740 results about "Rectangular coordinates" patented technology

The invention belongs to the technical field of gas concentration detection, and discloses a three-dimensional tomography method and system for gas concentration space distribution detection based on an unmanned aerial vehicle, and the method comprises the steps: 1, building a space rectangular coordinate system, and converting latitude and longitude coordinates into XYZ coordinates; 2, dividing view field grids and grid numbers; 3, calculating the number of intersecting grids of the light beams and the view field and the length of intersecting line segments; 4, calculating a weight coefficient matrix and an integral concentration vector; and 5, reconstructing gas three-dimensional concentration distribution by using an SART algorithm. The system combines the unmanned aerial vehicle and the telemetry technology, realizes gas cloud scanning and three-dimensional gas cloud concentration distribution reconstruction based on the unmanned aerial vehicle, has the characteristics of non-contact measurement, high imaging speed, high precision, autonomous detection, strong environmental adaptability and the like, can monitor and predict the gas diffusion trend in real time, and has a wide application prospect. And a new solution is provided for realizing accurate traceability of methane gas leakage and reconstruction of leakage space distribution in a complex scene.

The invention relates to the field of intelligent control, and particularly discloses a shadowless lamp control method based on behavior recognition and prediction, which comprises the following steps: S1, establishing a three-dimensional rectangular coordinate system by taking an initial mounting position of a shadowless lamp as an original point, and determining coordinates as follows by adopting image data acquired by at least two groups of directional image acquisition equipment with different visual angles; s2, capturing the real-time position of the scalpel in real time through an image acquisition device, outputting coordinates, acquiring data of a plurality of continuous durations to form a historical trajectory data set, calling an operation scene template library preset with a plurality of types of typical operation trajectory features by the control terminal for the acquisition times, matching a trajectory feature template corresponding to the current operation type, and outputting the historical trajectory data set; performing feature alignment processing on the data and the input data by a fusion module to obtain adaptive trajectory data; according to the technical scheme, pre-judgment can be carried out in advance, the scene adaptability is high, and sterile fine adjustment is facilitated.

The invention discloses a Delaunay triangle and curvature minimization-based point cloud integrity improvement method and system, and the method comprises the following steps: converting a point cloud under a three-dimensional rectangular coordinate system into a spherical coordinate system, and then projecting the point cloud to a two-dimensional plane coordinate system to form a two-dimensional plane point cloud; carrying out Delaunay triangularization, and then projecting back to a three-dimensional rectangular coordinate system to form a spatial two-dimensional triangular mesh; the side length, the area and the unit normal vector of each triangular mesh are calculated, and abnormal triangular meshes are removed according to the side length; searching boundary points of the point cloud according to the topological relation of the triangular mesh edges; searching the boundary points of the missing part according to the corresponding relation of the boundary points; filling a plurality of points in the missing part based on spherical projection; and calculating the curvature of the filling point, and performing iteration to enable the curvature to be minimum so as to correct the position of the filling point. According to the method, the boundary points of the point cloud can be effectively detected, the filling points are generated, and the missing parts are repaired, so that the integrity and the accuracy of the point cloud are improved.

The present invention discloses a position error calibration device and a calibration method for an industrial robot. The position error calibration device in the present invention includes a laser ranging component for measuring the three-dimensional coordinates of the target ball at the end of the robot. The laser ranging component includes a laser interferometer, a beam splitter, a two-dimensional position sensitive detector, and a housing; a two-dimensional moving platform for moving the laser ranging component in the X-axis and Y-axis directions. The two-dimensional moving platform includes a lead screw slider module and a grating scale in the X-axis and Y-axis directions; a supporting device for fixing and supporting the two-dimensional moving platform so that it can work stably in three-dimensional space. Compared with a laser tracker, the present invention does not require transformation between a spherical coordinate system and a rectangular coordinate system, thereby avoiding the amplification effect of the angle error of the inner circle grating in the laser tracker. The present invention can directly measure the three-dimensional coordinate values of the reflecting target ball in the measurement coordinate system, has a good calibration effect, and can meet the calibration requirements of industrial robots.

The invention belongs to the technical field of image processing, and particularly relates to a coded disc surface tiny scratch recognition method based on micro texture feature analysis, which comprises the following steps: acquiring a coded disc grating texture image and converting the coded disc grating texture image into a rectangular coordinate system to obtain an expanded grey-scale map; the optimal main direction of the grating texture is determined through rotation projection analysis; for each pixel point in the grey-scale map, sampling along two sides of the optimal main direction to form a reference sample; calculating a weighted average value of the gray values of the sample points in the reference sample to obtain a trend prediction value, calculating a residual error between the gray values of the pixel points and the trend prediction value, and determining a texture deviation index in combination with the change condition of the gray values of all neighborhood pixel points of the pixel points; and finally, identifying the scratches through threshold segmentation. According to the method, the grating edge interference can be effectively inhibited under the strong periodic texture background, and the tiny scratch features can be accurately extracted.

The invention discloses a ballastless track plane linear reconstruction method and system under the condition of large foundation deformation, and the method comprises the steps: judging whether a railway line is staggered on a long straight line or a curve, and determining a linear reconstruction mode; determining the intersection position of the railway line and the fault zone, establishing a rectangular plane coordinate system, and collecting basic data of the line; fitting and reconstructing straight line edges on two sides of the line damage center and a clamping straight line between the two straight line edges, and determining a slope range and a change step length of the clamping straight line; determining an optimization variable, a constraint condition, a target function and a fitness function, and searching an optimal plane line shape reconstruction scheme under each linear slope value by adopting a genetic algorithm and a local search algorithm; and summarizing and comparing the fitness values of the optimal plane line shape reconstruction schemes under each straight line clamping slope value, and selecting the scheme with the maximum fitness value. According to the method, the damage form of the large deformation of the railway foundation to the plane line shape of the ballastless track is analyzed, and reference is provided for post-disaster repair of the ballastless track.

The invention discloses a nonlinear filtering trajectory drop point prediction method based on a Runge-Kutta algorithm, and the method comprises the steps: firstly, preprocessing the trace point information of a shell, and converting a radar array plane rectangular coordinate system into an east-north-sky coordinate system; then, constructing a projectile mass point trajectory model, and if a reliable track exists, carrying out point track association on the preprocessed point track data and the reliable track based on an extended Kalman filtering algorithm; using a logic method track initiation algorithm to associate the trace point data which are not associated with the temporary track which is not prohibited so as to realize track initiation; carrying out track extrapolation on unupdated reliable tracks; performing flight path extinction on the reliable flight path meeting the extinction condition; and finally, resolving a trajectory by utilizing a Runge-Kutta method and combining a trajectory equation set, and further calculating a trajectory drop point. According to the method, target tracking filtering is accurate, trajectory extrapolation errors are reduced, the number of required measurement parameters is small, the calculation speed is high, rapid drop point prediction can be achieved, and the real-time requirement of actual engineering is met.

The invention belongs to the technical field of medical robots, and discloses a surgical robot accurate pose real-time registration method and system based on multi-sensor fusion, and the system comprises a multi-source sensing collection assembly; a time-space calibration mechanism; fusing a resolving platform and an exception elimination platform; a deformation sensing and dynamic compensation device; and a registration result closed-loop feedback unit. According to the invention, a multi-source sensing acquisition assembly and a synchronous control board are integrated on a hardware level, a nanosecond timestamp is generated by using a high-precision clock driven by an onboard crystal oscillator, and a cross-correlation delay calculation chip is combined to execute a cross-correlation function method delay estimation formula, so that microsecond-level accurate correction of delay amount among sensing sources is realized; the coordinate transformation unit automatically selects a matched calibration matrix according to a correction result, multi-source data such as optical positioning, inertial measurement, a torque sensor, ultrasonic or electromagnetic positioning and the like are unified to a global rectangular coordinate system, and the structure can effectively ensure the consistency of time and space references of data output by different sensors.

The invention discloses a multi-unmanned aerial vehicle area coverage path planning method with no-fly zone avoidance. The method comprises the following steps: converting an input operation area boundary and longitude and latitude coordinates of a no-fly zone into a UTM plane rectangular coordinate system, carrying out safety buffer area expansion on all no-fly zones, and calculating a difference set between the operation area and the safety buffer areas of all no-fly zones to obtain a final available operation area; segmenting the final available operation region to generate a plurality of sub-regions with balanced areas; for each sub-region, generating a parallel scanning route covering the region; and each sub-region line segment generates a parallel scanning route covering the region according to a preset interval. The method can ensure that the path avoids the no-fly zone, the zone distribution is balanced, and the calculation is efficient.

The invention provides a ship electromagnetic environment prediction method and device based on an empirical model, equipment and a medium, and the method comprises the steps: firstly, carrying out the translation of a space field point in a global rectangular coordinate system according to the geometric position of an original point, and constructing a local rectangular coordinate system; then, based on the local rectangular coordinate system, antenna attitude conversion is carried out on the space field points, and array polar coordinates are generated; then, according to the polar coordinates of the array, a discrimination field domain is constructed by discriminating the relative distance between the space field point and the array antenna; and finally, based on the discrimination field domain, performing gain on a preset field point through a three-dimensional gain graph, and performing field intensity calculation on the preset field point to complete prediction of the electromagnetic environment of the preset field point. According to the embodiment of the invention, the prediction of the electromagnetic environment is realized, the calculation efficiency and precision are improved, and the engineering practice requirements are met.

The invention discloses an unmanned aerial vehicle-oriented nest site selection method for traffic off-site rapid evidence obtaining, and belongs to the technical field of unmanned aerial vehicle nest site selection, and the method comprises the steps: firstly searching for an accident high-incidence intersection, obtaining and processing intersection traffic data in a selected region, carrying out the weight distribution of each index in the data through an entropy weight method, and carrying out the calculation of the weight distribution of each index; calculating a comprehensive score of each intersection by using a TOPSIS method, determining a risk threshold value, determining an accident high-incidence intersection as a risk point and allocating a weight, establishing a rectangular plane coordinate system for the accident risk point obtained in the above step, comparing the risk point to the coordinate system, and obtaining a position coordinate of the risk point; and then establishing a traffic accident non-field evidence obtaining unmanned aerial vehicle nest site selection model, and solving the unmanned aerial vehicle nest site selection model based on an NSGA-II algorithm to obtain an optimal nest site selection scheme.

The invention relates to the technical field of medical image segmentation, in particular to a voxel-level segmentation method based on a three-dimensional medical image. The technical problem is that a medical image segmentation method in the prior art uses voxels of a fixed size to perform segmentation, which may cause inaccurate segmentation in a sparse or fuzzy region. According to the technical scheme, the voxel-level segmentation method based on the three-dimensional medical image comprises the steps that voxel coordinates under a three-dimensional rectangular coordinate system are converted into coordinates under a spherical coordinate system, the size and shape of curvature voxels are dynamically defined, a curvature voxel grid of a whole image space is constructed under the spherical coordinate system, and the voxel-level segmentation method based on the three-dimensional medical image is obtained. Calculating curvature similarity between each voxel and a neighborhood voxel of the voxel, and combining the similar voxels into a larger clustering unit according to the curvature similarity; according to the method, voxel coordinates in a three-dimensional rectangular coordinate system are converted into coordinates in a spherical coordinate system, a curvature voxel space is constructed, voxel clustering is carried out based on neighborhood curvature similarity, and therefore accurate segmentation of the medical image is achieved.

A shafting rotation precision measuring device and method are suitable for shafting rotation precision measurement of a shaft end assembly, the shafting rotation precision measuring device comprises a lens reflection tool and a rotation precision measuring device from the function aspect, and the readings of a single-shaft photoelectric autocollimator in the horizontal direction and the vertical direction are expanded into Fourier series respectively; first harmonic function calculation is carried out on Fourier series based on a gradienter method, two rectangular coordinates can be obtained, the two components are synthesized, the shaft system rotation precision can be obtained, and the device is simple in structure, convenient to operate and wide in application range. The test verifies and proves that the detection requirement on the rotation precision of the shaft system can be met, and the method has practical engineering significance.

The utility model belongs to the field of civil air defense door detection, and discloses an air tightness detection device for a civil air defense door, which comprises a lifting assembly used for descending the civil air defense door into water, and a sealing assembly used for limiting and sealing the lower part of the civil air defense door is arranged on the lifting assembly. And the marking assembly is arranged on the outer side of the sealing assembly and is used for marking gas leakage points after double-shaft sliding position adjustment. According to the air tightness detection device for the civil air defense door, after the position is adjusted through double-shaft sliding, an air leakage point is marked through downward insertion, the marking rod is moved to the position above the air leakage point and is aligned with the air leakage point through downward insertion, and the position of the air leakage point is accurately recorded by adopting a mechanical marking method; through the arrangement of double coordinates, one corner of the civil air defense door is set as an original point, and an air leakage point position is displayed in a rectangular coordinate system mode, so that the air leakage point position is convenient to determine; through the arrangement of the multi-position marks, a plurality of marking rods are arranged, and a plurality of gas leakage point positions are marked at the same time.

The invention discloses a land gravity far-area terrain correction method and system based on a digital elevation model. The method comprises the following steps of: performing weighted average calculation on a far first region terrain correction value and a far second region generalized terrain correction value of regular distribution measuring points near irregular distribution measuring points by adopting a bilinear interpolation algorithm on the irregular distribution measuring points to obtain a far region terrain correction value; on the basis of a calculation algorithm of a terrain unit gravitational potential vertical partial derivative of a local rectangular coordinate integral kernel of a measuring point under a spherical coordinate system, high-precision calculation and accumulation are carried out on terrain units one by one, the influence of earth surface bending is considered, and a high-precision and high-resolution digital elevation model can be utilized to the greatest extent. A high-precision digital elevation model represented by geographic latitude and longitude is uniformly subdivided for terrain interfaces of a far first area and a far second area, so that digital elevation units with different resolutions are ensured not to be overlapped or have gaps to the greatest extent, and a high-precision and high-resolution digital elevation model is adapted; and subsequent updating and maintenance of the digital elevation model and the remote terrain correction value library are facilitated.

The invention discloses a ship electromagnetic environment prediction method based on a deep forest model, and relates to the technical field of electromagnetic compatibility and antennae, and the method comprises the steps: converting the coordinates of each point of given data (simulation data) into a global rectangular coordinate relative to a main ship body, and obtaining an array rectangular coordinate of each point relative to an array plane; converting the array rectangular coordinates of the points relative to the array plane into relative array spherical coordinates of the points when the antenna attitudes are different; the original global rectangular coordinates, the relative array spherical coordinates, the azimuth angle and the pitch angle of each electromagnetic environment simulation point and the logarithmic transformation values of the field intensity values corresponding to the points are constructed into a feature combination of electromagnetic environment prediction; constructing a deep forest model, and training and obtaining optimal hyper-parameters of the model by using electromagnetic environment simulation data; performing coordinate conversion and feature combination on the coordinates of the spatial points to be predicted; obtaining a model prediction value; and obtaining a field intensity value under the original scale. By means of the method, prediction of the electromagnetic environment under a certain simulation working condition can be completed within a very short time.

The invention provides a profile interpolation method and device for weather radar body scanning data, and relates to the technical field of data processing, and the method comprises the steps: obtaining rectangular coordinates of the weather radar body scanning data and all to-be-interpolated vertical profile grid points; performing linear interpolation on the weather radar body scanning data to obtain a first weather radar body scanning data point of a first three-dimensional coordinate and a second weather radar body scanning data point of a second three-dimensional coordinate; converting the rectangular coordinates of the to-be-interpolated vertical section grid points into first to-be-interpolated vertical section grid points of first three-dimensional coordinates and second to-be-interpolated vertical section grid points of second three-dimensional coordinates; based on a trilinear interpolation method, performing interpolation processing on a first weather radar body scanning data point of the first three-dimensional coordinate and a first vertical section grid point to be interpolated of the first three-dimensional coordinate; and performing trilinear interpolation processing on the second weather radar body scanning data point of the second three-dimensional coordinate and the second vertical section grid point to be interpolated of the second three-dimensional coordinate, and determining a final section interpolation calculation result.

The invention discloses a planet generation method and system based on spherical display equipment. The method comprises the following steps: acquiring a planet material to be projected; based on preset UV coordinate mapping data, performing spherical projection on the planet material to generate a planet with two poles based on vertical projection and an equator based on cylindrical projection; the acquisition mode of the UV coordinate mapping data specifically comprises the following steps: generating a corresponding cylindrical projection through a cylindrical projection algorithm based on the auxiliary texture; corresponding spherical coordinates are obtained based on auxiliary texture mapping; converting the obtained spherical coordinates into 3D rectangular coordinates; the obtained 3D rectangular coordinates are mapped back to the 2D texture space again, and corresponding vertical projections are generated; determining an equator mask; and generating corresponding UV coordinate mapping data based on the equatorial mask, the cylindrical projection and the vertical projection. According to the invention, through the design of the UV coordinate mapping data, in the process of carrying out spherical projection on the planet material, the resource consumption is reduced, and the dynamic projection precision can be improved at the same time.

The invention relates to the field of unmanned aerial vehicle route analysis, and provides an unmanned aerial vehicle route safety analysis method and system for a Web side. Firstly, cube serialization is carried out on the laser point cloud according to the maximum cutting side length, and an octree index is established; secondly, converting the latitude and longitude of the air route into a self-defined rectangular coordinate system and sampling at equal intervals; screening point cloud sub-blocks intersected with the route buffer bounding box by using a separation axis theorem, executing radius query and nearest neighbor search in the sub-blocks based on KD-Tree, and bidirectionally judging a proximity relationship between route points and obstacle points; and finally, a three-dimensional result with a risk level label is generated and can be rendered in real time at a browser end. According to the method, calculation and memory loads can be greatly reduced, calculation efficiency is improved, centimeter-level real-time safety evaluation can be realized, and the method is suitable for multi-scene unmanned aerial vehicle operation such as power transmission inspection and urban surveying and mapping.

The embodiment of the invention provides a chip layout image processing method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a basic structure type corresponding to a target graph according to the line segment position information in an obtained chip layout image; and determining a refined structure type corresponding to the target graph according to the line segment position information and the line segment angle information. And performing rule inspection on the target graph based on standard structure parameters preset for the refined structure type. The defect that only a graph parallel to the transverse axis direction or the longitudinal axis direction of a two-dimensional rectangular plane coordinate system or a graph with a specific bevel edge angle can be recognized at the present stage is effectively overcome and solved, and then the inspection precision and the inspection efficiency of design rule inspection or mask rule inspection are remarkably improved. The practicability and reliability of the rule checking process and the subsequent image adjusting process for the target graph are improved to a certain extent, so that the performance and the yield of the finally produced chip are powerfully guaranteed.

The invention provides a satellite magnetic measurement data downward continuation method, device and equipment and a medium, and the method comprises the steps: inputting observation data, and converting the observation data obtained during satellite in-orbit measurement from a spherical coordinate system to a rectangular coordinate system; determining a model calculation domain, and generating a series of configuration points in the model calculation domain; normalizing observation data position coordinates, configuration point position coordinates and magnetic field three-component data under the rectangular coordinate system to serve as training data; inputting observation data position coordinates and configuration point position coordinates under the rectangular coordinate system into a neural network model, constructing a loss function based on observation data fitting errors and Laplacian equation physical constraints, and training the neural network model; and according to application requirements, generating a target position coordinate on a target continuation plane or space, inputting the target position coordinate into the trained neural network model, obtaining magnetic field three-component data at the target position coordinate, and realizing high-precision downward continuation.

The method for estimating the area of an irregular-shaped fire scene using an optoelectronic pod in the present invention belongs to the technical fields of navigation control algorithms and infrared image processing, and includes: S101: Preprocessing and background suppression are performed on the infrared thermal image, and the fire scene area in the image is identified according to the gray value of the image and the set temperature threshold; S102: Determine the slant range information of the fire scene area aligned with the optical axis of the pod; S103: Place the infrared thermal image in a rectangular coordinate system with the alignment point of the pod optical axis as the origin, and the fire scene area forms an irregular area in the rectangular coordinate system; S104: Calculate the area projected onto the actual ground for each pixel in the fire scene area according to the optical axis attitude, geographical location information, and slant range information, and add up the projected areas of each pixel to obtain the fire scene area on the actual ground. It can greatly improve the efficiency of forest fire prevention emergency rescue and the accuracy and real-time nature of fire situation reports, thereby achieving rapid analysis of forest fire situations and providing strong information support for forest fire fighting and emergency command.

The invention provides a graphite head regular hexagon blank manufacturing method which comprises the following steps: taking a rectangular carbon brick, and establishing a rectangular coordinate reference system by taking an orthographic projection rectangle of the rectangular carbon brick as a reference and an original point of a point position where a first side is intersected with a second side; obtaining the length of the first side and the length of the second side of the rectangular carbon brick; the preset single bodies are regular hexagonal prisms, are arranged on a first side in a shoulder insertion manner and are arranged in a side-sharing side-by-side manner in the direction of a second side; the cutting line carries out displacement cutting in the first side direction and the side length direction of a preset regular hexagon; according to the scheme, the cutting line walks in the linear direction of the side length of the regular hexagon, three sides of each regular hexagon can be obtained through cutting after each cutter is completed, although each regular hexagon needs to be machined through two cutters, four regular hexagons can be machined through each cutter except for the first cutter, the machining efficiency is high, and the machining cost is low. And the average monomer processing time is short.

A three-dimensional displacement measuring system for a railway platform comprises a laser, an angle sensor, a high-magnification camera and an LED (light-emitting diode) illuminating lamp which are respectively arranged on a fixed upright post, the target is adhered to the edge of the platform to form a measurement reference surface, and the horizontal distance between the stand column and the target is a preset value; the system establishes a virtual zero point and defines a space rectangular coordinate system XYZ, the X axis is in the longitudinal direction of the platform, the Y axis is perpendicular to the edge of the platform, and the Z axis is vertically upward. The invention provides a non-contact, high-precision and low-power-consumption railway platform three-dimensional displacement measurement method, which comprises the following steps of: performing periodic laser scanning and image acquisition on a target adhered to the edge of a platform by utilizing a vision measurement system formed by double lasers and a high-magnification camera and combining feedback information of an angle sensor; and the relative displacement of the X axis, the Y axis and the Z axis in the space is inversely calculated through a geometric model. The method can automatically complete the whole-process operation of zero calibration, photographing, identification, calculation, storage and the like, and meets the actual requirements of long-term structure monitoring of the railway platform.

The invention discloses an anchor rod frame beam deformation and internal force calculation method based on a transfer matrix method, which comprises the following steps of: establishing a rectangular coordinate system by taking the left end point of a longitudinal beam in any frame beam as an original point, the direction of the longitudinal beam as an x axis and the direction vertical to the mounting plane of the frame beam as a y axis; solving a deflection curve differential equation of the beam based on a Winkler elastic foundation theory to obtain the deflection of the longitudinal beam; superposing the deflection increased due to the action of the anchoring force to obtain a deflection general solution of the i-th section of longitudinal beam under the action of the anchoring force; on the basis of the deflection general solution of the i-th longitudinal beam, according to the differential relationship among the deflection, the corner, the bending moment and the shearing force of any section on the i-th longitudinal beam, obtaining a corner, bending moment and shearing force expression of any section on the i-th longitudinal beam; and the deflection, the corner, the bending moment and the shearing solution of any position of the N sections of beams are calculated through a transfer matrix method. The method can calculate and solve the deformation and internal force of any section of frame beam, improves the accuracy and efficiency, and is more suitable for actual engineering scenes.

The invention relates to a method and device for determining the arch axis of an arch bridge, electronic equipment and a storage medium, and belongs to the technical field of bridge engineering.The method for determining the arch axis of the arch bridge comprises the steps that the main beam axis of a bridge floor in the arch bridge is determined, and the bridge floor of the arch bridge is located on an asymmetric longitudinal section line; determining two arch feet of the arch bridge on a main beam axis based on a preset calculation span in the arch bridge, and constructing a three-dimensional rectangular coordinate system by taking an intersection point of a horizontal line passing through the first arch foot and a central stake mark line of the arch bridge as an origin of coordinates; in the three-dimensional rectangular coordinate system, the centroid of the arch rib is determined based on the origin of the coordinates and the preset rise, curve fitting is conducted on the two arch feet and the centroid of the arch rib, and a projection curve of the arch axis of the arch bridge on the vertical face of the arch bridge and the coordinates of the position relation between the three-dimensional rectangular coordinate system and the arch rib in the three-dimensional rectangular coordinate system are obtained. According to the method, the arch axis of the through type simply supported basket arch bridge with the bridge deck located on the asymmetric longitudinal section line can be determined.

The invention relates to a three-coordinate air radar height measurement value correction method based on joint estimation, and belongs to the technical field of multi-radar data fusion. According to the method, a relative system error thought is adopted, observation data of main and auxiliary station radars on a typical air route target are selected, and a height relative system error joint calculation model derived from radar asynchronous measurement data is established through three-dimensional unified rectangular coordinate conversion, linear parameter estimation, time registration point calculation and the like; and the reliability of an error accumulation estimation result is ensured through operations such as singular value elimination. Experimental results show that the follow-up height measurement value of the auxiliary station radar is corrected according to the cumulative estimation result, the average difference of the height values of the track lines is reduced by one order of magnitude, the error correction effect is very ideal, and the requirements for air radar height estimation and fusion precision in engineering practice are met. The estimation method provided by the invention is scientific, reasonable in scheme implementation steps and very high in operability and practicability.

The invention discloses a metal internal characteristic selective extraction method, which comprises the following steps of: (1) scanning a block-shaped metal sample by adopting high-resolution X-ray CT (Computed Tomography), reconstructing characteristics including defect distribution, microstructure, holes and cracks in metal through a three-dimensional reconstruction algorithm, and generating a high-precision three-dimensional model; (2) selecting a required area, calculating voxel resolution according to the distance SDD between a radiation source and a detector and the distance SOD between a sample and the radiation source, displaying a reconstructed three-dimensional image in three-dimensional visual analysis software, and performing threshold segmentation through a computer vision algorithm, and automatically identifying and extracting required features for observation; the whole sample is placed in a square frame in an externally tangent form, and a Cartesian rectangular coordinate system is established. According to the invention, after the internal structure is observed by using the X-ray microscopic imaging technology, an interested area is selected for extraction by using linear cutting according to the three-dimensional structure information, and the internal defect of the sample can be efficiently and accurately positioned and extracted.

The invention discloses a position error calibration device and calibration method of an industrial robot. The position error calibration device comprises a laser ranging assembly used for measuring three-dimensional coordinates of a target ball at the tail end of a robot, and the laser ranging assembly comprises a laser interferometer, a spectroscope, a two-dimensional position sensitive detector and a shell; the two-dimensional moving platform is used for moving the laser ranging assembly in the X-axis direction and the Y-axis direction, and the two-dimensional moving platform comprises a lead screw sliding block module and a grating ruler in the X-axis direction and the Y-axis direction; and the supporting device is used for fixing and supporting the two-dimensional moving platform, so that the two-dimensional moving platform can stably work in a three-dimensional space. Compared with a laser tracker, conversion between a spherical coordinate system and a rectangular coordinate system is not needed, and therefore the amplification effect of the angle error of the inner circle grating of the laser tracker can be avoided. The three-dimensional coordinate value of the reflection target ball under the measurement coordinate system can be directly measured, the calibration effect is good, and the calibration requirement of the industrial robot can be met.

The invention discloses a robot zero point calibration method and device and a computer readable storage medium, and belongs to the technical field of robots. The method comprises the following steps: acquiring a mark point image acquired by an industrial camera and a pulse value acquired by a controller; screening out to-be-calibrated images with the same rectangular coordinate value from the plurality of mark point images; if the pixel coordinate values of the to-be-calibrated images meet preset conditions, a zero point calibration result is determined according to the pulse numerical values and written into the controller, and the controller controls the robot body to move to the position corresponding to the zero point calibration result. The invention aims to reduce the zero calibration cost of the robot.