coordinate values of model key points on a model of a target object in a model coordinate system; obtaining a target image comprising the target object; performing key point bias prediction on the target image to determine position bias of each point in the target image in a camera coordinate system relative to a predicted key point; determining camera coordinate values of the predicted key point in the camera coordinate system according to the position bias of each point in the target image in the camera coordinate system relative to the predicted key point; splicing the model coordinate values of the model key points and the camera coordinate values of the predicted key points to obtain fusion coordinate values; and determining a pose of the target object in the camera coordinate system according to the fusion coordinate values and the model of the target object.