22 results about "Homogeneous transformation matrix" patented technology

The application discloses a kind of wind turbine single blade installation process dynamic response analysis methods considering wind load action, comprising: according to the wind turbine blade installed and construction sea area, establish blade airfoil database and turbulent wind field database;When the position of lifting point and the position of tappet vertex are described, homogeneous transformation matrix is used to describe the motion of each mechanism of ship-mounted crane;When the position of lifting point is described, the position of tappet vertex is described, and the position of blade centroid in space is described by lifting point position, sling length and generalized coordinate;Wind load at each time point in the process of blade installation is obtained;The sling tension in the process of blade installation is obtained;The dynamics model of single blade installation system is established by using Lagrange method;The method can accurately analyze the coupling motion response between crane ship, ship-mounted crane, sling and blade in the installation process, and simultaneously by selecting generalized coordinate and modeling and analyzing the system based on energy method, the system modeling efficiency is effectively improved.

A kinematics solving method of a cantilever type crushing device, comprising: establishing a link coordinate system of a three-link robot and a homogeneous transformation matrix of an end effector according to obtained DH parameters, and obtaining robot conversion equation sets according to link lengths of a boom, a stick and the end effector and motion pairs of each part; reading current driving space coordinates from displacement sensors of hydraulic cylinders; calculating current pose space coordinates by using the robot conversion equation sets, the link constraint equation sets and the current driving space coordinates; obtaining target pose space coordinates generated after the crushing device is moved to a target working position on the basis of the current pose space coordinates; and solving target driving space coordinates by using the robot conversion equation sets, the link constraint equation sets, the current and target pose space coordinates. The scheme can improve the control precision and motion rate of the cantilever type crushing device, and make the cantilever type crushing device motion more flexible.

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 application discloses a method for establishing and detecting a quick arbitrary shape bounding box of a mechanical arm and relates to the field of collision detection of the mechanical arm. The method comprises the following steps: obtaining an i-th coordinate system of an i-th rod in the mechanical arm, calculating a first homogeneous transformation matrix of two adjacent coordinate systems; calculating a second homogeneous transformation matrix between the coordinate system and a base coordinate system; calculating an origin of the i-th rod and obtaining orthogonal direction vectors of three axes in the coordinate system of the i-th rod; the i-th rod in the mechanical arm has n end points, the maximum distance in all distances of the n end points in the positive and negative directions of the orthogonal direction vectors is obtained; a first bounding box is obtained based on the maximum distance and the origin; when the mechanical arm moves, an updated second bounding box is obtained based on the second homogeneous transformation matrix and a homogeneous transformation matrix between the base coordinate system and a world coordinate system, and the application further discloses a collision detection method based on the updated bounding box, which greatly improves the calculation efficiency and meets the high-frequency real-time requirement.

The present invention makes it possible to obtain a highly accurate PET image in PET inspection without fixing a subject and while reducing a calculation cost. This image configuration device 1 acquires measurement data measured by a PET device 2 in time series, divides the measurement data into a plurality of frame data, generates an inverse-projection image from the frame data, generates a mask image in a frame by setting RoI by using segmentation from the inverse-projection image, derives the center of mass from the mask image, derives a main component vector of an inertia matrix obtained from the center of mass, configures a homogeneous transformation matrix composed of the center of mass and a rotation matrix, calculates the amount of change between the homogeneous transformation matrix in an initial frame and the homogeneous transformation matrix in an nth frame, and corrects a rotation matrix serving as a main component vector column component in accordance with continuity of motion so that the amount of change is minimized.

This invention discloses a spatiotemporal synchronous high-precision positioning method and system based on multi-sensor fusion, belonging to the field of positioning technology. The method includes the following steps: Step 1: Acquiring images from a visible light camera, a 3D point cloud coordinate image from a ToF depth camera, angular velocity and acceleration from an inertial measurement unit, and wireless signal strength from a wireless signal module; Step 2: Based on a pre-calibrated homogeneous transformation matrix, reprojecting the 3D point cloud coordinate image acquired by the ToF depth camera onto the image plane of the visible light camera to obtain spatially aligned coordinates; Step 3: Based on the signal strength indication received by the wireless signal module, calculating and correcting the distance observation value using a nonlinear ranging model to obtain the corrected distance observation value. This invention effectively solves the inherent defects of single-sensor positioning in complex environments through a complete spatiotemporal synchronization and multimodal data fusion framework.

A kind of fast hand-eye calibration method about multi-camera cooperative positioning, comprising: 1, mobile robot end three times and more, after each movement, detect calibration pattern with the same camera, record the position and pose of calibration pattern relative to camera after each movement and the position and pose of robot end relative to base;2, calculate the homogeneous transformation matrix of robot end relative to base coordinate system after each movement and the homogeneous transformation matrix of camera coordinate system relative to calibration pattern coordinate system after each movement;3, calculate the homogeneous transformation matrix of calibration pattern coordinate system relative to robot end coordinate system;4, calculate the homogeneous transformation matrix of each camera coordinate system relative to base coordinate system;5, calculate the final target point in base under the coordinates of multiple cameras, obtain the accurate position of target point, complete the position calibration of robot and multi-camera coordination.The present application has rapidity when carrying out robot hand-eye calibration task, and can significantly improve calibration efficiency.

The present application relates to the technical field of remote sensing, in particular to a forest point cloud registration method based on trunk position iteration. The present application makes full use of the natural complementarity of ULS and BLS data in obtaining vertical structure information of forest, converts the traditional discrete point set matching problem into the overlap optimization problem of continuous two-dimensional spatial distribution influence map; by introducing genetic algorithm to construct the spatial mapping relationship between non-homologous data and carry out global optimization, the interference of the horizontal offset of crown and trunk commonly existing in broad-leaved forest on the registration accuracy is fundamentally avoided. The present application can automatically obtain the global optimal solution and generate the homogeneous transformation matrix without laying artificial targets, finally realizes the high-precision rigid alignment of two sets of point clouds, has the advantages of high automation, strong noise-robustness and insensitivity to initial error, and can be widely applied in the fields of high-precision forest resource inventory, digital forestry construction and ecological environment monitoring.

This invention discloses a method for aligning the axis and spline during the flexible assembly process of a parallel platform. The method includes the following steps: S1, using a target ball to calibrate the end face of the low-voltage turbine shaft tooling and the end face of the compartment tooling to determine the reference coordinates of the end face of the low-voltage turbine shaft tooling and the end face of the compartment tooling; S2, establishing a predetermined distance between the bottom of the low-voltage turbine shaft and the top of the compartment, and using this position as the reference position; S3, using a laser tracker to measure the position of each target point at the reference position, moving the parallel platform to obtain the positions of the end face of the low-voltage turbine shaft tooling and the end face of the compartment tooling; establishing a low-voltage turbine shaft coordinate system {D} and a compartment coordinate system {C}; S4, correcting based on the actual measurement results to obtain the homogeneous transformation matrix between the low-voltage turbine shaft coordinate system {D} and the compartment coordinate system {C}, and adjusting the compartment axis according to the homogeneous transformation matrix; S5, using impedance control during the contact between the spline and the spline groove, rotating the compartment to align the spline inside the engine with the spline groove at the end of the low-voltage turbine shaft.

This invention discloses a combined measurement method consisting of a laser tracker and a binocular camera. The laser tracker measures the spatial coordinates of multiple target spheres, whose spatial distribution configurations have different lengths along all three axes. The coordinates of the measurement points are fitted into a spatial rectangular coordinate system to obtain the target sphere tool coordinate system. Coordinate axes with different directional accuracies are determined sequentially, with the X-axis representing the axis of highest accuracy. The homogeneous transformation matrix of the coordinate system is determined. A combined measurement system consisting of the laser tracker and the binocular camera is established, and error compensation is used within the combined measurement system to improve the overall system error and enhance the measurement system's accuracy. This improves the numerical stability of the coordinate system fitting, reducing uncertainty in the error aggregation stage from the source; it suppresses the leverage amplification effect of error in specific directions, controlling the growth trend of error during transmission. The two methods work together to achieve systematic suppression of error transmission throughout the entire process.

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.

A method and system for precise spatial correction of rigid digital twins in power distribution networks based on point cloud mapping is proposed. This method accurately extracts the pose parameters of physical entities using RANSAC robust segmentation and least-squares refinement. From 3D point cloud data, the six-degree-of-freedom pose parameters (Pose_physical) of rigid equipment in the physical world are calculated. Digital twin inaccuracy diagnosis is performed based on six-degree-of-freedom deviation decomposition and safety regulations. The perceived "true value" from the physical world is compared with the "theoretical value" in the digital twin world to quantify spatial deviation and perform automated decision-making. Closed-loop correction of the digital twin model is achieved based on a homogeneous transformation matrix. The diagnosed deviation information is transformed into a mathematical transformation operator, which is then used for pose update, ultimately forming a closed loop. Through an integrated and automated process, precise perception of physical entities, inaccuracy diagnosis of the twin model, and full-process model correction are realized.

The application discloses a control method and system for coking removal operation of a waste incinerator hearth, and relates to the technical field of waste incinerators. In the process of hoisting a frame into a waste incinerator, data of a laser ranging sensor and an inclination sensor are collected, height deviation data Δh measured by the laser ranging sensor and inclination sensor measured by the inclination sensor are obtained, and the height and posture of the hoisting frame inside the hearth are obtained. The height and posture of the hoisting frame are adjusted by controlling the lifting motor and the lifting mechanism arranged on the four corners of the hoisting frame. The technical advantage of the application is that a homogeneous transformation matrix of a mechanical hand space coordinate system relative to a hearth space coordinate system is established, so that the relationship between the target pose matrix of the crushing assembly in the hearth space coordinate system and the relative pose matrix of the mechanical hand end tool in the mechanical hand space coordinate system is obtained, the accurate motion amount of each motor is derived, and the coking removal efficiency and quality are ensured.

This invention relates to the field of solar power generation technology, and particularly to a control method for a dish concentrator based on an I3-RPS tracking mechanism. The control method includes: establishing a solar direction vector calculation model; establishing a multi-coordinate system to describe the motion of the dish concentrator, and deriving the homogeneous transformation matrix between the coordinate systems; obtaining the pose of the moving platform based on the solar direction vector, and establishing a mapping relationship between the length, velocity, and acceleration of the telescopic rod and the pose of the moving platform through inverse kinematics; establishing an inverse dynamics model based on the principle of virtual work; designing a hierarchical composite control strategy; at the top level, using a parallel synchronous architecture to coordinate the motion of the I3-RPS tracking mechanism; at the bottom level, designing an RBF-FSMC controller for the I3-RPS tracking mechanism, replacing the switching function with a saturation function, dynamically adjusting the saturation function gain and boundary layer thickness through fuzzy rules, and introducing a radial basis function neural network to approximate system modeling errors and external disturbances online. This control method exhibits high tracking accuracy and strong anti-interference capability.

This invention provides a method and system for monitoring the deformation of slender marine structures, belonging to the field of marine engineering structure monitoring technology based on computer data processing. The invention first acquires measured strain using sparsely arranged sensors, and then generates a continuous curvature vector field that allows for stiffness steps through cross-sectional equivalent mapping and physical piecewise interpolation. Subsequently, based on the piecewise constant curvature theory, the structure is discretized, and the local geometric features of the infinitesimal elements are extracted and analyzed using a three-dimensional special Euclidean group. SE (3) Construct a local homogeneous transformation matrix in space; finally, combine the chain rule to recursively deduce the global pose and reconstruct the three-dimensional large deformation curve. This invention avoids the cumbersome modal parameter identification, strictly decouples spatial bending deformation, eliminates the geometric nonlinearity accumulation error caused by plane integration from the bottom layer, and breaks through the high-fidelity monitoring limitation of complex and slender marine structures such as variable cross-section towers and irregular blades with extremely low sensing cost.

This invention relates to a method for real-time torso position estimation in a gun-holding posture based on gradient descent learning, belonging to the field of computer technology. The method includes: acquiring and preprocessing inertial measurement data from the firearm; fusing angular velocity and acceleration data to calculate the absolute posture of the firearm; adjusting the initial guess value for the current frame based on the continuity characteristics of human motion; setting the torso position as the variable to be optimized; calling the human skeleton and firearm model; and transforming the coordinates layer by layer through a homogeneous transformation matrix to obtain the predicted position and posture; constructing a cost function with dynamic weights; iteratively adjusting the torso position parameters using a gradient descent algorithm until the total cost falls within a preset threshold range; outputting the optimal torso position for the current frame and passing it to the next frame as the initial value, combined with motion trend correction. This method achieves accurate and real-time estimation of the torso position in a gun-holding posture, adapting to individual differences and dynamic movements of different users, and improving the synchronization and naturalness of virtual character postures and real movements.

This invention relates to a rope-driven continuum robot arm based on an action point switching mechanism and its kinematic modeling and control method. The method includes: establishing a coordinate system; dividing the rope-driven continuum robot arm based on the action point switching mechanism into a single-segment configuration and a two-segment configuration, and performing kinematic descriptions for both configurations; deriving the forward kinematics of the rope-driven continuum robot arm based on the action point switching mechanism to obtain its homogeneous transformation matrix; deriving the Jacobian matrix and differential kinematic equations of the rope-driven continuum robot arm based on the action point switching mechanism; and achieving high-precision closed-loop motion control of the robot arm's end-effector pose based on damped least squares inverse kinematics solution. This invention overcomes the core bottlenecks of redundancy in drive and difficulty in decoupling control of two-segment bending in traditional rope-driven continuum robots, while also possessing high dexterity and compliant operation capabilities in confined spaces.

A method for calibrating an external actuator of a robot includes: enabling an end of a robotic arm with a calibration plate to be in contact with the actuator in different poses, and obtaining two different circular mark points and preset transformation matrices; calculating three-dimensional point cloud coordinates of the circular mark points based on a mapping relationship between pixel coordinates and point cloud coordinates in a structured light system; calculating a pose transformation matrix between two poses of the end of the robotic arm; calculating actuator coordinates of an end of the actuator in a base coordinate system of the robotic arm; calculating a direction vector of the end of the actuator through two different sets of actuator coordinates; and calculating a homogeneous transformation matrix for calibrating and aligning the end of the actuator according to the direction vector to obtain a calibration result.

The present application relates to rigid-flexible hybrid rope-driven heterogeneous robot and its kinematics modeling and collaborative control method, wherein the method comprises: establishing the coordinate system of rigid-flexible hybrid rope-driven heterogeneous robot; based on the different driving rope stress points, the far end 5 degree of freedom rope-driven continuum manipulator is divided into single segment structure configuration and two segment structure configuration, and the single segment structure configuration and the two segment structure configuration are kinematically described respectively; the forward kinematics of the far end 5 degree of freedom rope-driven continuum manipulator and the near end 7 degree of freedom rope-driven series manipulator is deduced respectively, the total homogeneous transformation matrix of rigid-flexible hybrid rope-driven heterogeneous robot is obtained, and the far end Jacobian matrix and the differential kinematics equation are deduced; based on the inverse kinematics solution of the diagonal weight matrix weighted total Jacobian, the null space configuration adjustment and the rigid-flexible degree of freedom collaborative control are realized. The present application breaks through the performance bottleneck of single configuration robot.

The application discloses a robot handheld sensor and a non-contact calibration method of sensor fixed installation, and belongs to the technical field of robots; the method comprises the following steps: S0, mounting a calibration block on a robot gripper and setting a laser displacement sensor on a tooling table; S1, respectively establishing a plurality of space orthogonal coordinate systems; S2, calculating the coordinates of a laser irradiation point of the laser displacement sensor on the calibration block; S3, judging whether the robot is collecting data for the first time, if yes, then offsetting and collecting data, and if not, then directly collecting data to obtain calibration data points; S4, calculating a homogeneous transformation matrix; and S5, calculating the coordinate values of the irradiation point and the space orthogonal coordinate system direction and the origin of the calibration block. The technical scheme has the advantages of automatic collection, higher precision, avoidance of the influence of manual teaching, small error and easy implementation.

This invention provides a method, apparatus, equipment, and storage medium for ship maritime calibration based on multi-UAV collaborative hovering. It collects ship parameters in real time and preprocesses them to generate a ship dynamic state vector. A world coordinate system is established with the bottom of the ship's mast as the origin, and a real-time coordinate system is established with the ship's center of mass as the origin. Based on this dynamic state vector, a homogeneous transformation matrix between the two coordinate systems is constructed and updated in real time. This dynamically converts the UAV's relative hovering pose, pre-configured in the ship's real-time coordinate system, into a target pose in the world coordinate system and distributes it to each UAV. This drives multiple UAVs to synchronously adjust their hovering positions with the ship's movement, forming a dynamic calibration reference network around the ship that maintains a constant geometric relationship with the mast camera. Then, using the real-time known world coordinates of each UAV as reference points, the camera's extrinsic parameters are calculated, achieving high-precision, full-circumferential dynamic calibration of ship cameras in a maritime environment.

This invention relates to the field of robot sensing technology, specifically to a six-dimensional force sensor decoupling method for humanoid robots. The invention deploys six-dimensional force sensors in the robot's joint drive unit and end effector to collect real-time raw signals of three-dimensional force and torque, as well as joint angles and body posture rotation matrices. A static decoupling matrix is ​​constructed using orthogonal load calibration and numerical fitting algorithms to eliminate inter-dimensional cross-interference and generate a primary decoupling signal. Based on the kinematic model, real-time joint angles, and posture matrices, a homogeneous transformation matrix is ​​calculated to generate a compensation matrix containing gravity projection and torque conversion terms, which is then fused to obtain a compensation force signal. The three-dimensional force components are subjected to adaptive amplitude limiting filtering using a sliding time window to suppress high-frequency noise, and the three-dimensional torque components are compensated for motion inertial coupling residuals through feedforward compensation. Finally, a high-precision target decoupling force signal is output, adapting to the high-precision control requirements of humanoid robots.