131results about How to "Simplify the calibration steps" patented technology

The invention discloses a method for calibrating external parameters of a monitoring camera by adopting reference height, which comprises the following steps of: far vanishing point and lower vanishing point-based vision model description and related coordinate system establishment; projected coordinate calculation of reference plumb information-based far vanishing points and lower vanishing points in an image plane; reference height calibration-based camera height, overhead view angle and amplification factor calculation; design of a reference plumb direction-based horizon inclination angle calibration tool; and design and use of perspective projection model-based three-dimensional measurement software and three tools for three-dimensional measurement, namely an equal height change scale, a ground level distance measurement scale and a field depth reconstruction framework. The calibrating method is simple and convenient in operation, quick in calculation and high in measurement precision. The reference can be a pedestrian, furniture or an automobile; and a special ground mark line is not needed. The method allows the camera to be arranged at a low place, and the shooting overhead view angle is slightly upward as long as the bottom of the reference can be seen clearly in the video and the ground level coordinate system is definite.

The invention provides a calibration method of pose position-free constraint line laser monocular vision three-dimensional measurement sensor parameters and belongs to the technical fields of optical measurement and mechanical engineering technologies. After basic data are extracted, imaging points are sequenced according to the invariance of a vector quantity cross product direction set composed of the imaging points of target feature points in any shooting pose position, and corresponding relation between the target feature points and the imaging points is built. Light plane feature points are extracted through quadrilateral intersection composed of a light knife central point set fitting straight lines and the target feature points, and a three-dimensional coordinate is calculated according to an intersection invariance principle. Inner and outer diameters in a monocular vidicon and light plane diameters of a line laser projector are optically fitted and calculated, and accurate calibration of the line laser monocular vision three-dimensional measurement sensor parameters is achieved. In calibration, a target can freely move and rotate completely, pose position placing is free of restraint, the same group of calibration images is shared for calibration of two parts of diameters, the calibration accuracy of a three-dimensional measurement sensor is ensured, and simultaneously calibration steps are simplified.

The invention relates to a method for calibrating the geometrical parameter error of an industrial robot based on a two-step method. A calibration coordinate system is established and comprises a measuring coordinate system and a constraint coordinate system, an error model is established according to the interconversion relationship between a robot connecting rod coordinate system and the calibration coordinate system, and thus the preliminary calibration result of a conversion matrix between the robot connecting rod coordinate system and the calibration coordinate system is obtained; and then the preliminary calibration result is utilized to establish an error correction model including the robot connecting rod geometrical parameter error and the conversion matrix error between the robotconnecting rod coordinate system and the calibration coordinate system according to a differential perturbation method, the corrected robot geometrical parameter error is obtained, and the calibration method is simple and precise.

The invention relates to a simple and convenient autonomic and automatic meter adjusting method. According to the method, an autonomic and automatic meter adjustment mechanism for an electric meter is used for the meter adjustment, so that the adjustment operation of the electric meter can be performed without a meter adjustment table but only by a power source, and therefore, not only the meter adjustment steps are simplified, but also the cost is reduced; and the method has high meter adjustment precision and high production repeatability, is favorable for production automation, reduces the influence of many human factors on the product quality, ensures the stability and reliability of the product quality, and greatly improves the qualified rate of the product.

The invention discloses a multiple star image and attitude associated star sensor internal parameter calibration method and a device thereof. A GPS antenna 3, a gyroscope unit 1 and a to-be-calibrated star sensor 2 communicate with a GPS receiver 4 respectively, and a data processing computer 5 is connected with the gyroscope unit 1 and the to-be-calibrated star sensor 2 respectively; synchronous data acquisition of the gyroscope unit 1 and the star sensor 2 is realized by virtue of UTC (universal time coordinated) time information acquired by the GPS receiver 5, and calibration algorithm solution of the to-be-calibrated star sensor 2 is completed in the data processing computer 5. According to the method, the gyroscope unit is used for providing accurate rotating angle information to implement splicing association of a plurality of frames of star images, thereby increasing observed data samples for internal parameter calibration of the star sensor; the method can be used for calibration under a dynamic condition, no strict requirements are made to the motion state of the to-be-calibrated star sensor 2, the calibration accuracy and reliability are improved, a calibration flow is simplified, dynamic calibration of the to-be-calibrated star sensor 2 can be conveniently implemented, and the method and the device are also applied to calibration of an inertial/celestial combined navigation system.

The invention discloses a line structured light vision measuring system complete calibrating method comprising scanning direction information, and belongs to the line structured light vision system calibrating method field. The line structured light vision measuring system complete calibrating method comprises the steps that based on a help of a relative motion calibrating device of a straight line slide rail system, by combining with a motion coordinate system conversion thinking, a routine light plane calibrating process is directly used to acquire a plurality of opposite relative motion calibrating images comprising light strip position information and scanning direction information at the same time by one time, and therefore calibrating steps are simplified, and at the same time, a calculation amount required by solving a structured light plane space equation of a calculation system is greatly reduced. The line structured light vision measuring system complete calibrating method is advantageous in that a scanning direction vector equation is solved and fitted accurately, and the scanning direction can be any direction, and at last, the completer line structured light vision measuring system calibrating method comprising a vector scanning step is defined and determined again. The line structured light vision measuring system complete calibrating method has double effects of improving calibrating efficiency and reducing calibrating errors.

The invention discloses a machine vision assisted laser three-dimensional scanning and marking method, comprising: distributing visual characteristic points with known spatial positions and known relative positional relation with a three-dimensional surface, acquiring images of the visual characteristic points by the aid of a calibrated industrial camera, and determining a spatial pose relation between the three-dimensional surface and the camera by using prospective-n-point theory; entering digital control signals to a marking system to form laser spots covering the three-dimensional surface, using the camera to acquire images of the laser spots, and accordingly constructing a mapping relation between laser scanning galvanometer digital control signals and three-dimensional point coordinates on the surface in a camera coordinate system; using the constructed mapping relation to solve digital control signals corresponding to the discrete three-dimensional points on a target outline curve so as to control a laser galvanometer to mark out the target outline curve on the three-dimensional surface. Field real-time calibration ensures precision and reliability of each single use, and the whole marking operation is convenient.

The invention discloses a zero calibration method of a five-axis numerical control machine tool. The method can be used for completing calibration through three steps that first, a return-to-zero calibration tool is installed; second, a linear shaft is subjected to return-to-zero calibration; and third, a rotating shaft is subjected to return-to-zero calibration. The calibration tool is simple instructural design, the linear shaft and the rotating shaft of the five-axis numerical control machine tool can be subjected to return-to-zero calibration, an actual rotating angle value of a C shaft is calculated according to the moving track so as to complete calibration, and in a similar way, return-to-zero calibration of an A shaft is achieved by utilizing a calibration surface c. The zero calibration method is simple in tool structure and simple in calibration step, a related calculating method is simple, and the problems in the prior art are well solved.

The invention provides a displacement sensor calibration device based on an air-floating platform, comprising a marble platform and an air-floating linear platform installed on the marble platform; and a grating ruler and a linear motor are arranged on the air-floating linear platform. The closed-loop high-precision control system, the grating ruler is fixed on the air-floating linear platform along the length direction of the air-floating linear platform; along the length direction of the air-floating linear platform, there are laser interferometers, beam splitters, reflectors located on the same axis in sequence. mirror and displacement sensor; the reflector is mounted on an air-floating slider, the air-floating slider is slidably arranged on the air-floating linear platform, which is connected with the linear motor, and is driven by the linear motor on the lower edge The air-floating linear platform slides and locks relatively. The device greatly reduces the occurrence of return error, mechanical vibration, crawling, etc. during the calibration process, and greatly improves the calibration accuracy.

An optical products optimization system for use with a public communication network includes an optimization center, a posting platform, and a calibration device. The optimization center has a database which contains a plurality of digital spectacle frame images of a plurality of spectacle frames for the user to select. The posting platform is communicatively linked to the database for the user posting a facial image thereof on the posting platform through the public communication network. The calibration device calibrates the frame scale with two pupil marks located at two pupils of the user on the facial image respectively to fittingly overlap the spectacle frame image selected by the user on the facial image for simulating a virtual appearance of the user wearing the respective spectacle frame.

The invention discloses a method for calibrating the spectral wavelength of an optical grating rotary light splitting spectrograph. The method is characterized in that a relation between the optical wavelength and reading of an optical encoder is derived by using an optical grating equation working under a Littrow condition, and a theoretical calibration model is established; spectral wavelength calibration is carried out by using a two-point equation solving method; and finally, initial wavelength positioning is carried out by using calibration parameters in order to ensure the consistency in target position when different spectrographs measure gratings with the same wavelength. The method disclosed by the invention has the advantages that (1) the calibration steps are simple and effective, and the calibration workload and the calculation amount are reduced under the premise of ensuring the calibration precision; (2) the calibration work can be completed by only using two standard light sources with different wavelengths under the premise of ensuring the accuracy of the wavelength, the calibration time is short, the calibration efficiency is high, and the calibration cost is low; and (3) the calibration model is established through known theories, curve fitting is not required to be adopted, factors, which influence calibration, among different spectrographs are considered comprehensively, calibration is carried out more reasonably and more feasibly, and the calibration precision is higher.

The invention discloses an inclined hole correction method of logging information. The inclined hole correction method of the logging information comprises the steps of (a) at first, assuming the curvature of each hole section of an inclined hole required to be corrected as a constant; (b) assuming a hole deviation angle at a depth point as alpha and regarding a small-enough section dh of the inclined hole as a linear section; and (c) taking a section from a No. n point to a NO. n+1 point of the drill hole as a length unit and using an average value of the hole deviation angles at the No. n point and the NO. n+1 point as an average hole deviation angle of the hole section to obtain a vertical depth calculation formula, working out each inclined depth point H(n) and each corresponding vertical depth Hz(n) based on the formula, assigning logging data which correspond to H(n) to Hz(n) and simultaneously performing equal interval operations on newly generated data from Hz(n) to Vz log to form the logging data equivalent to the logging data of a straight hole. With the adoption of the inclined hole correction method of the logging information, the inclined hole correction of the logging information can be completed fast; and moreover, the correction result is precise, the correction steps are simple and the correction cost is lowered greatly.

The invention provides a camera calibration method of a parking system. The method comprises: S1, a shooting blind zone boundary line is drawn on a pavement according to a minimum parking space identification distance L; S2, the angle of a parking camera is adjusted to be at a predetermined angle theta; S3, a calibration grid is drawn in a preset pavement range; S4, the calibration grid is converted into an image coordinate system; and S5, a relationship between a position of a sub calibration grid unit C'mn corresponding to a sub calibration grid unit Cmn in the image coordinate system and a corresponding distance value is determined and is stored. Using the method, steps for camera calibration are simplified and the efficiency is improved.

The invention discloses a multi-antenna testing system calibration method and device. A calibration opening of an RRU (Radio Remote Unit) of a base station which is arranged in a multi-antenna testing system is connected with a radio frequency cable, wherein the radio frequency cable is arranged in the multi-antenna testing system and used for connecting with terminal UE (User Equipment) to be calibrated. The multi-antenna testing system calibration method comprises obtaining the downstream channel parameter change information of a calibration sequence signal after the calibration sequence signal is transferred to the calibration opening from every downstream radio frequency channel and obtaining the upstream channel parameter change information of the calibration sequence signal after the calibration sequence signal is transferred to every upstream radio frequency channel from the calibration opening, wherein the downstream channel parameter change information and the upstream channel parameter change information comprise the phase and the time delay respectively and the calibration sequence signal is a ZC sequence; performing calibration on every downstream radio frequency channel based on the downstream channel parameter change information; performing calibration on every upstream radio frequency channel based on the upstream channel parameter change information. According to the multi-antenna testing system calibration method and device, the calibration steps are simplified, a connection cable does not need to be changed to achieve the calibration on the channels, and the calibration accuracy is improved.

The invention discloses a linearity calibration method of a small depth-of-field linear frequency-modulated continues wave radar. The linearity calibration method comprises the following steps of 1, acquiring a medium-frequency echo signal S'b(n) of a metal plate target; 2, performing Fourier conversion and benchmark removal processing on the S'b(n) according to a non-linear effect of each devicein the radar system so as to obtain a phase jittering error c(n, Tau) caused by non-uniform linearity, and accumulating the phase jittering error c(n, Tau) to complete estimation of a non-linear erroritem Xi (n, Tau); 3, correcting a medium-frequency echo signal Sb(n) of a tested target to be calibrated according to the non-linear error item Xi (n, Tau) so as to obtain a corrected medium-frequency echo signal Sb2(n); and 4, calibrating the corrected medium-frequency echo signal Sb2(n) to obtain a medium-frequency echo signal Sb4(n), and completing linearity calibration. By the linearity calibration method, non-linear calibration of medium-frequency echoes of all targets in a distance direction can be accurately and effectively completed, and the detection resolution and the detection capability of the radar distance direction are improved.

The invention discloses a robot, a hand-eye calibration method for fixing a camera of the robot at the tail end of the robot, and a storage medium. The method comprises the steps of building a visual template, and demonstrating at least three point locations in the visual field range of the camera of the robot; correspondingly obtaining a target coordinate data set obtained after the robot drives the camera to move among the at least three point locations; calculating a pixel equivalent initial value and a camera tool initial value by utilizing the pixel coordinate data set and the robot tail end coordinate data set; calculating coordinate data of the template center under a robot base coordinate system through the pixel equivalent initial value and the camera tool initial value; and constructing a nonlinear optimization model according to the relationship that the coordinates of the template in the robot base coordinate system are always unchanged, taking the pixel equivalent initial value and the camera tool initial value as iterative initial values, and performing iterative optimization by using a nonlinear optimization algorithm to obtain the optimal pixel equivalent and the camera tool. According to the scheme, the calibration precision can be effectively improved, and the calibration operation steps are simplified.

The invention discloses a spherical video image correction method, which belongs to the technical field of video processing, and is characterized by comprising the following steps of: a, determining adisplay field angle parameter of each channel; b, generating a multi-channel rectangular graph, and synchronously outputting the multi-channel rectangular graph to a rear-end graph corrector for geometric correction of the graph from a plane to a spherical surface; c, converting each channel image into a curved surface image by the graph corrector; d, storing the graphic correction parameters inFLASH; and e, projecting the pre-deformed image onto a hemispherical projection screen by the projector model for presenting a real target image. Geometric transformation from a plane image to a spherical image can be achieved by loading the parameters through hardware electrification, and image acquisition, grid correction, feature point acquisition and calculation of a limited display area are not needed; effective pixels of a video image are fully utilized, real-time correction processing of the video image is achieved, reusability of parameters between channels is enhanced, and secondary correction of later maintenance is avoided.

The invention provides a technique for eliminating vertical parallax of multi-viewpoint stereo image. The technique comprises the steps of putting a reference flat plate with a rectangle pattern in a photographing scene, using a camera array to photograph the reference flat plate and calibrating four vertexes of the rectangle, calculating the coordinate mapping relationship of the same object point corresponding to different image photographing points one point by one point according to the four vertexes of the rectangle photographed by each camera, then moving the reference flat plate away and photographing other scenes by the camera array, rearranging the pixel of the image photographed by each camera according to the coordinate mapping relationship, so as to obtain the image of each viewpoint with vertical parallax eliminated. The technique is also used for multi-viewpoint free stereo display.

The invention provides a method for acquiring load pull parameters of a radio frequency power amplifier. The method adopts finished products to test, and comprises the following steps: judging whether at least one finished product in N finished products that are configured with the same radio frequency power amplifier belongs to determined high-quality products; if yes, determining a load impedance value of the radio frequency power amplifier of each determined high-quality product by using an impedance parameter system, and measuring the electrical parameters of the radio frequency power amplifier of each determined high-quality product under active conditions by using an electrical parameter system as the load pull parameters of the radio frequency power amplifier; and otherwise, selecting one of the finished products as a finished product to be tested, and changing the matching network parameters of the finished product to be tested to find a set of load pull parameters that meet the use requirements. According to the method provided by the invention, the finished products are adopted to test, a test printed circuit board customized for each DUT is not required, the test cycle can be shortened, resources can be saved, and the additional environmental pollution can be avoided.