2870 results about "Rectangular coordinates" patented technology

An exposure apparatus has a triangular shaped stage which is movable in a two-dimensional plane while holding a substrate. The stage has a reflecting surface provided on a side face of the stage so that the surface extends in a specific direction intersecting Y axis and X axis. An interferometer radiates a beam onto the reflecting surface to measure a position of the stage in a direction perpendicular to the specific direction. Using the measured position and an angle of the specific direction, a calculator can calculate the position of the stage on rectangular coordinate system defined by X and Y axes. The size and weight of the stage can be reduced, and the throughput of the exposure apparatus is improved.

The invention discloses a two-dimensional laser radar point cloud data processing method. Environmental data is collected through laser radar scanning, point cloud data pre-processing is performed, apolar coordinate system with laser radar being a coordinate point is converted into a rectangular coordinate system that is used for posture calibration of a robot, environmental information is effectively detected and recognized through region segmentation, feature extraction, point cloud segmentation, two-dimensional laser radar and a camera fusion detection algorithm, and three-dimensional coordinate fusion is conducted through a vent needle model of the camera and the laser radar, so that the robot calibrates the posture according to a deviation. The invention also discloses a dynamic robot posture calibration method, wherein a camera is adopted as an auxiliary detection sensor and obtains the real-time posture state of the robot together with laser radar, the adjustment amount of a calibration system is obtained by comparing the real-time posture state with a desired posture state, calibration is continuously carried out until the deviation between the robot posture detected by the laser radar and the desired posture is less than a certain threshold value, and thus a whole closed-loop posture calibration process is completed.

The invention discloses a ground point cloud segmentation method based on a three-dimensional laser radar. The ground point cloud segmentation method comprises the steps of: 1) acquiring polar coordinate data of three-dimensional laser radar scanning point cloud in the surrounding environment of a vehicle and converting the polar coordinate data to a local rectangular coordinate system; 2) correcting radar data by utilizing a vehicle-mounted IMU and an odometer; 3) constructing a polar coordinate grid map, and extracting an extension vertex in each grid according to vertical continuity of point cloud distribution in the grids; 4) extracting ground points in non-marginal grids according to height attributes of the extension vertexes and a ground smooth consistency criterion, and adopting a 3sigma criterion for further extraction of ground points in marginal grids. Compared with the prior art, the ground point cloud segmentation method can reduce ground extraction errors caused by motion of the vehicle, avoids the occurrence of over-segmentation and under-segmentation, is high in precision and high in reliability, has high real-time performance and can be widely used in the field of radar-based environment sensing technologies.

A device for measuring the mass center of an object consists of weighing sensors, a measuring table, a tribrach, supporting legs and a computer. Three height adjustable supporting legs are arranged below three feet of the tribrach, three weighting sensors are arranged on the three feet, the three weighting sensors are accurately positioned, and the position points are respectively A, B and C which take an equiangular triangle distribution; the measuring table is arranged on the three weighting sensors, and needs leveling during measurement, the table is marked with marking scales, and rectangular coordinates are established; and three protective supporting studs are also arranged between the tribrach and the measuring table. The three points of A, B and C bear different forces when an object to be measured is put on a horizontal table, the 2D coordinates of the mass center of the measured object are obtained by moment balance calculation, and the 3D coordinate of the mass center can be obtained only by measuring the 2D coordinates of the mass center after the measured object is turned by 90 degrees. The mass center can be obtained quickly and reliably by adopting the computer to acquire and process data.

The invention provides a tire transfer robot which comprises a transfer robot body, a tire grabbing device, an infrared distance measuring sensor and a robot controller, wherein the tire grabbing device is mounted on the transfer robot body; the infrared distance measuring sensor is connected with the robot controller, and is used for detecting the target position in real time and transferring the position information to the robot controller; the robot controller is connected with the transfer robot body. The transfer robot, which is higher in movement and operation precision, has a vertically-hung six-degree-of-freedom rectangular coordinate structure, and the tire grabbing device driven by a cylinder are adopted, the grabbing range is adjustable, and the high-precision and large-stroke movement requirement can be achieved; based on the closed-loop path planning method of a sensor and an intelligent instruction system, the teaching programming time of an operator is saved greatly, and the operation efficiency of the robot is improved; the open-type robot control system structure helps a developer to expand and develop the robot control system in the follow-up stage, and the flexibility of the system is improved.

The invention relates to a polarization conversion method based on artificial electromagnetic materials. Electromagnetic waves are controlled to be spread in the artificial electromagnetic materials which constitute a polarization converter by designing the structure of the artificial electromagnetic materials, thereby leading the relation of the transmission coefficients of an electric field in the different directions to achieve the conversion from one incident wave polarization state to another emergent wave polarization state in a plane which is perpendicular to the wave spread direction, the relation of the transmission coefficients needs to be met is as follows: if the spread direction of the electromagnetic waves is defined as an X axis of a three-dimensional rectangular coordinate, the electric field E is decomposed to two electric field components of Ey and Ez which are mutually perpendicular, E is equal to yEy plus zEz, the transmission coefficients of T<y> and T<z> of the electric field in the two directions which pass the materials that constitute the polarization converter meet the following conditions: 1) for the situation of converting the incident waves with any polarization state to the emergent waves with the linear polarization, the absolute value of T<y>\the absolute value of T<z> is equal to p multiplied by the absolute value of Ez\the absolute value of Ey; ang(T<y>) minus ang(T<z>) is equal to plus or minus n pai minus (ang(Ey) minus ang(Ez)); wherein, n is equal to 0, 1, 2,..., p is the tangent value of an included angle theta between the linear polarization direction of the emergent waves and a z axis, p is not less than 0 and not more than 1, ang(T<y>) and ang(T<z>) represent the relative phases of T<y> and T<z>, ang(Ey) and ang(Ez) represent the relative phases of Ey and Ez. The polarization conversion method has the advantages of low cost, low energy consumption, high efficiency and compact structure.

The invention relates to an early warning method against vehicle collision based on an electronic map. The method comprises that 1) GPS data, which comprises movement station information and position information, of a vehicle is obtained, and the position information of the vehicle is converted by a coordinate system and mapped into a two-dimensional rectangular coordinate system; 2) according to historical GPS data of the vehicle, the present position information of the vehicle is optimized in a Kalman filtering algorithm to predict a first present position of the vehicle; 3) according to the historical GPS data of the vehicle, information of the electronic map is combined to predict a second present position of the vehicle; 4) the first present position and the second present position of the vehicle are combined to predict the optimal position of the vehicle; and 5) the predicted optimal position of the vehicle is combined with a TCC algorithm to make early warning against collision. Compared with the prior art, whether the vehicle possibly collides with vehicles in the surrounding is predicted in real time, early warning is given to a driver in real time, the driving safety and the vehicle positioning precision are effectively improved, and the method is practical and efficient.

The invention discloses a manufacturing method of a multi-feature fusion map facing an autonomous vehicle. The method comprises the following steps: collecting data of each sensor by utilizing an on-board laser radar device; generating a three-dimensional point cloud map by utilizing IMU(Inertial Measurement Unit) data and laser measurement data; generating a visual feature map by utilizing the IMU data and camera data; preprocessing GPS data, and converting a geodetic coordinates into a spatial rectangular coordinates; performing global optimization fusion by utilizing a continuous time SLAM(Simultaneous Localization and Mapping) algorithm; and generating the multi-feature fusion map. According to the manufacturing method of the multi-feature fusion map, various sensor data of a laser radar, an IMU, a camera and a GPS, etc., are integrated, so that the stability and the accuracy are greatly improved; the data are processed by fusing a visual SLAM algorithm and a laser SLAM algorithm,thereby obtaining a better composition effect than a single visual SLAM algorithm or a single laser SLAM algorithm; and the method is simple, practical and low in cost, and the map produced is accurate and rich in attributes, thereby improving the safety of the driving process of the autonomous vehicle.

An efficient rotational-operation-quantity input device suitable to be built into a small electrical appliance is provided. An operational force applied by an operator is input in time series as a coordinate value (x, y) in an XY two-dimensional rectangular coordinate system by a two-dimensional force sensor 100, and is converted into a coordinate value (r, θ) by a polar-coordinate converting section 200. When a value r of the coordinate value (r, θ) obtained in time series is larger than a predetermined threshold rt, an operation-quantity recognizing section 300 recognizes the coordinate value (r, θ) as a significant coordinate value, and, when the value θ generates a variation Δθ exceeding a predetermined threshold θt with respect to a value “θ before” immediately therebefore during a period during which a significant coordinate value (r, θ) is obtained continuously, it recognizes a value corresponding to the variation Δθ as an operation quantity indicating a rotation.

The invention discloses a method for constructing a full-space three-dimensional digital earth model. The method includes that an ellipsoid earth space mathematical model is constructed based on a center of gravity control system (CGCS) 2000 China geodetic coordinate system; an earth surface dissection network is generated based on a fictitious graticule; an earth surface digital elevation model is generated in an insertion mode; a geometric structure module of earth space inner and outer ring layers is fitted by interpolations; a three-dimensional body element mesh of the earth space inner and outer ring layers is generated based in geological cells; an attribute element three-dimensional distribution model of the earth space inner and outer ring layers is fitted by the interpolations; a geographical coordinate is converted into a geocentric space three-dimensional rectangular coordinate; an earth space model multi-scale expression mechanism based on level of detail (LOD) is constructed; three-dimensional visualization is performed; earth space positions are checked; and three-dimensional analysis is performed. According to the method, the automaticity and the adaptability are high, and an earth space solid model containing the inner and outer ring layers can be rapidly and automatically reconstructed in three-dimensional space to be displayed on a computer display screen in a three-dimensional visualization mode to support space analysis of various professionals.

The invention discloses a method for countering a deception false target by utilizing a netted radar system, which mainly solves the problem that deception probability is high in the event of countering the deception false target only by utilizing target position information fusion. The method comprises the following steps of: (1), carrying out coordinate transformation on measurements of node radars, namely, taking various node radars as a polar coordinate system of a reference original point, and transforming to a uniform rectangular coordinate system of the netted radar system; (2), matching measurements through a nearest neighbour association method so as to obtain an association measurement sequence; (3), identifying true and false targets by utilizing target position information, and reserving the association measurement sequence passing fusion testing; (4), obtaining a practical speed vector set corresponding to the reserved association measurement sequence; and (5), carrying out identification of true and false targets by utilizing target speed information, and further reducing the deception probability of netted radar. The method disclosed by the invention effectively reduces the deception probability of the netted radar and can be used for the netted radar to effectively resist deception interference.

The invention discloses a strip self-centering detecting method based on infrared ray. The specific process includes: step 1 (collecting information), when the strip shifts with lateral deviations between infrared transmitting tubes and infrared receiving tubes, signals transmitted from relevant infrared transmitting tubes are blocked, and the changing messages are transmitted to a single chip in a communication manner through the infrared receiving tubes; step 2 (processing information), when the single chip receives the changing messages of state signals of the infrared receiving tubes, according to a rectangular coordinate system set up with all position parameters of the infrared transmitting tubes and the infrared receiving tubes, all transmitting ray equations of the infrared transmitting tubes and position equations of the strip are obtained, border position parameters of the strip are obtained through operations, whether the strip deviates from a preset central line or not can be judged by comparisons, and meanwhile position deviation-correcting values are sent to a deviation-correcting mechanism to realize centering. The strip self-centering detecting method is wide in detecting range, good in stability and high in anti-interference capability.

A system and related method for improving tire uniformity includes identifying at least one candidate process effect and a corresponding process harmonic number for each process effect. A given uniformity parameter, such as radial or lateral run-out, balance, mass variation, radial lateral or tangential force variation, is measured for each tire in a test set, such that the measurements contain tire harmonics as well as a process harmonics corresponding to each candidate process effect. Rectangular coordinate coefficients are electronically constructed for each said process harmonic, after which point the rectangular coordinates corresponding to each process harmonic are solved for (e.g., by using regression-based analysis). The magnitude of each said process harmonic is estimated, and a final magnitude estimate for each process harmonic can be determined by summarizing (e.g., by taking the average or median value) the respectively estimated magnitudes for each process harmonic across all test tires.

The invention provides a registration and measurement method of a spherical panoramic image and a three-dimensional laser scanning point cloud. The method comprises the following steps: firstly, using a three-dimensional structure simulation spherical panoramic image of a unit sphere, converting a pixel coordinate of the spherical panoramic image into a three-dimensional rectangular coordinate, then calculating an attitude parameter of the spherical panoramic image in point cloud data and a position coordinate of the optical center of the spherical panoramic image in the point cloud data to carry out the registration to the spherical panoramic image in the point cloud data; obtaining a depth map of the spherical panoramic image through the calculation; and finally moving a mouse to a target point position to be measured when the measurement is required to be carried out on the spherical panoramic image to calculate a three-dimensional coordinate of the target point. The registration and measurement method provided by the invention not only can carry out the height registration on the spherical panoramic image and the three-dimensional laser scanning point cloud, and also can realize fast measurement on a target point simultaneously.

The invention discloses a rapid image-recognizing method of a power line profile. The method comprises the following steps: (1) conversing a shot color image into a grey image by brightness calculation and extracting the border profile of the image; (2) adopting an improved probability Hough transformation method to make self-adaptive adjustment of a line segment length and a statistics number obtained from the image in a known region; (3) adopting fitting of a line and a direction template for the two-dimensional fitting of a direction pixel template and a distance pixel template with linear characteristics and realizing linear fitting by deriving sumi rho(ri); and (4) calibrating and outputting power line pixels by storing and displaying the finally detected and calibrated linear pixels in a polar coordinate mode or a rectangular coordinate mode. Aiming at the concrete requirements of helicopters or robots for inspecting transmission lines, the invention precisely extracts the transmission lines in real time, provides a solid foundation for the subsequent zoom-in shooting of a camera and the defect detection of parts hereafter and has favorable theoretical and application prospects.

The invention discloses an electric bus battery quick-change robot system and a quick-change method. The electric bus battery quick-change robot system comprises a robot body, the robot body consists of a mechanical portion and an electric control system, wherein the mechanical portion comprises a horizontal moving unit, a carrying platform unit and a bearing unit which are arranged on an X rectangular coordinate direction, a Y rectangular coordinate direction and a Z rectangular coordinate direction, the carrying platform unit comprises a carrying platform and a battery driving mechanism disposed on the carrying platform, and a battery pushing mechanism is arranged on the battery driving mechanism; and the electric control portion comprises a data acquisition device, a power driving mechanism and an I/O (input/output) module, and the data acquisition device is connected with a master control computer system. When the quick-change robot is applied, positioning precision in a quick-change process is high, relative displacement is low, positions are accurate, and power batteries of various electric buses can be quickly changed by the aid of the electric bus battery quick-change robot system.

The present invention discloses an intelligent boom control device including: a control unit and an angle measurement unit, the control unit calculating the boom position information based on measured value of angles, whereby adjusting the control of various actuators; the device further including: a remote controller which transmits control commands in the form of wireless remote control and can provide movement control commands including X axis component, Y axis component and Z axis component used in a rectangular coordinate system; a rectangular coordinate system being defined in a space, X axis, Y axis and Z axis of this rectangular coordinate system corresponding to each of the coordinate axis components in the movement control command of the remote controller; when the remote controller transmits a movement control command, the control unit determining the movement direction of the boom end in a plane according to the X axis component and Y axis component of the received movement control command, and decomposing the movement into movement of each boom section and the rotary platform so that the boom end moves to the direction indicated by the movement control command. According to the device provided by the present invention, it is possible for an operator to easily accomplish the straight line control of the movement track of the boom end.

The invention discloses a method for constructing an atmospheric pollutant diffusion model. The method includes the following steps of establishing three-dimensional space rectangular coordinates, determining factors which influence atmospheric pollution diffusion, simplifying a fundamental form of a Gaussian model, and obtaining the atmospheric pollutant diffusion model. The method can be widely applied to survey regions with various dimensions, and is particularly suitable for medium and small dimensions. Besides, the method is high in computational efficiency, low in requirement to meteorological data, and capable of reflecting a diffusing process of atmospheric pollution to the greatest extent in a simple mode. Under the conditions that a rang is small, a weather field is simple, the underlying surface and topographic conditions are relatively not complex, and secondary pollutant is not considered or processed simply, a concentration field calculated through the method and a concentration field calculated through a complicated numerical method are comparatively fit, errors are mainly derived from input parameters of the model (such as precision degree of pollution source data), the model is simple, input data are less, and programming and developing are convenient.

A modular building system is disclosed. The modular building includes a plurality of pre-fabricated joints having open-ended hollow arms extending orthoganally along at least two directional axes, as defined by a 3-dimensional rectangular coordinate system. The system further includes a plurality of pre-fabricated beams detachably insertable into the open-ends of the hollow arms of the joints and connectors removeably securing the beams in the hollow arms of the joints. The joints and beams are assembled to build a variety of modular grid-frame structures in accordance with pre-determined assembly plans.

A method and an apparatus for processing three-dimensional vision measurement data are provided. The method includes: obtaining three-dimensional point cloud data measured by a three-dimensional machine vision measurement system and establishing a visualized space based thereon; establishing a new three-dimensional rectangular coordinate system corresponding to the visualized space, and performing coordinate translation conversion on the three-dimensional point cloud data; determining three basic observation planes corresponding to the visualized space and a rectangular coordinate system corresponding to the basic observation planes; respectively projecting the three-dimensional point cloud data on the basic observation planes to obtain three plane projection functions; respectively generating, according to the three-dimensional point cloud data, three depth value functions corresponding to the plane projection functions; digitally processing three plane projection graphs and three depth graphs respectively, and converting same to two-dimensional images of a specified format; and compressing, storing and displaying the two-dimensional images of the specified format.

The invention discloses a rapid sub pixel edge detection and locating method based on machine vision. The method includes the following steps that firstly, a detection image is acquired; secondly, denoising pretreatment is conducted on the image; thirdly, the gradient Gx of each pixel point in the horizontal direction and the gradient Gy of each pixel point in the vertical direction are calculated; fourthly, the gradient magnitude G0 and the gradient direction Gtheta of each pixel points under polar coordinates are calculated; fifthly, neighborhood pixel points of each pixel point are determined; sixthly, pixel-level edge points are determined; seventhly, the distance between a sub pixel edge point of each pixel-level edge point in the eight-gradient direction and the pixel-level edge point is calculated; eighthly, the distance d between each sub pixel edge point in the actual gradient direction Gtheta and the corresponding pixel-level edge point is calculated; ninthly, a cosine lookup table method is adopted for calculating rectangular coordinates of each sub pixel edge point in the actual gradient direction Gtheta, so that the image edge points are detected and sub-pixel-level localization is conducted. The whole method is high in calculation accuracy and speed.

The invention provides an SINS/LBL (strapdown inertial navigation systems/long base line) tight combination based AUV (autonomous underwater vehicle) underwater navigation positioning method. The SINS/LBL tight combination based AUV underwater navigation positioning method is characterized by comprising three major parts, namely an SINS mounted on an AUV, an LBL underwater sound positioning system laid on the seabed, and a data processing unit. The method comprises the following specific steps: firstly performing a strapdown algorithm on IMU (inertial measurement unit) data to obtain AUV position information, and representing the position information by using earth rectangular coordinates; secondly reckoning an SINS slant-range difference according to the AUV position information provided by the SINS and hydrophone array position coordinates; and thirdly establishing an LBL slant-range difference model according to LBL positioning characteristics, and correcting SINS navigation positioning information according to filter estimation compensation by taking the difference value between the SINS slant-distance difference and the LBL slant-distance difference as an observed quantity of a kalman filter. According to the SINS/LBL tight combination based AUV underwater navigation positioning method, the use of GPS and other radio positioning systems is avoided at the same, and the AUV underwater operation efficiency is improved.

The invention relates to a method for generating three-dimensional imaging original echoed signals of chromatography synthetic aperture radars, which comprises the following steps: taking a three-dimensional image containing backward plural scattering coefficients of imaging area targets in a rectangular coordinate system OXYZ as the input, carrying out three dimensional fourier transform on the three-dimensional image and converting an image signal to a rectangular coordinate system wave-number domain; converting signals in Kx, Ky and Kz domains to be signals in Kw, Ku and Kv domains according to the method of converting the rectangular coordinate system to a spherical coordinate system; introducing imaging geometrical relationships among same imaging area of chromatography synthetic aperture radars by multiplying three dimensional filter function H2 (Kw, Ku and Kv); introducing a transmission signal form by the multiplication of a two-dimensional inverse Fourier transform function and a reference phase function; and at last, by W direction process and other operations, obtaining the three-dimensional imaging original echoed signals of chromatography synthetic aperture radars, which contains a carrier frequency. The method can be used for generating three-dimensional imaging original echoed signals of side-looking, downward-looking, forward-looking, backward-looking and downward side-looking chromatography synthetic aperture radars, and has high echo generating efficiency and easy realization of modularization.