10 results about "Homogeneous transformation" patented technology

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 relates to the technical field of industrial robot visual control, and discloses a welding seam visual detection and robot coordinate conversion method and system based on multi-modal feature fusion, which can realize high-precision automatic detection and positioning of a welding seam in a complex industrial environment and accurately convert a detection result into a space coordinate which can be executed by a robot. According to the scheme, during modeling, images and teaching coordinates are collected, template blocks are cut, multi-modal features are pre-calculated, relevant data are stored after the physical distance is calculated, and indexes are updated; when the welding seam is detected, teaching coordinates are called to cut the reasoning block for detection, offset cutting and a model size backspacing mechanism are supplemented, then the welding seam is determined through multi-modal fusion similarity screening, and pixel coordinates are calculated; and finally, obtaining a depth value, carrying out distortion removal on the pixel coordinates to recover the three-dimensional coordinates of the camera, and carrying out homogeneous transformation to obtain the coordinates of the robot base and outputting the coordinates. The method is suitable for complex industrial environments with multiple welding seams, multiple interferences, high light reflection and the like, and the automation level and the welding precision of the welding robot can be remarkably improved.

This invention discloses a comprehensive error decoupling compensation method for a five-axis CNC polishing machine, comprising: 1. establishing homogeneous transformation matrices for the workpiece kinematic chain and tool kinematic chain of the five-axis polishing machine under ideal and error conditions; 2. establishing a comprehensive error transformation matrix between the coordinate systems of each kinematic pair of the five-axis polishing machine based on the homogeneous transformation matrix; 3. spatially decoupling the comprehensive error transformation matrix of the five-axis polishing machine based on the small error compensation motion assumption, and establishing a comprehensive error compensation model for the five-axis polishing machine to achieve comprehensive error compensation. This invention, through kinematic analysis of a five-axis polishing machine, uses the homogeneous coordinate transformation method to establish a comprehensive error transformation matrix between the coordinate systems of each kinematic pair of the machine tool, spatially decoupling the position and direction error compensation of each motion axis of the five-axis polishing machine, and establishing a comprehensive error compensation model for the five-axis polishing machine, providing a theoretical basis for real-time comprehensive error compensation of a five-axis CNC polishing machine.

The invention provides a multi-AGV splicing cooperation method and system and a medium, and belongs to the technical field of mobile robots and intelligent logistics equipment.The method comprises the steps that by establishing a two-dimensional code of a basic ID, port orientation and dynamic topology, an assembly topology is incrementally reconstructed when NFC triggers splicing; in combination with NFC prior and vision, cross-modal pose verification and feedback correction are carried out by an IMU (Inertial Measurement Unit); kinetic parameter mapping, homogeneous transformation reconstruction and driving instruction resolving are completed based on the pose flow, and differential control is conducted on front, middle and rear units according to the instantaneous rotation center; tSN / PTP time synchronization and abnormal self-holding braking are utilized, and conflict avoidance and safety interlocking are achieved through dynamic envelope and space-time occupation arbitration.

This invention provides a method, system, device, and medium for kinematic transformation of a five-axis machine tool using digital twin technology, belonging to the interdisciplinary field of CNC technology and digital twin technology. The method includes: acquiring axis parameters from the five-axis machine tool controller; constructing a unified five-axis parameter set containing axis type, axis reference point, and direction vector; constructing a hierarchical homogeneous transformation chain in the machine tool base coordinate system based on this parameter set to achieve a forward kinematic transformation from the machine coordinate system to the workpiece coordinate system; and inversely solving the axis position vector from the tool position command in the workpiece coordinate system based on the unified parameter set and transformation chain, and mapping it back to the controller coordinates. This invention, employing the aforementioned method, system, device, and medium for kinematic transformation of a five-axis machine tool using digital twin technology, solves the problems of poor model reusability and inconsistent virtual-real mapping caused by differences in machine tool structure and the diversity of CNC systems. It achieves universal reversible kinematic transformation across platforms and machine types, improving the engineering applicability and deployment efficiency of the digital twin model.

This application discloses a method, device, equipment, medium, and product for deformation monitoring of linear engineering components, relating to the field of equipment monitoring technology. The method includes acquiring the included angle between two planes collected by a displacement data measuring device; converting the two plane angles into a central angle and a direction angle in a three-dimensional spatial coordinate system; constructing a homogeneous transformation matrix for flexible segments using the central angle and direction angle of each flexible segment and the length of the flexible segment in the three-dimensional spatial coordinate system, and constructing a homogeneous transformation matrix for rigid segments using a fixed length; sequentially performing chain multiplication on the homogeneous transformation matrices of the flexible and rigid segments in a global coordinate system, and obtaining a spatial position model of each monitoring point in the global coordinate system through segment-by-segment coordinate recursion; and monitoring the displacement deformation of the linear engineering component based on the spatial position model of each monitoring point in the global coordinate system to obtain the monitoring results. This application can provide accurate and reliable data support for the maintenance of linear engineering components.

The invention belongs to the field of pipeline design planning, and particularly relates to a pipeline layout planning method and system considering a bending curvature, and the method comprises the following steps: S1, determining an expansion path of a three-dimensional laying environment based on an undirected graph, and completing the two-dimensional equivalent processing of a wall-attached laying environment through homogeneous transformation; s2, in the two-dimensional plane, performing pipeline path planning by adopting a Dubins curve generation method with multiple passing points; s3, adopting a pipeline forward layout planning method to realize pipeline layout planning considering the bending curvature in a plane; s4, realizing backtracking of a pipeline path from a two-dimensional space to a three-dimensional space through homogeneous transformation; and S5, completing local post-processing of the three-dimensional space pipeline path by adopting a three-dimensional Dubins method. According to the method, the bending curvature constraint and the start-stop direction constraint can be considered at the same time in the planning stage, the laying performance and the length prediction precision of the path are improved, and the calculation efficiency is high.

The application provides an AR optical waveguide pose detection and multi-machine station collaborative pose compensation method and system, and belongs to the technical field of intelligent detection. The method comprises the following steps: using an AR optical waveguide standard lens sample to calibrate the test origin points of a pose detection machine station and an optical performance detection machine station, and using the pose detection machine station to obtain a reference image of the standard sample; establishing a displacement axis homogeneous transformation relationship between the pose detection machine station and the optical performance detection machine station; fixing a to-be-detected AR optical waveguide sample at the test origin point of the pose detection machine station, and sequentially detecting and compensating the normal pose and the horizontal pose to complete six-degree-of-freedom pose detection and compensation; synchronizing the six-degree-of-freedom pose compensation information obtained by the pose detection machine station to the optical performance detection machine station, calculating the displacement axis compensation amount of the optical performance detection machine station based on the homogeneous transformation relationship, and realizing collaborative calibration of the pose. The application significantly improves the debugging and detection efficiency of AR optical waveguide performance detection, and ensures the reliability of the detection result.

The invention provides a robot FKM kinematics modeling method, and aims to solve the problems of rotation and translation coupling, non-intuitive parameter significance, complex modeling and the like in the existing robot kinematics modeling process. The method comprises the following steps: establishing a joint coordinate system of the robot, and determining a transformation parameter of each joint and a homogeneous transformation matrix of an adjacent coordinate system; wherein the expression of the homogeneous transformation matrix has two forms according to different joint types, and the expression of a rotating joint is as shown in the specification, and the expression of a moving joint is as shown in the specification. A translation transformation matrix of the coordinate system relative to the coordinate system is in the formula; the rotation transformation matrix is a rotation transformation matrix rotating around the translated X axis; the forward kinematics model of the robot can be obtained by sequentially multiplying the homogeneous transformation matrixes of all the joints for the rotating joints as a rotation transformation matrix rotating around the rotated Z axis and for the moving joints as a translation matrix moving along the rotated Z axis. According to the method, basic transformation and joint variables of the coordinate system are decoupled, so that the modeling process is more visual, the parameter significance is clearer, and the method can be widely applied to the field of kinematics modeling and control of industrial robots and service robots.

The invention provides an AR optical waveguide pose detection and multi-machine cooperative pose compensation method and system, and belongs to the technical field of intelligent detection.The method comprises the steps that an AR optical waveguide standard lens sample is used for marking test original points of a pose detection machine and an optical performance detection machine, and the pose detection machine is used for obtaining a reference image of the standard sample; establishing a displacement axis homogeneous transformation relation between the pose detection machine table and the optical performance detection machine table; the AR optical waveguide sample to be detected is fixed to a test origin of a pose detection machine, and normal pose and horizontal pose detection and compensation are carried out in sequence to complete six-degree-of-freedom pose detection and compensation; and synchronizing the six-degree-of-freedom pose compensation information obtained by the pose detection machine table to the optical performance detection machine table, and calculating the displacement axis compensation amount of the optical performance detection machine table based on the homogeneous transformation relation to realize pose collaborative calibration. According to the invention, the debugging and detection efficiency of AR optical waveguide performance detection is significantly improved, and the reliability of a detection result is ensured.