43 results about "Homogeneous transformation" patented technology

A fully automated package identification and measuring system, in which an omni-directional laser scanning system are used to read bar codes on packages entering the tunnel, while a package dimensioning subsystem is used to capture information about the package prior to entry into the tunnel. Mathematical models are created on a real-time basis for the geometry of the package and the position of the laser scanning beam used to read the bar code symbol thereon. The mathematical models are analyzed to determine if collected and queued package identification data is spatially and/or temporally correlated with package measurement data using vector-based ray-tracing methods, homogeneous transformations, and object-oriented decision logic so as to enable simultaneous tracking of multiple packages being transported through the scanning tunnel.

A fully automated package identification and measuring system, in which an omni-directional holographic scanning tunnel is used to read bar codes on packages entering the tunnel, while a package dimensioning subsystem is used to capture information about the package prior to entry into the tunnel. Mathematical models are created on a real-time basis for the geometry of the package and the position of the laser scanning beam used to read the bar code symbol thereon. The mathematical models are analyzed to determine if collected and queued package identification data is spatially and/or temporally correlated with package measurement data using vector-based ray-tracing methods, homogeneous transformations, and object-oriented decision logic so as to enable simultaneous tracking of multiple packages being transported through the scanning tunnel.

A fully automated package identification and measuring system, in which an omni-directional holographic scanning tunnel is used to read bar codes on packages entering the tunnel, while a package dimensioning subsystem is used to capture information about the package prior to entry into the tunnel. Mathematical models are created on a real-time basis for the geometry of the package and the position of the laser scanning beam used to read the bar code symbol thereon. The mathematical models are analyzed to determine if collected and queued package identification data is spatially and/or temporally correlated with package measurement data using vector-based ray-tracing methods, homogeneous transformations, and object-oriented decision logic so as to enable simultaneous tracking of multiple packages being transported through the scanning tunnel.

A fully automated package identification and measuring system, in which an omni-directional holographic scanning tunnel is used to read bar codes on packages entering the tunnel, while a package dimensioning subsystem is used to capture information about the package prior to entry into the tunnel. Mathematical models are created on a real-time basis for the geometry of the package and the position of the laser scanning beam used to read the bar code symbol thereon. The mathematical models are analyzed to determine if collected and queued package identification data is spatially and/or temporally correlated with package measurement data using vector-based ray-tracing methods, homogeneous transformations, and object-oriented decision logic so as to enable simultaneous tracking of multiple packages being transported through the scanning tunnel.

The invention discloses an industrial robot calibration method based on distance error models. The method comprises: establishing a robot MDH (modified Denavit-Hartenberg) kinematic model; subjecting the errors of a matrix to homogeneous transformation; establishing a robot distance error calibration model; measuring the end actual pose of a robot; calibrating geometrical parameter errors of every connecting rod of the robot; and performing experimental verification. The industrial robot calibration method based on the distance error models has the advantages of being simple, practical, high-efficiency and rapid, is applicable to any series articulated robots, has a strong commonality, and can improve the positioning accuracy and the distance accuracy of an industrial robot simultaneously.

A fully automated package identification and measuring system, in whic an omni-directional holographic scanning tunnel is used to read bar codes on packages entering the tunnel, while a package dimensioning subsystem is used to capture information about the package prior to entry into the tunnel. Mathamatical models are created on a real-time basis for the geometry of the package and the position of the laser scanning beam used to read the bar code symbol thereon. The mathamatical models are analyzed to determine if collected and queued package identification data is spatially and/or temporally correlated with package measurement data using vector-based ray-tracing methods, homogeneous transformations, and object-oriented decision logic so as to enable simultaneous tracking of multiple packages being transported through the scanning tunnel.

The invention relates to an off-line programming method for grinding and polishing industrial robots based on the three-dimensional graphics of workpieces. Through the workpiece calibration module, the homogeneous transformation matrix W of the spatial position and orientation of the workpiece coordinate system OW in the robot base coordinate system OBase is obtained through calibration; through the three-dimensional workpiece The graphics processing module discretizes the grinding and polishing path into several spatial points, outputs the three-dimensional coordinate information of each spatial point, and calculates several spatial pose homogeneous transformation matrices defined in the workpiece coordinate system OW on the grinding and polishing path of the workpiece surface R; through the tool calibration module, establish the tool end coordinate system OT at the contact position between the robot tool end and the workpiece, and calibrate to obtain the space pose homogeneous transformation matrix T of the tool end coordinate system OT in the robot base coordinate system OBase, to realize The robot is programmed offline. The invention has the beneficial effect of simplifying the off-line programming process of the grinding and polishing industrial robot without relying on off-line programming software of the robot.

A fully automated package identification and measuring system, in which an omni-directional holographic scanning tunnel is used to read bar codes on packages entering the tunnel, while a package dimensioning subsystem is used to capture information about the package prior to entry into the tunnel. Mathematical models are created on a real-time basis for the geometry of the package and the position of the laser scanning beam used to read the bar code symbol thereon. The mathematical models are analyzed to determine if collected and queued package identification data is spatially and/or temporally correlated with package measurement data using vector-based ray-tracing methods, homogeneous transformations, and object-oriented decision logic so as to enable simultaneous tracking of multiple packages being transported through the scanning tunnel.

The invention provides a transformation calibration method and system for a mechanical arm coordinate system. The transformation calibration method comprises the steps that S1, based on a tracking measurement device arranged in the working range of a target mechanical arm, the coordinate rotation transformation relation of a tail end tool coordinate system relative to a measurement reference coordinate system is obtained through a tail end coordinate system translational movement method; S2, the coordinate homogeneous transformation relation of the tail end tool coordinate system relative to amechanical arm base coordinate system is obtained through a single-axial rotation method based on the tail end tool coordinate system and kinematic transformation relative to the mechanical arm basecoordinate system; and S3, based on coordinates of selected calibration sampling points, the coordinate homogeneous transformation relation of the mechanical arm base coordinate system and the measurement reference coordinate system is obtained through a multipoint gravity center solution method, a gravity center processing method and a Roderick matrix transformation solution method. The calibration procedure is simple, the calibration algorithm is free of the iterative process, the consumed time of coordinate calibration can be effectively reduced, and the calibration precision of the coordinate systems is improved.

A fully automated package identification and measuring system, in which an omni-directional holographic scanning tunnel is used to read bar codes on packages entering the tunnel, while a package dimensioning subsystem is used to capture information about the package prior to entry into the tunnel. Mathematical models are created on a real-time basis for the geometry of the package and the position of the laser scanning beam used to read the bar code symbol thereon. The mathematical models are analyzed to determine if collected and queued package identification data is spatially and/or temporally correlated with package measurement data using vector-based ray-tracing methods, homogeneous transformations, and object-oriented decision logic so as to enable simultaneous tracking of multiple packages being transported through the scanning tunnel.

The invention relates to a kinematic method for improving the absolute positioning precision of an industrial robot. The kinematic method comprises the steps that S1, an error model of a geometric parameter g of a robot is established, a pose error deltaX of the tail end of the robot is collected, and an identification method is adopted to identify a DH geometric parameter error deltag of the robot; S2, a nominal inverse kinematics algorithm module f-1, a positive kinematics algorithm XE module with the geometric parameter error deltag and a computation robot geometry Jacobian matrix J algorithm module are designed in a robot controller; and S3, the robot controller implements a compensation kinematics algorithm by means of a method combining nominal inverse kinematics, positive kinematicswith homogeneous transformation of the error parameter and a joint space deviation inversely obtained by geometric Jacobian. According to the kinematic method, the robot pose error caused by the geometric error parameter is mapped to the joint space deviation through the Jacobian so as to be combined with the nominal inverse kinematics to realize the kinematic algorithm which improves the absolute positioning accuracy.

The invention discloses a heterogeneous image change detection method and device based on convolutional neural network fusion. The heterogeneous image change detection method comprises the following steps: extracting the convolutional neural network construction and homogeneous transformation features of a heterogeneous image; according to the homogeneous transformation feature loss function, fusing content features and style form features between the heterogeneous images so as to carry out homogeneous space transformation on the heterogeneous images, and obtaining a homogeneous space transformation result; and performing change detection according to a homogeneous space transformation result to obtain a final heterogeneous image change detection result. According to the heterogeneous image change detection method, the change area of the heterogeneous images can still be accurately detected under the complex terrain condition, and then the homogeneous transformation characteristics between the heterogeneous images are comprehensively and deeply extracted.

The invention discloses a failed satellite self-adaption envelope capturing method based on a hyper-redundant mechanical arm. The hyper-redundant mechanical arm is arranged on a service satellite; thecapturing method comprises the following steps: (1) envelope conditions of the hyper-redundant mechanical arm for capturing failed satellites are derived, that is, envelope trajectories capable of constraining motions of the failed satellites are searched; (2) a kinetics model of the hyper-redundant mechanical arm is built to obtain homogeneous transformation matrixes of the positions and the gestures of hyper-redundant mechanical arm connecting rods; and (3) an envelope motion planning algorithm of the hyper-redundant mechanical arm is designed; and a quick search random tree algorithm is adopted to search hyper-redundant mechanical arm configurations meeting envelope conditions to realize matching with the envelope trajectories. The method is based of self high redundancy and flexibility; and the hyper-redundant mechanical arm uses self body to wrap the failed satellites, so that the capturing of the failed satellites is realized under the condition of not needing precise target information.

The invention provides a rapid reconstruction method for a drain wire electrified lap joint operation site. According to the rapid reconstruction method for the drain wire electrified lap joint operation site, firstly, a parameter database of the drain wire electrified lap joint operation site is established; with an original point coordinate system of cross arms, a tower, wire clamps, drop-out type fuses, guy insulators, a lightning arrester and a hoop as reference, standard three-dimensional model data of all the elements are established; a drain wire electrified lap joint standard operationsite is set up; a visual measuring coordinate system of the cross arms and the wire clamps in the drain wire electrified lap joint operation scene is established, and a homogeneous transformation moment of the original point coordinate system relative to the visual measuring coordinate system is obtained; a binocular camera attached to the tail end of a mechanical arm is utilized to reconstruct 3D models of drain wires of the drop-out type fuses and power transmission lines, the actual positions and postures of each cross arm and each wire clamp in the drain wire electrified lap joint operation site are measured, the established drain wire electrified lap joint standard operation scene model is corrected and completed, and then a reconstructed scene coinciding to the actual site is obtained. The drain wire electrified lap joint operation scene constructed by the adoption of the reconstruction method coincides with the actual site, and a robot can conveniently perform relevant operations.

The invention belongs to the field of robots, and provides an inverse kinematics analysis method, device and equipment for a mechanical arm. The method comprises the steps that the translation position of an N-1th joint is determined according to the tail end position of a mechanical arm and the N-th joint, with the rotational freedom degree, in the mechanical arm; rotation angles from the first joint to the N-3th joint are determined according to the translation position of the N-1th joint and a homogeneous equation of the N-1th joint relative to the world coordinate system; according to thepointing direction of the tail end of the mechanical arm and the rotation angles from the first joint to the N-3th joint, the rotation angles of the N-2th joint and the N-3th joint are determined in combination with a homogeneous transformation equation from the N-3th joint to the N-th joint; and the rotation angle of the N-th joint is determined according to the tail end posture of the mechanicalarm. Therefore, inverse kinematics analysis of the mechanical arm can be rapidly carried out by adopting a low-dimensional equation set, the analysis efficiency is improved, and a plurality of solutions meeting requirements can be obtained at the same time.

The invention relates to a point laser ray calibration method and system used for robot assembling. The method comprises the steps that point laser ray scanning is performed on spherical displacers within the scanning scope along the preset moving trajectory, the multiple spherical point coordinates of the spherical displacers are obtained, and all the spherical point coordinates are converted into all homogeneous transformation matrixes from a robot tail end flange plate coordinate system to a robot base coordinate system; the radiuses of the spherical displacers and the homogeneous transformation matrixes are used for establishing calibration equation sets, and the multiple calibration equation sets are obtained correspondingly; and the multiple calibration equation sets are solved, andcalibration parameters of point laser rays are obtained. According to the point laser ray calibration method and system used for robot assembling, the accuracy degree of the calibration parameters isincreased, the calibration cost is lowered, and the method and system have the advantages of simple algorithm, high efficiency, high calibration precision and the like.

The invention discloses a method for acquiring joint variables by inversely solving a kinematical equation of an annular track hole making system. According to the method, due to the fact that an annular track is complex in structure and has a plurality of numerical control movement axes and the characters of rectilinear motion and axis-around swing, a mechanical model of the annular track hole making system is established, the transformation matrixes of all connecting rods are determined based on the mechanical model, the kinematical equation is obtained according to the transformation matrixes and the homogeneous transformation multiplication rule, the algebraic method is adopted to solve the kinematical equation, and the joint variables are obtained. The corresponding joint parameters can be inversely solved according to the given target poses, motion control of the annular track hole making system is achieved, an inverse solution algorithm is provided for automatic control system software programming of the annular track hole making system, the method is the basis of the automatic system control theory, and the hole making efficiency and precision of the whole system are greatly improved.

The invention relates to an inverse kinematics general solving method and device for a multi-degree-of-freedom mechanical arm. An exponential product method is used for establishing homogeneous transformation matrixes of the tail end of the mechanical arm in the current state and the target state; defining each current degree-of-freedom angle of the mechanical arm; by using a Newton-Raphson method, performing iteration on each degree-of-freedom angle of the mechanical arm by comparing the motion spinor of the tail end of the mechanical arm, so as to solve a kinematics inverse solution of the mechanical arm; according to the method, the spatial configuration is simple, the tail end control precision is high, establishment of a dynamic model is facilitated, and inverse kinematics general solving of the multi-degree-of-freedom mechanical arm is achieved.

The invention discloses an intersecting local feature description method, server and system based on a two-surface frame. The method comprises the following steps that: S1: obtaining the homogeneous coordinates of any point OF on an intersecting line independently on a main pipe coordinate system [M] and a branch pipe coordinate system [B] so as to solve the homogeneous transformation matrixes ofthe main pipe coordinate system [M] and the branch pipe coordinate system [B]; S2: constructing the two-surface frame in the adjacent area of any point OF on the intersecting line; and S3: solving thefeatures of the two-surface frame in the adjacent area of any point OF on the intersecting line.

The invention discloses a method for correcting errors of industrial robot offline programming on spot and belongs to the technical field of industrial robot offline programming. According to the method, offline programming simulation of an industrial robot is carried out in a computer, the specific positions of two industrial cameras are determined, a new simulation coordinate system is established, the positions of two correcting points and the coordinate values of the two correcting points are determined in the new coordinate system, and three feature points, within the shooting range of the two industrial cameras, on the industrial robot and the coordinate values of the three feature points are determined; on spot, the two industrial cameras are arranged according to the simulation position and shoot the correcting points, and the coordinates of the correcting points and a correction matrix are obtained; the three feature points, determined in simulation, on the robot are shot, and the coordinates of the three feature points relative to the industrial cameras are obtained; and homogeneous transformation in coordinate transformation is utilized, related data needed by correction is obtained, the data is transmitted to the computer, and the offline programming simulation of the industrial robot is corrected. The method is simple and easy to practice, and robot offline programming simulation is more precise and accurate.

The invention discloses a target tracking and trajectory three-dimensional reproduction method and a device based on a single camera. The method comprises the steps: (1) calibrating the camera, and building a homogeneous transformation matrix of a camera coordinate system, an imaging plane coordinate system and a three-dimensional space coordinate system; (2) acquiring a video image of a to-be-monitored area through an image acquisition card and a camera; (3) extracting feature information of a target in the wave gate; (4) performing correlation filtering operation by utilizing the extracted features and corresponding features in the target wave gate in the search box; (5) solving response values of the target at different positions in the search area; (6) determining the size and the position of a target frame, and determining the coordinate of the target centroid in the image; (7) performing coordinate transformation on the centroid coordinates of the target in the image in the step(6) according to the homogeneous transformation obtained in the step (1); (8) calculating according to the method in the step (7) to obtain the coordinate of the target in the three-dimensional space;and (9) outputting and displaying a calculation result in the step (8).

The invention discloses a method for determining the deviation position of a welding seam, a welding method and a related device. The method for determining the deviation position of the welding seam comprises the steps: determining first position coordinates of a standard workpiece in a preset coordinate system; determining second position coordinates of a to-be-welded workpiece in the preset coordinate system; calculating homogeneous transformation matrixes of the first position coordinates and the second position coordinates; and according to third position coordinates of a first welding seam of the standard workpiece and the homogeneous transformation matrixes, conducting calculation to obtain fourth position coordinates of a second welding seam of the to-be-welded workpiece. In this way, the time for determining the position coordinates of the welding seam is shortened, and the subsequent welding efficiency is improved.