453results about How to "Improve calibration efficiency" patented technology

The embodiment of the invention provides a mining area vehicle path planning method and device based on a digital twin map, and belongs to the technical field of vehicle path planning, and the method comprises the steps: obtaining map data and physical scene data of a mining area; creating a dynamic twin map of the mining area based on the map data and the physical scene data; obstacle information is identified and marked based on the dynamic twin map, and obstacles comprise natural obstacles and artificial obstacles; and importing related data of the vehicle into the dynamic twin map, and carrying out obstacle avoidance path planning on the vehicle based on the marked obstacle information to obtain an optimal obstacle avoidance path. According to the scheme, the running efficiency of mining area vehicles can be improved, and collision and obstacle detouring time is shortened.

The invention belongs to the field of industrial robot error calibration, and particularly relates to a vision-based industrial mechanical arm zero deviation calibration method, which comprises the following steps of: 1) fixing a vision camera at the tail end of a mechanical arm, and fixing a marker in a working area range of the mechanical arm; (2) the mechanical arm is manually operated, the spatial position of a camera fixed to the tail end of the mechanical arm is changed, all corresponding pose data are recorded, the mechanical arm is moved multiple times, and multiple sets of calibration data are collected; (3) the pose change of the marker when the spatial position of the camera fixed to the tail end of the mechanical arm is changed is obtained, and a calibration equation based on zero deviation and hand-eye pose deviation is constructed; and (4) multiple sets of collected calibration data are substituted into the calibration equation, and after optimization is conducted, the zero deviation of the mechanical arm and a hand-eye pose transformation matrix are obtained and compensated to configuration of a mechanical arm controller. According to the method, the zero deviation calibration of the mechanical arm and the calibration of the hand-eye pose transformation between the mechanical arm and the visual equipment can be completed at the same time only through one calibration process.

The invention relates to a rapid self-calibration method for field maintenance of a water quality sensor, and belongs to the technical field of water quality monitoring, and the method comprises the steps of starting the water quality sensor, recording initial data, collecting actually measured data, calculating an autocorrelation function, calibrating and adjusting, verifying a calibration result, and recording and reporting. Calibration parameters are dynamically adjusted in combination with on-site environment data, and fault pre-judgment is performed by utilizing machine learning, so that rapid self-calibration without a standard solution is realized, dependence on the standard solution is reduced, the calibration process is simplified, the problem of difficulty in on-site calibration of the water quality sensor is solved, and the accuracy of on-site calibration of the water quality sensor is improved. The method has the advantages of simplicity and convenience in operation, no need of standard solution, adaptability to field environment, real-time monitoring performance and self-adaptability.

The invention discloses a plane and spherical surface joint constraint spectral confocal probe space pose position calibration method, which belongs to the technical field of measurement, and comprises the following steps: converting point location information under a contact probe coordinate system into coordinate information under a base coordinate system; the point location information under the spectral confocal probe coordinate system is converted into coordinate information under a base coordinate system; acquiring information of at least two point locations in a plurality of planes by adopting a spectrum confocal probe, establishing a linear equation set, and solving to obtain a spatial pose of the spectrum confocal probe; and measuring coordinate information of at least three point positions on the spherical surface by adopting the spectrum confocal probe, establishing an overdetermined equation set, and solving the zero point position of the spectrum confocal probe. According to the spatial pose position calibration method, coupling between the light beam direction and the zero point position is relieved by introducing a space equation elimination mode, respective calculation of the spatial pose and the zero point position of the spectrum confocal probe is achieved, and the precision and efficiency of spectral confocal probe pose position calibration can be greatly improved.

The invention provides an intelligent verification integrated device for an aluminum alloy rear fork, and the device comprises a workbench, the middle part of the workbench is movably provided with two groups of sliding seats, the two groups of sliding seats are symmetrically arranged front and back, the interiors of the two groups of sliding seats are provided with limiting mechanisms, and the interiors of the upper ends of the two groups of sliding seats are provided with second supporting rods in an inserted manner. Front-and-back correction oil cylinders are arranged at the left end of the upper surface of the workbench, front-and-back correction blocks are arranged at the telescopic ends of the two front-and-back correction oil cylinders correspondingly, first supporting rods are inserted into the upper ends of the two front-and-back correction blocks correspondingly, and up-and-down correction blocks are movably installed in the lower ends of the two front-and-back correction blocks correspondingly. Through the up-and-down correction oil cylinder, the first supporting rod and the up-and-down correction block, Z-direction correction can be accurately conducted on a workpiece, through the front-and-back correction oil cylinder, the front-and-back correction block and the second supporting rod, Y-direction correction can be accurately conducted on the workpiece, operation is easy and fast, correction and inspection are integrated, and the percent of pass is high.

The invention provides a direct-current electric energy meter self-calibration method and system. The method comprises the following steps: acquiring an internal high-precision low-temperature drift voltage reference signal; converting the voltage reference signal into an analog calibration voltage signal on a sampling resistor by controlling a direct current standard voltage generation circuit according to the voltage reference signal; converting the voltage reference signal into an analog calibration current signal in a current loop by controlling a DC voltage-current conversion circuit according to the voltage reference signal; obtaining a current environment temperature, and calculating a calibration gain at the current temperature according to a preset temperature coefficient; according to a theoretical calibration value, calculating a voltage gain, a current gain and a power gain of the sampling voltage value and the sampling current value, and writing the gains into a memory; and correcting the reference voltage signal according to the obtained temperature calibration gain, and performing temperature compensation.

The invention discloses a large-load high-precision reset type balance automatic calibration system. Each automatic loading subsystem drives a weight to ascend and descend through a spiral elevator, the gravity of different weights is transmitted to a steel belt through a suspender and transmitted to a loading head, the loading head transmits a load to a calibrated balance, and loading of the multi-component load of the calibrated balance is achieved. The displacement sensor measures the distance change of each position and converts the distance change to obtain the deformation. And the balance attitude is adjusted and reset through the reset subsystem. Each subsystem is compact in structure and clear in function. The reset subsystem maximizes the utilization of the advanced performance of a servo motor, so that the reset precision of linear displacement can be equal to the motion precision of the servo motor, and the reset precision of angular displacement is also improved to a corresponding degree. The control logic of each subsystem including the reset subsystem, the automatic loading system, the displacement measurement system and the like is simple, integrated control is easy to realize, automatic calibration is realized, and the calibration efficiency is greatly improved while manpower is liberated.

The invention discloses a roll gap calibration and operation method of a hot straightening machine, and belongs to the technical field of high-temperature metallurgy. An inlet roll and an outlet roll are adjusted to be lower than a plurality of middle working rolls, and a calibration plate is conveyed between the plurality of middle working rolls and an upper working roll; the height of the upper working roller is adjusted through the oil cylinder adjusting assembly until the upper working roller makes contact with the upper surface of the calibration plate, the thickness of the current middle working roller and the thickness of the upper working roller are the thickness of the calibration plate, the inlet roller is adjusted to make contact with the calibration plate through the height adjusting device, and the outlet roller is adjusted to make contact with the calibration plate through the height adjusting device. According to the method, the phenomenon that the calibration time is influenced by manual adjustment under the condition that the roller diameters of the roller boxes are different can be avoided, calibration can be rapidly completed regardless of the roller diameters of the roller boxes, it is ensured that calibration succeeds after the roller boxes are replaced, the manual adjustment time is shortened, and the calibration efficiency is improved.

The invention relates to the field of optical system calibration, in particular to an optical camera position and attitude calibration method. According to the method, a least square method is adopted, the flatness h of an imaging assembly installation reference surface and the perpendicularity p between the imaging assembly installation reference surface and an optical lens installation reference surface are subjected to least square fitting, the correction misalignment amount delta is obtained, reference is provided for follow-up coaxial adjustment of an optical lens of an optical camera and an imaging assembly, and the calibration precision is improved. By adopting the beam splitter prism assembly, auto-collimation images of the beam splitter prism assembly can be simultaneously incident to different directions of the accurate measurement mirror assembly by only using one laser theodolite; compared with a traditional measurement method adopting a plurality of laser theodolites, the method has the advantages that the rotation error caused by mutual aiming of the plurality of laser theodolites is overcome, and the calibration precision and efficiency are improved.

The embodiment of the invention discloses a current compensation circuit, a logarithmic detector and a chip. The current compensation circuit comprises a current mirror, the current mirror comprises a first transistor and a second transistor, the first transistor and the second transistor respectively comprise a first end, a second end and a control end, and the current mirror is configured to mirror a first current flowing through the first end of the first transistor to the first end of the second transistor, the first end of the second transistor outputs compensation current; the resistance module is connected with the first end of the first transistor, and the resistance value of the resistance module and the first voltage of the first end of the first transistor are used for determining the size of the first current; the fuse module is connected with the resistor module and / or the first end of the first transistor and used for outputting a first control signal based on the fusing state, and the first control signal is used for calibrating the resistance value of the resistor module and / or the first voltage.

The invention discloses a detector correction device and a ray inspection system. The detector correction device comprises a first supporting seat; the bearing component is installed on the first supporting seat and provided with a bearing face, the bearing face is configured to be provided with a strip-shaped detector, the detector and the radiation source are oppositely arranged so as to receive a ray beam from the radiation source, and the projection of the ray beam on the detector is in a straight line shape; the bearing component is configured to move along a first direction which is parallel to the bearing surface and is crossed with the length direction of the detector relative to the first supporting seat, and the bearing component is also configured to rotate around a rotating axis which is vertical to a second direction of the bearing surface relative to the first supporting seat, so that the strip-shaped detector is aligned with the ray beam; and the driving mechanism is arranged on the first supporting seat, is connected with the bearing component and is configured to drive the bearing component to move relative to the first supporting seat.

The utility model discloses a calibration device for an electronic snapshot system of a fixed black smoke vehicle, which comprises a movable vehicle body, a turntable is rotatably arranged on the vehicle body, a supporting plate is arranged on the turntable, a locking handle is in threaded connection with the supporting plate, the front end of the supporting plate is hinged with a fixed plate, and the rear end of the supporting plate is hinged with a movable plate. The fixing plate is provided with a quick clamp used for fixing the blackness plate, an electric push rod is hinged to the rear end of the supporting plate, the end, away from the supporting plate, of the electric push rod is hinged to the fixing plate, a positioning rod used for supporting the fixing plate is arranged at the rear end of the supporting plate, and the rotating disc is arranged close to the rear end of the supporting plate. Compared with the prior art, dynamic and static calibration of a calibrated object is realized through the rotating turntable, the electric push rod and the moving vehicle body. The overall structure is simple, the adjusting speed is high, and the calibration efficiency is high; and secondly, the framework design is optimized, the rationality and the practical operability of the device are improved, and the weight and the cost are reduced.

The invention discloses an automatic calibration method and device based on fine inspection camera edge finding and a storage medium, which are used for improving the calibration efficiency and avoiding artificial errors when a fine inspection camera aligns with a mark point. The method comprises the following steps: obtaining a fixed offset through advanced teaching; according to the fixed offset, the picture center of the fine detection camera falls into a calibration plate through a motion control assembly, and a calibration point is arranged in the calibration plate; the motion control assembly controls the fine detection camera to carry out edge finding motion so as to collect a characteristic pattern of the calibration plate, the linear edge and the angular point of the inner frame of the calibration plate are identified according to the characteristic pattern, and the fine detection camera is guided to carry out edge finding motion and angular point alignment; determining a first mechanical coordinate at the moment; according to the physical parameters of the calibration plate and the first mechanical coordinate, determining a second mechanical coordinate when the picture center of the fine detection camera is aligned with the center of a calibration point on the calibration plate; and calculating an affine transformation relation according to a pre-collected third mechanical coordinate and a pre-collected second mechanical coordinate, and completing calibration.

The invention discloses an automatic calibration system and method for an audiometer, and particularly relates to the technical field of automatic calibration of audiometers. The system comprises a calibration preprocessing unit, a calibration processing unit and a database, and the calibration preprocessing unit comprises a calibration judgment module, a calibration environment evaluation module and a calibration starting module and is used for preparing before the self-service physical examination machine audiometer is calibrated. And the calibration processing unit comprises a calibration parameter selection module, a calibration parameter synchronization module, a verification error evaluation module and a verification error processing module, and is used for the calibration control platform to execute various operations in the calibration process of the target self-service physical examination machine audiometer. The parameters of the self-service physical examination machine audiometer are monitored, all the to-be-calibrated self-service physical examination machine audiometers are calibrated, a full-automatic calibration mode is adopted to replace traditional manual calibration, and the calibration efficiency of the self-service physical examination machine audiometers is improved.

The invention provides a strapdown inertial navigation system-level calibration method based on a temperature-control double-shaft position turntable, and overcomes the defects of high workload, easiness in making mistakes, high cost, waste of equipment and manpower and the like in the conventional calibration method. The invention provides temperature and position calibration based on a temperature control double-shaft position rotary table, the transposition limitation of the double-shaft rotary table is overcome, a rotating position and a rotating scheme are designed in a targeted manner, and meanwhile, automatic position calibration of a gyroscope and an accelerometer of a product is realized through automatic transposition of the rotary table. The method can control the temperature of the rotary table incubator, automatically identify the corresponding temperature point of the product, capture the error parameter of the product at the corresponding temperature point, and automatically solve the compensation values of the zero positions of the gyroscope and the accelerometer along with the initial temperature change.

The invention discloses a phased array online beam calibration method based on deep learning. The phased array online beam calibration method comprises three parts of directional diagram data acquisition and processing, initial model construction and model training, and model debugging and application. The method comprises the following steps of: randomly setting amplitude and phase parameters of a phased array by using an amplitude and phase control device, connecting a test antenna to a frequency spectrograph, connecting an upper computer with the frequency spectrograph through a switch, driving the phased array antenna to rotate by using a rotary table, and drawing a directional diagram of a received signal in the upper computer; then constructing a neural network model and training by using a directional diagram; and finally, carrying out model verification by utilizing data of the verification set, and if a verified loss function does not meet the requirements of the method, carrying out model debugging. According to the invention, the amplitude and phase parameters of each channel corresponding to the target beam are directly obtained through the deep learning model, the calculation of the amplitude and phase error value of each channel is avoided, the calibration time and difficulty are greatly reduced, and the calibration efficiency is improved.

The invention relates to the technical field of vehicle control and test, and discloses a chassis domain controller test and calibration system based on machine learning. The system is based on a machine learning technology and comprises a data acquisition unit, a calculation unit, a driving simulation unit, a test vehicle and a user interaction unit. The whole process of data acquisition, test scene design, test condition simulation, controller product test and vehicle calibration is intelligentized, the test efficiency can be greatly improved, the test cost can be reduced, the test consistency can be guaranteed, and the reliability and safety of the product can be improved.

The invention discloses a radar and video calibration method and device and a storage medium, and belongs to the technical field of radar detection.The radar and video calibration method comprises the steps that a radar track and a video track of at least one target in an intersection area are obtained, the intersection area comprises a plurality of divided areas, and each divided area comprises a plurality of calibration blocks; determining a video-to-radar track corresponding to the video track according to the initial calibration parameter of each divided region; an association point group corresponding to each calibration block is determined from all radar tracks and video-to-radar tracks, and each association point group comprises a radar track point and a video-to-radar track point; and according to the association point groups corresponding to all the calibration blocks and the initial calibration parameters, determining the target calibration parameters corresponding to each divided region, thereby realizing accurate calibration between the radar and the video, and effectively improving the calibration precision and the calibration efficiency.

The invention discloses a structured light phase high calibration algorithm considering a transverse size, and relates to the technical field of camera calibration, and the method comprises the steps: firstly, obtaining checkerboard calibration plate images at different positions and different angles, carrying out the single-target calibration and lens distortion correction of a camera, and obtaining a checkerboard calibration plate image; obtaining phase height method calibration data by adopting a phase height method, and calculating to obtain a phase-height mapping coefficient; then, for any light path of the camera, according to camera single-target calibration parameters and phase height method calibration data, calculating transverse dimensions of intersection points of the light path and the checkerboard calibration plates with different heights, and according to the transverse dimensions of the intersection points of the light path and the checkerboard calibration plates with different heights and the height values of the checkerboard calibration plates, calculating the height values of the checkerboard calibration plates; fitting to obtain a height-transverse dimension mapping coefficient; according to the scheme, analysis is carried out from the geometric angle, the transverse size of the plane intersection point of the camera imaging result and the calibration plate with the known height is deduced and calculated according to each light path of the camera imaging result, and then the mapping coefficient of the transverse size and the height is fitted pixel by pixel.

The utility model provides an electric automobile frame calibration frame, which relates to the technical field of frame calibration frames, and comprises a calibration frame, one end of the calibration frame is provided with a translation motor, one end of the translation motor is connected with a two-way threaded rod, the outer side of the two-way threaded rod is symmetrically provided with moving frames, and the moving frames are connected with the two-way threaded rod. The side faces of the two movable frames are connected with first marking blocks. The two-way threaded rod is electrically driven to rotate through the translation motor, the two-way threaded rod drives the two movable frames to synchronously move in the opposite directions, then the first marking block is driven to move on the outer side of the length measuring ruler, the length of a frame is conveniently measured during movement, meanwhile, the pneumatic telescopic rod is matched for stretching out and drawing back, and the working efficiency is improved. And the pneumatic telescopic rod pushes the moving block to move in the sliding groove, so that the second marking block is conveniently driven to move on the outer side of the width measuring ruler, the width of the frame is conveniently measured, manual operation and measurement are not needed, and the labor cost and the time cost are reduced.

The invention provides a calibration method of a size measurement comprehensive parameter calibration ball group target. The calibration method comprises the following steps: S1, designing and manufacturing the size measurement comprehensive parameter calibration ball group target; s2, calibrating the metrological characteristic parameters of the size measurement comprehensive parameter calibration ball group target by adopting a high-precision calibration standard device; and S3, calibrating the size parameter capability of the industrial CT equipment for measuring the key features by using the size measurement comprehensive parameter calibration ball group target. According to the invention, the measurement size is larger, the calibration of the cone and cylinder parameters of the industrial CT equipment can be provided, and the accuracy of measuring the cone and cylinder parameters of the industrial CT equipment is improved. Through the brand-new structural design, one-time metering calibration of various size parameters can be achieved, repeated metering calibration of traditional forest balls, special cones and cylindrical standard devices is replaced, and the calibration efficiency of industrial CT equipment is improved.

The invention relates to the technical field of camera calibration, and provides a binocular camera calibration method, device and equipment and electronic equipment, and the binocular camera calibration method comprises the steps: recording a circle center coordinate of a circular mark of a calibration plate; the binocular camera shoots a plurality of calibration images at different angles for the calibration plate; using a canny edge extraction algorithm to obtain a circle center coordinate of the circular mark of the calibration image; calculating initial values of calibration parameters of the binocular camera; and optimizing camera calibration parameters by adopting a beam adjustment method. Compared with a traditional binocular camera calibration method, the technical scheme of the invention improves the accuracy of binocular camera calibration parameters.

The present disclosure relates to an image correction method and device, an electronic device and a storage medium. The image correction method comprises: obtaining a first image captured by an image acquisition module; obtaining a mapping diagram generated based on the corresponding relationship between the field of view and the distortion rate of the image acquisition module; wherein the mapping diagram comprises: a mapping relationship between the original pixel coordinates of each pixel value in the original image captured by the image acquisition module and the corrected target pixel coordinates; based on the mapping diagram, correcting the first image to obtain a corrected second image.

The utility model discloses a steel rail welding seam ultrasonic flaw detector calibration system, which comprises an upper computer, a signal controller, a programmable attenuator and a standard signal generation module connected with a detected ultrasonic flaw detector, a detected ultrasonic flaw detector is connected with a synchronous trigger input end of a standard signal generation module through a fixed attenuator, and a signal output end of the standard signal generation module is connected with a signal input end of the detected ultrasonic flaw detector through a programmable attenuator. The signal controller is respectively connected with the standard signal generation module and the programmable attenuator, the signal controller is in communication connection with the upper computer, and a detection loop of the detected ultrasonic flaw detector is connected with a digital oscilloscope. According to the utility model, the requirement of a user on calibration work standardization can be met, the calibration work quality is improved, and the calibration efficiency is greatly improved.

The invention relates to the technical field of radio metering, and discloses an ultra-wideband spectrum sensing radio metering calibration method and system, and the method comprises the steps: carrying out the time-frequency domain transformation and sliding interception of millimeter wave ultra-wideband spectrum signals collected by a plurality of receiving channels, and obtaining an initial power density matrix; performing correlation analysis and signal-to-noise ratio calculation on the signals of each sub-frequency band to obtain an effective power density matrix; performing change rate calculation and frequency band switching opportunity analysis on the power density data of each sub-frequency band to obtain a sub-frequency band scanning sequence and minimum measurement time; performing adaptive optimization on the system sampling parameters to obtain a target sampling parameter set; and re-measuring the power density of each sub-band by using the target sampling parameter set to obtain a measurement result, and carrying out error statistics on the measurement result to obtain a calibration compensation matrix which comprises a compensation coefficient of the frequency point to be calibrated. According to the invention, the continuity and real-time performance of the measurement process are realized, and the calibration efficiency is improved.

The invention discloses a calibration method and device for detection equipment. The calibration method specifically comprises the following steps: acquiring actual data of a target product and product detection data measured by the detection equipment; performing mapping processing on the product detection data based on the reference measurement sheet calibration model, and giving initial product calibration data; giving calibration product calibration data in combination with the initial product calibration data and the primary product calibration model; and completing calibration of the detection equipment according to the actual data of the target product and the calibration data of the calibration product. According to the calibration scheme of the detection equipment provided by the invention, the correlation between the reference measuring sheet and the target product is established, so that the production waste of production materials during product calibration is avoided, and green calibration is realized. Meanwhile, correlation among the multiple detection devices is given, the consistency of calibration results of the multiple detection devices is guaranteed, and the calibration efficiency is improved.

The invention is applicable to the technical field of automatic focusing, and provides a compensation calibration method for automatic focusing offset, which comprises the following steps of: taking a position coordinate when a graph card circle center of a test graph card coincides with a camera software marking circle center of a camera equipment picture center as an initial position coordinate; respectively adjusting a lens of the camera equipment to the farthest and near-focus positions of the physical movement range of a camera module of the camera equipment, and respectively calculating first offset compensation and second offset compensation between the camera software mark circle center and the graph card circle center at the farthest and near-focus positions by adopting an offset compensation strategy based on the initial position coordinates, third offset compensation corresponding to the current focal length of the camera equipment is determined based on the first offset compensation and the second offset compensation, and offset calibration of the lens in the direction perpendicular to the optical axis is carried out on the current focal length of the camera equipment due to the influence of the magnetic field of the OIS device through the third offset compensation. Therefore, the visual and real-time feedback of the position of the lens and the offset compensation effect of automatic focusing are realized, and the calibration efficiency is improved.

The invention provides a structure multi-parameter rapid calibration method capable of simultaneously meeting multi-scene operation requirements, and belongs to the field of structure design, and the method comprises the steps: S1, inputting a multi-parameter initial value of a to-be-calibrated structure; s2, successively carrying out finite element pre-processing, solving and post-processing on an operation scene of the structure to obtain a finite element simulation result of the structure; s3, performing data acquisition, data alignment and data alignment according to a structural finite element simulation result in combination with standard data; s4, performing data comparison through multiple methods to obtain a comparison result; s5, constructing a structure credibility evaluation system, performing confidence evaluation on a comparison result, if the comparison result is credible, ending calibration, and otherwise, turning to S6; and S6, carrying out sensitivity analysis on the parameters, giving out calibration values of the parameters, inputting the calibration values into S1, and repeating the steps S1 to S6 until the confidence coefficient is credible. According to the method, calibration of multiple parameters of the structure in multiple operation scenes can be completed in a short time, and the method has high accuracy and reliability.

The invention provides a quantum bit gate fidelity calibration method and device, electronic equipment and a medium. The quantum bit gate fidelity calibration method comprises the following steps: determining a first quantum bit gate in a plurality of quantum bit gates of a target quantum bit; obtaining a first fidelity of the first quantum bit gate; determining a second quantum bit gate to be calibrated and a first calibration means for calibrating the second quantum bit gate according to the first fidelity; and calibrating the second quantum bit gate based on the first calibration means. According to the embodiment of the invention, the calibration efficiency of the fidelity of the quantum bit gate can be improved. The embodiment of the invention can be applied to various scenes such as quantum computing and quantum communication.

The invention relates to the technical field of shooting positioning, and discloses a robot shooting positioning method, device and equipment and a medium, and the method comprises the steps: moving a robot to a preset operation position, rotating a holder to a preset initial pose, and obtaining an actual image of an auxiliary fixed point marker, determining a shooting deviation according to the reference image and the actual image of the auxiliary fixed point marker; adjusting a preset initial pose of the holder for multiple times according to the shooting deviation until the shooting deviation does not exist, and obtaining a corrected initial pose of the holder; and rotating the holder from the corrected initial pose according to the preset pose variation, setting the zoom ratio of the image acquisition equipment as a preset multiple, and shooting the target object. Through multiple times of shooting and pose correction, it is ensured that the target object is locked and shot more accurately during high-power zoom shooting, the robot cradle head can locate the target object more quickly and shoot the target object, high-quality inspection data are obtained, the inspection efficiency is improved, and the labor cost is reduced.