158 results about "Dynamic motion" patented technology

The invention discloses a five-dimensional motion vector real-time construction and calibration method based on multi-sensor fusion, and relates to the technical field of multi-sensor information fusion and dynamic state estimation, and the method comprises the steps: collecting and preprocessing motion carrier data, obtaining a preprocessing data set and a feature data set, inputting the feature data set into a long short-term memory network model, and obtaining a multi-sensor fusion model; and outputting a sensor error offset prediction vector to the extended Kalman filtering model, outputting a preliminary five-dimensional motion vector, and performing consistency verification and correction on the preliminary five-dimensional motion vector through a kinematics constraint equation to obtain a corrected five-dimensional motion vector so as to drive a virtual model corresponding to a motion carrier to perform synchronous position and attitude updating. According to the method, the sensor error is predicted through the long-short-term memory network model, and the dynamic motion model constraint module is additionally arranged to perform physical constraint correction, so that the problems of inaccurate error compensation and lack of physical authenticity of the calculation result under the dynamic working condition are solved, and the construction precision and reliability of the five-dimensional motion vector are improved.

The invention provides a virtual fitting method and device, equipment and a storage medium. The method comprises the following steps: acquiring a video containing a figure and a clothing image; determining a character potential feature map according to the video potential features obtained from the video without the clothing part and the depth posture in the video; determining a clothing feature map and clothing semantic latent features according to the clothing image; performing first self-attention calculation according to the character latent feature map and the clothing feature map to obtain a first feature map; performing first cross attention calculation according to the clothing semantic latent features and the first feature map to obtain a second feature map; performing space-time attention processing according to the second feature map to obtain a third feature map; and generating a virtual fitting image according to the third feature map and the clothing semantic latent features. According to the method provided by the invention, learning is carried out for clothing properties through space-time attention processing, and an efficient global space-time attention mechanism is realized, so that a more real and coherent try-on image is generated, and the visual fidelity and dynamic motion consistency of clothing are improved.

The invention provides a mechanical arm movement track generation method and device, a storage medium and a program product. The method comprises the steps that observation data of the current environment and state data of the mechanical arm at the current moment are obtained; respectively carrying out feature coding on the observation data and the state data to obtain an observation feature vector and a state feature vector; the observation feature vector, the state feature vector and the state data are input into a trained mechanical arm motion trail generation model, and the motion trail of the mechanical arm is obtained; wherein the mechanical arm motion trail generation model comprises a denoising network and a probabilistic dynamic motion primitive ProDMP decoder, the denoising network is used for generating ProDMP weight parameters based on the observation feature vector and the state feature vector, and the ProDMP decoder is used for generating a motion trail according to the ProDMP weight parameters and the state data. The continuity, smoothness and boundary controllability of the motion trail of the mechanical arm are improved.

The invention provides a target object 6D pose estimation method and system oriented to electronic equipment AR assembly guidance. The method comprises the steps of electronic part coarse positioning based on improved YOLOv5s-CBAM, multi-mode (RGB-point cloud) feature fusion fine registration and LSTM dynamic motion prediction compensation. The system is developed based on an ROS framework and a PyTorch platform, and depends on an Open3D point cloud library and a TensorRT acceleration engine. According to the method, the problems of small target detection, metal reflection and shielding in an electronic assembly scene are solved through a cascaded visual positioning technology, the problem of insufficient precision caused by dependence on mark points or general SLAM in a traditional AR guide system is avoided, and the pose estimation robustness in a complex working condition is improved. Compared with an existing assembling method depending on manual calibration or two-dimensional drawings, the assembling efficiency and the first-pass yield are remarkably improved.

The invention belongs to the technical field of ocean information engineering, and discloses a joint simulation method for a structure collision effect in a floating installation process of an offshore converter station. The joint simulation method comprises the following steps: S1, setting sea condition parameters of an operation sea area and geometric parameters and material parameters of a floating system; s2, initializing a hydrodynamic model and a multi-body model; s3, solving the barge motion equation under the current time step by using the hydrodynamic model to obtain barge motion data; s4, calculating an LMU contact force and a DSU contact force under the current time step according to the barge motion data in the step S3, feeding back the LMU contact force and the DSU contact force to the hydrodynamic model, and updating the external load of the barge; and S5, repeating the steps S3-S4 until simulation in the set time step is completed, and then outputting a simulation result. According to the method, precise calculation of dynamic movement of the floating body and precise simulation of complex contact-nonlinear restoring force of the LMU can be considered, and high-precision simulation analysis of the whole floating installation process of the offshore converter station is achieved.

The invention discloses a mechanical arm teaching control method, device and equipment and a medium, and belongs to the technical field of mechanical control. The method comprises the steps that calibration operation is conducted on the basis of a teaching tool file, and a first conversion relation from a mechanical arm base coordinate system to an optical positioning coordinate system and a second conversion relation from a mechanical arm tail end coordinate system to a teaching tool coordinate system are obtained; based on the first conversion relation and the second conversion relation, obtaining a teaching track corresponding to the preset number of teaching operations; each teaching track is converted into a dynamic motion primitive model parameter, and a target teaching track is determined based on each dynamic motion primitive model parameter; and a target mechanical arm joint angle sequence is determined based on the target teaching track so as to control the mechanical arm. According to the technical scheme, complex parameter input or manual physical intervention is not needed in the teaching process, intuition, high precision and high efficiency are considered, and therefore precise track control and stable operation execution of the mechanical arm are achieved.

The invention relates to a human body multi-cycle gait track prediction method based on small sample space-time decoupling. The method comprises the following steps: firstly, obtaining a single-cycle gait sample through kinematics modeling and cycle segmentation, and extracting, expanding and normalizing parameters such as stride and stride frequency; secondly, establishing a gait parameter joint distribution model by using a Gaussian mixture model and Gaussian mixture regression, and predicting gait parameters according to the target speed; and then space and time decoupling reconstruction is carried out, a high-fidelity joint trajectory is generated by adopting an adaptive collaborative attention LSTM network in space, a zoom factor is calculated based on a predicted stride frequency and a target speed in time, a time sequence is adaptively adjusted through a dynamic motion primitive, and finally a multi-period and multi-speed high-fidelity gait trajectory is generated through fusion. The method has high precision, interpretability and strong generalization ability under the small sample condition, the generated gaits are natural and coordinated and accord with the biomechanical law, and the application cost of a humanoid movement device is remarkably reduced.

The invention discloses a DSP-based robot dynamic environment moving object pose optimal estimation method and a related device, and the method comprises the steps: synchronously collecting real-time binocular video information of an environment according to a left camera and a right camera of a robot; acquiring feature points in the scene and SIFT descriptors thereof, and performing stereo matching on the SIFT features to obtain position information of the feature points in a three-dimensional space; dividing the scene into a static background and a dynamic moving object by adopting K-means clustering, and identifying a center position sequence of the moving object on the ground plane; predicting the state vector of the moving object through an extended Kalman filter to obtain a preliminary estimated value; and performing optimal estimation according to the initial estimation value to obtain optimal pose estimation of the moving object in the robot coordinate system. Optimal estimation is carried out through the visual sensor, the robot can more efficiently and accurately estimate the pose of the moving object in the working environment, meanwhile, the size of the system is reduced, and the portability of the system is improved.

The invention discloses a reduced-order modeling and integrated rapid forecasting method for dynamic motion and structural response of a floating fan. The method comprises the following steps: performing finite element modal analysis on a floating fan structure, extracting a rigid body modal and a main elastic modal, constructing a low-dimensional modal space, orthogonalizing mass and stiffness matrixes, and reducing the degree of freedom of a system; hydrostatic force recovery, mooring, gravity rigidity and external exciting force are calculated according to the initial position of the structure, a hydrostatic balance control equation is established through modal space transformation, and generalized displacement is solved through iteration; recalculating the water pressure at the Gaussian point of the structural grid based on the radiation diffraction theory, calculating the pneumatic load in combination with the blade element momentum theory, and obtaining a generalized external load through modal transformation after superposition; a motion equation is established in a modal space, generalized displacement is solved through numerical integration, a global displacement field is reconstructed, a stress time history is directly calculated, and integrated rapid forecasting is achieved. According to the method, the calculation efficiency is remarkably improved while the key dynamic characteristics and the response precision of the structure are kept, and reliable support is provided for near-real-time evaluation of operation and maintenance of the floating type draught fan.

This invention relates to the field of humanoid robot technology and discloses a humanoid robot torso waist rotation linkage adjustment device, including a torso lower mounting plate, a central rotation axis, an intermediate connecting bracket, a left hip connecting seat, and a right hip connecting seat. The torso lower mounting plate is horizontally disposed at the bottom of the robot torso. The central rotation axis is arranged vertically and its upper end is coaxially fixedly connected to the lower surface of the torso lower mounting plate. The intermediate connecting bracket is fitted into the middle of the central rotation axis and rotatably connected to the central rotation axis. The left hip connecting seat and the right hip connecting seat are symmetrically arranged on both sides of the lower end of the intermediate connecting bracket. This invention achieves synchronous adjustment of torso waist rotation and lower limb posture through a mechanical linkage structure, which can adjust the lower limb posture in time during waist rotation, effectively counteract the center of gravity shift caused by torso rotation, and improve the robot's balance stability in dynamic motion scenarios.

This invention discloses a personalized and adaptable spot positioning and filter integration design method. Addressing the technical problems of uneven film thickness and poor film formation consistency in existing large-area coating processes, it constructs a dynamic-static synergistic coating control system by combining the dynamic motion mode of the coating target with the static positioning optimization of the substrate and the precise control of static parameters of the coating environment. Simultaneously, it introduces zoned coating compensation, real-time film thickness monitoring feedback, and dynamic trajectory adaptation strategies to achieve uniform deposition of coating materials on large-area substrate surfaces, effectively improving the film thickness consistency, film formation uniformity, and film performance stability of large-area coatings. This invention is convenient to operate, provides precise control, and is compatible with various coating processes such as magnetron sputtering, vacuum evaporation, and ion plating. It can be widely applied to large-area coating production in fields such as flat panel displays, photovoltaic glass, semiconductor wafers, and large-area optical devices.

The application discloses a power maintenance method and device based on a hybrid dynamic motion primitive. The method comprises the following steps: obtaining a plurality of demonstration trajectories of an equipotential robot; modeling a dynamic motion primitive for each demonstration trajectory to obtain a corresponding initial hybrid dynamic primitive model; evaluating the fluency of the demonstration trajectory according to an evaluation index to determine the model weight of each initial hybrid dynamic primitive model; determining a hybrid dynamic primitive model according to the initial hybrid dynamic primitive model and the model weight; and writing the hybrid dynamic primitive model into the equipotential robot, so that the equipotential robot generates a maintenance trajectory when receiving a power maintenance task; and controlling the equipotential robot to perform a power maintenance operation based on the maintenance trajectory. The application solves the technical problem that the equipotential robot can only learn a single trajectory in the related art, and that the generated trajectory has too many inflection points in the process of power maintenance, which causes the swing of a boom truck, low maintenance efficiency and poor work quality.

The invention discloses a task-driven active and passive fusion mechanical arm motion evaluation method and system, and the method comprises the steps: guiding a mechanical arm task, and collecting a joint angle data sequence; performing time alignment and smoothing processing to obtain an ideal demonstration track; inputting into a dynamic motion primitive model for learning to obtain model parameters; generalizing a new joint angle sequence conforming to the trajectory shape; a real-time control instruction is generated by taking the real-time control instruction as a reference track and adopting a reinforcement learning controller, and the mechanical arm is driven to track the reference track; and a multi-dimensional evaluation index system is constructed, and quantitative evaluation is conducted on the motion performance, the energy consumption efficiency and the intelligent level of task execution of the mechanical arm. According to the method, the robustness and the self-adaptive capability of the mechanical arm in different task scenes are remarkably improved, so that the efficiency and the safety of automatic operation are improved while stable operation is ensured.

A tube-in-tube structure (100) for a linear motor machine is disclosed. The tube-in-tube structure includes (a) an outer dimensional frame (20) for responding to maintaining a payload (50) and allowing the payload (50) to move thereon; (b) an inner force frame (10) enclosed within a hollow cavity (22) of the outer dimensional frame (20) and responding to transmitting any reaction force applied by the payload (50) to a bottom of the inner force frame (10), wherein a bottom end of the inner force frame (10) is mounted to a bottom end of the outer dimensional frame (20), and such mounting is positioned to the ground. The inner force frame (10) will directly transmit any reaction force applied by dynamic motion generated by the linear motor machine to the bottom of the inner force frame (10), thereby minimizing or stabilizing vibration caused by linear motor motion.

The invention discloses a dynamic motion primitive coding method and system based on Lie group Lie algebra, and the method comprises the steps: uniformly representing the tail end pose and contact force spinor of a robot in a Lie group form, and constructing a unified mathematical framework; the method comprises the following steps: acquiring a pose and a force spinor sequence through a teaching phase, and converting the force spinor sequence into a virtual pose sequence through scaling mapping; establishing a dynamic motion primitive (DMPs) model based on the Lie group Lie algebra theory, and learning a model weight matrix and a primary function parameter by adopting local weighted regression; and according to the initial and target poses of the new task, generating a smooth trajectory through phase synchronization control and Euler integration, and outputting the smooth trajectory to a robot controller. According to the method, the problems of posture singularity and motion distortion caused by splitting of a posture channel in a traditional DMPs method are solved, the learning fidelity and reproduction stability of the six-degree-of-freedom posture track of the robot are improved, the smoothness and coordination of the whole motion process are guaranteed, and the debugging complexity of a force control system is reduced.

This invention discloses a generative AI-driven intelligent interactive system for personalized clothing design, relating to the field of clothing design technology. The system includes: a fabric physical property database construction module, which digitizes weight, tensile modulus, flexural stiffness, and drape coefficient into feature vectors based on the AATCC standard testing method; an AI design engine module, which embeds the feature vectors as hard constraints into a generative adversarial network to control the generation of a three-dimensional basic pattern; an interactive gesture acquisition module, which converts touchscreen pressure and distribution into dynamic weights for desired stiffness and drape; and a finite element analysis and simulation module, which performs dynamic motion simulations such as walking, sitting, and raising an arm based on a shell element finite element model, calculating stress distribution, pleat density, and temporal changes in drape contour; and converts fabric physical properties into control parameters for the generative model, using dynamic drape performance as interactive feedback to achieve real-time personalized design through the synergy of clothing structure and material.

The utility model discloses an upper limb structure of a bionic humanoid robot, and aims to overcome the defects that the upper limb of the robot is directly mounted on an output flange of a motor by adopting an L-shaped bracket structure, the structural rigidity is insufficient, mechanical shaking is easily caused in high-speed dynamic motion, and the motion precision and the system stability are further reduced. The device comprises a shoulder turnover seat and an elbow turnover seat, an upper support and an upper opposite side flange are arranged on the shoulder turnover seat, a second motor is installed between the upper support and the upper opposite side flange, and the second motor drives the shoulder turnover seat to rotate; a lower support and a lower opposite side flange are arranged on the elbow turnover seat, a fourth motor is installed between the lower support and the lower opposite side flange, and the fourth motor drives the elbow turnover seat to rotate. A bearing and a connecting structure are arranged on the opposite side of a motor output flange to form a C-shaped supporting structure, the bearing capacity of the motor bearing is effectively shared, the joint rigidity is improved, and the service life is prolonged.

The invention discloses an odor purification and feather collection recycling system and method. The invention discloses an odor purification and feather collection recycling method. The method comprises the following steps: step 1, a feather concentration and attachment step: blowing feathers of a pasture to a feather blocking net through a fan; and 2, feather positioning and preparation: selecting one of a centralized cleaning mode and a global cleaning mode, responding to the selected cleaning mode by a controller so as to plan a dynamic movement track of a sucking disc relative to a feather blocking net, and controlling a longitudinal guide rail and a transverse guide rail to cooperatively move by the controller. The odor purification and feather collection recycling system and method disclosed by the invention have the beneficial effects that two cleaning modes and two planning modes are provided, different feather distribution scenes of a pasture are flexibly adapted, accurate cleaning can be carried out on key areas, the efficiency can be improved, full-area coverage can be realized, dead angles can be avoided, and the requirements of automation and manual intervention are considered.

The invention provides a real-time visual feedback man-machine interaction dynamic motion control device, relates to the technical field of robot control, and aims to solve the problems of low capture precision, untimely feedback and poor adaptability in the existing robot motion control technology. The core process is as follows: a demonstrator selects to implement tracking or whole-section capturing dual-mode input actions, a dual-path camera module synchronously captures action information through binocular vision positioning, the action information is analyzed into a three-dimensional action data set through an action trajectory extraction module, a system generates a robot action instruction according to the action information and issues and executes the robot action instruction, and then double-end action data is synchronously captured; the action similarity is calculated through multi-dimensional weighting, standard judgment is achieved in combination with real-time visualization and voice feedback, unqualified actions are automatically corrected, qualified actions are stored and solidified, and by means of closed-loop control, the robot action simulation precision and efficiency are improved, and the action adaptability is enhanced.

The invention discloses an artificial shoulder joint prosthesis design method and system, and the method comprises the steps: collecting the motion trail and muscle activation state of a shoulder joint in different motion modes, separating the feature frequency and amplitude of the shoulder joint motion, and extracting a dynamic motion feature set of the shoulder joint; inputting the dynamic motion feature set into a contact mechanical model based on a discrete element method, and simulating contact force and friction behaviors between the shoulder joint prosthesis and the skeleton to obtain contact mechanical characteristics of the prosthesis and the skeleton; and according to the contact mechanical characteristics, generating an initial structure of the prosthesis by using a topological optimization algorithm based on a generative adversarial network, generating a prosthesis topological structure with gradient material distribution, and obtaining an optimized prosthesis design scheme. By utilizing the embodiment of the invention, a prosthesis design scheme with gradient material distribution can be generated, the weight of the prosthesis is reduced, and the strength and durability of the prosthesis are enhanced.

The application provides a knowledge enhancement type sports video understanding method based on a large model double-mode reasoning, and belongs to the field of video understanding. First, a sports video requiring a question and a question text are acquired, and the sports video, the question text and a prompt word are input into a reactive reasoning intelligent agent. The reactive reasoning intelligent agent classifies the question according to the question text and the prompt word. If the question belongs to a simple question, the reactive reasoning intelligent agent answers the question according to the input sports video. If the question belongs to a complex question, the question is answered through a deliberate reasoning intelligent agent. The deliberate reasoning intelligent agent is composed of a dynamic motion segmenter, a key segment selector and a fine-grained matcher based on a sports knowledge graph. The application introduces a double-mode reasoning system innovatively, fully considers the dynamic nature, field specificity of the sports video and the diversity and complexity of the user's question, and significantly improves the performance of the (multimodal) large language model in the sports video understanding task.

The invention relates to a foot-type robot cooperative control method based on environment and cluster interaction force, belongs to the technical field of foot-type robot control, and solves one of the problems that an existing foot-type robot cluster is poor in complex terrain adaptability, unstable in dynamic motion control and weak in multi-robot cluster cooperative capability. The method comprises the following steps: obtaining individual state information and neighbor state information of each foot type robot in a cluster at the current moment, and constructing a state space of each foot type robot; based on the state space of each foot type robot, the trained control model of each foot type robot is used to generate each joint torque instruction of each foot type robot at the next moment so as to control each foot type robot to move; wherein the foot type robot control model is a strategy network obtained through reinforcement learning training; during training, a global state space is constructed by aggregating the state spaces of all the foot type robots in the cluster, and the value of action strategies of all the foot type robots in the cluster is evaluated and optimized.

INTELLIGENT DYNAMIC MOTION STABILIZATION FOR COSMETIC APPLICATORS CONFIGURED FOR USERS WITH LIMITED MOBILITY A motion stabilization device is proposed for stabilizing a cosmetic applicator. The motion stabilization device includes a motion stabilizer handle configured to receive an adapter that holds a cosmetic applicator for cosmetic application; and processing circuitry configured to detect a transition from a setup phase to an application phase of the cosmetic application process, and hold the cosmetic application in a fixed position when the transition is detected. Figure for abstract: none

The invention belongs to the technical field of ocean engineering experiments, and provides a fan type rapid identification method for maritime work laboratory motion measurement, which relates to a device comprising a camera for motion measurement, an image collector and a PC (Personal Computer). According to the method, superpixel analysis and optical flow analysis are adopted, K-means clustering is combined to obtain the area of the blade on the image, and in order to reduce the error rate of discrimination, the fan category is discriminated on the image according to the layout characteristics of the blade, and the fan category is judged again through the mutual relation of dynamic motion vectors. According to the method, the type of the floating fan model can be rapidly identified, the type of the measured target can be rapidly obtained at the beginning of motion measurement, the influence on the operation load in the motion measurement process is small, integration and intellectualization promotion of a whole fan experiment test system are facilitated, and the method has high practical value.

The application belongs to the technical field of spacecraft ground simulation test, and discloses a high-precision space GNC full-physical simulation test platform, which is composed of a three-dimensional motion execution system, a distributed real-time control system, a capture interaction simulation system, a safety protection system and a three-dimensional motion simulation and path planning system, and through integration of a three-dimensional orbital large-range motion execution system and a double-grating scale closed-loop detection structure, the simulation motion range is significantly expanded, the technical bottleneck of the existing platform limited to a single shaft, a two-dimensional slide rail and a limited motion amplitude is broken through, the platform realizes high-precision cooperation of a motion control system and an orbit system, can satisfy space high-dynamic motion simulation of a large-size, high-inertia complex target, through integrated design of the capture interaction simulation system, supports autonomous tracking of a target flight path, flexible capture of a flying claw and verification of small multi-degree-of-freedom control, and can effectively simulate complex tasks such as space rendezvous and docking, target capture and micro-force control.

The application discloses a teleoperation skill transfer method and device combined with strategy adjustment, a medium and equipment. The method comprises the following steps: collecting demonstration data by completing an operation task based on a pre-constructed force feedback teleoperation system; determining a main motion direction according to interactive force data and contact force data; dividing each stage of the operation task based on the main motion direction, so that each task stage has corresponding demonstration data; determining a strategy adjustment parameter in each task stage based on the demonstration data; using a dynamic motion primitive model to stage-coding a robot running track, and calculating a mapping relationship between the strategy adjustment parameter and the running track in the main motion direction through an interpolation algorithm; and generating a target action of the robot based on a pre-constructed motion planner, so that the robot can autonomously complete a contact task. The application realizes that the action planning strategy of a human in a contact interaction task is included in human-machine skill transfer, and the robot can learn the strategy adjustment capability of the human in the task.

An apparatus designed to enhance the effectiveness of leg press exercises by incorporating dynamic movements that coordinate both the upper and lower body. The apparatus allows users to perform integrated leg press and chest press exercises, providing a comprehensive solution for lower body strength training. The apparatus includes a base platform with a seat and adjustable backrest to support the user in a seated position, ensuring a comfortable and healthy posture. Foot pedals are configured to move between two vertical positions in response to the user's leg movements, allowing for customizable resistance and optimal muscle engagement. Additionally, the apparatus includes a pair of handles for performing chest press exercises, adjustable to accommodate different body sizes. With weight stacks and range controllers to adjust resistance and motion, the apparatus offers a safe, efficient, and holistic approach to strength training, enhancing neuromuscular coordination and promoting natural, functional movements.

This invention belongs to the field of aerodynamics technology for rotating projectiles, specifically relating to a numerical simulation method for the multi-axis angular motion of a rotating projectile. Based on the projectile's external shape model, a spherical flow field mesh is generated, dividing the mesh into an inner and outer domain. Data is transferred via interpolation at the interface. The global computational domain is used to calculate the steady-state flow field. After flow field convergence, the steady-state flow field parameters are used as the initial flow field for multi-axis angular motion simulation. Multi-axis angular motion modeling is performed on the inner domain mesh, obtaining the coordinates of the inner domain mesh nodes at different times. Multi-axis angular motion simulation is then achieved, including unsteady flow field calculations. The flow field simulation is realized through sliding mesh technology and mesh dynamic motion technology. This invention solves the difficult problems of multi-axis angular motion modeling, complex motion mesh implementation, and complex flow simulation, and streamlines the multi-axis angular motion simulation process, providing a reference for engineering applications.

The present application relates to a kind of fusion ground action force perception's legged robot cluster cooperative control method, belong to robot decision and control technical field, solve the poor adaptability of existing legged robot control method in complex terrain, dynamic motion control is unstable, the problem of weak multi-robot cluster cooperation ability.Method includes: obtaining the state information and environmental perception information of each legged robot and constructing the state space of each legged robot;Based on the state space, using the trained legged robot control model, the motion control instruction of each legged robot in next time is generated to control the motion of each legged robot;Wherein, legged robot control model is the trained actor network;When training the actor network, using critic network, with the global state space constructed by the state space of all legged robots in cluster and the action strategy of all legged robots in cluster as input, the joint value of legged robot action in cluster is evaluated.

The application discloses a kind of based on environmental perception's exoskeleton robot gait autonomous decision-making method, belong to robot automatic control field.It is composed of data acquisition module, environmental perception module, gait switching module three parts, wherein data acquisition module obtains current scene information data by vision sensor, the type information and distance information of ground in front are measured by environmental perception module, gait switching module calculates the landing point of each step according to the track energy of man-machine system, and the end trajectory is planned using the method of dynamic motion primitive, and the step length is dynamically adjusted, so that man-machine system can smoothly reach the terrain in front;And the size information of terrain in front is obtained by environmental perception module, and the gait parameters of exoskeleton robot are dynamically adjusted, to ensure that exoskeleton robot can smoothly, safely and autonomously switch gait;Through motor execution position feedback information, whether the current task of exoskeleton robot is executed is judged in real time.