91results 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 system can include a stator and a rotor. The system can include one or more components coupled with at least one of the stator or the rotor. The one or more components can mitigate or dampen a misalignment (e.g., displacement) between the stator and the rotor. The one or more components can include at least one component between the stator and a vehicle body. The one or more components can include one or more of a spring, a mass, a damper, or an elastomer.

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.

A modular vehicle management system is described, comprising a controller module configured to control different types of carrier modules. The controller module includes a computer system and optionally one or more sensors. The computer system is configured to perform operations comprising detecting whether a carrier module is connected to the controller module. If the carrier module is connected to the controller module, the carrier module is authenticated. If the authentication fails, operation of the vehicle is inhibited. The control module is configured to determine carrier module capabilities including information regarding a navigation processing device, and / or a radio modem. The controller adapts to the capabilities of the controller module. Using information from the sensors and the navigation processing device, the vehicle management system navigates the vehicle.

Example embodiment provides an aircraft with improved agility. The aircraft includes a main body, at least two wing assemblies, at least two motors, and a controller. The wing assemblies are attached to the main body. Each motor tilts one wing assembly with a tilting angle. The controller is connected with the motors for controlling the tilting angle of the wing assembly. Each wing assembly further includes a wing, a power plant, and a propeller that is driven by the power plant for providing propulsion. Each wing assembly tilts with an individual tilting angle, so that the aircraft can fly with improved agility. The power plants and propellers on the wings can each be controlled independently in synchronism with the tilting wings.

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

A method and device for controlling a drone, the method comprising: after the power output of the drone fails, controlling the drone to be in a controllable state (S301); after the drone is in the controllable state, controlling the drone to land (S302), so that the drone lands on a safe platform, thereby preventing the drone from continuing to perform a work task and crashing, ensuring the safety of the drone, reducing the property and personnel safety losses caused by the drone crash, and improving the user experience.

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.

To more accurately control movement of a flight vehicle.SOLUTION: A processing system 4 generates posture data on posture of a flight vehicle 1.The flight vehicle 1 comprises a camera 2 and a sensor 3. The camera 2 generates image data by imaging a peripheral environment of the flight vehicle 1. The sensor 3 detects movement of the flight vehicle 1 and generates detection data. The processing system 4 comprises a first acquisition unit 41, a second acquisition unit 42, and a processing unit 43. The first acquisition unit 41 acquires the image data generated by the camera 2. The second acquisition unit 42 acquires the detection data generated by the sensor 3. The processing unit 43 generates posture data using the image data and the detection data.SELECTED DRAWING: Figure 1

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.

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

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 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.

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 self-propelled robot system capable of reducing misplacement and loss of articles by a user by informing the user that an article exists at positions different from a pre-registered position.SOLUTION: A self-propelled robot system 100 is provided with a self-propelled robot 10 that autonomously travels in a predetermined space, and includes: an article information acquisition unit 11 for acquiring article information indicating an identifier and a position of an article detected around a main body of the self-propelled robot 10; a map information acquisition unit 12 for acquiring map information indicating a map of the predetermined space; a self-position calculation unit 13 for calculating a self-position indicating a current position of the main body on the map; a determination unit 33 for determining whether or not the article exists at a position different from a pre-registered position based on the article information and the self-position; and a presentation unit 25 for presenting notification information to a user when it is determined that the article exists at a position different from the pre-registered position.SELECTED DRAWING: Figure 2

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 manned vertical take-off and landing (VTOL) aerial vehicle (AV) comprising a body comprising a cockpit; a propulsion system carried by the body to propel the body during flight; pilot-operable controls accessible from the cockpit; a sensing system configured to generate sensor data associated with a region around the manned VTOL AV; a control system may utilise the sensor data and configured to enable control of the manned VTOL AV to be shared between a pilot and an autonomous piloting system; and program instructions to: determine a state estimate and a state estimate confidence metric; generate a three-dimensional point cloud of the region; generate a plurality of virtual particles within a three-dimensional model; compute a plurality of scores, each score being associated with one of the plurality of virtual particles; and update the state estimate based at least in part on the computed scores, thereby determining an updated state estimate.

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