44 results about "Inertial motion" patented technology

The invention provides an intelligent scoring method and system for joint movement. The method comprises the following steps: acquiring six-degree-of-freedom inertial motion data and surface electromyogram signals, and establishing a motion sequence topological structure containing a space-time reference based on a dynamic sampling strategy; secondly, decomposing inertial data into rigid body and physiological tremor components, and generating a three-dimensional biomechanical model containing joint rotation center drift, multi-plane coupling errors and trajectory curvature; secondly, constructing a time-varying mapping relation between the surface electromyogram signals and the exercise load, segmenting the signals based on phase mutation points, analyzing phase synchronism of an active muscle group and an antagonistic muscle group, and extracting a muscle cooperation mode; and finally, generating a motion feature tensor in a four-dimensional space-time coordinate system through technologies such as space-time coupling and a dynamic transfer function, analyzing an evolution mode of the motion feature tensor in real time to construct a scoring function cluster, and generating a composite scoring value. According to the technical scheme provided by the invention, the accuracy and reliability of joint movement quality evaluation are remarkably improved.

Disclosed herein is an article of smart clothing which automatically recognizes body configuration and motion. This smart clothing includes inertial motion units which are distal relative to selected joints and also sets of strain sensors which span those joints. The type of energy transmitted through a strain sensor can be electrical energy or light energy. Combined multivariate analysis of data from both inertial motion units and strain sensors provides more accurate recognition of body configuration and motion than data from either alone.

The invention discloses a buoy type wave observation method and device based on a GNSS and an accelerometer, and relates to the technical field of marine environment monitoring, and the method comprises the steps: collecting positioning data and inertial motion data, constructing a reference acceleration through the positioning data, carrying out the dynamic real-time zero offset compensation of the acceleration, correcting the attitude of a buoy according to the angular velocity information, and carrying out the real-time zero offset compensation of the acceleration. Wave motion parameters are calculated by using a multi-order spectral moment, a horizontal velocity component is extracted, the main wave direction of waves is estimated through a maximum entropy spectrum method, and the main wave direction and the wave motion parameters are jointly packaged and transmitted through a dual-mode communication link. Through multi-source synchronous acquisition, GNSS dynamic zero offset compensation, attitude correction, wave direction calculation and parameter inversion, the problem of low accuracy and reliability of observation data caused by long-term drifting of the wave observation buoy is cooperatively solved, and meanwhile, the maintenance difficulty and cost of the wave buoy are reduced. A core algorithm is realized through an edge processing architecture, so that the cost of a single buoy is greatly reduced, and possibility is provided for large-scale high-density networking.

The invention discloses a dual-mode inertia-driven microminiature piezoelectric robot and an excitation method thereof, and belongs to the technical field of microminiature robots. Comprising an upper-layer mass block, flexible hinges, driving units and supporting feet. An excitation signal is applied to the driving unit to enable the driving unit to be bent and deformed, the upper-layer mass block of the robot is pushed to rotate around the flexible hinge, and forward movement of the robot is achieved through inertia force generated in the inclined front direction in the lifting and falling processes of the upper-layer mass block. According to different waveforms and frequencies of applied excitation signals, the robot can realize two inertial motion modes of jumping and resonance. By adjusting the configuration mode of the mass block and the driving unit, the robot can form two parallel inertia forces in the advancing direction and can also generate corresponding inertia forces in the retreating direction, and steering motion and forward and backward linear motion on a plane are achieved. The device has the characteristics of simple structure, light weight, high resolution and high movement speed. The method has a wide application prospect in the fields of micro-nano operation in a narrow space, biomedical treatment and the like.

The present disclosure provides a kind of inertial motion measurement double-axis rotation excitation enhancement method and system based on observability analysis.First, the system state space model of introducing double-axis rotation mechanism is constructed, the normalized observability analytical expression of sensor error under zero speed condition is derived based on Gramian matrix eigenvalue decomposition;Accordingly, the attitude condition of error observability maximization is determined, and the optimal rotation excitation strategy including a series of optimal observation positions is set;In the process of inertial navigation positioning assisted by zero speed update ZUPT, in non-zero speed interval, based on the optimal rotation excitation strategy, the IMU is sequentially guided to each optimal observation position by controlling double-axis rotation mechanism, to solve the problem of low error state observability caused by single carrier attitude in zero speed correction.The present application can realize full state high-precision estimation of three-axis accelerometer bias and gyroscope zero bias, effectively improve the precision and robustness of autonomous motion measurement in complex environment.

Systems, devices, and methods for performing mobile device-based oscillometric blood pressure measurements are disclosed. In some embodiments, the mobile device includes a vibration motor, an inertial motion unit (IMU), a camera, a processor, and a non-transitory computer-readable memory, and the processor is configured to at least: vibrate the vibration motor; acquire, via the inertial measurement unit of the mobile device, IMU data indicative of vibration damping caused by a user's body part applying a force to the camera; determine the applied force based on a force model and the IMU data; capture, via the camera of the mobile device, photoplethysmography (PPG) data of blood vessels in the body part simultaneously with the application of the force; and determine the user's blood pressure using oscillometric techniques based on the PPG data and the applied force.

The utility model relates to a kind of rock breaking rods, it includes: including main body and hammer head, main body is covered with flexible layer outside, main body is equipped with movable cavity inside, movable cavity is arranged close to the bottom end of main body, several movable members are filled in movable cavity, and movable member can freely move in movable cavity. Hammer head is located below main body, and is connected with the bottom end of main body. Inertial motion of movable member can absorb and offset part of kinetic energy that bounces back to rock breaking rod, so as to significantly reduce rock breaking rod echo, improve rock breaking effect. Movable member shakes in movable cavity can significantly reduce the vibration of rock breaking rod and the intensity of high-frequency noise radiated outward, so as to be conducive to ecological environmental protection. Flexible layer covered outside main body buffers the vibration of main body, and reduces the noise propagated outward by main body. Therefore, the rock breaking rod can reduce the adverse effects of energy bouncing back to rock breaking rod.

The present application discloses a method, device, robot, storage medium and product for starting and swinging the movement of a robot, relating to the field of robots. The method includes: receiving a movement start and swing instruction; in response to the movement start and swing instruction, controlling the first leg of the robot to be in a suspended state, and performing a leg retraction action of the first leg, and when the suspended state ends, supporting the ground with a first mechanical wheel at the knee joint of the first leg; using the first mechanical wheel as a balanced force point to control the second leg of the robot to be suspended. Through the above method, it is possible to control the first leg to perform a leg retraction action in a suspended state when the area available for the robot's leg movement is small, and use the first mechanical wheel after leg retraction as a ground support component, avoiding the starting and swinging process only through the inertial movement of the foot, and effectively solving the problem of large demand for the running area. The present application can be applied to various scenarios such as cloud technology, artificial intelligence, and intelligent transportation.

The invention belongs to the technical field of aircraft system assembly and measurement, and relates to a large aircraft inclined vertical control surface deflection angle measuring device and a testing method. The device is fixedly installed based on a control surface suspension support arm and a control surface suspension of an aircraft body, when the aircraft is subjected to inertial motion of a control surface, the whole device moves along with the aircraft, the measurement result is not influenced, and meanwhile, in order to solve the problems of non-direct angle measurement and errors and mistakes caused by conversion, a method of directly measuring the rotation angle of the control surface is adopted. Therefore, the purpose of stably, effectively, simply, conveniently and quickly measuring the deflection angle of the control surface is achieved.

This application discloses a method, system, device, medium, and vehicle for identifying and controlling a vehicle's submersion state. The vehicle submersion state identification method includes a prediction step: acquiring the vehicle's suspension height information and inertial motion information; when the suspension height information indicates that a first suspension tension condition is met, and the inertial motion information indicates that a preset weightlessness acceleration condition and a preset weightlessness attitude angle condition are met, then it is predicted that the vehicle has a tendency to fall due to weightlessness. This application integrates suspension height, inertial attitude, and submersion characteristics of the reversing radar to construct prediction and verification identification logic, achieving dynamic prediction before submersion and accurate confirmation of the floating state after submersion. This significantly improves the timeliness of escape response and system reliability, effectively avoids false triggering and missed triggering, and ensures the safety of occupants in the water.

The embodiment of the invention provides a control method of a device for riding instead of walking, electronic equipment and a storage medium, and belongs to the technical field of tools for riding instead of walking. The method comprises the following steps: acquiring inertial motion data through an inertial measurement unit; acquiring a plurality of load data through a plurality of load detection modules; gait phase analysis and pressure distribution analysis are carried out based on the multiple pieces of load data, and gait phase information and a pressure center position of the walking replacing device are determined respectively; performing intention analysis based on the gait phase information, the inertial motion data and the pressure center position corresponding to the two walking devices to obtain motion intention information of the wearer; performing foot posture analysis according to the inertial motion data corresponding to the two walking devices, and determining a target operation mode of the walking devices; and based on the target operation mode of the walking device and the motion intention information of the wearer, controlling the walking device to move through the power module. According to the embodiment of the invention, the use intention of the wearer can be accurately identified, and the movement of the device can be assisted.

The invention discloses a detection device which is mainly composed of a unitary nerve sensing device and an arithmetic device. The neural sensing device is provided with a first origin of a first rectangular coordinate, is arranged in a three-dimensional space on a motion mechanism, keeps an offset value between the first origin and a second rectangular coordinate of the motion mechanism, and is used for continuously measuring an initial physical quantity output generated in an inertial motion; the arithmetic device performs time expansion according to the initial physical quantity to generate a motion trail of at least two dimensions including a direction number and a geometric quantity, and the motion trail and the characteristics of the time expansion form a visual graph with a plurality of indexes for comparing the dimensions.

Disclosed are a floating tray mechanism and a robot. The floating tray mechanism includes a tray and a mounting bracket, the mounting bracket support the tray; the floating tray mechanism further comprises a floating contacting portion and a pulling rebounding portion, the floating contacting portion is provided on one of the tray and the mounting bracket, and the tray is movably supported on the mounting bracket, the pulling rebounding portion is configured to be able to pull the tray back to an initial position of translation when the tray moves relative to the mounting bracket. In the present application, the tray will have a damping relative stroke and a recovery relative stroke relative to the robot when a robot suddenly stops or suddenly speeds up, which greatly reduces the inertial motion of the goods, and thus the fluid goods will not spill out of the tray.

The invention relates to the technical field of low-frequency vibration, and discloses a near-zero-rigidity inertial measurement reference mechanism and an inertial measurement device.The near-zero-rigidity inertial measurement reference mechanism comprises a shell assembly, an extension component, a positive-rigidity assembly, a negative-rigidity assembly and a zero-rigidity assembly, and the positive-rigidity assembly, the negative-rigidity assembly and the zero-rigidity assembly are arranged in the shell assembly; the other end of the positive stiffness assembly is connected with the zero stiffness assembly, the positive stiffness assembly provides positive stiffness for the zero stiffness assembly, the negative stiffness assembly provides negative stiffness for the zero stiffness assembly, and the positive stiffness and the negative stiffness are counteracted; one end of the extension part is connected with the zero-rigidity assembly, the other end of the extension part extends to the outside of the shell assembly to enlarge a zero-rigidity area, the enlarged zero-rigidity area is static relative to the ground and serves as an inertial measurement reference, relative motion between the inertial measurement reference and an object to be measured is detected, and accurate extraction of ultralow-frequency inertial motion of the target is achieved. Therefore, the accuracy of inertial measurement is improved.

The utility model relates to the technical field of injection molds, and discloses a homogeneous injection mold for plastic chair production, which comprises a working table, a fixed mold is fixedly mounted on the upper surface of the working table, a top frame is fixedly mounted on the upper surface of the working table, and a hydraulic cylinder is fixedly mounted on the upper surface of the top frame. A swing knocking assembly is arranged on the lower surface of the workbench. By arranging the swing knocking assembly, the motion trails of the U-shaped frame and the T-shaped sliding block can cover the whole workbench and the mounting area of the fixed mold, a knocking rod is driven to impact the bottom of the workbench due to centrifugal force and inertia generated by rotation of a rotary disc, and then the bottom of the workbench is knocked out due to inertia motion. And the connecting rod can drive the auxiliary rod to impact again so as to continuously generate a knocking vibration effect on the worktable and the bottom of the fixed mold, so that the uniform distribution of the molten material injected into the fixed mold is effectively promoted, and the injection molding production quality of the plastic chair is ensured.

The invention discloses a device for monitoring 12-lead dynamic electrocardio and inertial motion information. The device comprises a 12-lead electrocardio analog front end part, a main control chip part, a Bluetooth module part, other peripheral chip parts, a voltage reduction and stabilization part, a charging part, a battery energy supply control part and a lithium battery. The assembly has the advantages of being small in size and light in weight, is suitable for being worn in a neck-hanging mode, a waist-carrying mode and the like, can improve the wearing comfort of health monitoring equipment, further has the characteristic of combining professional twelve-lead and inertial motion sensing, also has the wireless transmission characteristic, and is suitable for popularization and application. The defects of existing electrocardiogram monitoring are overcome through real-time monitoring health indexes in a long-range dynamic environment, finally, the assembly has the electrocardiogram sensing electrical performance close to the professional level, and the requirement for accuracy and reliability of signals obtained through electrocardiogram monitoring is basically met.

The application discloses an anti-interference enhancement method for high-speed Wi-Fi transmission of a motion camera, and comprises the following steps: acquiring inertial motion data collected by a built-in inertial measurement unit of the motion camera and direction reference information of a receiving end; extracting multi-dimensional motion features based on the inertial motion data; performing real-time classification of a motion mode based on the multi-dimensional motion features, outputting a current motion mode identifier, and at least including a rotation dominant mode, a periodic swing mode and a shock precursor mode and corresponding mode feature parameters; generating a transmission parameter adjustment instruction according to the mode identifier, combining the mode feature parameters and the direction reference information of the receiving end; and performing corresponding transmission parameter feedforward adjustment based on the instruction. The application adopts a response lag limitation which is different from a post-radio frequency feedback, avoids loss and frequent oscillation of a throughput in a high dynamic scene, and improves the wireless link robustness and the real-time performance of video stream transmission in a limit motion environment.

This utility model relates to the field of calcium carbonate production technology, specifically to an overload protection device for calcium carbonate mixing equipment. It includes a mixing tank, inside which a mixing device is installed. The mixing device includes a rotating rod, which is rotatably connected to the top of the inner wall of the mixing tank via a bearing. A connecting rod is installed at the bottom of the rotating rod, and a first inclined plate is fixedly connected to the outer wall of the connecting rod. A fixing plate is fixedly connected to the bottom of the inner wall of the mixing tank, and a second inclined plate is fixedly connected to the back of the fixing plate. This utility model uses components such as the connecting sleeve, connecting rod, and first inclined plate to generate a spiral upward and downward movement. The interaction between the first and second inclined plates disperses the linear momentum of the fluid, preventing unidirectional inertial motion of vortices. This solves the problem of insufficient mixing in some areas and over-mixing in others, thus achieving a more uniform material mixing effect.

Yaw estimation systems and methods for an earthmoving machine and control architecture to receive roll and pitch input from an engine end frame (EEF) inertial motion unite (IMU) and from a non-engine end frame (NEEF) IMU, estimate a yaw articulation angle of the NEEF relative to the EEF by at least two different estimation methods based on the received roll and pitch input, fuse the at least two different estimation methods to generate an updated yaw articulation angle, calculate a yaw articulation rate based on the received roll and pitch input, integrate as an integration the updated yaw articulation angle and the yaw articulation rate, generate a real-time yaw articulation angle estimate of the NEEF relative to the EEF based on the integration, and operate the earthmoving machine based on the real-time yaw articulation angle estimate.

The present application provides an intelligent scoring method and system for joint movement. Among them, inertial motion data with six degrees of freedom and surface electromyogram signals are collected, and a motion sequence topological structure including spatio-temporal benchmarks is established based on a dynamic sampling strategy; then the inertial data is decomposed into rigid body and physiological tremor components to generate a three-dimensional biomechanical model containing joint rotation center drift, multi-plane coupling error and trajectory curvature; then a time-varying mapping relationship between surface electromyogram signals and motion load is constructed, the signals are segmented based on phase mutation points and the phase synchronism of agonist and antagonist muscle groups is analyzed to extract electromyogram co-contraction patterns; finally, through technologies such as spatio-temporal coupling and dynamic transfer functions, motion feature tensors are generated in a four-dimensional spatio-temporal coordinate system, and their evolution patterns are analyzed in real time to construct a cluster of scoring functions, and a composite score value is generated. The technical solution provided by the present application significantly improves the accuracy and reliability of joint movement quality assessment.

This invention provides an ironing method and system based on motion intention recognition and fan-coordinated control. It acquires inertial motion data of a smart iron during the ironing process; based on this inertial motion data, it removes gravity interference through attitude calculation to obtain the true motion direction of the smart iron in the ironing direction; it identifies the user's ironing intention based on the true motion direction; when a forward pushing intention is identified, a suction command is sent to the smart ironing board, controlling the fan of the smart ironing board to execute suction mode; when a backward pulling intention is identified, a blowing command is sent to the smart ironing board, controlling the fan to execute blowing mode; when a change in the motion direction of the smart iron is detected, a reversal protection mechanism is activated, prohibiting the sending of mode switching commands opposite to the current fan mode within a predetermined protection time interval, thereby achieving automatic switching of fan modes, improving ironing efficiency and effect, and protecting the equipment from damage caused by frequent switching.

The invention discloses a high-precision ocean observation navigation mark based on double inertial motion sensor calibration. The system comprises a measurement subsystem responsible for initial data acquisition, a data processing and communication subsystem for post-processing analysis and real-time transmission of processed data, and a matched subsystem. The measurement subsystem comprises a navigation mark body, an inertial motion sensor and a positioning device which are arranged in an array relative to the center of gravity, a tide measurement module, a meteorological measurement module and a wave measurement module; in the measurement process, six-degree-of-freedom motion response of the buoy is analyzed according to measurement results of the two inertial motion sensors, equipment motion characteristics of the carried sensors are calibrated, high-precision correction is performed on collected data, and high-precision observation of offshore tidal current, waves and other hydrodynamic conditions is realized. And the data processing and communication subsystem analyzes the motion state of the navigation mark, calculates the motion state characteristics of other carried measuring equipment, corrects the result, and finally analyzes and transmits the hydrodynamic element of the measured area.

The invention belongs to the technical field of electronic orbital analysis and calculation, and particularly relates to a method for calculating an electronic orbital and an energy state in atoms. The method comprises the following steps: firstly, constructing an electron kinetic equation, namely external force borne by electrons, electron mass, acceleration of the electrons, internal force of the electrons, and displacement representing an electron center position deviating from inertial motion, and finally obtaining an electron motion equation as shown in the specification; by solving the motion equation, orbits and energy levels of electrons in atoms, structures and energy states of molecules and physicochemical properties of semiconductor materials can be calculated. According to the method, hydrogen atoms are taken as an example, and the motion trail and the electron track of electrons in the hydrogen atoms are calculated and described. The method can be expanded to analysis and research of energy states of electrons in molecules or crystals or vacuum and physicochemical properties of materials.

A method including the steps of providing a plurality of ultrawide band ("UWB") components including a transmitter and / or a receiver at a first location, and at a second location, and communicating with a control on one of said first and second locations, sending radial frequency signals from at least one of the UWB components at one of the first and second locations to a second UWB components on the other of the first and second locations, and receiving a reflective signal at the at least one UWB component, and determining an UWB relative position of the first and second locations in at least two dimensions, determining the relative position of the first and second locations utilizing an inertial motion unit ("IMU"), sending the IMU determined position to the control and considering the ultrawide band determined relative position and the IMU determined relative position to reach a final position determination.

The utility model relates to the technical field of precision motion, and discloses a piezoelectric actuator, which comprises a base, a clamping plate and guide ceramic. The base comprises a first flexible hinge mechanism and a door-shaped support. The clamping plate is arranged on the outer side of the door-shaped support in a sleeving mode and arranged above the first flexible hinge mechanism. The clamping plate is provided with a sliding groove and a protruding block which are opposite. The two ends of the guide ceramic are connected with the first flexible hinge mechanism and the second flexible hinge mechanism correspondingly. The guide ceramic is arranged between the sliding groove and the protruding block. The guide ceramic is in contact with the sliding grooves and the protruding blocks through friction surfaces. The clamping plate and the base are connected with each other in a manner that the clamping plate performs inertial motion relative to the base. The second flexible hinge mechanism can prevent the clamping plate from being separated from the base. The stick-slip driving principle is utilized, and the structural design of the clamping plate, the guide ceramic and the base is combined, so that high-precision and high-resolution precise positioning is realized. The device is simple, compact and stable in overall structure, and can be easily integrated with other precise instruments.

A system that analyzes motion of a putter and provides feedback to the golfer as a training aid to guide the golfer towards making better putting strokes. The putter may be equipped with an inertial motion sensor that captures data throughout a stroke; data may be transmitted to a processor, such as a mobile device or a server, for analysis, and feedback signals may be sent to the golfer throughout the stroke based on this analysis. For example, audio tones (generated for example by a mobile phone) may change depending on whether the putting stroke has the desired characteristics. The system may support different operating modes that provide feedback on different putting features. Illustrative modes may for example provide feedback on the putter orientation at address, on the timing of the backstroke, and on the changes in putter face orientation through the stroke.

Example implementations are for tracking an artificial reality input device by receiving, for the input device, video tracking data and inertial motion unit (“IMU”) data based on motion input. Example implementations generate, from the video tracking data, a video tracking position and a video tracking velocity; generate, from the IMU data, an IMU orientation and an IMU linear acceleration; and generate, from the IMU orientation and the IMU linear acceleration, an IMU linear velocity. Example implementations determine if the video tracking position and the video tracking velocity is reliable and determine, by a Kalman filter for the input device, a current bias, a current velocity and a current position.

A rotary motor and a rotary scanning probe microscope driven by inertia of two piezoelectric tubes arranged side by side are disclosed, belonging to the technical field of piezoelectric positioners. The disclosed motor addresses the problem of how to design a rotary motor driven by inertia of two piezoelectric tubes arranged side by side for use in a scanning probe microscope in a low-temperature and strong magnetic field. The motor drives a turntable and a pressure arm to move relative to each other by means of tangential or axial inertial motion performed by the first or second piezoelectric tube, thereby driving the coaxial rotation of the rotating shaft and the turntable. The motor has a compact structure, and the two piezoelectric tubes are used in an upright manner, which reduces the radial size of the entire motor and is conducive to the use of the motor in narrow spaces such as low temperatures and strong magnetic fields. The control method of the piezoelectric tube is simple and reliable, and has extremely wide applicability. The axial deformation of the piezoelectric tube is utilized to reduce friction during rotation, thereby generating greater thrust. The overall non-magnetic design can realize the rotation of the scanning probe microscope at any angle in a magnetic field.

Pedestrian autonomous positioning method based on inertial sensors in complex environments. 1) Considering the corresponding parameters of a single gyroscope, determine the number of redundant inertial sensors. 2) After determining the number of inertial sensors, study the configuration scheme of the redundant inertial sensors to obtain an inertial sensor configuration scheme that can simultaneously optimize the navigation performance and fault detection and isolation performance of the pedestrian navigation system. 3) Use a data fusion algorithm to optimally fuse the data measured by the inertial sensor configuration scheme obtained in steps 1 and 2. 4) Input the fused inertial motion information obtained in step 3 into the inertial navigation system calculation module to calculate various motion parameters of the pedestrian. The present invention is based on a microelectromechanical system inertial measurement unit, realizes high-precision autonomous positioning of pedestrians in complex environments, and adopts the redundancy technology of inertial sensors to solve the problem that the noise of inertial sensors accumulates multiple times, resulting in rapid divergence of the trajectory.

The invention discloses a parallel platform anti-interference decoupling control system based on multi-sensor fusion, and relates to the technical field of pose control. According to the system, a comprehensive state sensing network is constructed by integrating three types of sensors, namely a first sensing unit for measuring the motion amount of a driving joint, a second sensing unit for detecting the output force of the driving joint and a third sensing unit for measuring the inertial motion of a movable platform. The controller operates three function decoupling control loops in parallel based on multi-source sensing information: a main tracking loop realizes macroscopic trajectory tracking based on a kinematic model and generates a reference output instruction; the inertia feedback loop generates feedback force to compensate dominant inertia dynamics by using the inertia information of the operation space; and the force interference feedback loop generates compensation force according to the deviation between the joint output force and the reference output instruction, and suppresses unmodeled dynamic and external disturbance. According to the invention, through multi-loop cooperation, high-performance anti-interference control independent of an accurate global dynamic model is realized.