265 results about "Landing point" patented technology

The invention relates to a robot dog dynamic balance and fall self-recovery method and device for a complex terrain, and the method comprises the steps: building a robust local elevation map through fusing multi-sensor data and quantifying the motion uncertainty of a robot; and a safe foot region set defined by the convex polygon is extracted through geometric feature analysis and plane segmentation. Then, collaborative planning of the trunk and the landing point is carried out in combination with a user instruction and the region set. In a control layer, a nonlinear model predictive control algorithm is adopted, a safety area is used as a hard constraint, and incomplete speed constraint is applied to a wheel type foot end, so that an optimized trunk track and a foot end force reference are output. The whole-body controller converts an upper-layer instruction into an accurate joint torque through a multi-task optimization framework with a weight. When instability is detected, the system can autonomously plan and execute a recovery action sequence including curling, controllable rolling and cooperative supporting.

The invention discloses an emergency homeward voyage control method for an unmanned aerial vehicle under a power failure condition and a medium. The method comprises the following steps: constructing a cascade PID path tracking controller; constructing a cascade model prediction path tracking controller; constructing a model prediction path tracking controller based on the extended state observer; a controller is determined according to the unmanned aerial vehicle power fault condition of emergency return, the unmanned aerial vehicle flight state, forced landing point information and external environment factors, and emergency return control is achieved. The emergency return path tracking controller is determined according to the return route provided by the current flight state, and the return route is tracked.

The invention provides a low-altitude logistics aircraft take-off and landing point and vehicle dynamic connection positioning calibration method, and aims to solve the problems of insufficient positioning precision, poor collaboration and single path optimization in dynamic connection. The method comprises the following steps: firstly, constructing a multi-source fusion positioning module, fusing multi-sensor data through hardware terminal integration and data synchronization and an adaptive filtering algorithm, and realizing high-precision positioning by combining environment adaptive signal switching; secondly, a vehicle-aircraft cooperative calibration link is established, and real-time cooperation is guaranteed through low-delay data transmission, dynamic deviation prediction calibration and communication exception handling; and finally, establishing a multi-agent collaborative path optimization model, modeling based on multi-target parameters, modifying a path in real time by an improved algorithm, and improving a connection effect. The method is suitable for high shielding scenes such as an operation area, centimeter-level positioning calibration can be realized, and the accuracy and collaboration of dynamic connection are enhanced.

The invention discloses an additive manufacturing spatter behavior monitoring and drop point prediction method based on high-speed vision and fluid-solid coupling simulation, and belongs to the field of metal additive manufacturing monitoring. The method comprises the following steps: acquiring an image sequence of a selective laser melting process through a high-speed camera, carrying out image preprocessing, precisely segmenting splashing particles by adopting a combined morphological algorithm comprising Canny edge detection, expansion and corrosion operation, and acquiring the particle size, the initial velocity and the spraying angle of the splashing particles through multi-frame tracking; the initial velocity and the spraying angle are calculated by combining a displacement vector of the same particle in adjacent frames with a frame interval and a pixel calibration coefficient; afterwards, the parameters serve as initial conditions and are input into a particle dynamics model considering the influence of a protective airflow field and nonlinear air resistance based on a Schiller-Naumann model, a flight path is deduced through numerical integration, and a drop point of the flight path on a substrate is predicted; and finally, risk grade judgment is performed according to drop point distribution, and guidance is provided for process parameter optimization.

The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle autonomous fixed-point landing control method based on an ultrasonic array algorithm, and the method comprises the steps: dividing the landing process of an unmanned aerial vehicle into a normal flight stage, a deceleration approaching stage and a near-ground landing stage, starting an ultrasonic beacon array in the approaching flight stage, and confirming the availability of a landing point; a horizontal azimuth angle, a yaw angle and a relative distance are calculated in real time in a deceleration approach stage to perform landing guidance, direct waves and multi-path reflection signals are analyzed in a near-earth landing stage, characteristic parameters such as time delay inequality and phase offset are extracted, an environment reflection space model is reversely constructed, then positioning correction is calculated, a pose fine adjustment instruction is generated, and the attitude fine adjustment instruction is subjected to attitude fine adjustment. And precise fixed-point landing of the unmanned aerial vehicle is realized. According to the method, high-precision positioning is kept under complex environment disturbance, and the stability, accuracy and efficiency of fixed-point landing of the unmanned aerial vehicle in a complex environment are improved by converting the multipath effect from an interference source to available positioning information.

The invention provides a heavy-load unmanned aerial vehicle landing point identification processing method and system based on visual identification, and relates to the technical field of computer vision, and the method comprises the steps: obtaining the airflow speed direction and airflow change data above a landing area of a heavy-load unmanned aerial vehicle, real-time flight data, and an enhanced panoramic image; based on the initial positioning position of the heavy-load unmanned aerial vehicle, the initial coordinates of the preset landing area and the flight task parameters, generating an initial landing trajectory to determine a qualified landing point position; based on the qualified landing point position, the enhanced panoramic image, the airflow velocity direction and the airflow change data, simulating a fuselage stress simulation result of the heavy-load unmanned aerial vehicle in the landing process; based on the qualified landing point position and the fuselage stress simulation result, obtaining corrected flight data; and based on the qualified landing point position and the corrected flight data, an optimized landing trajectory is obtained, and high-precision and high-stability landing control of the heavy-load unmanned aerial vehicle in a complex environment is realized.

The invention provides an electric power emergency unmanned aerial vehicle disconnection phased array auxiliary return flight planning method and system, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the steps: enabling an unmanned aerial vehicle to obtain and analyze a signal through an airborne signal receiving unit based on a directional navigation signal, so as to obtain navigation data; calculating the current actual position of the unmanned aerial vehicle according to the navigation data in combination with inertial measurement unit information and terrain elevation data built in the unmanned aerial vehicle; and taking the safe landing preparation point and a dynamic reference point as focuses, constructing a dynamic navigation constraint ellipse according to a preset eccentricity, and calculating the orientation and the in-domain course of the unmanned aerial vehicle relative to the dynamic navigation constraint ellipse. According to the method, phased array directional navigation signals are combined with dynamic path planning, so that the safety and adaptability of autonomous homeward voyage of the unmanned aerial vehicle in a complex terrain environment are improved.

The invention provides a quadruped robot autonomous navigation method and system based on multi-sensor fusion, and relates to the technical field of robot navigation, and the method comprises the steps: carrying out the calibration, feature extraction and alignment of multi-sensor data, and constructing a three-dimensional environment semantic map; generating a navigation path by considering kinematics and dynamics constraints; dynamically selecting foot end drop points and tracks according to topographic features; and feeding back and correcting the map model in real time. According to the method, the sensing precision, the path planning rationality and the motion stability of the quadruped robot in a complex environment are improved, and the self-adaptive navigation capability of the robot is enhanced.

The invention discloses a quadruped robot advancing path selection method and system based on Kalman filtering, and belongs to the technical field of robot movement control. The method is used for solving the technical problems that sudden change of foot end contact force of a quadruped robot or terrain slope change can cause model mismatch, and then filtering divergence or estimation deviation is caused. A kinematic model is corrected in real time through a slope angle, so that system state prediction is more fit with an actual terrain, noise covariance is dynamically enhanced when contact stiffness is suddenly changed, and the situation that small-probability large sudden change is excessively suppressed by filtering is avoided; the method can dynamically adapt to changes of terrain gradient and contact rigidity, according to the output filtering optimal state estimation and in combination with a preset foot end landing point stability evaluation function, an advancing landing point meeting force-pose constraint is generated, the robot is driven to execute, and the quadruped robot can autonomously select a stable landing point in an unknown complex terrain.

The invention provides a solid sounding rocket landing point control guidance method which comprises the following steps: calculating a geocentric angle between a rocket depletion point and a target landing point, the speed of the rocket depletion point and the to-be-increased speed of the target landing point of the rocket according to current real-time parameters of the rocket; taking the target drop point of the rocket as a constraint, and calculating a theoretical program angle of the rocket according to the depletion point speed of the rocket and the to-be-accelerated speed of the target drop point of the rocket; the actual pneumatic influence and the earth rotation influence are considered, the theoretical program angle of the rocket is corrected, and the actual program angle of the rocket is obtained; and the actual program angle is issued, and guidance calculation is completed. According to the method, the theoretical program angle is iteratively calculated in real time on the rocket computer to complete flight control of the rocket, it is guaranteed that the drop point precision meets the requirement, the problems that a traditional perturbation guidance method is large in calculation amount and poor in adaptability are solved, and high-precision and low-calculation-complexity real-time guidance is achieved.

The invention provides a robot control method and device, equipment and a storage medium. The method comprises the steps that based on the current actual motion state of the robot and foothold information in a control instruction, the expected motion state of the robot is obtained through prediction of an inverted pendulum model; on the basis of the actual speed in the actual motion state and the expected speed in the expected motion state, the speed variation of the robot is obtained through prediction of a speed response model; based on the actual motion state and the expected motion state, predicting a residual speed through a neural network model; determining the execution speed of the robot based on the actual speed, the speed variation and the residual speed; and integral processing is carried out on the execution speed to obtain a motion trail of the robot, and the robot is controlled to move according to the motion trail. According to the invention, the accuracy and stability of robot control can be improved.

A method for landing an aircraft, which takes off and lands vertically, at a predetermined landing site defined by a circular marking that can be captured optically and has a circular outer contour utilizes a landing system. A camera arranged on the aircraft and directed to the landing site is used to capture images electronically, each of which represents a reproduction of the marking detected at least in sections. Each camera image is evaluated in a control device. The control device is used to fit a geometric object with at least one straight line, which has a predetermined line slope in relation to the camera image, into the reproduction in such a way that the line constitutes a tangent through a contact point to the marking detected at least in sections. The control device steers the aircraft in the direction of the contact point determined in this way.

The invention relates to the technical field of fixed-wing unmanned aerial vehicles, in particular to a fixed-wing unmanned aerial vehicle unpowered gliding drop point range real-time prediction and visualization method, and the method comprises the steps: obtaining flight state parameters of an unmanned aerial vehicle in real time under the condition that the unmanned aerial vehicle begins to carry out emergency gliding flight; filtering the flight state parameters to obtain filtered flight state parameters; calculating an estimated drop point distance and a theoretical maximum gliding distance of the unmanned aerial vehicle based on the filtered flight state parameters; based on the estimated drop point distance and the theoretical maximum gliding distance, taking the current position of the unmanned aerial vehicle as a reference point, and generating and displaying a visual drop point prediction map to assist in decision making; wherein the visual drop point prediction map is used for representing the maximum gliding range and the predicted drop point range of the unmanned aerial vehicle. The method can improve the emergency success rate of the unmanned aerial vehicle, reduce forced landing secondary disasters and improve the use safety of the unmanned aerial vehicle.

This application discloses a low-altitude airspace planning method and system based on micro-terminal areas, relating to the field of low-altitude airspace planning. The method includes: generating corresponding take-off and landing areas for low-altitude take-off and landing points or fields, and generating take-off and landing hub areas for adjacent take-off and landing points or fields to construct micro-terminal areas of the low-altitude airspace; constructing risk areas, which, together with control areas and no-fly zones, constitute the restricted areas of the low-altitude flight path network; generating alternative intermediate points connecting each take-off and landing point or field based on the restricted areas; constructing an initial low-altitude flight path network connecting all points based on the data of the alternative intermediate points and the data of the micro-terminal areas; calculating the corresponding weights of each edge line in the initial low-altitude flight path network, and optimizing the initial low-altitude flight path network based on the weighted network; and removing redundant intermediate points based on the optimized network, constructing the flight path network and the entry and exit points of each micro-terminal area to generate the final low-altitude flight path network. This application provides a more reliable technical basis for low-altitude flight path network planning.

A method for assisting an aircraft in landing on a runway and an associated system includes determining a target exit point from the runway and a target taxi speed at which the aircraft has to take the target exit; calculating a target ground distance representative of a ground deceleration phase; and calculating the position of a target touchdown point on the basis of the target ground distance. The target ground distance is calculated as a function of a target deceleration profile for the aircraft to reach the target exit point at the target taxi speed.

The present application belongs to the technical field of vehicle safety engineering, and particularly relates to a point explosion control method and system for a pedestrian safety airbag of a vehicle. The point explosion control method comprises collecting the height information of a pedestrian in front of the vehicle and the movement information of the pedestrian in front of the vehicle in a horizontal plane coordinate system of the vehicle by a collection module, and sending the collected height information and movement information to a processing module; using the processing module to determine whether the vehicle will collide with the pedestrian in front according to the pre-stored vehicle parameter information and the received information; and when it is determined that the vehicle will collide with the pedestrian in front, combining a pre-stored first mapping relationship to calculate the first horizontal coordinate information of the landing point of the head of the collided pedestrian on the vehicle in the horizontal plane coordinate system; using the processing module to calculate the target angle information of the airbag unit, using a control module to control a plane rotating mechanism to drive the airbag mechanism to rotate the point explosion direction to the target point explosion direction in the horizontal plane, and then to point explode the airbag.

The invention discloses a self-adaptive air pressure safety air cushion system and method for a dry snow diving platform, and belongs to the technical field of dry snow training facilities. The system comprises a safety air cushion composed of a plurality of independent air chambers, a sensing module used for detecting motion information of a user in real time, a control unit and an air pressure adjusting module. The sensing module is preferably a combination of a millimeter-wave radar and a camera, and the landing opportunity and the landing point area of a user are accurately pre-judged through data fusion. The control unit controls the air pressure adjusting module before impact, and the air pressure of the independent air chamber corresponding to the drop point is specifically reduced to realize buffering; and the air pressure is quickly recovered after collision to provide support. The problem that a traditional air cushion cannot achieve buffering protection and stable supporting at the same time is solved, intelligent and partitioned precise air pressure control is achieved, and the safety and continuity of training are remarkably improved.

This utility model relates to the field of in vitro diagnostic automation equipment technology, and discloses a feeding slide structure and a testing analyzer, including: a hopper having an inlet end and an outlet end. A slide is set at the outlet end and partially extends into the hopper. A receiving component is set at the part of the slide extending into the hopper, and is located at the landing point of the reaction cup after entering the hopper. The cup-guiding structure includes a guiding plate located above the slide, one end of which is rotatably set close to the outlet end, and the other end extends towards the slide. The guiding plate is used to correct the posture of the reaction cup entering the slide. The feeding slide structure provided by this utility model improves the correction efficiency of the reaction cup through the receiving component, reduces the time the reaction cup takes to pass through the hopper, can adapt to the feeding requirements of high-speed equipment, reduces the probability of cup stacking and jamming, and can also prevent malfunctions caused by cup overflow through the guiding plate.

The application relates to the technical field of computer vision, and discloses a target object motion state analysis method, device and equipment, the method comprising the following steps: reconstructing based on multiple images shot by a camera during target object motion to obtain multiple position points; determining an initial motion interval of the target object based on a preset starting point and a preset landing point; correcting the initial motion interval to obtain a target motion interval; performing trajectory fitting based on the target motion interval to obtain a flight trajectory; and performing prediction based on the flight trajectory to obtain a predicted landing point. The application preliminarily determines the initial motion interval by extracting the position information of the target object, thereby obtaining an accurate target motion interval; the flight trajectory is obtained by performing trajectory fitting based on the target motion interval, which is helpful for intuitively understanding the motion state of the target object; the landing point of the target object is predicted based on the trajectory, and the accuracy of trajectory fitting and landing point prediction is improved, so that accurate analysis of the motion state of the target object is realized.

The application belongs to the technical field of robots, and discloses a three-dimensional force sensing-based detection and balance control method and system for a legged robot. The method comprises the following steps: determining the number of the leg of the multi-legged robot that slips according to a three-dimensional force signal of the multi-legged robot in contact with the ground; and adjusting the multi-legged robot in the following manner when slipping occurs: (1) adjusting the height of the center of mass of the multi-legged robot; (2) for the leg that slips, actively adjusting the joint stiffness and joint damping of the leg to relieve instantaneous impact; applying foot end acceleration and adjusting normal support force to suppress slipping; and adjusting the target foot landing point at the next time. Through the application, the balance of the robot can be quickly restored after slipping occurs, the risk of instability is reduced, and the stability of the robot in a complex environment is ensured.

The invention provides a multi-stream depth reasoning throwing object drop point prediction method and device, equipment and a medium, and the method comprises the steps: reading a configuration file, recognizing the type of an input source, and constructing a hardware acceleration pipeline based on a GStreamer framework; video frames are sent to a GPU video memory, reasoning is performed after preprocessing, and a detection frame, confidence and category information are output; maintaining a sliding window queue for each potential target, performing trajectory association by calculating Euclidean distance and center point offset, and filtering static background noise; monitoring the displacement change of the track in the vertical direction, and triggering drop point judgment when detecting that the vertical displacement is changed from positive to negative and a target is not detected in continuous K frames; calculating the physical distance of a drop point through longitudinal interpolation and transverse projection based on the coordinates of the four points of the calibrated trapezoid; summarizing the plurality of camera candidate drop points, and fusing to obtain a unique drop point result; parallel multi-channel videos are realized; and a real-time frame rate can still be stably achieved under a common industrial camera, and the hardware and deployment cost is reduced.

This invention provides a safety assurance method and system for unmanned aerial vehicles (UAVs) used for medical examinations of high-rise buildings in cities. The method includes: continuously monitoring the flight parameters of the UAV, sampling the flight parameter data at a frequency of ≥100Hz, and performing fusion processing using a Kalman filter algorithm; employing a fault diagnosis algorithm, based on a dual judgment mechanism of threshold and trend analysis, to analyze the collected flight parameter data in real time; comparing power redundancy and attitude stability indicators with preset thresholds to determine the fault level, and performing graded emergency handling according to the fault level, triggering corresponding handling and response strategies for non-catastrophic or catastrophic faults; after the UAV lands, confirming the safety of the landing point through visual SLAM or GPS positioning, and initiating onboard communication to report the status. This invention provides a complete solution from fault prevention to collision buffering through redundant design, graded emergency response, and dual-level protection, maximizing the protection effect and facilitating industrial implementation and verification.

The present disclosure provides an adaptive complex positioning method and apparatus which may combine measurement information about a wireless communication infrastructure, installed near a take-off and landing point of air mobility, with information obtained from a sensor equipped in air mobility and may thus have high position accuracy in a complicated center of a city also, in order to solve a problem where the position accuracy of a conventional global navigation satellite system (GNSS) is lowered in a complicated center of a city.

A propulsion-based payload transporter (PPT) and methods of its operation are provided. The PPT may operate in a gravitational field such as that on the lunar surface. Via rocket engines that produce thrust, the PPT is configured to descend onto and over a payload to be moved. Once in position with respect to the payload, latches engage with the payload so as to secure the payload in a payload holding bay of the PPT. The rocket engines produce thrust with an exhaust plume that is angled away from the payload to avoid payload damage. The rocket engines, which are located at the sides of the payload holding bay, produce thrust to propel the PPT and the payload in a substantially horizontal trajectory with respect to gravity and toward a landing destination.

The invention discloses an active noise reduction method, device and equipment for a take-off and landing point of a hovercar and a program product. The method comprises the steps that real-time noise signals and real-time environment parameters around a take-off and landing platform and real-time attitude parameters of the hovercar are acquired; performing propagation attenuation compensation on the real-time noise signal to obtain a corrected noise signal; matching in the model noise model library to obtain a corresponding rotor noise reference spectrum, an airflow noise reference spectrum and a power system noise reference spectrum; performing feature analysis on the corrected noise signal to obtain a rotor noise component, an airflow noise component and a power system noise component; predicting the change trend of the noise component through an adaptive filtering algorithm to obtain a predicted noise signal, and predicting the next airspace position of the hovercar according to the real-time attitude parameters; and generating an offset sound wave signal according to the predicted noise signal, and transmitting the offset sound wave signal to a next airspace position. The method realizes active noise reduction of the take-off and landing point of the hovercar, and can be applied to the technical field of hovercars.

According to the virtual object landing control method provided by the invention, a target landing point is determined in a game scene corresponding to a game scene map in response to a position marking operation for the game scene map through first terminal equipment, and the first terminal equipment controls a first virtual object in the game scene; generating risk assessment information based on the target route and the target landing point, and displaying the risk assessment information in a graphical user interface of the first terminal device; in response to a marking operation for the risk assessment information through the first terminal device, sending the risk assessment information to a second terminal device corresponding to other virtual objects of the same game team of the first virtual object, so that the risk assessment information is displayed on a graphical user interface of the second terminal device; in response to a position marking operation for the game scene map through the second terminal device, generating an alternative landing point and corresponding risk assessment information according to the position marking operation; and displaying the alternative landing point and the corresponding risk assessment information in a graphical user interface of the first terminal equipment. According to the virtual object landing control method provided by the invention, team members can perform effective communication and cooperation according to landing point selection, and the strategy depth and team cooperation experience in the initial stage of a game are improved.

The invention provides an unmanned aerial vehicle pointing calibration and drop point prediction method and device, and a medium. The method comprises the steps of obtaining a real-time image sequence and obtaining a target pixel coordinate sequence; acquiring and fusing attitude angle data of the holder IMU and the airborne IMU; obtaining a target direction vector in the dynamically normalized camera coordinates based on the target pixel coordinate sequence; converting a target direction vector in the camera coordinate into a target direction vector in an unmanned aerial vehicle body coordinate according to the fused attitude angle data; obtaining a target direction vector in the unmanned aerial vehicle body coordinates after dynamic normalization according to the scene to which the target belongs; and obtaining a target prediction pixel drop point coordinate based on a target direction vector in the unmanned aerial vehicle body coordinate after dynamic normalization. According to the method, the device and the medium, the problems of insufficient pointing control real-time performance, poor attitude stability and large drop point pre-judgment deviation of the existing unmanned aerial vehicle in a maneuvering target real-time indication and drop point prediction scene can be solved.

The application relates to the field of robot walking control, and discloses a biped robot, a walking control method and device thereof and a readable storage medium. The method comprises the following steps: acquiring the center-of-mass state of the robot in each control period, wherein the center-of-mass state comprises a planned center-of-mass state and a measured center-of-mass state; calculating the capture point error of the robot in each control period based on the planned center-of-mass state and the measured center-of-mass state; accumulating the capture point error of each control period to obtain the total capture point cumulative error; when the capture point error or the total capture point cumulative error exceeds a preset threshold range, adjusting the landing point position of the swing leg of the robot based on the total capture point cumulative error; and controlling the swing leg to move so that the robot lands at the adjusted landing point position. The method ensures that the biped robot can still walk stably without falling down when subjected to thrust disturbance.

The utility model discloses an embodiment relates to a kind of recycling storage systems of unmanned plane, by a box that can contain unmanned plane, it is equipped with openable top cover and lifting platform, by these parts cooperate, recycling unmanned plane falling above the box.The technical scheme provided in the application can be arranged at any place, that is, the homeward landing point of unmanned plane is set above the recycling storage system, the whole box is controlled by motor, and the unmanned plane is received in safe and reliable box by mutual cooperation.For example, the recycling storage system of unmanned plane is set in the pickup truck rear hopper, realizes the cruising use of mobile unmanned plane, and the use scene is more flexible, and unmanned plane can be recycled and released at any time and anywhere.