39 results about "X-Coordinate" patented technology

A kind of compound inertial system attitude simulation test method, compound inertial system obtains launch system initial attitude angle by initial alignment mode;In dynamic loading process, the inertial data of compound inertial system is collected, and the angle signal of attitude simulation platform excitation is synchronously acquired;The attitude of compound inertial system is converted from launch system to local horizontal coordinate system by navigation solution method, while the angle signal of attitude simulation test platform is converted to the attitude angle of local horizontal coordinate system, and relevant operation is carried out, to obtain the dynamic performance parameter of compound inertial system.

The invention discloses an operation route editing method, device and equipment and a storage medium, and relates to the technical field of unmanned equipment. According to the technical scheme, the method comprises the steps that a three-dimensional view and a corresponding top view are displayed in an editing interface, the three-dimensional view and the top view comprise a to-be-edited operation route, and the operation route comprises a plurality of waypoints; adjusting horizontal coordinates of corresponding waypoints in the three-dimensional view and the top view in response to a first movement operation on the waypoints in the top view, and / or adjusting vertical coordinates of the corresponding waypoints in the three-dimensional view and the top view in response to a second movement operation on the waypoints in the three-dimensional view; and correspondingly adjusting the operation route according to the horizontal coordinates and the vertical coordinates of the adjusted waypoints. By means of the technical means, the problem that in the prior art, when a three-dimensional operation route is edited through a two-dimensional screen, movement is prone to being inaccurate is solved, and the editing accuracy and editing efficiency of the operation route are improved.

The invention provides a method and a device for determining the area of a side slope slippage region, and electronic equipment, relates to the technical field of side slope slippage detection, and is used for automatically detecting the side slope slippage region and accurately outputting the area of the side slope slippage region. The method comprises the following steps: determining Beidou coordinates of a target corresponding to a Beidou detection station; determining a point cloud coordinate of each target from the detection point cloud; mapping the detection point cloud into a Beidou coordinate system to obtain an absolute point cloud; mapping the reference point cloud and the absolute point cloud into a slope horizontal coordinate system to obtain a reference horizontal point cloud and an absolute horizontal point cloud; a plane formed by a horizontal axis and a longitudinal axis of the slope surface horizontal coordinate system is parallel to the main plane of the slope; constructing slope surface horizontal grids, determining the elevation difference of each slope surface horizontal grid based on the reference horizontal point cloud and the absolute horizontal point cloud, and identifying at least one continuous slip area based on the elevation difference of the slope surface horizontal grids; and obtaining the area of the slope slippage region based on the grid area corresponding to the continuous slippage region.

[Problem] To improve efficiency in managing construction progress. [Solution] An in-BIM-model horizontal construction diagram arrangement system for arranging a two-dimensional construction diagram in a three-dimensional BIM model: acquires, in regard to a building of interest, three-dimensional BIM data, attribute information, and a horizontal two-dimensional construction diagram that is a two-dimensional construction diagram in the horizontal direction of the building; aligns the horizontal coordinates, orientations, and scales of the three-dimensional BIM data and the horizontal two-dimensional construction diagram on the basis of the attribute information; and, on the basis of the result of alignment, horizontally arranges the horizontal two-dimensional construction diagram at a position aligned within a three-dimensional BIM model generated on the basis of the three-dimensional BIM data.

The invention provides a shell tube expanded connection method and a tube expanding device. The shell tube expanded connection method comprises the steps that an actual coordinate system of a to-be-inserted face of a to-be-expanded connection shell tube and an actual X coordinate axis in the actual coordinate system are preliminarily obtained; correcting the rotation angle of the actual X coordinate axis and the rotation angle of the actual Y coordinate axis in the actual coordinate system; finely adjusting the position of the actual X coordinate axis and the position of the actual Y coordinate axis in the actual coordinate system; and the pipe expander is controlled to expand the to-be-expanded shell pipe, so that the problem that in the prior art, a robot expanded connection system for pipe expansion cannot achieve accurate positioning is solved.

The invention belongs to the technical field of workpiece measurement, and particularly discloses a shape and size precision detection method and device for a circular shaft workpiece, and the method comprises the following steps: horizontally placing the circular shaft workpiece on two pairs of rollers of a detection platform; establishing a space coordinate system by taking the axis of the circular shaft workpiece as an X coordinate axis or a line parallel to the X coordinate axis; a sensor is arranged above the detection platform, and the detection center of the sensor is vertically opposite to the axis of the circular shaft workpiece; the sensor operates along an X coordinate axis or a parallel line of the X coordinate axis, continuous or discontinuous measurement is achieved, length and diameter detection of different diameter sections of the circular shaft workpiece is achieved, and the shape and size precision of the circular shaft workpiece is detected. The roller drives the workpiece to rotate, the sensor is used for collecting corresponding information of the workpiece, and automatic detection of the shape and size precision of the circular shaft workpiece is achieved.

The application provides a foundation pit maintenance structure deformation prediction method, system and device based on fractal theory and a storage medium, and relates to the technical field of tunnel and underground engineering monitoring and prediction. The method comprises the following steps: measuring the horizontal coordinates of a fixed measuring point on a certain day, and calculating the deformation displacement value compared with the previous day; obtaining the foundation pit cumulative displacement value based on the deformation displacement value; regarding the foundation pit cumulative displacement value as a section of evenly spaced time series, calculating the time series index; judging the foundation pit displacement change trend of the next period according to the time series index; constructing a fractal distribution model, fitting the time series by the least square method, obtaining the displacement cumulative prediction value of the next period, calculating the proportion of the displacement cumulative prediction value reaching the early warning threshold in the predetermined period, and issuing the foundation pit reinforcement notice if the proportion threshold is reached. The method introduces the fractal theory into the foundation pit deformation prediction, is easy to implement, and can also be used for the prediction of the vertical displacement of the foundation pit.

The invention discloses an IMU installation angle estimation method, device and equipment and a storage medium, and the method comprises the steps: detecting a motion state of a target vehicle, and obtaining navigation data and IMU data when the target vehicle is in a uniform linear motion state; performing coordinate system conversion according to the navigation data and the IMU data; based on the uniform linear motion state features, a constraint equation is established, and the constraint equation represents that the vehicle displacement direction under the local horizontal coordinate system is consistent with the vehicle advancing direction under the vehicle body coordinate system; the influence of the roll angle is eliminated through decoupling processing in the constraint equation, and estimated values of the pitching installation angle and the yaw installation angle are obtained; performing optimal value solving on the installation angle estimation values corresponding to the uniform linear motion segments by adopting a least square method in an offline mode; and updating the estimated value of the installation angle in real time by adopting a sequential least square adjustment method in an online mode. According to the method, the estimation stability and precision are improved by utilizing the constant-speed linear motion state parameters and the offline and online modes.

This invention discloses a blind zone detection method for handheld point cloud scanning based on the interaction between the acquisition area and the boundary, relating to the fields of 3D scanning and point cloud data processing technology. The method first acquires the device pose and local point cloud, preprocesses it, and then transfers it to a global horizontal coordinate system. A boundary feature extraction engine is used to identify room boundary lines and project them to form a 2D boundary contour map. Simultaneously, an effective acquisition loop is dynamically constructed and projected based on the effective measurement range parameters of the laser scanner and the current ambient lighting conditions. Boolean operations are performed on the effective acquisition loop and the boundary contour map to identify uncovered boundary segments as potential blind zones. The occlusion state is determined using the temporal information of continuous frame point clouds and a ray casting algorithm to identify the effective blind zone. This invention reduces the 3D integrity determination to 2D planar geometric intersection, eliminating the need for prior models and enabling real-time identification of dynamic occlusion and acquisition blind zones. This results in high computational efficiency and significantly improves the success rate and coverage integrity of handheld scanning operations.

System and method for planar navigation for a moving platform utilizing computer vision techniques is disclosed herein. The method includes capturing with a monocular camera an image containing at least two distinct substantially vertical edges positioned around a waypoint, calculating the horizontal coordinate of the waypoint relative to the horizontal coordinates of the edges, and adjusting the moving platform's heading angle to maintain the said position of the navigation goal. The method includes tracking the pixel separation of the edges and terminating navigation of a segment responsive to the pixel separation exceeding a predetermined threshold.

The invention provides a testing machine non-horizontal state high-speed camera exterior orientation element calibration method. The method comprises the following steps: 1, obtaining a space three-dimensional coordinate of a to-be-measured point; 2, constructing a reference plane by using the fuselage left side front-back pitching control points and the fuselage right side front-back pitching control points; 3, solving an intersection line P1P2 of the reference plane and the plane XOY of the measurement coordinate system; 4, converting the space three-dimensional coordinate of the point to be measured into a first temporary coordinate system; 5, converting the space three-dimensional coordinate of the point to be measured from the first temporary coordinate system to a second temporary coordinate system; 6, converting the space three-dimensional coordinate of the point to be measured under the second temporary coordinate system to be under the initial coordinate system of the testing machine; 7, converting the space three-dimensional coordinate of the point to be measured under the initial coordinate system of the testing machine to a third temporary coordinate system; and 8, performing coordinate conversion on the spatial three-dimensional coordinates of the to-be-measured point in the third temporary coordinate system to obtain the spatial three-dimensional coordinates of the to-be-measured point in the final airframe horizontal coordinate system.

Methods, apparatus, and computer readable storage medium for implementation of signaling EOC / EOR. The method includes determining whether a one-dimensional transform skip is applied to a transform block, the transform block having two dimensions; encoding a first syntax element indicating whether the one-dimensional transform skip is applied to the transform block; in response to the one-dimensional transform skip being applied to the transform block, encoding a second syntax element indicating an end position value associated with the transform block, the end position value indicating only one of a horizontal coordinate end position in the transform block and a vertical coordinate end position in the transform block; entropy encoding the transform block; and transmitting a video bitstream comprising the transform block, the first syntax element, and the second syntax element.

The invention discloses a sun tracking method based on an underwater Snell window external polarized light field, which belongs to the technical field of underwater polarized light navigation, and comprises the following steps: calculating an underwater observation vector elevation angle under a horizontal attitude according to attitude angle information; the method comprises the following steps: acquiring an underwater Snell window external polarized light image under a horizontal coordinate system, performing Stokes vector calculation on the underwater Snell window external polarized light image, and constructing an incident light coordinate system after solving a polarization angle image outside a Snell window; deducing a polarization E-vector corresponding to each pixel position under a horizontal coordinate system by using a relation between the polarization E-vector and an incident light coordinate system; according to the polarization E-vector, combining geometric constraints of the polarization E-vector and the underwater refracted sunlight vector to derive the underwater refracted sunlight vector; and according to the underwater refracted sunlight vector, calculating an atmospheric incident sunlight vector, and calculating a zenith angle and an azimuth angle of the atmospheric incident sunlight vector. According to the method, the accuracy of resolving the solar azimuth of the polarized light field outside the Fresnel window in the complex underwater environment is improved.

This invention belongs to the field of positioning technology and discloses a method, system, computer equipment, and storage medium for locating agricultural machinery vehicles in greenhouses. The method includes: acquiring several consecutive photos of working scenes and IMU data of each photo; obtaining camera relative pose data and IMU relative pose data for each photo; constructing a 3D camera position map and extracting the camera relative coordinates of each photo from the 3D camera position map; obtaining the gravity, camera velocity, and camera scale of each photo based on the camera relative pose data and IMU relative pose data; transforming the camera relative coordinates of each photo in the 3D camera position map to a horizontal coordinate system; and finally fusing GNSS satellite data and the camera relative coordinates of each photo in the horizontal coordinate system to obtain the positioning coordinates of the agricultural machinery vehicles. This method can accurately determine the positioning coordinates of agricultural machinery vehicles, ensuring accurate positioning, and is cost-effective.

The application provides a physical model test structure micro-deformation measurement method and relates to the technical field of structure deformation measurement. In view of the problems of low measurement efficiency and poor measurement accuracy of the structure micro-deformation measurement method in the prior art, the application obtains original point cloud data before and after deformation based on a binocular camera, rotates the original point cloud data before and after deformation by 180 degrees around a horizontal coordinate axis to obtain converted point cloud data, determines a left side region first effective measurement region and a right side region second effective measurement region in the converted point cloud data according to camera parameters, processes the first effective measurement region to obtain a first continuous surface before deformation and a second continuous surface after deformation, processes the second effective measurement region to obtain a third continuous surface before deformation and a fourth continuous surface after deformation, respectively splices the surfaces before and after deformation to form original surfaces and deformed surfaces, and determines micro-deformation. The application has high measurement efficiency and measurement accuracy.

The embodiment of the invention provides a display control method and device for augmented reality equipment and related equipment, and relates to the technical field of augmented reality interaction.The method comprises the steps that touch operation used for display control is detected, a first parameter is determined according to the touch operation, the first parameter is a parameter corresponding to a target object, and the target object is displayed according to the first parameter. The first parameter comprises at least one of a first horizontal coordinate, a first vertical coordinate and a first display area size; the first horizontal coordinate and the first vertical coordinate are coordinate values in a first coordinate system; converting the first parameter into a second parameter corresponding to the augmented reality device; and sending the second parameter to the augmented reality device, wherein the augmented reality device is used for updating the display effect of the target object according to the second parameter. The display mapping control of what you see is what you get is realized, and the operation precision and the interaction experience are improved.

The invention discloses a welding seam detection method based on an industrial camera, which comprises the following steps of: acquiring a point cloud comprising a welding seam and a substrate by using the industrial camera, and obtaining a height map as an original contour line; selecting an area in which the deformation surface needs to be calibrated; in the area, fitting a curve line by line; obtaining the distance from each sampling point to the fitting curve; according to the set number of filtering points and a distance threshold value, the sampling points with the number exceeding the distance threshold value are screened out, and the reserved sampling points are used for secondary fitting of the curve; in the Z-axis coordinate direction, subtracting a second contour line formed by the second fitting curve from the original contour line; calculating the distance between adjacent points on the second contour line according to the X coordinate of the second contour line, and forming a new coordinate based on the starting point; the coordinates are equally spaced, and a new height map is formed; converting the formed new height map into a grey-scale map; and measuring the physical characteristics of the welding seam by using a caliper tool in visual software.

Disclosed in the present application are a 3D chip placement model and a construction method therefor, and a 3D chip placement method. The 3D chip placement model comprises: a first sub-model and a second sub-model, wherein the result of a K-th iteration of the first sub-model serves as an iterative input parameter for a K-th iteration of the second sub-model, and the result of the K-th iteration of the second sub-model serves as an iterative input parameter for a (K+1)-th iteration of the first sub-model, where K≥1; the first sub-model is used for determining tier coordinates of each cell on the basis of net information, horizontal coordinates of each cell and the rules of the shortest wire length and the minimum number of terminals, the net information comprising information of cells forming a net; and the second sub-model is used for performing iterative optimization calculation on unified horizontal coordinates on the basis of the tier coordinates of each cell and the net information.

A self-calibration method for frame non-orthogonality error and accelerometer error in a dual-axis frame inertial system is proposed. Under static base conditions, the platform is locked at 10 frame angular positions, accelerometer measurements are collected, and the specific force measurement of the inertial system in the platform coordinate system at each locked position is calculated. The attitude matrix of the inertial system from the platform coordinate system to the local horizontal coordinate system at each locked position is also calculated, yielding the acceleration of the inertial system in the local horizontal coordinate system at each locked position, which is used as the error observation. The residuals of the error coefficients are calculated using a total least squares algorithm, and the estimated values ​​of the measured parameters are corrected. Iterative calculations are performed until the iterative convergence criterion is met, obtaining the self-calibration results for each error coefficient. Through the self-calibration and compensation of the error coefficients, the accuracy of attitude measurement of the dual-axis frame inertial system carrier or base affected by the non-orthogonality error of the axis system can be improved.

This invention discloses a guidance system for a spiral descending tunnel boring machine (TBM). The guidance system provides three-dimensional guidance using a combination of a planar coordinate system and elevation. The planar coordinate system is established around the center of the spiral descending tunnel plane and includes an X-axis and a Y-axis, both parallel to straight lines around the spiral descending tunnel. This invention's guidance system and method for the spiral descending TBM establish a three-dimensional spatial guidance system based on a planar coordinate system and elevation, solving the problem of traditional guidance systems being unable to recognize overlapping horizontal coordinates in spiral descending tunnels. It also divides the tunnel into zones for control and performs planar coordinate value conversion in the planar coordinate transformation zone, providing intuitive values ​​for left and right deviations of the TBM, facilitating accurate and intuitive steering correction by the TBM operator.

The invention relates to an underwater three-dimensional illuminance measuring device for a small water tank in a laboratory. The underwater three-dimensional illuminance measuring device comprises a cross bar system, a positioning frame, a hanging part, a measuring rod and an underwater illuminance measuring instrument probe, the cross bar system comprises an X-direction cross bar and a Y-direction cross bar; the positioning frame comprises a Y-direction positioning groove and an X-direction positioning groove which are vertically welded into a whole; the hooking part is fixed in the center of the lower part of the X-direction positioning groove; the measuring rod is hung on the hanging part; the underwater illumination measuring instrument probe is fixed at the lower end of the measuring rod; the positioning frame is directly arranged in the crossed area of the X-direction cross bar and the Y-direction cross bar in a sleeving mode, the notches are in sliding fit with the cross bars, the Y-direction cross bar is pushed along the X-direction cross bar to adjust the X coordinate, and the X-direction cross bar is pushed along the Y-direction cross bar to adjust the Y coordinate; and the Z coordinate can be adjusted by replacing the measuring rods with different lengths. Millimeter scales of the cross bar are matched with sliding of the positioning frame, the horizontal coordinate repeated positioning deviation is small and is remarkably superior to rope visual positioning, and the consistency of grid measurement data is guaranteed.

The invention relates to the technical field of bridge construction, in particular to a bridge component positioning method which comprises the following steps: establishing a bridge finite element model, and determining theoretical three-dimensional coordinates of an anchorage device and a cableway pipe and a theoretical arch axis of an arch rib; correcting the horizontal coordinates, the vertical coordinates and the vertical angles of the anchorage device and the cableway pipe according to the construction pre-camber, the beam body deformation and the sag of the suspender; based on the corrected coordinates and angles, a three-dimensional positioning method is adopted to complete installation and positioning of the beam guide pipe and the arch guide pipe; calculating axial deformation and vertical deformation of the arch rib in the construction stage through the finite element model, and setting an arch axis equation; according to the set arch axis equation, three-dimensional positioning and splicing of arch rib sections are completed; and the positioning precision of the anchorage device, the cableway pipe and the arch rib is monitored in real time and dynamically adjusted. According to the scheme, accurate positioning of bridge components is achieved, and bridge construction accuracy and structural safety are guaranteed.

A kind of UOE welded pipe bending edge roll angle online measurement method and device, it utilizes the point coordinate on the detected steel plate surface profile, determines the extension line H of steel plate lower surface horizontal section and the extension line V of bending edge straight section, and then calculates bending edge roll angle θ;Using the method for calculating profile curvature, the critical point a1 of steel plate profile lower surface horizontal section and edge bending section is extracted, then a2 is taken on the horizontal coordinate interval ha of steel plate lower surface horizontal section;Using the method for searching profile horizontal coordinate extreme value, the endpoint b1 of steel plate plate edge profile is extracted, then b2 is taken on the vertical coordinate interval hb of steel plate bending edge straight section profile;Using the coordinates of a1, a2, the equation of straight line H is calculated;Using the coordinates of b1, b2, the equation of straight line V is calculated, and the included angle of H and V can be obtained to obtain bending edge roll angle θ.

Provided is an altitude calculation method for a flying body including calculating an altitude of the flying body by using information on horizontal coordinates of the flying body, a reception signal strength of a radio signal, and altitude calculation auxiliary information obtained in advance.

This disclosure provides a wafer defect detection method, system, and storage medium. The system controls an imaging unit to perform stepping motion along a vertical direction perpendicular to the wafer surface, acquiring at least two frames of images to be detected at the same horizontal coordinate position within a preset vertical travel range; candidate defects are identified from each frame of the image; for each frame, the straight-line distance between the candidate defect and the center of the image is determined; based on the straight-line distance, the target defect is determined from the candidate defects in the image, and the detection result of the target defect is output. Through the above stepping imaging and distance determination, the target defect can be accurately captured.

The application discloses a magnetic total field anomaly data processing method and device and related equipment, and the method comprises the following steps: acquiring two-dimensional magnetic total field anomaly data uniformly distributed in a detection area, and acquiring first horizontal distribution data of the modulus of two-dimensional magnetic total field anomaly on each group of unit orthogonal bases based on the two-dimensional magnetic total field anomaly data, wherein the unit orthogonal bases are obtained by decomposing two-dimensional magnetic total field anomaly data generated by a magnetic dipole of a target body at any height; acquiring second horizontal distribution data of the energy of two-dimensional magnetic total field anomaly in a two-dimensional space spanned by each group of unit orthogonal bases based on the first horizontal distribution data; and determining the horizontal coordinate of the target body based on the second horizontal distribution data. The application converts two-dimensional magnetic total field anomaly data into two-dimensional energy distribution, can improve the signal-to-noise ratio of data, effectively improves the accuracy of target detection, can determine the horizontal coordinate of the target, and realizes the positioning of the target in the horizontal direction.

This invention discloses an automatic calculation method for the gripping center based on three-point calibration. The method includes: collecting the planar coordinates of three non-collinear reference points on the material, where the first reference point is a preset corner point of the material facing the gripping robot, and the second and third reference points are arbitrary points on the sides along the width and length directions of the material, respectively; constructing a direction vector based on the collected coordinates and performing normalization processing; scaling using the input material length and width parameters to calculate and store the fixed horizontal coordinates of the gripping center; storing the material height parameter independently; and obtaining the three-dimensional coordinates of the gripping center by combining the fixed horizontal coordinates with the current height; when changing the material size, only the height parameter needs to be updated, while the horizontal coordinates remain unchanged. This invention significantly reduces the calibration workload during production changes, and features simple calibration operations, high computational efficiency, and low hardware costs.

The invention belongs to the technical field of aircraft test and measurement, and particularly relates to a bilaterally symmetrical radome static test load partition determination method, which comprises the following steps of: firstly, determining four points O1, O2, O3 and O4 at the top and the root on a symmetrical surface of a radome; determining the number of course partitions and the number of single-side circumferential partitions according to actual conditions; the method comprises the following steps: calculating an angle of a connecting line between a boundary point of each quadrilateral partition and a central point of a radome according to the number of single-side annular partitions, screening out nodes with the same coordinates in O1 and O2X directions, calculating a minimum value of node number tangent values with the same angles and x coordinates, namely a boundary point of the partition, and solving other boundary points according to the logic. The partitioning method disclosed by the invention is relatively convenient and accurate.

The application belongs to the technical field of optical image processing, and particularly relates to an optical interference three-dimensional topography measurement method and system based on multi-frame interference image registration. A linear displacement stage is moved, and interference images of a sample on the linear displacement stage are collected at a preset sampling interval to obtain an original interference image sequence; actual sampling interval errors between adjacent frames are calculated to obtain an error accumulation amount of each frame; spatial coordinate compensation is performed on horizontal coordinates of each frame to obtain modified discrete horizontal coordinates; based on the discrete horizontal coordinates, a linear interpolation method is used to rearrange the original interference image sequence to obtain a registered interference image sequence; pixel points are extracted and recombined to obtain interference signals; and phase demodulation is performed on the interference signals to obtain a three-dimensional surface topography of the sample. The application uses a sampling error accumulation amount quantization and linear interpolation method to reconstruct the interference image sequence, realizes sub-pixel level pattern registration, and realizes high-precision and large-field three-dimensional topography measurement.

The application discloses a kind of identification and positioning method and device of aerial visual angle blind area target, belong to computer vision and remote sensing field.The method includes: obtaining the multisensor data of laser radar, camera, IMU and GNSS;Laser radar point cloud is converted to local horizontal coordinate system, and the region with elevation mutation feature is identified as blind area detection candidate area;The specific type and pixel range of aerial visual angle blind area target are identified;The point cloud data corresponding to target mask is extracted, combined with the pose and coordinate information of unmanned aerial vehicle, the three-dimensional coordinates of target under geocentric coordinate system are solved, and the center position is calculated to realize accurate positioning.The technical route of the application is coarse positioning by laser radar point cloud detection candidate area, accurate identification by image semantic segmentation, coordinate mapping solution, solves the problem that existing technology cannot be efficiently identified and positioned, and the accuracy is low, realizes the type identification and high-precision positioning of aerial visual angle blind area target.