62results about "Position/course control in three dimensions" patented technology

The invention relates to a remote-control system of a stratospheric airship and a control method thereof. The control system is divided to four levels: a decision-making level for executing the selection and switch of a remote-control flight mode according to the actual working state data, and sending a corresponding mode command; a planning level for dynamically planning and generating an airship motor drive command according to the mode command sent by the decision-making level; an executing level for realizing the drive control to an airship motor according to the motor drive command of the planning level; and a perceiving level for finishing the real-time monitoring and data collection of the airship working state, and providing the original data of the airship working state to the decision-making level. The four-level control system architecture design of the control system is capable of simplifying the control device, improving the control efficiency, and fundamentally solving the problems of the function, efficiency and reliability of the near space airship ground and airborne control system.

Provided is a machine room inspection robot, comprising a robot body, propellers, supporting rods, a top protection plate, a protection ring, elastic pieces, a control part, distance sensors, connecting rods, walking wheels and rotating shafts. The robot body is an unmanned aerial vehicle of a circular structure when overlooked. Propellers are respectively arranged on two sides of the top of the robot body. A supporting rod is arranged at the top of the robot body. A top protection plate is arranged at the tops of the supporting rods. A protective ring is arranged on the periphery of the robotbody. The protection ring is connected with the robot body through an elastic piece, a distance sensor is arranged on the periphery of the top of the robot body, a control part is arranged in the robot body, the distance sensor is electrically connected with the control part through a cable, connecting rods are symmetrically arranged at the bottom of the robot body relative to the center line, and walking wheels are arranged at the bottom ends of the connecting rods. The robot has the advantages that the inspection mode that a traditional inspection robot can only shuttle and walk on the ground for inspection is changed, the moving range of the robot is not limited by ground obstacles, and certain flexibility is achieved.

To provide an acoustic positioning method and a system that enable simultaneously position locations of a plurality of objects while eliminating cumbersome pre-processing as much as possible on the basis of an acoustic pulse a pinger transmits.SOLUTION: An acoustic positioning system 1 includes: a plurality of pingers 10 that transmits an acoustic pulse; a receiver 20 that positions a location of each pinger 10 on the basis of the acoustic pulse of the pinger. A cycle of a time slot transmitting the acoustic pulse is registered in a cycle setting part 101 of the pinger 10. The time slot cycle to be set to each pinger 10 is different from each other. Each pinger 10 is configured to transmit the acoustic pulse every time slot cycle. The receiver 20 mainly consists of a pulse reception unit 202, and a positioning unit 203, which are provided with at least three hydrophones 201. The positioning unit 203 is configured to calculate a direction and depth of each pinger 10 on the basis of the acoustic pulse each hydrophone 201 receives; and position the location of each pinger 10 on the basis of a calculation result.SELECTED DRAWING: Figure 1

Systems, apparatus and methods are provided for securing firmware and mission data in memory of an unmanned aerial vehicle. The unmanned aerial vehicle may include a central body and at least one electric motor. The central body may include a flight controller with a processor, a firmware memory configured to receive and store firmware, and circuit board with a fixed portion and a removable portion with a programming interface connector providing access through a signal connection to a firmware memory operatively connected to the flight controller. The central body may further include a volatile mission memory configured to receive mission data and automatically be erased upon power interruption.

Method for performing tasks in infrastructure, which is implemented with a system of unmanned vehicles, preferably unmanned airplanes, comprising a base vehicle (1) and at least a guest vehicle (1). The base vehicle (1) moves (5) to a first intermediate stationing point (6) located in an infrastructure, the at least one guest vehicle (2) departing therefrom to perform the programmed task and returning to the base vehicle (1), which has the capacity to process the information received from the at least one guest vehicle (2) and to communicate with a control station (3).

A method of measuring level deviation in an automated storage and retrieval system, wherein the system comprises: a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, at least one container handling vehicle configured to operate on the rail system, wherein the at least one container handling vehicle is provided with at least one orientation sensor configured to measure at least one orientation parameter of the sensor in a three-dimensional cartesian reference system, a central control unit configured to receive, transmit and process data signals of the container handling vehicle and to receive and process data signals of the sensor, wherein the method comprises the steps of: arranging the container handling vehicle in a predetermined position on the grid, transmitting a data signal from the central control unit to the container handling vehicle commanding the container handling vehicle to move a distance in one direction (X, Y) along the grid, measuring at predetermined intervals, using the orientation sensor, at least one orientation parameter to produce orientation measurements that are indicative of the container handling vehicle's orientation within the three-dimensional cartesian reference system, transmitting data concerning the orientation measurements to the central control unit, and processing the orientation measurements using the central control unit in order to identify portions of the rail system that deviate from predetermined values.

Provided are an information processing device, an information processing method, a program, and an information processing system which can assist in specifying an un-photographed house when photographing an investigation range. The information processing device, which comprises a processor and memory that stores a program to be executed by the processor: acquires position and orientation information that indicates the position and orientation of a camera mounted on a flying body; acquires camera configuration information including an optical configuration of the camera; calculates a photographing range of the camera on the basis of the position and orientation information and the camera configuration information; acquires an investigation range map that indicates the investigation range; acquires house-to-be-investigated information including the position of a house to be investigated from the investigation range map; determines whether the house to be investigated is included in the photographing range; specifies the un-photographed house which has never been determined to be included in the photographing range; and overlaps information about the un-photographed house with the investigation range map.

To provide a defense system capable of photographing an intruder who enters a working area in a factory, a warehouse or the like.SOLUTION: A defense system 1 comprises a first unmanned flying body 100-1, a second unmanned flying body 100-2, a moving body 200, and a management device 300, with the first unmanned flying body 100-1 comprising a detection part for detecting an intruder X who enters a working area 10, the second unmanned flying body 100-2 comprising a photographing part for photographing the intruder X, and the moving body 200 comprising an illumination part for outputting a dazzling light for obstructing a visual field of the intruder X. When the first unmanned flying body 100-1 detects the intruder X, the management device 300 makes the moving body 200 output the dazzling light until the second unmanned flying body 100-2 photographs the intruder X.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.

Indoors positioning and navigation systems and methods are described herein. In one embodiment, a system for inspecting or maintaining a storage tank includes a vehicle having: at least one sensor for determining properties of a storage tank and a navigation system. The navigation system includes an acoustic transmitter carried by the vehicle and an inertial measurement unit (IMU) sensor configured to at least partially determine a location of the vehicle with respect to the storage tank. The vehicle also includes a propulsion unit configured to move the vehicle within the storage tank, and an acoustic receiver fixed with respect to the storage tank. The vehicle moves inside the storage tank in concentric arcs with respect to the acoustic receiver.

To provide a cooling system that can cool a cargo handling worker and an environment around the cargo handling worker while restraining an increase in cost.SOLUTION: A cooling system comprises: a data collection unit 33 for collecting temperature data and data other than temperature in an environment where cargo handling work has been performed, as teacher data; a learning model generation unit 34 for generating a learning model by performing machine learning from the teacher data collected by the data collection unit 33; an information acquisition unit 35 for acquiring environmental information related to an environment where cargo handling work is performed; an environmental temperature prediction unit 36 for predicting temperature in the environment where the cargo handling work is performed, on the basis of the learning model generated by the learning model generation unit 34, and the environmental information acquired by the information acquisition unit 35; a spray plan unit 37 for making a spay plan on the basis of the temperature predicted by the environmental temperature prediction unit 36; and a drone 2 that is an unmanned flying object constituted so as to be capable of autonomously flying, and for spraying in accordance with the spray plan made by the spray plan unit 37.SELECTED DRAWING: Figure 3

A control system capable of generating route information about a movement route of a mobile object in a three-dimensional space defined according to a predetermined coordinate system formats spatial information about a type of physical object capable of existing in or entering a three-dimensional space in association with a unique identifier and generates the route information about the movement route of the mobile object on the basis of the spatial information and type information of the mobile object, thereby generating the route information about the movement route of the mobile object in the three-dimensional space.

The article transportation system S acquires first sensing information obtained by sensing a peripheral area around a user including a release candidate place with an optical sensor 23 of a user terminal 2 and the position information of the user terminal 2. Then, the article transportation system S determines whether the release candidate place satisfies one or more application conditions on the basis of the first sensing information, and in a case where it is determined that the release candidate place satisfies the one or more application conditions, sets a release place suitable for releasing an article from an UAV 1 on the basis of the release candidate place and the position information of the user terminal 2.

To provide a system, method and program for supporting construction allowed to acquire an image in a point of view a user desires.SOLUTION: A system for supporting construction includes a control device for controlling a movable imaging device allowed to three-dimensionally move in a construction site. The control device prepares a 3D map of a construction site, presents a user an option for a photographic mode by the movable imaging device, determines on the 3D map a position the movable imaging device should stay to perform imaging in a photographic mode selected by the user based on a position of a construction appliance on the 3D map, and allows the movable imaging device to move to a position determined.SELECTED DRAWING: Figure 1

To extract a portion subjected to inspection from the image of a building.SOLUTION: A control unit 52 includes: a calculating unit 52a that calculates the width of a portion subjected to inspection displayed on the screen of a display unit 53 in accordance with the actual width of the portion subjected to inspection and with a distance from a flying imaging device 30 to an imaging object; a display control unit 52c that displays, on the display unit 53, a guide line G with the calculated width by the calculating unit 52a so as to be laid over on the picked-up image by the flying imaging device 30; and a first extracting unit 52d that extracts a partial image within the width of the guide line G from the picked-up image with the position of the guide line G and the display position of the portion subjected to inspection being aligned with each other on the screen of the display unit 53.SELECTED DRAWING: Figure 1

To realize a transport system with a high transport efficiency.SOLUTION: A transport system comprises a control device that controls an unmanned aircraft 20 and a transport vehicle 40. The control device outputs a move command for designating a destination T1 of the unmanned aircraft 20 to both the transport vehicle 40 and the unmanned aircraft 20 held in the transport vehicle 40. Upon receiving the move command, the transport vehicle 40 travels to a corresponding stop position P1, which is a stop position set correspondingly to the destination T1, on a travel route R, and then stops at the corresponding stop position P1, and the unmanned aircraft 20 takes off from an aircraft holding unit and moves to the destination T1 under the condition that the transport vehicle 40 stops at the corresponding stop position P1.SELECTED DRAWING: Figure 1

A method for determining a correction value of a state of an object in an association with a plurality of objects. The method includes: each object in the association recording its own absolute state in an existing coordinate system; a first object in the association recording a relative state of the first object in relation to one or more other objects in the association; the first object transmitting the recorded relative state and its own recorded absolute state via a data connection to one or more of the other objects in the association; exchanging recorded relative states and recorded absolute states in the association of objects so that all objects have the same uniform information status; each object calculating a correction value for all objects in the association based on the uniform information status; an object applying its own correction value to its own recorded absolute state.

To enable information for moving a moving object to be generated intuitively.SOLUTION: An information processing system is provided with: a display control unit for controlling display, on a display screen, of a virtual object based on an object being present in a real space; and a movement information generation unit for generating movement information for controlling the movement of a moving object. Thus, the information for moving the moving object can be generated intuitively.SELECTED DRAWING: Figure 2

A kind of unmanned plane control method, comprising: display map model on the display interface of control terminal, identify the operation area of unmanned plane on map model (S202);According to the operation of user in other area outside operation area, the region corresponding to the created obstacle is identified on map model (S204);According to the first position outside operation area, the second position in operation area and the region corresponding to obstacle, target route is generated (S206), and unmanned plane is controlled to fly according to target route (S208).Unmanned plane control method solves the technical problem that unmanned plane cannot reach destination smoothly when flying between the first position outside operation area and the second position in operation area due to the obstruction of obstacle.

To pick up a stable inspection video by a flying object.SOLUTION: A flying object according to the present invention includes: a recognizing unit that recognizes laser light emitted from a laser emitting device to an inspection object; and a flight controller that controls a flight in accordance with the recognized laser light. The recognizing unit recognizes an inspection route by the laser light emitted to the inspection object by the laser emitting device, and the flight controller controls the flight so as to pass along the recognized inspection route. The flying object further includes an image pickup unit that picks up the inspection video of the inspection object.SELECTED DRAWING: Figure 1

To provide an information processing method, an information processing apparatus, and an information processing system that enable a flight vehicle to easily perform circular turning.The information processing method of the present disclosure causes a computer to generate, on the basis of first information instructing a velocity of a moving body and second information instructing an angular velocity of the moving body, and with a direction of the velocity as a tangential direction, an acceleration in a center direction of a circle having a radius corresponding to the velocity and the angular velocity.

To provide a control method capable of appropriately controlling an unmanned flying vehicle.SOLUTION: A main control unit 56 (control device) includes: an acquisition unit 561 configured to acquire operation information related to operations performed by an operator of an unmanned flying vehicle 10; a determination unit 563 configured to compare the acquired operation information with a plurality of pieces of basic operation information related to basic operations of the unmanned flying vehicle 10 stored in advance in a storage unit 59 and determine whether or not the operation information matches any of the basic operation information; and an operation control unit 564 configured to control the operation of the unmanned flying vehicle 10 so that, when the determination unit 563 determines that they match, the unmanned flying vehicle performs an operation corresponding to the operation information.SELECTED DRAWING: Figure 2

To provide a defense system capable of photographing an intruder who enters a working area in a factory, a warehouse or the like.SOLUTION: A defense system 1 comprises a first unmanned flying body 100-1, a second unmanned flying body 100-2, a moving body 200, and a management device 300, with the first unmanned flying body 100-1 comprising a detection part for detecting an intruder X who enters a working area 10, the second unmanned flying body 100-2 comprising a photographing part for photographing the intruder X, and the moving body 200 comprising a sound source part for outputting a noise sound for reducing a flying sound of the second unmanned flying body 100-2. When the first unmanned flying body 100-1 detects the intruder X, the management device 300 makes the moving body 200 output the noise sound until the second unmanned flying body 100-2 photographs the intruder X.SELECTED DRAWING: Figure 1

The invention relates to a method for simultaneous blasting of projectiles where the following method steps are included; i.) calculating the position of the target, ii.) estimating the target's position, iii.) firing a first projectile at the target, iv.) firing a second projectile at the target, v.) braking the first projectile with a braking device arranged in the projectile, vi.) detonating the projectiles in a coordinated fashion based on an initiation signal. The invention furthermore consists of a fire-control system for directing fire against a target comprising at least one sensor, in order to measure the position of the target as a function of time. The invention furthermore consists of a combat system including a firing device.

A method and device for amending a reference path associated with a vehicle are disclosed. The method includes: (i) acquiring road segment data and reference path data, the reference path data having a plurality of anchor points defining the reference path along the road segment, (ii) using the road segment data and the reference path data to determine a safe deviation interval for each one of the plurality of anchor points, a given safe deviation interval for a given anchor point being indicative of an acceptable deviation of the vehicle from the reference path; and (iii) using the safe deviation intervals to determine an amended path for the vehicle instead of the reference path, such that by following the amended path the vehicle falls within the constraints of the road segment.

This invention relates to an automated driving system with a desired level of driving aggression. One system includes a computer comprising a processor and a memory. The memory includes instructions that program the processor to: receive sensor data representing a perceived driving environment; select a reinforcement learning agent from a plurality of reinforcement learning agents based on a challenge score calculated using the sensor data and a desired driving style; and generate driving actions via the selected reinforcement learning agent based on the sensor data.

A control method, device, system and computer readable storage medium, wherein the method comprises: receiving and displaying a shooting picture of a movable platform (S101); when the movable platform is in a preset working mode, displaying a motion instruction icon on the shooting picture, the state of the motion instruction icon in the shooting picture being used to indicate a posture change of a somatosensory remote controller (S102); in response to a user's posture adjustment operation on the somatosensory remote device, adjusting the state of the motion instruction icon in the shooting picture, the state of the motion instruction icon in the shooting picture being used to indicate a motion direction and / or a posture of the movable platform (S103). The method can improve the control convenience and user experience of the movable platform.

A method of controlling a movable platform, which applies to a motion sensing remote controller, may include acquiring a motion scenario and / or an operating mode of a movable platform; determining control strategy of the motion sensing remote controller based on the motion scenario and / or the operating mode; and control the movable platform based on the control strategy.

A method of measuring level deviation in an automated storage and retrieval system, wherein the system comprises: a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, at least one container handling vehicle configured to operate on the rail system, wherein the at least one container handling vehicle is provided with at least one orientation sensor configured to measure at least one orientation parameter of the sensor in a three-dimensional cartesian reference system, a central control unit configured to receive, transmit and process data signals of the container handling vehicle and to receive and process data signals of the sensor, wherein the method comprises the steps of: arranging the container handling vehicle in a predetermined position on the grid, transmitting a data signal from the central control unit to the container handling vehicle commanding the container handling vehicle to move a distance in one direction (X, Y) along the grid, measuring at predetermined intervals, using the orientation sensor, at least one orientation parameter to produce orientation measurements that are indicative of the container handling vehicle's orientation within the three-dimensional cartesian reference system, transmitting data concerning the orientation measurements to the central control unit, and processing the orientation measurements using the central control unit in order to identify portions of the rail system that deviate from predetermined values.