275 results about "Constraint relation" patented technology

The invention relates to a spacecraft assembly simulation technique-based virtual assembly system. The virtual assembly system comprises a CAD modeling module, a virtual assembly planning module and an assembly process design module, wherein the CAD modeling module is used for designing components and tooling tools, and assembling the components together by defining a series of matching constraint relations so as to obtain an assembling model of products; the virtual assembly planning module is used for establishing a geometrical constraint-based virtual environment, planning an optimized assembly sequence according to disassembly directions, disassembly tools and precedence constraint information recorded in the virtual environment for execution, verifying the optimized assembly sequence, and performing simulation evaluation in the virtual environment; and the assembly process design module is used for designing a product structure tree and a process step catalog, editing process steps and assembling a technological process. The CAD modeling module is connected with the virtual assembly planning module through a CAD modeling interface so that models generated in the CAD modeling module are guided into the virtual assembly planning module; and the process planning result in the virtual assembly planning module is guided into the assembly process design module through a Mockup interface.

The invention relates to a method for automatically determining relative positions and postures of a binocular stereo measuring system in measurement at different visual angles. The method comprises the following steps of: when a binocular stereo measuring system is utilized for measuring at each visual angle, remaining the internal constraint condition that the relative positions and postures of a left camera and a right camera are known constant, combining matched point pairs respectively generated by the left camera and the right camera in different measurement processes, constructing a multi-visual angle geometric constraint relation and automatically resolving initial values of relative positions and postures of the stereo sensor in twice measurement; then reconstructing three-dimensional feature points and a constraint relation among image points in all images and the relative positions and postures of the stereo sensor by multi-visual angle measurement, and optimizing and determining the relative positions and postures at all measurement visual angles. According to the method, the self positioning of the stereo sensor and the accuracy and the reliability of data combination are improved and the combinable conditions of multi-visual angle measured data are reduced.

A graphical interface is provided to select parameters for fitting a hearing device. The graphical interface provides means visually representing and controlling values of these parameters using a common reference axis for multiple parameters related by a programmable constraint. The common reference multiple parameter structures convey information to a user about the interactions between parameters and the limits of the parameters. Further, parameters related by a constraint relation are displayed on graphical structures having a common path, such that movement of a slider representing a parameter can be limited within the bounds of the programmed constraints. Such limited movement is visually conveyed to the user allowing the user to make appropriate adjustment to remain within the limits of the constraint while programming a hearing device for improving performance.

The invention relates to a data transmission method which comprises the following steps: receiving first information sent by a base station; creating a bearing separation; and the buffer status report comprising the buffer information of the first logical channel and the second logical channel is transmitted to the base station., receiving second information returned by the base station; acquiring first information and or the constraint information in the second information, and generating a constraint relation according to the constraint information, wherein, the constraint relation is used for limiting the first logical channel and the second logical channel to be mapped to different carriers respectively; and the resources of different carriers are respectively distributed for the first logical channel and the second logical channel according to the distribution information and the constraint relation. According to embodiments of the present disclosure, due to unbound logical channels and carriers for which resources are allocated, only the second logical channel allocation resources are defined for the first logical channel through different carriers., and therefore when it is detected that a certain carrier has congestion or a link and the like, logical channels mapped to the carriers can be adjusted to be mapped to other carriers.

The invention relates to a two-stage scheduling method of parallel test tasks facing a spacecraft automation test, which belongs to the field of parallel tests. The method comprises the following stages: in the first stage, the test tasks, task instructions and tested parameters are analyzed and determined, a constraint relation between the tasks is defined, a time sequence constraint matrix and a parameter competitive relation matrix are established, the tasks and the constraint relation between the tasks are changed into undirected graphs, a parallel task scheduling problem is changed into a minimum coloring problem in the sequence of the tops of the graphs, a method based on the combination of a particle swarm and simulated annealing is used for solving, and then a test task group with the maximal degree of parallelism is obtained; in the second stage, the obtained test task group with the maximal degree of parallelism is distributed on limited test equipment, and then an optimal scheduling scheme is obtained. According to the two-stage scheduling method, the constraint relation among a plurality of test tasks is quickly established, the independence between the test tasks is analyzed, the degree of parallelism of the test tasks is increased, the optimal scheduling of the tasks on the equipment is realized when constraint conditions are satisfied, and the test efficiency is improved.

The present invention provides the method and system of a Time Division Multiplexing which makes use of a number of symbols in the time domain transmitting data sequence in parallel. The method includes: the transmitting terminal forms the transmission signals which are overlapped by a number of symbols in the time domain, and the receiving terminal does data sequence detection in the time domain for the received signals according to the one-to-one relationship between the transmission data sequence and the time waveform of the transmission data sequence. In addition, the present invention also provides a kind of Time Division Multiplexing system based on the above method of the Time Division Multiplexing. The present invention makes actively use of these overlapping to produce the coding constraint relation, thus the spectral efficiency of the system is improved by a large margin. In random time-varying channel, with reasonable arrangement, the transmission reliability of the system can also be improved at the same time, and at the same threshold, Signal Interference Ratio and its spectral efficiency are far higher than those of the high-dimension modulation and other technologies. At the same spectrum efficiency, the number of the total levels of its systems and the needed threshold Signal Interference Ratio are also reduced significantly than those of the high-dimension modulation and other technologies.

The invention relates to a speed planning method during NURBS curve interpolation of an industrial robot. The method comprises that (1) a characteristic equation, based on a parameter u and a feed velocity v, of an NURBS curve is established; (2) a velocity constraint relation, based on the geometrical constraints as centripetal acceleration and chord-height error, of the NURBS curve is established; and (3) according to the fact that the feed speed in the robot end changes monotonously, predictive speed segmentation is carried out on the NURBS curve to obtain a segment point interpolation parameter set, and a speed planning process is completed. The speed planning method is especially suitable for the NURBS curve in which multiple teaching points are known, a movement track of the robot end needs to be smooth, and the movement speed and acceleration of the robot end cannot change abruptly; the geometric characteristics of the NURBS curve are taken into consideration when speed limitation is established; the curve is segmented predictively according to the monotonicity of speed change; and impact on the robot during NURBS curve interpolation is greatly reduced.

The invention provides a measuring method for the relative pose of a non-cooperative spatial circular object. The method comprises the following steps: providing left and right cameras to shoot left and right images formed by the spatial circular object, wherein images of the spatial circular object comprise a left ellipse and a right ellipse; carrying out non-linear least square fitting to detect ellipses or approximate ellipses and using the detected ellipses or approximate ellipses as candidate ellipses; recognizing the left ellipse and the right ellipse from the candidate ellipses according to epipolar constraint relationship between the left ellipse and the right ellipse; respectively determining a left projection equation of a spatial circle and a right projection equation of the spatial circle according to an equation coefficient of the left ellipse and the equation coefficient of the right ellipse generated by fitting the left ellipse and the right ellipse so as to obtain two sets of pose solutions of the spatial circle; and converting one of the two sets of pose solutions of the spatial circle to the spatial coordinate system of the other set according to the positional and attitude relationship between the left and right cameras and determining the optimal pose solutions of the spatial circular object according to the principle that an included angle is the smallest. The measuring method provided by the invention can overcome the problem of ambiguity in the process of pose resolution.

The invention discloses a stereo video matching method based on affine transformation. The method is used for carrying out stereo matching on stereo videos shot by a binocular camera, and comprises the following steps: 1) extracting the characteristic points of the current frame image and a previous frame image, carrying out row matching, and solving the affine transformation matrix from the current frame image to the previous frame image; 2) projecting the pixel point of the current frame image to the previous frame according to the affine transformation matrix; 3) computing the pixel difference between the matched points of the two adjacent frames so as to detect a static zone in the current frame image; 4) computing the initial matching cost of the current frame image; 5) updating the matching cost of the static zone in the current frame image; and 6) computing a parallax image of the current frame image. In the stereo video matching method provided by the invention, the affine constraint relation between video frames is utilized, so that the parallax of the current frame is restrained by the parallax of the previous frame, thus the influence of noise and the like on the parallax accuracy is effectively weakened; the parallax stability in the video is improved; and the stability of a parallax image sequence on a time domain is ensured.

The invention discloses a method for the reasoning assembly tolerance standard and tolerance zone type of a complex assembly body. The method comprises the following steps: (1) constructing a three-dimensional assembling model of a product; (2) splitting the assembling model; (3) establishing an assembly relation matrix between the components; (4) extracting assembly characteristic faces, and establishing a constraint relation matrix between the assembly characteristic faces; (5) reasoning the assembly constraint type; (6) reasoning the assembly tolerance types; (7) reasoning datum reference frames of the assembly characteristic faces; and (8) reasoning the set function of the tolerance zone, and determining the type of the tolerance zone. In the invention, a polychromatic set reasoning relation matrix is adopted to describe the whole reasoning process and is easily programmed, therefore, the method can be rapidly realized in a computer. The invention is established on the basis of the relation and constrain between the concrete assembly characteristic faces, can realize the practical design of the assembly tolerance, satisfies the requirements of Top-down design technique, conforms to the logical thinking habits of the designers, and has very strong applicability.

The invention discloses an assembly time evaluating method based on an artificial neural network and a virtual assembly. The method comprises the step of establishing a virtual working platform, planning a DELMIA assembly sequence and a DELMIA path and generating an assembly path, the step of generating the assembly sequence through a constraint matrix method and establishing the constraint relation among components, the step of preassembling the product components through a DELMIA assembly module, establishing a priority dismounting matrix, extracting the assembly sequence meeting the condition from the priority dismounting matrix and planning the assembly sequence through the strong data collecting capacity of the matrix, the step of establishing a virtual assembly work environment and the virtual assembly action process, the step of measuring the assembly path and calculating the assembly time, the step of establishing an assembly time evaluating model, the step of establishing the model and standardizing a sample, and the step of evaluating the sample. The assembly time evaluating method solves the problems that the product assembly period is long, cost is high, and the effect is poor.

The invention provides an optimization algorithm based on multi-objective resource-constrained project scheduling model. The scheduling model requires scheduling the start time of each activity to achieve the optimal goal under the condition of satisfying the relevant constraints. Based on the RCPSP model, the invention introduces the optimal resource balance as the objective, and expands the model to a multi-objective model. The solution of RCPSP is mainly based on the heuristic algorithm. When the task list is used to encode chromosomes in the heuristic algorithm, the task list initialized randomly may not satisfy the constraint relation between the top and bottom. The invention provides an individual generation mode based on control relation, which presents a new crossover operator andmutation operator based on the NSGA-II algorithm. The invention can greatly reduce the time complexity of the algorithm, realize the balanced allocation of resources, improve the production efficiencyand save the production cost while ensuring the solution precision of the algorithm, thereby improving the economic benefit of the resource scheduling production process.

The invention discloses an UWB (Ultra Wideband) and inertial navigation integrated indoor navigation system, and belongs to the technical field of indoor navigation. The UWB (Ultra Wideband) and inertial navigation integrated indoor navigation system aims to solve the problems that global localization failure exists, and a robot is kidnapped due to the fact that an existing indoor navigation system operates on the basis of an unknown environment. According to the UWB (Ultra Wideband) and inertial navigation integrated indoor navigation system, four UWB (Ultra Wideband) labels, an inertial navigation system and a laser radar are arranged on a mobile robot, and four UWB (Ultra Wideband) base stations are arranged in the operating environment of the mobile robot; the pose of the mobile robotis acquired through the geometric constraint relation among the UWB (Ultra Wideband) base stations, the UWB (Ultra Wideband) labels and the mobile robot; the acquired pose of the mobile robot and thepose acquired by inertial navigation system are integrated by utilizing an extended Kalman filter so as to acquire the global pose of the mobile robot; and then the global pose replaces the pose acquired by utilizing a speedometer in the navigation system, and the the global pose and the laser radar data are integrated for localization. The UWB (Ultra Wideband) and inertial navigation integrated indoor navigation system is used for indoor navigation.

The invention provides a real-time three-dimensional measurement method based on color sine structured light coding in the three-dimensional sending technology. In the method, a single color sine structured light coding pattern is projected to the surface of an object through a projector; two camera shooting devices are utilized to record distorted color structured light images respectively, all the color structured light images are subjected to color separation, and then single-color structured light images corresponding to an R channel, a G channel and a B channel are obtained; the phase positions of the two camera shooting devices are calculated according to the single-color structured light images; phase matching is conducted according to the epipolar constraint relation between the two camera shooting devices, and then instantaneous three-dimensional coordinates of the surface of the object are obtained. Through the real-time three-dimensional measurement method based on color sine structured light coding, real-time three-dimensional measurement can be achieved; the method has the advantages of being good in robustness to unbalance of color brightness, coupling of color channels, nonlinearity of the projector and other interference factors, high in measurement accuracy and the like.

The invention discloses a serial bone plate design method based on an average thighbone model. The design method includes the steps of 1 building the average thighbone model, wherein parameters are defined, a constraint relation of the parameters is set up, and a multivariate statistics mathematic model is set up; 2 parameterizing characteristics of a bone plate, wherein the characteristics of the bone plate are generated, the characteristic parameters of the bone plate are defined in a layered mode, and the characteristics of the bone plate are compiled progressively; 3 designing the bone plate serially, wherein a mapping relation between the characteristic parameters of the bone plate and curved surface morphological parameters of the average thighbone model is set up, and serial bone plate design is achieved by modifying the parameters. A scientific basis is provided for reasonable and serial bone plate design in the field of computer-assisted orthopedic operations, and the serial bone plate design method is of great significance in improving the bone plate design quality and shortening design time.

The invention discloses a design method of a self-adaptive wing profile. Firstly, parameterized description of a selected initial wing profile is obtained with a CST parameterization method, an optimal design variable of local deformation is determined, populations are initialized with a selected optimization algorithm, domination sequencing is performed on the populations under the conditions that the lift-to-drag ratio reaching the maximum when the lift coefficient CL is equal to 0.9 and the maximum bending stress reaching the minimum after change of leading edge camber are taken as optimization objects and non-plastic deformation is taken as a constraint, and finally, an optimized wing profile meeting the terminal conditions is selected. With pneumatic characteristics expected by the wing profile as the design objects, a constraint relation between the self-adaptive wing profile and an original wing profile is established, a reasonable target wing profile can be provided for design of a deformation driving technology, the engineering implementability is improved, and the design optimization efficiency is further improved.

The invention discloses an image meaning parsing method based on soft glance learning and aims to realize segmentation of images into a series of complete areas having individual meanings and meaning marking on each area on a basis of a lot of given user marking images. The image meaning parsing method comprises steps that: dual joint spectrum clustering and discrimination clustering methods are utilized to cluster image sub-areas acquired through an over-segmentation method, moreover, a corresponding constraint relation between image grade marking and image area grade marking is utilized to establish a soft glance learning model aiming to have a minimum error, and meaning labels are distributed to clustering sets in each image sub-area. Multiple classifiers acquired through discrimination clustering learning can realize meaning parsing for images without label information. The image meaning parsing method can not only add meaning labels to the images, but also the labels can be added to corresponding areas of the images to realize finer image meaning understanding.

The invention discloses an operability optimization motion programming method for a redundancy mechanical arm. The operability optimization motion programming method comprises the steps of setting anoptimized motion performance index for maximizing the operability derivative of the redundancy mechanical arm and a constraint relation corresponding to the motion performance index; converting the motion performance index and the corresponding constraint relation into a quadratic programming problem; solving the quadratic programming problem through a quadratic programming solver, so that a solving result is obtained; and controlling the mechanical arm to move according to the solving result. By means of the method, various physical constraints of the redundancy mechanical arm can be effectively avoided, and the application space for conducting operability optimization motion programming on the redundancy mechanical arm is effectively expanded.

The present invention discloses a method for automatically generating a testing case on the basis of a function block diagram testing module, which comprises the steps of: extracting an input, an output, a logic relation and a constraint relation in a requirement specification of embedded software and according to the input, the output, the logic relation and the constraint relation in the requirement specification of the software, establishing the function block diagram testing module based on a similar function block diagram language; establishing a conversion rule for converting the function block diagram testing module into a data combination table; extracting basic data from the function block diagram testing module and then on the basis of the basic data, carrying out data derivation according to the conversion rule so as to convert the function block diagram testing module into the data combination table; and according to the data combination table, generating the testing case. The method has the advantages of high testing efficiency, high testing case quality, excellent sensitivity for a timing relationship, excellent sensitivity for the boundary, excellent sensitivity for operative logic and capacity for identifying a transfer relationship between a state and a state of the software.

The invention discloses a method for sharing a GPU (graphics processing unit) by multiple tasks based on a CUDA (compute unified device architecture). The method includes creating a mapping table in a Global Memory, determining each task number and task block numbers which are executed by a corresponding Block in a corresponding combined Kernel; starting N blocks by one Kernel every time; and meeting constraint relations among the original tasks by a marking and blockage waiting method; and performing sharing by the multiple tasks for a Shared Memory in a pre-application and static distribution mode. The N is equal to the sum of the task block numbers of all the tasks. By the aid of the method, sharing by the multiple tasks can be realized on the existing hardware architecture of the GPU simply and conveniently, programming work in actual application can be simplified, and a good performance is obtained under certain conditions.

The invention discloses a virtual machine placing method and a virtual machine placing device. The virtual machine placing method comprises the following steps: according to established energy consumption models of physical servers, respectively acquiring the total energy consumption of the physical servers in a resource set within a preset time; establishing space constraint relations and time constraint relations of a virtual machine required to be placed to the physical servers, and acquiring total energy consumption objective functions; through a two-dimensional particle algorithm, according to the total energy consumption objective functions of the physical servers in the resource set, within each resource allocation, acquiring an objective physical server capable of optimally placing the virtual machine and meeting the established space constraint relations and the established time constraint relations, and energy consumption information thereof. Through the virtual machine placing method and the virtual machine placing device, while considering space attributes of the resources, time attributes of the virtual machine and the physical servers are comprehensively considered, and the overall energy consumption generated in each placement strategy is calculated, thereby achieving an aim of optimizing the energy consumption of the resource set, better avoiding the resource waste of the physical servers on the premise of meeting the space constraints of the physical servers, and thereby effectively reducing the energy consumption of a cloud data center.

The invention relates to a three-dimensional reconstruction method of single-frame encoded structured light based on multiple constraints, comprising the following steps: S1 projects single-frame encoded structured light onto a surface of a measured object through a projector, and restricts the single-frame encoded structured light projected by the projector to a horizontal core line; S2, photographing a coded image of a single frame coded structured light deformed by modulating the surface of the measured object by a camera; 3, decoding that encoded image by adopting three constraint relations of column direction constraint, horizontal kernel line constraint and encoding sequence, and obtaining the positions of each encode point in the encoded image; S4, calculating three-dimensional point cloud data of the surface of the measured object according to the pre-calibrated system parameters and combining the positions of each coding point in the coding image. The invention can improve theprecision and the resolution of the three-dimensional reconstruction and reduce the error rate.

The invention discloses a method for estimating two-dimensional human gestures and a device for estimating the two-dimensional human gestures. The method comprises: firstly, detecting human areas in a two-dimensional image, determining hunting zones of each body part in the two-dimensional image, and then respectively searching optimal locations of each body part in the hunting zones of each body part according to the similarity degree between each location and body part templates in the hunting zones of each body part and the constraint relation between prearranged neighboring body parts. Compared with the prior art, the invention does not need to use a large amount of parameters which are obtained through training in advance and does not need to search the location of each body part in the whole two-dimensional image, and thereby the efficiency of estimating the two-dimensional human gestures is improved.

The invention provides a visual inspection method for step defects of bearing rivets. The method comprises the following steps: step 1, bearing rivet image acquisition; step 2, bearing rivet image preprocessing; step 3, inner step defect detection; step 4, outer step defect detection; step 5, result analysis for judging qualification of rivets, wherein unqualified phenomena comprise inner step defects, outer step defects, inner and outer step defects or other types of defects. The method has the following advantages: 1) rivet regions are positioned reasonably and the defects are detected with an adaptive detection method, and the algorithm robustness is good; 2) in the aspect of detection of rivet inner step defects, an region labeling method is good in stability; 3) for inner steps, the inner step judging accuracy is enhanced with a secondary region labeling algorithm; 4) during outer step detection, outer ring parameters are detected firstly through Hough Transform, then whether outer step regions are effective or not is judged according to a geometric constraint relation between outer rings and rivet regions, judgment is effective, and misjudgment is avoided.

The present invention discloses a field robot binocular vision navigation method and system. A baseline is defined at the middle of an image; a density curve is obtained on the baseline by using sector scanning; an angle constraint relation between a sector scanning density model and ridge lines is designed, and the angle constraint relation is used to search other ridge lines; logistic regression is adopted to identify nearest ridge lines, so that a ridge line spacing parameter can be obtained; the elevation map of crop ridges is obtained, and a height limit is added into the elevation map; the enhanced elevation map and a binary image are fused, so that a crop ridge confidence density map can be generated; and a ridge line extraction algorithm is applied to the crop ridge confidence density map so as to extract a navigation parameter. According to the field robot binocular vision navigation method and system of the invention, the enhanced elevation map is adopted to make up the defect of feature point sparseness; the weight of height information is increased; interference information which does not accord with specified height is filtered out; the concept of the confidence density map is adopted; the information of the enhanced elevation map and the binary image are fused; the sector scanning detection is adopted to detect the reference ridge line; a double-peak method is adopted to detect the adjacent ridge lines; logistic theories are used in combination; and therefore, the accuracy of ridge line detection can be improved.

The invention provides a task processing method and device. The method comprises the following steps: step102, the input tasks are received; step 104, whether the tasks have synchronous attributes is judged, if so, the step 106 is performed; if not, the step 110 is performed; step 106, according to the synchronous attributes of the tasks, the exclusion tasks corresponding to the tasks are searched in the currently executed task; step 108, if the exclusion tasks corresponding to the tasks exist in the currently executed task, the tasks are not executed until the exclusion tasks do not exist inthe currently executed task; and step 110, the tasks are executed. The invention also provides a task processing device. According to the technical scheme of the invention, synchronous queuing is performed on the tasks in constraint relations, thus avoiding the competition between the tasks; then the execution hysteresis of the tasks in the queue is adjusted by means of the priority; and the waitqueue and the set task number are utilized to execute the maximum number of tasks, thus the load capacity can be controlled and the good system scalability can be obtained.

The invention discloses a method and a system for evaluating the thermal performance of a cooling tower. The method is based on measurement for air temperature edge values. The method includes acquiring field operating parameters and environmental parameters of the cooling tower and determining water temperature and air temperature edge values; computing a relation between water temperature change and air temperature change and creating an air temperature edge value constraint expression; creating an evaluation model for the thermal performance of the cooling tower according to an air temperature edge value constraint relation; creating a fourth Runge-Kutta formula group according to the created evaluation model for the thermal performance of the cooling tower and computing the thermal performance of the cooling tower. The system comprises a monitoring device. The monitoring device comprises an operating parameter and environmental parameter acquisition module, a man-machine interaction module, a Flash memory module, a real-time clock module and an embedded central processing module. The method and the system have the advantages that the method and the system are favorable for evaluating the thermal performance of the cooling tower in an online manner in real time, the evaluation model is simplified on the basis of measurement for the air temperature edge values, and the computation time is greatly shortened on the premise that the evaluation precision is guaranteed as compared with an existing method for evaluating the thermal performance of a cooling tower; the method and the system are high in instantaneity and adaptability and can be widely applied to evaluating the field thermal performance of mechanical countercurrent cooling towers in real time.

The invention discloses a method for identifying risk in an object, comprising the following steps: generating a self-network of an object to be identified according to object behavior data, and acquiring the actual values of the topology parameters of the self-network; calculating the expected value of the topology parameter as a dependent variable by taking the actual value of the topology parameter as an independent variable as input according to the pre-generated constraint relation between the topology parameters; and judging whether the difference between the calculated expected value of the topology parameter and the acquired corresponding actual value is greater than a preset threshold, and determining that there is risk in the object to be identified if the difference is greater than the preset threshold. The invention further provides a device for identifying risk in an object. According to the method provided by the invention, risk identification is carried out according to the degree to which the topology parameters of the self-network of the object to be identified violate the global constraints from the perspective of the self-network of the object to be identified. A new judgment standard is provided for risk identification, and the risk control process is better.

The invention provides a portable human joint parameter estimation method based on an IMU (inertial measurement unit) and relates to a human joint parameter estimation method in order to solve the problems of low precision, high price, inconvenient operation, high time consumption and the like in the prior art. The method comprises steps as follows: step one, a human arm is equivalent to be hinged by three rigid bodies including an upper arm, a front arm and a palm through an elbow joint and a wrist joint, and a coordinate system is defined; step two, a position vector of o1 in Fa is analyzed according to kinesiology, and a second-order differential form, shown in the specification, of P<o1><e> is obtained; step three, a position vector of o1 in Fb is analyzed according to kinesiology, and a second-order differential form, shown in the specification, of P<o1><e> is obtained; step four, a kinematic constraint relation, caused by ball joints, of P<o1> and P<o1> is obtained; step five, an equation set is solved with the least square method, and P<o1> and P<o1> are obtained; step six, the step two to the step five are executed again, and values of P<o2> and P<o2><c> are obtained; step seven, the length of the forearm is calculated. The method is applied to the field of limb measurement.

The invention relates to a method for kinematic calibration of a six-degree-of-freedom robot based on monocular vision. The method comprises the steps that an MDH model of the six-degree-of-freedom robot is built, and instruction displacement of the tail end of the six-degree-of-freedom robot and the coordinate transformation relation (please see the formula in specifications) between a monocular vision sensor installed on the six-degree-of-freedom robot and the tail end of the six-degree-of-freedom robot are obtained according to an initial calibration variable U; according to the initial calibration variable U of the six-degree-of-freedom robot, grading ranging and optimizing are conducted on multiple sets of displacement delta' of the monocular vision sensor installed on the six-degree-of-freedom robot through an absolute value coding checkerboard; actual displacement delta of the tail end of the six-degree-of-freedom robot is obtained, and multiple sets of observed variables Vk are obtained; and the constraint relation is used, the multiple sets of observed variables Vk are combined to optimize the calibration variable U, whether the calibration variable U reaches positioning precision or not is judged, if yes, the kinematic calibration of the six-degree-of-freedom robot is completed, and otherwise, returning is conducted. Compared with the prior art, the method for the kinematic calibration of the six-degree-of-freedom robot based on the monocular vision has the advantages that ranging precision is high, practicability is high, and the cost is saved.