28results about "Attitude control" patented technology

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 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.

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 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 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.

To reduce user's burden by enabling flexible control over a communication line corresponding to a service requirement in achieving satellite formation flight.SOLUTION: A movable body group control system forms a movable body group in order to control the movable body group that performs formation flight, includes follower movable bodies, respective movable bodies classified to leader movable bodies for collecting information of the follower movable bodies and controlling the information to mutually perform radio communication on the basis of beam forming or MIMO, and ground stations for performing radio communication with the respective movable bodies. The movable bodies perform control over the follower movable bodies by the leader movable bodies on the basis of an on-board processor to be mounted and control over own locations or postures for performing formation flight, and the ground stations perform line control over radio communication with the movable bodies or line control over radio communication between the movable bodies, and control over the selection of any ground station to perform radio communication with the movable bodies.SELECTED DRAWING: Figure 1

To eliminate the need for a driver to manually install and release a wheel stopper.SOLUTION: A wheel stopper drone 1 includes: a wheel stopper portion 2 having a contact surface 2a configured to come into contact with a wheel 135 of a vehicle 13 to stop rolling of the wheel 135; a plurality of rotary wings 4 configured to fly; a battery 7 configured to drive the rotary wings 4; a flight control unit 6 configured to perform control for flying along flight paths R1 to R4 to an installation position 13b where rolling of wheels 135, 138 is stopped; and obstacle sensors 91, 92 configured to detect obstacles 100, 101 in the flight paths R1 to R4 to the installation position 13b. When the obstacle sensors 91, 92 detect the obstacles 100, 101, the flight control unit 6 changes the flight paths R1 to R4.SELECTED DRAWING: Figure 5

The information processing device includes an acquisition means, a cluster generation means and a straight line generation means. The acquisition means acquires measurement data which is a set of data representing a plurality of measured points of a berthing place measured by a measurement device provided on a ship. The cluster generation means generates one or more clusters obtained by dividing the plurality of measured points by clustering. The straight line generation means configured to generate a straight line along the berthing place of the ship, based on the one or more clusters.

A drone having a fuselage in which a battery is mounted and a forward direction is set in an x-axis. A plurality of rotors disposed about the fuselage in four or more, each rotational axis of which is aligned in a z-axis direction. An x-axis tilting mechanism formed to tilt the plurality of rotors about an axis parallel to the x-axis. A y-axis tilting mechanism formed to tilt the plurality of rotors about an axis parallel to the y-axis. A first drive motor drives the y-axis tilting mechanism unit. A second drive motor drives the x-axis tilting mechanism unit. A control unit configured to implement a plurality of flight modes by controlling the first, second, third rotor and fourth rotors, the first and second drive motors, and a wing part installed on an upper portion of the fuselage and formed as an air foil to provide lift.

The small celestial body surface bounce movement posture maneuvering control method disclosed by the application belongs to the field of deep space exploration.The method of the application is as follows: for the posture maneuvering problem of the detector bounce movement, the dynamic equation of the detector after jumping in the small celestial body fixed coordinate system and the small celestial body surface coordinate system is established respectively.The change of the posture of the detector after jumping will make the next bounce process after collision unpredictable due to the uncertainty of the moment of inertia and the external disturbance.By establishing the bounce movement error posture dynamic model of the detector containing the total disturbance of the uncertainty of the moment of inertia and the external environmental disturbance, the sliding surface containing the finite time control is designed, and the convergence efficiency of the state of the detector system and the posture maneuvering control precision are improved.On the basis of the finite time sliding surface, the adaptive mechanism is introduced, the robustness of the detector system is enhanced, and then the detector can be maneuvered to the target collision posture at a faster speed and better precision.

A robot includes a body, a pair of wheels rotatably provided at a lower part of the body, a cargo box provided at an upper part of the body, an inertial measurement sensor configured to measure a tilt angle of the body, a pair of wheel encoders configured to measure a rotational angle of each of the pair of wheels, a cargo box encoder configured to measure a tilt angle of the cargo box, a pair of wheel motors configured to transmit a torque to each of the pair of wheels, a cargo box motor configured to transmit a torque to the cargo box, and a controller. The controller is configured to control the pair of wheel motors and the cargo box motor to allow the robot to make a double axis inverted pendulum motion on an axis of each of the pair of wheels and the cargo box.

In a boat including a hull, when the hull is moved laterally based on an output from the outboard motor, the hull rolls, which may cause discomfort to a user or passengers. To compensate for this, a lateral movement control method for the boat including the hull and the outboard motor includes generating a propulsion force to laterally move the hull with the output of the outboard motor, and executing a roll reduction process to reduce a roll angle of the hull at a time of laterally moving the hull.

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 ({right arrow over (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).

In some examples, a computing device receives, from an unmanned aerial vehicle (UAV), a first image from a first camera on the UAV and a plurality of second images from a plurality of second cameras on the UAV. The plurality of second cameras may be positioned on the UAV for providing a plurality of different fields of view in a plurality of different directions around the UAV. Further, the first camera has a longer focal length than the second cameras. The computing device presents, on a display, a composite image including at least a portion of the first image within a merged image generated from the plurality of second images. The presented composite image enables a user to at least one of: zoom out from the at least one first image to the merged image, or zoom in from the merged image to the at least one first image.

To provide a method for creating a trajectory that can create a trajectory of a liquid discharge head capable of highly accurate printing when printing with scanning by a liquid discharge head using a robot arm, and to provide a trajectory creating device.SOLUTION: A method for creating a trajectory creates a trajectory of a liquid discharge head when performing printing on an object using the liquid discharge head that discharges liquid to an object and a robot arm that changes a relative position of the liquid discharge head to the object. The method for creating a trajectory includes: an information acquisition step of acquiring information of the robot arm, information of the liquid discharge head, information of the object, print condition, and print data, as trajectory calculation information; an evaluation value acquisition step of calculating a plurality of trajectory candidates on the basis of the trajectory calculation information and acquiring an evaluation value including a shake amount of the robot arm for each candidate of the trajectories; a trajectory display step of displaying the plurality of trajectory candidates and the evaluation value on a display part; and a trajectory selection step of selecting one of the plurality of trajectory candidates.SELECTED DRAWING: Figure 8

A method of controlling a mobile robot capable of carrying out an operation within an environment, the method including: storing an environment map in a memory, the environment map including data to enable the robot to navigate the environment; further storing in the memory data corresponding to one or more hazard areas encountered by the mobile robot during previous operations; and reducing a tilt threshold of the robot when the mobile robot is navigating within an area of the environment that corresponds to a previously encountered hazard area.

To provide a transfer robot control system and a transfer robot control method which can easily recognize a transfer target even when the transfer target is arranged to be inclined with respect to a transfer robot.SOLUTION: A transfer robot control system 100 includes an inclination detection part 160, a posture change part 175, and a movement control part 171. The inclination detection part 160 detects at least a part of the inclination of a transfer target to be transferred by a transfer robot 1. The posture change part 175 changes a posture of the transfer robot 1 in a movement direction from a first posture to a second posture different from the first posture based on a detection result of the inclination detection part 160. The movement control part 171 moves the transfer robot 1 to the transfer target while keeping the transfer robot 1 in the second posture.SELECTED DRAWING: Figure 1