18 results about "Rotation error" patented technology

The invention discloses a six-degree-of-freedom object pose estimation system and method in an industrial scene and a medium, and the system comprises a multi-modal data preprocessing module, a shared encoder feature extraction module, a comparative learning and attention fusion module, a pose regression and rotation decoupling module, and a simulation driving-based data enhancement module. The multi-modal data preprocessing module is used for receiving and processing an original RGB image and a depth map, and outputting a pixel-level space aligned RGB-D data pair through filtering and denoising and coordinate projection transformation based on camera internal reference; and the shared encoder feature extraction module is used for extracting features from the aligned RGB-D data pairs and carrying out adaptive weighted fusion through a channel attention mechanism so as to output a shared feature fused with appearance and geometric information. According to the method, the estimation precision can be improved, the ADD index is improved by 12.8% and the rotation error is reduced by 21.4% in a 70% shielding or light reflection scene, and the method has strong robustness for depth noise, shielding and light reflection and has strong practicability.

The present application belongs to the technical field of space geometry measurement, and particularly relates to a virtual multi-view six-degree-of-freedom pose measurement method, medium and system. The pose information of a cooperative target located in a combined field of view is obtained through coaxial cameras and a prism; a virtual camera is formed by rotating the prism; a coordinate system is established; target rotation representation is performed; a first rotation matrix is estimated; a virtual camera visual axis and a visual axis included angle are determined; a second rotation matrix is determined; a rotation error cost function is established; the rotation matrix and the rotation error cost function are represented by a quaternion; multi-rotation information fusion is performed; an exit point and an exit light vector of the prism are determined; feature point coordinates of the cooperative target are represented; determined object-side residuals are determined; an object-side residual cost function is constructed; and translation information fusion is performed. Compared with the prior art, the present application solves the problem that existing six-degree-of-freedom pose measurement devices are susceptible to noise, and the method proposed in the present scheme effectively improves measurement accuracy, adaptability and stability.

The invention discloses a three-dimensional registration method and device, a computer storage medium and a terminal. According to the embodiment of the invention, for a scene comprising a plurality of objects to be processed and images to be processed collected from more than two viewing angles of AR, residual errors still existing in the pose of a registered target object after rotation pose deviation correction are corrected, and the accuracy of the registration is improved. Performing contour projection on the rotation attitude correction pose on the to-be-processed image, searching to obtain candidate edge points, determining a residual error and a Jacobian matrix of the candidate edge points according to an energy function, expanding contour search to a cross-view angle and a constraint object, and feeding back an observation error on the constraint object to correct the rotation attitude correction pose. The amplification of the rotation error is inhibited; by introducing a normalization equation, solving of pose correction and consistency correction of pose residual errors of all objects to be processed are achieved; and performing pose correction on the registered target object according to the pose correction amount reaching the iteration termination condition, and realizing three-dimensional registration of the scene based on the registered target object without the pose residual error.

A lifting head rotation precision measuring system disclosed by the present invention comprises a power assembly, a rotation assembly, a measuring assembly and a judgment assembly, the power assembly is used for driving the rotation assembly to rotate, the measuring assembly comprises a detection device and a crystal transcoding disc, the crystal transcoding disc is fixedly installed on the rotation assembly, and the crystal transcoding disc rotates along with the rotation assembly. A plurality of code disc hollow parts are uniformly arranged on the periphery of the crystal transcoding disc, and the detection device is used for identifying the code disc hollow parts when the crystal transcoding disc rotates, outputting a first signal when the code disc hollow parts are identified, and outputting a second signal when the code disc hollow parts are not identified. The judgment assembly is used for calculating the rotation error of the rotation assembly according to the difference between the number of the received first signals and the second signals and the theoretical number, and the rotation precision of the rotation assembly is obtained. The code disc hollow part is arranged on the crystal transcoding code disc, the control precision of the upper driving crystal transcoding can be accurately measured according to the comparison between the identification result of the code disc hollow part and the theoretical condition, the cost is low, and the operation is convenient.

A method for correcting time-varying ionospheric error in high-orbit SAR based on Faraday rotation estimation is proposed. The method first performs zero-padding of the azimuth signal, then calculates the azimuth decompression phase, reconstructs the azimuth echo, estimates the time-varying ionospheric error phase, performs time-varying ionospheric error correction, acquires the corrected full image data, and finally obtains the final corrected image data. This invention utilizes the Faraday rotation error caused by the time-varying ionosphere in the fully circularly polarized signal wave of high-orbit SAR. By employing azimuth echo reconstruction and Faraday rotation angle estimation inversion, it can achieve high-precision correction of the time-varying ionospheric error in high-orbit SAR images. Its phase correction accuracy is better than 0.01 rad, and the correlation between the corrected image and the original image is as high as 99%. The system is simple and low-cost.

The application discloses a kind of for the correction method and device of cone beam CT system geometry parameter error, method includes: acquisition projection image projected on flat panel detector;Obtain the geometry parameter error of cone beam CT system;By the translation error of transverse and longitudinal of the plane where flat panel detector is, correct projection image, obtain first correction image;The normal rotation error of the plane where flat panel detector is and the distance error between flat panel detector and ray source are corrected to first correction image, obtain second correction image;For second correction image, respectively correct along the rotation error of transverse and longitudinal of the plane where flat panel detector is, obtain third correction image;The distance error of third correction image's rotating table and ray source is corrected, obtain the ideal image of geometry parameter error correction.By geometry parameter error correction projection image, without adjusting the position of cone beam CT system device, it is easy to calculate, effectively eliminate the influence of system error on image three-dimensional reconstruction.

The present application relates to the technical field of visual detection of product quality, and particularly relates to a commutator hook type visual detection system and method based on light-mechanical hybridization, which comprises a hook type rotating oblique angle front-back side imaging module and a hook type dynamic predictive correction measurement module; based on the hook type rotating oblique angle front-back side imaging module, an unobstructed hook type image to be detected is acquired, a hook type rotating error predictive model is used to calculate a hook type rotating error compensation value in the hook type image to be detected, then a hook type parameter in the image is calculated, a current hook type parameter measurement value is corrected by using the hook type rotating error compensation value, and a hook type parameter actual value is obtained. Finally, based on a detection threshold value set by a product standard, it is judged whether the product to be detected is a qualified product or a substandard product. The system can quickly and accurately detect the hook type, and solve the detection problems caused by the complex shape, small size of the commutator hook type, and the rapid rotation of the object for collecting the hook type image.

This invention relates to a low signal-to-clutter ratio ISAR imaging method for ship targets based on multi-aperture rotation alignment. Specifically, it relates to ISAR signal processing and imaging, and more specifically to a ship target ISAR imaging method. The purpose of this invention is to address the problem that existing methods cannot simultaneously solve non-stationary Doppler blurring, sub-aperture rotation errors, and strong clutter interference during the imaging process, leading to low accuracy in ship target ISAR imaging. This invention establishes an echo signal model of the three-dimensional motion of ship targets in a marine environment and introduces sea clutter interference. It utilizes Keystone transform combined with a minimum entropy phase autofocus algorithm to compensate for range migration and phase error in the pulse-compressed signal. The full-aperture observation data is divided into multiple sub-aperture data blocks to generate sub-image sequences. A screening threshold is introduced to select high-quality sub-frames. The rotation error of each preferred sub-image relative to the reference frame is estimated and resampled for correction. Finally, a geometric mean fusion algorithm is used to preserve the strong scattering point features of the target.

This application relates to CNC machine tool technology, specifically to a table rotation calibration method, electronic device, and computer-readable storage medium. The method includes: acquiring calibration information from the detection probe of a calibration device; if the detection probe meets preset requirements based on the calibration information, controlling the detection probe to detect a first preset detection point and a second preset detection point on the worktable at its initial rotation position, obtaining first distance information and second distance information respectively; if the difference between the first and second distance information is within a preset range, obtaining the initial rotation angle error of the worktable based on the difference between the first and second distance information and the distance between the two preset detection points; compensating for the machining rotation coordinates of a preset workpiece based on the initial rotation angle error, and machining the preset workpiece based on the compensated coordinates. This application can compensate for the rotation error of the CNC machine tool's worktable, improving the workpiece machining accuracy of the machine tool.

A kind of data processing method for detecting cylindrical mirror based on three-coordinate profile measuring instrument, it is related to optical processing detection technical field, and the method includes the following steps: step S1: cylindrical surface is measured using three-coordinate measuring machine, obtains a group of cylindrical surface three-coordinate values as [x, y, z], wherein x is non-plane direction coordinate value, y is plane direction coordinate value, and z is vector height direction coordinate value;Step S2: using conic section and least square method fitting method, corrects three-coordinate measurement cylindrical original data around z rotation error and in plane direction inclination error, solves the cylindrical vector height z' after correction error;Step S3: remove the high order term part contained in cylindrical surface equation;Step S4: using linear fitting algorithm, fitting cylindrical surface type, solves the cylindrical vector height z'';Step S5: the cylindrical vector height z' solved in step S2 is subtracted from the cylindrical vector height z'' solved in step S4, and the detection surface type residual σ is obtained, and the method improves the accuracy of surface type information when three-coordinate or other profilometer detects cylindrical mirror.

The invention provides a low-speed flexible shaft-bearing system rotation error prediction method based on assembly deviation. The method comprises the following steps: firstly, acquiring initial poses of an inner ring and an outer ring under a global / local coordinate system; the pose, the geometric tolerance and the assembly deviation are mapped to a Hertz contact model, a bearing static contact mechanical model is established, and contact deformation and stress of a rolling body are calculated; shell flexible deformation caused by an axial load is introduced under a displacement pre-tightening working condition, a shafting mechanical equilibrium equation is constructed, and a system equilibrium attitude is obtained through nonlinear iteration solution; and calculating the variable rotating angle of the instantaneous rotating shaft relative to the ideal shaft determined by the center connecting line of the left and right inner rings under different rotating angles, and representing the rotating error by using the root mean square of the variable rotating angle. According to the method, the assembly deviation and the pre-tightening and structure flexible coupling effect are considered in a unified mode, and the rotation error of the low-speed flexible shaft system can be quantitatively predicted.

The application discloses a kind of method and device for measuring the orthogonality of orthogonal rotating shaft system, belong to orthogonal rotating shaft system detection technical field, the orthogonal rotating shaft system includes first rotating shaft system and second rotating shaft system, the method includes: using CCD double-axis autocollimator and respectively with first rotating shaft system and second rotating shaft system fixed cubic reference prism and double-sided optical flat crystal are carried out shaft inclination angle rotation error measurement and attitude fine adjustment;Using second rotating shaft system passes through double-sided optical flat crystal and sets up reference cross line XY;By adjusting the installation position of two rotating shaft systems, the cross line of the reflected light beam of cubic reference prism is coincided with reference cross line XY;Rotate first rotating shaft system, record angle deviation value and calculate the orthogonality value of two rotating shaft systems.The application eliminates the reference drift error of two autocollimators aiming at each other, eliminates the interference of shaft system itself rotation error to orthogonality measurement, improves the precision and reliability of shaft system orthogonality measurement as a whole.

This invention provides a method for measuring the rotational error of a machine tool spindle based on installation error correction. A high-precision plane mirror is fixedly installed at the center of the bottom of the spindle tool head using bolts, and a laser interferometer is fixedly installed below the high-precision plane mirror. Before measurement, the corresponding data of different installation error values ​​and their caused residual synchronization errors are quantitatively calculated. Then, the installation error control range required to keep the residual synchronization error caused by the installation error within the required measurement accuracy is calculated. During testing, the installation error of the measuring device is obtained. Then, the installation error is adjusted by adjusting the installation position of the laser interferometer until the maximum amplitude of the basic synchronization rotational error extracted from the measurement data (i.e., the installation error) reaches the required installation error range. After the installation error of the measuring device is adjusted, data is collected to obtain the total axial rotational error data of the spindle, and the axial synchronous and asynchronous rotational errors of the spindle are calculated.

The utility model discloses a main shaft rotation error analysis device which comprises a base, a fixing frame, a testing assembly, a supporting plate and a positioning assembly, the fixing frame is arranged at the top of the base, the testing assembly is arranged in the middle of the fixing frame and used for obtaining main shaft rotation error data, and the supporting plate is fixedly connected to the top end of the base. The supporting plate is used for supporting the fixing frame, the positioning assembly is arranged at the top end of the base and used for fixing the position of the fixing frame, and the testing assembly comprises a capacitance displacement sensor connected to the middle of the fixing frame in a penetrating mode. Through the design of the supporting plate and the positioning assembly, when a transverse main shaft needs to be detected and analyzed, the base is fixed at a required position, then the fixing frame is placed on the supporting plate, finally, the base and the fixing frame are fixed through the positioning assembly, and the supporting plate is used for supporting; and the situation that the fixing frame and the test assembly fall off is avoided.

The application provides a kind of servo angle of linkage type reducing rotation error, belongs to servo angle technical field, this servo angle of linkage type reducing rotation error includes shell, the shell is square structure, the inside of the shell is divided into two parts, is positioning part and rotating part respectively, the height of the positioning part is greater than the height of the rotating part;The positioning part and the rotating part are separated by bottom plate, and a through hole is formed in the bottom plate;The positioning part includes buffer pad, positioning column, spring mechanism and visual camera, the visual camera is arranged at the top center position of the positioning part, and the camera shoots in the downward direction;The positioning column is arranged at the center position of the bottom plate, in contact with the bottom plate but not fixed, for fixing brake disc;The application provides a kind of servo angle of linkage type reducing rotation error, can solve the problems of low compatibility, large positioning error and complex use of existing servo angle.

The application discloses a kind of antenna mechanism rotation accuracy test methods, laser tracking test technology is applied to antenna mechanism rotation accuracy test, by calculating the angular deviation α of all adjacent rotation positions ’ i -α i , finally obtain the root mean square value of all the angular deviations, the root mean square value of all the angular deviations is the rotation accuracy of the measured shaft of the antenna mechanism. The application utilizes the high-precision point measurement function of laser tracker, realizes the rapid test of mechanism rotation accuracy through multi-point acquisition, multi-point fitting and comprehensive analysis, avoids the influence of rotation error of turntable, axis parallel adjustment error, artificial collimation error and prism error in traditional autocollimation measurement method, expands the range of test objects, and greatly improves the test efficiency and reliability of antenna mechanism rotation accuracy.

The invention discloses a radar calibration and geographic coordinate resolving method and device, and the method comprises the steps: solving an error optimization model, so as to optimize error parameters, and obtaining the optimal error parameters of a to-be-corrected radar, the error parameters comprise a transverse error, a longitudinal error and a rotation error of the to-be-corrected radar, the error optimization model is constructed by taking the minimum correction error as a target, and the correction error is the difference between the position after error parameter compensation and the real position; and correcting the original coordinates of the to-be-measured target according to the optimal error parameter to obtain the real geographic position of the to-be-measured target. According to the method, global joint optimization is carried out on the two error parameters through the error optimization model, the coupling response between different error parameters can be considered, and a more stable error parameter is obtained; the original coordinate of the to-be-measured target is corrected and compensated through the optimal error parameter, so that the measurement precision and the robustness of the radar can be improved.

The present application relates to the field of ultra-precision measurement, and particularly relates to a measurement error control method based on sampling frequency and installation eccentric error, a medium and equipment. The method is used for suppressing the error caused by the installation eccentricity of the standard ball in the synchronous rotation error measurement of the main shaft. The method establishes a displacement signal model containing the installation eccentricity, the radius of the standard ball and the rotation angle of the main shaft, obtains a discrete sequence through equiangular discrete sampling, performs 2-50 order harmonic decomposition on the discrete sequence to represent the eccentric error, and according to the change law of the harmonic amplitude with the eccentricity, the ball radius and the sampling point number, configures the system parameters to make the high-order error within the target range. The advantages of the method are as follows: the 2-50 order harmonic error distribution is accurately revealed, and the evaluation distortion is avoided; the error is actively controlled by optimizing the ball radius and the sampling point number, and the dependence on the installation precision is reduced; the mechanism of the sampling point number for suppressing the spectral aliasing is clear, and the measurement robustness and repeatability are improved.