4 results about "Coordinate change" patented technology

The invention discloses a gift 3D model lightweight processing method for terminal loading, and relates to the technical field of data processing, and the method comprises the steps: taking a curvature concentration region at a boundary line intersection as a topology constraint reference, generating a topology connection constraint path, and limiting a local deformation conduction range according to the topology connection constraint path; constructing a texture mapping control field, and identifying a high distortion area of texture mapping in the texture mapping control field; deducing a self-adaptive adjustment matrix of geometric topology according to the topological adjacency relation of the high-distortion area, and controlling relocation of a topological patch according to the self-adaptive adjustment matrix; generating a texture space resampling mask according to the texture coordinate change after the topological surface patch is repositioned, limiting a local mapping reconstruction area, executing texture compression processing, and outputting a gift three-dimensional model; according to the method, collaborative optimization of local geometry and texture when the gift three-dimensional model is loaded at the terminal is realized, and the lightweight precision and the visual reduction effect of the model are effectively improved.

The application discloses a kind of generation grinding program method.The method comprises the following steps: 1) calculate smoothed route;2) discrete path, and produce helix;3) generate grinding trajectory program;Wherein, step 1) includes the following steps: A) extracting point data;B) using second order Bezier curve smoothing path;Step 2) includes the following steps: a) according to input precision, point discrete path;B) using helix equation, and cooperate coordinate change generates helix trajectory;C) save trajectory point and draw image.A kind of generation grinding program method in the application provides a kind of linear path program conversion into helix program to realize grinding path generation mode, can be applicable to four joints and six joints etc.Model, so that under different robot models, user does not need to establish mathematical model, and CAM planning is not needed, simplify the operation and programming speed of end customer.

The invention provides a fixed time optimal inclusion control method and system for an under-actuated multi-unmanned ship system, and the method comprises the steps: carrying out the coordinate change of an under-actuated multi-unmanned ship system model through an auxiliary variable method, and building a multi-unmanned ship system model; constructing an error-containing system of the under-driven multi-unmanned ship system and constraint conditions of the error-containing system; in combination with a preset performance control method, an error-containing conversion mechanism is constructed, and a kinetic equation of an error-containing system is obtained; designing an optimal cost function based on a kinetic equation containing an error system; and on the basis of a reinforcement learning algorithm, an identification-execution-evaluation learning network is utilized to solve a coupling HJB equation, a fixed time optimal inclusion controller is obtained, and an optimal cost function of inclusion errors under constraint conditions is enabled to be optimal. According to the method, it is ensured that the under-driven multi-unmanned-ship system with the preset performance achieves fixed time inclusion control with the minimum cost, and the upper limit of the rest time is irrelevant to the initial state of the under-driven unmanned ship system.

This invention provides a coordinate transformation method based on server-side pre-transformation and user-side compensation transformation, comprising: the server receiving reference station coordinates in the source coordinate system and saving the original complete transformation parameters; constructing a first parameter set from the original complete transformation parameters according to the controlled rule of reference station coordinate change; performing a first-stage pre-transformation on the coordinates of all reference stations in the service area using the first parameter set to obtain intermediate broadcast coordinates, and generating real-time dynamic positioning broadcast data based on the intermediate broadcast coordinates; selecting control points, pre-transforming the control points using the first parameter set and transforming them using the original complete transformation parameters respectively, and solving for a second parameter set based on the transformation results of the control points and the transformation results; the user receiving the real-time dynamic positioning broadcast data and performing real-time dynamic positioning calculation, and performing a second-stage compensation transformation on the intermediate coordinates obtained from the real-time dynamic positioning calculation based on the second parameter set to obtain the final coordinates in the target coordinate system.