Please select the most similar patent number from A, B, C and D. Which number is?
Provided are an encoder measurement and calibration method, device, and apparatus as well as a storage medium, wherein the method comprises: obtaining in advance a deviation curve function of an encoder relative to a standard encoder; wherein, the deviation curve function is a curve function obtained by curve fitting for each fitting point after performing linear regression processing on the deviation waveform of the measurement deviation value of the encoder and the standard encoder that changes with the position point in a measurement period, to obtain multiple fitting points on the linear regression curve; and calibrating all test data according to the deviation curve function. The method obtains in advance a deviation curve function that can characterize a deviation change trend between the measured value of the encoder and the measured value of the standard encoder, and calibrate the measurement value of the encoder on the basis of the deviation curve function, and thus improve the accuracy of the encoder.
A: An encoder fault detection method. An encoder is provided with a first proximity switch (SQ-A) and a second proximity switch (SQ-B) for angle measurement. The method comprises: according to output signals of a first proximity switch (SQ-A) and a second proximity switch (SQ-B), obtaining the respective number of pulses of the first proximity switch (SQ-A) and the second proximity switch (SQ-B) (S302); determining fault information of the encoder according to the obtained numbers of pulses (S304). The method solves the problem in the prior art of the poor reliability of an encoder fault detection mechanism. Meanwhile, this detection mechanism can be implemented without the cooperation of a third proximity switch on the encoder, thereby reducing the cost of the encoder. Also disclosed are an encoder fault detection device and an encoder fault detection system.
B: The present invention relates to the technical field of fluorescence immunodetection, and more specifically relates to a method for fluorescence immunoassay analyzer inter-instrument deviation calibration; logarithm operations are performed on n number groups obtained by a test machine and a reference machine; subsequently, curve fitting is performed, and a corresponding fitted curve function is obtained; during actual testing, real measured data is substituted, after a logarithm operation, into the fitted curve function, and a corresponding value is obtained; and last, exponentiation calculation is performed, and a calibrated numerical value is obtained. By means of the present calibration method, deviation of numerical value obtained after calibration are all within 3%, regardless of whether a fluorescence signal intensity value is low or a fluorescence signal intensity value is high, and calibration deviation is extremely low; the present method is very suitable for a common low value interval fluorescence immunodetection indicator, has a broad scope of suitability, causes a final detection result to be more accurate and detection accuracy of an instrument to improve, and effectively solves the problem in a current calibration method where calibration deviation is too large when a fluorescence signal intensity value is low.
C: Provided are a method for improving the resolution of a laser turntable, and a robot system. Said method comprises: acquiring a coder pulse signal generated by a coder and a corresponding chip clock pulse signal during triggering of the coder pulse signal, and acquiring a corresponding chip clock pulse signal and coder pulse signal during triggering of a laser reflection signal (S2); and according to a proportional relationship between a chip clock pulse frequency and a coder pulse frequency, using the chip clock pulse signals to subdivide the coder pulse signal, so as to calculate a high-precision deflection angle value corresponding to each reflective marker, the chip clock pulse frequency being higher than the coder pulse frequency (S3). As the chip clock pulse frequency is higher than the coder pulse frequency, the pulse generated by a chip clock is used to subdivide the pulse of a coder, improving the coder precision by using a software solution by means of an existing chip clock, having the technical effect of not increasing the hardware costs.
D: A pose prediction method, a map construction method, a movable platform, and a storage medium. The method comprises: acquiring a first time period according to a timestamp of the current image frame and a timestamp of a previous image frame (S101); acquiring measurement data of a first encoder and measurement data of a second encoder within the first time period (S102); obtaining a prediction transformation matrix of the current image frame with respect to the previous image frame according to the measurement data of the first encoder and the measurement data of the second encoder within the first time period (S103); and obtaining a predicted pose of the current image frame according to the prediction transformation matrix and pose information of the previous image frame (S104). By applying the encoders to visual SLAM, and predicting the pose of the current image frame by means of the measurement data of the encoders, the accuracy of pose acquisition can be improved, the stability and robustness of visual SLAM is improved, and visual SLAM can still stably operate during visual failure.
Answer: A