536 results about "Three dimensional motion" patented technology

The invention relates to the technical field of data analysis, and discloses a data analysis system for multi-joint exercise rehabilitation monitoring. The system collects three-dimensional motion data, myoelectricity activity signals and spatial position data of multiple joints in real time through a multi-mode sensor array. The system comprises a data acquisition module, a preprocessing module, a space-time analysis module and a result output module. The preprocessing module is used for carrying out noise removal, normalization and feature extraction on the original data; the space-time analysis module constructs a monitoring model based on a graph space-time network, and analyzes space-time characteristics of multi-modal data through dynamic joint relation modeling by adopting an intelligent chip. And the result output module generates a visual report including exercise coordination evaluation, injury risk prediction and rehabilitation progress judgment, and feeds back the visual report to the rehabilitation equipment in real time. Besides, the system also has distributed storage and real-time feedback functions, the accuracy and efficiency of rehabilitation monitoring are improved, and the problems of single data processing and inaccurate spatial-temporal feature capture in the prior art are solved.

The invention relates to steel box girder high-strength bolt operation, in particular to a high-strength bolt automatic tightening machine based on machine vision positioning and a tightening method. The automatic tightening machine for the high-strength bolts is used for automatically tightening the bolts of the steel box girder and comprises a multi-shaft moving support, a tightening assembly and a control unit. The multi-axis moving support achieves plane movement of a steel box girder top plate through a servo-driven moving part, a multi-axis support provides three-dimensional space freedom, and the tightening assembly is driven to accurately adjust the posture. The tightening assembly adopts a double-station design, a first tightening head and a second tightening head which are symmetrically arranged on the two sides synchronously move through a door frame type lifting shaft, the image obtaining set is combined to collect position and posture data of a nut and a screw in real time, and a three-dimensional motion path is generated to guide centering. The control unit coordinates multi-axis motion and torque output based on machine vision feedback, full-process automation of the bolt from recognition, positioning to tightening is achieved, the problems that manual operation is low in efficiency and large in error are solved, and screwing precision and structural reliability are ensured.

The invention relates to the technical field of orchard unmanned vehicles, in particular to an orchard unmanned vehicle intelligent navigation and control method based on multi-sensor fusion, and the method comprises the following steps: S1, global path planning: generating discrete plane path points, and then pre-fitting a prior navigation global path; s2, three-dimensional environment perception: extracting static obstacle and dynamic obstacle information in a working path in real time, detecting and identifying a target obstacle at the same time, and performing sensor information fusion; s3, path tracking control: controlling the orchard unmanned vehicle to run according to a priori navigation global path; and S4, dynamic path optimization: realizing dynamic planning of an obstacle avoidance trajectory, synchronously establishing a trajectory overlap ratio evaluation mechanism, and adjusting a driving mode to avoid the obstacle. According to the invention, the reliability of environment perception and path dynamic adjustment is improved, and the three-dimensional motion control model is constructed, so that the unmanned vehicle can safely and accurately complete autonomous navigation work.

The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses a high-precision small unmanned aerial vehicle real-time tracking method which comprises the steps that a multi-modal sensor array is constructed through a millimeter wave radar, a binocular vision module and an infrared thermal imager, and the multi-modal sensor array is used for collecting three-dimensional motion data of a target object in real time; constructing a fusion tracking model based on improved Kalman filtering by using the collected three-dimensional motion data, dynamically distributing the weight of a multi-source sensor through a convolution attention mechanism, and compensating a motion trail prediction error by using an adaptive noise covariance matrix; through cooperative work of the millimeter wave radar, the binocular vision module and the infrared thermal imager, challenges such as illumination change and target shielding can be effectively handled, three-dimensional motion data of a target object are collected in real time, and the target positioning and tracking precision is improved. Meanwhile, the improved Kalman filtering algorithm is combined with a convolution attention mechanism, so that the weight of the sensor can be dynamically adjusted, and a motion track prediction error is compensated.

The present invention discloses a radar scattering field simulation method for a three-dimensional moving target group combined with a neural network, and belongs to the field of electromagnetic simulation technology. The method of the present invention converts the electromagnetic response of a three-dimensional moving target group into the response of the target when it is distributed at different positions, and extracts the three-dimensional numerical Green's function of the randomly distributed target group in the solution domain by changing the spatial distribution of the target group; the three-dimensional numerical Green's function is split into scattering terms and coupling terms, and the artificial neural network is trained separately; when training the artificial neural network, according to the characteristics of the moving target group, its position distribution and scattering terms / coupling terms are input into the artificial neural network as the main features; the scattering terms and coupling terms output by the artificial neural network model are combined into numerical Green's function terms, which can be applied to integral equations to achieve fast and accurate solution of the scattering field of the three-dimensional moving target group.

The invention relates to the technical field of physical training intellectualization and man-machine interaction, in particular to an interactive physical education method and system based on augmented reality driving, and the method comprises the following steps: S1, collecting three-dimensional motion track data and muscle activation time sequence data; s2, generating kinematic deviation parameters and physiological deviation parameters; s3, generating an AR correction instruction set containing a joint pose correction vector and a muscle activation intensity adjustment suggestion based on the kinematics deviation parameter and the physiology deviation parameter; s4, projecting the AR correction instruction set to the field of view of the trainee in real time through AR display equipment; and S5, generating a physical education efficiency report containing the action precision improvement index and the neuromuscular control optimization scheme. According to the intelligent physical education system, by fusing multi-source motion perception, deviation analysis and AR visual correction, synchronous optimization of motion precision and neuromuscular control ability is realized, and an intelligent physical education system with real-time interaction characteristics is constructed.

The invention relates to an unmanned aerial vehicle detection countering method, which comprises the following steps of: deploying a multi-dimensional sensing network to carry out full-band instantaneous scanning, synchronously acquiring noise characteristics of radio signals, material characteristics of a terahertz wave band and Doppler effect characteristics, mapping to a virtual twinborn body, reconstructing physical parameters, a communication protocol and a behavior mode of a target unmanned aerial vehicle, performing depth comparison by combining a disguise sample library generated by the antagonism generation network, and generating a holographic target file containing a three-dimensional motion vector, an energy feature and a potential threat intention; a target quantum encryption communication link is interfered through a quantum entanglement signal, a controllable plasma cloud cluster is generated, navigation and image transmission signals of the controllable plasma cloud cluster are selectively attenuated, the controllability of the target is judged, and an uncontrollable target is repelled through coded sound waves; and sending a control instruction containing a biological heuristic obstacle avoidance algorithm in stages, and guiding the control instruction to an intelligent recovery cabin. According to the invention, accurate detection, intelligent identification, safe countering and reliable takeover of the unmanned aerial vehicle are realized, and the airspace safety guarantee capability is improved.

The invention discloses a tunnel intelligent primary support construction wet spraying over-consumption analysis method and system, and the method comprises the steps: obtaining spraying track space distribution data through a three-dimensional motion capturing system installed on a spraying unit, and combining a material flow fluctuation curve generated by a dynamic weighing system, constructing a three-dimensional feature tensor comprising a material flow state feature, an injection process feature and an environment interference feature; a theoretical volume of a primary support structure is extracted based on a geological BIM model, surrounding rock back break data obtained by point cloud scanning are fused, a dynamic use amount reference model considering rebound loss is established through fluid mechanics simulation, and a theoretical use amount interval value with a confidence interval is generated. According to the method, the three-dimensional characteristic spectrum and the closed-loop optimization system are constructed by fusing multi-physical-field dynamic data, the problems that dynamic adaptation of geological conditions is not accurate and a multi-factor coupling super-consumption mode cannot be analyzed in wet spraying construction are solved, and dynamic accurate control over the material consumption and explainable diagnosis of super-consumption causes are achieved.

Some embodiments of a method may include: obtaining a reference 3D Gaussian frame, a camera position C, and a time t; extracting a multi-scale feature for each 3D Gaussian of one or more 3D Gaussians using a neural network block, wherein the multi-scale feature represents multi-scale spatial information about a dynamic object or scene; predicting 3D motion based on the multi-scale features and the time t; predicting a 3D Gaussian frame for time t by manipulating the one or more 3D Gaussians in a spatial domain based on the predicted 3D motion; and outputting the 3D Gaussian frame for time t.

The invention discloses a four-dimensional Gaussian video method and a four-dimensional Gaussian video device combined with motion layering, which realize vivid volume video generation and streaming transmission in a dynamic scene. According to the method, a streaming Gaussian Group (GOG) representation is constructed, the representation reconstructs a dynamic scene by using Gaussian point clouds grouped according to a time sequence, and a two-dimensional segmentation result is promoted to a three-dimensional motion layering in each GOG in combination with a motion layering technology to obtain layering of static points and dynamic points, so that the dynamic scene is reconstructed. And modeling a dynamic portion in the scene by predicting a motion offset of the dynamic point. In addition, the invention provides a self-adaptive static point conversion mechanism for converting static points into dynamic points in motion modeling, so that appearance changes (such as shadow movement and reflection changes) of static objects are effectively processed.

The invention discloses a multi-scene gait monitoring and motion function assessment method and system, a multi-camera cooperation system is deployed in a life scene to accurately identify an identity and extract multi-scene motion features, and an accurate old people gait function assessment scheme is provided through key motion hierarchical modeling, multi-scene data fusion and a risk suppression mechanism. Specifically, 2D human body key points are estimated based on an OpenPose algorithm, and a PoseLifter model is utilized to lift the 2D key points to 3D, so that a three-dimensional motion track of a target is estimated; dynamically adjusting the weights of the face features and the skeleton features during identity recognition according to ambient light; designing an independent long-short-term memory network for different actions to evaluate the motion function score and the fall risk rating of the actions; and designing a risk sensitivity mechanism and fusing multi-scene data to carry out comprehensive scoring. The gait function abnormity of the old people can be found in time, and a basis is provided for health management.

The invention discloses a scene three-dimensional reconstruction and vector information extraction method and device based on vehicle return data, equipment and a storage medium, and the method comprises the steps: carrying out the preprocessing of a time sequence image returned by a vehicle and corresponding pose data, and obtaining a semantic mask and a camera pose of each frame of image in the time sequence image; based on the semantic mask and the camera pose, performing three-dimensional geometric reconstruction on the static scene area in the time sequence image to obtain a static three-dimensional scene model; a dynamic target is separated from the time sequence image according to the semantic mask, three-dimensional motion modeling and independent three-dimensional reconstruction are carried out on the dynamic target, and a dynamic target three-dimensional model is generated; and generating a dynamic three-dimensional scene model and vector labeling information based on the static three-dimensional scene model and the dynamic target three-dimensional model. According to the method, the limitation of automatic driving shadow mode data is overcome, the three-dimensional reconstruction of the scene and the automatic generation of the true value information are realized, the data acquisition cost is further reduced, and the efficiency of automatic driving research and development is improved.

The invention discloses a self-adaptive mouse control method and device based on an inertial measurement unit and a computer readable storage medium. The method comprises the steps that basic mouse sensitivity adjusting parameters are calculated according to physical mouse sensitivity setting; obtaining original three-dimensional motion data of the inertial measurement unit to generate a standard motion feature flow; selecting parameters from the standard motion feature flow as basic cursor control input based on current human-computer interaction situation information; using the basic sensitivity parameter as an adjusting parameter, and processing the basic cursor control input by applying a preset mapping algorithm corresponding to the current effective sensitivity mapping mode to generate a mouse cursor moving instruction; and matching the standard motion feature flow with a pre-constructed hierarchical motion primitive library to obtain a mouse key instruction. The method has the advantage that the operation efficiency and the user experience of IMU-based mouse control in multiple scenes are improved.

The invention discloses a method, device and equipment for mapping a three-dimensional motion gesture into a key combination and a computer readable storage medium. The method comprises the following steps: generating a standardized motion feature flow according to original three-dimensional motion data collected by an inertial measurement unit; generating a time sequence according to the standardized motion feature flow; generating a letter-direction gesture pairing or individual command based on the gesture set attribution and the time interval according to the sequential sequence; according to the letter-direction gesture pair or the independent command, obtaining a target letter key and direction key combination command identifier or an independent key identifier; and converting the command passing the verification into a target platform input event, injecting the target platform input event, and generating a multi-mode feedback signal. The method for mapping the three-dimensional motion gesture into the key combination has the advantages that continuous gestures are efficiently analyzed, letters and direction keys are intelligently paired, and the method adapts to diversified interactive contexts.

The invention discloses a mouse cursor control method and device based on an inertial measurement unit and a computer readable storage medium. The method comprises the steps that basic mouse sensitivity adjusting parameters are calculated according to physical mouse sensitivity setting; obtaining original three-dimensional motion data of the inertial measurement unit and executing multi-stage preprocessing to generate a standard motion feature flow; selecting parameters from the standard motion feature flow as basic cursor control input based on current human-computer interaction situation information; according to the system detection condition, determining a current effective sensitivity mapping mode in at least two preset sensitivity mapping modes; and using the basic sensitivity parameter as an adjusting parameter, and processing the basic cursor control input by applying a preset mapping algorithm corresponding to the current effective sensitivity mapping mode to generate a mouse cursor moving instruction. The method has the advantage that the operation efficiency and the user experience of the IMU-based cursor control in multiple scenes are improved.

The invention discloses a multi-source cooperative rocker arm-tracked robot composite mechanical structure for earthquake search and rescue, and belongs to the technical field of intelligent rescue equipment. A rocker arm-crawler belt-wheel three-dimensional motion structure system is innovatively designed, a multi-degree-of-freedom rocker arm structure driven by a steering engine is adopted in the middle of the robot, and a double-crawler belt differential driving module driven by a motor is arranged at the bottom of the robot; a swing arm balance wheel set is arranged on the front portion to assist climbing operation. According to the composite structure, a posture stability control algorithm is established through a mass center dynamic model, and intelligent switching of three motion modes of wheel type high-speed maneuvering, crawler belt obstacle crossing and rocker arm climbing can be achieved. Tests show that the structure can enable the robot to stably cross a 100 mm vertical obstacle, good posture stability is kept in unstructured terrains such as gravel and rubble, and meanwhile the environment is sensed through various sensors. Compared with a traditional single motion structure, the multi-dimensional maneuvering ability in the complex post-disaster environment is achieved through mechanical structure innovation, and the terrain adaptability of rescue equipment is effectively improved.

The invention relates to the technical field of trajectory measurement, discloses an underwater riprap particle motion trajectory measurement device and method, and aims to realize high-precision response tracking of stress and motion trajectory of riprap particles around a foundation under dynamic water scouring based on an underwater positioning unit sensing array and a high-frequency sampling particle motion and attitude detection technology. The technical problem that the motion characteristics of a single riprap particle cannot be observed in previous riprap protection research is solved. Through combined measurement of acceleration and angular velocity data collected by the inertial measurement unit and absolute position measured by the radio frequency unit, the three-dimensional motion condition, track and attitude process of a unit space as well as two-dimensional displacement images of a riprap surface and a vertical flow section are accurately reconstructed; and a centimeter-level-precision visual data support and a low-cost research means are provided for foundation scouring and coastal slope protection and riprap protection research, so that the engineering cost is saved.

The invention discloses a method and equipment for realizing mouse and virtual key control based on an inertial measurement unit, and a computer readable storage medium. The method comprises the following steps: acquiring original three-dimensional motion data of the inertial measurement unit to generate a standard motion feature flow; forming screen key layout information according to the screenshot of the current active application program; determining an inferred running state of the current active application program to obtain an effective virtual key set containing function annotations; determining a current effective interaction mode according to the updated human-computer interaction situation information, the updated current application program inference operation state and a user input instruction; and selecting a mapping algorithm to process the standardized motion feature flow according to the currently effective interaction mode to generate at least one of a mouse cursor movement instruction, a mouse key instruction and a virtual key operation instruction. The method has the advantage that the operation efficiency and the user experience of IMU-based mouse control in multiple scenes are improved.

The invention relates to the technical field of three-dimensional analysis, in particular to an oral cavity three-dimensional motion analysis system based on dynamic occlusion scanning. The system comprises an oral cavity occlusion feature extraction module, a dynamic occlusion reconstruction module, an occlusion track smoothing module and an oral cavity motion abnormity identification module, and a multi-view structured light scanner can be used for carrying out image scanning on the oral cavity in the dynamic occlusion process so as to obtain a multi-frame original occlusion image sequence; occlusal feature extraction and three-dimensional occlusal reconstruction are carried out on the multiple frames of original occlusal image sequences to construct corresponding three-dimensional occlusal model sequences; a dynamic occlusion trajectory prediction model is constructed based on the three-dimensional occlusion model sequence, oral cavity three-dimensional motion analysis and occlusion trajectory smoothing filtering processing are carried out, and a smooth three-dimensional occlusion motion trajectory is generated; and performing oral cavity motion abnormity identification according to the smooth three-dimensional occlusion motion track so as to generate an oral cavity occlusion three-dimensional motion abnormity identification result. According to the invention, accurate capture and analysis of three-dimensional motion of the oral cavity can be realized.

The invention discloses a virtual key interaction method, device and equipment based on a three-dimensional motion gesture and a computer readable storage medium. The method comprises the following steps: performing multi-stage signal processing on original three-dimensional motion data acquired from an inertial measurement unit to obtain a standardized motion feature flow; performing dynamic segmentation and gesture intention recognition processing on the standardized motion feature flow to obtain a gesture recognition result; performing visual perception and analysis on the screen display content of the current application program to obtain screen key layout information; performing context association and function analysis processing on the screen key information to obtain an effective virtual key set; performing context-aware-based mapping and validity confirmation on the gesture recognition result and the valid virtual key set to obtain a target virtual key and an associated activation instruction; and performing event generation and execution processing on the target virtual key and the activation instruction. The method has the advantages of dynamically sensing the screen content, intelligently understanding the key function, sensing the mapping by the context and the like.

The invention relates to a VR glasses system for rehabilitation training, and belongs to the technical field of medical rehabilitation. Comprising a VR intelligent glasses module, a dynamic grading virtual scene is generated through a double-OLED display screen, and self-adaptive matching of scene complexity and patient cognitive level is achieved in combination with an eye movement tracking sensor; the multi-language voice interaction module integrates a dialect acoustic model and supports Cantonese, Mongolian and other offline instruction recognition. The three-dimensional motion capture module deploys a 9-axis IMU sensor network, and predicts a fall risk level in real time by using an LSTM time sequence model; the multi-terminal projection feedback module generates a three-dimensional motion thermodynamic diagram and synchronizes the three-dimensional motion thermodynamic diagram to a rehabilitation teacher and family member terminal, and the tactile feedback ground mat module comprises a multi-region pressure sensing array and a pneumatic rigidity unit, simulates mechanical characteristics of an ice surface / sand beach / cobblestone road surface and synchronizes VR scene temperature feedback. Through multi-modal data fusion and dynamic difficulty regulation and control, the training safety and rehabilitation efficiency are remarkably improved, and the method is particularly suitable for personalized rehabilitation training of dialect region patients.

The invention discloses a non-consistency multi-focus unit modification system for laser slicing of transparent materials. The non-consistency multi-focus unit modification system comprises an ultra-short pulse laser, a light beam regulation and control system, a light beam shaping system, a focusing objective lens, a visual positioning system and a high-precision three-dimensional motion platform, a transparent material sample wafer to be sliced is placed on the high-precision three-dimensional motion platform; the ultrashort pulse laser provides picosecond laser beams for the whole system, the laser beams generated by the ultrashort pulse laser are transmitted to the light beam shaping system through the light beam regulation and control system to generate multiple inconsistent laser beams, and the multiple inconsistent laser beams are focused and shrunk through the focusing objective lens to obtain multiple inconsistent focuses. The focus is focused in a transparent material sample wafer on a high-precision three-dimensional motion platform for slicing; wherein the high-precision three-dimensional motion platform realizes the movement of a transparent material sample wafer in x, y and z directions; and the visual positioning system is used for identifying and positioning the transparent material sample. On the premise that the slicing quality is guaranteed, the processing efficiency is remarkably improved.

A system, method and apparatus to automatically perform endotracheal intubation in a patient comprising, inserting a blade inside the upper airway of the patient to retract an anatomical structure; inserting a bending portion and a tube arranged on the bending portion inside the airway of the patient; collecting airway data using at least one imaging sensor arranged on the bending portion; communicating collected airway data to a processing circuitry; predicting an intended path for insertion of the tube and generating control signals using the processing circuitry, wherein the intended path is predicted based on at least one anatomical structure recognized by the processing circuitry using the collected airway data; and communicating the control signals generated by the processing circuitry to at least one actuation unit to actuate the three-dimensional movement of the tube.

The invention discloses an automatic grading device for thermal shock cracks of a coating and an application method. Comprising a terahertz wave detection module, a laser ultrasonic excitation and detection module, a high-precision three-dimensional motion control platform, a multi-mode signal synchronous acquisition and processing unit, a crack intelligent grading evaluation unit, an environment simulation and temperature control unit, a protective shell and a human-computer interaction interface. The near-surface dielectric property change of the coating is represented through the terahertz technology, the deep mechanical property evolution is detected through the laser ultrasonic technology, the thermal shock service condition is reproduced in combination with a high-temperature environment simulation unit, and a multi-modal feature fusion algorithm and a physical model and machine learning collaborative inversion model are adopted to obtain the thermal shock resistance of the coating. And automatic quantitative evaluation and severity grading of the depth, density, length and network connectivity of the thermal shock cracks of the thermal barrier coating are realized. The problems that an existing single detection method is insensitive to vertical cracks, poor in high-temperature environment adaptability and low in manual evaluation efficiency are solved.

The invention provides a femtosecond and picosecond composite laser welding method and equipment for heterogeneous materials. The femtosecond and picosecond composite laser welding method specifically comprises the steps that glass and metal are stacked on a three-dimensional motion platform and clamped through a clamp; femtosecond laser (with the pulse width of 50-1000 fs and the peak power density of 10-10 W / cm) and picosecond laser (with the pulse width of 1-200 ps and the peak power density of 10-10 W / cm) are adjusted by different beam expanding systems, and after focusing, picosecond light spots completely wrap femtosecond light spots; the composite laser acts on a welding area and a femtosecond laser focusing interface in a time-space synchronization mode, plasma is excited to enable metal to be melted to fill gaps, picosecond laser forms a wide-area heating field on the femtosecond periphery, a violent temperature gradient is regulated and controlled to be in a gentle state, the preheating and after-heating effects are achieved, cracks are restrained, absorption is enhanced, and the welding strength is improved; and the composite laser is controlled by a control system to weld according to a specified path, so that high-strength connection of the glass / metal heterogeneous materials is realized. And the method becomes a breaking key for regulating and controlling the temperature gradient, inhibiting crack generation and improving the welding strength.

The invention relates to the technical field of aerial target identification, and discloses an aerial dynamic target accurate identification method and system. The method comprises the following steps: acquiring multi-dimensional spectral data of a target through a multi-spectral imaging device, extracting spatial distribution characteristics, establishing a three-dimensional motion track model according to the spatial distribution characteristics, and calculating an instantaneous velocity vector; a motion deviation index set is generated in combination with preset reference motion parameters, abnormal behavior categories are divided through clustering analysis, and a key frame sequence is marked; reconstructing a local motion characteristic spectrum based on the key frame sequence, extracting morphological change parameters, and inputting the morphological change parameters into a pre-trained target recognition network to obtain a type recognition result and a confidence score; when the confidence coefficient is lower than a threshold value, activating a supplementary recognition process, acquiring high-resolution texture data, and fusing the high-resolution texture data with the initial recognition result to generate a final recognition tag; and updating the feature database and adjusting the network weight according to the final identification tag.

The invention relates to the technical field of micro-nano precision driving and positioning, and discloses a large-stroke multi-degree-of-freedom piezoelectric nano probe station, which comprises an X-axis linear piezoelectric motor platform, a Y-axis linear piezoelectric motor platform, a Z-axis linear piezoelectric motor platform, a rotary piezoelectric motor, a first adapter frame, a second adapter frame and a probe assembly. And the X-axis linear piezoelectric motor platform, the Y-axis linear piezoelectric motor platform and the Z-axis linear piezoelectric motor platform are respectively used for driving the probe assembly to linearly move along the X axis, the Y axis and the Z axis. The rotary piezoelectric motor is used for driving the probe assembly to rotate in the axial direction. According to the invention, a series connection structure of a plurality of linear piezoelectric motor platforms and rotary piezoelectric motors is adopted, so that the probe station realizes X-axis, Y-axis and Z-axis three-dimensional movement, and the probe realizes high-precision positioning of 360-degree rotation. The invention has the characteristics of high repeated positioning precision, high resolution, large stroke and stable operation, and realizes nano-scale positioning and millimeter-scale stroke.

The invention belongs to the technical field of laser processing, and particularly relates to a curved-surface substrate laser confinement cleaning system and method. The system comprises a control system, a three-dimensional motion platform, a laser and a laser focusing unit, wherein a curved-surface substrate of a metal pattern to be cleaned is fixed on the three-dimensional motion platform; the visual auxiliary positioning system is used for recognizing the space posture of the cleaning area and is electrically connected with the control system. And the control system generates a CAD model and a cleaning path based on an identification result, and cooperatively controls the three-dimensional motion platform and the laser, so that the laser incidence direction is kept within the range of + / -5 degrees of the normal of the target point, and confinement cleaning of the curved surface metal pattern is realized. According to the method, an intelligent reverse decision model of'performance deviation-trimming quantity-laser parameters' is further established, deviation of actually measured electromagnetic performance and a design target is used as input, the material removal quantity and the laser parameters are automatically solved, and closed-loop control of performance diagnosis and trimming machining is formed. The method has the advantages of high-precision positioning, normal incidence control, curvature adaptive compensation and performance-oriented intelligent trimming, and is suitable for high-precision and low-damage local metal removal of LTCC substrates and array plane microstrip lines.

The invention provides a target tracking method and system based on path planning and follow-up holder cooperation, and relates to the technical field of holder control, and the method comprises the steps: obtaining the dynamic trajectory data of a target in real time, constructing a three-dimensional motion trajectory diagram for path tracking, and obtaining a target tracking path; setting an expected pose parameter of the follow-up holder, synchronizing the target tracking path to the follow-up holder for dynamic updating, and obtaining a parameter coupling degree; and performing path planning based on the parameter coupling degree to generate a cooperative control instruction set, driving the follow-up holder to perform bidirectional control, and performing tracking control on the target through a bidirectional control instruction. According to the target tracking method and device, the technical problem that the target is lost or the cradle head cannot stably align to the target due to the fact that the target movement speed is high and the environment is complex is solved, and the target tracking precision in a complex scene is improved by calculating the parameter coupling degree and optimizing cooperation of path planning and cradle head control.

The invention provides a template installation gap real-time detection method and system based on image three-dimensional reconstruction, and relates to the technical field of image processing, and the method comprises the steps: obtaining image sequence data collected at multiple angles in real time in the installation process of a to-be-detected vertical wall template; performing image inversion according to the image sequence data to generate a three-dimensional moving point cloud field; performing curved surface reconstruction according to the three-dimensional moving point cloud field to obtain a fracture sensitive curved surface model; performing cross-scale image feature fusion of the installation gap according to the fracture sensitive curved surface model to generate a probability confidence map; performing geometric constraint relaxation processing on the gap boundary according to the probability confidence map to obtain a mounting gap vector boundary; and evaluating according to the installation gap vector boundary to obtain a quantization parameter set. According to the method, the defects that manual detection and the prior art are insufficient in adaptability to dynamic light change and low-texture surfaces and lack of engineering semantics are effectively overcome.