53results about "Attitude control" patented technology

A method for harnessing wave energy includes providing a vehicle to a body of water, the vehicle. The method includes submerging the vehicle to a depth in the body of water. The method includes operating the motor-generator of the vehicle in the first quadrant of the motor-generator. The method includes detecting a phase of a wave in the body of water based information from the processor of the detected phase. The method includes orienting the vehicle to lag the phase of the wave based on the detected phase of the wave. The method includes synchronizing an inertial acceleration of the vehicle to movement of the wave. The method includes switching the motor-generator to the second quadrant for generation mode to convert energy from the movement of the wave to electrical energy. The method includes storing the energy from the wave in the rechargeable battery source.

A gyroscopic roll stabilizer comprises a gimbal having a support frame and enclosure configured to maintain a below-ambient pressure, a flywheel assembly including a flywheel and flywheel shaft, one or more bearings for rotatably mounting the flywheel inside the enclosure, a motor for rotating the flywheel, and bearing cooling system for cooling the bearings supporting the flywheel. For smaller units, the bearing cooling system is effective to enable a flywheel with a moment of inertia less than 40,000 lb in2 to be accelerated at a rate of 5 rpm / s or greater. For larger units, the bearing cooling system is effective to enable a flywheel with a moment of inertia greater than 40,000 lb in2 to be accelerated at a rate of 2.5 rpm / s or greater.

A system for flight control configured for use in an electric aircraft includes an inertial measurement unit (IMU) and configured to detect an aircraft angle and an aircraft angle rate. The system includes a flight controller including an outer loop controller configured to receive the input datum from the sensor, receive the aircraft angle from the IMU, and generate a rate setpoint as a function of the input datum. The system includes an inner loop controller configured to receive the aircraft angle rate, receive the rate setpoint from the outer loop controller, and generate a moment datum as a function of the rate setpoint. The system includes a mixer configured to receive the moment datum, perform a torque allocation as a function of the moment datum, and generate a motor command datum as a function of the torque allocation.

To provide a sensing device and a vehicle control device for highly-accurately estimating the relative postures between a road surface and a vehicle.SOLUTION: In a vehicle mounted with a sensing device, a vehicle on-board processing device 102 comprises: a first common image pickup region observation unit that observes a first region around a subject vehicle from information that is acquired by at least a first sensor and a second sensor having a common image pickup region and relates to the common image pickup region; a second common image pickup region observation unit that observes a second region, which is different from the first region, from information that is acquired by at least a third sensor and a fourth sensor having a common image pickup region and relates to the common image pickup region; a coordinate integration unit that integrates a geometric relationship among the sensors with coordinates of information observed in the first region and the second region; and a road surface estimation unit (road surface model matching unit) that, based on point cloud information calculated from the integrated coordinates, estimates relative postures for each of the sensors and a road surface, including a pitch angle and roll angle of the subject vehicle.SELECTED DRAWING: Figure 4

Disclosed is a satellite which includes an Attitude Determination and Control System (ADCS) and at least one radiative surface, where the orientation of the satellite with respect to the sun is change

To improve maneuvering easiness when executing a maneuver involving backward movement of a maneuvering object body.SOLUTION: A gyro unit to be mounted on a maneuvering object body maneuvered based on a maneuvering signal received from the outside, the gyro unit includes: a gyro sensor; a calculation part for executing calculation for attitude control of the maneuvering object body based on a maneuvering signal and a detection signal of the gyro sensor, and a control part for executing control such that a control direction of the attitude control is switched between when the maneuvering object body moves forward and backward.SELECTED DRAWING: Figure 3

There is provided a mobile body that includes an imaging unit to capture an image of an environment around the mobile body, an estimation unit to estimate a position of the mobile body on the basis of the image captured by the imaging unit, a calculation unit to calculate the position of the mobile body on the basis of a control command for controlling movement of the mobile body, and a wind information calculation unit to calculate information regarding wind acting on the mobile body on the basis of a first position that is the position of the mobile body, which is estimated by the estimation unit, and a second position that is the position of the mobile body, which is calculated by the calculation unit.

A movable object control method includes obtaining attitude information of a handheld control device, determining control information of a movable object according to the attitude information of the handheld control device, and sending the control information of the movable object to a head-mounted device to enable the head-mounted device to display a mark on a display device of the head-mounted device according to the control information of the movable object. The mark indicates a moving direction of the movable object.

The application discloses a kind of ROV underwater high-precision attitude control methods.Method includes: establishing dynamic model, attitude is decoupled to obtain control subsystem;Design sliding mode controller, desired attitude input, output desired thrust control variable control propeller group;Generate force and torque control ROV moves under external disturbance, output actual attitude input sliding mode controller;Establish RBF disturbance estimation model, input actual depth, bow angle and pitch angle, output estimated external disturbance and input sliding mode controller;Parameter self-correction is carried out to obtain parameter identification result feedback to sliding mode controller, control propeller group, realize the underwater attitude control of unmanned remote control submersible ROV.The method of the application adds model parameter self-correction and RBF neural network disturbance estimation process on the basis of sliding mode control, can effectively improve the attitude control precision and robustness, and can reduce chattering to some extent, improves the control performance of controller.

A monolithic attitude control motor frame includes a monolithic structure including an outer surface of revolution and a plurality of side walls defining a plurality of cavities extending radially from the outer surface of revolution. Adjacent cavities of the plurality of cavities share a side wall or side wall portion therebetween. Each of the cavities is configured to receive an attitude control motor. A monolithic attitude control motor system includes a monolithic frame including an outer surface of revolution and a plurality of side walls defining a plurality of cavities extending radially from the outer surface of revolution. The system further includes a plurality of attitude control motors corresponding to the plurality of cavities, such that an attitude control motor of the plurality of attitude control motors is disposed in each cavity of the plurality of cavities.

To provide a working vehicle for cultivation equipment that can select an appropriate cultivation bed to enter a working passage thereof to work, in a mobile working vehicle running in a plant cultivation facility.SOLUTION: The present invention provided with each working passage 9 between a plurality of cultivation beds 5 and a moving passage 4 leading to each working passage 9 at the end of the cultivation bed 5; a working passage entry position detection sensor 33 for detecting the entry position to the working passage 9 while moving on the moving passage 4 is provided; in a working vehicle configured to stop a running vehicle body 21 when the working passage entry position is detected during running on the moving passage 4, obstacle detection sensors 36, 36 for detecting an obstacle in the working passage 9 from the entry position of the working passage are provided; and when an obstacle Q is detected in the working passage 9 by the obstacle detection sensors 36, 36, it moves to detect the next working passage entry position.SELECTED DRAWING: Figure 7

To provide a control system for enabling energy saving.SOLUTION: A control system controls autonomous traveling of an autonomous transport device Ma to which power is supplied from a power generation unit 9 for generating power by receiving sunlight, in order to accommodate an article requiring cold storage in a transport chamber 20 and transport the article by the autonomous traveling. A processor included in the control system executes: acquiring incident information on incidence of the sunlight onto the autonomous transport device Ma; and adjusting a traveling attitude of the autonomous transport device Ma during the autonomous traveling to a control attitude Ac in which, with respect to a light-receiving surface 92 directed according to the incident information in a sun direction Ds for receiving the sunlight in the power generation unit, the transport chamber 20 is located in a reverse direction Dr to the sun direction Ds.SELECTED DRAWING: Figure 6

To provide: an unmanned flight vehicle capable of returning to an upright posture and flying again even when the airframe is in contact with the ground in a vertically inverted posture; a control system for the unmanned flight vehicle; and a control method for the unmanned flight vehicle.SOLUTION: The unmanned flight vehicle according to the present disclosure comprises: a plurality of rotary blades provided on an airframe; and a control unit that controls rotation of the rotary blades. The control unit, in a state where the airframe is in contact with the ground in a vertically inverted posture, rotates only some of the plurality of rotary blades in an opposite direction to that during normal flight to raise the airframe into upright posture, meanwhile, in a process until the airframe returns to the upright posture, the control unit reduces rotation speed of the rotary blades rotating in the opposite direction or stops the rotation.SELECTED DRAWING: Figure 1

The unmanned aerial vehicle of the present application includes: a body portion, a battery is installed, the forward direction is set as the x-axis; a plurality of rotors, four or more are provided around the body portion, each rotation axis is aligned in the z-axis direction; an x-axis tilt mechanism portion, the plurality of rotors are tilted with each axis parallel to the x-axis as the center; a y-axis tilt mechanism portion, the plurality of rotors are tilted with each axis parallel to the y-axis as the center; and a first drive motor portion for driving the y-axis tilt mechanism portion; a second drive motor portion for driving the x-axis tilt mechanism portion; a control portion, the first rotor, the second rotor, the third rotor, the fourth rotor, the first drive motor portion and the second drive motor portion are controlled to realize a plurality of flight modes; and a wing portion, provided on the upper portion of the body portion, formed in the air foil shape to provide lift.

A legged robot control method and apparatus, a medium, and a legged robot. The method comprises: acquiring motion data of a legged robot (11); determining, according to the motion data and a preset inverted pendulum model corresponding to the legged robot, a body motion trajectory and foot-landing points of the legged robot (12); and controlling the legged robot to perform lateral striding motion on the basis of the body motion trajectory, so that foot ends of the legged robot move to the foot-landing points (13). The preset inverted pendulum model corresponding to the legged robot can be obtained by using the legged robot as an inverted pendulum; and the body motion trajectory and the foot-landing points that meet a kinetic requirement of the legged robot may be generated in combination with the motion data of the legged robot and the preset inverted pendulum model, so that the actual motion of the legged robot in the lateral striding motion is matched with the body motion trajectory, and the stability of the lateral striding motion of the legged robot is improved.

Described are techniques for self-protecting a robotic bee. An unbalanced operation of the robotic bee being performed on a plant that is caused by a threat is detected. Furthermore, the type of plant involved in the detected unbalanced operation is determined. Additionally, the level of threat to the robotic bee in not being able to complete its requested operation is classified based on the received images of the operation of the robotic bee being performed on the plant. Based on the type of plant and the classified level of threat, an amount of an impulse force to be generated by the robotic bee is determined using a trained reinforcement learning model. An impulse force is a fast-acting force which is utilized by the robotic bee to move away from the area causing the threat. Such an amount of impulse force is instructed to the robotic bee to be generated.

[Problem] For the achievement of a satellite formation flight, flexible control of a communication link corresponding to a service requirement is ensured to reduce a load on a user. [Solution] To control a mobile node group that performs a formation flight, mobile nodes constituting the mobile node group and a ground station that wirelessly communicates with each of the mobile nodes are included. The mobile nodes are classified into a follower mobile node and a leader mobile node that collects information on the follower mobile node and controls the follower mobile node. The mobile nodes wirelessly communicate with one another based on beamforming or MIMO. Based on an installed on-board processor, the leader mobile node controls the follower mobile node, and the mobile node controls a position or an attitude of the mobile node itself for performing the formation flight. The ground station performs link control of the wireless communication with the mobile node or link control of the wireless communication between the mobile nodes, and control of selecting any ground station that wirelessly communicates with the mobile node.

A control method and apparatus for a wheel-legged robot, a robot, and a storage medium, relating to the technical field of robots. The method comprises: controlling a first wheel leg to move from a first step to a second step, and controlling (301; 402) a second wheel leg and an assistant wheel leg to be stabilized on the first step; controlling the second wheel leg to move from the first step to the second step, and controlling (302; 404) the first wheel leg to be stabilized on the second step and the assistant wheel leg to be stabilized on the first step; and controlling the assistant wheel leg to move from the first step to the second step, and controlling (303; 407) the first wheel leg and the second wheel leg to be stabilized on the second step.

To provide a turning method which enables turning with small output without damaging a field as much as possible when a track vehicle is turned.SOLUTION: A turning control device (18) for automatically turning a track vehicle (10) having crawlers (12) for traveling on both ends includes: a turning control part (46) for controlling both of the crawlers until the turning angle of the track vehicle becomes a target turning angle, and ultra-pivotal turning or pivotal turning the track vehicle; and a movement control part (48) for suspending the ultra-pivotal turning or pivotal turning by the turning control part every time the track vehicle is turned by a predetermined division angle, controlling both of the crawlers, and advancing or retracting the track vehicle by a predetermined distance.SELECTED DRAWING: Figure 1

A control method and apparatus for a wheel-legged robot, a robot, and a storage medium, relating to the technical field of robots. The method comprises: controlling a first wheel leg to move from a first step to a second step, and controlling (301; 402) a second wheel leg and an assistant wheel leg to be stabilized on the first step; controlling the second wheel leg to move from the first step to the second step, and controlling (302; 404) the first wheel leg to be stabilized on the second step and the assistant wheel leg to be stabilized on the first step; and controlling the assistant wheel leg to move from the first step to the second step, and controlling (303; 407) the first wheel leg and the second wheel leg to be stabilized on the second step.

Provided are a method and apparatus for ground target precision orientation for satellite image acquisition, in which the method includes: receiving a desired satellite position (P) for imaging from a ground station, and receiving a ground plan imaging time (T) or an algorithm execution time (TA) from the ground station, in which the ground plan imaging time (T) is calculated according to the desired satellite position (P) for imaging at a ground-based orbit propagator, and the algorithm execution time (TA) is set to be earlier than the ground plan imaging time (T) by a predetermined amount of time; and determining, based on a position error (E) calculated by using a difference between the desired satellite position (P) for imaging and the predicted satellite position (Q) output from the satellite-based orbit propagator, a closest satellite position (QC) and a closest satellite time (TC) corresponding to when the satellite is closest to the desired satellite position (P) for imaging, and determining a corrected maneuvering attitude (e,θ) for orienting the line-of-sight vector of an image capturing payload of the satellite to a ground target at the closest satellite position (QC).

A method includes receiving sensor data of an environment about a robot and generating a plurality of waypoints and a plurality of edges each connecting a pair of the waypoints. The method includes receiving a target destination for the robot to navigate to and determining a route specification based on waypoints and corresponding edges for the robot to follow for navigating the robot to the target destination selected from waypoints and edges previously generated. For each waypoint, the method includes generating a goal region encompassing the corresponding waypoint and generating at least one constraint region encompassing a goal region. The at least one constraint region establishes boundaries for the robot to remain within while traversing toward the target destination. The method includes navigating the robot to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.

In accordance with some embodiments, a system for controlling an aircraft is provided. The system can include a computing device, wherein the computing device includes at least one processor configured to control a flight path angle of the aircraft, and wherein the aircraft is a blown lift aircraft. The system can also include a control operator communicatively coupled to the computing device, wherein the control operator is configured to have at least two selectable settings. The system can also include at least two thrust-producing devices operatively coupled to a pair of wings on the aircraft and communicatively coupled to the computing device. The computing device may control the flight path angle of the aircraft by selectively operating the at least two thrust-producing devices based on a plurality of conditions provided by a plurality of sensors on the aircraft and a selected setting of the control operator.

A UAV launch system including a launch rack mounted at altitude, and housing one or more UAVs, and a ground station. The ground station may activate the UAVs for a high-altitude launch. In a further aspect, the UAVs are configured for a stationary, high-altitude launch, without low altitude launch features. Launching a UAV from a high-altitude (greater than about 30 meters or 100 feet) fixed location like an Aerostat or tall building allows the designer to eliminate much of the functionality required for launching the UAV from low altitude as well as ignore the aerodynamics required to support launch (e.g. near-stall) flight conditions.

A method and device for generating display content, and a method and device for generating images, the method comprising: obtaining control parameter information of a remote controller for a drone; generating first display content representing changes in the remote controller's control parameters based on the control parameter information and a parameter display template; wherein the first display content is added to an environmental image file for playback and display, wherein the environmental image file is captured by the drone during flight in response to the control parameter information of the remote controller. Images captured during drone flight can be displayed on the same screen as the corresponding control parameters, making it easier for users to learn how to operate the drone and providing more instructive images. This overcomes the limitations of on-site drone instruction.

Position estimation device (1) with: - an image capture unit (11) configured to capture a plurality of images from a plurality of cameras (20a to 20d) mounted on a vehicle (2) to capture images around the vehicle (2), wherein the plurality of cameras (20a to 20d) are mounted to form a plurality of overlapping areas (3, 4, 5, 6), the overlapping areas (3, 4, 5, 6) being areas in which image areas partially overlap each other; - a detection unit (11, 12, S100 to S110) configured to detect at least one feature portion, which is a portion indicating a predetermined feature in an area on each of a plurality of images each including appearances of the overlapping areas (3, 4, 5, 6), the plurality of images being detected by the image detection unit (11) at approximately the same time; - an estimation unit (12, 13, S112 to S118) configured to calculate, for each of the overlapping areas (3, 4, 5, 6), an amount of positional offset between the feature portions acquired from the plurality of images each including appearances of the overlapping areas (3, 4, 5, 6), and to estimate a predetermined physical quantity associated with an attitude of the vehicle (2) based on a difference in the amount of offset calculated for each of the plurality of overlapping areas (3, 4, 5, 6); - a position information output unit (14, S130) configured to output information based on a physical quantity estimated by the estimation unit (12, 13, S112 to S118) as position information, which is information indicating a position of the vehicle (2); - a reliability determination unit (14, S120, S122) configured to determine a reliability of a gyro sensor (21) provided in the vehicle (2) based on a result of a comparison of a posture of the vehicle (2) indicated by a physical quantity estimated by the estimation unit (12, 13, S112 to S118) with a measurement associated with a posture of the vehicle (2) derived from the gyro sensor (21); and - a reliability information output unit (14, S124) configured to output unreliability information, which is information indicating that the reliability of the gyro sensor (21) is determined to be unreliable when the reliability of the gyro sensor (21) is determined to be unreliable by the reliability determination unit (14, S120, S122).

A machine and process for control of rotation of a vehicle about an axis of the vehicle is shown. A flight control system includes control laws that control the rotation of the vehicle around the axis of the vehicle. An estimate is derived for an inertia about the axis. The estimated inertia is derived from sensed quantities of material in a component of the vehicle. An inertia gain schedule and filter are added to enhance, using the estimated inertia, the accuracy of the control laws that control the rotation of the vehicle around the axis of the vehicle.

A method includes receiving sensor data of an environment about a robot and generating a plurality of waypoints and a plurality of edges each connecting a pair of the waypoints. The method includes receiving a target destination for the robot to navigate to and determining a route specification based on waypoints and corresponding edges for the robot to follow for navigating the robot to the target destination selected from waypoints and edges previously generated. For each waypoint, the method includes generating a goal region encompassing the corresponding waypoint and generating at least one constraint region encompassing a goal region. The at least one constraint region establishes boundaries for the robot to remain within while traversing toward the target destination. The method includes navigating the robot to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.

A flight control method and device for an unmanned aerial vehicle, obtain the flight altitude of the unmanned aerial vehicle (S301), determine whether the flight altitude meets a first preset altitude condition (S302), if so, control the unmanned aerial vehicle to switch from a first control mode to a second control mode (S303), wherein, in response to the same motion control instruction of the remote controller, the first motion change amount of the unmanned aerial vehicle in the first control mode is greater than the second motion change amount in the second control mode, making it easier to adjust the flight attitude and reducing the number of times the aircraft crashes.

A system for initiating a command of an electric vertical take-off and landing (eVTOL) aircraft includes a flight controller configured to receive a topographical datum, receive a sensor datum from a sensor, identify an air position as a function of the sensor datum and the topographical datum, determine a command, including an actuator command, as a function of the identified air position and the determining of the command includes identifying at least one flight component of the eVTOL aircraft to be adjusted to perform the determined command, and initiate the command to adjust the identified flight component.