163 results about "Kinematical model" patented technology

The application discloses a kind of hybrid drive's CTS wind tunnel test motion system's missile model workspace calculation method, comprising the following steps: (1) establish the coordinate system of hybrid drive's CTS wind tunnel test motion system;(2) establish the kinematics model of hybrid drive's CTS wind tunnel test motion system, establish the mapping relationship of each drive quantity in hybrid drive's CTS wind tunnel test motion system and the pose of missile model;(3) establish the constraint condition of hybrid drive's CTS wind tunnel test motion system;(4) pose assignment rule is formulated, and the working space of missile model is synthesized using the method of attitude traversal, pose superposition.It can be determined that the working space of missile model in wind tunnel through the above steps, the calculation efficiency of the motion space of missile model in CTS test is greatly improved, and the basis for the determination of CTS test trajectory boundary is laid.

This application discloses a path planning method, apparatus, medium, and product for an aircraft traction system in confined spaces, relating to the field of aircraft path planning technology. The method includes: establishing a kinematic model of the aircraft traction system located in a hangar; constructing a path planning mathematical model based on the kinematic model; employing an improved hybrid algorithm to perform path search on the aircraft traction system based on the path planning mathematical model to obtain the target path of the aircraft traction system; the improved hybrid algorithm is derived from a hybrid algorithm, and the improvements include: using RS curves for bidirectional node expansion; setting the cost function to include the cumulative historical cost from the starting node to the current node and the heuristic cost from the current node to the target node; and establishing a closed table distinguishing between forward and backward directions. This application realizes path planning for an aircraft traction system in confined spaces.

The application discloses a master-slave space mining robot adaptive control system based on IAVOA, which comprises the following steps: a master-slave kinematic model of the space mining robot is established according to the structure and motion characteristics of the space mining robot, and then a trajectory tracking control system of the space mining robot is established; in the controller design process, the direct feedback linearization theory is adopted to realize the global accurate linearization of the nonlinear system of the space mining robot, and the kinematic problem of the space mining robot is greatly simplified; the optimal initialization of the algorithm population is realized by introducing the Henon chaotic mapping population initialization and elite population strategy; the external storage library can help the vulture population to select more solution space, and avoid generating a large number of same non-inferior solutions; the adaptive optimization adjustment of the control parameter of the space mining robot control system can be realized, the complex working environment on the surface of the asteroid can be effectively coped with, and the accurate control of the motion of the system on the space mining robot can be realized.

The present application relates to a kind of four-legged robot single leg sliding mode control method based on interference observer, belong to robot control technical field.First, the trajectory of four-legged robot single leg in swing phase is established;Then, the kinematic model of four-legged robot single leg is established, to realize the conversion of foot target position and corresponding joint angle;On this basis, non-singular terminal sliding mode controller is designed to deal with the dynamics control under the condition of no interference;Finally, combined with sliding mode controller and interference estimation, the final composite control strategy is designed, the stable tracking of robot joint angle is realized, so as to improve the anti-interference performance of single leg system.The present application utilizes the combination of finite time interference observer and non-singular terminal sliding mode controller, designs a kind of composite controller, to improve the foot trajectory tracking accuracy and system robustness of four-legged robot, eliminate the uncertainty caused by external disturbance and modeling error suffered by robot.

The application relates to a motion planning method and device, a robot, a readable storage medium and a program product. A chassis corresponding kinematic model is generated based on chassis state information and each virtual wheel information corresponding to each wheel group, and the speed and angle of each virtual wheel are not related; motion constraint information of the chassis is obtained, and the chassis is subjected to motion planning according to the kinematic model and the motion constraint information. Compared with the traditional motion planning in the switching mode of double Ackerman steering mode and skew mode, the scheme removes the restriction that each wheel in the chassis must rotate at the same angle size and in the opposite direction, constructs multiple virtual wheel information, generates a kinematic model in combination with the chassis state information and the virtual wheel information, and subjects the chassis to motion planning in combination with the kinematic model and the motion constraint information of the chassis, thereby improving the operation efficiency of the chassis.

The application provides a reliability analysis method for positioning accuracy of a shield tool changing robot, realizes sensitivity analysis of error parameters by constructing a kinematic model and an error proxy model, and accurately evaluates the failure probability of positioning accuracy. The assembly and machining errors are comprehensively considered, the error parameters are treated as random variables, the accuracy and efficiency of the analysis are improved. The mean and standard deviation of the random variable are used for sensitivity calculation, and a failure calculation method of positioning accuracy sensitivity is obtained, which provides an important basis for optimization design. The application not only helps to reduce the tool changing time, improve the construction efficiency and reduce the safety risk, but also provides an accurate and reliable tool changing robot manufacturing scheme for designers. The method has universality and flexibility, and can be widely applied to performance improvement and fault prevention of the shield tool changing robot. The implementation of the application will promote the development of shield construction technology and provide strong support for industrial automation and efficient production.

This invention discloses an automatic leveling geographic surveying instrument, belonging to the field of geographic surveying technology. The invention first acquires the tilt angle and tilt angle change rate of the total station base in real time, dividing station settlement into three stages: micro-settlement, significant settlement, and sudden settlement. For the micro-settlement stage, real-time error compensation is achieved through elevation correction of the line-of-sight height-time fitting curve and vertical axis tilt horizontal angle correction. For the significant settlement stage, high-precision automatic leveling based on a kinematic model, physical compensation for the three-dimensional displacement of the instrument center, and orientation reset are executed sequentially. For the sudden settlement stage, shutdown alarm and abnormal data marking are implemented. This invention also includes surveying instrument hardware with electrically telescopic outriggers and a multi-sensor system, adaptable to surveying operations in complex geological conditions, balancing measurement accuracy, operational continuity, equipment safety, and data utilization.

The application relates to the technical field of automatic charging, and provides a control method and system of an automatic charging device, a mechanical arm of the automatic charging device comprising three rotary joints, one translation joint and joint arms between the joints, the rotary planes of the three rotary joints being parallel to each other, the translation joint driving a charging gun to move along a translation axis, the method comprising the following steps: acquiring current pose parameters of the mechanical arm and a target pose of the charging gun; calculating a current pose of the charging gun based on the current pose parameters; and planning a joint path of the mechanical arm based on a two-dimensional search method and the geometric relationship between the rotation angle of the charging gun relative to the translation axis and the joint angles of the rotary joints according to the current pose and the target pose. The application does not need to establish a D-H kinematics model and does not need to perform complex matrix operations; moreover, the two-dimensional search method can directly obtain an optimal solution without iterative calculation, reduces the calculation time cost, and has high overall planning efficiency.

This invention relates to the field of unmanned surface vessel (USV) path planning technology, specifically to a path planning method for USV swarms in narrow waterways. The method includes: constructing a narrow waterway environment model; constructing a USV kinematic model; constructing a training set based on data from the narrow waterway environment model and the USV kinematic model; constructing a path planning model based on a multi-agent proximal policy optimization algorithm employing an attention mechanism, wherein the reward function of the path planning model considers an adaptive reward mechanism based on waterway width to achieve a triangular formation for the USV swarm in wide waterways and a longitudinal formation in narrow waterways; training the path planning model using the training set; and applying the trained path planning model to a real-world path planning task to achieve cooperative navigation and collision avoidance of the USV swarm in narrow waterways. This invention improves the path planning capability and navigation safety of USV swarms in narrow waterway environments.

The application relates to an aluminum formwork construction method, system, equipment and medium based on a BIM point cloud. The method comprises the following steps: aligning BIM design model data of an aluminum formwork with laser scanning point cloud data to obtain a BIM design model and a field point cloud model in the same coordinate system, and performing feature extraction and feature matching processing on the BIM design model and the field point cloud model respectively to obtain a matching point pair set; calculating the spatial deviation of the matching points according to the matching point pair set, and combining a preset kinematic model of a hydraulic leveling system to generate a hydraulic cylinder correction parameter sequence; and the sequence is used to drive the hydraulic leveling system to act and correct the aluminum formwork. The method can accurately align the BIM design model with the laser scanning point cloud data of the construction site, extract and match features, and automatically generate correction parameters in combination with the kinematic model of the hydraulic leveling system, so that the correction accuracy and the automation level of the aluminum formwork construction are significantly improved, the construction efficiency is effectively improved, and human errors are reduced.

This invention discloses an optimization method and system for smoke screen chaff deployment based on a view cone masking model, belonging to the field of signal jamming technology. The method includes the following steps: S1, constructing an adversarial kinematic model of the missile, target, and chaff; S2, establishing a view cone masking quantitative evaluation model with masking completeness as the core; S3, defining a fitness function with the maximum effective masking time as the objective; and S4, using an adaptive genetic algorithm to solve for the optimal deployment strategy that satisfies spatiotemporal constraints. This invention solves two major bottlenecks in existing technologies: the disconnect between effect evaluation and decision control, and the excessive reliance of advanced decision models on preset conditions. It achieves accurate, direct, and decision-driven quantitative evaluation of masking effects from the first-person perspective of the missile seeker.

The application discloses a kind of unstructured scene under the method for dividing and generating reference line of passing boundary, it is related to the technical field of car intelligence planning, and its technical solution main points are: obtaining discrete path data, pre-processing, obtaining pre-processed data, and calculating the heading and curvature information of reference line;Receive road network information and input A* algorithm, obtain global rough path, convert global rough path from Cartesian coordinate system to Frenet coordinate system, then establish driving space node graph, input driving space node graph into dynamic programming algorithm, obtain left and right rough boundary, realize smoothing involving equality constraint initial solution in combination with quadratic programming model;Establish the kinematic model of vehicle motion of arc length parameter and discretization AL-iLQR solver combined with multi-constraint optimization, generate smooth reference line.The application significantly improves the path modeling efficiency and noise resistance, optimizes the real-time and safety of passing boundary smoothing, and efficiently generates kinematically feasible trajectory.

The application discloses a remote unmanned plane control method and device, and the method comprises the following steps: acquiring a local control scene, wherein the local control scene is obtained by processing three-dimensional environment information of the remote unmanned plane by using a compressed sensing control paradigm; acquiring an electroencephalogram signal generated when an operator watches the local control scene; analyzing the electroencephalogram signal by using an intention analysis algorithm to obtain original control instructions of the remote unmanned plane by the operator; optimizing the environment information and the original control instructions by using an environment self-adaptive control algorithm to obtain continuous unmanned plane control instructions; and sending the continuous unmanned plane control instructions to the remote unmanned plane and controlling the remote unmanned plane based on a kinematics model. The application effectively solves the problem of poor space perception and control ability of the existing brain-controlled remote unmanned plane technology.

The application provides a vehicle navigation method and device, electronic equipment and storage medium, the method comprises the following steps: determining the left and right wheel base of the non-steering wheel of the vehicle according to the roll angle and lateral acceleration of the vehicle; determining the heading angle of the vehicle according to the left and right wheel base of the non-steering wheel, the outer wheel speed of the non-steering wheel, the inner wheel speed of the non-steering wheel and the vehicle kinematics model; considering the influence of the roll angle and lateral acceleration of the vehicle on the wheel base of the vehicle, so that the determined vehicle wheel base is more accurate; through the established kinematics model, the heading angle of the vehicle obtained according to the determined wheel base can realize accurate estimation of the state of the vehicle; the attitude information of the vehicle output by the inertial navigation system is compensated to obtain compensated attitude information; the heading angle of the vehicle is determined according to the compensated attitude information and the heading angle of the vehicle; the finally obtained attitude information of the vehicle is more accurate, and the accuracy and reliability of the vehicle navigation system are improved.

The application provides a kind of park lane line perception method and system based on multi-source data fusion and prior map constraint, it is related to map and positioning navigation technical field, this method includes: collecting multi-source data and pre-processing image;Extract color, edge and semantic feature for weighted fusion, generate candidate lane line heat map;Obtain high-precision map prior information and project to image coordinate system, spatial screening is carried out to candidate point;Adaptive model fitting is carried out to effective point set, and lane line observation value is obtained;Kalman filtering tracking and prediction are carried out in combination with vehicle kinematic model;Comprehensive multi-dimensional index calculates confidence and carries out hierarchical processing.The application improves the detection robustness in complex environment by multi-feature fusion, uses map prior to carry out flexible constraint to eliminate noise, introduces motion tracking to ensure continuity when shielding, and realizes abnormal response through confidence evaluation, effectively solves the perception problem caused by unclear park lane line feature and variable environment.

This application discloses a robot speed control method, including: Step A, the robot calculates the command speed and the measured speed according to the kinematic model; then executes Step B; Step B, the robot adjusts the command speed to fall within the measured speed disturbance range by performing a bisection method; then executes Step C; Step C, the robot calculates the cosine similarity using the measured speed and the command speed falling within the measured speed disturbance range; then executes Step D; Step D, when the cosine similarity falls within the fit range of the motor response curve, the disturbance parameter corresponding to the measured speed is configured as the optimal response limit parameter of the motor, and the command speed falling within the measured speed disturbance range is configured as the optimized motion speed, so that the robot walks according to the optimized motion speed.

A system for monitoring vibrations induced in a surgical robot includes an end effector having a first marker coupled thereto, a human interface device (HID) for actuating the end effector, and a processor communicatively coupled to the HID. The processor is configured to actuate the end effector based on inputs provided by the HID and to detect an actual position of the first marker attached to the end effector. Further, the processor is configured to determine an expected position of the marker based on a kinematic model of the surgical robot and the inputs provided by the HID and to determine a position error between the actual position of the first marker and the expected position of the first marker.

The application relates to a low-friction design method of a planetary roller screw, and belongs to the technical field of mechanical design. Step 1, a contact point position solving model and a kinematics model of the planetary roller screw are established, and the sliding speed and the entrainment speed of a screw-roller and a roller-nut contact pair at a contact point are solved; step 2, according to the definition of a slide-roller ratio, a slide-roller ratio calculation model of the screw-roller and the roller-nut contact pair of the planetary roller screw is established; step 3, according to the correct movement and meshing requirements of the planetary roller screw, a structure constraint condition is established; step 4, taking the minimization of the slide-roller ratio of the screw-roller and the roller-nut contact pair as an optimization target, and combining the structure constraint condition, a low-friction design model of the planetary roller screw is established; step 5, a multi-objective evolutionary algorithm is adopted to calculate the low-friction design model of the planetary roller screw, and optimal solutions and corresponding structure design parameters are obtained.

This invention relates to the field of digital twin technology, specifically to a two-dimensional spatial multi-device collaborative coverage simulation method based on digital twins. The method includes acquiring the elevation grid, slope vector, regional soil friction coefficient, and structural parameters of the agricultural machinery such as wheelbase and center of gravity of the area to be operated; calculating the dynamic vertical load and lateral tilting stability moment of each wheel using kinematic and equilibrium models; calculating the lateral slip yaw distance and longitudinal drive slip ratio of the agricultural machinery based on the Coulomb criterion and friction force limits; dynamically correcting the theoretical turning radius and nominal width using slip data to generate a high-precision path node sequence; finally, converting the nodes into four-dimensional spatiotemporal bounding boxes for overlap detection; adjusting the timestamps according to the acceleration response limits of the agricultural machinery entities; and outputting the multi-machine collaborative operation trajectory flow. This invention achieves high-fidelity collaborative simulation of multiple machines through deep coupling of physical fields.

This invention discloses a finite-time dynamic surface anti-dead-zone tracking control method for unmanned vehicles, belonging to the field of lane trajectory tracking control for unmanned vehicles. The method includes: constructing a kinematic model of the unmanned vehicle; constructing a front wheel steering angle dead-zone adaptive compensation model, and compensating for asymmetric dead-zone characteristics based on adaptive estimation parameter vectors and activation function vectors, replacing the front wheel steering angle signal in the unmanned vehicle kinematic model with the output of the front wheel steering angle dead-zone adaptive compensation model to form a decoupled unmanned vehicle kinematic model; obtaining a finite-time auxiliary control signal based on the first state variable in the decoupled kinematic model; processing the finite-time auxiliary control signal using a first-order filter to obtain a reference signal for the second state variable; and designing an ideal front wheel steering angle control signal based on the second state variable, the reference signal, and the approximation results for uncertain disturbances. This invention significantly improves the dead-zone compensation capability and dynamic characteristics of the controller.

The application belongs to the technical field of robot intelligent control, and provides a robot dual-source joint information impedance control method, system, medium and robot, which is oriented to the motion control of a 3R configuration robot, and comprises the following steps: performing signal filtering and differential processing on original motion state data of each joint of the robot to obtain joint motion information including filtered angle, filtered angular velocity and filtered angular acceleration; based on a kinematics model of the robot, mapping pose and / or velocity information of an end effector to a joint space to obtain mapping angle and mapping angular velocity; respectively fusing the angle and the angular velocity to obtain fused angle and fused angular velocity; and generating a control torque by combining the fused angle, the fused angular velocity and the filtered angular acceleration with preset target impedance parameters and an expected trajectory. According to the application, the angular velocity and the angular acceleration can be obtained without adding speed and acceleration sensors on the motor, so that the size, complexity and cost of the joint control motor are avoided.

This invention provides a train operation method, medium, and equipment based on dual-loop adaptive sliding mode control, relating to the field of rail transit train operation control technology. The method involves an outer-loop displacement control subsystem controlling the train to track a target displacement; and an inner-loop speed control subsystem controlling the train to follow the speed curve generated by the displacement control subsystem at the desired speed. The output of the speed control subsystem is the resultant force of traction and braking. The control law is determined based on the integral sliding surface of the speed control subsystem and the train kinematic model. The additional resistance in the train kinematic model is simulated using an RBF neural network algorithm. The basic resistance parameters, total train mass, ideal weight matrix of the RBF neural network, and approximation error in the train kinematic model are determined using the adaptive control law of the integral sliding surface of the speed control subsystem. This method can solve the control problems of divergent speed tracking control deviations and low convergence efficiency under complex operating conditions.

The application discloses a jujube tree self-adaptive pruning method and system based on a laser radar, and belongs to the technical field of agricultural automation. In order to solve the problem that the distance between a cutter head and a trunk is difficult to accurately keep due to disturbance of a machine tool posture in existing pruning operation, the method comprises the following steps: obtaining original distance data detected by a laser radar and machine tool posture data detected by a posture sensor, fusing and solving a real relative distance after elimination of the posture disturbance; obtaining a current position of the cutter head center through forward solution of a mechanical arm-push rod kinematic model according to a current swing angle of the mechanical arm; receiving a target distance input by a user; calculating a displacement vector according to the target distance, the real relative distance and the current position of the cutter head, and mapping the displacement vector into a target length of a servo push rod through inverse solution of the kinematic model; driving the push rod to move the cutter head to the target distance, and forming closed-loop control by monitoring the position of the cutter head in real time. The method is mainly used for self-adaptive pruning of jujube trees, and constant control of the distance between the cutter head and the trunk under dynamic disturbance is realized.

This invention discloses a collaborative training method and system for autonomous driving planning and control, belonging to the field of autonomous driving technology. The method includes: acquiring the current state of the vehicle, the states of surrounding traffic participants, and reference road information; using a Transformer-based planning network to output a control sequence, which is then used to generate a planned trajectory via a vehicle kinematics model; inputting the planned trajectory into a model predictive control-based neural network controller for dynamic tracking optimization to obtain the executed control quantity and predicted vehicle dynamic state; constructing a control loss and backpropagating its gradient to the planning network; and, during training, layering constraints on the planning cost term, using safety and traffic rule-related terms as hard constraints and comfort-related terms as soft constraints, and employing a multi-stage cost scheduling strategy to adjust the constraint strength or weight. This invention achieves collaborative optimization of planning and control, improves the dynamic executability and safety compliance of the trajectory, and enhances training stability and closed-loop robustness.

This application provides a method and apparatus for locating steel coil strapping, an electronic device, and a storage medium, belonging to the field of industrial automation control and signal processing technology. The method includes: acquiring a first distance from a robot to the surface of a target steel coil and the robot's pose information; binding the first distance with the corresponding pose information according to a preset binding method to obtain a bound array; transforming each data point in the bound array to the robot's base coordinate system using a kinematic model to generate a three-dimensional point array; determining a candidate point array for strapping based on the three-dimensional point array and a preset height threshold; calculating a second distance from each candidate point to the surface of the target steel coil, comparing the second distance with a preset strapping feature tolerance, and selecting candidate points corresponding to second distances not exceeding the preset strapping feature tolerance as strapping points. This application can improve the accuracy and stability of robot positioning of steel coil strapping during the unbundling process.

The application provides a tracking control method, device and equipment of an adaptive hybrid path, the tracking control method inputs system state information into an unmanned vehicle plane kinematics model, obtains deviation information of the unmanned vehicle relative to a reference path and curvature information of a reference path point; for a lateral control layer, inputs a plurality of candidate front wheel steering angles and the deviation information into a steering angle optimization model, obtains a candidate front wheel steering angle with minimum cost, and inputs the candidate front wheel steering angle into a front wheel steering angle correction model, outputs a steering angle residual correction amount, and superimposes the candidate front wheel steering angle and the residual correction amount to generate a target front steering angle; for a longitudinal control layer, inputs the curvature information and the target front steering angle into a target vehicle speed planning model, obtains a target vehicle speed; inputs a current vehicle speed and the target vehicle speed into an adaptive speed regulation relationship model, obtains a longitudinal acceleration, and the safety of path tracking control of the unmanned vehicle is improved in the aspects of tracking accuracy and steering smoothness under complex curvature road conditions.