172 results about "System transformation" patented technology

The invention discloses an interferometer error calibration method and device and a computer readable storage medium, and belongs to the technical field of measurement equipment.The method comprises the steps that measurement data collected when an interferometer moves on the x / y axis of a motion table is obtained, and x / y axis compensation amount is generated through calculation processing; meanwhile, a coordinate system transformation matrix is established and optimized by using data of a marking plate arranged on a motion table, and x-axis and y-axis non-orthogonal parameters are obtained. And then the compensation amount and the non-orthogonal parameters are input into a preset kinematic model, and the accurate position of the motion platform under the global coordinate system is calculated in real time. And when a preset updating condition is met, dynamically updating the error compensation value of the interferometer through the deviation between the actual position detected by the visual system and the calculated position. Reflector surface type error compensation and non-orthogonal parameter correction are fused, and high-precision error compensation calibration of the interferometer is achieved.

The invention relates to a sweeper path planning method, system and device suitable for a complex environment and a medium. The method comprises the steps that a global map of a sweeping area is acquired, feature vertexes are determined to decompose the global map, and a structural sub-area and a special sub-area are generated; determining a starting point of the structure sub-region according to the feature vertex, and generating a first path covering the structure sub-region by adopting an internal spiral method based on the starting point; determining a non-linear constraint region of the special sub-region, converting the non-linear constraint region based on coordinate system transformation, and generating a second path of the special sub-region; and determining a starting point and a target point of any path, connecting the starting point and the target point based on an improved path search algorithm, and generating a target path of the cleaning area. Therefore, according to the invention, through accurate path planning and dynamic adaptability optimization, the path planning level and the completion quality of the sweeping operation are improved, so that the sweeping vehicle can adapt to the actual scene of a complex environment, and the application range is greatly expanded.

The invention discloses an information system existing interface-based AI large language model interaction method, which comprises the following steps of: constructing an interface operation feature set according to an information system operation log; identifying a service intention category and a function granularity level corresponding to the interface, and generating an interface function granularity identification table; constructing an action rule chain according to the interface service intention category and the function granularity level; performing field consistency calibration in combination with a field time sequence identifier, a stage identifier and a trigger point identifier to form standardized intermediate JSON data; according to the standardized intermediate JSON data, generating cue words including field operation instructions, business semantic instructions and time sequence background instructions; model request sending, model output result analysis and consistency verification are carried out through an existing API interface, and system state updating information is recorded. According to the method, the system transformation cost is reduced, the accuracy of interface semantic expression is improved, and an enforceable and extensible technical path is provided for intelligent upgrading of a traditional information system.

The invention relates to the technical field of numerical control machining, in particular to a five-axis drilling numerical control machine tool based on visual positioning and a machining method, and the five-axis drilling numerical control machine tool comprises a machine tool body, a numerical control system, a contact type measuring head, a visual system and a calculation control unit. Coordinates of at least three non-collinear reference features on a workpiece in a machine tool coordinate system are automatically collected through a contact type measuring head, the deviation between the workpiece coordinate system and the machine tool coordinate system is automatically calculated through a coordinate system transformation algorithm, and after the workpiece coordinate system is established, a visual system is moved to the position above each programming hole site to shoot actual marks, and the workpiece coordinate system is calculated. According to the method, actual hole center coordinates are extracted through image recognition and compared with theoretical coordinates, and finally, deviation calculation and machining decision are carried out by integrating measuring head data, visual images, numerical control programs and tolerance parameters, so that through the automatic process integrating measurement, recognition, comparison and decision making, the machining precision is improved, and the machining precision is improved. The technical problems of manual errors and lack of verification before processing are effectively solved.

The invention relates to the field of BIM model visualization, in particular to a BIM design terrain and GIS live-action texture fusion method, BIM design terrain and GIS live-action texture data are processed respectively, when GIS live-action texture data changes, data updating can be achieved only by replacing slice data, and the convenience of data updating is improved; according to the method, the relation between the image slice nodes of the GIS live-action texture data and the space coordinates of the BIM design terrain is established through the coordinate system transformation matrix, so that coordinate transformation between the image slice nodes and the space coordinates of the BIM design terrain is facilitated, the space coordinates of the BIM design terrain correspond to the texture coordinates of the GIS live-action texture data, and finally fusion of the BIM design terrain and the GIS live-action texture data is realized.

The invention provides a multi-sensor obstacle avoidance control method and system for a fan blade inspection robot, and the method comprises the steps: carrying out the preliminary target detection through employing an RGB camera, and rapidly obtaining the visual information of a candidate obstacle; performing motion distortion correction and coordinate system transformation on the visual candidate targets by using accurate point cloud data of the laser radar, and performing cross-modal association and threat verification so as to effectively fuse visual semantic information and geometric accuracy of the laser radar and ensure accurate identification and three-dimensional space state acquisition of a threat object; further, state estimation and trajectory prediction are carried out on the verified threat object so as to deal with the uncertainty of a dynamic obstacle motion mode; and finally, accurately evaluating the collision risk based on the predicted trajectory and the planned trajectory of the unmanned aerial vehicle, quickly generating an avoidance decision containing the optimal direction and speed vector, and sending a final rotating speed instruction to an unmanned aerial vehicle motor to realize physical avoidance. In this way, the pre-judgment capability of the system on the potential collision risk is remarkably improved.

The invention provides a system, a method and a device for monitoring the operation state of production equipment. The method comprises the following steps: determining total operation time data of the production equipment based on a startup signal; receiving production data pushed by production software corresponding to the production equipment; capturing an interface image of the production software, and generating a production state identifier and actual production time data of the production equipment after image recognition; calculating and generating estimated power consumption data; generating a state data packet with a uniform format and sending the state data packet to the MES subsystem; and outputting an equipment operation state report, an energy efficiency evaluation chart and a historical data query result according to the state data packet. According to the invention, equipment data acquisition is realized in a pure software mode, two modes of API docking and image recognition are supported to be compatible with new and old equipment, comprehensive, real-time and accurate equipment state data are provided for an MES system in combination with intelligent energy consumption estimation and a flexible network transmission strategy, the system reconstruction cost and complexity are significantly reduced, and the system reliability is improved. And the intelligent level of production management is improved.

The invention provides a probabilistic multi-scale-based missile loading vehicle tail end relative attitude estimation method and system, and belongs to the technical field of aviation equipment automation. Comprising the following steps: firstly, performing coordinate system conversion and noise suppression processing on acquired point cloud data, and constructing a probability multi-scale consistency model; then, on the basis of weighted features obtained by the probability multi-scale consistency model, density self-adaptive multi-scale feature fusion is executed; and finally, according to the multi-scale features after feature fusion, performing dual-stage pose estimation. Through dynamic noise suppression, component-level multi-scale feature modeling and a real-time optimization strategy, millimeter-level and high-reliability alignment between the end effector of the missile loading vehicle and the missile loading frame is achieved.

The invention relates to the technical field of motor control in the intelligent power grid industry, and discloses a space vector control method for a twelve-phase permanent magnet synchronous motor flywheel energy storage system, a control circuit of the flywheel energy storage system relates to power electronic components such as various semiconductor field-effect tubes, and the space vector control method is used for high-precision control of a motor. Comprising the steps of S1, twelve-phase space vector decoupling fault-tolerant control, S2, high-order harmonic energy recovery closed loop, S3, quantum annealing parameter optimization layer, S4, flux linkage adaptive observer network construction and S5, 18-dimensional switching vector table construction. According to the scheme, through multi-reference coordinate system transformation and a redundant phase reconstruction algorithm, rapid fault-tolerant response of the twelve-phase motor during a single-phase or two-phase fault is realized, a current path is dynamically recombined during the fault, a negative-sequence current compensation ring is combined, torque ripple is effectively suppressed, and the reliability of the motor is improved under a high-speed charging and discharging working condition. The harmonic distortion rate is detected in real time through the sliding window FFT, the bandwidth of the controller is adjusted, and the problem that the dynamic response of a traditional fault-tolerant strategy is insufficient is solved.

The application discloses a kind of robot joint control method and system based on motion capture device, belong to robot control technical field.The existing robot joint control scheme, lack effective human-computer cooperation and natural interaction mechanism, leading to robot flexibility is poor, cannot naturally express the intention of operator.A kind of robot joint control method based on motion capture device of the application, by constructing motion capture module, data processing module, coordinate system transformation module, solving optimization module, the rotation posture data of human joint collected using motion capture device is converted into the target joint control information required for robot execution, realize robot joint control based on motion capture device, so that human action can be mapped to robot efficiently and accurately, so that robot flexibility is good, can effectively handle sudden action or complex collaborative operation, so that the intention of operator can be naturally expressed, realize human-computer cooperation and natural interaction.

The invention provides a multi-laser tracker pose measurement method based on composite constraint, and belongs to the technical field of laser measurement, and the method comprises the steps: employing a preset laser tracker, building a pose measurement system, obtaining an instrument coordinate system, building a world coordinate system, setting a target plane, and setting a preset number of target balls to obtain a pose measurement result; constructing to obtain a target coordinate system; according to the pose measurement system, the laser trackers are used for tracking the target ball, the target ball coordinates of the target ball under the instrument coordinate systems of the laser trackers are measured, the coordinate systems of the target ball coordinates are unified to a world coordinate system based on coordinate system transformation, and to-be-solved system parameters are obtained; and constructing a composite constraint, constructing an optimal equation set based on an optimization algorithm, solving system parameters to be solved, obtaining a measurement pose, and completing pose measurement of the multiple laser trackers. According to the invention, the problems of small measurement range, low precision and large demand on the number of observation stations in a multilateral method in a traditional pose measurement method are solved.

This invention discloses a rapid generation method for rectangular disks suitable for structured meshes. This method simplifies crack propagation calculations of the disk into a parametric fracture mechanics model, enabling the calculation of stress intensity factor and crack propagation life. Specifically, finite element modeling is employed to extract the geometric boundaries of the disk and its partitions, considering the influence of geometric dimensions and boundary effects on crack propagation. Based on coordinate system transformation, using the crack initiation point and stress gradient direction as a reference, the rectangular plate can be accurately located, improving modeling efficiency. This invention simplifies the crack propagation plane into a finite-size rectangular plate. Based on boundary intersection point capture, it achieves high-fidelity equivalence between the rectangular plate model and the actual complex contour of the disk, reducing calculation errors in the boundary region using traditional methods. Furthermore, by extracting the crack-free stress distribution along the crack propagation direction on the rectangular plate, the stress intensity factor at the crack tip and crack propagation life can be calculated using the weighted function method.

The present application relates to the field of BIM model visualization, and particularly relates to a BIM design terrain and GIS real scene texture fusion method, the present application processes BIM design terrain and GIS real scene texture data respectively, when GIS real scene texture data changes, only needs to replace slice data to realize data updating, improves the convenience of data updating, the present application establishes the connection between the image slice node of GIS real scene texture data and the space coordinates of BIM design terrain through coordinate system transformation matrix, is convenient for the coordinate conversion between both, so that the space coordinates of BIM design terrain and the texture coordinates of GIS real scene texture data are corresponded, finally realizes the fusion of BIM design terrain and GIS real scene texture data.

This application discloses a resource management method, apparatus, and readable storage medium, relating to the field of electronic information. Compared to previous solutions, the resource management method provided in this application pre-adapts the front-end page of the resource pool to the cloud management platform. When a user logs in on the cloud management platform, the corresponding resource pool's front-end page is opened, and the instructions from the front-end page are forwarded to the resource pool's management platform back-end. Compared to the previous method of directly retrieving data from the corresponding resource pool using the cloud management platform's back-end management module, this solution avoids data and system transformation because both the front-end and back-end are the resource pool's own front-end and back-end. The logic is simpler, and since the front-end and back-end are adapted, advanced functions are not lost, resulting in higher applicability.

This invention discloses a method, system, device, and storage medium for generating three-dimensional cutting trajectories, comprising the following processes: acquiring a CAD model of the finished product, extracting cutting trajectory lines, and generating a three-dimensional point cloud of the CAD model; scanning the workpiece to be cut to generate a three-dimensional point cloud of the workpiece; registering the three-dimensional point cloud of the CAD model and the three-dimensional point cloud of the workpiece to be cut, calculating the transformation matrix, and performing coordinate system transformation on the CAD model according to the transformation matrix; generating a set of cutting poses based on the cutting trajectory lines and the transformation matrix, performing translation and rotation adjustments, smoothing, sorting, deformation compensation, and robot kinematics checks on the set of cutting poses to generate a set of cutting trajectories containing multiple cutting trajectories; and generating a cutting program based on a recognizable syntax based on the set of cutting trajectories containing multiple cutting trajectories.

This invention discloses an automatic attitude correction method, device, and optical terminal intensity meter for equipment. The automatic attitude correction method is applied to a pre-set monitoring terminal including a triaxial MEMS accelerometer and a magnetometer, and includes the following steps: acquiring acceleration and magnetometer data; calculating acceleration-stabilized triaxial offset; calculating roll and pitch angles and determining the horizontal plane; locating magnetic north and calculating the magnetic north azimuth; calculating magnetic declination and yaw angle using latitude and longitude; generating a rotation matrix and performing coordinate system transformation; judging angle changes and updating the matrix; and completing calibration and attitude stabilization. The technical solution provided by this invention ensures that the monitoring terminal equipment can automatically and accurately adjust and maintain its attitude after installation, thereby guaranteeing the effective operation of the earthquake monitoring and early warning system and improving earthquake disaster prevention and seismic monitoring capabilities.

This invention provides an automatic modeling method and system for low-voltage power grid data based on visual data acquisition, relating to the field of low-voltage power grid technology. The method includes: dividing the low-voltage power grid area into multiple sub-regions and constructing multiple local coordinate systems; analyzing the power grid equipment to be acquired and determining at least one matching local coordinate system; configuring a visual data acquisition task template, performing data acquisition to obtain at least one set of equipment modeling data; constructing a multi-region coordinate system transformation model, performing coordinate system transformation to obtain at least one set of equipment modeling transformation data corresponding to the equipment modeling data, and generating visual modeling simulation results for the data acquisition task. This invention solves the technical problem in existing technologies where, in the process of low-voltage power grid data modeling, a large, unified global modeling coordinate system is typically established for data acquisition or modeling of all power grid equipment. While this achieves a unified effect, it is not accurate enough, affecting the true reflection of power grid data and its application effectiveness.

A communication method, apparatus and system, applied to a satellite system. The method comprises: receiving first information from a cloud or network device, the first information being used for indicating a first pattern of an antenna or a second pattern of the antenna; and communicating with a non-terrestrial communication apparatus on the basis of the first pattern or the second pattern, wherein the first pattern is determined on the basis of a global coordinate system (GCS) where the antenna is located, the second pattern is determined on the basis of a local coordinate system (LCS) where the antenna is located, and the first pattern is obtained by performing coordinate system transformation on the second pattern on the basis of first attitude information. The solution can improve the transmission performance between a terminal and a non-terrestrial communication apparatus.

This invention relates to a method for three-dimensional pose and visual measurement of building components based on planar markers, including a floor, building components, several planar markers, and a binocular camera system; the patterns of the planar markers include calibration plate patterns and numbering patterns, enabling automatic data classification after the planar markers are captured; the process for capturing planar markers is defined; a theoretical world coordinate system is established based on coordinate system transformation, avoiding the problems of overall coordinate system translation deviation, three-axis rotation deviation, and error accumulation caused by traditional methods; the coordinate system transformation unifies all camera coordinate systems to the theoretical world coordinate system, enabling coordinate stitching of large-sized components by small-format cameras.

This invention discloses a bridge pot bearing and control system based on system conversion. A first bearing body and a second bearing body are stacked from top to bottom. The first bearing body has a first mounting plate, and an adjustment component is installed below the first mounting plate. The second bearing body has a second mounting plate, and a test component is installed on the second mounting plate. The test component connects with the adjustment component. While performing pressure testing, the test component, in conjunction with the adjustment component, enables the conversion between three states: fixed pot bearing, unidirectional movable pot bearing, and bidirectional movable pot bearing. This invention monitors the stress on the bearing in real time, calculates the bridge shear force based on the reaction force, and derives the bridge shear force amplification factor under dynamic loads, thus improving bridge design methods and making bridge design safer and more reliable. It can realize the functions of a fixed bearing, a unidirectional movable bearing, or a bidirectional movable bearing, and achieve mutual conversion between bearing types.

The application provides an adaptive UWB-SLAM loose coupling fusion method based on graph optimization, comprising: S1: a space-time synchronization module acquires a mobile robot pose estimation value output by a front-end SLAM system and original measurement data generated by communication between a UWB anchor and a UWB tag, unifies the time and coordinate system of the pose estimation value and the original measurement data to a world coordinate system, realizes time and coordinate system alignment, and obtains a coordinate system transformation matrix; S2: an online statistical quality evaluator module acquires UWB distance measurement values, signal strength indication values and precision estimation factors between a UWB tag and a plurality of UWB anchors deployed in an environment, obtains a comprehensive quality score, generates a dynamic information matrix based on the comprehensive quality score; S3: a factor graph optimization module weights UWB distance measurement values in the original measurement values by using the dynamic information matrix, and outputs a robot global path, a current real-time pose of a mobile robot and a UWB anchor coordinate.

This invention provides a navigation-line-based intelligent speed limiting method, system, storage medium, and electronic device. The method includes the following steps: acquiring navigation line information; performing coordinate system transformation on the navigation line information; calculating the radius corresponding to any discrete point on the navigation line and its distance relative to the navigation starting point based on the transformed navigation line information; acquiring the vehicle's current position information; calculating the vehicle's point interval positioning on the navigation line based on the vehicle's current position information; calculating the vehicle's radius on the navigation line based on the point interval positioning; and limiting the vehicle's speed based on the vehicle's radius on the navigation line. This invention's navigation-line-based intelligent speed limiting method, system, storage medium, and electronic device enable intelligent speed limiting that improves a vehicle's cornering ability even without a high-precision map, relying solely on a navigation map and an onboard perception system.

This invention proposes a method and apparatus for processing surface clutter using lidar based on unmanned surface vessels (USVs). The method includes: acquiring point cloud data of the USV's surface environment using lidar; performing coordinate system transformation and point cloud correction on the acquired point cloud data; segmenting the corrected data into lidar point cloud clusters using grids; classifying the segmented lidar point cloud clusters by extracting multiple features; and performing real-time frame-by-frame matching and target tracking of USV surface targets using the extracted feature vectors and the positioning information of the point cloud clusters, calculating the target's motion elements, and using the continuity of the target and the randomness of the waves to remove clutter points and accurately track the target. This method can filter out outliers and clutter points caused by plankton, and simultaneously filter out wake waves and spray.

This application relates to the field of orbital dynamics design and simulation technology, and provides a method and apparatus for free transformation between spatial coordinate systems for solar system spacecraft design and simulation. This method transforms the position and velocity of different coordinate systems to the celestial coordinate system for origin transformation, and then rotates to the target coordinate system. This allows position and velocity to be arbitrarily transformed between coordinate systems included in the coordinate transformation model library. Furthermore, when expanding to a new coordinate system, only the transformation function between the new coordinate system and the co-centered celestial coordinate system is needed, without having to calculate the transformation functions between the new coordinate system and all other coordinate systems separately. This achieves effective organization of scattered coordinate system transformation relationships, facilitating the design and simulation of spacecraft missions and reducing the workload generated by transformations between multiple spatial coordinate systems.

The invention discloses a positioning method and related equipment, and belongs to the technical field of augmented reality. The method comprises the following steps: acquiring space information of a scale-free augmented reality (AR) space corresponding to a target space and space information of a first scale AR space, and acquiring a first positioning image of the target space; based on the first positioning image, the point cloud information and the first pose information, determining first positioning pose information of the first positioning image in a scale-free AR space; determining a first coordinate system transformation relation based on the first positioning pose information, the first pose information and the second pose information; and under the condition that second positioning pose information of a target object in the second scaled AR space is obtained, third positioning pose information of the target object in the first scaled AR space is determined based on the second positioning pose information and the first coordinate system transformation relation. Through the method, all users can share the AR content of the same space.

The invention discloses a direct-current system transformation method, which comprises the following steps of: connecting a new direct-current bus of a new direct-current system with a cable of a storage battery pack connected with an old direct-current system, connecting a first load cable of the new direct-current system into target direct-current load equipment connected with a second load cable of the old direct-current system, and then dismounting the second load cable; all direct current load equipment is switched from the old direct current system to the new direct current system through a plurality of cycles, so that the new direct current system charger is connected to the new direct current bus, the old direct current system charger is disconnected from the old direct current bus, and the new direct current system insulation monitoring device is connected to the new direct current bus; and disconnecting the old direct current system insulation monitoring device from the old direct current bus to complete the transformation of the direct current system, so that the complete transformation of the direct current system can be realized on the premise of ensuring high safety and low complexity, the transformation period is greatly shortened, and the requirements of current power grid upgrading on efficiency and reliability are met.

The application discloses a method and device for extracting fundamental positive sequence components and negative sequence components. A preset value of collection times is set according to different power grid environments, three-phase electric signals at a current time are collected to perform coordinate system transformation, and a transformation result is stored; when the collection times are equal to the preset value, equations capable of obtaining the fundamental positive sequence components and the negative sequence components of the electric signals are listed according to the transformation result and are solved. Considering various power grid environments, the fundamental positive sequence components and the negative sequence components can be extracted for different regional power grid environments by changing the value of the collection times; the greater the preset value is, the smaller the influence of voltage imbalance and harmonics on the extraction result is, the stronger the anti-interference performance is, errors caused by adverse power grid environments on the extraction result can be reduced, and the fundamental positive sequence components and the negative sequence components can be accurately extracted.

The invention discloses a workpiece attitude error compensation method and system based on a space angle and a TCSTRANS. According to the method, automatic sensing, seamless compensation and efficient machining of workpiece attitudes are achieved through the synergistic effect of three core technologies including automatic fitting of a space angle aligned by a laser plane, workpiece coordinate system correction of kernel translation and TCSTRANS characteristic coordinate system transformation supporting five-axis RTCP programming. An original machining program does not need to be modified, the operation complexity and the technical threshold are reduced, the machining precision, efficiency and process reliability are greatly improved, the method is particularly suitable for machining of a five-axis numerical control machine tool on precise workpieces, and the problems that in the prior art, manual experience is relied on, program management is disordered, and post-processing is complex are solved.

This invention discloses a robot classification and calibration method based on a distance error model, belonging to the field of industrial robot calibration. First, a robot distance error model is established based on the D-H method; a fitness function based on the distance error model is constructed; an improved particle swarm optimization algorithm is used to optimize and identify link parameter errors; the obtained link parameter errors are then compensated in the robot controller to complete the robot's geometric error compensation. Second, the robot's workspace is divided into a cubic mesh, and the error at each vertex of the cube is measured. Spatial interpolation is used to compensate for non-geometric errors caused by environmental factors (such as temperature rise, humidity, etc.) and load. This invention, using a distance error model, can effectively avoid errors caused by coordinate system transformation and can compensate for non-geometric errors. Compared to the traditional least squares parameter identification process, it can solve the problem of large errors caused by complex matrix calculations and matrix singularities, improving the accuracy of parameter identification.

The application discloses a positioning method and related equipment, and belongs to the technical field of augmented reality. The method comprises the following steps: acquiring space information of a non-scale augmented reality (AR) space corresponding to a target space and space information of a first scale AR space, and acquiring a first positioning image of the target space; determining first positioning pose information of the first positioning image in the non-scale AR space based on the first positioning image, point cloud information and first pose information; determining a first coordinate system transformation relationship based on the first positioning pose information, the first pose information and second pose information; and in the case that second positioning pose information of a target object in a second scale AR space is acquired, determining third positioning pose information of the target object in the first scale AR space based on the second positioning pose information and the first coordinate system transformation relationship. Through the above method, all users can share AR content of the same space.