59 results about "Reference orientation" patented technology

The invention relates to the technical field of intelligent welding, and provides a box type workpiece welding seam positioning method, system and robot based on a three-dimensional point cloud.The method comprises the steps that the three-dimensional point cloud of a box type target welding seam area is obtained, and the welding seam path reference direction is recognized; performing plane detection and fitting on the point cloud of the welding seam area, and performing intelligent plane screening based on an angle threshold value of an included angle between the reference direction and a plane normal vector to obtain a plurality of candidate planes; constructing a comprehensive evaluation function F including an included angle score, a distance score, a flatness score and a thickness score, and screening the candidate planes to obtain a target plane; and then the target plane is biased in the normal vector direction to generate a plane family, the plane family intersects with the triangular net curved surface of the welding area, a welding seam intersecting line is formed, and a track point column used for welding is obtained. According to the method, high-precision automatic identification and trajectory planning of the welding seam path of the complex structure are achieved without manual teaching, and the intelligent level of the welding process and the welding seam identification reliability are improved.

A method includes identifying an image captured by an image capture device set at a first angle about an axis, the image corresponding to a time at which the image was captured, identifying within the image, a region of interest including an object to be used for calibration, determining, an image coordinate at which the object is displayed within the image, determining a camera angle corresponding to a position of the image capture system relative to the axis when the image was captured, identifying a bearing of the object relative to the reference direction, the bearing of the object determined using a geolocation of the image capture system and the time at which the image was captured, and determining, using the image coordinate, the camera angle, and the bearing of the object, an angular offset between the first angle and the reference direction to determine a second angle.

An endoscopic vessel harvesting tool uses an optics system to present of a video image to a user. As the tool is manipulated around all sides of the vessel to dissect and cut surrounding tissue and side branches, the orientation of the captured image rotates. A motion tracker (e.g., gyrosensor) in the tool detects the rotation. By detecting a rotational angular velocity of the harvester handle during the harvesting procedure, the camera view orientation is compensated before display to the user. When the handle is rotated, the detected rotation is used to provide an opposite (canceling) rotation of the camera view so that a steady orientation is presented on the display. Thus, a vertically upward direction (or any other desired reference direction) remains substantially fixed in the displayed video images.

A control method for controlling a robot system is provided. The robot system includes a plurality of motion arms. The plurality of motion arms include a reference motion arm and at least one following motion arm. The control method includes: controlling, based on an input command, the reference motion arm to move to a reference position and a reference orientation; determining a positioning position and a positioning orientation of the at least one following motion arm based on the reference position and the reference orientation of the reference motion arm and a relative pose relationship between the plurality of motion arms; and controlling the at least one following motion arm to move to the positioning position and the positioning orientation.

Disclosed herein are embodiments of methods, in particular performed by at least one hearing device, uses of the method, hearing devices and hearing systems. The method can include determining a reference orientation and / or position, in particular a reference vector uref, of a hearing device; detecting at least one movement and / or acceleration of the hearing device; determining at least one deviating orientation and / or position, in particular at least one deviation vector vd, of the hearing device based on the detected at least one movement and / or acceleration; and determining at least one deviation, in particular at least one deviation angle θ, between the reference orientation and / or position, in particular the reference vector uref, and the at least one deviating orientation and / or position, in particular the at least one deviation vector vd.

A vehicle includes an imaging system including a first camera and a second camera in a housing mounted to the vehicle, and a processing circuit that uses a first calibration information obtained from a calibration of the first camera to generate a second calibration information to calibrate the second camera. The first calibration information identifies a first position difference between a position of the first camera and a reference position, and also identifies a first orientation difference between an orientation of the first camera and a reference orientation. The second calibration information includes a second position difference between the second camera and the reference position, and a second orientation difference between the second camera and the reference orientation. Generating the second calibration information includes combining the first calibration information with translation information providing a position difference and an orientation difference between the first camera and the second camera.

The present disclosure relates to a vehicle control device, which improves techniques related to posture determination based on likelihood of a person's posture. A vehicle control device (20) is provided with a control unit (200) that derives, from an image of an object at a first time point, a reference orientation likelihood indicating a likelihood that the orientation of the object is a reference orientation at the first time point, and a nearest orientation likelihood indicating a likelihood that the orientation of the object is a nearest orientation. Calculating a likelihood ratio, which is the ratio of the reference posture likelihood and the nearest posture likelihood at the first time, the nearest posture being a posture that may be taken before and after the object has transitioned to the reference posture; when the reference posture likelihood at the first time is greater than or equal to a threshold value and the likelihood ratio at the first time is greater than or equal to a first predetermined value, a mark indicating that the posture of the object is the reference posture is ON. When the reference posture likelihood at the first time is lower than a threshold value or the likelihood ratio at the first time is lower than a first predetermined value, the marker is set to OFF.

The two-dimensional code has a plurality of optically readable distinct identification marks arranged in a two-dimensional area, wherein the plurality of identification marks includes a reference identification mark and further includes at least one data identification mark, each representing at least one data value, wherein the at least one data value is represented by at least one distance between the reference identification mark and the at least one data identification mark, and also by at least one angular displacement of the at least one data identification mark relative to a reference direction, wherein the reference direction is based on at least one of the plurality of identification marks being asymmetric or including at most one line of symmetry.

This application discloses a falling object detection method, apparatus, and computer-readable storage medium. The falling object detection method includes: acquiring a moving target region image in an image to be identified; tracking the moving target in the moving target region image to obtain the trajectory information of the moving target; and determining whether a falling object phenomenon has occurred in the image to be identified based on the moving target trajectory information; wherein the falling object phenomenon includes a change in the position of the moving target in a reference direction. Through the above methods, this application can improve the accuracy of falling object detection.

An electronic device according to an embodiment may include a camera and a processor. The processor may be configured to obtain, from an image obtained using the camera, two-dimensional coordinate values representing vertices of a portion related to an external object. The processor may be configured to identify a first line extending along a reference direction on a reference plane included in the image and overlapping a first vertex of the vertices, and a second line connecting a reference point within the image and a second vertex of the vertices. The processor may be configured to, based on an intersection of the first line and the second line, obtain three-dimensional coordinate values representing each of vertices of a three-dimensional external space corresponding to the external object.

The application relates to the field of balance training, and discloses a balance training method, device and system of a balance board and a computer readable storage medium. The balance training method of the balance board comprises the following steps: outputting an instruction instruction indicating that a trainer treads the balance board according to a plurality of different reference orientations; collecting a maximum inclination angle corresponding to each reference orientation; selecting a plurality of training tread directions and setting an inclination angle coefficient corresponding to each training tread direction; determining an angle threshold corresponding to each training tread direction according to the maximum inclination angle corresponding to each reference orientation, so as to determine a set inclination angle; and outputting a corresponding training prompt according to the training tread direction and the corresponding set inclination angle, so that the trainer performs balance training according to the training prompt. In the application, information about the tread ability of the trainer treading the balance board is obtained, so that the training target of the trainer is reasonably set, the effectiveness and rationality of the balance training are ensured, and the training effect and training experience are improved.

A method for temperature measurement may be provided. The method may include obtaining an image of an object acquired by an imaging device. The method may also include determining an angle between the object and the imaging device based on the image. The angle may be defined by a reference direction and a direction that the object is facing. The method may further include determining a temperature of the object in response to determining that the angle satisfies a condition based on the image.

A method for controlling an excavator includes obtaining height information indicating a height according to a plane coordinate of a target object; obtaining, based on the height information, bend information of the target object according to a plurality of orientation angles which are angles between a reference direction and orientations direction of a bucket; determining, based on the bend information, volumes which can be dug corresponding to the plurality of orientation angles; determining, based on the volumes which can be dug, one or more orientation angles among the plurality of orientation angles; and digging according to the one or more orientation angles.

The invention provides a robot, a control method of the robot, and a computer program product. The robot includes: a base; a movable part mounted in a state of being rotatable about a predetermined rotation axis with respect to the base part; an actuator that rotates the movable part about a rotation axis; and one or more processing units. The one or more processing parts control the orientation of the movable part around the rotating shaft by controlling the operation of the actuator. The one or more processing units determine whether or not the orientation of the movable unit is within a predetermined angle range including a predetermined reference orientation. The one or more processing units control the actuator to a first state in which the rotation of the movable part is not restricted when the orientation is determined to be within the predetermined angle range, and control the actuator to a second state in which the rotation of the movable part is restricted when the orientation is determined to be within the predetermined angle range.

This calibration system is used for calibrating a pair of optical sensors that form an overlapping area in a scanning field of view in which scanning orientations of optical scanning are rotated in opposite directions around parallel main shafts in a host vehicle, wherein, if the scanning orientations set symmetrically for each optical sensor are defined as reference orientations, and if the scanning orientations at which the same object is detected within the overlapping area by each optical sensor (40) are defined as detection orientations, a processor is configured to: monitor an angle deviation (Δθ) between detection angles (θL, θR) from the reference orientation to the detection orientation of the same object for each optical sensor; and calibrate a time difference imparted between reference scanning times (tL, tR) at which the reference orientations are scanned by each optical sensor to a corrected time difference (Δt) correlated with the monitored angle deviation (Δθ).

A one-piece recirculation part intended to be housed in a cavity of a threaded member of a ballscrew mechanism comprises a bottom, facing in a reference direction of a reference axis, a recirculation path facing in the opposite direction and designed to pass through a thread of the threaded member, and at least one deflector, projecting from the recirculation path in the opposite direction to the reference direction. The deflector forms a guide face located at a distance from the recirculation path and facing in the reference direction, opposite a lumen in the one-piece part which extends parallel to the reference axis and opens onto the bottom and the recirculation path. When projected orthogonally onto a reference plane perpendicular to the reference axis, the first lumen surrounds or coincides with the guide face of the first deflector.

A plurality of two-dimensional (2D) images of a scene are received. Geometric information and semantic information of each of the plurality of 2D images are determined. The geometric information is indicative of lines and a reference direction of a respective 2D image detected. The semantic information includes classification information of pixels in the respective 2D image. Based on the geometric information and the semantic information of the respective 2D image, a layout estimate associated with the respective 2D image of the scene is determined. Based on a plurality of layout estimates determined to be associated with the plurality of 2D images of the scene, a combined layout estimate associated with the scene is determined. The Manhattan layout associated with the scene is generated based on the combined layout estimate. The Manhattan layout includes at least a three-dimensional (3D) shape of the scene, the three-dimensional (3D) shape including wall surfaces that are orthogonal to each other.

The invention relates to the technical field of optical measurement and semiconductor detection, discloses an optical three-dimensional shape detection device and method for the scratch depth of a 12-inch regenerated wafer incoming material, and aims to solve the defects in the aspects of quantitative measurement of the scratch depth, detection efficiency and adaptability of large-size wafers in the prior art. The method comprises the following steps: fixing a wafer to be detected on a bearing table, starting vacuum adsorption, and determining the reference orientation of the wafer through a positioning edge and notch identification function; the motion platform is controlled to drive the confocal sensor to comprehensively scan the surface of the wafer along the grating type path; acquiring height data in real time and transmitting the height data to the image processing unit; preprocessing the three-dimensional morphology data, constructing a macroscopic morphology reference surface and extracting residual morphology; automatically identifying a scratch area by using a Canny edge detection algorithm; calculating the local maximum depth and the global maximum depth of the scratch; and generating a detection report and uploading a result to the MES system. The system comprises a bearing table, an optical three-dimensional shape measuring module, a motion control module, an image processing unit and control software. According to the technical scheme, three-dimensional shape measurement with nanoscale resolution can be realized, the detection efficiency is improved, and the accuracy and reliability of a measurement result are ensured.

This medical manipulator system comprises: a medical manipulator having a bendable part that can be bent; an actuator for bending the bendable part; a controller to which a bending operation for bending the bendable part is input; and a control device capable of controlling the actuator on the basis of the bending operation. The controller has a main body part and an input element having a touch surface that a user inputting the bending operation touches. The control device drives and bends the bendable part on the basis of the amount of movement from an origin in the input element. The touch surface includes: a first touch surface that is disposed at the origin when the bendable part assumes a reference orientation; and a second touch surface that is disposed at the origin when the bendable part is bent from the reference orientation, wherein the first touch surface and the second touch surface have surface shapes different from each other.

An information processing device according to the present disclosure comprises a reference orientation information acquisition unit, a guidance target orientation information acquisition unit, a difference information generation unit, and an output unit. The reference orientation information acquisition unit acquires reference orientation information indicating a reference orientation. The guidance target orientation information acquisition unit acquires guidance target orientation information indicating the orientation of a guidance target. The difference information generation unit generates difference information indicating the difference between the reference orientation and the orientation of the guidance target. The output unit uses the difference information to output guidance text indicating, in text, guidance content for bringing the orientation of the guidance target closer to the reference orientation.

An optical alignment system (20, 300) is configured for receiving at least a first incident laser beam (30) having a first wavelength (λ1), a second incident laser beam (40) having a second wavelength (λ2), and a reference incident laser beam (50) having a reference wavelength (λref) and propagating along a reference direction (X0); and for forming at least first emerging beam (60) and a second emerging beam (65), propagating respectively in a first emerging direction (X1) and a second emerging (X2) direction which are controlled relative to the reference direction (X0), and counter-propagating relative to the reference incident laser beam (50). The optical alignment system (20, 300) comprises a movable alignment unit (70), an actuating unit (75); a splitting unit (80); a detection unit (85), comprising a first optical sensor (150), a second optical sensor (155); and an electronic control device (90), configured for determining the at least one positioning instruction for positioning the alignment unit (80) based on measurement data received from the first and second optical sensors (150, 155), and for transmitting said positioning instruction to the actuating unit, said positioning instruction allowing controlling at least a tilt of the first emerging direction (X1) and a tilt of the second emerging direction (X2) relative to the reference direction (X0).

The invention provides a box-type transformer inspection model establishment method, and relates to the technical field of data processing, and the method comprises the steps: controlling inspection equipment to carry out the information collection of target equipment, and obtaining the inspection data; performing element identification on the inspection data to obtain environment elements, performing multi-dimensional screening on the environment elements to obtain static reference elements, and generating an environment model based on the static reference elements; obtaining a position relationship between a target element corresponding to the target equipment and the static reference element, and obtaining a target orientation of the target element based on the position relationship and the reference orientation of the static reference element; performing model fusion on the standard box model corresponding to the target element and the environment model based on the target orientation to generate an inspection model; when it is determined that the image comparison result of the standard box-type model and the target element is inconsistent, the inspection model is updated according to the target element, an updated inspection model is obtained, efficient model construction can be conducted according to automatically collected data, and the accuracy of the inspection model is improved.

The invention relates to the technical field of bar code identification, and discloses a DM bar code positioning method comprising the following steps: dividing a DM bar code image comprising a DM bar code into a plurality of image blocks, and determining DM bar code image blocks in the image blocks; determining an approximate boundary direction of the DM bar code image according to the DM bar code image block; fitting a texture boundary line of the DM bar code image by taking the approximate boundary direction as a reference direction; and determining the DM bar code boundary by using the texture boundary line. According to the method, the DM image is divided into blocks, the block characteristics of each DM bar code image are analyzed, the approximate boundary direction of the DM bar code image is estimated, texture boundary line fitting is carried out by taking the approximate boundary direction as a constraint, real boundary segments broken due to contamination can be directionally searched and connected, and accurate positioning of the DM bar code is realized under complex conditions. The invention further discloses a positioning device for the DM bar code and bar code recognition equipment.

The application discloses an automatic calibration method and device, a vehicle, a medium, equipment and a program product, and belongs to the field of data processing. The method comprises the following steps: converting the position coordinates of the nose tip point and the pupil center point of a face in a camera coordinate system into the coordinates of the nose tip point and the pupil center point of the face in an image coordinate, establishing a corresponding face orientation coordinate system and a line of sight orientation coordinate system, and obtaining a second face orientation and a second line of sight orientation in the corresponding coordinate system; and calibrating at least one of a face reference orientation and a line of sight reference orientation in the camera coordinate system by using at least one of a first face orientation and a first line of sight orientation of a predetermined number of frames of images and at least one of a second face orientation and a second line of sight orientation corresponding to the first face orientation and the first line of sight orientation. The application can achieve the purpose of automatically calibrating a driver at the initial stage of starting the vehicle, improve calibration efficiency, and calibrate a suitable coordinate system for different drivers.

Embodiments of the present invention provide a two-dimensional code comprising a plurality of optically readable and distinct indicia arranged on a two-dimensional region wherein the plurality of indicia comprises a reference indicia and further comprises at least one data indicia, the at least one data indicia respectively representing at least one data value, wherein the at least one data value is represented by at least one distance between the reference marker and the at least one data marker and at least one angular displacement in the at least one data marker relative to a reference direction, and wherein the reference direction is based on at least one of the markers, the indicia are asymmetric or include less than one line of symmetry.

This disclosure relates to a map orientation correction method based on a display terminal. The method involves acquiring a first map constructed by a cleaning robot and the first display orientation of the cleaning robot's workstation relative to a reference direction in the display coordinate system of the display terminal. The reference direction is the same as the physical orientation of the display terminal in a three-dimensional spatial coordinate system. The method then acquires the first physical orientation of the workstation in the three-dimensional spatial coordinate system; determines a first target orientation of the first physical orientation in the display coordinate system; and corrects the display orientation of each boundary of the first map in the display coordinate system based on a first deviation angle between the first target orientation and the first display orientation, thereby obtaining a corrected first target map. The display orientation of each boundary of the first target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system. This ensures that the display orientation of the map displayed on the display terminal matches the actual physical orientation, improving the user experience.

The invention discloses a multi-frame image space-time perception enhancement method, system and device. The method solves the problem of poor consistency of spatial orientation and time sequence reasoning when a multi-modal large language model processes multiple frames of images. The method comprises the following steps: acquiring an image sequence and a text instruction; estimating camera poses of the image sequence to form a pose sequence; constructing a unified reference coordinate system and calculating a relative motion abstract amount; generating a pose track prompt graph based on the pose sequence and the abstract quantity, wherein the pose track prompt graph comprises a track top view panel for displaying a horizontal projection track and an observation direction of a camera center point, and an intra-frame orientation HUD panel which is superposed on a key frame and displays a course angle and a reference direction; jointly inputting the prompt graph and the text instruction into a multi-modal large language model; and receiving and outputting an answer or action instruction generated by the model. According to the method, the cross-frame space-time perception and consistency reasoning capability of the multi-modal large language model is enhanced.

The application is suitable for the field of 3D printing technology, and provides a tooth model automatic orientation method and device, electronic equipment and storage medium, wherein the method comprises the following steps: acquiring triangle mesh model data of a tooth model; traversing all triangle meshes spliced to form the tooth model; acquiring the number of triangle meshes of triangle mesh groups with the same normal vector direction and continuous common edges; determining a reference direction in which the bottom surface of the tooth model points according to the normal vector direction corresponding to the continuous common edge group in which the maximum number of triangle meshes Nmax is located; performing angle and coordinate conversion processing on the tooth model data to make the tooth model vertically downward to the xy plane in the reference direction; and storing the three-dimensional data of the processed tooth model in a storage unit. The application can automatically orient the bottom surface of the tooth model downward.

A measurement device (20) comprises: a conduit opening insertion part (21) having a shape that allows the outer diameter thereof to fit the inner surface of a conduit (11) and the inner diameter thereof to fit a probe (12); a support column (22) having a lower portion that is installed inside a manhole (10) and an upper portion that is installed outside the manhole (10), the support column (22) holding the conduit opening insertion part (21) such that the vertical position, the horizontal position, and the orientation thereof are variable; a tripod (23) (supporting part) that vertically supports the support column (22) outside the manhole (10); a satellite positioning device (25) that measures the absolute coordinates of a reference point (24) of the support column (22) set outside the manhole (10); a first distance meter (26) that measures the vertical distance between the conduit opening insertion part (21) and the reference point (24); a second distance meter (27) that measures the horizontal distance between the conduit opening insertion part (21) and the reference point (24); an azimuth meter (28) that measures a reference azimuth; and an angle meter (30) that measures the angular difference between the measured reference azimuth and the orientation of the conduit opening insertion part (21).