1480 results about "Reference plane" patented technology

The invention provides a regeneration wafer defect detection method and system based on point cloud, and belongs to the technical field of semiconductor manufacturing detection, and the method comprises the steps: carrying out the registration and fusion processing of the point cloud data of a target wafer, and obtaining the target point cloud data; performing plane fitting on the target point cloud data to determine a reference plane; performing feature extraction on the target point cloud data relative to the reference plane to obtain feature data; positioning a defect area based on the feature data, and calculating geometric parameters of the defect area; correcting the geometric parameters by using a preset error compensation model to obtain target geometric parameters; inputting the position of the defect area, the target geometric parameter and the feature data of the corresponding defect area into a defect classification model to obtain a defect type of the defect area; and generating a defect detection result of the target wafer based on the defect types, the positions, the target geometric parameters and the feature data of all the defect areas of the target wafer. According to the invention, the efficiency and reliability of regenerated wafer defect detection are improved.

The invention relates to the technical field of computer vision detection, and discloses a height feature information generation method, device and equipment based on point cloud and a medium, and the method comprises the steps: obtaining three-dimensional point cloud data of the surface of an object to be detected, carrying out the preprocessing of the data to obtain a target point cloud, and carrying out the reference plane fitting of the target point cloud, and calculating the vertical distance of each point in the target point cloud based on the reference plane obtained by fitting and generating height difference data, and finally extracting and outputting surface height feature information according to the height difference data. According to the method, the three-dimensional point cloud data is subjected to preprocessing noise removal, datum plane accurate fitting and height difference data separation, high-precision extraction of tiny height changes of a complex surface is achieved, the detection efficiency is improved, dependence on high-cost optical equipment is reduced, and the method is compatible with various workpiece shapes.

The invention relates to the technical field of artificial intelligence processing, in particular to a manufacturing and processing system based on artificial intelligence simulation control parameters. According to the manufacturing and processing system, three-dimensional space-time coding is carried out on vibration, temperature and deformation time-varying signals through a multi-mode sensing module; generating a composite feature body including an equipment rigidity distribution matrix, a thermal deformation gradient vector and a material residual stress tensor, and solving the problems of spatial-temporal asynchronization and physical field feature splitting of multi-source data; the parameter resolving module constructs a parameter incidence matrix based on a fractal neural network, combines dynamic constraint conditions of thermal deformation gradient vectors, performs multi-objective optimization on a rigidity distribution matrix and residual stress tensor, generates an initial parameter solution set for eliminating time-lag deviation, and breaks through the nonlinear coupling optimization bottleneck of a traditional static model; and the state dissociation module calls a historical wear feature library to construct a performance attenuation reference surface, and tool accumulated wear and instantaneous thermal deformation disturbance are synchronously inhibited through convolution operation and projection correction of a dynamic compensation factor.

The invention discloses a fabric draping form three-dimensional quantification method, and belongs to the technical field of fabric draping form quantification, and the method comprises the steps: carrying out the three-dimensional scanning of a fabric sample, constructing a draping three-dimensional model of the fabric sample, determining the maximum dissectable distance of the draping three-dimensional model, selecting the sectioning step length, and calculating the number of sectioning layers. Determining the number of horizontal section cutting planes parallel to the horizontal reference plane, and dividing the three-dimensional suspension model into a plurality of suspension sub-models along the positive direction of the normal axis; calculating an orthogonal projection area and an orthogonal projection contour perimeter of each suspension sub-model on a horizontal reference plane according to the coordinates of all surface vertexes of each suspension sub-model, and further calculating a layered suspension index of each suspension sub-model; and taking the arithmetic mean value of the layered drape indexes of the drape sub-models as a drape index for quantifying the drape form of the fabric sample. According to the method, the problems of dimension deficiency and insufficient quantization precision in the prior art can be solved, and fine quantization of the drape form is realized.

The invention provides a substation equipment multi-view point cloud data fusion three-dimensional modeling method and system. The method comprises the steps of obtaining original point cloud data under multiple views and synchronously updating an equipment surface feature topological relation; setting a registration reference surface matched with the geometric structure of the equipment according to the spatial distribution characteristics of the point cloud; carrying out rigid alignment by adopting a point cloud registration algorithm based on a feature weight; and calling a curvature constraint-based three-dimensional reconstruction algorithm through the registration error parameters to generate a high-precision grid model. Wherein the registration reference plane setting needs to judge the point cloud coverage integrity and the overlapping area condition, and when the condition is not met, the collection view angle is adjusted or the point cloud data is complemented; the registration condition is judged through a curvature consistency index; the three-dimensional reconstruction process comprises voxel down-sampling, curved surface function construction and grid optimization, and the final model needs to be subjected to electrical safety verification. According to the method, high-precision three-dimensional modeling of the substation equipment can be realized, and the geometric feature reduction degree and the electrical safety verification reliability are improved.

The invention discloses a test pit volume measurement system based on three-dimensional laser scanning, relates to the technical field of engineering measurement, and mainly solves the technical problems that a traditional test pit volume measurement method is low in efficiency, poor in precision and greatly influenced by human factors. According to the technical scheme, the system is characterized in that a three-dimensional laser scanner with the scanning distance being 0.5-150 m and the point cloud density being 10000-500000 points per square meter is adopted to scan a test pit area from a plurality of sites; recognizing four symmetrically arranged targets through a point cloud registration module in the control processing unit to realize multi-site cloud data fusion; after denoising processing is carried out by using the point cloud filtering module, a surface model is constructed by using the triangulation network modeling module, and finally, the closed volume is calculated based on the spatial relationship between the triangulation network model and the fitted reference plane through the volume calculation module. The system is mainly used for accurately measuring the earthwork volume in filling and excavation projects in the fields of water conservancy, traffic, mining industry and the like.

A shadow generation method for a three-dimensional model, the method comprising: acquiring light source information of a virtual light source and an observation parameter of a virtual camera, wherein the light source information is used for forming an illumination effect of the virtual light source in a virtual scene, and the observation parameter is used for forming a field-of-view range of the virtual camera in the virtual scene for a three-dimensional model; on the basis of the light source information and the observation parameter, generating a multi-angle contour map corresponding to the three-dimensional model, wherein the multi-angle contour map is used for representing an initial shadow; on the basis of the light source information and the observation parameter, projecting the multi-angle contour map onto a reference plane, so as to obtain a hard shadow image corresponding to the three-dimensional model; on the basis of the light source information and material attributes of the three-dimensional model, obtaining a shadow feature of the three-dimensional model; and inputting the hard shadow image and the shadow feature into a trained shadow prediction model based on a convolutional neural network, and on the basis of the hard shadow image and the shadow feature and by means of the shadow prediction model, outputting a soft shadow image corresponding to the three-dimensional model.

A derailleur hanger includes a first portion and a second portion. The first portion includes a first part and a second part extending from the first part. The second part includes an axle receiving bore configured to receive a hub axle. The second portion is configured to support a derailleur. The first part includes a frame contact surface disposed in a reference plane extending perpendicular to a center axis of the hub axle in an installed state where the derailleur hanger is mounted to the hub axle. The second portion includes a first surface disposed on a first side of the reference plane. A vehicle center plane is positioned at a second side of the reference plane in the installed state. The second part is disposed on the first side in the installed state, and is disposed at least partially farther from the reference plane than the first surface.

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 discloses a flexible circuit board warping degree non-contact detection method and system, and the method comprises the steps: carrying out the multi-angle scanning of a target flexible circuit board, and obtaining three-dimensional point cloud data; separating a component area and a circuit board substrate area based on a deep learning algorithm, and constructing a circuit board substrate three-dimensional model; a reference reflecting plate is arranged at the bottom of the three-dimensional model, relative spatial position parameters of a reference plane and the detection device are obtained in real time, and a circuit board three-dimensional substrate model is constructed; constructing a self-adaptive coordinate system, and mapping the three-dimensional substrate model of the circuit board into a reference plane coordinate system; curvature parameters of all nodes of the three-dimensional model are calculated through differential geometric analysis, and a curved surface gradient tensor field is constructed; and obtaining a maximum warping amount, a regional warping gradient value and an overall warping degree distribution parameter. The method has the advantages that the warping degree of the circuit board is accurately evaluated through three-dimensional scanning, a deep learning algorithm and differential geometric analysis, and the method has the advantages of high precision, full automation and quick response.

The invention discloses an intelligent welding control optimization system and method for high-speed multi-pin connection, and relates to the technical field of welding control, and the system comprises a space coordinate obtaining module which is used for obtaining three-dimensional space coordinate data of multiple rows of intensive terminal pins; the coplanarity error calculation module is used for calculating the height deviation of each pin relative to the reference plane; the pre-welding compensation module is used for generating a compensation value and driving the fine adjustment mechanism to perform compensation; the connection reliability evaluation module is used for evaluating the connection reliability based on the updated coordinates; and the welding control decision optimization module is used for generating a welding control scheme. According to the method and the device, the technical problem of poor connection consistency and welding reliability caused by difficulty in realizing accurate identification of space errors before welding of multiple rows of intensive terminal pins in the prior art is solved, and the technical effect of improving the welding consistency and reliability by performing dynamic identification and automatic compensation on pin flatness errors before welding 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 provides a plate straightening machine, a straightening method and a control system. The plate straightening machine, the straightening method and the control system are suitable for straightening plates with the thickness far smaller than the length and the width and with warping, wave or fluctuating deformation on the surfaces. The method comprises the steps that a to-be-straightened plate is placed on a conveying roller way and fed into a straightening area; adjusting the initial height and loading pressure of the plurality of straightening sub-modules relative to the reference plane of the plate, and realizing preliminary matching and parameter calling of the plate and the straightening component; the straightening component is controlled to be started, the plate sequentially passes through a straightening path formed by upper and lower straightening rollers which are arranged in a staggered mode, and the straightening rollers are synchronously driven to rotate; the stress of the plate in different straightening roller areas and the pose parameters of the multiple straightening sub-modules are monitored in real time, the plate is repeatedly bent forwards and backwards when passing through the straightening sub-modules, residual stress is evenly released, and straightening correction of the plate is achieved step by step. By accurately adjusting the loading pressure and the lifting height in the straightening process, the residual stress distribution on the surface of the plate and the flatness after straightening are effectively improved.

The invention provides a straightening machine roll gap initial position calibration device and method and a straightening machine, and relates to the technical field of calibration equipment. The straightening machine roll gap initial position calibration device comprises a fine adjustment device, a distance measurement device and a calibration plate; the calibration plate is used for being placed on a lower straightening roller set of the straightening machine. The distance measuring device is used for measuring the distance between an upper straightening roller set of the straightening machine and the calibration plate. The fine adjustment device is arranged between the upper straightening rollers of the upper straightening roller set and a lifting beam of the straightening machine and used for finely adjusting the distance between the upper straightening rollers and the lower straightening rollers. Through the synergistic effect of the fine adjustment device, the distance measurement device and the calibration plate, the calibration plate provides an adjustment reference plane for coarse adjustment, the distance measurement device obtains a to-be-adjusted distance to thoroughly avoid interference of field light, personnel experience and the like, the fine adjustment device completes fine adjustment, and the fine adjustment device, the distance measurement device and the fine adjustment device cooperate to effectively improve the roll gap initial position calibration precision. And meanwhile, the device is suitable for multiple types of multi-roller straighteners such as five-roller straighteners and seven-roller straighteners, convenient to install and use and high in universality.

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 for detecting gluing defects and a storage medium thereof, and relates to the technical field of gluing detection.The method comprises the following steps that S10, a line laser sensor scans a gluing workpiece to obtain a gluing workpiece point cloud, and scans an unglued standard workpiece to obtain a standard template workpiece point cloud; s20, fitting to obtain a reference plane of a workpiece point cloud of a gluing workpiece point cloud standard template, and intercepting a gluing to-be-detected area point cloud and a template to-be-detected area point cloud; s30, point cloud registration is carried out on the point cloud of the gluing to-be-detected area and the point cloud of the template to-be-detected area; s40, performing point distance threshold judgment on the point cloud of the to-be-detected gluing area after registration, and performing separation to obtain a pure colloid point cloud; and S50, judging that the point cloud of the pure colloid in the region is unqualified according to the fact that the cross section width and the cross section area of the point cloud of the pure colloid are smaller than a preset threshold value. According to the invention, the gluing defect can be detected more accurately, and the efficiency is high.

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 provides a steelmaking residue cleaning method based on image recognition and trajectory optimization, and the method comprises the steps: firstly obtaining visible light image data, thermal imaging image data and depth point cloud data of the inner wall of equipment through multi-source data collection, and generating comprehensive data containing texture, temperature and three-dimensional geometric information through preprocessing and space-time registration fusion; segmenting a residue area by using a multi-branch encoder and decoder model, calculating residue thickness distribution in combination with a reference plane of a clean area, and establishing a physical model based on a temperature gradient to generate adhesion strength distribution; and finally, in combination with the three-dimensional environment model and a cleaning tool library, efficient residue cleaning is realized through global path planning and local trajectory planning. The automation degree and accuracy of the cleaning process are improved, and the problem that the residue cleaning efficiency is low in a complex industrial scene is effectively solved.

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 utility model provides a lens antenna, which relates to the technical field of antennae and comprises a luneberg lens, an earth radiation unit, an air radiation unit, a horizontal adjusting mechanism and a tipping adjusting mechanism. The center of the Lunberg lens is located on a reference plane, and the reference plane is parallel to the horizontal plane or forms a preset included angle with the horizontal plane. The to-ground radiation unit is arranged towards the center of the luneberg lens in a radiation manner, and the to-ground radiation unit is located above the reference surface; the air radiation unit is arranged towards the center of the luneberg lens in a radiation manner, and the air radiation unit is located below the reference surface; the horizontal adjusting mechanism is used for synchronously adjusting the main radiation direction of the to-ground radiation unit and the main radiation direction of the to-air radiation unit in the horizontal direction; and the tipping adjusting mechanism is used for independently adjusting the elevation angle of the main radiation direction of the air radiation unit. The lens antenna provided by the utility model has the characteristic of multidimensional adjustability, can meet the requirements of low altitude and ground coverage at the same time, and is compact in structure and small in occupied space.

A razor cartridge has a housing with a blade mounting region between a guard and a cap. A first, second and third razor blade are sequentially mounted in the blade mounting region. An over-guard is secured over the blades. The cutting edges of the blades have an as-defined increased sharpness. The blades are mounted at a reduced angle between each blade portion bearing the cutting edge and a reference plane tangential to the cutting edges of the first and third blade. Individual longitudinal members of the over-guard that lie over each blade and have a progressively decreasing height above the reference plane in a front to back direction of the razor cartridge. A further longitudinal member is forward of the first blade and has a height above the reference plane.

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.

Examples of the present disclosure relate to a computer-implemented method, an apparatus, and a computer program for extrinsic calibration of one or more cameras with respect to a reference coordinate system, and to various methods, apparatuses, and computer programs for using information on a pose of a reference plane being determined as part of the extrinsic calibration. The computer-implemented method for extrinsic calibration of one or more cameras with respect to a reference coordinate system comprises obtaining one or more images from one or more cameras, with each camera having a field of view, wherein each image shows an observation of at least one marker of a plurality of markers, wherein the plurality of markers are co-planar with respect to a reference plane, estimating, for the one or more cameras, a transformation between a respective camera coordinate system and the reference coordinate system based on an estimated pose of the at least one marker observed in the field of view of the camera relative to the camera coordinate system, estimating a pose of the reference plane with respect to the respective one or more camera coordinate systems based on a pre-defined or estimated pose of the reference plane with respect to the reference coordinate system and based on the estimated transformations between the one or more camera coordinate systems and the reference coordinate system, estimating planar poses of the plurality of markers with respect to the reference plane, and simultaneously adjusting the planar poses of the plurality of markers and the pose of the reference plane with respect to the respective one or more camera coordinate systems by iteratively reducing an error between a reprojection of the plurality of markers into the respective one or more camera coordinate systems and the position of the respective markers in the images.

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 relates to the technical field of vehicle visual perception, and particularly discloses a multi-fisheye camera aerial view construction method and system for automatic driving, and the method comprises the steps: carrying out the offline calibration of each fisheye camera based on a polynomial fisheye imaging model, constructing a pixel back projection lookup table, and carrying out the offline calibration of each fisheye camera; performing table lookup type distortion removal processing on the acquired fisheye image; extracting multi-region checkerboard angular points, and establishing a cross-view-angle corresponding point set; solving an initial homography matrix from each fisheye camera to the aerial view reference plane, constructing a joint objective function including a checkerboard re-projection error, an overlapping region alignment error and a physical scale constraint, and performing global joint optimization on all the homography matrixes; generating each path of aerial view sub-graph by adopting a reverse mapping strategy; according to the method, the calibration process is visual, the geometric accuracy, the real-time performance and the engineering transportability are high, and the method is suitable for automatic parking, a vehicle looking-around system and automatic driving environment perception.

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.

A fully automatic leveling system for a deck theodolite comprises: a leveling device, on which a deck theodolite is arranged and which is configured to adjust a horizontal axis system of the deck theodolite on the basis of a control instruction from a leveling controller; a first gradienter, which is arranged on the deck theodolite and configured to read and provide to the leveling controller the levelness of the deck theodolite in a certain direction; a reference plane extension device, which is arranged on a ship datum plane and configured to acquire values of levelness deviation between the reference plane extension device and the ship reference plane in different directions and provide the values of levelness deviation to the leveling controller; a second gradienter, which is arranged on the datum plane extension device and configured to read and provide to the leveling controller the levelness of the ship datum plane in a certain direction; and the leveling controller, which is configured to automatically rotate and adjust the deck theodolite on the basis of the read values of levelness deviation between the horizontal axis system of the deck theodolite and the ship reference plane, thus achieving automatic leveling of the deck theodolite by means of repeat iterations.