162 results about "Surface fitting" patented technology

The invention belongs to the technical field of three-coordinate measurement, and particularly discloses a three-coordinate measurement method based on incomplete curved surface fitting, which comprises the following steps: hierarchically extracting geometric features from incomplete point clouds, and dividing a workpiece to be measured into a plurality of ordered curved surfaces; adding a curved surface label to each point cloud data, and generating a plurality of ordered point cloud sets based on the curved surface labels; generating virtual points based on the geometric features to fill the missing region; reconstructing a three-dimensional sub-model of each ordered curved surface based on the ordered point cloud set, the virtual points and the edge point cloud; and fitting the three-dimensional sub-model to generate a continuous curved surface model, and obtaining workpiece measurement parameters based on the continuous curved surface model. By extracting geometric features, classifying point clouds and generating virtual points, the limitation that a traditional method depends on a prior model is broken through, unknown or non-standard geometry can be processed, global continuous modeling of incomplete point clouds is achieved through ordinal curved surface division, three-dimensional sub-model reconstruction and continuous curved surface fitting, and the accuracy of measurement parameters is ensured.

The invention provides a medicine bottle detection method and system based on curved surface fitting, and belongs to the technical field of medicine bottle detection and the technical field of curved surface fitting. S2, preprocessing the multi-modal data; s3, feature extraction and fusion; s4, performing three-dimensional reconstruction and optimization; s5, fitting a self-adaptive curved surface; and S6, defect intelligent detection and classification. The device can efficiently and accurately detect different medicine bottle types.

The invention relates to the technical field of automatic equipment control, in particular to an automatic equipment control system and method and a storage medium. The method comprises the following steps that a high-frequency laser scanner is used for scanning the surface of a target polishing part, B-spline surface fitting is carried out, and a surface fitting surface model is generated; controlling the polishing operation of the polishing industrial robot based on the surface fitting curved surface model, and performing polishing contact state detection to generate contact state point cloud data; based on the contact state point cloud data, grinding expected pose error analysis is carried out, reverse impedance error compensation is carried out, and a reverse impedance compensation amount is obtained; and the joint angle of the polishing industrial robot is corrected through the reverse impedance compensation amount, so that reverse impedance control over the automatic polishing equipment is achieved. By compensating the reverse impedance error of the automatic polishing equipment, accurate control over the automatic polishing process is achieved.

The invention discloses a defect abandoning and curved surface fitting method and system based on point cloud data and a medium. The method comprises the following steps: preprocessing the point cloud data; segmenting the preprocessed point cloud data into a plurality of rectangular regions; based on a geometric shape defect detection method, whether defects exist in the rectangular areas or not is judged, and the areas with the defects are removed; carrying out effective sampling based on region features on the reserved region; in the reference area, performing curved surface fitting by using a non-uniform rational B spline to obtain a fitting curved surface of the reference area; and taking the fitting curved surface of the reference region as an initial curved surface, constructing an overall fitting objective function, introducing a smoothness penalty term of a curved surface second derivative to make the curved surface complexity, and completing overall curved surface fitting. According to the method, high-precision curved surface fitting can be realized, and the problems of insufficient fitting precision and poor local detail capturing capability in the prior art are effectively solved.

The invention discloses a building precast beam section surface flatness detection method, and belongs to the technical field of building detection. Comprising the following steps: step 1, acquiring three-dimensional point cloud data of an original surface; 2, preprocessing the original point cloud data to obtain a purified point cloud data set; 3, constructing a bicubic parameter curved surface fitting model on the purification point cloud data set, introducing a curved surface curvature calculation formula, and establishing a beam section surface theoretical flatness model; step 4, iteratively extracting sample points from the point cloud data to fit a local plane, calculating distance distribution from all the point cloud data to the local plane, performing comparative analysis on the distance distribution and a theoretical flatness model, and comprehensively obtaining a flatness score of the surface of the beam section; 5, early warning is carried out on the area where defects possibly exist, and a defect thermodynamic diagram is output; and step 6, establishing a flatness evaluation system, determining a quantitative judgment standard of qualification or not, and dividing the precast beam sections into qualified products and unqualified products.

The invention belongs to the technical field of control detection, and particularly relates to a laser cutting machine cutting control method and system.The laser cutting machine cutting control method comprises the following steps that S1, frequency sweeping excitation is applied to a plurality of preset grid node positions of a laser cutting machine workbench, and vibration response data of a cutting head is collected; a dominant pole and a zero point of a vibration transfer function of each grid node are identified and extracted, spatial distribution is fitted by using a non-uniform rational B-spline surface, and a spatial model of continuous mapping between a cutting head position and a vibration transfer function parameter is established; s2, decomposing a to-be-processed path into a plurality of path infinitesimal segments, and calculating a preliminary feed-forward compensation instruction of each path infinitesimal segment based on a space model and a zero-phase error tracking control algorithm; according to the invention, the contour error caused by structural vibration and non-linear factors is reduced, the processing precision and the cutting surface quality of the laser cutting machine in a full working range are improved, and the forming effect of a complex contour at a high speed is improved.

The invention discloses a grinding wheel surface profile and abrasive particle distribution state detection method and system, and the method comprises the steps: sampling and collecting point clouds of a grinding wheel circumferential surface region, and obtaining original sampling data; performing noise reduction processing on the obtained original sampling data to obtain point cloud data; performing two-dimensional projection and frequency domain processing on the point cloud data after noise reduction processing; the features extracted from the frequency domain are remapped to the three-dimensional space, and different surface areas are identified through a density clustering algorithm; performing curved surface fitting by adopting a least square method, calculating a reference surface and evaluating surface features; according to the obtained datum plane and the evaluated surface features, the surface profile and distribution state of the grinding wheel are evaluated, evaluation parameters comprise the maximum surface profile height # imgabs0 #, the abrasive particle distribution density # imgabs1 #, the abrasive particle distribution uniformity # imgabs2 # and the abrasive particle spacing statistical parameter # imgabs3 #, and the contour and abrasive particle distribution density of the surface of the grinding wheel in the circumferential direction can be accurately and efficiently detected.

The application discloses a curved surface structure zero state form finding method, comprising the following steps: (1) a model is established based on a design configuration, and deformation data is obtained by simulating the whole construction process; (2) a zero state configuration is deduced reversely: key node deformation values are extracted, arches are started, a simulation is re-performed after a linear model is fitted and adjusted, and iteration correction is performed until deformation error meets the requirement, and a zero state installation configuration is obtained; and (3) construction data is generated by extracting component line shapes and node coordinates. The application innovatively adopts an integral curvature adjustment strategy to replace a traditional node coordinate local adjustment mode, and through reverse deduction of 'construction simulation-control point arching-curved surface fitting-grid mapping', the problem of curved surface discontinuity caused by the traditional reverse superposition method is solved, construction precision and efficiency are significantly improved, and the application is suitable for intelligent construction of complex curved surface space grid structures.

The invention relates to the technical field of vision, in particular to an industrial intelligent spraying tracing method, which comprises the following steps of: firstly, acquiring an original depth map of a curved surface workpiece by utilizing a depth camera, and obtaining original data containing depth information; next, edge feature enhancement preprocessing is carried out on the original depth image, edge pixels are accurately extracted through morphological gradient operation and a user-defined anisotropic diamond kernel, and an edge mask image is constructed; then, curvature region division and self-adaptive interpolation restoration are carried out, quadratic polynomial curved surface fitting is carried out on a hole pixel neighborhood, a local curvature value is calculated, a curved surface region is divided according to the curvature value, and corresponding interpolation strategies are adopted for different regions; afterwards, edge detail sharpening post-processing is carried out on the repaired depth image, and the edge contrast is enhanced by using a non-sharpening mask algorithm; and the repaired and sharpened depth map is converted into a three-dimensional point cloud, workpiece pose information is determined based on three-dimensional point cloud data, and spraying track planning is carried out.

The invention relates to the technical field of photoetching, in particular to a silicon wafer surface shape scanning method and device and electronic equipment.The method comprises the steps that the edge of a silicon wafer is scanned according to a preset scanning path, and discrete height information of the edge of the silicon wafer is obtained; curved surface fitting is carried out on the discrete height information of the silicon wafer edge to obtain a fitting model of the height and the position of the silicon wafer edge, and the fitting model can obtain the accurate height of the silicon wafer edge; according to the fitting model, resolving the position corresponding to the entrance point on the preset global scanning path to obtain an estimated attitude value of the entrance point; and controlling the silicon wafer stage to move until the silicon wafer is in the effective measurement interval of the horizontal sensor according to the estimated attitude value before entering the silicon wafer from the entrance point, so that the situation that capturing operation is needed when the scanning light spot of the horizontal sensor enters the field in the global scanning process is avoided. Therefore, the global scanning efficiency is improved.

The invention discloses a precise positioning control method and system for photovoltaic module laminating welding, particularly relates to the technical field of welding positioning, and is used for solving the problem of systematic alignment deviation caused by independent control of welding and laminating procedures, lack of unified reference and physical deformation of battery strings in the prior art. A battery string image is obtained after welding, a morphological feature point set is extracted, the morphological feature point set is registered with a theoretical feature point set to calculate a current deformation field, then local curved surface fitting residual and equivalent strain energy density collaborative analysis identification is carried out, a pseudo deformation area is filtered out, and a credible physical deformation field is obtained. And generating importance weight distribution by combining functional information of a battery string region, performing compensation reconstruction on theoretical positioning coordinates of a film coating material by taking the weight as a target, generating a target fitting track under a film coating process reference coordinate system, and finally controlling an execution mechanism to operate according to the track, thereby realizing high-precision alignment fitting of the battery string and the film coating material.

The invention relates to the technical field of AR (Augmented Reality), in particular to an intelligent exhibition hall guide information method and system based on the AR technology, and the method comprises the following steps: traversing a scene graph of a 3D model based on a user triggering instruction and the 3D model of an exhibit, recognizing a grid object without child nodes as an independent part, and storing the independent part in the scene graph; reading the axial constraint and the surface fitting constraint associated with each part, and reversing the direction vector of the axial constraint; according to the method, the initial disassembly vector of each part is reversely calculated based on the internal axial and surface fitting constraints of the exhibit 3D model, and a dynamic decomposition view conforming to the mechanical logic and the assembly sequence is provided. Furthermore, in an iterative solution loop, the overlapping volume of a part bounding box is detected in real time, a repulsive force is applied, and a traction force is generated by introducing a virtual plane parallel to a user viewpoint, so that a layout in which all parts are clearly visible and do not shield each other can be dynamically generated.

The invention discloses a visual real-time scanning modeling method suitable for a curved surface. The visual real-time scanning modeling method comprises the following steps that S1, a collision avoidance path method of a mechanical arm is established; s2, a mechanical arm controls an industrial camera to obtain original point cloud data of the curved surface; s3, dividing the original point cloud data of the curved surface based on curvature, performing primary sampling, performing secondary sampling on a primary sampling result according to voxel grid sampling, and filtering; s4, performing curved surface reconstruction on the filtered curved surface original point cloud data in the S3; s5, carrying out quadric surface fitting on the curved surface reconstructed in S4; S6, finally, according to various parameters in a quadric surface fitting result, carrying out modeling on the inspected object by using moving least square method projection; the method has the beneficial effects that the condition that the mechanical arm faces different objects and complex curved surfaces is reasonably planned; most irregular curved surfaces can be effectively dealt with; and quadric surface fitting is added on the basis of primary surface reconstruction to obtain a more real object surface image.

Embodiments of the present disclosure relate to ground surface estimation using localized surface fitting. A three-dimensional (3D) surface structure (e.g., a road surface profile) may be estimated using a nonlinear optimization to fit height values to (e.g., accumulated, bias-corrected) LiDAR detections (e.g., sampled in localized regions along one or more predicted trajectories). For example, LiDAR data (e.g., detected 3D point clouds) may be ego-motion compensated, corrected for measurement bias, accumulated, and sampled along one or more predicted trajectories, and the height of each trajectory point may be fitted to the heights of the corresponding sampled points using a nonlinear optimization. As such, the resulting road surface profile (e.g., modeled along the wheel track(s)) may be provided to an adaptive suspension control system to modulate the damping characteristic of the suspension system to counteract indentations (e.g., potholes) or protrusions (e.g., speed bumps) represented in the road surface profile.

The invention provides a curved surface engraving control method based on a laser engraving machine, which comprises the following steps of: in a to-be-processed area of a to-be-processed curved surface object, acquiring discrete point data by taking intersection points of plane rectangular grids in a plane coordinate system as acquisition points; performing parameterization calculation on discrete point data of each group of intersection points in the horizontal axis direction in the plane coordinate system to obtain a first virtual data sequence, and performing parameterization calculation on each group of discrete point data in the longitudinal axis direction in the plane coordinate system to obtain a second virtual data sequence; based on the first virtual data sequence and the second virtual data sequence, determining a curved surface fitting model of the to-be-processed area; a preset carving image is obtained, and a three-dimensional carving track is determined according to the preset carving image and the curved surface fitting model; and controlling a laser of the laser engraving machine to engrave in the to-be-processed area according to the three-dimensional engraving track so as to form a preset engraving image in the to-be-processed area. According to the invention, the irregular curved surface object can be automatically engraved.

The utility model discloses an auxiliary device for machine tool machining, relates to the technical field of machining, and aims to solve the technical problems that when a current clamp is used for clamping a circular workpiece, due to the lack of an adjustable cambered surface matching structure, the contact area between the current clamp and the circular workpiece is lacked in the clamping process, and the stable clamping effect is difficult to keep. Comprising a workbench arranged on a machine tool body, a hydraulic cylinder arranged at the center of the bottom end of the workbench and a coaxial clamping mechanism installed at the center of the top end of the workbench, the coaxial clamping mechanism comprises a base, a plurality of hinge seats are arranged at the top end of the base in an annular array mode, and clamping jaw assemblies are installed in the hinge seats in a hinged mode; according to the in-hole machining and clamping device, the matching cambered surface matching claws are coaxially folded, matching with the cambered surface of the circular workpiece is achieved, the contact area between the in-hole machining and clamping device and the circular workpiece after clamping is guaranteed, and the stability of in-hole machining and clamping is guaranteed.

The invention belongs to the technical field of laser precision machining, and discloses a three-dimensional vision guided tire curved surface two-dimensional code laser dynamic compensation engraving method. The method comprises the steps that area curvature parameters are obtained based on a preset tire curvature database, the overall structure of the curved surface two-dimensional code is dynamically designed, and a laser engraving path is dynamically planned in combination with the area curvature parameters; curved surface two-dimensional code engraving is carried out based on the laser engraving path, and local point cloud data are collected in real time; performing curved surface fitting on the local point cloud data, calculating a local curvature parameter, and performing curvature correction on the corresponding regional curvature parameter to obtain a local corrected curvature; based on the local correction curvature, the focus compensation amount and the delay compensation amount are calculated in real time, and dynamic compensation is carried out on the engraving process of the curved surface two-dimensional code; according to the method, area self-adaption and depth precise control of the curved surface two-dimensional code can be realized, and local curvature change of the tire surface is compensated in real time in the laser engraving process, so that the recognition stability and the overall visual effect of the curved surface two-dimensional code are improved.

The application belongs to the field of intelligent manufacturing, and particularly relates to a machine tool RTCP precision interpolation method based on three-dimensional curved surface fitting, which comprises the following steps: determining a main motion shaft of a machine tool according to a machine tool topological structure and RTCP functions, setting a motion interval of the main motion shaft, and forming a linkage RTCP detection position combination; obtaining three-direction error values under each linkage RTCP detection position combination; adopting a local weighted regression scattered point smoothing algorithm to fit three-dimensional data, so as to obtain three groups of regression models corresponding to three-direction errors; resetting a plurality of linkage motion position combinations as RTCP precision verification points, and performing verification; if a specified threshold is exceeded, a smoothing coefficient of the step is modified; and if the threshold is within a range, fitting is ended and is used for RTCP precision interpolation and compensation. The application proposes three-dimensional curved surface fitting based on a local weighted regression scattered point smoothing algorithm, combines RTCP error three-direction values and detection positions, and respectively makes three-dimensional graphics for fitting prediction, so that the method is novel and has high fitting interpolation accuracy.

The present invention relates to a multi-tooth contact analysis method suitable for point-contact gear tooth surfaces, comprising the following steps: S1: constructing an installation matrix, moving the three-dimensional point set data of the tooth surfaces of the large and small wheels to the meshing positions respectively, and constructing a tooth surface point set meshing model; S2: rotating the tooth surfaces of the large and small wheels respectively through a rotation matrix, and solving the rotation angle corresponding to the minimum distance between the cross point sets of the tooth surfaces of the large and small wheels; S3: using the rough contact angle as the initial value, interpolating the discrete points in the tooth surface grid based on the intelligent interpolation method of the contact area, and performing a fine contact solution; S4: performing local three-dimensional surface fitting of the simulated contact area based on a neural network, obtaining an accurate local three-dimensional surface expression, and constructing a universal gear pair meshing equation; S5: dynamically adjusting the contact ellipse by evaluating the probability of several front and rear teeth participating in meshing; and solving the problems that the traditional gear tooth contact analysis method cannot adapt to the solution of meshing equations of different gear pairs and the conventional gear tooth contact analysis method does not consider the overlap.

The utility model discloses a fireproof instrument communication cable, which comprises a cable inner support assembly, a flame-retardant wrapping tape body is wrapped on the outer side of the cable inner support assembly, and a reinforcing protection assembly is sleeved on the outer side of the flame-retardant wrapping tape body; according to the utility model, through arranging the cable inner supporting assembly which is internally provided with the three groups of inner connecting support rods for fixedly connecting the inner reinforcing core rod and the inner supporting outer frame body, a good inner supporting effect can be achieved inside, and the cavities between the three groups of inner connecting support rods and the inner reinforcing core rod inside the inner supporting outer frame body can achieve a good buffering effect; a certain heat-resistant and flame-retardant effect can be achieved through the arranged flame-retardant wrapping tape body, and a good outer buffering and supporting effect can be achieved by arranging a plurality of groups of middle buffering and connecting blocks on the outer side of the inner fitting ring pipe to be connected with the cambered surface fitting ring, so that the interior of the cable is prevented from being extruded and damaged; and after being bent to a certain angle, a plurality of groups of upper and lower cambered surface attaching rings can support each other to achieve a very good anti-bending effect.

The invention relates to the technical field of optical precision machining, in particular to a curvature self-adaptive curved surface fitting method and system in optical element polishing, and the method comprises the steps: obtaining a material height difference removal matrix based on interference measurement data before and after polishing of an optical element; traversing the height difference matrix by using a sliding window mode, calculating a Hessian matrix eigenvalue in a local area, forming a curvature sensitivity index (CSI), dividing an optical surface area into a plane area, a gradual change area and a high curvature area, and setting curved surface fitting parameters in the areas respectively; performing curved surface fitting on the region by adopting a weighted least square method to obtain a continuous surface model, and performing adaptive numerical integration calculation on the continuous surface to obtain a material removal volume; according to the method, the process control requirement of high-precision optical manufacturing can be met, the calculation precision is high, the calculation precision and the calculation efficiency can be maximized, the global efficiency is high, the capability of capturing local features can be achieved, the method can be integrated into an existing quality control system, and process decision making is facilitated.

The invention discloses a face gear on-machine measurement comprehensive error compensation method based on sequential decoupling. Specifically, a sequential decoupling compensation strategy is provided for solving the problem that the measurement precision is limited due to mutual coupling of a measuring head pre-stroke error and a workpiece installation coordinate system error in the prior art. The method comprises the following steps: firstly, establishing a measuring head pre-stroke error model through standard ball calibration, and performing anisotropic compensation on a tooth surface measuring point by utilizing Delou inner triangulation and a weighted interpolation method; secondly, based on the compensated data, the outer cylindrical surface and the tooth top plane of the face gear are accurately fitted through an iterative optimization algorithm, an accurate measurement coordinate system is established, and the initial phase of the C axis is optimized; and finally, reconstructing an actual tooth surface by adopting a two-stage NURBS curved surface fitting method, and calculating a normal deviation. According to the method, an error propagation chain is effectively cut off through a strict execution sequence, the overall precision and reliability of on-machine measurement are remarkably improved, and a key technical support is provided for face gear closed-loop manufacturing.

The embodiment of the invention provides a quadric surface fitting method, a model training method, a model reasoning method and equipment, and relates to the technical field of computer vision, and the quadric surface fitting method comprises the steps: determining a local PCA coordinate system corresponding to a local curved surface where a target point is located through a PCA method; and then, converting a Mongolian equation corresponding to a local curved surface where the target point is located into a local PCA coordinate system to obtain an implicit curved surface equation. Then, solving the implicit curved surface equation according to the position information of the target point cloud block in the local PCA coordinate system, and obtaining the value of an item to be solved; and finally, according to the value of the item to be solved, obtaining a differential characteristic parameter of the local curved surface. According to the technical scheme, the quadric surface fitting precision can be improved, and more accurate differential characteristic parameters can be obtained.

The invention provides a parallel structured network subdivision system suitable for an FDTD algorithm, and belongs to the technical field of electromagnetism. Surface fitting is conducted on each triangular surface element through a surface fitting module, a triangular surface element complexity list is generated, the load process of each triangular surface element in the complexity list is dynamically allocated based on a greedy algorithm, and a global interface file containing surface data is generated; carrying out internal grid filling on the target object subjected to surface fitting through a medium filling module, creating a Cartesian structure for each grid plane process needing to be filled, and carrying out filling in a parallel mode to generate a grid model; and realizing cross-module data transmission through the global interface file, and outputting a grid file containing a grid model. According to the method, the problem of resource idleness caused by the difference of the calculated amount of the triangular surface elements is effectively solved, the parallel efficiency is remarkably improved, the surface fitting module can achieve the acceleration effect close to linearity, and the method is particularly suitable for large-scale geometric models with complex structures.

The present application relates to a method for extracting an acetabular facies lunata model, in particular to a method for extracting an acetabular facies lunata model based on mixed surface fitting, which solves the technical problem of low precision and robustness of the existing method for extracting an acetabular facies lunata model. The present application realizes rough extraction of the acetabular facies lunata model through spherical surface fitting, and then realizes accurate extraction of the acetabular facies lunata model in combination with ellipsoidal surface fitting, which combines the stability of spherical surface fitting and the anatomical fidelity of ellipsoidal surface fitting. In particular, in the case of complex pathologies such as hip dysplasia, the present application can still maintain high extraction accuracy, and improve the accuracy and reliability of clinical diagnosis and surgical planning. Meanwhile, in the iteration process of ellipsoidal surface fitting, an adaptive fault tolerance threshold is introduced, which effectively solves the problems of sensitivity to noise and strong parameter dependence of traditional methods, and has better robustness in processing complex acetabular morphology.

1. The name of the design product: cold chain insulation box (curved surface fitting). 2. The use of the design product: for the cold chain transportation of goods. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The application discloses a cambered surface fitting type laser cutting process and device for a wave-shaped metal hyperbolic plate, and the process comprises the following steps: S1, hyperbolic plate parameter acquisition; S2, arc segment segmentation processing; S3, determination of the center coordinates of each segment; S4, initial position adjustment of a laser cutting head; S5, concave arc segment cutting execution; S6, convex arc segment cutting execution; S7, width cycle cutting and path switching. Irregular and difficult-to-control overall wave surfaces of the hyperbolic plate are converted into a plurality of regular and easy-to-position arc units, namely upper arc segments and lower arc segments, and corresponding cutting modes are adopted for the upper arc segments and the lower arc segments, the concave arc segments are rotated around the laser cutting head as the center, the convex arc segments are rotated around the center of the arc segment as the center, the precise adaptation of the cutting posture is realized, the rotation center is flexibly adjusted according to different arc shapes, the laser emission direction or the cutting head feeding track is always fitted to the curved surface, and machining defects such as thermal deformation and burrs are effectively reduced.

The invention discloses an insulator surface defect detection method and system based on photometric stereo vision. The method comprises the following steps: S1, obtaining a plurality of insulator surface images obtained by a photometric stereo method; s2, restoring a 2.5 D depth map of the surface of the insulator from the surface image of the insulator; s3, denoising the 2.5 D depth map on the surface of the insulator; s4, performing key point extraction and curved surface fitting on the denoised depth map to obtain key control points and corresponding curved surfaces as a sample set A; constructing a random control point coordinate combination and a corresponding curved surface as a sample set B; training the feature extraction network through the sample set A and the sample set B to obtain a control point extractor to obtain control points of the curved surface, and obtaining an insulator surface curved surface model; and S5, based on the insulator surface curved surface model, calculating parameter information of the insulator surface, and performing defect detection according to the parameter information. The method has the advantages of high detection precision and the like.

We provide a laser ablation system equipped with a robot and processing circuitry. [Solution] The robot has an end effector having a laser component and a camera. The circuit receives an input image of a workpiece from the camera in response to a memory command, segments the image to generate image segments that depict the workpiece, applies a surface fitting algorithm to generate a polynomial surface that fits the inner surface of the segments, calculates a set of surface normal vectors crossing the surface to generate a set of waypoints offset from the polynomial surface, programs a motion path connecting the multiple waypoints, and performs operations including laser ablation of the workpiece surface based on the motion path.

The invention belongs to the technical field of polishing devices, and particularly relates to a projectile body packaging barrel inner wall polishing device which comprises a polishing head assembly, an airflow pressure sensing assembly, a differential motion spiral compensation mechanism, a power unit and a position presetting module. The airflow pressure sensing assembly is used for detecting an original airflow pressure signal corresponding to the polishing gap; the position presetting module is used for recognizing the type of a barrel section where the grinding head is located. The device is further provided with a curved surface airflow correction module and a real-time gap calibration sensing unit. According to the invention, the curved surface airflow correction module is arranged, corresponding coefficients are called according to a barrel section to correct airflow signals, and gap interference caused by curved surface fitting is accurately filtered out; the real-time gap calibration sensing unit is combined to detect the actual gap in real time, a calibration instruction is generated, and the core problems of detection distortion and error accumulation in existing curved surface polishing are solved.