CN106324285A - Testing device and method for smooth level in industrial product logistic process - Google Patents

Testing device and method for smooth level in industrial product logistic process Download PDF

Info

Publication number
CN106324285A
CN106324285A CN201610993813.4A CN201610993813A CN106324285A CN 106324285 A CN106324285 A CN 106324285A CN 201610993813 A CN201610993813 A CN 201610993813A CN 106324285 A CN106324285 A CN 106324285A
Authority
CN
China
Prior art keywords
data
acceleration
equipment
logistics
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610993813.4A
Other languages
Chinese (zh)
Inventor
张晶晶
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Gong Xun Science And Technology Ltd
Original Assignee
Suzhou Gong Xun Science And Technology Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Gong Xun Science And Technology Ltd filed Critical Suzhou Gong Xun Science And Technology Ltd
Priority to CN201610993813.4A priority Critical patent/CN106324285A/en
Publication of CN106324285A publication Critical patent/CN106324285A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01PMEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01PMEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00Measuring linear or angular speed; Measuring differences of linear or angular speeds

Abstract

The invention discloses a testing device for the smooth level in the industrial product logistic process. The device comprises a shell; a three-axis acceleration sensor, a three-axis angular velocity sensor, a processor, a data storage module, a data export module and a battery are arranged inside the shell. The three-axis acceleration sensor and the three-axis angular velocity sensor obtain sensing signal data in real time, and transmit the data to the processor, the processor reads the data of the three-axis acceleration sensor and the three-axis angular velocity sensor and then processes the data to obtain the acceleration and the angular velocity of the device, after the space attitude is calculated through the acceleration and the angular velocity, and a carrying smooth coefficient S is obtained, stored in the data storage module, and exported through the data export module. The impact borne by the testing device can be accurately calculated, and then whether cargo is impacted or not in the logistic process and the carrying smooth level is determined.

Description

A kind of for the test device and method of plateau in industrial products logistics progress
Technical field
The present invention relates to intelligent sensing technology field, be specifically related to a kind of for plateau in industrial products logistics progress Test device and method.
Background technology
The feature of industrial products is production standard, production scale maximization, integrated and circulation globalization, thus Make the appearance of industry logistics and universal become a kind of inevitable trend, and becoming a requisite link in enterprise collaboration. The big of industry logistics is popularized so that competitiveness information-based, the relatively low country of industrialization innovation ability is weakened;Make logistics system System imperfection, inefficient country the productivity is low, production cost is high, competitiveness decline.The technology of industry logistics improves, efficiency Improve, safety improves, the progress of the level of the productive forces of direct relation China.
Industry logistics has a characteristic that
1, the monomer amount of money is high.The scale that often has industrial products maximizes, the feature of the concentration of production, thus, industry logistics Often there is the feature that cost is high.Goods monomer cost usually reaches tens thousand of, millions of magnitudes.
2, easily go out damage.Industrial products are intricate, and liquid goods, gas goods, solid goods etc. are of a great variety, and due to Own characteristic is susceptible to the shipping accidents such as collision, leakage, chemical reaction.
3, legal dispute easily occurs.Owing to time, quality, quantity etc. being required harsh by industrial processes, and industrial Product-feed chain is relative complex, is easier to legal dispute occur relative to consumer level products industrial products.
Traditional method ensureing logistics quality is broadly divided into three classes:
1, method based on conveying arrangement.I.e. by provide the mode such as more reliable transport carrier, transport container to improve can By property.
2, method based on driver's technical ability.More experienced driver is i.e. employed to be responsible for transport task.
3, method based on historical data.I.e. select occurred that accident was few, be responsible for relevant industries logistics task experience in the past More logistics carrier provides logistics service.
Above method can play certain safety guarantee effect, but method excessively coarseness, the most careful, essence not Standard, and the problem such as poor real.Therefore, improve logistics quality, ensure that the safety of logistics, reliability, trackability then become One important problem.
Summary of the invention
It is an object of the invention to the problem above overcoming prior art to exist, it is provided that a kind of for industrial products logistics The determinator of the plateau of journey, assembly of the invention can be fixed in freight, such as, fix surface, liquid In, in packing box;By gesture recognition algorithms, device may determine that the spatial attitude of self, and then can calculate accurately certainly Body impact size, and then judge the plateau whether goods is impacted in logistics progress and transport.
For realizing above-mentioned technical purpose, reaching above-mentioned technique effect, the present invention is achieved through the following technical solutions:
A kind of for the test device of plateau in industrial products logistics progress, comprising: a shell, in described shell Portion is provided with 3 axle acceleration sensors, 3 axis angular rate sensors, processor, data memory module, data derivation module, battery, Described 3 axle acceleration sensors and 3 axis angular rate sensors obtain transducing signal data in real time, and transmit to described process Device, through processing after the data of described processor described 3 axle acceleration sensors of reading and 3 axis angular rate sensors, is filled The acceleration put and angular velocity, after acceleration and angular speed calculation spatial attitude calculate, obtain transporting steady coefficient S, fortune Defeated steady coefficient S is stored in described data memory module, and is derived module derivation by described data.
Preferably, the testing process of described test device includes:
S 1 reads initial data: processor reads 3 axle acceleration sensors and the data of 3 axis angular rate sensors, obtains Acceleration and angular velocity;
S 2 calculates device space attitude: by acceleration, angular velocity data, processor calculates equipment by Attitude Algorithm The spatial attitude of self, represents this spatial attitude with quaternary number (Q);
S 3 obtains equipment Acceleration numerical value in local Coordinate System: processor reads the number of 3 axle acceleration sensors According to, it is thus achieved that the acceleration of equipment self, it is characterized as ASelf, wherein, ASelfIt it is equipment Acceleration number under equipment local Coordinate System Value, is a three-dimensional vector, ASelf={ a1,a2,a3};
S 4 is by characterizing the quaternary number Q of equipment attitude, to ASelfReversely rotate, obtain equipment Acceleration and sit at the earth Expression A in mark systemThe earth, the method for rotation is as follows:
S 401 builds new quaternary number Q1={0, a1, a2, a3},
S 402 calculates Q2=(Q*Q1) * Q ', and wherein, Q ' is the conjugate quaternion of Q,
S 403 obtains new three-dimensional vector A={Q2 [2], Q2 [3], Q2 [4] }, wherein, Q2 [2], Q2 [3], Q2 [4] point It not second of quaternary number Q2, the 3rd, the 4th element,
S 404A is the result after reversely rotating, and is also equipment Acceleration expression in Area Coordinates system, table again Show that A is AThe earth={ ae1, ae2, ae3};
S 5 object acceleration is the physical quantity changed over time, i.e. an AThe earthIt is as the physical quantity of time change, So ae1, ae2, ae3 are all as the physical quantity of time change, calculate ae1, the standard of ae2, ae3 in certain transportation Difference SD1, SD2, SD3, definition transport smoothness coefficient S=1/ (SD1+SD2+SD3+1);
S in S 6S5 has reacted certain transport overall process consistent level, and S is derived module by data and derives, for relevant people Member browse, decision-making, use.
Preferably, a kind of for the method for testing of plateau in industrial products logistics progress, comprise the following steps:
Test device is placed in goods by S 101, starts test device by bluetooth equipment;
S 102 test device receive start working instruction after, enter duty;
S 103 tests device and constantly reads the resin of acceleration, angular velocity, and the spatial attitude of real-time calculation device, By spatial attitude, the numerical value of acceleration transducer, obtain test device acceleration numerical value in terrestrial coordinate system, by equipment Acceleration numerical value in terrestrial coordinate system is constantly stored in data memory module;
S 104, at the end of logistics, is quit work by bluetooth equipment notice test device;
S 105 tests after device receives the instruction that logistics terminates, and data memory module stores the data of this logistics, calculates The smoothness coefficient of this logistics;
S 106 derives module by data and smoothness coefficient is sent to user.
Preferably, described data derive module is bluetooth 4.0 module.
The invention has the beneficial effects as follows:
One, assembly of the invention can be fixed in freight, such as, fix in surface, liquid, packing box In;By gesture recognition algorithms, device may determine that the spatial attitude of self, and then can calculate rushing of self being subject to accurately Hit size, and then judge the plateau whether goods is impacted in logistics progress and transport.Can blame as one Appoint the reference device traced, if goods finds breakage when checking and accepting, provides the apparatus one stable to logistics and weigh, can make A kind of evidence obtaining means called to account for logistics link and data refer.
Two, data are more careful, can support the data analysis of more details.The present invention measurement to transport stationarity It is accurate to " certain concrete logistics progress ".So, more details data analysis can be carried out, for example, it is possible to according to data All of logistics driver is carried out driving ability ranking, selects employee according to requirement;The duty of certain logistics driver can be become Potential analysis, intervenes as early as possible when its state glides, it is to avoid generation of matters of aggravation etc..
Three, the data analysing method that the present invention proposes is more accurate, is suitable for scene more.Attitude Algorithm is utilized in the present invention The acceleration value of object is processed, will its from the coordinate system transformation of equipment self to terrestrial coordinate system, eliminate by The change of the acceleration number of degrees rotated in object self and cause, i.e. eliminates the interference that object self rotates into.Therefore, should Equipment more can reflect due to real event generations such as urgent acceleration, emergency brake, entrucking, zig zags for the measurement of stationarity Stationarity changes, and data are more accurate.And this equipment can put in liquid, arbitrarily roll.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after. The detailed description of the invention of the present invention is shown in detail in by following example and accompanying drawing thereof.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, in embodiment technology being described below The required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only some realities of the present invention Execute example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these accompanying drawings Obtain other accompanying drawing.
Fig. 1 is the structural representation of assembly of the invention;
Wherein, 1-shell, 101-3 axle acceleration sensor, 102-3 axis angular rate sensor, 103-processor, 104-number According to memory module, 105-data derive module, 106-battery.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.
Embodiment 1
With reference to shown in Fig. 1, the present embodiment disclose a kind of for the test of plateau in industrial products logistics progress Device, its structure specifically includes that a shell 1, and described shell 1 is internal is provided with 3 axle acceleration sensor 101,3 axis angular rate sensings Device 102, processor 103, data memory module 104, data derive module 105, battery 106, described 3 axle acceleration sensors 101 and 3 axis angular rate sensors 102 obtain transducing signal data in real time, and transmit to described processor 103, described process Device 103 reads after the data of described 3 axle acceleration sensor 101 and 3 axis angular rate sensors 102 through processing, and obtains device Acceleration and angular velocity, after acceleration and angular speed calculation spatial attitude calculate, obtain transporting steady coefficient S, transport Steadily coefficient S is stored in described data memory module, and is derived by described data derivation module 105, and above-mentioned battery 106 is dress Put power supply, and worked by necessary circuit board, line, components and parts.
The testing process of described test device includes:
S 1 reads initial data: processor reads 3 axle acceleration sensors and the data of 3 axis angular rate sensors, obtains Acceleration and angular velocity.
S 2 calculates device space attitude: by acceleration, angular velocity data, processor calculates equipment by Attitude Algorithm The spatial attitude of self, represents this spatial attitude with quaternary number (Q).
S 3 obtains equipment Acceleration numerical value in local Coordinate System: processor reads the number of 3 axle acceleration sensors According to, it is thus achieved that the acceleration of equipment self, it is characterized as ASelf, wherein, ASelfIt it is equipment Acceleration number under equipment local Coordinate System Value, is a three-dimensional vector, ASelf={ a1,a2,a3};Due to ASelfIt is acceleration numerical value in local Coordinate System, so object Rotation can affect acceleration of gravity component size in object all directions, and then affects ASelf
S 4 is by characterizing the quaternary number Q of equipment attitude, to ASelfReversely rotate, obtain equipment Acceleration and sit at the earth Expression A in mark systemThe earth, the method for rotation is as follows:
S 401 builds new quaternary number Q1={0, a1, a2, a3};
S 402 calculates Q2=(Q*Q1) * Q ', and wherein, Q ' is the conjugate quaternion of Q;
S 403 obtains new three-dimensional vector A={Q2 [2], Q2 [3], Q2 [4] }, wherein, Q2 [2], Q2 [3], Q2 [4] point It not second of quaternary number Q2, the 3rd, the 4th element;
S 404A is the result after reversely rotating, and is also equipment Acceleration expression in Area Coordinates system, table again Show that A is AThe earth={ ae1, ae2, ae3}.
Due to AThe earthIt is acceleration numerical value in terrestrial coordinate system, and terrestrial coordinate system is not rotate with object and rotate , so the rotation of object does not interferes with acceleration of gravity component size in object all directions, will not shadow so rotating Ring AThe earthNumerical value.This feature ensure that this equipment is possible to prevent in liquid goods, without worrying equipment in transportation Wrong data (that is: unrelated with the stationarity data: rotate in place and cause acceleration of gravity adding that rolling in a liquid introduces The acceleration of velocity sensor all directions component changes).
S 5 object acceleration is the physical quantity changed over time, i.e. an AThe earthIt is as the physical quantity of time change, So ae1, ae2, ae3 are all as the physical quantity of time change, calculate ae1, the standard of ae2, ae3 in certain transportation Difference SD1, SD2, SD3, definition transport smoothness coefficient S=1/ (SD1+SD2+SD3+1).
S in S 6S5 has reacted certain transport overall process consistent level, and S is derived module by data and derives, for relevant people Member browse, decision-making, use.
Said apparatus can be fixed in freight, such as, fix in surface, liquid, in packing box;Pass through appearance State recognizer, device may determine that the spatial attitude of self, and then can calculate self impact size accurately, enters And judge the plateau whether goods is impacted in logistics progress and transport.The ginseng can traced as a kind of responsibility Examine equipment, if goods finds breakage when checking and accepting, provides the apparatus a kind of measurement stable to logistics, can be as logistics link A kind of evidence obtaining means called to account and data refer.
Embodiment 2
Embodiment 2 test based on embodiment 1 device, before test, first builds equipment, in the present embodiment, accelerates Degree sensor, angular-rate sensor select the correct 3 shaft core sheets exporting data, and sample rate is at least at more than 50Hz, and data derive Module is bluetooth 4.0 module.
Disclose a kind of for the method for testing of plateau in industrial products logistics progress, comprise the following steps:
Test device is placed in goods by S 101, starts test device by bluetooth equipment (mobile phone);
S 102 test device receive start working instruction after, enter duty;
S 103 tests device and constantly reads the resin of acceleration, angular velocity, and the spatial attitude of real-time calculation device, By spatial attitude, the numerical value of acceleration transducer, obtain test device acceleration numerical value in terrestrial coordinate system, by equipment Acceleration numerical value in terrestrial coordinate system is constantly stored in data memory module;
S 104, at the end of logistics, is quit work by bluetooth equipment notice test device;
S 105 tests after device receives the instruction that logistics terminates, and data memory module stores the data of this logistics, calculates The smoothness coefficient of this logistics;
S 106 derives module by data and smoothness coefficient is sent to user.
This method of testing has been accurate to " certain concrete logistics progress " to the measurement of transport stationarity.So, Geng Duoxi Joint data analysis can be carried out, for example, it is possible to all of logistics driver is carried out driving ability ranking according to data, preferentially goes up Hilllock;The duty of certain logistics driver can be carried out trend analysis, intervene as early as possible when its state glides, it is to avoid be tight Generation of weight event etc..
Above-mentioned data analysing method is more accurate, is suitable for scene more.Utilize Attitude Algorithm that the acceleration value of object is entered Row process, will its from the coordinate system transformation of equipment self to terrestrial coordinate system, eliminate due to object self rotate and cause The change of the acceleration number of degrees, i.e. eliminate the interference that object self rotates into.Therefore, this equipment is for the measurement of stationarity More can reflect that the stationarity produced due to real event such as urgent acceleration, emergency brake, entrucking, zig zags changes, data are more Accurately.And this equipment can put in liquid, arbitrarily roll.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention. Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one The widest scope caused.

Claims (4)

1. one kind for the test device of plateau in industrial products logistics progress, it is characterised in that comprising: a shell, Described enclosure is provided with 3 axle acceleration sensors, 3 axis angular rate sensors, processor, data memory module, data derivation Module, battery, described 3 axle acceleration sensors and 3 axis angular rate sensors obtain transducing signal data in real time, and transmit extremely Described processor, through place after the data of described processor described 3 axle acceleration sensors of reading and 3 axis angular rate sensors Reason, obtains acceleration and the angular velocity of device, after acceleration and angular speed calculation spatial attitude calculate, obtains transport steadily Coefficient S, transports steady coefficient S and is stored in described data memory module, and derived module derivation by described data.
The most according to claim 1 a kind of for the test device of plateau, its feature in industrial products logistics progress Being, the testing process of described test device includes:
S 1 reads initial data: processor reads 3 axle acceleration sensors and the data of 3 axis angular rate sensors, obtains and accelerates Degree and angular velocity;
S 2 calculates device space attitude: by acceleration, angular velocity data, processor calculates equipment self by Attitude Algorithm Spatial attitude, represent this spatial attitude with quaternary number (Q);
S 3 obtains equipment Acceleration numerical value in local Coordinate System: processor reads the data of 3 axle acceleration sensors, obtains Obtain the acceleration of equipment self, be characterized as ASelf, wherein, ASelfIt is equipment Acceleration numerical value under equipment local Coordinate System, for One three-dimensional vector, ASelf={ a1,a2,a3};
S 4 is by characterizing the quaternary number Q of equipment attitude, to ASelfReversely rotate, obtain equipment Acceleration at terrestrial coordinate system In expression AThe earth, the method for rotation is as follows:
S 401 builds new quaternary number Q1={0, a1, a2, a3},
S 402 calculates Q2=(Q*Q1) * Q ', and wherein, Q ' is the conjugate quaternion of Q,
S 403 obtains new three-dimensional vector A={Q2 [2], Q2 [3], Q2 [4] }, wherein, Q2 [2], Q2 [3], Q2 [4] are respectively Second of quaternary number Q2, the 3rd, the 4th element,
S 404 A is the result after reversely rotating, and is also equipment Acceleration expression in Area Coordinates system, again represents A For AThe earth={ ae1, ae2, ae3};
S 5 object acceleration is the physical quantity changed over time, i.e. an AThe earthIt is as the physical quantity of time change, so Ae1, ae2, ae3 are all as the physical quantity of time change, calculate ae1, the standard deviation of ae2, ae3 in certain transportation SD1, SD2, SD3, definition transport smoothness coefficient S=1/ (SD1+SD2+SD3+1);
S in S 6 S5 has reacted certain transport overall process consistent level, and S is derived module by data and derives, for related personnel Browse, decision-making, use.
3. one kind for the method for testing of plateau in industrial products logistics progress, it is characterised in that comprise the following steps:
Test device is placed in goods by S 101, starts test device by bluetooth equipment;
S 102 test device receive start working instruction after, enter duty;
S 103 tests device and constantly reads the resin of acceleration, angular velocity, and the spatial attitude of real-time calculation device, passes through Spatial attitude, the numerical value of acceleration transducer, obtain test device acceleration numerical value in terrestrial coordinate system, accelerated by equipment Degree numerical value in terrestrial coordinate system is constantly stored in data memory module;
S 104, at the end of logistics, is quit work by bluetooth equipment notice test device;
S 105 tests after device receives the instruction that logistics terminates, and data memory module stores the data of this logistics, calculates this The smoothness coefficient of logistics;
S 106 derives module by data and smoothness coefficient is sent to user.
The most according to claim 3 a kind of for the method for testing of plateau in industrial products logistics progress, its feature Being, it is bluetooth 4.0 module that described data derive module.
CN201610993813.4A 2016-11-11 2016-11-11 Testing device and method for smooth level in industrial product logistic process Pending CN106324285A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610993813.4A CN106324285A (en) 2016-11-11 2016-11-11 Testing device and method for smooth level in industrial product logistic process

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610993813.4A CN106324285A (en) 2016-11-11 2016-11-11 Testing device and method for smooth level in industrial product logistic process

Publications (1)

Publication Number Publication Date
CN106324285A true CN106324285A (en) 2017-01-11

Family

ID=57816966

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610993813.4A Pending CN106324285A (en) 2016-11-11 2016-11-11 Testing device and method for smooth level in industrial product logistic process

Country Status (1)

Country Link
CN (1) CN106324285A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106768784A (en) * 2017-01-22 2017-05-31 郑州云海信息技术有限公司 A kind of server detection method and device
CN111085446A (en) * 2020-01-03 2020-05-01 华南理工大学 Logistics robot capable of quickly responding to balance and regulation and control method thereof

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101886927A (en) * 2010-06-25 2010-11-17 武汉大学 Three-dimensional motion tracking system and method based on inertial sensor and geomagnetic sensor
CN102538781A (en) * 2011-12-14 2012-07-04 浙江大学 Machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method
JP2012173190A (en) * 2011-02-23 2012-09-10 Seiko Epson Corp Positioning system and positioning method
CN103363992A (en) * 2013-06-29 2013-10-23 天津大学 Method for solving attitude and heading reference system of four-rotor unmanned aerial vehicle based on gradient descent
CN103542853A (en) * 2013-11-12 2014-01-29 上海新跃仪表厂 Absolute navigation filtering method capable of estimating drifting of accelerometer
CN104246433A (en) * 2012-01-26 2014-12-24 因文森斯公司 In-use automatic calibration methodology for sensors in mobile devices
CN104713556A (en) * 2015-03-17 2015-06-17 中国海洋石油总公司 Analysis system and method of medium motion state in ball mill

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101886927A (en) * 2010-06-25 2010-11-17 武汉大学 Three-dimensional motion tracking system and method based on inertial sensor and geomagnetic sensor
JP2012173190A (en) * 2011-02-23 2012-09-10 Seiko Epson Corp Positioning system and positioning method
CN102538781A (en) * 2011-12-14 2012-07-04 浙江大学 Machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method
CN104246433A (en) * 2012-01-26 2014-12-24 因文森斯公司 In-use automatic calibration methodology for sensors in mobile devices
CN103363992A (en) * 2013-06-29 2013-10-23 天津大学 Method for solving attitude and heading reference system of four-rotor unmanned aerial vehicle based on gradient descent
CN103542853A (en) * 2013-11-12 2014-01-29 上海新跃仪表厂 Absolute navigation filtering method capable of estimating drifting of accelerometer
CN104713556A (en) * 2015-03-17 2015-06-17 中国海洋石油总公司 Analysis system and method of medium motion state in ball mill

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106768784A (en) * 2017-01-22 2017-05-31 郑州云海信息技术有限公司 A kind of server detection method and device
CN111085446A (en) * 2020-01-03 2020-05-01 华南理工大学 Logistics robot capable of quickly responding to balance and regulation and control method thereof
CN111085446B (en) * 2020-01-03 2023-07-18 华南理工大学 Logistics robot with quick response balance and regulation and control method thereof

Similar Documents

Publication Publication Date Title
CN106052595B (en) Three-axle table axis verticality detection method based on laser gyro strap down inertial navigation
US20130061695A1 (en) Robot having workpiece mass measurement function
CN110472370A (en) A kind of intelligent ship hull system
CN104331591B (en) Granary grain storage quantity detection method based on support vector regression
CN106324285A (en) Testing device and method for smooth level in industrial product logistic process
CN106095113A (en) The measuring and calculating of user's attitude and the virtual reality follow-up method that a kind of nine axle sensors merge
CN205114368U (en) International logistics information service platform
CN102620887B (en) Device for testing quality characteristic of component
TW201126166A (en) Method of sensing motion in a 3D space
CN107140549A (en) Two-electron atom bridge crane pivot angle and rope length detection means and its measuring method
CN112712524B (en) Case quality detection method and device based on deep learning model and storage medium
CN112697345A (en) Method and device for measuring rigid body inertia tensor
CN107144401A (en) A kind of quadrotor method for measuring rotary inertia
CN207556646U (en) Goods weight detection device in a kind of logistic car
JP2015004544A (en) Inspection method and inspection device
CN106960296A (en) Delivery vehicle shipping based on intelligent cargo hold performs method and intelligent cargo hold
CN114674405A (en) Gravity measurement method, gravity measurement device, computer equipment and computer readable storage medium
JP2011096038A (en) Position information acquisition device and position information acquisition method
CN203758667U (en) Testing apparatus for liquid tank swaying torque measurement
Zidar et al. Smart Sticker Roll and Pitch Angles Estimation for Shock Analysis in the Supply Chain
US10339490B1 (en) Dynamically generating orientation information for containers
CN111861326A (en) Packaging method, device, equipment and storage medium
CN207231923U (en) A kind of large torque rubs equipment
CN205916588U (en) A intelligent container for storing petrol
CN206885291U (en) Portable ship balance measuring device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20170111