7results about How to "High precision tracking" patented technology

The invention relates to the technical field of gyroscope control and detection, in particular to a method, a system and equipment for measuring the angular velocity of a hemispherical resonator gyroscope. Establishing a control model of the hemispherical resonator gyroscope; standing the gyroscope on a test plane, applying a control voltage to the excitation electrode, and measuring the output of the gyroscope to enable the gyroscope to be in a normal working state; a control force is applied to an angle control loop of the hemispherical resonator gyroscope, so that the vibration mode angle moves periodically, and the hemispherical resonator gyroscope is in a rotation modulation state; disturbance is applied to the amplitude control loop, and real-time force application scale estimation is obtained according to a force application scale model; and real-time external angular velocity input is obtained according to real-time force application scale estimation. According to the invention, the applied force scale of a related control loop is detected in real time, and the applied angular velocity input is eliminated, so that the external angle change can be tracked, and the technical effect of improving the precision of the resonant gyroscope is achieved.

The present invention relates to a robot system and a robot. The robot system of the present invention comprises: a sensor (60) for acquiring data for detecting at least the position of a moving object (O); a robot (10) equipped with a tool (30) and performing a predetermined operation on the object (O) using the tool (30); and a control unit for controlling a tool moving device (40), the tool (30), or an arm member at the front end side of an arm (12) of the robot (10) with a tool control cycle shorter than the control cycle of the robot (10), wherein the tool moving device (40) moves the tool (30) relative to the robot (10).

The present invention relates to an end-to-end visualized logistics control system and method, and belongs to the field of logistics management technology. The method includes determining transportation site information according to a transportation origin and a transportation destination, obtaining an optimal transportation site through a transportation planning model according to the transportation site information, obtaining a planned total transportation time and a planned arrival time at the transportation site according to the optimal transportation site, obtaining a planned arrival time according to the transportation start time, obtaining delay warning information according to real-time location information, obtaining a time difference according to the actual arrival time at the site, uploading delay warning information according to the time difference, obtaining an estimated arrival time according to the delay warning information and the delay warning information and uploading it to an administrator for review, uploading external event information to the administrator for review, and updating the estimated arrival time according to the administrator's review result, thereby realizing logistics in-transit transportation management, improving logistics transportation control, and facilitating early intervention of delay risks.

An imaging device achieves high-precision subject tracking when shooting at a normal frame rate and continues autofocus (AF) processing while suppressing power consumption when shooting at a higher frame rate than normal. The imaging device includes: an imaging element having a plurality of pixels arranged in two dimensions, each pixel including a first photoelectric conversion unit and a second photoelectric conversion unit, the first photoelectric conversion unit receiving a light beam passing through a first portion region of an imaging optical system, and the second photoelectric conversion unit receiving a light beam passing through a second portion region different from the first portion region; and a readout control unit that performs first readout control when a first mode is selected and second readout control when a second mode set to a high frame rate is selected. The first readout control causes the respective charges of the first and second photoelectric conversion units to undergo individual analog-to-digital (AD) conversion to generate pixel signals. The second readout control, in discretely set first pixels, causes the respective charges of the first and second photoelectric conversion units to undergo individual AD conversion to generate first pixel signals, and in second pixels that are not the first pixels, adds the charges of the first and second photoelectric conversion units and then performs AD conversion to generate second pixel signals.

The invention discloses unmanned aerial vehicle radar equipment, and relates to the technical field of unmanned aerial vehicles, the unmanned aerial vehicle radar equipment comprises an unmanned aerial vehicle body, the top of the unmanned aerial vehicle body is provided with an energy collection device, the bottom of the unmanned aerial vehicle body is provided with a holder device, the periphery of the unmanned aerial vehicle body is provided with wings, the upper parts of the wings are provided with first rotating devices, and the upper ends of the first rotating devices are provided with fan blades; connecting frames are arranged on the periphery of the lower portion of the unmanned aerial vehicle body, a base is installed between the connecting frames, buffering devices are arranged at the two ends of the base, a radar is installed on a holder device, the unmanned aerial vehicle body is sequentially provided with an IMU sensor, a GNSS compass module, a PMU power management module and a host from right to left, and a camera is arranged at the lower end of the unmanned aerial vehicle body. The unmanned aerial vehicle has the advantages that different heights can be adjusted according to requirements by arranging a piston pushing device and a telescopic rod, an energy storage plate generates electric energy through photoelectric conversion to be used by the unmanned aerial vehicle, electric power is saved, resource waste is avoided, the radar is driven by a third rotating device, a worm and a worm wheel to conduct vertical angle adjustment, and the practicability is high. And the second rotating device drives the U-shaped bracket to rotate by 360 degrees in the horizontal direction, so that the radar has high-precision target detection and tracking.

The application discloses a rope driving mechanical tracking control method based on TDE and recursive non-singular terminal sliding mode, and relates to the technical field of mechanical hand control. The application comprises the following steps: through mechanical dynamics analysis, the dynamics standard equation of the mechanical hand is determined and is converted into a TDE simplified equation, and a tracking error is defined; an FNTSM function containing a proportional control parameter is constructed, a recursive non-singular terminal sliding mode variable is formed in combination with a recursive integral term; an interference adaptive law is designed to dynamically adjust the proportional control parameter, the convergence speed and the chattering characteristics of the tracking error are analyzed, and a composite reaching law is generated; based on the composite reaching law and the updated TDE simplified equation, a generalized output vector of a joint controller containing a fluctuation parameter is extracted, a complete control law is formed, the generalized vector is output in real time through the control law, the motion trajectory of the mechanical hand is simulated, and high-precision tracking control is realized.

The invention discloses a method for accurately tracking a specified RTPS message in DDS communication. The method defines a specific message parsing structure, provides a configuration interface for a user, specifies the attributes of a specific RTPS message that needs to be tracked; adds a header in a serialization structure to identify whether the message needs to be tracked; a PUB end user calls an RTPS data sending interface, searches for the attribute value of the RTPS message configured by the user in user data, obtains the header of the serialization data, identifies the tracking state bit, and records the current process position in a process position information recording point; sends the user data and writes the user data into a whc; a SUB end receives the RTPS message, parses the user data, parses a sub-message, obtains the serialized header part, sets the current tracking state, and records the current process position in the process position information recording point; and for sample data that can be notified to the user, takes it out from a sample space of a reader and puts it into an rhc of the reader at the same time.