47 results about "Vision control" patented technology

The invention discloses an unmanned aerial vehicle inspection method and system based on AI visual control, and belongs to the technical field of unmanned aerial vehicle automatic control, and the method comprises the steps: carrying out the feature component extraction and compression according to discontinuous frame image data collected by an airborne camera and preset inertial navigation data, and obtaining a compressed feature flow; performing multi-mode obstacle safety level parameter analysis, generating an obstacle avoidance decision priority map, constructing a safety corridor, and generating a real-time self-correction route; semantic analysis is carried out on the deviation between the real-time flight trajectory and the real-time self-correction route, and target area abnormal mark data is generated; and dynamically adjusting the bandwidth allocation of the dual-channel communication network, and transmitting the abnormal mark data of the target area to a ground control terminal. According to the method, a non-continuous frame image and inertial navigation fusion modeling mechanism is adopted, and a multi-mode obstacle safety grading and double-channel dynamic bandwidth allocation strategy is combined, so that real-time response of dynamic obstacle avoidance, accurate judgment of anomaly detection and efficient transmission of key data can be realized.

A system and method to generate a target image from a reference image are provided. The system may receive, via a LDM, a reference image and a text prompt. The system may extract, via a trained vision encoder in the LDM, a vision control signal from an object in the reference image. The vision control signal indicates an identity of the object. The system may extract, via trained text encoders in the LDM, text control signals associated with the text prompt. The system may generate, via cross attention summation of an output of a vision cross attention unit(s) associated with the vision control signal and an output of text cross attention units associated with the text control signals, spatial features indicative of the reference image and the text prompt. The system may output, via a decoder in communication with the LDM, a target image based on the generated spatial features.

The utility model provides a coaxial double-vision control device for double-beam laser processing, which comprises a welding frame and a laser beam generator, a suspension beam close to the top is connected in the welding frame in an up-down sliding manner, a rotating shaft is arranged at the bottom of the suspension beam, a transverse plate is fixedly connected to the bottom of the rotating shaft, and a lead screw is rotatably connected to the bottom of the transverse plate. According to the utility model, the transverse plate is arranged, the screw sleeve I and the screw sleeve II of which the distance is controlled by the lead screw are arranged below the transverse plate, and the adapter seats for mounting the laser beam generators are arranged at the bottoms of the screw sleeve I and the screw sleeve II, so that compared with the prior art, the laser beam generator has a function of adjusting the distance between the two laser beam generators; the double-beam laser welding device is suitable for laser welding of two welding positions with different distances, and the application range of double-beam welding is enlarged.

The present disclosure relates to a contact lens that is easily rotated when worn, comprising: a vision correction zone having a first refractive power based on an eyeball prescription and located in the central region of the contact lens; and a vision control zone that surrounds the first correction zone and is annular in shape, wherein the equivalent refractive power of the vision control zone is positive compared to the first refractive power, the vision control zone including a first control zone adjacent to the first correction zone, the boundary between the first control zone and the first correction zone being a first inner edge defined by a first inner circle and a first outer circle that oscillates around the circumference of the contact lens, the diameter d1 of the first inner circle satisfying the following conditions: 2.4 mm ≤ d1 ≤ 3.6 mm, and the diameter d2 of the first outer circle satisfying the following conditions: d1 + 0.2 mm ≤ d2. The contact lens can provide different defocus stimuli over time, thereby achieving a long-term myopia control effect.

The present invention discloses an industrial vision inspection data processing method, which extracts product appearance data from product inspection images, constructs a preliminary screening model for product appearance, comprehensively evaluates product quality from two perspectives of color and geometry, and conducts a preliminary screening of products to ensure the comprehensiveness of data processing. Then, the preliminarily screened products are re-inspected. The image acquisition accuracy is analyzed and evaluated through product inspection images, and the image acquisition performance is comprehensively evaluated through periodic data. Then, it is combined with the product re-inspection results to deeply evaluate the vision inspection efficiency and generate a vision control signal to dynamically adjust the vision acquisition mode, realizing the vision inspection requirements under abnormal environmental change states, thereby ensuring the continuous stability of vision inspection efficiency. Furthermore, by evaluating the preliminary screening inspection efficiency of the product appearance preliminary screening model, a model optimization signal is generated to optimize and upgrade the product appearance preliminary screening model, realizing model self-growth and improving the preliminary screening inspection accuracy of the model.

1. Name of the product in this design: Graphical User Interface for the Operation and Management of Medical Consumables for Electronic Devices. 2. Intended use of this design: for electronic devices; Intended use of the graphical user interface: for the operation and management of medical consumables for electronic devices. 3. The key design feature of this product is its graphical user interface. 4. The image or photograph that best illustrates the design's key features: the front view. 5. Human-computer interaction method of graphical user interface: The graphical user interface of this product is the user interface for running the vision control system software. The main change in the main view and various state change diagrams is that the corresponding interface state change diagram is presented according to the user's current control position. The main view is the main interface view of the software; enter your account and password, click the [Login] button to enter the changed state diagram 1; click the [Medical Consumables Operation Management] button in changed state diagram 1 to enter the changed state diagram 2; click the [Date Range] button in changed state diagram 2 to enter the changed state diagram 3.

The invention provides flying glasses capable of realizing audition and vision control and a flying product formed by the flying glasses, and relates to the field of general aviation. A central control circuit, a signal acquisition circuit, a communication control circuit, a microphone automatic storage control circuit, a fault diagnosis circuit, a data observation circuit and a lens color change control circuit are arranged in the glasses body, and the central control circuit is respectively connected with the signal acquisition circuit, the communication control circuit, the fault diagnosis circuit and the data observation circuit. The communication control circuit is connected with the microphone automatic storage control circuit, and the data observation circuit is connected with the lens color-changing control circuit. The earphone and the microphone are integrated in the glasses body, and meanwhile, the same set of control circuit is arranged in the glasses body, so that the existing independent configuration functions are integrated, and the defects in the aspects of design resource sharing, wearing comfort, daily use convenience and the like are overcome.

The invention relates to the technical field of industrial automation and machine vision, in particular to an intelligent factory voice and vision cooperative control method and system. According to the intelligent factory voice and vision cooperative control method and system, a multi-target recognition model is combined with an object feature point extraction algorithm to determine the grabbing difficulty tendency type of a target object; according to the grabbing difficulty tendency type of the target object and the shape complexity degree of the target object, the calculation sub-parameters for the grabbing posture of the target object are determined, then the grabbing posture of the mechanical arm is determined according to the calculation sub-parameters, and non-contact control is achieved through the preset wake-up word. Operators can quickly start the grabbing process through natural language processing instructions, time delay of traditional button or touch screen operation is remarkably reduced, voice instructions and visual collection are seamlessly connected, the manual confirmation link is avoided, the system response speed is increased, and the system reliability is improved. And for a target object with relatively high grabbing difficulty, the grabbing success rate is improved through a multi-angle coordinate calculation mode.

The utility model relates to a visual control all-in-one machine device with a profile structure, which comprises a profile shell, a core plate, a first expansion plate and a second expansion plate, a nut column is fixed on the inner side of the profile shell, the core plate is positioned on the nut column, a first connecting piece is welded on the core plate, and a second connecting piece is welded on the second expansion plate. Second connecting pieces matched with the first connecting pieces are welded to the first expansion board and the second expansion board respectively, third connecting pieces are further welded to the first expansion board, and fourth connecting pieces matched with the third connecting pieces are welded to the second expansion board. The first expansion board and the second expansion board are detachably connected to the core board to form a first structure, a second structure or a third structure. Signal transmission among the first expansion board, the second expansion board and the core board is realized through the connecting pieces, position fixation is realized through the positioning pieces and the screws, the first expansion board and / or the second expansion board can be configured according to the requirements of the whole machine, the expansibility is effectively improved, the disassembly and assembly are simple and convenient, and more application scenes are met.

The present application relates to the technical field of deep learning machine vision control convex letter steel rolling, and relates to a convex letter steel rolling plate shape control method and system based on deep learning, which comprises the following steps: heating and descaling a blank, setting a first visual detection unit at the outlet of a heating furnace, triggering hydraulic correction when the centering deviation is greater than a first threshold value; setting a second visual detection unit at a rough rolling mill, extracting the residual area of the rolling piece surface oxide scale through an image segmentation algorithm, and detecting whether to trigger secondary descaling; setting a third visual detection unit at a medium rolling mill, adjusting the flow distribution of the cooling water of a finishing mill if the temperature distribution is uneven, and correcting the side pressure of the finishing mill vertical roll if the corner radius error exceeds a fourth threshold value; setting a fourth visual detection unit at the finishing mill, calculating the roll gap compensation amount and correcting the finishing mill reduction amount in real time when the filling rate is less than a fifth threshold value. The present application combines convex letter steel with deep learning and machine vision, and can make the quality of the manufactured convex letter steel better and the shape more accurate.

This application relates to the field of vision control technology, and in particular to a method and system for compensation and control of CNC machine tools based on industrial vision. The method includes: acquiring real-time images and the position coordinates of the CNC machine tool during the machining process; parsing the current machining instructions to reconstruct the theoretical trajectory, and then constructing an initial contour of an active contour model; performing multiple iterative evolutions on the initial contour using the active contour model until a target contour is obtained; calculating spatial compensation components based on the image deviation of the target contour relative to the initial contour; and adjusting the workpiece zero-point offset of the CNC machine tool using the spatial compensation components. The technical solution of this application can effectively improve the machining accuracy and stability of CNC machine tools in complex machining environments.

The application relates to a mechanical vision-based automatic insulation resistance detection device, characterized by being composed of a device fixing assembly, a mechanical vision control assembly and an insulation resistance test assembly; the device fixing assembly comprises guide rails, connecting rods, pulleys, two-side fixers and clamping groove fixers; the guide rails are divided into left and right parts, the guide rail end parts are telescopically inserted into the holes of the connecting rods to adapt to secondary wiring terminal rows with different lengths, and the device is fixed on the two sides of the secondary wiring terminal row through the two-side fixers; the pulleys are slidingly connected in the guide sliding channels of the connecting rods, the pulleys are connected with controllers, and five groups of clamping groove fixers are arranged on the outer sides of the connecting rods; the mechanical vision-based automatic insulation resistance detection device is rationally designed and is favorable for solving the problem of low efficiency of the traditional manual insulation resistance detection method.

The invention provides a bionic eyeball vision device, a vision system, a vision control method and a robot. The bionic eyeball vision device comprises a bionic eyeball shell, a bionic crystalline lens is arranged in the bionic eyeball shell, and the bionic crystalline lens is made of an electro-deformation material; the bionic eyeball shell is provided with a bionic pupil, and the bionic pupil is made of an electrochromic material; the bionic pupil is located in front of the bionic crystalline lens; the bionic eyeball further comprises a photosensitive element, and the bionic pupil, the bionic crystalline lens and the photosensitive element are sequentially arranged in the bionic eyeball shell. According to the bionic eyeball vision device provided by the invention, the anthropomorphic degree of eyeballs can be improved, the vision integration level is improved, and the compactness of the structure is improved; according to the bionic eyeball vision device, the electrochromic material is adopted to simulate the pupil, the electrodeformation material is adopted to simulate the crystalline lens, the device approaches the physiological structure of human eyes from the aspects of materials and principles, and unification of structural bionics and functional bionics is achieved.

The invention relates to the technical field of mechanical arm visual control, in particular to a mechanical arm obstacle avoidance grabbing method and device which comprises an obtaining module, a processing module, a control module, a mechanical arm with mechanical arm joints and connecting rods connected with each other and a clamping jaw installed at the tail end of the mechanical arm. The acquisition module comprises a depth camera used for acquiring target object and obstacle information under a camera coordinate system, and the depth camera is installed beside a clamping jaw at the tail end of the mechanical arm and is orthogonal to the clamping jaw coordinate system; the method has the beneficial effects that the target object and obstacle information is obtained through the depth camera, then the obstacle information is converted to the base coordinate system in consideration of the possibility that the joint connecting rod of the mechanical arm collides with the obstacle in the operation process, and the models of the obstacle and the joint connecting rod of the mechanical arm are established respectively; collision detection is carried out on each planned path point, so that the operation safety is improved; and finally, the position over the target object serves as the middle point of the path, and the tail end grabbing posture of the mechanical arm is determined.

The application discloses an automatic patching machine and a working method thereof, and relates to the technical field of patching machines, which comprises a workbench, a film feeding device, a patch feeding device, a taking device, a vision system and a control system are arranged on the workbench, the film feeding device comprises a glue applying mechanism and a glue stripping mechanism, the patch feeding device comprises a feeding mechanism, a feeding mechanism and a material moving mechanism, the taking device comprises an X-axis moving module, a glue applying mechanism and a taking mechanism, the vision system comprises a camera structure, a light supplementing structure and a vision control device, and the control system comprises a control panel; the working method of the application mainly comprises the following steps: the film feeding device automatically strips glue, the patch feeding device automatically feeds, the vision system determines the position of the film, the taking device completes the work of taking glue and applying glue, the vision system detects the finished product, and the taking device places the finished product into a finished product box; the application is automatically worked by a machine, and can effectively improve the work efficiency and the yield.

The invention is suitable for the technical field of industrial automation control, and provides an industrial robot visual control method and device, a storage medium and a system.The method comprises the steps that multiple pieces of image information of a to-be-carried object is obtained, and the optimal grabbing point of the surface of the to-be-carried object is obtained; an estimated motion path of the optimal grabbing point is obtained; an estimated grabbing position coordinate is obtained; acquiring a pressurization value of the pressure applied by the elastic mechanical arm; and the mechanical arm is controlled to transfer the to-be-carried object, and the pressurization value continues to be increased. Compared with the prior art, the method has the advantages that the multi-mode fusion control method formed by matching the visual sensor and the pressure sensor is combined with the tactile feedback containing force control, the visual response delay is compensated, and the response speed of the system is increased, so that the method is suitable for a high-speed production line, particularly suitable for high-speed handling and carrying tasks of a high-speed conveying belt, and the generation efficiency is higher.

This invention discloses an anesthesia injection device, its automatic control method, and a hair transplant robot, relating to the field of medical surgical equipment technology. The device includes: a fixing mechanism for mounting on a robotic arm and being driven by the robotic arm; a first feeding mechanism disposed on the fixing mechanism; an injection mechanism disposed on the first feeding mechanism, the first feeding mechanism driving the injection mechanism to move; and a vision control unit disposed on the fixing mechanism for acquiring images and controlling the movement of the first feeding mechanism and / or the robotic arm based on the acquired images, so that the injection mechanism reaches a target position. The anesthesia injection device, its automatic control method, and the hair transplant robot of this invention can automatically inject anesthetic into the scalp of a target person with low pain during injection, and the injection process is fast and efficient.

The utility model relates to a robot head structure and a humanoid robot. The robot head structure comprises a head shell, the head shell is provided with eye areas, and the robot head structure further comprises a visual unit located in the head shell; the visual unit comprises a laser scanning module, the light emitting end of which is correspondingly arranged at the eye region, and the laser scanning module comprises a laser scanning motor and a laser scanning assembly; the laser scanning motor is used for driving the laser scanning assembly to rotate for laser scanning; the number of the first camera modules is N, N is greater than or equal to 1, and the viewing end is correspondingly arranged at the eye region; and the visual control board is connected with the laser scanning module and the first camera module. By means of the layout design, the size of the laser scanning module is reduced, the overall structure is more compact, and the laser scanning module is suitable for being used in a robot head with a narrow internal space. The operation stability and the control precision are improved, and a high-precision visual scheme suitable for the humanoid robot is provided.

A state-observed and updated model predictive control strategy is proposed for image-based visual servoing (IBVS) of micro air vehicles (MAVs). The proposed strategy can accurately adjust the pose of MAVs without global positioning system (GPS). Specifically, image features are defined on a virtual image plane to decouple the translational motion of MAVs. Then, a linear velocity observer is developed to provide high-quality linear velocity information for MAVs in real time. The image dynamics on the virtual image plane are linearized by first-order Taylor expansion, and a controller is constructed based on model predictive control to efficiently solve the optimal control input. Furthermore, the state input of the controller is updated at each control period to eliminate the cumulative error of the rolling optimization on the linear approximation dynamics, ensuring the accuracy of IBVS. Experimental results demonstrate the performance of the proposed observer and control strategy.

The application relates to a robot vision control method and system based on spatiotemporal context perception and belongs to the field of vision control. The method comprises the following steps: acquiring an original image sequence, performing spatiotemporal context feature coding, and outputting a spatiotemporal context feature map; mapping the spatiotemporal context feature map into an initial attention map through a lightweight convolution network, introducing an attention diffusion process to output an attention potential field; obtaining a resource allocation matrix based on the attention potential field and performing calculation power allocation; obtaining a historical attention potential field based on the attention potential field, performing attention dynamics prediction according to the historical attention potential field, and obtaining a predicted attention potential field; and realizing prospective vision control based on the attention potential field and the predicted attention potential field. Through the introduction of spatiotemporal context perception coding, gated fusion, attention diffusion, nonlinear resource allocation and the like, the intelligent level of robot vision control is comprehensively improved.

The invention discloses a camera remote real-time control system and a control method based on video monitoring, and relates to the technical field of camera control, in an image communication link, video and holder control cooperation is realized, a control symbol is embedded into a video code stream, and synchronous correction is carried out based on control and video double-link time delay estimation. The cloud platform motion and control intention is mapped into a coding structure and ROI bit distribution through visual control isomorphism, so that low-delay and high-definition transmission is still carried out in a key target area under network fluctuation, target loss and misoperation are reduced, and the monitoring disposal and evidence obtaining continuity of a chemical industrial park and an oil and gas storage tank area is improved.

An apparatus of a wearable robot may comprise a transceiver configured to communicate with at least one controller of the wearable robot, at least one processor, and memory. The memory may store instructions that, when executed by the at least one processor, are configured to cause the vision control apparatus to receive, from the at least one controller of the wearable robot via a receiver of the transceiver, an indicator of a current robot foot position, detect, via a depth camera of the wearable robot, a characteristic of terrain around the wearable robot, generate, based on the detected characteristic of terrain, point cloud-based geometric information associated with the terrain, determine, based on the current robot foot position and the point cloud-based geometric information, a subsequent robot foot position, and transmit, to the at least one controller of the wearable robot via a transmitter of the transceiver, the determined subsequent robot foot position.

A progressive target focusing method for a drone gimbal based on intelligent vision control, belonging to the technical fields of target focusing, deep learning, and drone gimbal control; the technical problem to be solved is: to provide an improvement of a progressive target focusing method for a drone gimbal; the technical solution adopted to solve the above technical problem is: obtain a transmission line image sample database; construct a device detection data set and a component defect data set; construct a dual target detection model based on YOLOv5 and SSPNet and perform model training; obtain the image data stream of the real scene of the transmission line through the drone; after the input of the real-time real scene image data stream, automatically call the two detection models at different times and transmit the target information to the progressive target focusing module of the drone gimbal; after obtaining the target frame size, coordinates, and gimbal attitude information, save them, and transmit the target parameters to the core algorithm module for calculation to achieve progressive camera focusing and gimbal control; the present invention is applied to drones.

The invention relates to the technical field of eyebrow pencil machining devices, in particular to an eyebrow pencil core rotating machine which comprises a workbench, a discharging system, a receiving hopper, a chain conveyor, a visual control system and a plurality of jacking air cylinders. The receiving hopper is used for discharging processed eyebrow pencils, the chain conveyor is used for sequentially conveying discharged eyebrow pencil shells towards the direction of the receiving hopper, the chain conveyor is arranged between the discharging system and the receiving hopper, and a plurality of limiting blocks are fixedly connected to one side of the chain conveyor; the visual control system is used for detecting and adjusting the state of an eyebrow pencil shell located on the chain conveyor, and the jacking air cylinders are fixedly connected to the workbench and are sequentially arranged in the conveying direction of the chain conveyor. Through the technical scheme, the qualification rate of products is guaranteed, the labor intensity of workers is reduced, and the production efficiency is improved.

The present invention discloses a pan-tilt receiving and adjustment system based on visual control, comprising: a machine vision device, a multi-axis pan-tilt, a pan-tilt positioning system, a visual analysis control system, and a shipping control system; the multi-axis pan-tilt is connected to the pan-tilt positioning system, and the movement trajectory of the multi-axis pan-tilt is determined based on the pan-tilt positioning system; the machine vision device is set on a multi-axis platform, and the visual analysis control system detects whether the multi-axis platform has reached a preset position and whether the shipped product is correct based on the visual analysis control system. If the detection is correct, a shipping instruction is sent to the shipping control system, and the shipping control system controls the movement of products in the corresponding cargo lanes, so that the products are moved onto the multi-axis pan-tilt. Using machine vision to perform pan-tilt receiving control eliminates the problems that would exist with completely mechanical control, and this solution can improve the accuracy and safety of pan-tilt receiving and adjustment.

The invention discloses a global self-adaptive parallel mechanical arm apple picking and follow-up collecting device and method.The device comprises a central controller, a longitudinal multi-speed lifting module, a transverse telescopic module, a parallel mechanical arm and a visual control system, and the longitudinal multi-speed lifting module, the transverse telescopic module and the parallel mechanical arm are electrically connected with the central controller; the visual control system is used for obtaining three-dimensional coordinates and depth information of fruits, and the central controller controls the longitudinal speed-multiplying lifting module to drive the picking operation platform to move to a plurality of height stations in sequence. Meanwhile, after the transverse telescopic module is controlled to transversely move the picking operation platform according to three-dimensional coordinates and depth information obtained by the visual control system at each height station, the central controller controls the parallel mechanical arm to pick the fruits, and the picked fruits are collected in a follow-up mode through the follow-up fruit collecting module. According to the device, full-area covering picking of fruits at different heights and different depth positions of tree crowns is achieved, and the environmental suitability of the device is greatly improved.

Computer vision control of spray nozzles and related systems, circuitry, and methods are disclosed. A circuitry of a computer vision sprayer control system receives an image signal captured by a computer vision system disposed at a distal end of a boom arm of a boom carried by a crop sprayer. The circuitry provides a spray nozzle control signal to a spray nozzle controller configured to control operation of a spray nozzle at the distal end of the boom arm. The spray nozzle is electrically controllable with at least one degree of freedom. The circuitry includes a processor to determine adjustments to make to the spray nozzle based, at least in part, on the image signal and generate the spray nozzle control signal responsive to the determined adjustments. A method includes retrieving a spray maneuver and determining adjustments to make to the spray nozzle to execute the spray maneuver.

This invention provides a flexible positioning and nailing device, including a support platform, a moving assembly, a drive component, a nail gun mechanism, and a vision control system. The flexible positioning and nailing device of this invention features a support platform with an mounting plane for supporting other equipment; a moving assembly that slidably connects to the support platform; a drive component connected to the moving assembly, which moves the moving assembly in a circular trajectory to perform ring nailing; a nail gun mechanism connected to the bottom of the moving assembly, which moves horizontally on the support platform with the moving assembly to perform ring nailing; and a vision control system electrically connected to the moving assembly and drive component, which controls the drive component to move the moving assembly and nail gun mechanism to the corresponding positions for nailing. The device is simple to operate, highly efficient and precise, adaptable, and practical.

The invention relates to a visual control device and method of a wearable robot. A visual control device of a wearable robot may include a transceiver configured to communicate with at least one controller of the wearable robot; at least one processor; and a memory. The memory may store instructions that, when executed by the at least one processor, are configured to cause the visual control device to: receive, via the receiver of the transceiver, an indication of a current robot foot position from the at least one controller of the wearable robot; detecting, via a depth camera of the wearable robot, features of terrain around the wearable robot; generating point cloud-based geometric information associated with the terrain based on the detected features of the terrain; based on the current robot foot position and the geometric information based on the point cloud, determining a subsequent robot foot position; and transmit, via a transmitter of the transceiver, the determined subsequent robot foot position to at least one controller of the wearable robot.

The invention relates to the technical field of deep learning machine vision control embossed steel rolling, in particular to a deep learning-based embossed steel rolling plate shape control method and system.The method comprises the steps that a blank is heated and descaled, a first vision detection unit is arranged at an outlet of a heating furnace, and when the centering deviation is larger than a first threshold value, hydraulic deviation correction is triggered; a second visual detection unit is arranged on the roughing mill, a rolled piece surface oxide skin residual area is extracted through an image segmentation algorithm, and whether secondary descaling is triggered or not is detected; a third visual detection unit is arranged in the intermediate rolling mill, temperature distribution is uneven, flow distribution of cooling water of the finishing mill is adjusted, and if the fillet radius error exceeds a fourth threshold value, the side pressure amount of the vertical roller of the finishing mill is corrected; and a fourth visual detection unit is arranged on the finishing mill, when the filling rate is smaller than a fifth threshold value, the roll gap compensation amount is calculated, and the rolling reduction of the finishing mill is corrected in real time. The embossed steel is combined with deep learning and machine vision, so that the manufactured embossed steel is better in quality and more accurate in shape.