872 results about "Reference plane" patented technology

The invention discloses a material movement behavior monitoring method and system based on monocular vision, and relates to the field of material movement monitoring, and the method comprises the steps: firstly collecting a material movement video through a monocular high-speed camera, and extracting a continuous state sequence of a material on a two-dimensional image plane through employing an instance segmentation and time sequence tracking technology; the method is characterized in that a time sequence deep learning model is introduced to analyze a state sequence, and a key event that a material collides with a working surface of equipment is automatically identified, so that the collision moment and contact point coordinates are accurately obtained. In this way, the collision contact point is used as a geometric anchor point for three-dimensional space back calculation, a two-dimensional image track is reversely projected and reconstructed into a three-dimensional space motion track in combination with internal parameters of a camera and physical parameters of an equipment reference plane, then key kinetic parameters such as the speed and the recovery coefficient are calculated, and low-cost and high-precision automatic online monitoring is achieved.

The invention relates to a quadruped robot laser odometer method based on ground point optimization, hardware and application, and the method comprises the steps: obtaining an original point cloud collected by a laser radar, carrying out the preprocessing, dividing a polar coordinate region, jointly extracting ground plane feature points and ground geometric edge feature points based on normal vector and local curvature features, and carrying out the calculation of the ground plane feature points and the ground geometric edge feature points; ground geometric edge feature points are utilized to optimize ground model fitting; optimizing a point set of the ground based on a time sequence reference plane of the ground; the optimized ground points are removed, and non-ground point features are extracted from the remaining point clouds; establishing feature association between the feature points in the current frame and the target point cloud, and screening effective matching pairs; a cascade weight optimization objective function associated with the ground point plane constraint, the non-ground point line feature constraint and the surface feature constraint is constructed, and continuous pose transformation of the quadruped robot is solved; hardware is realized based on the method, and the method is applied to real-time pose estimation and environment mapping of the quadruped robot in outdoor unstructured terrains and complex dynamic environments.

The invention discloses a curved surface porous structure modeling simulation method and system for finite element analysis, and belongs to the technical field of mechanical engineering simulation, and the method mainly comprises the steps: carrying out the initial grid division of a target curved surface part, and obtaining a grid node set covering a curved surface; according to a preset hole center coordinate, three closest grid nodes are automatically searched in the grid node set, a local reference plane is established, and the hole axis direction is determined; generating an offset sketch plane in the normal direction of the reference plane, projecting the hole center to the sketch plane, drawing a circular sketch, and executing a stretching and cutting command to form a hole; and circularly executing the operation to realize automatic generation of multiple holes on the curved surface. And finally, the porous structure is subjected to grid division again, so that subsequent operation is facilitated. According to the method, the modeling process is combined with parameterization analysis and an automatic process, the efficiency and stability of porous modeling of the complex curved surface structure are remarkably improved, and a basis is provided for finite element pretreatment of the complex curved surface structure.

A system and method directed to detecting placement of a medical device within a patient body, the system including a medical device including a multi-core optical fiber having a plurality of core fibers. Each of the plurality of core fibers can include a plurality of sensors each configured to reflect a light signal having an altered characteristic due to strain experienced by the multi-core optical fiber. The system can further include logic configured to determine a 3D shape of the medical device in accordance with the strain of the optical fiber. The logic can be configured to define a reference plane for the 3D shape and render an image of the 3D shape on a display of the system in accordance with the reference plane.

The invention discloses a three-dimensional magnetic field bionic seal beard sensor based on a Hall effect. The sensor comprises a mounting frame, a Hall chip, a universal joint component, bionic beards and magnets, wherein the Hall chip and the universal joint component are arranged on the mounting frame; the bionic beards are arranged on the universal joint component; the universal joint component is used for enabling the bionic beard to swing in a first direction and a second direction in a reference plane perpendicular to the center line of the bionic beard after the bionic beard is subjected to the acting force of fluid, the first direction is perpendicular to the second direction, and the universal joint component enables the bionic beard to reset after the bionic beard is not subjected to the acting force of the fluid; the magnetic flux density of the magnets changes along with the movement of the bionic beards; the Hall chip is used for sensing magnetic field information. While the characteristics of strong environmental adaptability and high sensitivity of a conventional bionic beard sensor are reserved, the limitation of one-way sensing of the sensor is broken through, the synchronous detection capability of the flow velocity, the flow direction and the vortex street frequency is improved, and the application range of the sensor in a complex underwater scene is widened.

The invention discloses a method and system for processing a circular weld joint based on point cloud data, and belongs to the technical field of machine identification of weld joints, and the method comprises the following steps: collecting the point cloud data of the surface of a workpiece through a visual sensor; preprocessing the collected point cloud data; calculating a normal vector of each point in the point cloud data; segmenting the workpiece surface point cloud and the reflective interference points based on a normal vector, and filtering the interference points deviating from a preset range in the normal direction to obtain a target point cloud and a reference point cloud; projecting the target point cloud to a reference plane obtained by fitting the reference point cloud, generating a target projection point cloud, detecting boundary points of the target projection point cloud, screening candidate weld joints based on distance distribution from the boundary points to the center of mass, and extracting weld information. According to the method, the workpiece made of the material with high light reflection is treated, the finally obtained result can still keep good precision, and the quality of the workpiece is improved.

The invention discloses a multi-view three-dimensional reconstruction driven cattle body size online measurement method, and relates to the technical field of animal husbandry three-dimensional measurement, and the method comprises the steps: extracting a ground reference plane, a segment elevation function, a guardrail reference line, a segment guardrail spacing, a periodic pitch and a hoof ground contact event, and generating a calibration opportunity score in combination with a pixel-level quality weight map; in the sliding window factor graph, jointly solving an external parameter rotation matrix, an external parameter translation vector and a global scale by taking the prior as a constraint, and outputting an uncertainty matrix; implementing hierarchical self-recovery according to the comprehensive health degree and the score, and replacing safe writing with double buffer atoms; carrying out weighted splicing under a unified measurement coordinate and carrying out profile robust measurement, forwards transmitting uncertainty to a body size layer and supporting individual multi-time column-passing convergence; the method is suitable for channel visibility interruption and structure variable scenes, and under the condition of uninterrupted release, measurement consistency is kept and auditable results are output.

The invention relates to the technical field of numerical control machining measurement and correction, and discloses a machining surface correction method for a numerical control milling center. The method comprises the steps of establishing an original point cloud of a processing surface and extracting a feature structure; analyzing each feature structure to form a structured description list; inputting the list into a geometric growth model, and generating a virtual feature structure set according to rule iterative evolution; extracting and rasterizing the contour and the height field, carrying out registration fusion with a reference plane equation, and carrying out variation calculation to obtain a smooth middle geometric surface; performing adaptive resampling on the intermediate surface to generate an intermediate point cloud; and finally, according to the spatial frequency distribution of a topological residual field formed by the difference between the original point cloud and the intermediate point cloud, adaptively determining a weight, and carrying out weighted mixing on the original point cloud and the intermediate point cloud to generate an optimized surface point cloud. According to the method, intelligent evolution of the machined surface features and frequency domain self-adaptive data fusion are achieved, and the correction machining precision and the surface forming quality are improved.

The invention provides a one-key alignment method for heavy-load equipment in multiple scenes, which comprises the following steps of: acquiring a gravity direction component of an equipment body, and establishing a magnetic attitude reference coordinate of the equipment body by combining the reading of a tilt angle sensor and a horizontal reference plane of an optical ranging unit and a calibration point. Capturing the spatial distribution information of the mark points, calculating the offset of the current attitude of the equipment relative to the horizontal reference plane according to the geometric constraint among the mark points, and generating an initial attitude mapping matrix; and reading the angular velocity and the acceleration of the inertial navigation system, determining the deviation between the inertial attitude and the visual attitude, and generating a combined attitude calculation result. The hydraulic cylinder and the rotating table are driven to be synchronously adjusted according to the deviation value between the current attitude of the equipment and the target mounting point, the change trend of the attitude angle is monitored, and suppression feedback is triggered to adjust the fusion weight of the sensor. And calling a micro-motion mechanism to execute a fine pose adjustment instruction, monitoring a pose error in real time, and generating a pose locking report when the pose error is within a tolerance range.

The invention discloses a method for generating a cutting track of a convex riser on the surface of a casting based on machine vision, and the method comprises the steps: carrying out the self-adaptive anisotropic downsampling of an original point cloud, so as to reduce the data volume while keeping key geometric features; performing robust principal component analysis plane fitting on a point cloud downsampling result to obtain a reference plane parameter of the casting body under a preset coordinate system; differential geometry-based riser region segmentation is carried out on the point cloud downsampling result according to the reference plane parameters, and convex riser region point clouds are obtained; according to the point cloud of the convex riser region, constructing a triangular mesh curved surface about the surface of the convex riser; performing plane cutting on the triangular mesh curved surface to obtain a cutting contour line; based on a beam projection method, an initial cutting path is obtained according to the cutting contour line; and constructing a cutting path optimization energy functional so as to optimize the initial cutting path to generate an optimal cutting track of the convex riser on the surface of the casting. The problems that a traditional manual cutting mode is low in cutting efficiency, poor in precision, poor in consistency and large in potential safety hazard are solved.

The invention provides a calibration piece and a calibration method for a multi-port waveguide antenna test system, and a test method and a test system for a multi-port waveguide antenna, in the calibration piece, a positioning structure can ensure the repeatability of each connection, which is the premise of high-precision calibration, and the calibration accuracy is greatly improved. The load unit, the offset short circuit unit and the offset load unit are provided with a plurality of waveguide ports which are the same as those of a tested piece and can be directly butted, the internal structure of the waveguide port of the load unit is an antenna, electromagnetic wave energy can be radiated out instead of being absorbed internally, and high precision and stability of the load standard are guaranteed; according to the method, the reference surface can be determined at the interface of the tested piece, the calibration error model can be directly tested on the reference surface, the accuracy is good, and the solved calibration error model contains all time-varying characteristics of the whole test link during each calibration, so that the method can be used for frequently calibrating according to requirements, and the calibration accuracy is high. Measurement errors caused by temperature drift and link loss can be handled, and the efficiency is high.

The invention discloses a road marking thickness detection method and device, equipment and a medium, and relates to the technical field of marking measurement. The method comprises the following steps: acquiring road videos of a plurality of video sources, wherein the road videos comprise a plurality of continuous video frame images; performing two-dimensional image analysis on the road video to obtain a visual health score of a marking area in a video frame image; determining a target marking area as an abnormal area, wherein the target marking area comprises a marking area of which the visual health score is lower than a preset threshold value; performing reference plane fitting and thickness calculation on the abnormal region to generate a thickness change profile map; and performing quality detection on the abnormal region based on the thickness change profile map to obtain a detection result. According to the invention, rapid detection of the thickness of the road marking can be realized, and the technical effect of improving the detection efficiency is achieved.

The utility model provides a power module which comprises an insulating plate, a transformer and a first shielding layer, the insulating plate comprises a flat plate part, the transformer comprises a magnetic core and a first winding wound on the magnetic core, the first winding comprises a first part and a second part which are electrically connected, the first part is located on the side, away from the magnetic core, of the insulating plate, and the second part is located on the side, away from the magnetic core, of the insulating plate. The second part is arranged in the insulating plate in a penetrating manner; the first shielding layer is at least arranged on one side, facing the magnetic core, of the insulating plate; in a first reference plane parallel to the flat plate part, the projection of the magnetic core is located in the projection range of the first shielding layer. The first shielding layer is arranged on the side, facing the magnetic core, of the insulating plate, and the projection of the magnetic core is located in the projection range of the first shielding layer, so that the air field intensity around the magnetic core can be reduced through the first shielding layer, the insulating service life is prolonged, and the product reliability is improved.

The invention relates to a measuring arrangement for the interferometric determination of the surface shape of a test object, wherein a test wave generated from electromagnetic radiation and reflected at the test object can be superimposed with a reference wave not reflected at the test object, with a reference element (110, 210, 310, 410) having a reference surface (112, 212, 312, 412) which, in the optical beam path, splits off the reference wave from the test wave before it strikes the test object (120, 220, 320, 420) by reflection, and at least one beam shaping surface (111, 211, 311, 411, 413, 414) located in the optical beam path in front of the reference surface, wherein this beam shaping surface is designed as an aspherical distortion correction surface such that a distortion occurring in a predetermined reference plane of the measuring arrangement is reduced. The invention further relates to a method for manufacturing an optical element for such a measuring arrangement.

The invention relates to the field of surveying and mapping science and technology, in particular to a complex waterline identification and extraction method based on point cloud. The method comprises the following steps: acquiring airborne laser point cloud and ground laser point cloud, and carrying out coordinate unification and fusion to obtain an original point cloud set; setting a height threshold based on the elevation distribution characteristics of the original point cloud set, and filtering noisy points of a near-shore water area to obtain a preprocessed point cloud set; repeated random sampling is carried out in the preprocessed point cloud set, and a preset threshold value is utilized to fit an optimal plane as a projection reference plane; therefore, by introducing a neighborhood geometric analysis and circle center backstepping judgment mechanism based on the projection point cloud, robust recognition of the waterline points in the complex terrain is realized, and the problem that a traditional method is easy to cause misjudgment in vegetation interference, local mutation and multi-scale slope break areas is solved; and the continuity and reliability of waterline extraction in a complex surface environment are improved.

The invention is notably directed to end effector (10, 10a) for an automated vehicle charging robot (1). The end effector (10, 10a) comprises: a connecting module (100), which is delimited by a reference plane (P) and is designed to enable a connection of the end effector (10, 10a) to a robotic arm (40) of the charging robot (1) on a first side of the reference plane (P); an electrical connector (106, 108) including a body (108) and a plug (106), the plug designed to connect to a charge port (220) and arranged at an end of the body (108), wherein the body (108) extends from the connecting module (100) to the plug (106) on a second side of the reference plane (P), the second side opposite to said first side, along an extension direction (De) that is transverse to the reference plane (P); and an actuator (114, 115) that protrudes from said body (108), transversely to said extension direction (De), the actuator (114, 115) designed to actuate a door (210) of the vehicle charge port (220). The invention is further directed to: a functionalized robotic arm (40), which includes such an end effector; an automated vehicle charging system (1), which includes such a robotic arm; and a method of electrically charging an electrical vehicle using such a functionalized robotic arm.

The invention discloses a geometric deviation detection system based on a pipe fitting, particularly relates to the field of image processing and three-dimensional geometric measurement, and is used for solving the problem of unstable geometric deviation judgment caused by cross section mixing under the conditions of step transition and shielding reflection of an inner cavity of the pipe fitting. Collecting a multi-view depth image and generating an original point cloud, and combining to form a unified point cloud after de-noising registration is completed; establishing an axial coordinate and a slice interception window according to a detection direction to obtain a candidate slice point set and construct an axial density curve, and generating a layering boundary through peak structure discrimination and segmenting the layering boundary into a layering point set; projecting the layered point set to a reference plane to form an initial section point set, taking an outer edge by adopting angle segmentation to obtain section contour points, fitting to obtain section geometric parameters, and determining a pure section point set by combining adjacent axial position consistency evaluation; and the section geometric parameters reflect the uniform point cloud to calculate the radial residual error and perform self-consistent judgment, and when the self-consistent judgment is not performed, the center of the slice interception window is driven to correct, and a stable geometric deviation detection result is output.

The invention provides a teleoperation method and a robot. The method comprises the following steps: receiving operator attitude data sent by an inertial measurement unit IMU system; according to the operator attitude data, target attitude data of the humanoid robot are determined, and the target attitude data comprise the tail end target pose and the target arm angle of the seven-degree-of-freedom mechanical arm; the arm angle is a dihedral angle between a plane where the shoulder part, the elbow part and the wrist part of the seven-degree-of-freedom mechanical arm are located and a target pose and a target arm angle surface of a reference flat tail end; according to the target posture data, motion parameters of all joints of the humanoid robot are determined; and generating a control instruction according to the motion parameters. By means of the method, the uncertainty of null-space motion can be effectively eliminated, and the robot motion is more personified.

An electronic device may include signal transmission circuitry having a signal path and a signal source that transmits a signal on the signal path. First and second signal couplers may be coupled to the signal path. Control circuitry may use the first signal coupler to measure the signal at a first reference plane and may use the second signal coupler to concurrently measure the signal at a second reference plane. The signal measurements may include power wave, forward wave, reverse wave, impedance, and / or delivered power measurements. Terminations in the signal couplers may be adjusted to dynamically shift the reference planes. The first and second signal couplers may be formed from first and third metallization layers on a stacked dielectric substrate, where the signal path is formed from a second metallization layer. Additional signal couplers may be coupled to the signal path for concurrently measuring additional reference planes.

The invention relates to the technical field of hygienic product production and manufacturing, and discloses an online high-speed sanitary towel spraying decoration system and method. The method includes acquiring a real-time surface image stream of the substrate by an upstream optical sensor array, including multispectral reflectance and microtopography data. And dynamically fitting a virtual reference plane based on the statistical median of the morphology data so as to adapt to material movement and surface fluctuation. And establishing a spraying control grid on the plane, and mapping reflection data to each grid point. Reversely solving a pigment theoretical saturation point according to the lattice point reflection characteristics, and calculating the initial spraying dosage of each point according to the pigment theoretical saturation point. And a multi-nozzle cooperative spraying instruction is generated in combination with the conveying speed. The method can adapt to the state change of the base material in real time, and accurate pattern positioning and dose on-demand supply on a high-speed production line are achieved, so that the uniformity and definition of a decorative layer are improved, and raw materials are saved.

A measuring transducer includes: a transducer module including a housing and a coil within and connected with the housing; and, set in the transducer module, a transducer module including a tube and a magnet secured on a middle segment of the tube. The tube wall is so formed that a directrix of a channel surface of the middle segment extends outside a first reference plane of the measuring transducer defined by first and fourth reference axes, and the magnet is secured on the middle segment such that a second reference plane of the measuring transducer defined by second and fourth reference axes is parallel to a third reference plane defined by third and fifth reference axes or that the second and third reference planes intersect one another to form an angle of intersection of no more than 1°.

The invention relates to the technical field of robot spraying, in particular to a robot spraying track optimization method and system for a liquid cooling plate. The method comprises the following steps: acquiring a cross section contour height set of the surface of the liquid cooling plate by using a line laser contour sensor; determining a first-order morphology slope and a second-order morphology curvature corresponding to each preset track center line through differential processing; then, in combination with a preset basic geometric compensation coefficient, a tension migration gain coefficient and a sensitivity response coefficient, calculating to obtain a surface topography coupling compensation index reflecting the paint migration risk and the projection expansion effect; based on a product relationship between the index and a preset reference plane line spacing, adaptively determining a dynamic line spacing of a next track; and finally, the robot is driven to execute variable-pitch spraying operation based on the dynamic line spacing. According to the scheme, the film thickness deficiency is compensated by increasing the physical overlapping rate, and the uniformity of the complex topological surface coating is remarkably improved.

The utility model discloses an optical module, a vehicle lamp and a vehicle. The optical module comprises a first light guide component and a second light guide component. The first light guide component is provided with a light incident surface and a light emergent surface, and is configured to adjust light rays incident from the light incident surface into parallel light rays and emit the parallel light rays to the light emergent surface; the second light guide part is arranged on the light emitting side of the first light guide part through the mounting part; the light-emitting surface comprises a light-emitting main surface and a diffusion sub-surface, and the diffusion sub-surface is arranged on at least part of the peripheral side of the light-emitting main surface; a reference plane lambda perpendicular to the parallel light rays is used as a projection plane, and the diffusion sub-plane is configured to diffuse the parallel light rays incident to the diffusion sub-plane, so that the area of an irradiation area, on the reference plane lambda, of the light rays emitted from the light emitting surface is larger than the orthographic projection area, on the reference plane lambda, of the light emitting surface. The light-emitting area of the second light guide part is increased through the diffusion effect of the diffusion sub-surface; and the overall lighting uniformity of the second light guide part is improved.

Provided is a headset including a speaker and a wearing part. The speaker includes a diaphragm. The wearing part includes a cavity and a sound output port. The cavity includes an accommodating room and an acoustic channel. The speaker is arranged in the accommodating room. The diaphragm is arranged facing the acoustic channel. The sound output port is arranged on an end of the acoustic channel away from the accommodating room. The acoustic channel extends curvedly in a reference plane. In the sound propagation direction, the cross-sectional area of the acoustic channel progressively increases.

The present disclosure provides a semiconductor package structure and a semiconductor packaging method, and relates to the technical field of semiconductor. The semiconductor package structure comprises a package substrate, a random access memory chip bonded with a first connecting part on the package substrate, a package layer covering the random access memory chip on the package substrate, a redistribution layer on the package layer, a second conductive wire at least partially located in the package layer and connecting a second connecting part on the package substrate and a bottom surface of the redistribution layer, and a flash memory chip on the redistribution layer and bonded with a top surface of the redistribution layer. The redistribution layer comprises a signal line and a reference line, the signal line is used for signal transmission between the flash memory chip and the package substrate, and the reference line is used for providing a reference plane for signal transmission. The present disclosure can improve the warping, delamination and other problems of semiconductor devices, and improve signal integrity and power integrity.

The axial flow wind wheel comprises a hub and a plurality of blades, the multiple blades are connected to the peripheral wall of the hub and arranged at intervals in the circumferential direction of the hub, notches are formed in the blade tail edges of the blades, the projection of the axial flow wind wheel on a reference plane is the wind wheel projection, and the axial flow wind wheel is arranged in the notches. The reference plane is perpendicular to the rotating axis of the axial flow wind wheel, on the wind wheel projection, the intersection point of the blade tail edge and the blade top of the blade is an intersection point Q, the intersection point of the blade tail edge and the blade root of the blade is an intersection point N, the contour line of the notch is a notch contour line, the intersection points of the notch contour line and the blade tail edge are an intersection point P and an intersection point K respectively, and the intersection point P is located on the side, close to the blade top, of the notch. The intersection point K is located on the side, close to the blade root, of the notch, and the distance between the intersection point P and the intersection point Q is smaller than that between the intersection point K and the intersection point N. According to the axial flow wind wheel provided by the embodiment of the invention, low-efficiency areas in the blade tail edges and the blade tops of the blades can be effectively removed, so that the operation efficiency of the axial flow wind wheel is improved.

This disclosure relates to the field of semiconductor technology, providing a semiconductor structure and its manufacturing method. The semiconductor structure includes: a transistor structure and a capacitor structure arranged along a first direction, the capacitor structure extending along the first direction; and a word line staircase structure arranged at intervals from the transistor structure along a second direction, the word line staircase structure extending along the first direction, the first direction intersecting the second direction, and the word line staircase structure and the transistor structure being electrically connected. Using a plane perpendicular to the second direction as a reference plane, the orthographic projection of the transistor structure onto the reference plane is a first projection, the orthographic projection of the capacitor structure onto the reference plane is a second projection, and the orthographic projection of the word line staircase structure onto the reference plane is a third projection. The third projection covers the first projection, and the third projection partially overlaps with the second projection. This disclosure at least helps to improve the integration density of the transistor structure and capacitor structure in the semiconductor structure.

To provide a foot switch and surgical device for ophthalmic surgery that offer improved operability. [Solution] The oscillating part of the side switch rotates and oscillates left and right around a rotation axis extending in the front-rear direction, within a predetermined oscillation range between an inner standby position when the side switch is not operated and an outer operating position when the side switch is operated. The side switch biasing part biases the oscillating part toward the standby position within the oscillation range. When the oscillating part is in the standby position, the point of application of the force required to operate the push switch is located inside a virtual reference plane extending vertically upward from the rotation axis of the oscillating part. When the oscillating part begins to rotate and oscillate from the standby position toward the operating position, the height of the point of application gradually increases as it moves outward from the standby position.

The present application relates to the field of tool processing, and particularly relates to a processing technology for metal ceramic vertical installation forming groove tool. The processing technology comprises the following steps: step 1: processing a blank into a tool finish with a positioning bevel; step 2: processing a reference plane on the end face of the tool finish at the chip rolling groove, the included angle between the reference plane and the end face is the angle of the tool clearance angle; step 3: processing a tool tooth with a clearance angle and a side clearance angle at the reference plane of the tool finish, and detecting the tooth profile data of the tool tooth, the tooth profile data includes tooth width, tooth depth and angle, the detection of the tooth profile data adopts a projection comparison detection method, a standard tooth profile is fixed on a projection surface, and the tool tooth to be detected is enlarged through projection, if the tool tooth data is correct, the tool tooth data is coincident with the standard tooth profile; and step 4: processing the tool chip rolling groove, and performing passivation and coating treatment on the blade edge. Through the implementation of the present application, the processing and detection efficiency of the forming groove tool is improved.