51results about How to "Smooth motion track" patented technology

The invention provides a mobile robot autonomous following system and method based on multi-sensor fusion and relates to the technical field of industrial automation. The system comprises an upper navigation unit, a bottom motion control unit and a power supply unit, wherein the upper navigation unit acquires positioning information about a target person by a sensor, plans and calculates tracks ofmotion of a robot towards the target person, selects a planned track with the optimal local path and sends a control command to the bottom motion control unit; the bottom motion control unit controlsthe robot to move towards the target person according to the control command of the upper navigation unit; the power supply unit supplies power to the whole system. Meanwhile, the invention further provides the specific mobile robot autonomous following method based on the system. By means of the mobile robot autonomous following system and method based on multi-sensor fusion, the mobile robot can realize a stable autonomous person following function in a dynamic shielding environment including the condition that the target person is shielded by an obstacle.

The invention discloses an intelligent electricity-scalding cutting device and belongs to the filed of electric cutting devices. The main structure of the intelligent electricity-scalding cutting device comprises a transmission mechanism, a tool mechanism, a pneumatic mechanism, a control mechanism, trundles, a main framework and a power source. A motor, the power source, a control unit, an operation panel and a control switch are arranged on a box on one side of the main framework. The trundles are arranged at the lower end of the main framework. The tool mechanism is movably arranged on a sliding rail of a cross beam between a left support and a right support. A motor output shaft is connected with the transmission mechanism through a transmission shaft. Multi-shaft motor control is adopted in the intelligent electricity-scalding cutting device, an operator can set cutting process and monitor cutting states through terminal software arranged on a machine tool, and therefore full-automatic feeding and cutting can be achieved. In the process of actual production, the intelligent electricity-scalding cutting device can improve cutting efficiency, save labor cost and cutting materials and greatly increase operation safety coefficients of operation workers.

The invention relates to the field of visual servo systems, in particular to a PD-SMC control method of a visual servo system based on an eye-on-hand structure so as to solve the problems of uncertainty and large computation amount existing in an existing visual servo system control method. The method comprises the steps of (1) setting an expected image and collecting feature points of the expected image as an expected visual feature set; (2) conducting projection transformation on a target expected image with the current state of the relative poses of a camera and a target body to obtain a current image of the camera; (3) adopting the PD-SMC method for a visual servo controller part and adopting a proportional control method for a joint controller part; (4) extracting a visual feature setfrom the current image, computing a jacobian matrix of the image and then computing the controlled quantity u of the camera in a Cartesian space; and (5) computing the pose of the target body in a camera coordinate system, and repeating the operations with the pose as the current pose until the error is zero. The PD-SMC control method can be applied to target grabbing equipment.

The invention discloses a multi-ship meeting collision avoidance method. The method comprises the following steps: firstly, ships are divided into safe sailing ships and ships with collision dangers according to the nearest meeting distance and the nearest meeting time, and secondly, when the avoiding direction is judged, according to the positions and relative motion parameters of the safe sailing ships and the ships with the collision dangers, the situation that new collision dangers are formed by the influence of avoiding actions on the safe ships is avoided; the avoiding amplitude is determined, all coming ships are selected to pass through as far as possible, and more urgent collision dangers are avoided; and meanwhile, the coordination and rationality under multi-ship avoidance are fully considered in the avoidance decision process, so that a multi-ship collision avoidance decision based on an avoidance conflict resolution strategy is constructed, and the multi-ship collision avoidance decision has a good avoidance effect.

The invention discloses a transformer substation safety management system based on the Internet of things. The system comprises a server, an exchanger, an internal exchanger, a front-end processor, a WSN node and a mobile terminal, wherein the server is connected and communicated with the exchanger through an internal local area network, the exchanger is connected and communicated with the internal exchanger through a power line carrier network, the internal exchanger is communicated with the front-end processor through a medium-voltage bandwidth power line carrier overhead line and an optical fiber in a mixed connected mode, and the front-end processor is communicated with the mobile terminal through the WSN node of a self-organization network of a Zigbee wireless sensor. Safety operation management, equipment monitoring and environment perception of a transformer substation are achieved, and the communication bottleneck problem of the last one kilometer of a distribution network is effectively solved through hybrid networking of low-voltage and medium-voltage communication access networks.

The invention relates to a describing method, in particular to a motion track describing method of motion equipment. According to the invention, a motion track model is generated by utilizing a support vector machine and conventional historical data of the motion equipment, then initial position information of the motion equipment is combined, subsequent position information of the motion equipment is obtained by utilizing the generated track model and a motion track of the motion equipment is simultaneously described, so that the aim of monitoring the motion equipment in real time is fulfilled. Moreover, according to the invention, the position information of the motion equipment is detected by utilizing a monitoring device and the detected position information is compared with position information obtained by calculation to correct the generated track model at any time, so that the motion track of the motion equipment is more accurately described. The motion track describing method of the motion equipment has predictability on the position information of the motion equipment. The described motion track of the motion equipment is gentler. Staffs have better experience.

The invention discloses a constrained filtering solving method and device considering an orthogonal function fitting condition. The method includes the following steps that: a code pseudorange and a Doppler observation value are obtained; a single-point positioning observation error equation is formed according to the code pseudorange and the Doppler observation value; a system uniform motion state model is established by using the state estimation value of a position velocity at a previous time point; a robust adaptive filtering model is established according to the single-point positioning observation error equation and the system uniform motion state model, and a current state initial estimation value is obtained with the robust adaptive filtering model; and an orthogonal function is used to fit a previous state estimation value, and a constraint condition is established, and the current state initial estimation value is corrected with the constraint condition. With the constrainedfiltering solving method and device considering the orthogonal function fitting condition adopted, the previous motion information of a receiver can be fully utilized to explore the new available constraint under the premise of not increasing cost; and under a poor occlusion environment where the spatial distribution of visible satellites is poor, positioning offset can be greatly reduced, the motion track of the receiver can be smoothed, the accuracy of a positioning result can be improved, and the stability of filtering can be enhanced.

The invention discloses a control system and control method for a master-slave-mode upper-limb exoskeleton rehabilitation robot. The control system comprises a sensor module, a bottom-layer movement controller and an upper-layer main control computer, wherein the sensor module detects master-slave-arm posture information at joints when the master-slave-mode upper-limb exoskeleton rehabilitation robot works, information representing movement intentions of patients and on-off information for preventing movement of all slave-arm joints from being out of a limit; the bottom-layer movement controller receives all kinds of information detected by the sensor module and uploads the information to the upper-layer main control computer; the upper-layer main control computer processes data obtained through the sensor module, a control moment is obtained, a control instruction is formed and issued to the bottom-layer movement controller, a robot slave-arm driving mechanism is controlled to move, and therefore a robot slave-arm actuating mechanism is driven to complete corresponding movement.

The application discloses a vehicle-mounted video image stabilization method. The method comprises: extracting feature points in a video frame sequence; matching each two adjacent frames of feature points in the video frame sequence to obtain a set of matched feature point pairs; calculating a matrix parameter of a camera motion model; calculating a horizontal average motion vector of horizontal displacement A and a vertical average motion vector of vertical displacement; calculating a to-be-filtered horizontal motion vector according to the horizontal average motion vector and calculating a to-be-filtered vertical motion vector according to the vertical average motion vector; and carrying out motion compensation on the video frame sequence by using the a to-be-filtered horizontal motion vector and the to-be-filtered vertical motion vector. Therefore, random jittering between successive frames in a video frame sequence is compensated; horizontal and vertical movements occurring during a video shooting process are suppressed; the moving track of the video frame sequence after image stabilization becomes smooth; the vehicle-mounted video quality is improved; and the post processing of the vehicle-mounted video is realized smoothly.

The invention relates to an output control method and device of gesture sensing equipment, and a display control method and system. The output control method comprises the following steps of: obtaining a displacement variation of the current movement by using an inertial device; calculating a deviation amount of the displacement variation of the current movement and a displacement variation output in the former moment; respectively carrying out proportional operation, differential operation and integral operation on the deviation amount and adding an obtained corresponding first correction, an obtained corresponding second correction and an obtained corresponding third correction to be used as a displacement variation output in the current moment; and the output control device comprises an obtaining unit used for obtaining the displacement variation of the current movement, a deviation amount calculating unit used for calculating the deviation amount of the displacement amount, and a processing unit used for respectively carrying out proportional operation, differential operation and integral operation on the deviation amount and adding results to be used as the displacement variation output in the current moment. According to the invention, the deviation in the displacement variation output by the gesture sensing equipment can be eliminated.

The invention provides a target tracking method and system based on unmarked video training, and the method comprises the steps: carrying out the unsupervised optical flow prediction of an original video, extracting a candidate frame of each frame in the original video, and obtaining a candidate frame sequence; constructing a pseudo calibration frame sequence of a moving object in the original video based on the candidate frame sequence; constructing a training sample based on the pseudo calibration frame sequence, inputting the training sample into a naive twinning network to train the naive twinning network, and generating a preliminary tracking model; performing storage loop training on the preliminary tracking model to obtain a target tracking model; and tracking a target in a to-be-tracked video by using the target tracking model. Meanwhile, the invention provides a corresponding terminal and a medium. The cost of manual annotation of the video data is greatly reduced, and available video data is enriched and trained; and under the condition of no annotation, a target tracking model based on calibration frame regression is trained from an unannotated video.

The invention belongs to the field of earthquake simulation equipment, and in particular relates to a six-freedom-degree earthquake experience testing system and a control method of the six-freedom-degree earthquake experience testing system. The system comprises a control unit, a servo drive unit and an earthquake experience testing bed, has the advantages of high real-time property, extension flexibility, easy maintenance, high response speed, reliable and stable work, and smooth movement locus, and can realize the high-precision simulation function for transverse waves, longitudinal waves and surface waves generated by earthquakes. According to the control method, a motion simulation mathematical model of the earthquake experience testing bed is established through dynamic simulation software, the movement locus is mapped to joint space through the motion simulation mathematical model, the fitting interpolating calculation of the movement locus is carried out, and then the motion information files of piston rods at piston cylinders are obtained; the closed-loop control movements for the displacement of the piston rods at the piston cylinders are carried out, so that the earthquake experience testing bed simulates and reproduces the motion process of the earthquake waves according to the planned motion path. With the adoption of the control method, the locus smoothness, stability and high precision when the testing bed acts can be further guaranteed.

The invention discloses a multi-axis linkage real-time dynamic prospective track planning method and device, and a storage medium. The method comprises the steps of receiving input data; performing prospective track planning; receiving an input instruction; executing a real-time speed change or stop method based on look-ahead track planning according to the input instruction for re-planning; inputting interpolation points obtained by sampling tracks of a first section and a transition region into an S-shaped digital filter; and deleting data of the first section and the transition area to construct a new section, and repeating the steps. The problems of unsmooth motion trails and unstable motion of a multi-axis linkage robot are solved, so that the motion tracks of the multi-axis linkage robot are smoother, and the motion is smoother and more stable.

The invention discloses an external equipment locating method and device, virtual reality equipment and system. The external equipment is provided with an ultrasonic transmitter and the virtual reality equipment is provided with an ultrasonic receiver, or the virtual reality equipment is provided with the ultrasonic transmitter and the external equipment is provided with the ultrasonic receiver. The method comprises the following steps: according to ultrasonic wave signal information received by the ultrasonic receiver, determining first distance information of the ultrasonic transmitter and the ultrasonic receiver; carrying out filtering processing on the first distance information to obtain second distance information; and according to the second distance information, determining first position information of the external equipment. According to one embodiment of the invention, accuracy of a position, determined by distance value of the ultrasonic transmitter and the ultrasonic receiver, of the external equipment is improved, and the motion track of the external equipment is smoother.

The invention relates to a smoothing method for a Cartesian space motion trail of a six-axis series industrial robot. The smoothing method comprises the following steps that a transition path between any two adjacent given motion paths is constructed by using a cubic quasi-uniform spline curve, and an actual transition radius is determined according to the lengths of the two given motion paths and a given transition radius; the position of a starting point of the transition path and the position of an ending point of the transition path are obtained according to the actual transition radius, and the position of a control point of a spline curve serving as the transition path is solved to construct a proper transition path; seven-section S-shaped speed planning is carried out to obtain a function relation between the path length and time, and finally isochronous interpolation is carried out according to the function relation between the path length and time to obtain an actual position of an interpolation point; and then the rotation angle of each joint of the six-axis series industrial robot is obtained through inverse kinematics to drive the six-axis series industrial robot to rotate continuously, so as to obtain a smooth motion trail, and meet the process requirements of actual production.