542 results about "Direction vector" patented technology

The invention relates to the technical field of laser pipe cutting machining, and discloses a laser pipe cutting machine machining optimization method for small pipes. The method comprises the following steps: acquiring three-dimensional point cloud data of a to-be-processed pipe, and extracting a pipe axis direction vector and pipe wall thickness distribution data through geometric topology analysis; a dynamic machining coordinate system is established based on the axis direction vector, and the theoretical projection position of the laser focus in the coordinate system is calculated; material absorption characteristic parameters are matched according to the pipe wall thickness distribution data, and a laser power density gradient adjusting instruction is generated; monitoring the radial run-out amount in the rotating process of the pipe in real time, and generating a laser focus track compensation parameter in combination with a theoretical projection position; and finally, the laser power density gradient adjusting instruction and the focus track compensation parameters are fused to generate a cutting path control signal, and a laser cutting head is driven to complete machining. According to the method, the problems of insufficient precision and unstable quality in the machining process of small pipes are effectively solved, and the machining adaptability is improved.

The invention relates to the technical field of target detection, in particular to a search and rescue task-oriented unmanned aerial vehicle thermal imaging visual target detection method, which comprises the following steps of: acquiring multiple frames of thermal imaging images of an unmanned aerial vehicle, extracting regional thermal difference characteristics according to a window, marking a non-background region to generate a candidate set, and fitting and reconstructing a suspected thermal target contour. And analyzing the track and the thermal change rate, screening background interference, identifying jump abnormity, positioning the gravity center, and generating a target repositioning signal. According to the method, the heat value range and variance index sequence in the image area is constructed, the thermal anomaly area is judged in combination with the temperature baseline difference, background disturbance comparison is executed in combination with the direction vector of the coordinate trajectory in the multi-frame image and the thermal change parameter, the false detection probability caused by background noise is reduced, and the detection accuracy is improved. The target jump identification is carried out according to the inter-frame heat value and area change rate in linkage with the thermal isoline closure degree, the target discrimination accuracy in a shielding scene is improved, and the robustness of thermal target extraction in a complex search and rescue environment is integrally improved.

The invention discloses a method for realizing multi-stage solid-liquid separation by using graded filter pipes, which relates to the technical field of solid-liquid separation, and comprises the following steps: under the condition that the particle size between adjacent filter pipes is at a critical boundary, collecting a continuous motion track of particles in a particle size interval in a filter transition area, extracting a direction vector change sequence and a flow velocity disturbance amplitude, and judging whether particles of which the direction reversal frequency exceeds a preset threshold and the flow velocity disturbance amplitude is lower than a stable fluctuation limit exist or not so as to determine whether a particle repeated movement state occurs or not; a drift factor and a disturbance sensitivity factor are constructed according to a particle repeated movement state and are introduced into an affiliation path identification model as input variables, and affiliation judgment operation is executed through an affiliation probability calculation network. According to the invention, the problem that the path attribution of particles with critical particle sizes in the filtering transition area is unknown is solved, and the dynamic identification and accurate guide control of the particle attribution path are realized.

The invention provides an intelligent warehouse goods posture recognition and automatic sorting method and system, and the method comprises the steps: S2, extracting the edge contour and surface features of goods from point cloud data for a preliminary value set, calculating the direction vector and shape distribution characteristics of the goods through a principal component analysis method, and obtaining a quantitative result of shape feature extraction; s6, historical sorting data and real-time sensor data are extracted from the warehousing system database according to the classification basis adapted to the complex scene, the dynamic posture change trend of the goods is predicted through a time sequence analysis method, and optimization parameters of real-time processing are obtained; and S7, the movement track and the grabbing angle of the sorting mechanical arm are adjusted through the optimization parameters subjected to real-time processing, a deep reinforcement learning algorithm is adopted to conduct iterative optimization on the sorting action sequence, and an execution scheme of sorting accuracy is determined. According to the method, the accuracy of goods posture recognition and the automatic sorting efficiency in the complex storage environment are remarkably improved.

The invention discloses a distribution network fault positioning method, system and device based on variational mode decomposition and a medium, and relates to the technical field of power system fault positioning, and the method comprises the steps: collecting a traveling wave signal of a power distribution network, and carrying out the preprocessing of the collected traveling wave signal; performing modal decomposition on the preprocessed traveling wave signal, and outputting a plurality of modal components; based on the mode component obtained through decomposition, wave head arrival time is extracted; performing correction compensation based on the wave head arrival time difference, the phase difference and the propagation characteristics, and calculating the relative distance between the fault point and the known node; calculating the position coordinates of the fault point in the distribution network according to the geographic coordinates and the direction vectors of the nodes in combination with the relative distance; and constructing a visual interface, displaying the position of a fault point, and storing the traveling wave signal data and a fault positioning result into a database. According to the method, the adaptive correction function and the time difference compensation model are constructed, so that time difference errors caused by factors such as frequency change and phase nonlinearity can be corrected, and the accuracy of fault positioning is improved.

The invention provides a multi-dimensional Hash acceleration-based grid ray intersection method, which comprises the following steps of: acquiring original model data, and carrying out standardized preprocessing on the original model data to obtain standardized scene data; self-adaptive space grid division is carried out based on the preprocessed standardized scene data, space coordinates of three-dimensional grid units are mapped to a hash table to construct a one-dimensional index of a space grid, and triangular patches of the scene data are associated with the space grid; performing direction parameter decomposition on rays to be intersected, discretizing direction vectors of the rays, and constructing a ray direction composite hash key; and executing mixed intersection calculation in a mode of combining multi-level cache query construction, direction pruning and invalid intersection filtering and space hash traversal intersection, and determining intersection point information of the ray and the geometry. According to the method, the space grids and the ray direction data are converted into the hash values to be stored, the occupied memory is small, and the ray intersection efficiency is improved.

The invention provides a multi-modal large model mental ability improving method and device based on attention intervention, and relates to the technical field of artificial intelligence. The method comprises the following steps: generating a multi-modal psychological theory data set; inputting the data to a multi-modal large language model to be evaluated, and constructing an input sequence of a Transform network; extracting an activation value of each attention head in each layer of attention network for each input sequence, and defining a belief label of the activation value from the perspective of a leading angle; taking the trained linear classifier as a probe model to obtain a predicted belief label, and constructing a sensitivity score of each attention head; and extracting an intervention target direction vector of each high-sensitivity attention head, and executing directional activation intervention on each high-sensitivity attention head to obtain a multi-modal large language model after the psychological theoretical ability is improved. According to the method, innovation is systematically carried out from three dimensions of data construction, mechanism detection in the model and reasoning intervention enhancement, and the key blank in the prior art is filled.

The invention relates to the technical field of natural language processing, in particular to an AIGC content safety monitoring system and method based on dynamic reasoning and context awareness, and the system comprises a semantic graph construction module which is used for extracting entity nouns and predicate verbs in a text according to a received AIGC interaction text flow, generating a semantic concept node set, and sending the semantic concept node set to a database; and performing directed connection and hierarchical nesting on the concepts in the semantic concept node set according to a logic direction according to a subject-predicate-object dependency relationship rule. According to the method, the curvature value of the semantic track is calculated, and the similarity between the direction vector and the center of the sensitive semantic cluster is combined for double verification, so that sudden turning of an intention in a dialogue process or progressive induction to a sensitive field can be perceived, and abnormal mutation can be recognized through a curvature pulse form; therefore, hostile attack behaviors are accurately captured in real time in dynamic interaction, and the defense capability for context dependent attacks and implicit induction behaviors is improved.

The invention discloses a bicycle center shaft press-fitting machining system based on machine vision positioning. The bicycle center shaft press-fitting machining system comprises a servo press-fitting module, a data acquisition module, a data processing module, a machine vision positioning module, a press-fitting control module, a quality detection module and a data management module. According to the system, image data and assembly quality data are acquired through data, and initial coordinates of mounting holes are extracted through median filtering, Canny edge detection and Hough circle transformation; further adopting an RANSAC algorithm to fit the cylindrical surface of the inner wall of the five-way pipe, accurately calculating a center point space coordinate and an axis direction vector, and converting the center point space coordinate and the axis direction vector to a press-fitting coordinate system through hand-eye calibration; the press-fitting process is dynamically regulated and controlled in three stages of pre-pressing, main pressing and final pressing, the press-fitting speed is dynamically regulated, and meanwhile, online judgment of the assembly quality is achieved through displacement-pressure curve analysis; according to the system, the problem of bearing abrasion caused by alignment deviation of a traditional press-fitting central axis is solved, and the press-fitting precision and the yield are improved.

The invention relates to the technical field of navigation control, in particular to an obstacle light-based unmanned aerial vehicle navigation auxiliary system, which comprises the following steps of: combining an image sequence with inertia time information, segmenting a light source area and extracting a frequency label, so that the stable identification capability on an optical signal is enhanced; the signal state and the time index can be accurately judged especially in a complex shielding environment, the robustness of obstacle light recognition in multiple angles and multiple scales is improved through direction vector extraction and a comparison mechanism of a graph neural network, an edge weight matrix is established in combination with light intensity calculation and shielding state elimination, and the robustness of obstacle light recognition in multiple angles and multiple scales is improved. The method effectively enhances the understanding of the spatial layout of the obstruction lights and the navigability of the graph model, extracts the vector group through the graph model, eliminates the shielding, and compares the path instruction selection logic of the action score, so that the path planning process has stronger dynamic adaptability and error tolerance, and enhances the navigation accuracy and flight safety in the complex airspace.

The invention discloses an eye movement tracking method and system based on multi-modal fusion, and particularly relates to the technical field of eye movement tracking, and the method comprises the steps: collecting a face image, an eye image and a head movement parameter of a user through an RGB camera, an infrared camera and an IMU which are synchronously arranged; the signals are processed in parallel, sight line direction vectors based on the face and the eyes and reliability measurement of the sight line direction vectors are extracted respectively, and the head space posture is calculated; dynamically selecting high-confidence cooperation, master-slave compensation or conflict arbitration strategies according to reliability measurement, and fusing to generate an initial sight direction; and mapping the direction to a display plane to obtain an initial fixation coordinate, performing optimization calibration in combination with visual saliency analysis of screen content, and outputting a final fixation point coordinate. The system comprises a signal acquisition and processing module, a parallel computing module, a multi-strategy fusion decision-making module and an output optimization module. According to the invention, through multi-modal information fusion and dynamic strategy selection, the precision and robustness of eye movement tracking are significantly improved.

The invention relates to the technical field of numerical control machine tool precision machining, in particular to a numerical control machine tool measurement and compensation machining program generation method and system. The method comprises the following steps: obtaining and carrying out theoretical path information analysis on a processing program file to obtain a theoretical feed vector sequence; performing three-axis acceleration analysis on the cutter to obtain a three-axis vibration intensity value; performing dynamic deviation trend sensing according to the triaxial vibration intensity value to obtain an instantaneous deviation trend vector; obtaining cutter structure parameters; performing cutting state identification according to the instantaneous deviation trend vector and the theoretical feed vector sequence to obtain cutting state parameters; determining a surface normal vector of the workpiece according to the cutting state parameters; performing reverse mapping transformation on the instantaneous deviation trend vector according to the cutter structure parameters to obtain a basic compensation direction vector; according to the invention, a closed-loop dynamic error compensation system is established, so that real-time and accurate compensation of dynamic cutting errors is realized.

The invention relates to the field of radar displacement monitoring, in particular to a building facility settlement monitoring method, device and equipment based on single radar and multiple targets. The method comprises the following steps: S1, monitoring building facilities by adopting a single micro-change monitoring radar, acquiring echo signal data and extracting displacement observation data and spatial position information of a plurality of monitoring targets; s2, determining a direction vector of each monitoring target relative to the radar according to the spatial position information; taking the direction vector and the displacement observation data as joint input, establishing a multi-source data association model capable of representing a corresponding relation between the monitoring target and the overall displacement, and performing fusion processing based on the model to obtain an overall three-dimensional displacement result of the building facility; and S3, outputting a vertical component of the overall three-dimensional displacement result as the settlement displacement of the building facility. According to the method, high-precision and automatic three-dimensional displacement monitoring of building facility settlement is realized by adopting a single micro-change monitoring radar, and the interference of transverse and longitudinal displacement on settlement measurement is effectively eliminated.

The invention discloses a non-cooperative spacecraft monocular attitude estimation method and system. The method comprises the following steps: acquiring a shot image of a non-cooperative spacecraft; inputting the shot image into a pre-constructed target attitude estimation model to obtain attitude estimation of the non-cooperative spacecraft, including a position vector and a direction vector; wherein the training process of the model specifically comprises the steps of fusing a scale weight and a space weight, and estimating a feature map subjected to weighted fusion through a position estimation head to obtain an estimated position vector; estimating the weighted local feature map through a direction estimation head to obtain an estimated direction vector; a weight adjustment amount is dynamically generated, the fusion weight is optimized and updated, and attitude estimation is carried out again; and carrying out iterative optimization on the model to obtain an optimal target attitude estimation model. According to the method, a relatively low attitude estimation error can be kept while the calculation speed and the calculation frequency are increased.

The invention discloses an anti-interference method suitable for a satellite navigation signal, and belongs to the field of satellite navigation signal anti-interference, and the method comprises the steps: collecting multi-channel satellite navigation signal data through a receiver array, processing an initial signal through a self-adaptive filtering algorithm to preliminarily reduce noise interference, and obtaining a preliminarily purified signal; extracting a spatial correlation matrix according to the preliminary purification signal, decomposing the matrix by adopting a principal component analysis algorithm to identify dominant spatial features, and determining an interference direction vector; obtaining the spectrum distribution of the direction suppression signal, further separating the spectrum overlapping part by adopting a principal component analysis algorithm, and judging the residual interference residue; through fusion of the direction suppression signal and the residual interference residue, an adaptive filtering algorithm is adopted to iteratively optimize the weight so as to enhance the navigation signal strength, and an optimized enhanced signal is obtained; and calculating a positioning parameter according to the optimized enhanced signal, judging whether the parameter stability meets a preset threshold value, and obtaining a final stable signal.

The invention discloses an extremely shallow water blue-green laser sounding dynamic refraction vision correction method, which belongs to the technical field of marine surveying and mapping and underwater detection, is used for laser refraction correction, and comprises the following steps: synchronously acquiring binocular images and inertial measurement unit attitude data, and generating a three-dimensional point cloud; according to a light spot area in the laser emission angle index point cloud, fitting a micro-tangent plane to obtain a water surface original normal vector; calculating a confidence coefficient weight according to the image texture definition, and iteratively calculating an optimal estimation normal vector based on the original normal vector and the weight; calculating a real incident angle according to the optimal estimation normal vector and the laser emitting direction; calculating the direction vector of the underwater refracted light according to the Snell's law; and calculating the underwater three-dimensional coordinates of the target point by combining the propagation distance of the laser in the air and the water and the emission origin coordinates. According to the method, the visual confidence is introduced, so that the problem of data failure when the traditional visual sounding encounters water surface reflection, glare or broken waves is solved, and the robustness under the complex sea condition is remarkably improved.

The invention relates to the technical field of path planning, in particular to a robot path planning method and system based on machine vision fusion, and the method comprises the following steps: obtaining an obstacle edge point coordinate relation, splicing a layer boundary, extracting a path direction vector, screening a steering node segment, recognizing a path adjacent to a starting point and an ending point, extracting a closed form segment, and replacing a deflection path segment. And aligning a connection sequence, arranging visual coordinates, and outputting a path planning scheme. According to the method, a continuous layer boundary is generated by splicing the barrier edge in the image, the spatial ductility of the barrier outer edge structure is enhanced, a continuous turning segment is extracted through the change of a direction vector included angle, a path direction trend is described, and a closed form is extracted by identifying a direction continuous segment of an area adjacent to a starting point and an ending point. The deflection path section is replaced in combination with the trend of the sunken edge, the matching performance of a structure change area is enhanced, the geometric continuity of the path is kept through node connection sequence and direction alignment, and the integrity of the path in the aspects of space arrangement and structure connection is improved.

The invention provides a robot arm motion control method, device and equipment, a robot and a medium, and relates to the technical field of sensors and robots. The method comprises the steps of predicting a singular value decomposition result of a Jacobian matrix through a deep learning model, and obtaining a direction vector set and a corresponding singular value sequence; dividing the direction vector into two subsets respectively corresponding to a non-approximate singular direction and an approximate singular direction based on the singular value sequence and a sensitivity threshold; decomposing the input vector of the expected speed on the two subsets to obtain a first direction component and a second direction component; and performing scaling processing on the second directional component, and calculating the speed of each joint in the joint space based on the first directional component and the scaled second directional component. According to the invention, stable and accurate motion control can be realized when the robot arm is close to the singular configuration, and the calculation complexity is reduced while the control effect is ensured, so that the resource occupation is reduced and the calculation efficiency is improved.

The invention provides a digital twinning five-axis machine tool kinematics transformation method, system and device and a medium, and belongs to the field of numerical control technology and digital twinning crossing technology. The method comprises the steps that axis parameters are collected from a five-axis machine tool controller; constructing a unified five-axis parameter set comprising axis types, axis reference points and direction vectors; a hierarchical homogeneous transformation chain is constructed in a machine tool base coordinate system based on the parameter set, and forward kinematics transformation from a mechanical coordinate system to a workpiece coordinate system is achieved; and based on the unified parameter set and the transformation chain, reversely solving an axis position vector from a tool position instruction of the workpiece coordinate system and mapping the axis position vector back to a controller coordinate. By adopting the digital twin five-axis machine tool kinematics transformation method, system and equipment and the medium, the problems of poor model reusability and inconsistent virtual-real mapping caused by machine tool structure difference and numerical control system diversity are solved, cross-platform and cross-model general reversible kinematics transformation is realized, and the method has the advantages of high practicability and high practicability. And the engineering applicability and deployment efficiency of the digital twin model are improved.

The invention provides a point cloud key point generation method based on a key point detection network and a descriptor network, and the method comprises the steps: carrying out the random sampling of the key point detection network, obtaining candidate key points, carrying out the multi-level clustering with each candidate point as a center, expanding a sensing domain, and aggregating the neighborhood information, aggregated information is sent to a double-head attention mechanism to calculate a neighborhood point weight, and more representative key points are selected; the descriptor network receives the attention feature map of the detection network, carries out fusion learning on global information and local information of each key point, and calculates a descriptor and a direction vector for each key point. Secondary screening of the key points is carried out while the descriptors are optimized by using a joint matching loss function, and the key points with strong characteristic characterization force are obtained. Compared with the prior art, the time consumption is shortened by 90%, the key point repetition rate is 70%, the matching precision is 90% or above, and good robustness is achieved under different Gaussian noises.

The invention discloses a power transmission line tower automatic identification method, system and device based on a laser radar and a storage medium, and belongs to the technical field of power system intelligent inspection and three-dimensional point cloud processing, and the method comprises the steps: collecting three-dimensional point cloud data of a region along a power transmission line, carrying out the preprocessing, obtaining a structural point cloud region, and carrying out the space division; according to the geometric height and the normal vector direction of each region, screening candidate targets meeting a preset condition; performing point cloud classification on the candidate targets to obtain point cloud regions belonging to target categories; based on the point cloud region, extracting upper and lower boundary endpoints, and constructing a structure direction vector connecting the two endpoints; and calculating a direction deviation angle through an included angle between the structure direction vector and the vertical direction, determining the attitude classification, and outputting corresponding spatial position and structure vector information. The problems that an existing power transmission line inspection technology is low in recognition accuracy in a complex environment, depends on manual judgment and cannot automatically obtain tower space attitude information are solved.

The invention relates to the technical field of unmanned aerial vehicle path planning, in particular to an unmanned aerial vehicle three-dimensional path planning method based on gradient guidance and adaptive cost. The method comprises the following steps: performing three-dimensional rasterization processing on a flight space of the unmanned aerial vehicle, and performing three-dimensional Euclidean distance transformation on each node in a free space to obtain a three-dimensional distance field; calculating the gradient of each node in the three-dimensional distance field, and generating an obstacle far-away direction vector of each node based on the gradient; constructing a three-dimensional gradient guide item; carrying out dynamic adjustment on an adaptive gradient weight factor in the three-dimensional gradient guide item; self-adaptive balance parameters are constructed, and the self-adaptive balance parameters are dynamically adjusted; constructing a three-dimensional total cost function; and node expansion is carried out by using a three-dimensional total cost function minimum principle, and a continuous flight path is generated. According to the method, intelligent adjustment of the search direction is realized by introducing the obstacle distance field and a gradient guiding mechanism, so that the safety and the calculation efficiency of path planning are improved.

The invention discloses a micro-scratch filtering method and device in wafer defect detection, equipment and a storage medium, and the method comprises the steps: extracting the frequency spectrum characteristics of a wafer image, carrying out the direction characteristic analysis based on the frequency spectrum characteristics, and carrying out the calculation to obtain the center frequency of a target region suspected to have micro-scratches; constructing a Gabor filter according to the center frequency, and reinforcing the target area by using the Gabor filter; respectively carrying out gray integration along the direction vector and the vertical direction vector of the linear defect of the strengthened target area, and calculating the strength attribute of the target area; and when the strength attribute is higher than a preset threshold value, marking the defect of the target area as a micro-scratch and filtering out the micro-scratch. According to the method, the micro scratches in the image can be accurately positioned and filtered out, and the influence of the micro scratches on the accuracy of wafer defect detection is prevented.

The invention provides a personalized intelligent hospital guide path planning method and system. The method comprises the following steps: continuously scanning a consulting room entrance area through a wide-angle image acquisition equipment array to obtain real-time personnel distribution data; calibrating the coordinates of the high-concentration area, and generating a dynamic space density map; associating the dynamic space density map with the hospital guide path to calculate congestion delay time; when the congestion delay time exceeds a threshold value, generating a path reconstruction instruction carrying an emergency degree label; based on a historical congestion record database, fitting a movement rule of a high-aggregation area by using an emergency degree label, and determining a movement direction vector; and in combination with the moving direction vector and a path reconstruction instruction, performing real-time blockage avoidance calculation on the standby path, and generating a dynamic hospital guide path bypassing the high-concentration area. According to the invention, through dynamic cooperation of real-time people flow monitoring and historical congestion rule prediction, the optimal hospital guide path bypassing the congestion area is automatically generated in the medical peak period, and the congestion rate is reduced.

The embodiment of the invention discloses a three-dimensional modeling method, device and equipment for a gradient pipeline and a storage medium, and the method comprises the steps: obtaining a starting point three-dimensional coordinate, an end point three-dimensional coordinate, a pipe fitting accessory identifier and a pipeline accessory distance value of the gradient pipeline, and generating a unit direction vector according to the starting point three-dimensional coordinate and the end point three-dimensional coordinate; pipeline accessory positioning processing is carried out based on the unit direction vector, the pipeline accessory distance value and the starting point three-dimensional coordinate, and accessory positioning coordinates are determined according to a processing result; performing pipeline accessory orientation processing according to the unit direction vector, the pipe accessory identifier and a reference direction in a preset world coordinate system, and determining an accessory orientation vector according to a processing result; and inputting the starting point three-dimensional coordinate, the terminal point three-dimensional coordinate, the accessory orientation vector, the accessory positioning coordinate and the pipe fitting accessory identifier into a preset three-dimensional model to obtain a three-dimensional model diagram of the gradient pipeline. According to the scheme, the generation efficiency of the gradient pipeline three-dimensional model diagram can be greatly improved.

The invention relates to the technical field of computer graphics, sensor simulation and real-time rendering, in particular to a panoramic laser radar simulation method and system based on a single GPU calculation shader, and the method comprises the steps: receiving simulation parameters of a laser radar sensor, assembling the simulation parameters into a constant buffer area object, and carrying out the simulation of the laser radar sensor on the constant buffer area object; the method comprises the following steps: allocating a structured point cloud buffer area and binding shader resources in a rendering dependency graph framework, scheduling and calculating a shader to generate a two-dimensional thread index, calculating a light beam direction vector corresponding to each thread and constructing a ray descriptor based on the two-dimensional thread index, and obtaining hit information; the method comprises the steps of calculating echo intensity based on hit information according to a preset intensity model, simulating noise, writing point cloud attributes into a structured point cloud buffer area, and asynchronously looking back point cloud data for consumption through the structured point cloud buffer area. And the throughput and the data consistency are improved.

The invention provides an intelligent design method and device for a highway channel culvert model, electronic equipment and a storage medium, and relates to the technical field of road-related computer-aided architectural design, and the method comprises the steps: recognizing an intersection point of a highway route model and a surface water system, and calculating a direction vector of a center line of a culvert according to a preset culvert intersection angle; the culvert center line information is fused to the terrain surface to generate a three-dimensional culvert center line, and a highway channel culvert model is generated; whether the distance between the center line of the three-dimensional culvert and the existing structure model is smaller than a preset threshold value or not is judged; if yes, the three-dimensional space position of the highway channel culvert model or the highway route model is adjusted, and the distance between the three-dimensional culvert center line and the existing structure model is recalculated in real time till the distance is not smaller than a preset threshold value. By the adoption of the method and device, the electronic equipment and the storage medium, the technical problems that in the prior art, culvert design layout conflicts are difficult to accurately detect, and modeling efficiency is low can be solved.

The invention relates to a three-dimensional model and two-dimensional picture mapping method and device, a storage medium and electronic equipment. The method comprises the steps of obtaining virtual camera shooting parameters when a two-dimensional picture is generated through a virtual camera in a three-dimensional space; obtaining a projection matrix according to the camera external parameters and the camera internal parameters of the virtual camera in the projection mode, determining a direction vector coordinate system according to the camera external parameters, and storing the shooting parameters of the virtual camera, the projection matrix and the direction vector coordinate system; for each two-dimensional pixel point of the edited two-dimensional picture, converting a corresponding two-dimensional pixel coordinate into a projection coordinate, constructing a ray equation and calculating an intersection point of the ray equation and the surface of the three-dimensional model based on the virtual camera shooting parameter and the projection coordinate to obtain a three-dimensional coordinate point; and constructing a three-dimensional picture in the three-dimensional model according to each three-dimensional coordinate point, and mapping the labeling attribute of the two-dimensional pixel point in the edited two-dimensional picture to the three-dimensional coordinate point corresponding to the two-dimensional pixel point. The efficiency of cooperative communication can be improved.

The invention belongs to the technical field of image data processing, and particularly relates to a large shaft forging blank center forging method and system based on machine vision, and the method comprises the steps: carrying out the preprocessing of a high-temperature steel ingot image; carrying out convolution on the image by adopting a logarithm-Gabor filter bank to obtain complex response and local direction energy; for each pixel point, obtaining the structural significance of the pixel point based on the sum of the energy in the real part, the imaginary part and the local direction of the complex response; obtaining the direction certainty based on the local direction energy and the direction vector; obtaining a final voting weight by combining the structure significance and the direction certainty; accumulative voting is carried out based on the weight, the geometric axis of the steel ingot is calculated, and an anvil of the forging press is aligned with the geometric axis of the steel ingot. According to the method, weighted voting is carried out by combining the authenticity and directivity of the pixel points, strong interference such as water vapor and oxide skin is effectively restrained, and stable and accurate positioning of the steel ingot axis under the complex working condition is achieved.

The invention discloses a single-frame unmanned aerial vehicle image pixel positioning method and system based on an elevation map, and relates to the technical field of unmanned aerial vehicle image processing and geographic positioning, and the method comprises the steps: obtaining a single-frame original image shot by an unmanned aerial vehicle, unmanned aerial vehicle attitude information during shooting, camera internal and external parameters, and a digital elevation map of a shooting region; according to the internal reference of the camera, converting the pixel coordinate of the target pixel in the original image into a normalized plane coordinate system of the camera, and carrying out coordinate distortion correction to obtain the back projection point coordinate of the target pixel; converting a camera-unmanned aerial vehicle body coordinate system and a body-geographic inertial reference coordinate system according to camera external parameters and unmanned aerial vehicle attitude information to obtain normalized ray direction vectors corresponding to target pixels; an earth surface height constraint is constructed based on a digital elevation map, and an intersection point of a ray and the ground is determined by performing iterative approximation on a space point along a ray direction. According to the invention, rapid and accurate conversion from the single-frame unmanned aerial vehicle image pixel to the geographic coordinate can be realized.