63 results about "Spherical space" patented technology

The invention discloses a three-dimensional scene reconstruction method, a method for intelligent driving analog simulation, computer equipment, a storage medium and a program product. The three-dimensional scene reconstruction method comprises the steps that an earth space is divided into a plurality of blocks, and the earth space comprises a spherical space in a preset range above the earth surface; acquiring scene data of the earth space for three-dimensional reconstruction to obtain a three-dimensional reconstruction result, the three-dimensional reconstruction result comprising a reconstruction model and reconstruction model information; and dividing the reconstruction model into corresponding blocks according to the reconstruction model information. According to the embodiment of the invention, the spherical space in the preset range above the earth surface is divided into the plurality of blocks, the three-dimensional reconstruction is carried out according to the acquired scene data in the spherical space to obtain the plurality of reconstruction models, and finally the plurality of reconstruction models obtained by reconstruction are distributed and stored in the corresponding blocks of the spherical space according to the reconstruction model information. And unified management of a plurality of reconstruction models is realized.

The invention discloses a spherical multi-dimensional rotation angle measurement time grating sensor and an installation structure thereof. The time grating sensor comprises a stator base body and a rotor base body. The stator base body is in a spherical shell shape, the rotor base body is in a spherical shell shape and located in the spherical shell of the stator base body, and a gap is reserved between the surface of the rotor base body and the inner surface of the stator base body so that the rotor base body can be suspended and concentric with the stator base body. Six excitation units with the same shape and size are uniformly distributed on the inner surface of the stator base body at intervals; and the centers of the six excitation units are positioned in the centers of the six surfaces of the cube externally tangent to the inner surface of the stator base body. Eight sensing units with the same shape and size are uniformly distributed on the surface of the rotor base body at intervals; the eight sensing units are symmetrically distributed on eight quadrants of a space rectangular coordinate system with the center of the rotor base body as the original point. According to the invention, high-precision spherical space multi-dimensional rotation angle measurement can be realized, the structure is simple, the decoupling is thorough, and the anti-interference capability is strong.

The invention discloses an unmanned aerial vehicle active landing method based on mechanical arm assistance, and belongs to the technical field of unmanned aerial vehicle landing, and the method comprises the steps: carrying out the dynamic model modeling of an unmanned aerial vehicle and a mechanical arm, and carrying out the state modeling of an end effector of the mechanical arm into a three-dimensional Euclidean space representing the position and a two-dimensional spherical space representing the posture; an optimization objective function of optimal control of the active landing process of the unmanned aerial vehicle based on mechanical arm assistance is set as a time functional and an energy functional of a minimized state trajectory, and a trajectory tail end constraint and a trajectory process constraint of landing are given; and converting a constrained state trajectory in the optimization objective function into an unconstrained optimization objective function, and solving the unconstrained optimization objective function by adopting an L-BFGS algorithm to realize unmanned aerial vehicle active landing control based on mechanical arm assistance. The method can be used for stronger anti-disturbance capability, can realize faster and more energy-saving active landing, and improves the landing success rate.

A non-pneumatic tire is provided, including a tire tread (10), a tire bead (20), and a tire body (30). The tire body (30) is provided with multiple first annular cavities (31) and second annular cavities (32). The first annular cavity (31) is provided with multiple sets of bulges (311) and a first inner brim (313), and the second annular cavity (32) is provided with a second inner brim (323) and an expansion region (321). A top of the expansion region (321) has a spherical space (322) close to the tire tread. The multiple first annular cavities (31) that have the bulges (311) and first inner brims (313) and the second annular cavities (32) that have the expansion regions (321) and the second inner brims (323) are arranged side by side in the tire body (30), to form three load-bearing units that can sequentially transfer load, constructing an integrally multi-dimensional loading structure.

The invention discloses a real-time virtual environment view layout algorithm based on spherical space guidance. The algorithm comprises the following steps that an original view is acquired and preprocessed; abstracting into a circular structure and completely mapping to a constructed spherical view projection structure; weight analysis is carried out, a preset threshold value is compared, a high-weight standard view set and a low-weight standard view set are divided, and dynamic batch layout optimization processing is carried out on the high-weight standard view set; constructing a space pressure function field for the low-weight standard view set, and determining a target position by using a space pressure field guiding method; smooth movement from the current position to the target position is achieved through a Bezier curve interpolation method; and when the viewpoint or view angle change exceeds the threshold value, re-calculating the layout until the change amplitude is smaller than the threshold value, and generating a final layout. According to the method, the spherical space projection and the adaptive mechanical model are combined, the large-scale view layout is optimized, the method has the advantages of being efficient, stable and real-time, and the data visualization effect in the virtual environment is improved.

Visualization within a spherical space is provided. The method comprises capturing a number of images from a common three-point coordinate capture location and creating a sphere of projected coordinates based on the capture location. Three-point coordinates of reference locations corresponding to the images are translated into spherical coordinates on the sphere. The spherical coordinates of the reference locations are translated into tour scene coordinates. The tour scene coordinates of the reference locations are then translated into equirectangular Cartesian coordinates. The images are displayed in a user interface according to the reference locations from the perspective of the capture location.

The invention discloses a three-dimensional sliding verification method and device with an anti-cracking function, and relates to the technical field of equipment verification, and the method comprises the following steps: randomly selecting a chartlet, a geometric figure and a chartlet coordinate; cutting the chartlet to obtain puzzle blocks and a cut chartlet; the map coordinates are converted into corresponding spherical coordinates, and the clipped map is rendered to a sphere space; projecting the sphere space rendered with the clipped chartlet to a touch screen of a client, and projecting the jigsaw blocks to the center of the touch screen of the client; adjusting the posture of the spherical space until the jigsaw blocks and the clipped chartlet form a corresponding chartlet; the to-be-spliced blocks and the clipped chartlet form a corresponding chartlet, and it is judged that identity verification is passed. According to the method, the chartlet is cut, and then the chartlet is spliced by means of the three-dimensional sphere, so that the use of a traditional verification code is canceled, the verification code is prevented from being cracked by a robot, and certain convenience and reliability are achieved.

The invention belongs to the technical field of three-dimensional reconstruction and robots, and particularly relates to an active viewpoint planning method based on uncertainty driving and information enhancement, which comprises the following steps of: firstly, calculating uncertainty based on a volume occupancy field of a current scene through a spherical uncertainty sampling (SUS) module; mapping to a spherical space to guide the sampling of high-quality candidate viewpoints; then, through a multi-expert information gain network (MEIGN) module, carrying out multi-modal feature coding and fusion on the agent point set sampled in the scene, and accurately estimating the visibility gain of each candidate viewpoint; and finally, selecting the viewpoint with the maximum information gain as the next optimal viewpoint. According to the invention, through effective combination of the sampling strategy and the gain estimation network, the efficiency and accuracy of three-dimensional reconstruction are significantly improved.

The present invention discloses a method and device for processing position data in a virtual space. This method relates to the field of data processing technology and aims to address the problem of poor position processing accuracy in existing virtual world spatial scenes. The method primarily comprises: displaying a virtual spherical space containing a target object, the virtual spherical space being created based on a spatial spherical coordinate system; obtaining first position data for a position operation on the target object in the virtual world space; determining third position data of the first position data in the virtual spherical space based on second position data of the visual center point of the virtual spherical space; and displaying the target object at the location of the third position data. The method is primarily used for processing position data in a virtual space.

The present invention discloses a multi-dimensional anti-roll warning method and device for RVs, including a three-dimensional detection base, a gravity balance ball, and a four-way infrared ranging sensor. The three-dimensional detection base serves as an outer shell, and a spherical space is provided inside; the gravity balance ball slides and matches in the spherical space, a counterweight is provided at the lower part, and four circular openings are opened at the upper part along the horizontal cross direction, and four plane detection plates are provided correspondingly to form an expanded detection space. The four-way infrared ranging sensor is embedded in the center of the end plate of the base, and detects the distance change between the sensor and the plane detection plate in real time to calculate the tilt angle. The present invention solves the technical problems of multi-dimensional detection, dynamic threshold adaptation and rapid response through deep coupling of mechanical-electronic-control algorithms, provides a breakthrough safety solution for vehicles with high center of gravity, and significantly reduces the risk of roll.

The invention provides a mirror reflection effect rendering method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a visual angle vector corresponding to a to-be-rendered pixel point in a mirror model under a world coordinate system; determining a sphere space corresponding to the mirror surface model; determining reflection vectors corresponding to the pixel points based on the sphere space and the view angle vectors corresponding to the pixel points; wherein the reflection vector points to the target intersection point from the sphere center position of the sphere space; the length of the reflection vector is the radius of the sphere space; the target intersection point is the intersection point farthest from the virtual camera in the intersection points of the straight line where the visual angle vector is located and the sphere space; and on the basis of the reflection vectors corresponding to the pixel points, determining sampling coordinates of the pixel points in an environment map of the current scene, and sampling the environment map on the basis of the sampling coordinates to obtain a specular reflection effect. In the mode, the reflection vector has direction and fixed length information at the same time, it is ensured that the mirror reflection effect conforms to the physical law, and the visual immersion of the game is enhanced.

The utility model relates to the technical field of decompression toys, in particular to a spherical decompression toy. The spherical decompression toy comprises a rotating ball, two semispherical shells and a rotation driving mechanism, the two semispherical shells are symmetrically arranged so that a spherical space used for containing the rotating ball can be formed between the two semispherical shells, and a cavity is formed between the rotating ball and the two semispherical shells. Two hemispherical shells are held, the hemispherical shells are pressed towards the middle, and a transmission assembly connected with the hemispherical shells moves, so that a combined screw ring is in threaded connection with a lead screw, a first spring is compressed, and a first hollow ring column is pressed to move in the axial direction of the lead screw; after the combined screw ring is in threaded connection with the lead screw and in the process that the first spring is compressed, the transmission assembly drives the combined screw ring to move in the moving process, the lead screw is driven to rotate around the axis of the lead screw, then the rotating ball located in the spherical space is driven to rotate, and interestingness is higher.

This invention relates to the field of shower head life testing, and more particularly to a device for testing the lifespan of shower head switching and ball head oscillation. The device includes a test frame and a movable component fitted onto the outside of an arc-shaped frame. The test frame includes an arc-shaped frame and positioning rods at both ends of the arc-shaped frame. The positioning rods are axially rotatably fixed to the shower head mounting rod. The movable component moves along the arc-shaped frame. A telescopic rod is connected to the side of the movable component near the positioning rods. A positioning frame is fixed to the end of the telescopic rod, and the interior of the positioning frame is filled with a positioning element made of elastic material. This invention, through the cooperation between the arc-shaped frame and the movable component, combined with the rotatability of the positioning rods, can control the free positioning of the movable component within a spherical space. Combined with the use of a universal ball head fixing method for the shower head, it ensures that the shower head is fixed by the positioning element and can be freely adjusted within the spherical space for testing. Only a random path needs to be set to simulate the uncertainty of human operation.

A time grating sensor for spherical multi-dimensional rotation angle measurement. The time grating sensor comprises a stator base body (1) and a rotor base body (2). The stator base body (1) is spherical shell-shaped, the rotor base body (2) is spherical and located in the spherical shell of the stator base body (1), and a gap is reserved between the surface of the rotor base body (2) and the inner surface of the stator base body (1), so that the rotor base body (2) is suspended and concentric with the stator base body (1). Six excitation units having the same shape and size are uniformly distributed at intervals on the inner surface of the stator base body (1). The centers of the six excitation units are located at the centers of six faces of a cube externally tangent to the inner surface of the stator base body (1). Eight sensing units having the same shape and size are uniformly distributed at intervals on the surface of the rotor base body (2). The eight sensing units are respectively symmetrically distributed on eight quadrants of a space rectangular coordinate system taking the center of the rotor base body (2) as the origin. Also disclosed is a mounting structure for the time grating sensor for spherical multi-dimensional rotation angle measurement. The solution above can realize high-accuracy multi-dimensional rotation angle measurement in a spherical space, simple structure, thorough decoupling, and strong anti-interference capability.

The present application provides an image processing method and apparatus for stitching images based on a spherical surface, thereby reducing image distortion and obtaining a panoramic image with better effects. The method includes: first, acquiring multiple frames of input images to be stitched; then determining the position of each frame of the input images in a first coordinate system, where the first coordinate system includes a coordinate system in a spherical space, which is equivalent to establishing a unified world coordinate system, and determining the position of each frame of the input images in the world coordinate system; subsequently, stitching the multiple frames of input images according to their positions in the first coordinate system to obtain a panoramic image.

The invention relates to a method for optically realizing 360-degree spherical holographic display. The invention provides a method for optically realizing 360-degree spherical holographic display by using a planar spatial light modulator to solve the problem that spherical holographic display cannot be optically realized due to the absence of a spherical spatial light modulator in the market. According to the method, a convex parabolic mirror is used, the characteristic that the convex parabolic mirror converts incident plane waves into spherical waves is utilized, and a diffraction field of a plane hologram is converted to a convex paraboloid and then converted to a spherical surface. According to the method, the problem that spherical holographic display cannot be realized optically is solved for the first time, 360-degree spherical holographic display is realized optically by using the planar spatial light modulator, and the method has a great application prospect in the fields of medical treatment, geology, astronomy and the like.

Disclosed in the present application are a low-entropy simulator and a use method therefor. The low-entropy simulator comprises at least one simulated spherical space, and the spherical surface of the simulated spherical space comprises at least four nodes. All the nodes are uniformly distributed on the spherical surface of the same simulated spherical space. Each of the nodes comprises at least one simulated wormhole, and the axis of the simulated wormhole passes through a sphere center corresponding to the simulated spherical space. By means of the described design, the health level of a human body can be improved.

A non-pneumatic tire is provided, including a tire tread (10), a tire bead (20), and a tire body (30). The tire body (30) is provided with multiple first annular cavities (31) and second annular cavities (32). The first annular cavity (31) is provided with multiple sets of bulges (311) and a first inner brim (313), and the second annular cavity (32) is provided with a second inner brim (323) and an expansion region (321). A top of the expansion region (321) has a spherical space (322). The multiple first annular cavities (31) and second annular cavities (32) are arranged side by side in the tire body (30), constructing an integrally multi-dimensional loading structure.

The embodiment of the application discloses a kind of grasping pose estimation method and related equipment, it is characterized in that, the method includes: based on the M sample points in the object point cloud of target object, determine the M sample point clouds of the object point cloud, each sample point cloud in the M sample point clouds is the point cloud of the object point cloud in corresponding target space, the corresponding target space is the spherical space with the M sample points in corresponding sample point as ball center and with preset length as radius;Wherein, the number of points included in each sample point cloud is greater than preset value;Based on the M sample point clouds and grasping end model parameter, M grasping poses are calculated, and the grasping end model parameter includes the width and depth of grasping end model;Select one grasping pose from the M grasping poses as the target grasping pose for grasping the target object.Using the embodiment of the application can improve the robot grasping efficiency, accuracy in complex scene.

The invention belongs to the field of aircraft structure design, and relates to a structural reliability reevaluation method and device based on spherical decomposition sampling. The method comprises the following steps: S1, determining an observation space and a failure space of an input sample; s2, extracting a sample pool according to the prior distribution of the input samples, and dividing the sample pool into spherical spaces which are not overlapped with each other; s3, calculating a first probability of the observation event alone, a first variable coefficient of the observation event alone, a second probability of the combination of the observation event and the failure event, and a second variable coefficient of the combination of the observation event and the failure event; s4, when the first variable coefficient or the second variable coefficient exceeds a set value, the number of layers of the spherical space with the maximum variance is determined, and the sample size is increased in the spherical space; and S5, calculating a posterior failure probability according to the first probability and the second probability. According to the method, the number of prior samples required for calculating the posterior failure probability is reduced, and the calculation efficiency of structural reliability reevaluation is improved.

The present application relates to the technical field of abrasive stone building preparation, and particularly relates to a multi-degree-of-freedom fine adjustment mounting connector and mounting process for a spatial special-shaped abrasive stone, which comprises a supporting rod, the fine adjustment seat comprises a supporting seat fixed with a keel frame, the supporting seat is provided with a spherical space, a first spherical body capable of freely rotating is limitedly mounted in the spherical space, a second spherical body capable of freely rotating is eccentrically mounted in the first spherical body, the second spherical body is partially exposed outside the first spherical body, and the second spherical body is fixedly connected with the supporting rod, and the supporting seat is provided with an adjusting and positioning assembly capable of adjusting and positioning the position of the first spherical body. Multiple fine adjustment seats can respectively adjust corresponding supporting rods, so that the load between the abrasive stone unit and the keel frame is redistributed, and local partial load and stress concentration caused by shape errors of the abrasive stone unit, installation errors of the keel frame and connection errors are reduced.

This invention discloses a rapid positioning welding jig for spherical nodes in a space frame and its usage method, relating to the field of welded spherical space frame assembly construction technology. It includes a welding base, a member positioning device, an adjustable base for the support rod, a member support rod, and a top support. The welding base is used to place the welded sphere. The member positioning device is sleeved on the welded sphere to achieve precise layout of the contact position between the member and the welded sphere. The adjustable base for the support rod is arranged around the welding base, and the member support rod is installed on the adjustable base. The top support is hinged to the top of the member support rod to support one end of the member. The other end of the member is welded and fixed to the welded sphere. The rapid positioning welding jig for spherical nodes in a space frame provided by this invention and its usage method solve the problems of difficulty in ensuring positioning accuracy, cumbersome installation and dismantling of fixing devices, difficulty in moving them, high construction safety risks, and difficulty in controlling welding deformation in the prior art.

This product is an ice maker for producing spherical ice, and consists of an outer container with an open top and an inner container that has a flange and is separable into two parts, and when assembled, a spherical space for pouring ice-making liquid is formed inside, with the part excluding the flange being housed within the outer container.

The application discloses a kind of based on shape perception enhancement three-dimensional model retrieval method, including the following steps, real picture is acquired and is handled, obtains the multiscale feature of real picture, the data obtained is input dynamic sparse feature correction module and is handled, obtains fusion feature, is randomly initialized in spherical space feature aggregation module Generation spherical space feature;Fusion feature is input spherical space feature aggregation module and is handled, obtain spherical vector, establish the matching relationship of spherical space feature and spherical vector, adopt cosine measure to calculate similarity and sort, the first 10 spherical space features of option similarity highest, the class label of the three-dimensional retrieval model corresponding to the first 10 spherical space features of similarity highest is regarded as the final three-dimensional model retrieval result output.The application is more accurate by the feature extraction of three-dimensional retrieval model to target shape in real picture, significantly improve the robustness of three-dimensional retrieval model when facing diversified real scene.

The invention relates to the technical field of location privacy protection, and discloses a Balltree-based differential privacy location protection method, which comprises the following steps: S1, receiving service request information containing a user identifier, a user real location and a query radius; s2, a Balltree space division structure is constructed based on historical or current user position data, the Balltree comprises a plurality of spherical space partitions, and each partition has a space centroid and a coverage radius; s3, according to the Balltree partition to which the real position of the user belongs, the coverage radius of the corresponding partition is obtained, and the radius r of the Balltree partition is used as a parameter of a differential privacy sensitivity function, namely delta F = f (r); and S4, generating a disturbance position, including randomly sampling a disturbance angle and sampling a disturbance distance based on a disturbance scale. According to the method, by combining Balltree space division and a differential privacy perturbation mechanism, flexible privacy protection for different areas is realized, and the problem of privacy leakage or query quality reduction caused by a single perturbation scale is avoided.

The neutron measurement system with the combination of the dual-CMOS sensor and the conversion material comprises a detector; the detector comprises two CMOS sensors and a neutron conversion material, wherein the light-sensitive surfaces of the two CMOS sensors are oppositely arranged, and the neutron conversion material is arranged between the light-sensitive surfaces of the two CMOS sensors. The neutron conversion material is used for carrying out nuclear reaction with neutrons and generating alpha rays. The neutron detection device has the advantages that the neutron conversion material is arranged between the two CMOS sensors of which the light-sensitive surfaces are oppositely arranged, neutron detection is converted into sensitive alpha particle detection of the CMOS sensors, the detection efficiency of neutrons (especially thermal neutrons) is improved, and a wide-area neutron measurement angle almost covering the whole spherical space is realized.

The utility model discloses an optical range finder for scanning a spherical space, which comprises a base, a main circuit board arranged in the base, a fixed support arranged on the base, supports arranged on two sides of the fixed support and connected with the top end of the base, and a first motor arranged on the fixed support and rotating horizontally. The first motor is provided with a first motor driving wire connected with the main circuit board, the top end of a rotating shaft of the first motor extends to the outside of the fixing support and is sleeved with a hollow stator part of a conductive slip ring, a conductive slip ring rotor part is arranged above the conductive slip ring stator part, and a laser range finder is arranged above the conductive slip ring rotor part. And the laser range finder is driven by a second motor which rotates vertically. Measurement results of the laser range finder are transmitted to the main circuit board in a wired or wireless mode and then are transmitted to the outside through the main circuit board. The utility model has the advantages of simple structure, lower cost, continuous power supply and long-time work, and can carry out laser scanning and distance measurement on a three-dimensional spherical space.

The present invention discloses a distributed adaptive bin map implementation method for improving the performance of a laser inertial odometry (LIO). The method comprises the following steps: uniformly dividing the map space into a grid of voxels, storing pointers to sampling points used to construct the bin map in the voxels, and projecting the voxels storing the sampling point pointers into a one-dimensional array using a spatial hash function, thereby forming a voxel hash data structure; the sampling points are randomly generated in a spherical space with a radius of r, with the center point of the spherical space serving as the location identifier of the sampling points. The spherical space serves as the statistical range of point cloud data obtained by laser radar scanning, thereby modeling the point cloud as a Gaussian distribution; each sampling point on the bin map corresponds to a bin, and the pointer to each sampling point is stored in the voxel where the center point of the sampling point is located. The bin map can adaptively adjust the position of the bin sampling points according to the distribution of the point cloud, reducing the risk of improper point cloud division and improving the accuracy of plane estimation.

The present invention discloses a spherical multi-dimensional rotation angle measurement time-grating sensor and its installation structure. The time-grating sensor includes a stator base and a rotor base. The stator base is in the shape of a spherical shell, and the rotor base is in the shape of a spherical shell and is located within the stator base spherical shell. A gap is left between the surface of the rotor base and the inner surface of the stator base so that the rotor base is suspended and concentric with the stator base. Six excitation units of identical shape and size are evenly distributed on the inner surface of the stator base. The centers of the six excitation units are located at the centers of the six faces of a cube tangent to the inner surface of the stator base. Eight sensing units of identical shape and size are evenly distributed on the surface of the rotor base. The eight sensing units are symmetrically distributed in the eight quadrants of a spatial rectangular coordinate system with the center of the rotor base as the origin. The present invention can achieve high-precision multi-dimensional rotation angle measurement in spherical space, and has a simple structure, complete decoupling, and strong anti-interference ability.