36 results about "Rotational transformation" patented technology

The invention discloses a 3D printing path planning method based on electric arc additive anisotropy and a stress field, and the method comprises the steps: constructing a CAD three-dimensional model of a part, and obtaining the stress field of the part through finite element simulation; determining a slice plane; mapping the stress field to a slice plane to form a force flow line; according to the obtained force flow line, rotation transformation regeneration is carried out according to the anisotropy of the used electric arc additive, and a reference trajectory considering the anisotropy of the material is obtained; under the principle of alternate arc starting and extinguishing, the corresponding printing sequence in the layers and between the layers is further planned, and the reference trajectory lines are connected end to end to be planned into a continuous path; and generating a code file, and printing according to the printing sequence. The comprehensive mechanical property of a printed piece is improved.

The invention provides a robot action redirection method, a storage medium, electronic equipment and a product, and relates to the field of robot control. The method comprises the steps that motion data of a to-be-simulated object and pre-configured joint offset parameters are obtained, wherein the joint offset parameters are used for describing rotation transformation data from a joint coordinate system of the to-be-simulated object to a joint coordinate system of a robot; based on the joint offset parameters, joint offset mapping from the to-be-simulated object to the robot is established; and based on the joint offset mapping, converting the motion data of the to-be-simulated object into motion data of the robot so as to drive the robot to execute corresponding actions. According to the method, the difference between the to-be-simulated object and the robot in joint coordinate system rotation transformation can be effectively eliminated, the physical feasibility and motion naturalness of robot actions are ensured, and the interaction requirements in a complex interaction scene are met.

A graphics processing system that provides a micromap defining property values for sub-regions of a primitive of a scene to be rendered; and generates a first tree representation of the micromap; and applies a first barycentric rotational transform to the micromap and for the first barycentric rotational transform generates a second tree representation of the micromap; and selects one of the first or second tree representations for processing as the selected tree representation. The selected tree representation of a micromap is used when it is desired to determine whether and / or how a ray interacts with a sub-region of a primitive, the tree representation of the micromap is traversed to determine a property value for the sub-region of the primitive.

The present application belongs to the field of permanent magnet synchronous motor control technology, and relates to a kind of permanent magnet synchronous motor torque ripple compensation control method, comprising: acquisition stator phase current and cross axis given current, generate cross axis and straight shaft feedback current by coordinate rotation transformation;Extract cross axis and straight shaft harmonic current;According to the period difference of cross axis current feedback residual error, calculate cross axis time delay distortion coefficient;The coefficient is in situ input coordinate rotation transformation correction rotor electric angle, and combine electric angle change rate to calculate phase angle advance compensation angle;Using the angle to calibrate harmonic current space phase to synthesize offset current instruction and superimposed output, the present application eliminates control loop timing response lag, makes compensation current maintain spatial orthogonal state with rotor harmonic magnetic field under variable speed condition, avoid positive feedback excitation, guarantee the steady convergence and stability of closed loop.

This invention discloses an IPMSM position estimation method and system based on rotating high-frequency injection, comprising: (1) injecting a high-frequency voltage signal into the stationary α-β coordinate axis of the motor; (2) sampling the three-phase current and obtaining the two-phase stationary coordinate system through Clark transformation; (3) obtaining the fundamental current through a notch filter; (4) obtaining the high-frequency response current of the stationary α-β coordinate axis; (5) rotating the transformation and obtaining the high-frequency response negative sequence current through low-pass filtering; (6) designing and modulating the compensation phase; (7) cross-multiplying the compensation phase vector with the modulated compensation phase vector to obtain the estimated angular velocity and rotor position of the motor. This invention uses a notch filter to process the signal, eliminating the band-stop filter in the d-axis and q-axis current feedback loop in the control loop, thus simplifying the system complexity; by compensating for the rotor position lag angle, it increases the system stability and improves the rotor position identification accuracy.

This application discloses a positioning control method, system, equipment, and medium for aerospace forgings, relating to the field of intelligent manufacturing technology for aerospace forgings. The method includes the following steps: acquiring a theoretical digital model of the target forging and a three-dimensional digital model of the target mold to obtain the theoretical placement pose of the target forging; acquiring a three-dimensional scanning digital model of the target forging after the manipulator grips it to obtain a rotation matrix R and a translation vector T; wherein the rotation matrix R represents the rotational transformation from the actual pose of the target forging to the theoretical placement pose, and the translation vector T represents the spatial offset of the target forging; and inputting the rotation matrix R and translation vector T into a preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold. This application has the advantages of improving the placement positioning accuracy and efficiency, and improving the performance of the final product.

The invention relates to a method for predicting concentricity of first and second fulcrums of an aero-engine fan casing. Comprising the following steps: measuring mounting side column jump and end jump data of each stage of receiver and a first and second fulcrum bearing seat; defining a global coordinate system of the assembly body, and determining a machining error matrix and a high-low point position matrix according to end jump and column jump measurement data of the mounting side of each stage of rotor; determining an installation phase matrix of each stage of cartridge receiver; determining a positioning error matrix caused by coordinate translation transformation and a directional error matrix caused by coordinate rotation transformation after all the fan casings and the first and second fulcrum bearing seats are assembled; then determining a mounting seam allowance matching error matrix caused by deformation of the mounting edge; secondly, determining global positioning and orientation matrixes of the casings and the bearing seats at all levels after translation, rotation and high-low point corresponding deformation transformation; and finally, determining the global positioning and orientation matrix of the assembly, and determining the concentricity of the first and second fulcrums of the fan casing. According to the method, the false assembly workload is reduced, and the assembly efficiency of the fan unit body is improved.

This invention provides a seamless trapezoidal correction method, a projection device, and a storage medium. The method includes the following steps: obtaining the attitude angle of the projection device; obtaining a first rectangular reference area based on a preset rotation transformation relationship, the attitude angle, and the original rectangular projection area; mapping the first rectangular reference area to a first plane based on the projection transformation relationship to obtain a second trapezoidal reference area; obtaining a second rectangular reference area with a preset aspect ratio within the second trapezoidal reference area; mapping the second rectangular reference area to the first rectangular reference area according to the inverse transformation relationship of the projection transformation relationship to obtain a third trapezoidal reference area; obtaining a fourth trapezoidal reference area according to the inverse transformation relationship of the rotation transformation relationship; and adjusting the projection area based on the fourth trapezoidal reference area. Using this method and the projection device and storage medium carrying this method, seamless correction is achieved, improving the user experience.

The application discloses a point cloud 3D object detection method not influenced by rotation transformation, comprising the following steps: (1) regarding the network weight of the first layer of the neural network as a vector set distributed in a feature space with the same dimension as the point cloud feature; (2) performing seed point sampling and neighborhood aggregation on the input point cloud data to obtain the local point cloud around each seed point; (3) performing principal component analysis on the network weight and the local point cloud; (4) aligning the weights of the network weight and the local point cloud to obtain a feature with rotation invariance; (5) inputting the local point cloud feature of step (4) into the neural network for feedforward transmission, detecting the prediction of the head output 3D object frame of the network; (6) training the neural network through gradient back propagation; and (7) after the training is completed, performing a 3D object detection task on the point cloud. According to the application, the classification accuracy of the point cloud under arbitrary rotation transformation can be greatly improved, and thus the accuracy of the 3D object detection task can be improved.

The application discloses a polar coordinate decoupling-based image mirroring and rotating unified transformation method, which comprises the following steps: S10, inputting parameters: an original image, a transformation center point coordinate, a mirroring direction parameter and a rotating angle; S20, traversing each pixel position of an output image; S30, unified mirroring and rotating transformation mapping; S40, interpolation sampling; S50, assigning to the output image; S60, traversing all pixels until completion; and S70, outputting the image. The application abandons the traditional linear algebra idea of firstly constructing a mirroring matrix and then multiplying the mirroring matrix with a rotating matrix, and instead reconsiders the combined operation of mirroring and rotating from the perspective of polar coordinate transformation. In a local polar coordinate system around an arbitrary specified center point, the mirroring operation can be regarded as a sign operation or a shift operation on a polar angle, and the rotating is an addition operation on the polar angle. The two can be combined into a simple expression in the polar angle domain.

The embodiment of the application discloses a rotor position detection method and detection circuit of a three-phase permanent magnet motor, acquires two-phase back electromotive force; performs coordinate transformation on the two-phase back electromotive force to obtain a rotating transformation component, and adjusts an estimated angular velocity according to a real-time value of the rotating transformation component, so that the real-time position of the motor rotor can be obtained, and the accuracy of the position of the motor rotor is ensured.

In one example, a method includes determining a feature displacement gradient (DG) tensor characterizing a deformation feature. The method includes, in an iterative routine, calculating an objective function value associated with a trial DG tensor, the calculating based at least in part on pixel values within an automatically determined ZOC, where the ZOC is based at least in part on the trial DG tensor. In another example, a method includes determining one or more rotational transformation components corresponding to a test image, and determining a feature DG tensor based at least in part on the rotational transformation components. In another example, a system includes an electro-optical assembly, a detector assembly, and a controller programmed to determine a feature DG tensor. In another example, a non-transitory computer-readable medium stores instructions that, when executed by a computer, cause the computer to perform a method of determining a deformation characteristic.

The invention discloses a chiral metasurface construction method based on rotation transformation, a metasurface device comprises a substrate and a chiral metasurface located on the substrate, and the chiral metasurface is a rectangular nanorod array arranged periodically. The metasurface unit is composed of rotating rectangular silicon nanorods, and selective regulation and control of spin angular momentum of incident light are achieved by introducing in-plane mirror symmetry of a geometric rotation destroying structure. Simulation results show that the metasurface shows remarkable circular dichroism at the resonant wavelength of 633 nm, the transmissivity of the metasurface to left-hand circularly polarized light reaches up to 73%, and meanwhile the transmissivity of right-hand circularly polarized light is restrained to 2%. The device has the advantages of compact structure, easiness in integration and the like, and is expected to provide an effective solution for chiral biosensing application.

In an example, a method includes determining a characteristic displacement gradient (DG) tensor that characterizes a deformation characteristic. The method includes, in an iterative routine, calculating an objective function value associated with a trial DG tensor based, at least in part, on pixel values within a zone of consideration (ZOC) that is determined automatically based at least in part on the trial DG tensor. In another example, a method includes determining one or more rotational transformation components corresponding to a test image and determining a characteristic DG tensor based at least in part on the rotational transformation component(s). In another example, a system includes an electron optics assembly, a detector assembly, and a controller programmed to determine a characteristic DG tensor. In another example, a non-transitory computer readable medium stores instructions which, when executed by a computer, cause the computer to perform a method of determining a deformation characteristic.

The invention discloses a tail clamp locking and fixing device. The tail clamp locking and fixing device comprises a locking and fixing frame. A rotating mechanism used for rotating and adjusting is arranged at the bottom of the locking and fixing frame. Through the arrangement of the rotating mechanism, the supporting mechanism and the angle locking mechanism, the connector has the advantages of being simple in structure, light, reasonable, convenient to use, high in applicability, capable of being suitable for most connectors with positioning point openings meeting the requirements, capable of conducting adjustment operation according to the actual use requirement, convenient to use and high in practicability. Free rotation transformation among the rotating mechanisms can be guaranteed through the arrangement of the rotating mechanisms, the positions of the embedded supporting legs are controlled, the three supporting mechanisms can not only support the rotating mechanism on the top, but also control the opening angle of the needed support according to needs, and the supporting efficiency is improved. And the extension length of the support is freely adjusted according to the extendable effect, the angle locking mechanism is mainly used for locking the opening and closing angles of the three sets of support mechanisms, it is guaranteed that fixing and locking are carried out after opening and closing, and free change is avoided.

This invention relates to the field of automotive mold design technology, and discloses a method, apparatus, equipment, and storage medium for smoothing the filler surface based on curve fitting. The method involves obtaining a set of height points from all height points of a cross-sectional line, calculating the rotation angle, and establishing a rotation transformation matrix based on the rotation angle for directional rotation processing. The height point set obtained after rotation is used as the fitting curve point set, and the fitting curve point set is processed for curve fitting. Data fusion is then performed to obtain XYZ discrete data points. An inverse rotation transformation is performed on the XYZ discrete data points, and a NURBS spline is created based on the transformed discrete data points as the optimization curve for the filler surface. New geometric parameters of the cross-sectional line are solved based on the target height point, and the optimized cross-sectional line is used to construct the filler surface, resulting in a smooth filler surface with height variations. This invention effectively solves the wavy surface defect of the filler surface, eliminates the need for manual adjustment of the cross-sectional line, and balances design speed and accuracy.

The invention provides a robot FKM kinematics modeling method, and aims to solve the problems of rotation and translation coupling, non-intuitive parameter significance, complex modeling and the like in the existing robot kinematics modeling process. The method comprises the following steps: establishing a joint coordinate system of the robot, and determining a transformation parameter of each joint and a homogeneous transformation matrix of an adjacent coordinate system; wherein the expression of the homogeneous transformation matrix has two forms according to different joint types, and the expression of a rotating joint is as shown in the specification, and the expression of a moving joint is as shown in the specification. A translation transformation matrix of the coordinate system relative to the coordinate system is in the formula; the rotation transformation matrix is a rotation transformation matrix rotating around the translated X axis; the forward kinematics model of the robot can be obtained by sequentially multiplying the homogeneous transformation matrixes of all the joints for the rotating joints as a rotation transformation matrix rotating around the rotated Z axis and for the moving joints as a translation matrix moving along the rotated Z axis. According to the method, basic transformation and joint variables of the coordinate system are decoupled, so that the modeling process is more visual, the parameter significance is clearer, and the method can be widely applied to the field of kinematics modeling and control of industrial robots and service robots.

The application provides a kind of based on coordinate transformation realizes accurate feeding method of mechanical arm, this method is first assembled calibration needle and completes system self-checking, three-point method is used to establish user coordinate system of material taking area and feeding area respectively;Visual planning feeding and unloading point, generate no compensation initial coordinates;Through single feeding fine adjustment, collect compensation value, and in 0°, clockwise 90°, counterclockwise 90° three attitudes, batch collection multiple samples;Subsequently, the compensation data is substituted into the coordinate transformation algorithm, and the basic error of the origin offset and axial deflection of the two area coordinate systems is solved;Finally, combined with the actual rotation angle of the workpiece and the rotation transformation formula, the dynamic compensation parameters are calculated in real time and superimposed to the initial coordinates, and the mechanical arm is driven to complete the no demonstration accurate feeding.The application does not need artificial demonstration and three-dimensional model, and the calibration cost is low, the adaptability is strong, the full attitude adaptive compensation can be realized, the positioning accuracy and operation efficiency of mechanical arm feeding and unloading are effectively improved, and it is suitable for precision automatic production line.

The application belongs to the technical field of large radio telescope, and provides a kind of spherical radio telescope active reflecting surface shape adjusting method and system, first, the reference spherical radius and focal ratio are obtained, the coordinate system is updated, and the ideal parabolic surface of the observed celestial body is determined;Then, the coordinates of each node under the original coordinate system and the azimuth and elevation of the measured celestial body are obtained, and the position coordinates of each node under the new coordinate system are obtained through rotation transformation;The center of the ideal parabolic surface aperture is calculated, and the to-be-adjusted node is determined in combination with the reference spherical radius;Finally, the sum of the square of the distance between the coordinates of all to-be-adjusted nodes in the radial direction of the working parabolic surface and the ideal parabolic surface is minimized as the target, the target coordinates of all to-be-adjusted nodes are determined, and the extension amount of the top end of the actuator is calculated, so that the working parabolic surface is as close as possible to the ideal parabolic surface, to obtain the best receiving effect of the electromagnetic wave of the celestial body reflected by the reflecting surface.

The present application relates to the technical field of energy-absorbing lattice structure, and particularly relates to a novel negative Poisson's ratio spider-web-like lattice energy-absorbing structure and a design method thereof, which is composed of N three-dimensional negative Poisson's ratio unit structures arranged in a periodic array in a three-dimensional space, the three-dimensional negative Poisson's ratio unit structure is based on a two-dimensional negative Poisson's ratio unit structure minimum representative unit, is formed after rotation transformation and symmetric processing, and finally four structure planes with a preset included angle are constructed. The present application takes natural spider webs as a biomimetic prototype, fuses the abnormal deformation characteristics of the negative Poisson's ratio structure, constructs a lattice unit topology containing multiple types of construction points, defines key geometric parameters such as concave angles and rod diameters, and establishes a relative density calculation model to realize controllable design of the structure parameters.

The invention discloses a handwritten mathematical formula identification method based on rotation position coding, and relates to the technical field of handwritten mathematical formula identification. The method is characterized in that aiming at the problem of insufficient long-range dependence capture in long formula sequence modeling in the existing method, an end-to-end encoder-decoder framework is constructed, a rotation position encoding mechanism is introduced into a self-attention layer of a Transform decoder, and rotation transformation related to the position is applied to a query vector and a key vector, so that the long-range dependence capture in the long formula sequence modeling is realized. Enabling attention to calculate relative position information between explicit modeling symbols; and meanwhile, the attention distribution in the decoding process is constrained in combination with a coverage attention mechanism, so that repeated attention and omission of symbols are reduced. The method effectively solves the problem that long-range dependence capture is insufficient in handwritten mathematical formula long sequence modeling in an existing method, improves the recognition accuracy and robustness, and is suitable for application scenes such as mathematical formula input, intelligent education and document digitization.

The invention relates to the technical field of automobile mold design, and discloses a material supplementing surface fairing method, device and equipment based on curve fitting and a storage medium, all height points of a group of section lines are acquired to obtain a height point set, a rotation angle is calculated, and a rotation transformation matrix is established according to the rotation angle for directional rotation processing; taking the height point set obtained after rotation as a fitting curve point set, performing fitting curve processing on the fitting curve point set, and performing data fusion to obtain XYZ discrete data points; performing inverse rotation transformation on the XYZ discrete data points, and creating an NURBS spline based on the transformed discrete data points to serve as a material supplementing surface optimization curve; new section line geometric parameters are solved based on the target height point, the optimized section line is used for constructing a material supplementing surface, and a result material supplementing surface with the smooth height change is obtained; the method effectively solves the wavy surface defects of the material supplementing surface, does not need to manually adjust the section line, and gives consideration to the design speed and precision.

A method for controlling a robotic arm that includes an end effector and a sensor that are mounted at an end of the robotic arm includes: obtaining, by the sensor, n gravity matrix data, wherein the n gravity matrix data are gravity matrix data of the end effector in an end coordinate system when the robotic arm is in a different poses, n≤3; determining n rotation transformation matrices from a base coordinate system of the robotic arm to the end coordinate system when the robotic arm is in n different poses; calculating coordinates of a center of mass and mass of the end effector based on the n gravity matrix data and the a rotation transformation matrices; and controlling the robotic arm based on the coordinates of the center of mass and the mass.

The application belongs to the technical field of automation engineering, and discloses a kind of accurate measurement methods of spatial universal uniform rotation magnetic field axis azimuth.First, using 3 Hall sensors and 1 3-axis acceleration sensor, the three-dimensional magnetic vector coordinates of rotating magnetic field at any two time instants are measured, and the rotation transformation relationship of rotating magnetic vector coordinates in probe coordinate system and fixed coordinate system is established.Second, with the help of space vector operation law, the normal vector of the rotating magnetic vector at the above two time instants is solved.Third, according to the orthogonal transformation principle of space vector, the spatial universal rotating magnetic field axis azimuth described by pitch angle and roll angle is obtained.Finally, according to the corresponding relationship between the normal vector of the rotating magnetic vector at any two time instants and the spatial rotating magnetic field axis azimuth, the rotating magnetic field axis azimuth represented by three-dimensional magnetic vector coordinates can be obtained.The measurement method of the application has the advantages of high measurement accuracy, good real-time performance, strong environmental adaptability, low working environment requirement, etc.

The present application relates to the field of additive manufacturing, and discloses a printing track smoothing processing method, device, equipment and storage medium, type information is acquired according to the type of the used rotary table, and then a target transformation equation and a rotation matrix are determined;Then, the model to be printed is curved surface slicing, surface path points are acquired and normal vector information is calculated;The normal vector is rotationally transformed through the target transformation equation, a rotation angle value is obtained, and a three-dimensional path point is created according to the rotation angle value, and a rotation angle curve is generated;The rotation angle curve is optimized by using B-spline, and sampling processing is performed to obtain smooth rotation angle values;Finally, the smooth angle is matrix transformed by using the target rotation matrix, nozzle path points are obtained, and printing tracks are generated;The printing process is effectively reduced, and the surface quality and overall printing effect of the printed part are significantly improved, which brings significant improvement to the field of three-dimensional printing.

The invention discloses a nine-phase permanent magnet synchronous motor single-phase open-phase fault-tolerant control method based on a dimensionality reduction static decoupling transformation array. The method specifically comprises the following steps: step 1, constructing a universal static decoupling transformation array of a multi-phase motor based on constant amplitude; step 2, constructing a static decoupling transformation matrix and a rotation transformation matrix based on constant amplitude when the three-neutral-point symmetric nine-phase PMSM is in normal operation; 3, representing the phase current of each phase of the symmetric nine-phase PMSM by using the components of the current coefficient and the rated current amplitude in the alpha-beta subspace; 4, taking the minimum stator copper loss as an objective function to obtain a residual phase current expression under an ML strategy after the occurrence of the single-phase open-phase fault; step 5, obtaining a transformation matrix transformed from a natural coordinate system to a rotating coordinate system after a single-phase open-phase fault; and step 6, realizing single-phase open-phase fault-tolerant control of the nine-phase permanent magnet synchronous motor. The fault-tolerant control method based on hysteresis current control solves the problems of large current ripple and uncertain switching frequency in the fault-tolerant control method based on hysteresis current control in the prior art.

The present application relates to the technical field of energy-absorbing lattice structure, and particularly relates to a negative Poisson's ratio spider-web-like lattice energy-absorbing structure and a design method thereof, which is composed of N three-dimensional negative Poisson's ratio unit structures arranged in a periodic array in a three-dimensional space, the three-dimensional negative Poisson's ratio unit structure is based on a two-dimensional negative Poisson's ratio unit structure minimum representative unit, is formed after rotation transformation and symmetric processing, and finally four structure planes with a preset included angle are constructed. The present application takes natural spider webs as a biomimetic prototype, fuses the abnormal deformation characteristics of the negative Poisson's ratio structure, constructs a lattice unit topology containing multiple types of construction points, defines key geometric parameters such as concave angles and rod diameters, and establishes a relative density calculation model to realize controllable design of the structure parameters.

The invention discloses a large-scale language model decoding acceleration method and system based on normalization sparse activation, and relates to the field of natural language processing, the method introduces a dynamic threshold mechanism based on a vector norm to replace traditional fixed threshold or Top-K selection; in order to improve matrix rarefaction accuracy, the method introduces a data-driven orthogonal rotation matrix, and carries out rotation transformation on an input activation space to minimize linear correlation between dimensions. According to the method, the model performance under high sparseness is remarkably improved.

The invention provides a rotation invariance spatial distribution similarity analysis method based on annular vectors. The sensitivity problem of a traditional spatial distribution similarity analysis method under rotation transformation is solved through a dynamic starting point selection mechanism, multi-layer annular vector representation and a bidirectional matching strategy. Firstly, a starting point of ring vector traversal is dynamically determined according to a maximum value point of a regional feature matrix, then concentric ring features are extracted from the center to the outside to realize multi-scale feature representation, and finally, the similarity between the regions is measured by calculating the bidirectional weighted comprehensive distance of ring vectors between the regions. According to the method, the initial point of ring vector traversal can be determined according to the maximum value point of the regional feature matrix, then the concentric ring features are extracted from the center to the outside to realize multi-scale representation, and finally the inter-region ring vector bidirectional weighted comprehensive distance measurement similarity is calculated, so that the feature interpretability can be kept, the method is suitable for multi-source data, and the essentially similar regions under different rotations can be identified.

The application discloses a stacking method considering elastic deformation of an installation edge of an aero-engine rotor part, and comprises the following steps: defining a global coordinate system of an assembly body; determining a machining error matrix and a high-low point position matrix of the installation edge of each stage rotor according to installation edge end jump and column jump measurement data; determining an installation phase matrix of the i-stage rotor; determining a positioning error matrix caused by coordinate translation transformation and a directional error matrix caused by coordinate rotation transformation after the n-stage rotor is assembled; determining an installation stop mouth matching error matrix caused by elastic deformation of the installation edge; determining global positioning and directional matrices of the k-stage rotor after translation, rotation and high-low point corresponding elastic deformation transformation; then determining a global positioning and directional matrix of the assembly body, and determining a stacking optimization model of concentricity and coaxiality of the n-stage rotor; and finally, searching for and calculating the installation phase of each stage rotor by using a genetic algorithm according to the optimization model.