37 results about "Z-Coordinate" patented technology

The invention discloses a Z-MAP method-based longitudinal-torsional ultrasonic milling surface topography modeling and surface roughness prediction method and system, a terminal and a storage medium, and the method comprises the steps: determining a machining method, geometric features of a cutter, cutting parameters and ultrasonic vibration parameters, and measuring the axial run-out and radial run-out of the cutter in the machining process; discretizing a workpiece, a cutter and time to obtain a cutter movement track of each stage; dividing the workpiece into u parts and v parts along an x axis and a y axis; comparing the Z coordinate at each moment with the Z coordinate of the workpiece point, if the former is smaller than the latter, indicating that the cutting edge infinitesimal at the current moment has a cutting effect on the workpiece, and updating the Z coordinate of the workpiece, and if the former is not smaller than the latter, indicating that the cutting edge infinitesimal at the current moment has no interference on the workpiece, and keeping the Z coordinate of the workpiece unchanged; and the whole simulation machining process is completed. According to the method, the surface topography and the surface roughness of different machining processes are predicted.

The invention discloses a method for automatically measuring the center position of a five-axis rotary table cradle, and relates to the technical field of five-axis machining tools. The method comprises the following steps: S1, placing a standard ball at a preset position of a five-axis turntable, and enabling a probe to contact and obtain a contact point coordinate; s2, fitting by using a least square method to obtain a sphere center coordinate and a radius; s3, controlling the C shaft to rotate, changing the position of the standard ball, obtaining the contact point again and determining the position of the standard ball; s4, rotating the standard ball to a second position, calculating the center coordinate of the ball, and estimating the center X and Y coordinates of the rotary table; s5, accurately measuring a plurality of sphere center coordinates, and calculating X and Y coordinates and a deviation angle of the center of the rotary table; and S6, controlling the A axis to rotate, calculating a Z coordinate, and finally obtaining a three-dimensional coordinate of the center of the rotary table. Through automatic accurate measurement and optimization calculation, the three-dimensional coordinates of the rotary table can be efficiently and accurately determined, and stable positioning and high consistency in a complex working environment are ensured.

The invention discloses a real-time extraction method and system for a mine roadway wall, and relates to unmanned driving. The method comprises the steps that three-dimensional point cloud data of a roadway environment is collected through a vehicle-mounted multi-laser radar; converting the point cloud data under each laser radar coordinate system into a vehicle body coordinate system; projecting the point cloud data set to a two-dimensional grid taking an x-y plane of a vehicle body coordinate system as a reference, calculating a difference between a maximum value and a minimum value of z coordinates of all point clouds in each grid, taking the difference as an elevation difference value of the corresponding grid, and generating a two-dimensional elevation gradient map; taking the elevation gradient map as input, performing feature extraction by using a pre-trained U-Net variant convolutional neural network, and performing dichotomy on each pixel by using a softmax classifier; and performing curve fitting on the divided roadway wall boundary points, calculating a curvature value, selecting a corresponding fitting model according to the curvature value, and outputting a roadway wall boundary line. The method does not need to depend on any pre-constructed map, converts the three-dimensional point cloud projection into a bird's-eye view elevation gradient map, and captures the geometric mutation characteristics of the roadway wall.

At least part of the three-dimensional trajectory of the turn portion is formed on the basis of a cross-sectional trajectory curve in an X-Z cross section of the motion guide apparatus, and a longitudinal trajectory curve drawn on a virtual plane VP where a longitudinal direction of the motion guide apparatus is a Y-axis, and a trajectory length ω from a turn start point A of the cross-sectional trajectory curve is a length ω of a W-axis. X and Z coordinates of the threedimensional trajectory are X and Z coordinates of the crosssectional trajectory curve. A Y-coordinate of the threedimensional trajectory is a Y-coordinate of the longitudinal trajectory curve where the ω of the W-axis of the virtual plane VP is a variable.

The application provides a 3DEXP platform modeling method based on a two-dimensional arrangement drawing of a relief valve. The technical scheme comprises the following steps: firstly, analyzing information requirements of a relief valve model arrangement of a 3DEXP platform, and setting a relief valve equipment model library in the 3DEXP according to a relief valve standard; then, reading relief valve positioning information from a two-dimensional arrangement drawing, the two-dimensional arrangement drawing of the relief valve containing complete coordinate axis information of the whole ship, and based on this, performing two-dimensional arrangement of the relief valve to read out XY coordinate values of the relief valve; then, in the case of determining two coordinate parameters, establishing vertical lines based on the XY coordinate values of the relief valve in the 3DEXP platform to determine Z coordinate values; finally, setting a separate coordinate axis for each relief valve, and taking intersection lines of YZ and XZ planes of the coordinate axis and an outer plate as a basis for inclination of the relief valve, thereby completing model arrangement of the relief valve after twice inclination rotation of the relief valve, and realizing arrangement of the relief valve adhering to the outer plate.

The invention belongs to the technical field of mine intellectualization, and provides a rapid construction method for a three-dimensional model of a mine roadway based on a CAD drawing in order to solve the problems of long modeling time and the like of traditional three-dimensional modeling of the mine roadway. Information is obtained by reading a mine roadway center line layer and a contour line layer, and the elevation value of each node is calculated; inserting a plurality of additional points between adjacent points to obtain a refined three-dimensional scatter grid in order to accurately measure the actual elevation of the underground roadway; and a z coordinate of each node of the roadway is obtained by using a cubic interpolation Bessel polynomial for interpolation, so that a three-dimensional coordinate of the roadway is obtained. According to the invention, the tedious process of manually drawing the roadway by using modeling software can be avoided, and the purposes of improving the modeling speed and precision and reducing the modeling workload are achieved.

The application relates to the technical field of optical processing, in particular to a magnetorheological polishing multi-surface common element integrated processing method, which comprises the following steps: S1, decomposing a known actual grating track into a row coordinate according to a longitudinal coordinate mutation point; S2, splitting each row track into a main mirror first track segment, a slave mirror track segment and a main mirror second track segment according to a transition point circle diameter; S3, determining a transition point extension length according to a magnetorheological equipment removal function length; S4-S5, respectively extending the main mirror track segment and the slave mirror track segment and inserting new points; S6, obtaining three-dimensional coordinates by calculating z coordinates of each segment by using a corresponding surface equation; S7, splicing to generate a single-row ordered point sequence; and S8, combining all row tracks and rotating an angle to obtain a final track. θ Through the above scheme, the problems that multi-surface common element segmented processing has long redundant time, low efficiency, and the transition area joint is not accurately processed, the transition area of the optical element has a large range of edge, the effective aperture is reduced, and the imaging quality of the optical system is affected are solved.

The utility model discloses a universal clamp for five-axis machining precision verification. The universal clamp comprises a part blank, a conversion circular plate, a first positioning pin, a second positioning pin, a third positioning pin, a pressing plate, a pressing plate supporting column and a locking bolt. A threaded hole, a supporting column fixing hole, a first pin hole, a second pin hole, a third pin hole and a mounting hole are formed in the front face of the conversion circular plate. When the fixture is used, the conversion circular plate is connected with a working table of a machine tool, then the three positioning pins are inserted, so that the X coordinate axis, the Y coordinate axis and the Z coordinate axis of a part blank are limited, then the four pressing plates are used for pressing the part blank, and fixing of the part blank is completed. The device is low in cost, convenient to install, free of interference in machining and suitable for test pieces of various sizes, and meanwhile the positions of the three positioning pins and the four pressing plates can be moved to adapt to the test pieces of different specifications.

The present invention relates to the field of intelligent surveying and mapping technology, and proposes a three-dimensional reconstruction method and system for submarine shallow stratum topography, which includes the following steps: obtaining the original data measured in the field by multiple sensors, and performing format conversion on the original data; the original data includes GPS data collected by a GNSS locator and shallow profile waveform data collected by a shallow profiler; performing preprocessing on the original data after format conversion in a two-dimensional view; performing three-dimensional reconstruction of a point cloud model according to the preprocessed original data, wherein the northing coordinate of the projection coordinate of the GPS data is used as the X coordinate, the easting coordinate of the projection coordinate of the GPS data is used as the Y coordinate, and the depth information of the shallow profile waveform data is used as the Z coordinate for three-dimensional reconstruction of the point cloud model, and then visualizing the point cloud model. The present invention can intuitively observe the three-dimensional geological conditions of the shallow stratum, which is beneficial to the marine shallow geology and marine engineering survey work.

The invention discloses a numerical control machine tool precision state evaluation method, system and device and a medium, and relates to the field of numerical control machine tool precision evaluation, and the method comprises the steps: installing a plurality of measurement blocks at a plurality of preset positions of a numerical control machine tool workbench; determining coordinate data of each measurement block along X, Y and Z coordinate axis directions to form a plurality of groups of measurement data; and determining the positioning errors of the X, Y and Z coordinate axes, the straightness deviations of the X, Y and Z coordinate axes and the perpendicularity deviations of the X, Y and Z coordinate axes based on a plurality of preset positions and a plurality of groups of measurement data. The objective of the invention is to solve the problems of high cost, long time consumption and incapability of efficient and integrated measurement of key geometric precision measurement of a traditional method in precision detection of a numerical control machine tool.

A valve opening / closing system disclosed herein comprises: a pin that extends in a Z-axis direction and acts on a valve of a flow path device; a sliding plate that has a range of motion in an X-axis direction and has irregularities on the surface in the positive Z-axis direction; a first spring that connects a pin head and a pin lower portion (base portion); a pin guide that has a through-hole; and a second spring that connects the pin guide and the pin lower portion. The valve is opened and closed by moving the pin in the Z-axis direction by moving the sliding plate in the X-axis direction by means of a control unit. Here, it is important that the pin head not be in contact with the valve (made of a plastically deforming film) when the valve is opened. When this is expressed as a conditional expression, the relations Z0≦Z1<Z2 and Zn≦Z1 hold, where the Z coordinate of the Z-axis minus end of the pin is Zp, the Z coordinates of a concave portion and a convex portion of the sliding plate are Z0 and Z2, respectively, the minimum Zp at which the first spring elastically deforms is Z1, and the Zp at which the second spring elastically deforms is Zn (see FIG. 7).

The object detection device is configured to perform road surface detection processing, object parallax determination processing, and object detection processing. The road surface detection processing estimates the position of the road surface based on a first parallax map. The first parallax map is generated based on the output of a stereo camera, and the parallax is associated with a two-dimensional coordinate consisting of a first direction and a second direction intersecting the first direction, wherein the first direction corresponds to the horizontal direction of the image captured by the stereo camera. In the object parallax determination processing, if the number of occurrences of the parallax in each coordinate range in the first direction of the first parallax map exceeds a predetermined threshold corresponding to the parallax, the parallax is determined to be the object parallax. In the object detection processing, the object parallax information is transformed into a point group in the x-z coordinate space, and the object is detected by extracting a set of the point groups.

The application discloses a workpiece welding slag detection method and system based on a 3D line scanning camera, and comprises the following steps: S1, a single frame point cloud of a workpiece is acquired; S2, a straight line is extracted for the single frame point cloud, the distance of each point on the point cloud to the straight line is calculated, and is compared with a preset distance threshold value; if the distance is less than the preset distance threshold value, the corresponding point cloud is filtered out, and the z coordinate z_l of the projection point of each point on the straight line is calculated; if the z coordinate of the point is less than the z coordinate z_l of the projection point, the point is filtered out; S3, the retained point cloud is spliced into a total point cloud, the point cloud groups in the total point cloud are segmented, the span distances of the point cloud groups in different directions are calculated, and the span distances in different directions are compared with a preset span distance threshold value; if the span distance is greater than the preset span distance threshold value, the corresponding point cloud group is filtered, and the workpiece welding slag is obtained. The application has the advantages of high detection efficiency, accurate and comprehensive detection, etc.

The invention discloses a micro-vibration evaluation method, system and device considering time weighting, and a storage medium. The method comprises the following steps: preprocessing original micro-vibration data; setting the length of the analysis blocks and the overlapping ratio between the adjacent analysis blocks; carrying out block processing on the whole data, and if data less than one analysis block exists at last, abandoning the processing; calculating the duration of each analysis block, and taking the central moment of the analysis block as the representative moment of the analysis block; performing fast Fourier transform on all the analysis blocks, adding window function operation and multiplying by an energy recovery coefficient; effective values of all the analysis blocks at all the center frequencies are calculated; and drawing a time-center frequency-micro-vibration grade color cloud picture by taking time as an X coordinate, the center frequency as a Y coordinate and the velocity spectrum effective value as a Z coordinate. According to the method, the evaluation dimensions are more, the expression information is more complete, and the change rule of the speed effective value of each center frequency at different center frequencies and along with the time change of the micro-vibration can be displayed at the same time.

The invention relates to a large array composite pipe turn-over clamping pose error measurement and compensation device and method.The device comprises a probe, a feature point carrier and an internal expansion device, the feature point carrier comprises a device body, the device body is provided with an upper end face and a lower end face, and an inner hole is formed in the device body; the reference features are installed in the composite pipe through an internal expansion device, coordinates of the central axis of the inner hole wall and coordinates of projection of the hole axis on the upper end face are detected through a probe, coordinate data of front feature points under a machine tool coordinate system are obtained, and the coordinates of the central axis of the inner hole wall are x and y coordinates of the feature points; the z coordinate difference of the upper and lower end faces is used for realizing z coordinate detection of the first face and the same reference point after the face is turned over. According to the invention, an accurate reference is provided for double-sided processing of the array composite pipe, the error of the blank is prevented from being fused into the positioning reference, the six-axis positioning deviation of the station relative to the station of the first surface can be measured before the second surface of the array composite pipe is processed, and the relative profile tolerance of the double surfaces after processing is improved.

The invention belongs to the technical field of mold manufacturing, and discloses a method for determining the spatial position of a machining plane. Comprising the following steps: establishing an X / Y / Z coordinate system by taking a geometric center of a processing area in a design processing plane as an original point of the coordinate system, making a normal vector line of the design processing plane through the original point and projecting the normal vector line on an XY plane, measuring an included angle between the normal vector line and a Z axis and an included angle between a projection line and an X axis, and rounding respectively, and a normal vector line of the actual machining plane is limited and restored according to the rounded angle, and a plane perpendicular to the normal vector line and passing through the original point is the actual machining plane. According to the method, various auxiliary lines can be automatically made by utilizing drawing software, angles are automatically decomposed, angle values are measured and output, and new machinable planes are automatically rounded and output according to the measured values, so that mold design data are easy to backtrack, machining quality reinspection is facilitated, the tedious degree of later modification is reduced, the design time is shortened, and the production efficiency is improved. The die is suitable for manufacturing various dies with inclined machining planes.

A request to add an overlay at a pixel located at (x, y) coordinates in images is received. Waypoints in a three-dimensional space are identified with respective two-dimensional projections onto the images falling inside a circle with a given radius r and centered at (x, y). An overlay z-coordinate is determined for the overlay as a weighted sum of respective z coordinates of the waypoints. The overlay is assigned a location (x, y, overlay z-coordinate).

A motion guide apparatus is provided in which even if at least part of a turn portion is a three-dimensional trajectory that is three-dimensional and complex, it is possible to approach at least one of a rolling path and a return portion substantially along a tangent line. At least part of the three-dimensional trajectory of the turn portion is formed on the basis of a cross-sectional trajectory curve (14) in an X-Z cross section of the motion guide apparatus, and a longitudinal trajectory curve (15) drawn on a virtual plane VP where a longitudinal direction of the motion guide apparatus is a Y-axis, and a trajectory length ω from a turn start point A of the cross-sectional trajectory curve (14) is a length ω of a W-axis. X and Z coordinates of the three-dimensional trajectory are X and Z coordinates of the cross-sectional trajectory curve (14). A Y-coordinate of the three-dimensional trajectory is a Y-coordinate of the longitudinal trajectory curve (15) where the ω of the W-axis of the virtual plane VP is a variable.

The present invention relates to the field of electronic technology applications, and discloses a container intelligent crossing inspection system and method. The container intelligent crossing inspection system includes: an image acquisition module for obtaining images of three sides of the container. A type acquisition module is used to obtain the container type. A travel sensor is used to obtain the x-axis coordinate of the container. A distance sensor is used to obtain the y and z coordinates of the container. An image stitching module is used to obtain the overall container surface map. A spatial construction module is used to form a three-dimensional container map and the three-dimensional coordinates of the container. A component classification module is used to obtain the component name, three-dimensional coordinates and send an abnormal signal. An outlier determination module is used to obtain the defect type. A microscopic camera is used to obtain the defect size and defect characteristics. A repair determination module is used to obtain repair measures. By constructing a coordinate system to locate each component of the container and comparing them through an exposure model, defects are accurately acquired and determined with high accuracy.

Provided is a small-sized scanning stage for scanning a device on the surface of a scan target having a large diameter.　A scanning stage 10 comprises: an X-Y stage (21); a device (17) that is fixed to an X-Y-Z coordinate system common to the X-Y stage (21); a rotating stage (22) provided on the X-Y stage (21) and holding and rotating a scan target (15); a first drive unit (11) that drives the X-Y stage (21) so that an input / output axis (18) of the device (17) scans a scan region (R) which is one region that is set from among a plurality of regions (A, B, C, D) into which the scan target (15) is equally divided with respect to a rotation center O of the rotating stage (22); and a second drive unit (12) that drives the rotating stage (22) so that a region (A, B, C, D) yet to be scanned is positioned in the scan region (R).

The invention is suitable for the technical field of slip surface inversion, and provides a slip surface geometric inversion method coupling InSAR deformation data and numerical simulation, and the method comprises the steps: obtaining SAR image data, DEM data and drilling data of a landslide region; constructing a two-dimensional geologic model of the landslide area in three-dimensional simulation software based on the DEM data and the drilling data; optimizing the z coordinate vector by using a particle swarm optimization algorithm to obtain an optimal z coordinate vector which has a minimum fitness function and meets a preset spatial constraint; and constructing a sliding surface curve based on the optimal z coordinate vector. According to the invention, the efficiency and objectivity of sliding surface inversion can be improved.

The invention provides a three-dimensional velocity model time-depth conversion method and device and a medium, and belongs to the field of geophysical exploration. The method comprises the following steps: step 100, inputting original velocity volume data and carrying out preprocessing; step 200, generating a three-dimensional velocity model; step 300, calculating travel time by a rapid travel method; step 400, calculating coordinate mapping by a windward finite difference method; and step 500, outputting travel time and a coordinate mapping result. According to the method, the velocity model is constructed, the seismic wave propagation travel time of each grid point is calculated by using the fast marching method, and the X, Y and Z coordinates of each measurement point on the seismic wave propagation path are further calculated by using the windward finite difference method, so that the calculation accuracy and efficiency of the seismic wave propagation path are improved; the method is suitable for seismic wave propagation simulation in a complex stratum environment, and provides reliable data support for geophysical exploration.

The present invention provides a method and system for measuring the tower height of the end face of a hot-rolled steel coil based on 3D point cloud, which can solve the problem that quality inspection personnel cannot enter the site to accurately measure the tower coil height when the temperature of the hot-rolled coil is too high. The method includes: Step 1, obtaining the point cloud image of the end face of the steel coil; Step 2, segmenting the point cloud image region; Step 3, respectively segmenting the point cloud images of the bottom and top of the tower of the end face of the steel coil by using the Euclidean distance between each point cloud coordinate, calculating the number of point clouds in the segmented multiple regions and arranging them in ascending order, and preliminarily positioning the image regions of the bottom and top of the tower; Step 4, setting the tower height measurement error value, calculating the mean value of the z coordinate values of all the point clouds in the preliminarily obtained image regions of the bottom and top of the tower, intercepting the set region near the mean value, and accurately positioning the bottom and top regions of the tower; Step 5, calculating the tower height.

The present invention relates to the technical field of thalweg drawing, and discloses an automatic drawing method for accurate thalweg of a river channel. The method includes river channel vector data, obtaining the required river channel vector data from a river channel management agency, scanning the underwater topography of the river channel with a multibeam sounding instrument to obtain river bottom topography data, performing cloud thinning and noise reduction on the river bottom topography data points to obtain the full river bottom data, extracting the river channel center line from the river channel vector data, converting the river channel center line into river channel turning point coordinate data, extracting and fusing the full river bottom data and the river channel turning point coordinate data, thereby determining a number of river channel cross-section line data, and connecting the minimum z coordinates in the number of river channel cross-section line data into a line to obtain the thalweg of the river channel. The present invention collects river bottom topography data through a multibeam sounding system, and uses intelligent algorithms to thin and denoise the river channel basic data and the river bottom topography data, thereby improving the data accuracy and automatically generating the thalweg.

The invention relates to an umbrella skirt surface pressure inflection point-based hard composite insulator heavy pollution area determination method, which comprises the following steps of S1, constructing a flow field equation near an insulator by using an RNG k-epsilon equation model, solving by adopting a Phase Couple SIMPLE algorithm, and analyzing a flow field around the insulator after a steady-state value is reached; s2, performing two-dimensional planarization processing on the surface of the umbrella skirt of the insulator, constructing an x-z coordinate system, drawing a plurality of groups of concentric circle lines, extracting pressure numerical values on the circle lines on the surface of the umbrella skirt, constructing a pressure-coordinate pressure distribution equation, performing derivation on the equation, and recording a coordinate value when the derivative is zero, wherein the coordinate value is a pressure inflection point; s3, forming a fitting curve on the two-dimensional planarized umbrella skirt of the insulator; and S4, constructing a high-voltage transmission line composite insulator heavy pollution area, defining boundary points, determining the shortest distance between two arcs, and then calculating each parameter. The method is low in operation difficulty, wide in application range and high in accuracy.

The invention provides a concave-convex surface feature intersection line identification method and a carriage welding seam identification method applying the same. The method comprises the following steps: S1, acquiring 3D point cloud data of a substrate plane and a vertical face; s2, fitting a reference substrate plane C; s3, projecting the 3D point set to a reference substrate plane C and abandoning the z coordinate to obtain a 2D point set P; s4, obtaining an intersection projection area; s5, confirming intersection points according to a preset rule, and obtaining a 3D point cloud set Q according to all the obtained intersection points; and S6, fitting to generate an intersection line. By adopting the method provided by the invention, the concave-convex condition of the intersection line can be restored, the accuracy of intersection line identification is effectively improved, and the method is suitable for accurate identification of characteristic intersection line welding seams in scenes such as concave-convex deformation of old truck walls, automatic cutting and the like.

The application discloses a real-time extraction method and system for a mine roadway wall, and relates to unmanned driving: three-dimensional point cloud data of a roadway environment is collected through a vehicle-mounted multi-laser radar; point cloud data under each laser radar coordinate system is converted to a vehicle body coordinate system; a point cloud data set is projected to a two-dimensional grid with the x-y plane of the vehicle body coordinate system as a reference, the difference between the maximum value and the minimum value of the z coordinates of all point clouds in each grid is calculated as the elevation difference value of the corresponding grid, and a two-dimensional elevation gradient graph is generated; the elevation gradient graph is used as input, a pre-trained U-Net variant convolutional neural network is used for feature extraction, and a softmax classifier is used for two-classification of each pixel; curve fitting is performed on the roadway wall boundary points obtained through segmentation, the curvature value is calculated, a corresponding fitting model is selected according to the curvature value, and the roadway wall boundary line is output. The application does not need to rely on any pre-constructed map, converts three-dimensional point cloud projection into a bird's eye view elevation gradient graph, and captures the geometric mutation characteristics of the roadway wall.

The invention discloses a BIM (Building Information Modeling) technology-based complex terrain rapid creation method, which relates to the field of new energy terrain investigation, and comprises the following steps of S1, scanning a complex terrain by using an unmanned aerial vehicle to acquire terrain data; s2, carrying out noisy point processing and data thinning processing on the topographic data to obtain processed data points; s3, generating a DEM model by using the processed data points, and exporting X, Y and Z coordinate data; s4, the coordinate data are imported into Dynamo, and coordinate points are automatically processed and arranged through coordinate geometry Cogo; and S5, generating a point group and a curved surface. By means of the Dynamo technology and the unmanned aerial vehicle scanning technology, a large number of feature points with coordinates and elevations can be efficiently, rapidly and accurately processed, a complex terrain curved surface is automatically generated, the model can be modified and processed in real time by modifying a data table in real time, and powerful data support is provided for subsequent earthwork calculation.

A hand-eye calibration method for line-scanning lasers used for measuring large workpieces includes the following steps: Step 1, determine all C-axis angle values ​​that need to be calibrated; select n angles:; Step 2, scan the calibration ball 3 times at the angle, and the Y and Z coordinates are different each time; Step 3, calculate the hand-eye calibration value at the angle; Step 4, calculate the hand-eye calibration value at the angle in the same way. The present invention can eliminate the influence of installation errors and ensure the measurement accuracy after the final alignment. The present invention adopts a scheme of hand-eye calibration at different angles. The calibration ball is scanned 3 times at each angle, and the position deviation of the laser coordinate system relative to the coordinate system of the end of the truss robot arm at the angle is calculated, that is, the hand-eye calibration value of the laser. In the subsequent coordinate alignment calculation, the point cloud data at different angles uses different hand-eye calibration values ​​for alignment transformation, which reduces the requirements for mechanical accuracy and greatly saves equipment costs.