23 results about "Inertial motion" patented technology

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 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.

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.

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.

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 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.

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 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.

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.

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.

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.

The invention belongs to the technical field of video processing, and discloses an online self-adaptive video frame insertion method and device based on inertial motion propagation, and the method comprises the steps: obtaining plane features of a current frame and a next frame, and obtaining prior motion information which comprises an intermediate frame optical flow from the previous frame to the current frame and propagation features; obtaining motion features from the current frame to the next frame according to the propagation features and the plane features of the next frame; estimating an intermediate frame optical flow of the current frame and the next frame according to the motion characteristics from the current frame to the next frame, the intermediate frame optical flow from the previous frame to the current frame and the propagation characteristics; and carrying out frame insertion on the current frame and the next frame according to the intermediate frame optical flow of the current frame and the next frame. According to the invention, accurate, reliable and efficient video frame insertion can be adaptively realized for videos with different motion amplitudes.

The invention provides calibration equipment of an encoder and a calibration method of the encoder, and relates to the technical field of precision measurement, and the calibration equipment of the encoder comprises a driving assembly; the clutch comprises a driving part and a driven part, and the driving part is connected with the driving assembly; the rotating assembly comprises a rotating shaft and an inertia piece arranged on the rotating shaft, and the rotating shaft is connected with the driven part; the clamp is arranged on the rotating assembly and is used for placing the encoder; the control system is electrically connected with the driving assembly, the clutch and the encoder and used for controlling the driving assembly to drive the encoder to rotate and then switching the clutch to be in a non-linkage state so as to enable the encoder to conduct inertial motion and determining calibration parameters of the encoder according to the first position data and the reference position data of the encoder under the inertial motion. According to the calibration equipment of the encoder, the calibration precision of the encoder can be improved.

A universal resonator controller device is disclosed including an analog control circuit for controlling (i.e. providing resonating or damping) of a mechanical resonator subject to inertial motion within a baseband frequency. The analog control circuit produces an analog signal varying with a varying amplitude and frequency of the mechanical resonator resulting from the inertial motion of the mechanical resonator. A digital readout circuit receives and converts the analog signal to a digital signal varying at the resonator frequency and digitally processes the digital signal to demodulate the digital signal to a digital baseband amplitude or frequency signal resulting from the inertial motion.

The utility model relates to the technical field of miniature ultrasonic drivers, in particular to a miniature ultrasonic driver suitable for AR glasses, which comprises a shell, slideways are arranged at two ends of the shell, sliding blocks are arranged in the slideways, a sliding body is arranged between the two sliding blocks, a driving shaft is arranged in the middle of the sliding body, and the driving shaft is connected with the shell. The driving shaft comprises a left-handed rotation driving part and a right-handed rotation driving part, driving devices are arranged at the bottoms of the left-handed rotation driving part and the right-handed rotation driving part, inertial motion of the self-centering rotor and the driving shaft is reduced, excessive motion is reduced, and the motion precision of the driver is guaranteed.

Embodiments of the present disclosure generally relate to Z-axis microelectromechanical sensors with improved stress insensitivity. A microelectromechanical sensor device has a detection structure comprising: a base having a top surface; an inertial mass suspended over the top surface of the base and elastically coupled to a rotor anchor so as to perform an inertial motion according to an amount to be detected with respect to the base; and a stator electrode integrally coupled to the base at respective stator anchors and capacitively coupled to the inertial mass so as to generate, in response to the amount to be detected, a differential capacitance variation indicative of the amount to be detected. In particular, as the inertial motion, the inertial mass performs a translational motion along a vertical axis normal to the top surface of the base; and the stator electrode is arranged in a suspended manner over the top surface of the base.

Provided in the present invention is a drive planning method for a high-speed motion mechanism. In the present invention, two consecutive drive phases, i.e., a first drive phase and a second drive phase, are planned on the basis of the maximum overshoot of inertial vibration and a vibration duration. The first drive phase is a high-speed and high-acceleration motion drive phase; and the second drive phase is a dynamic low-speed and low-acceleration S-curve drive phase. In the first drive phase in the present invention, high-speed motion is still achieved, ensuring high efficiency of the motion; and by means of setting a certain clearance, overshoot and sustained oscillation of a positioning target that are caused by a high-speed and high-inertia motion are avoided, thereby preventing the motion mechanism from colliding with or damaging the positioning target. In the present invention, the positioning target is reached via the second drive phase, such that overshoot and inertial oscillation at a final target can be avoided, and thus the influence of inertial impact caused by high-speed motion on positioning accuracy can be prevented, so as to realize high-precision positioning. Moreover, the present invention does not prolong the overall positioning operation time, thereby ensuring high efficiency of the overall operation.

The invention provides an inertia motion measurement self-rotation excitation enhancement method and system based on observability analysis. A motor is used for driving an IMU (inertial measurement unit) to rotate, and a self-rotation excitation module formed by the motor and the IMU is bound on a moving main body; analyzing an observable degree change rule of an IMU error state, and generating a rotation excitation control rule according to the observable degree change rule; in the zero-speed updating ZUPT-assisted inertial navigation positioning process, in a non-zero-speed interval, based on the rotation excitation control law, the IMU is actively driven to be controlled to rotate automatically, so that the IMU generates attitude change in adjacent zero-speed intervals, and the observability of the error state of the IMU is actively enhanced. According to the method, on the premise of not depending on an external sensor, the observability of the system state is improved through active excitation, error accumulation is restrained, and therefore the motion measurement and state estimation precision of the system during long-time operation is improved.