1072 results about "Vertical distance" patented technology

Access control system (1) for buildings (2) with a stationary unit (20) and a mobile unit (10), wherein the mobile unit (10) has a mobile transceiver (11) which is designed to transmit wirelessly and encrypted signals (S) for authentication and authorization of the mobile unit (10) with respect to the stationary unit (20) and for control of the stationary unit (20) by the mobile unit (10) to a stationary transceiver (21) of the stationary unit (20), wherein the stationary unit (20) comprises a control device (22) which is designed to determine a position of the mobile unit (10) relative to the stationary unit (20) from the signals (S) transmitted from the mobile transceiver (11) to the stationary transceiver (21) and to control a function if a control command for triggering the function is transmitted to the stationary unit (20) by a mobile unit (10) authenticated and authorized by the stationary unit (20) and / or the position of the mobile unit (10) is within a predetermined access area (30), and wherein the control device (22) is designed to determine an angle (ϕ) from which the signals (S) were received from the signals (S) transmitted from the mobile transceiver (11) to the stationary transceiver (21), to determine a measured distance (rg) between the stationary transceiver (21) and the mobile transceiver (11) from a signal (S) received at the stationary transceiver (21) from the mobile transceiver (11) and from the measured distance (rg) and a vertical distance (rv) stored as a correction value in the control device (22) between the stationary transceiver (21) and the mobile transceiver (11), to determine a horizontal distance between the stationary transceiver (21) and the mobile transceiver (11) in the polar coordinate system lying in the horizontal plane as a distance (r) from which the signals (S) were received, so that the position of the mobile unit (10) can be specified as polar coordinates of a polar coordinate system lying in a horizontal plane, in whose coordinate origin the stationary transceiver (21) is arranged.

The invention relates to the technical field of computer vision detection, and discloses a height feature information generation method, device and equipment based on point cloud and a medium, and the method comprises the steps: obtaining three-dimensional point cloud data of the surface of an object to be detected, carrying out the preprocessing of the data to obtain a target point cloud, and carrying out the reference plane fitting of the target point cloud, and calculating the vertical distance of each point in the target point cloud based on the reference plane obtained by fitting and generating height difference data, and finally extracting and outputting surface height feature information according to the height difference data. According to the method, the three-dimensional point cloud data is subjected to preprocessing noise removal, datum plane accurate fitting and height difference data separation, high-precision extraction of tiny height changes of a complex surface is achieved, the detection efficiency is improved, dependence on high-cost optical equipment is reduced, and the method is compatible with various workpiece shapes.

The invention discloses a picture occlusion relation processing method and device and a storage medium, and relates to the technical field of rendering, and the method comprises the steps: determining a vertical distance between a target element in a to-be-rendered frame and a preset base point; performing normalization processing on the vertical distance to generate a floating point value corresponding to each target element; encoding the floating point value to generate at least one integer channel value corresponding to the element; storing the integer channel value corresponding to the target element to vertex color information of the grid data corresponding to the target element to generate a rendering grid; and rendering the target element based on the rendering grid. According to the method, the normalized and coded depth value is borne through the vertex color information, so that the technical problem that the rendering performance is low due to the fact that the node tree needs to be traversed in each frame and massive elements need to be sorted in the prior art is solved, seamless fusion of the depth data of the rendered elements and the vertex colors is realized, and the rendering efficiency of the elements is improved.

The invention relates to the field of mobile robot motion planning, and discloses a quadruped robot motion planning method and system based on height self-adaption. The method comprises the following steps: constructing 3D and 2D local obstacle maps according to coordinate transformation, and calculating a grid vertical distance through ray casting to generate a 2.5 D local obstacle map; determining an initial control sampling space by combining speed, acceleration and height constraints; discretizing a sampling space and simulation time, deducing a control value sequence and recursively calculating a local trajectory; then calculating a shaft alignment bounding box in a directed bounding box of the robot, screening grid units in the shaft alignment bounding box, comparing the height of a machine body with the allowable height of grids, and rejecting collision trajectories to obtain a feasible trajectory set; and finally selecting an optimal track by the evaluation function, extracting a control value and sending the control value to hardware for execution. According to the method, the 2.5 D local obstacle map containing height information is constructed, the four-dimensional control sampling space is designed, and the robot height self-adaptive adjustment is realized in combination with the collision detection and evaluation function.

The invention discloses a vertical retaining structure displacement automatic monitoring device and a monitoring method thereof, and relates to the technical field of displacement automatic monitoring, and the device comprises a data acquisition unit which is used for configuring monitoring nodes, obtaining sensor data monitored at the top of a retaining wall, and preprocessing the sensor data to obtain effective inclination angle data; the displacement conversion unit is used for recognizing and optimizing the attitude angle by using a dynamic Kalman filtering algorithm, and calculating a displacement value of the vertical soil retaining structure by combining the vertical distance from the bottom to the top of the soil retaining wall; the monitoring and early warning unit is used for uploading the displacement value of the vertical retaining structure to a remote data platform, constructing a monitoring network, analyzing and predicting the deformation trend of the retaining wall and triggering early warning according to an analysis result; and the battery management unit is used for providing battery state monitoring and management. The displacement of the top of the retaining wall can be accurately sensed and monitored through the inclination angle data, and comprehensive and accurate monitoring is ensured by adopting an attitude solver and a dynamic Kalman filtering algorithm.

The invention relates to a welding gun self-adaptive swing adjusting system and method. The system comprises a detection module, a control module, an execution module, a man-machine interaction module, a power module and a storage module. The detection module detects welding seam unevenness information, and after receiving the information, the control module judges whether to drive the execution module to adjust a welding gun to swing or not according to a preset threshold value determined on the basis of the vertical distance between a replaced plate welding initial point and the detection module and the process fluctuation range; meanwhile, a welding seam is tracked through a point-by-point comparison method based on the linear interpolation principle, the moving direction is judged through a deviation function, the feeding direction is determined through a coordinate absolute value and a symbol in a full quadrant, interpolation is stopped when the total step length is gradually decreased to zero, and the method comprises the steps of module initialization, parameter setting, communication detection, judgment and adjustment and welding seam tracking. The invention aims to solve the problems of poor welding quality, low efficiency and more manual intervention caused by poor welding seam flatness, large gap and high-low misalignment in the welding process.

The invention relates to the field of automatic reclaimers, and particularly discloses a remote unattended control system and method for a bucket-wheel stacker-reclaimer, which utilizes a material level radar deployed at the head of a cantilever belt of the bucket-wheel stacker-reclaimer to monitor the vertical distance between the head of the belt and the surface of a coal pile in real time, and determines the position of the coal pile on the basis of the error between the actual distance and the preset distance. And the PLC is used for controlling the adjustment amount of the pitch angle of the cantilever of the bucket-wheel stacker-reclaimer. Meanwhile, in the material level radar distance measuring process, in order to improve the environmental adaptability and measurement accuracy of radar waves, environmental parameter data are further collected in real time through a multi-source sensor, a deep learning algorithm is introduced to conduct deep time sequence analysis on environmental parameters, and the radar transmitting power is intelligently adjusted based on the dynamic interaction change of the multi-source environmental parameters. In this way, dynamic compensation of radar wave propagation characteristics can be achieved, the influence of environmental factors on radar ranging precision is reduced, and therefore the automatic operation precision and safety of the bucket-wheel stacker-reclaimer are improved.

The invention discloses a deepwater port steel structure installation construction method which comprises the steps that four positioning datum points are arranged at the bottom of a steel structure body, and each positioning datum point is provided with a composite positioning device connected with a water surface control platform; before sinking, the water surface control platform drives the composite positioning device to obtain initial plane coordinates of the steel structure bodies, the vertical distance between the bottoms of the steel structure bodies and the seabed is measured, and the installation distance between the adjacent steel structure bodies is actually measured; according to real-time data, four guide piles are driven into a target installation area, the arrangement distance is 1 / 5-1 / 3 of the span of a steel structure body, and guide grooves with hydraulic adjusting mechanisms are formed in the top ends of the guide piles; and the steel structure body is hoisted to the position over the guide pile, the hydraulic adjusting mechanism is started, the guide groove generates a guide slope with the inclination angle being 2-5 degrees, the steel structure body sinks along the guide slope, and the sinking track is corrected in real time. According to the method, the positioning precision and stability of deepwater port steel structure installation are improved, and dynamic track correction and closed-loop control are achieved.

The invention discloses a BIM-based gymnasium stand sight line rise difference optimization method and system, and relates to the technical field of gymnasium construction, and the method comprises the steps: 1, obtaining a pre-established stand model; analyzing the model to obtain a competition field sideline, a stand position of any model area and a step point coordinate L1 of each row of steps in the model area; calculating eye point coordinates L2 when the person sits by matching a preset human body model / human body simulation parameter with the step point coordinates L1, and generating a sight line by taking the eye position of each person as a starting point and a viewpoint as an ending point; the viewpoints are intersection points of the sight lines and the competition field side lines; calculating the vertical distance between the sight of the next row of audiences and the eyes of the previous row of audiences to obtain a corresponding sight rise difference C; marking steps with the sight line rising difference C smaller than a preset lower limit threshold value, and generating a to-be-optimized area; and step 2, optimizing parameters of the grandstand. The method has the effect that related workers can conveniently and efficiently design the stand with better visual sense of audiences in the back row.

An aircraft includes a rotary wing comprising a main rotor and a tail rotor, a drive unit configured to rotate the rotary wing, an information acquirer for acquiring position information of an obstacle relative to the aircraft, a display, and a controller including at least one processor and at least one memory coupled to the processor. The processor executes processing including deriving a direction, a horizontal distance, and a vertical distance of the obstacle with respect to the aircraft, based on the position information of the obstacle, determining, for one or both of the main rotor and the tail rotor, whether the direction, the horizontal distance, and the vertical distance satisfy a first distance condition, and displaying an index corresponding to the vertical distance at a display position on the display when the first distance condition is satisfied, the display position being identified by the direction and the horizontal distance.

The utility model provides a calibration device, which is used for calibrating a base of laser annealing equipment, and mainly comprises at least three laser range finders, the laser range finders are arranged above the base, the at least three laser range finders are located at the same horizontal height and are not collinear, and the laser range finders are used for measuring the vertical distance between the laser range finders and the base; the plurality of adjusters are arranged on the edge of the base, and the adjusters are used for adjusting the levelness of the base; and the controller is electrically connected with the laser range finders and the plurality of adjusters respectively, and the controller controls the plurality of adjusters to adjust the levelness of the base based on the at least three vertical distances measured by the at least three laser range finders. The levelness of the base can be monitored in real time based on the laser range finder no matter whether the laser annealing equipment is executing the laser annealing process or not, the levelness of the base is adjusted in real time through the adjuster, the adjusting time of the levelness of the base can be shortened, and the adjusting efficiency can be improved.

The invention provides a casting joint line polishing method based on vision, and belongs to the crossing field of mechanical manufacturing automation and intelligent manufacturing, and the casting joint line polishing method comprises the following steps: obtaining template surface point cloud of a standard casting, carrying out reverse modeling on the template surface point cloud to obtain first template point cloud, and obtaining first measurement point cloud of a casting to be polished; performing rough matching and fine matching on the first template point cloud in sequence, and converting the original joint line model into a new joint line model; points, closest to track points of the template track, in the new joint line model are obtained, for each closest point, the point, having the largest vertical distance from the plane where the new joint line model is located, in the neighborhood of the closest point is obtained, and all the points having the largest distances form a path planning point cloud; and traversing all planning points in the path planning point cloud according to the machining direction, selecting a machining mode according to the machining allowance corresponding to each planning point, and generating a final machining track. The grinding precision, the grinding quality and the grinding efficiency of the joint line can be improved, and the grinding device is also applicable to complex curved surfaces.

The invention discloses an RF-CNN-based power transmission line tree obstacle recognition and positioning method and device and a medium, and belongs to the technical field of image processing, and the method comprises the steps: collecting data through a laser radar system and an RGB image collection device, carrying out the preprocessing of the collected data, carrying out the feature fusion through an RF-CNN model, and carrying out the recognition and positioning of a tree obstacle. And training a multi-task learning model to perform three-dimensional positioning of tree types and tree positions, performing classification through fused feature data in tree identification, identifying different types of trees, positioning the position of each tree in a three-dimensional space, calculating horizontal and vertical distances between the tree and the power transmission line, and evaluating whether the tree forms a tree obstacle risk or not. According to the method, the defects of the prior art in the aspects of tree identification, positioning precision, tree obstacle risk assessment and the like are effectively overcome, the efficiency, precision and reliability of tree obstacle monitoring are improved, and a powerful technical support is provided for intelligent inspection and safety management of a power transmission line.

The invention discloses a binocular multi-exposure steel rail visual perception method and device, and relates to the technical field of steel rail image processing, and the method comprises the steps: obtaining a low-exposure original image and a high-exposure original image of a steel rail shot by a binocular camera; dividing the low-exposure original image and the high-exposure original image into a plurality of blocks, and calculating block features of each block; the block features comprise local energy, local mass and spatial consistency; the local energy reflects an effective signal proportion related to laser stripes, the local quality reflects similarity among a plurality of sub-regions divided based on blocks, and the spatial consistency reflects a vertical distance between the blocks and a light band energy center; weighting and fusing the calculated block features to obtain a low-exposure initial weight map and a high-exposure initial weight map; and performing guided filtering weight correction on the low-exposure initial weight map and the high-exposure initial weight map, and performing weighted fusion pixel by pixel by using the corrected weight maps to obtain a fused image. The method can retain the significant features and spatial details in the image, and improves the fusion quality of the steel rail image.

The invention discloses a dynamic height compensation-based hot-rolled strip steel deviation visual detection method and system, and the method comprises the steps: installing an industrial camera between two groups of racks, installing a plurality of distance measuring sensors at the same height, calibrating an internal parameter matrix and an external parameter matrix of the camera, and recording the vertical distance from each distance measuring sensor to a calibration plane; in the detection stage, the vertical distance between the distance measuring sensor and the strip steel surface is obtained in real time, and the height offset and the mean value thereof are calculated; in the detection stage, an industrial camera is used for collecting strip steel images in real time, and left and right edges of the strip steel images are detected; calculating coordinates of points on the left and right edges of the strip steel in a world coordinate system through an internal parameter matrix and an external parameter matrix of a camera based on pixel coordinates and a height offset mean value on the left and right edges of the strip steel; outlier filtering and mean value calculation are carried out on the left edge point and the right edge point of the strip steel under the world coordinate system, the actual position of the edge is determined, and the deviation amount is calculated.

The present invention discloses a quality inspection method for new energy vehicle parts, and specifically relates to the technical field of parts inspection. In order to solve the problem that the inspection method mainly relies on manual visual inspection, this method is easily affected by the operator's subjective judgment and fatigue, resulting in inaccurate inspection results, the present invention collects image information of the inspection parts, constructs a three-dimensional model of the parts after pre-processing the image information, divides the parts into welding areas, painting areas and remaining areas according to their application directions, arranges multiple data points on the surface of each divided area, analyzes the vertical distance between each data point and a reference plane to obtain a flatness value of each divided area, integrates the flatness values of each divided area to obtain a qualified degree value of the inspection part, and the obtained qualified degree value can reflect the quality of the parts, thereby saving manpower and improving the accuracy of inspection.

The invention relates to the field of power transmission line risk hidden danger monitoring, and provides an unmanned aerial vehicle wire crossing intelligent detection method and system fused with real-time atmospheric compensation, and the method comprises the steps: measuring an atmospheric extinction coefficient in real time, and obtaining a flight path parameter perpendicular to the axial direction of a wire; synchronously collecting multi-source sensing data to generate an observation data set; generating a lead initial point cloud with a credibility label through feature extraction and Bayesian confidence weight; generating a lead complete three-dimensional track based on a catenary equation and a locust optimization algorithm; generating three-dimensional wire space structure data with sub-meter precision by taking the track point as a control point; and calculating an actual vertical distance based on the elevation difference value and generating a crossing identification report. The system comprises a data acquisition module, a multi-source data acquisition module, a point cloud generation module, a catenary parameter optimization module, a three-dimensional structure optimization module and a safety evaluation report module. According to the invention, through real-time atmospheric compensation and dynamic weight fusion, the detection precision and robustness are improved, and the method is suitable for power transmission line inspection in a complex environment.

The invention relates to a railway clearance detection method and system based on 3D point cloud, and the method comprises the steps: obtaining 3D point cloud data through a three-dimensional laser scanner disposed in an area within a platform yellow line, carrying out the preprocessing of the 3D point cloud data, and extracting the point cloud data of a platform edge and a rail; further extracting calculation features including the track spacing, the horizontal distance between the platform and the track and the vertical distance, performing visualization processing to obtain horizontal and vertical limit measurement results between the platform and the track, and giving an early warning when the horizontal and vertical limit measurement results exceed the limit range; efficient format conversion and coordinate calibration of the high-density point cloud are realized by adopting a dynamic partitioning strategy and an RA NSAC algorithm; dynamically calibrating the extension direction of the orbit through a multidirectional growth algorithm and constructing a polynomial fitting model; realizing millimeter-level precision horizontal / vertical limit characteristic calculation based on track curve discretization sampling; and three-dimensional visual analysis is completed by combining algorithm grid reconstruction such as ball rotation and a dynamic coloring early warning mechanism. The traditional manual measurement is broken through, and automatic and high-precision limit detection is realized.

The utility model relates to the technical field of edible mushroom planting frames, in particular to a multi-layer three-dimensional edible mushroom planting frame which comprises four vertical rods arranged vertically, a plurality of sliding grooves formed in the vertical rods in the height direction of the vertical rods are formed in the vertical rods, fixing frames are fixedly installed at the bottoms and the tops of the four vertical rods, and the fixing frames are arranged in the sliding grooves. A plurality of bracket assemblies are arranged on the vertical rod, each bracket assembly comprises a left sliding strip and a right sliding strip which are symmetrical to each other, the sliding strips are located in the sliding grooves and are in sliding connection with the sliding grooves, a front reinforcing supporting rod and a rear reinforcing supporting rod which are symmetrical to each other are fixedly installed between the two sliding strips, and a plurality of clamping grooves arranged at equal intervals are formed in the sliding strips; the side edge portions and the tops of the clamping grooves communicate with the outside, and carrying rods are clamped and matched in the two clamping grooves which are right opposite to each other in the left-right direction. The vertical distance can be conveniently adjusted, strain planting is facilitated, and using is more convenient and faster.

A screw includes a shank, a head and a drill portion joined to opposite ends of the shank, thread convolutions spiraled on the shank, ribs protruding from the shank, a discharging portion formed between any two adjacent ribs, and cutting portions formed on the thread convolutions. Each thread convolution has two thread flanks converging at a thread crest and forms respective thread roots by which different vertical distances are defined. One of the thread flanks includes flank sections having different flank angles. Therefore, the thread convolutions are asymmetric. The discharging portion has two inclined surfaces connected to the ribs and an accommodation groove formed therebetween. The cutting portions and ribs serve to cut and cooperate with the asymmetric arrangement to increase the cutting efficiency, thereby reducing screwing resistance, enhancing pull-out resistance whereby the screw is not easily pulled out of a workpiece, and removing chips quickly through the discharging portion.

A system may include a cable tensioning system, comprising: a first support structure having a first securement point; a second support structure spaced from the first end pile and having a second securement point; a third support structure positioned between the first support structure and the second support structure, the third support structure having a cable support; and a cable extending between the first support structure and the second support structure having a tension value, wherein the tension value corresponds to at least one environmental factor related to where the system is geographically located, and a maximum possible vertical distance from the cable at the first securement point to a low point along a length of cable between the first securement point and the second securement point.

The utility model belongs to the technical field of paper manufacturing, and particularly relates to a paper coating device which comprises a machine base, and a liquid containing groove, a transfer roller, a first rubber roller, a second rubber roller and a first height adjusting assembly are arranged on the machine base. The liquid containing tank is used for containing coating liquid; the transfer roller is rotationally arranged above the liquid containing tank, and the lower part of the transfer roller is immersed in the coating liquid in the liquid containing tank; the first rubber roller is arranged above the transfer roller and is attached to the peripheral surface of the transfer roller; the second rubber roller is arranged above the first rubber roller, and a paper passing gap is formed between the second rubber roller and the first rubber roller and allows paper to pass through; the first height adjusting assembly is used for adjusting the vertical distance between the liquid containing tank and the transfer roller. The vertical distance between the liquid containing groove and the transfer roller is adjusted through the first height adjusting assembly, so that the height of the transfer roller immersed in liquid in the liquid containing groove basically meets the requirement, the height is not too large or too small, and waste is reduced.

The method comprises the following steps that a paint nozzle and a distance measuring device are installed at the tail end of the mechanical arm, and an assembly at least comprises a set of distance measuring devices with adjustable distance measuring directions; determining a reference time source, and stamping reference timestamps for all ranging data; before paint spraying or during operation, a distance measuring device scans the surface of a front workpiece to obtain front distance measuring data, and the shape change trend of the surface of the workpiece is predicted in combination with a reference timestamp and the moving speed of a mechanical arm; the distance measuring device measures the vertical distance between the nozzle and the surface of the workpiece in real time to obtain center distance measuring data. And generating a control instruction based on the two types of data, dynamically adjusting the tail end position, speed and / or posture of the mechanical arm, and maintaining the preset vertical distance and / or angle between the nozzle and the surface of the workpiece. Dynamic distance measurement, interference resistance, foresight prediction and real-time regulation and control are integrated, and high-quality automatic paint spraying operation on non-specific workpieces through the mechanical arm can be achieved.

The invention relates to a conducting bar shell cutting device and method, the cutting device comprises a driving mechanism, a cutting blade and a guide block, and the driving mechanism is movably arranged and comprises a rotating shaft capable of rotating around the axis of the rotating shaft; the cutting blade is fixed on the rotating shaft and is provided with a cutting part for cutting the conducting bar; a guide block is arranged on the rotating shaft in the mode that the guide block can rotate around the axis of the rotating shaft, the guide block is relatively fixed in the axial direction of the rotating shaft, the guide block and the cutting blade are arranged in a spaced mode in the axial direction of the rotating shaft, and the peripheral side of the guide block is provided with an abutting face. The abutting face is in a circular ring shape with the axis of the rotating shaft as the center line. The vertical distance between the outer edge of the cutting part and the axis of the rotating shaft is larger than the vertical distance between the abutting surface and the axis of the rotating shaft. The cutting operation is simple and can be completed at a time, and the conducting bar does not need to be adjusted or fixed again.

The invention discloses a near-ground distance measurement method based on virtual large baseline four-eye vision, a medium and equipment, and the method comprises the steps: synchronously obtaining four images when a lifting appliance enters a near-ground operation range; based on the calibration relation between the cameras, the high-altitude images are respectively projected and transformed to the visual angles of the corresponding lifting appliance cameras and fused, two virtual camera images are generated, and therefore a virtual large base line far exceeding the physical distance is constructed; performing three-dimensional correction and cutting on the virtual image pair to obtain a row-aligned three-dimensional image pair; performing feature matching and triangulation on the virtual image pair to generate a sparse reference depth map; and inputting the stereo image pair and the sparse depth map into a pre-trained depth estimation neural network model together, outputting a dense depth map, and converting the dense depth map into a coordinate system taking the lifting appliance as an original point to obtain a vertical distance. According to the invention, the ultra-large baseline is virtually synthesized by using the existing camera, the remote distance measurement precision is improved, the cost is low, and the reliability is high.

The invention discloses a high-precision measurement method for internal gaps and infinitesimal displacement of a closed area based on magnetic-force-sound coupling. The high-precision measurement method comprises the following steps that (1) a sensor module is installed at the tail end of an automatic scanning mechanical arm; (2) controlling the automatic scanning mechanical arm to move, so that the sensor module is close to the surface of the detected material, thereby detecting the magnetic acting force between the magnetic force detection probe (3) and the detected material, and calculating the vertical distance between the magnetic force detection probe (3) and the surface of the detected material; 3) synchronously measuring the film thickness T on the surface of the measured material by using an ultrasonic detection probe; and 4) based on the vertical distance between the magnetic detection probe (3) and the surface of the detected material and the thickness T of the film on the surface of the detected material, calculating the micro-gap between the film and the surface of the detected material. The detection signal is not influenced by factors such as environment temperature and material heat conductivity difference, and existence and specific size of the gap can be accurately detected.

The invention provides a wireless channel modeling method based on human body shielding and surface waves, and the method comprises the steps: setting a receiving and transmitting end system with an adjustable distance dtr, and erecting a metal tube right above the receiving and transmitting end; carrying out joint calibration on the transmitting end surface wave exciter and the receiving end surface wave exciter, and establishing a surface wave transmission reference link; dynamically adjusting the coupling distance between the two exciters and the metal tube, and fully exciting a surface wave transmission mode; a movable human body model is arranged at the midpoint of a transmitting-receiving link, a measuring range is set to adjust the vertical distance dhv of a human body-metal pipe, and multiple groups of path loss samples are obtained through stepping measurement; constructing a path loss relation matrix containing dhv / dtr double variables through repeated measurement under a multi-distance dtr condition; and performing bivariate joint fitting on the measured data by adopting a nonlinear least square method, and establishing a path loss model with human body shielding compensation. The invention also provides an application of the wireless channel modeling method based on human body shielding and surface waves.

The invention relates to the technical field of robots, in particular to a head structure and a robot, and solves the problem that the head structure cannot reduce the damage probability of a cable while having three active degrees of freedom of pitching, head swinging and head shaking. The head structure comprises a head body, at least two first driving assemblies, a rotating assembly and a head shaking driving assembly, the first driving assemblies are used for driving the head body to pitch and swing, the head shaking driving assembly and the rotating assembly are used for driving the head body to shake, and therefore three active freedom degrees of pitching, head swinging and head shaking of the head structure are achieved. Besides, the rotating assembly rotates around the first axis and comprises a first through hole, the vertical distance between the center line of the first through hole and the first axis is smaller than a first preset distance, and a cable of the first driving assembly penetrates through the first through hole and passes through the position near the first axis, so that the head structure does not generate friction with the cable as much as possible when shaking the head; therefore, the probability of cable damage is reduced.

The invention discloses an inner diameter measuring method, device and equipment based on 3D modeling and a storage medium, belongs to the technical field of industrial detection, and aims at solving the technical problems that when the inner diameter of a pipe hole is manually detected, the labor intensity is large, errors are likely to be generated, and results are difficult to trace. The method mainly comprises the following steps: acquiring the distance from a probe to a pipe wall, a rotating angle and a moving distance which are acquired in real time in the process that an inner diameter measuring sensor rotatably exits from a pipe hole; converting the data into a three-dimensional point cloud data set; calculating an axis coordinate set corresponding to the three-dimensional circular tube model based on the point cloud data; calculating the vertical distance from each point in the point cloud to the axis to obtain the radius in the pipe, and judging whether the inner diameter is normal or not according to preset standard parameters. The invention further discloses a corresponding device for implementing the method, electronic equipment and a computer readable storage medium. According to the technical scheme, automatic, high-precision and high-efficiency measurement of the inner diameter of the pipe hole can be achieved, and a traditional manual detection mode is effectively replaced.

The invention discloses an antenna signal calibration method, and relates to unmanned equipment and remote control equipment with a display unit which are in communication connection. During two-dimensional plane movement, the remote control equipment and the unmanned equipment detect and display the real-time antenna angle, the remote control equipment or the antenna is swung, and the unmanned equipment drives the antenna to swing, so that the antennas of the remote control equipment and the unmanned equipment are calibrated in parallel; during three-dimensional space movement, the unmanned equipment records the difference between the vertical distances at the initial moment and the to-be-calibrated moment and the horizontal distance between the to-be-calibrated moment and the remote control equipment and sends the difference to the remote control equipment; the remote control equipment calculates and displays the pitch angle at the moment to be calibrated; the remote control equipment and the unmanned equipment detect and display the real-time antenna angle, and the remote control equipment compares the initial antenna angle with the pitch angle to obtain and display the swing angle; the remote control equipment sends a swing angle, the unmanned equipment drives the antenna to swing, and the remote control equipment or the antenna is swung, so that the two antennas are calibrated in parallel. According to the invention, the antenna signal calibration precision and the signal transmission quality can be improved.