车载式三维信息采集系统中多坐标系统转换实现

863课题“近景目标三维测量技术”中,扫描仪极坐标系统如何向当地坐标系统转换是系统急需解决的关键问题之一。课题中涉及到多个坐标系统,本文提出一种多坐标系统转换方法,通过建立起多个坐标系统之间的转换关系,最终实现扫描仪坐标系统向当地坐标系统转换。实验结果表明,转换方法可靠,可满足系统精度要求。

基于电能计量的一站式智能兆瓦箱友好接入电网关键智能控制技术研制

作为集中式新能源场站的核心部件,一站式智能兆瓦箱系统高比例并网存在设备转化低、接入电网智能交互性不强、并网产生尖峰谐振波、时变性的线路阻抗与多峰功率引发系统宽频带震荡、电压和频率失稳、稳定性降低等问题。针对上述问题,提出了基于电能计量的一站式智能兆瓦箱多电平关键控制技术模型。该模型首先将多电平智能模块、自动识别LCL滤波电流指纹、双向有功无功计量融合为兆瓦箱硬件系统,其次将基于并网电压、有功、无功电压和阻抗正负序分量分离,与电流前馈+电流环+电压环进行PI调节信号匹配,信号历经3S/2R,dq/ab与2R/2S转换输出SVM的正序与负序双矢量电压,双矢量电压再经2S/3S转化三相电压信号经外环、内环、门极控制,输出三相信号输入对应相的SVPWM控制器,对多电平智能模块三相逆变桥臂开关实现与电网同相、同频、同压逆变智能控制。实践证明,该模型较之传统模型,具有较高的转换效率、功率具有可调和双向流动性计量、稳定安全友好、清洁并网性和较高的性价比。

Multi-view coordinate system transformation based on robot

The registration of point cloud is important for large object measurement.A measurement method for coordinate system transformation based on robot is proposed in this paper.Firstly,for obtaining extrinsic parameters,the robot moves to three different positions to capture the images of three targets.Then the transformation matrix X between camera and tool center point(TCP) coordinate systems can be calculated by using the known parameters of robot and the extrinsic parameters,and finally the multi-view coordinate system can be transformed into robot coordinate system by the transformation matrix X.With the help of robot,the multi-view point cloud can be easily transformed into a unified coordinate system.By using robot,the measurement doesn't need any mark.Experimental results show that the method is effective.