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 relates to a collaborative planning method of a complicated space curve welding seam motion track and the welding technology. The collaborative planning method comprises the following steps: 1, extracting a complicated product welding seam outline; 2, carrying out zoning planing on the three-dimensional outline of the welding seam; 3, planning the welding seam welding sequence of each area; 4, carrying out motion simulation and multi-robot synergic movement simulation on a formed robot motion track; 5, planning the welding technological parameters; and 6, carrying out data distribution and execution. The collaborative planning method is innovatively used in the automatic welding field of complicated space curve welding seams, realizes intelligent partition of the space curvewelding seam and the sequence planning of the welding seam, carries out self-adaption collaborative planning on the motion track and technology of a pose-variable and curvature-variable welding seam robot and realizes collaborative intelligent planning of the motion track and technology of the space curve welding seam robot.

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 simulation method for an open type array signal. The method includes the following steps of firstly, obtaining the real-time target movement path of an underwater sound target; secondly, obtaining an underwater sound target radiation noise signal; thirdly, calculating coordinates of all array elements of linear arrays arrayed at equal intervals after array form distortion; fourthly, generating a real-time ocean channel pulse response sequence; fifthly, generating array element signals under the condition that no array element random shaking exists; sixthly, obtaining an array element signal, practically generated, of the i7th array element when random shaking occurs; seventhly, obtaining real-time ocean environment noise signals of the array elements; eighthly, obtaining a passive sonar array signal. By means of the simulation method, openness of an array signal simulation system can be achieved.

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 relates to a motion state correction method and device for a virtual object, computer equipment and a storage medium, and relates to the technical field of virtual scenes. The method comprises the following steps: receiving a synchronous data packet sent by a second terminal, and obtaining a target motion state of the virtual object in N subsequent continuous image frames according to a first time delay and the synchronous data packet; obtaining an initial motion state of the virtual object in the N picture frames; according to the distance information of the virtual object in the N picture frames, correcting the initial motion state of the virtual object in the N picture frames, and obtaining the actual motion state of the virtual object in the N picture frames. After receiving a synchronous data packet, the terminal corrects the motion trails of the virtual objects controlled by other terminals frame by frame according to the distance between the target position and theinitial position of the virtual object in the plurality of subsequent picture frames, so that the corrected motion trails of the virtual objects are smoother, and the network synchronization effect of the virtual objects is improved.

The invention discloses a super-redundant robot trajectory planning method and system based on pseudo-inverse constraint. The method is suitable for a super-redundant robot, especially a super-redundant robot with a lengthened ridge line. The method comprises: firstly, establishing a kinematic model of a robot; deriving a robot jacobian matrix, discretizing a robot tail end motion trail, obtainingjoint states corresponding to a series of tail end path points in a multi-time optimization solution mode by combining an objective function and related constraints of the jacobian matrix, and obtaining the motion trail of the super-redundant robot in a joint state curve interpolation mode. According to the method, the motion trail is smooth, free of sudden changes and small in fluctuation. Meanwhile, joint motion rule constraints do not exist, manual segmentation processing of the tail end path is not needed in the initialization stage, the method is particularly suitable for super-redundantrobot trajectory planning with the complex tail end path, the optimized initial value is obtained through calculation of a pseudo-inverse method, and the difficulty, difference and complexity of initial value selection of an empirical method are reduced.

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 discloses a method for real-time simulation of an unstable target motion trail based on B spline fitting. The method for real-time simulation includes the following steps that firstly, an actual measurement underwater sound target motion trail sequence m(n) with the sampling rate being fs is acquired; secondly, actual measurement underwater sound target motion trail sub-sequences are acquired; thirdly, control vertexes for reverse determination of a three-time B spline curve by all the sub-sequences are acquired; fourthly, target motion trails of the sub-sequences in the sampling rate fs are acquired; fifthly, the real-time target motion trails are acquired. According to the method for real-time simulation, curve fitting is conducted on target motion trail data in the actual measurement sampling rate fs through a mathematical method that a smooth parameter curve section approaches a polyline polygon, the target motion trails in the sampling rate fs are simulated, and then the motion trails in which inflection points are probably generated due to the change of a target motion state are smoother.

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 method and equipment for drawing a track box, and is used for solving the technical problem that joggle and discontinuity of a track box that is drawn occur. The method includes analyzing a current coordinate of a first object in a video; determining a midpoint coordinate between the current coordinate and a coordinate of the first object which is analyzed last time; if the distance between the currently determined midpoint coordinate and the midpoint coordinate determined last time is not smaller than a preset distance threshold value, inserting M compensation coordinates between the currently determined midpoint coordinate and the midpoint coordinate determined last time, wherein M is a positive integer; and drawing a track box of the first object according to the M compensation coordinates and the currently determined midpoint coordinate.

The invention provides intelligent cutting equipment. The intelligent cutting equipment comprises a main machine, an active feeding photoelectric switch, a sending device, a feeding device, a full-automatic feeding frame, a frame, a control device and a cutting device, wherein the frame is arranged on the main machine; the full-automatic feeding frame is arranged at the inner side of the frame; the sending device, the cutting device and the control device are all arranged on the frame; the feeding device is arranged on the full-automatic feeding frame; the active feeding photoelectric switch is arranged on the full-automatic feeding frame, and is near a feeding end of the full-automatic feeding frame; the cutting device and the active feeding photoelectric switch are electrically connected with the control device; the feeding device is used for feeding products to be cut according to feeding signals of the active feeding photoelectric switch; and the sending device is used for sending the products to be cut. The intelligent cutting equipment is provided with the active feeding photoelectric switch, so that the full-automatic feeding is realized, and the stretching and shrinkage problems of fabric in feeding are solved.

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 provides a method for rectifying the deviation of a motion trail. The method comprises the following steps: limiting the amplitude of longitude and latitude returned by locating; and performing mean processing on longitude and latitude data which is subjected to amplitude limitation. By the amplitude processing and mean processing, the problem of location drift in a motion trail recording mode of motion APP can be solved, the motion trail can be smoother and accords with real location, the accuracy of motion mileage can be further promoted, and user experience can be promoted.

The invention discloses a bind type finger traction device. The device includes a support frame and a servo motor; a first pin is fixed on the support frame, an output shaft of the servo motor fixes the rear ends of a sixth gear and a first connection rod, the first pin is rotatably connected with the rear ends of a first twin-wheel and a second connection rod, and a second pin is rotatably connected with the right end of a fifth connection rod, the front end of the second connection rod and the rear ends of a second twin-wheel and a sixth connection rod; a fifth pin is rotatably connected with the front end of the first pin, the left end of the fifth connection rod and the rear end of a fourth connection rod and fixedly connected with the rear ends of a fifth gear and the fourth connection rod; the sixth gear is meshed with a first gear of the first twin-wheel, the fifth gear is meshed with a second gear of the second twin-wheel, and a first belt pulley of the first twin-wheel and a second belt pulley of the second twin-wheel form a belt transmission; a third pin is rotatably connected with the right end of a seventh connection rod and the right end of a third connection rod, thefront end of a fourth connection rod and a third gear are fixed, a fourth pin is rotatably connected with the left end of the third connection rod, and the rear end of a finger swing rod and a fourthgear are fixed.

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.

A high-stability control method based on the movement of a satellite antenna driving mechanism can improve the execution capability of an antenna control execution mechanism in the attitude control process, enables the movement track of an antenna to be smooth, and reduces the interference influence of the movement of the antenna . The technical problem to be solved is to solve the attitude interference problem of the satellite antenna motion on the satellite body by using the method, and compared with a simulation result using an unsmooth planning result, the angular velocity oscillation in the control process is effectively avoided, and the influence of the motor motion is reduced, so that the attitude control precision and the stability of the control process are improved.

The invention discloses an elliptic combined-type concave and convex conjugate gear planetary gear train seedling taking mechanism. The problem that the transmission shock of a locking arc of an existing planetary gear train seedling taking mechanism is large is solved. A central elliptic gear of the mechanism is simultaneously meshed with a first middle elliptic gear and a second middle ellipticgear; when a first elliptic incomplete gear is meshed with a third elliptic incomplete gear, a first concave gear is separated from a first convex gear; when the first elliptic incomplete gear is separated from the third elliptic incomplete gear, the first concave gear is meshed with the first convex gear; when a second elliptic incomplete gear is meshed with a fourth elliptic incomplete gear, a second concave gear is separated from a second convex gear; when the second elliptic incomplete gear is separated from the fourth elliptic incomplete gear, the second concave gear is meshed with the second convex gear. According to the elliptic combined-type concave and convex conjugate gear planetary gear train seedling taking mechanism, the incomplete non-circular gears are arranged at the secondstage, a concave and convex conjugate gear is utilized for replacing the locking arc, and shock generated when the incomplete non-circular gears are meshed is significantly lowered.