Guangdong University of Technology

Huawei Technologies Co., Limited

Shenzhen China Star Optoelectronics Technology Co., Ltd.

Tencent Technology (shenzhen) Company Limited

Xi'an Zhongxing New Software Co., Ltd.

Johnson Electric S.a.

Johnson Electric International Ag

Dongguan Aozon New Material Technology Co., Ltd.

Zte Corporation

Jian Gao

Xin Chen

Lanyu Zhang

Yun Chen

Haixiang Deng

Zhuojun Zheng

Yuheng Luo

Qiang Liu

Xun Chen

Jianbo Liang

Yunbo He

Dachuang Shi

Zhijun Yang

Youdun Bai

Haidong Yang

Guoqing Wu

Disai Chen

Takuya Matsumoto

Ching-Ping Wong

Hui Tang

Shuquan Ding

Li-wei Chu

Chengqiang Cui

Wai To Li

Xindu Chen

Zhengping Wang

Guocong Chen

Junyu Long

Jun Liang

Jian Hua Liu

Yu-Yeh Chen

Lei Yang

Meng Wang

Yuanyang Wei

Guixin Zhang

Zhihang Lin

Junlang Liang

Feng Zhou

Gang Chen

Ping-sheng Kuo

Ge Chen

Maoxiang Hou

Jianjun Xie

Ni Zhao

Yuhong Fu

Jia Guo

Yang Song

Shilong Chen

Yuanhui Guo

Chaoran Chen

Xuanzhu Chen

Peng Chen

Hanxiong Li

Fangzhou Zheng

Zhishen Liao

Kyoung-Sik Moon

Yixin Zheng

Huilong Liu

Yachao Liu

Zhenyu Zheng

Yizhong Zhuang

Shengyu Hou

Junhao Yi

Boyu Zhan

Nan Huang

Xiangyuan Luo

Wenxiu Lai

Ruiqi Li

Huawen Lin

Jinhui Zheng

Canguang Lin

Yisheng Guan

Qinghua Hu

Zengguang Gao

Xuelun Yan

Huake Wang

Jianhua Mo

Jindi Zhang

Yongbin Zhong

Zhuoyun Zheng

Lingwei Tan

Shuang Zhou

Chunhui Ma

Shenghui Zhang

Yixuan Bu

Hongcheng Li

Eric Wu

John Ye

Provided in the present application is an identifiable substrate, including a base film and a marking layer, the base film including an identifying surface, the marking layer is an ink coating, in which the marking layer is laminated with the identifying surface of the base film; a surface tension of the identifying surface is D1; a surface tension of the marking layer is D2; and a thickness of the marking layer H satisfies 0.8 μm≤H≤(D1/D2)×5 μm. In the present solution, the relative surface tension of the base film and the marking layer reflects the surface effect of the lamination between the base film and the marking layer. A thickness range of the marking layer is determined based thereon, so that the ink load on the surface of the base film is effectively controlled within the threshold value of the base film.

Identifiable substrate, identifiable adhesive tape applying the same and preparation method of identifiable adhesive tape

A line-scan camera calibration method based on an auxiliary camera, including: calibrating the auxiliary camera, rigidly combining the auxiliary camera with a line-scan camera and installing the combined camera onto a motion platform, and placing a checkerboard calibration board within an imaging area of the combined camera; driving a motion platform to capture images and dynamic scanning images of the checkerboard calibration board, calculating a motion vector of the combined camera; calculating coordinates of registration points; fitting an equation of an imaging plane using coordinates of multiple registration points in the auxiliary camera coordinate system; calculating internal parameters of the line-scan camera and a rigid transformation matrix between the auxiliary camera and the line-scan camera based on properties of a rotation matrix and the line-scan camera imaging model. This application improves the calibration accuracy of the line-scan camera.

Line-scan camera calibration method based on an auxiliary camera and device thereof

A cooperative bonding method for a bonding head of a wire bonding machine, including setting an initial height value of the vertical lifting mechanism to be a difference value; upon receiving a bonding instruction, controlling the bonding head to perform an positioning operation on the target processing chip, controlling the vertical lifting mechanism to descend a preset distance; during the positioning operation of the bonding head on the target processing chip, when the acceleration motion and the overshoot is completed, controlling the vertical lifting mechanism to rise back; and during the rise back process, the pad of the chip does not exceed a residual vibration curve of the bonding head. This achieves the technical effect of improving the bonding efficiency of the bonding head within a small searching area while avoiding impacts on the chip caused by the overshoot during high acceleration positioning of the bonding head.

Cooperative bonding method for a bonding head of a wire bonding machine and a wire bonding machine

The present application provides an image stitching method, apparatus and device based on reinforcement learning and a storage medium. The method includes: acquiring initial calibration parameters, collecting a sample image and position information of a motion platform; setting a negative reward function; acquiring a state set and a negative reward value set according to a randomly generated action set, the initial calibration parameters, the position information of the motion platform and the negative reward function to construct a probability kinematics model; constructing a state value function based on an occurrence probability of the state, and acquiring an optimal action by optimizing the state value function; and acquiring optimized calibration parameters through the optimal action and the initial calibration parameters, and carrying out image stitching on corresponding sample images through the optimized calibration parameters. The application solves the technical problem of low image stitching quality in the prior art.

Image stitching method, apparatus and device based on reinforcement learning and storage medium

The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis. Thus solving the technical problem in the prior arts that the redundant parameters are introduced as a cost to separate the linear axis and the rotating axis for step-by-step kinematics calibration, which affects the error calibration precision of the overall end-effector movement of the mechanism.

Kinematics modeling method, apparatus and device for multi-degree-of-freedom mechanism and storage medium

A linear motor motion control method, device, equipment and storage medium. The proposed invention uses an extended state observer constructed in advance based on the model parameters of the linear motor, and performs state estimation based on the total control amount of the linear motor and the actual displacement signal to obtain each observation signal. The phase advance controller is used to improve the estimated lag of the disturbance observation signal, and a model prediction controller built in advance based on the mathematical model of the linear motor is used to perform rolling optimization based on each observation signal to obtain the optimal control amount increment; The total control amount is updated based on the improved disturbance observation signal and the optimal control amount increment, and the corresponding drive signal is output to the drive end of the linear motor based on the updated total control amount.

Linear motor motion control method, device, equipment and storage medium

Disclosed are a kinematics parameter calibration method and system of a multi-axis motion platform. The method comprises the following steps of: collecting calibration board images in different spatial positions according to a position relation between the platform and a camera, recording a corresponding motor motion amount, solving a hand-eye pose relation matrix and a pose matrix of a calibration board coordinate system in a platform tail end coordinate system, further solving a coordinate measured value of an angular point on the calibration board in a platform base coordinate system and a coordinate theoretical value of a position matrix of the tail end of the motion platform, determining a residual error matrix according to the measured value and the theoretical value, and identifying an error parameter by the residual error matrix to complete kinematics parameter calibration of the platform.

Kinematics parameter calibration method and system of multi-axis motion platform

A decoupled XY parallel micro-positioning stage, including a central moving platform, fixed mechanisms, bridge-type micro-displacement amplification mechanisms, a four-bar symmetrical flexible guide mechanism and a piezoelectric ceramic. Each fixed mechanism is arranged between adjacent amplification mechanisms and is symmetrical about X and Y axes centered on the moving platform. The amplification mechanism is symmetrically arranged with respect to the X and Y axes, and includes two first and second longitudinal beams and multiple crossbeams. The two first longitudinal beams are provided in parallel and spaced apart. The two second longitudinal beams are arranged spaced apart between the two first longitudinal beams, and are connected to the two first longitudinal beams via the crossbeams. The crossbeams are connected to the longitudinal beams via a flexible hinge. The piezoelectric ceramic is arranged between the two first longitudinal beams.

Decoupled XY parallel micro-positioning stage

A three-dimensional measurement method combines the three-step phase shift method to embed the marker line information into the sinusoidal stripe pattern to obtain the target stripe pattern. The target stripe pattern is projected onto the surface of the object to be measured, and the wrapped phase image, mean intensity image and modulated intensity image of the stripe pattern collected by the left and right cameras are solved. The mask image according to the mean intensity image and modulation intensity image is solved to extract the marker line. The spatial phase unwrapping starting from the marker line in the wrapped phase image is performed to obtain the spatial phase. The spatial phase matching based on the unique correspondence between the left and right cameras based on the spatial phase of the marker line is performed, the best matching point of the right camera is obtained.

Three-dimensional measurement method, device, and storage medium

A voice coil motor direct-driven active vibration isolation and leveling integrated platform. The voice coil motor direct-drive active vibration isolation and leveling integrated platform includes a moving platform, a base, a driving mechanism and a vibration isolation and leveling composite mechanism; the moving platform is rotatably disposed on the base around the X-axis and the Y-axis through the vibration isolation and leveling composite mechanism; the driving mechanism is used to drive the moving platform to perform leveling movement, and the force exerted by the driving mechanism on the moving platform is distributed symmetrically around the circumference of the moving platform.

Voice coil motor direct-drive active vibration isolation and leveling integrated platform

A five-axis linkage synchronous tool path interpolation method and system, which utilizes the strict proportional coefficient relationship between points, control points and parameters on the first-order derivative curve of the spline curve, more accurate tool axis path curve interpolation points from the parameters of the tool tip path curve are calculated. There is no need to calculate the tool axis path curve interpolation points according to interval synchronization. It is not affected by the shape consistency of the tool tip path curve and the tool axis path curve.

Five-axis linkage synchronous tool path interpolation method and system

A kinematics-free hand-eye calibration method comprises: controlling translation axes of a five-axis motion platform to perform a single-axis point location motion, using a camera to obtain a first spatial coordinate of a calibration plate, fitting all first spatial coordinates into a spatial straight line to obtain a unit direction vectors of the spatial straight line, carrying out Schmidt orthogonalization on the unit direction vectors of the spatial straight lines of an X direction, a Y direction and a Z direction to obtain a pose relationship matrix combined by the orthogonalized direction vectors; obtaining a second spatial coordinate of the calibration plate in a mode of rotating an X-axis and a C-axis, fitting all second spatial coordinates into a spatial spherical surface, calculating a spherical center coordinate to obtain a position relationship matrix, and obtaining a hand-eye relationship matrix combined by the pose relationship matrix and the position relationship matrix.

Kinematics-free hand-eye calibration method and system

A dimensionless kinematics calibration method based on a virtual point and a related apparatus thereof. The method comprises: establishing a kinematics model of a motion mechanism, and arranging a plurality of virtual points at a tail end of the motion mechanism to establish a dimensionless kinematics model and a dimensionless error model; converting a measurement coordinate system into a motion mechanism coordinate system, acquiring a rotation matrix and a translation matrix of a target virtual point measured by the measurement device, and calculating actual coordinates of all virtual points to obtain a measured value of the dimensionless kinematics model; calculating a theoretical value of the dimensionless kinematics model according to a spatial relationship between a reflecting head and the tail end of the motion mechanism; and optimizing the dimensionless error model according to the measured value and the theoretical value to obtain a calibration result.

Dimensionless kinematics calibration method based on virtual point and related apparatus thereof

A tracking measurement method, apparatus and device for a pose of a tail end of a manipulator. The method comprises: shooting a first calibration board mounted at the tail end of the manipulator by a monocular measurement camera, acquiring multiple sets of first transformation matrices, and mounting the monocular measurement camera on a pitch axis of a pan-tilt; shooting a second calibration board by a global camera, and acquiring multiple sets of second transformation matrices; when a calibration center of the first calibration board is in a center of a field of view of the monocular measurement camera, calculating a measured pose of the tail end of the manipulator; and when the calibration center of the first calibration board deviates from the center of the field of view of the monocular measurement camera, calculating a direction deviation angle, and adjusting the pitch axis and a horizontal axis of the pan-tilt.

Tracking measurement method, apparatus and device for pose of tail end of manipulator

A method for integrally forming a graphene film (GF) of a high specific surface area (SSA) by ultrafast ultraviolet (UV) laser processing, includes: selecting a carbon precursor material, where the carbon precursor material is one selected from the group consisting of a biomass/hydrogel composite and a heavy hydrocarbon compound; adding an activator solution to an inside of the carbon precursor material to obtain a composite with an activator uniformly loaded, and spreading the composite on a flexible substrate to form a carbon precursor material layer; heating and drying the carbon precursor material layer; in-situ processing with an ultrafast UV laser to obtain an activated GF of a high SSA; and cleaning and drying the activated GF. With the method of the present disclosure, a microporous activated GF of a high SSA can be directly processed in-situ on a flexible substrate.

Method for integrally forming graphene film (GF) of high specific surface area (SSA) by ultrafast ultraviolet (UV) laser processing

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Guangdong, China

Jian Gao