481 results about "Landing point" patented technology

The invention discloses an unmanned aerial vehicle autonomous address selection method based on terrain evaluation and approach cost analysis, and relates to the technical field of unmanned aerial vehicle autonomous address selection. After the unmanned aerial vehicle receives a landing instruction in an unknown environment, the geometric safety of the terrain and the cost problem of the approach path can be comprehensively considered, and the landing point selection strategy of the unmanned aerial vehicle is optimized from the global perspective. Firstly, semantic segmentation is performed on an RGB image acquired by a visual sensor through deep learning to acquire a semantic image, then point cloud data acquired by a laser radar and the semantic image are fused to acquire a three-dimensional semantic point cloud, and a terrain safety area conforming to terrain geometric feature constraints is screened out on the basis of considering semantic tags. And finally, calculating the cost of the linear approach path of each candidate landing point in the terrain safety area through traversal, and screening out the landing point with the optimal comprehensive cost, thereby improving the accuracy and practicability of terrain safety area identification. According to the method, an unreachable or high-risk area is avoided, and the global point selection optimization effect is improved.

An unloading control system accesses a weight / mass versus position fill profile for an identified container. The unloading control system generates control signals to position the material transfer vehicle so that an initial landing point of material in the container is at a desired positioned based upon the fill profile. The unloading control system generates control signals to unload material into the container according to the weight / mass versus position fill profile and obtains an indicated of the weight / mass of material transferred. The control system generates control signals to control the landing point of material in the container based upon the fill profile and the weight / mass of material transferred.

The invention discloses a low-altitude airspace planning method and system based on a micro-terminal area, and relates to the field of low-altitude airspace planning, and the method comprises the steps: generating a corresponding take-off and landing area for a low-altitude take-off and landing point or a take-off and landing field, and generating a take-off and landing hub area for an adjacent take-off and landing point or a take-off and landing field, so as to construct the micro-terminal area of the low-altitude airspace; constructing a risk area, and forming a restricted area of the low-altitude airline network together with the control area and the no-fly area; on the basis of the restricted area, generating alternative intermediate points connected with the take-off and landing points or the take-off and landing fields; based on the data of the alternative intermediate points and the data of the micro-terminal area, constructing an initial low-altitude airline network connected with all the points; calculating a weight corresponding to each side line in the initial low-altitude airline network, and optimizing the initial low-altitude airline network based on a weighted network; and removing redundant intermediate points based on the optimized network, constructing access points of the airline network and each micro-terminal area, and generating a final low-altitude airline network. According to the invention, a more reliable technical basis is provided for low-altitude route network planning.

An agricultural harvester has a frame and a spout that is mounted to the frame. A target landing point indicates a position in a receiving vehicle where material is intended to land. A control system detects an actual landing point and automatically controls the spout based on a difference between the actual landing point and the target landing point.

The invention discloses a quadruped robot landing planning method based on scene decoupling and risk avoidance. The quadruped robot landing planning method aims at solving the problems that in the prior art, perception is not precise in a complex environment, and the obstacle avoidance capacity is insufficient. The method comprises the following steps: acquiring and fusing multi-source sensor data, and segmenting an original point cloud; generating a scene decoupling elevation map of a multi-layer structure by using the segmentation point cloud; constructing a multi-objective optimization problem taking risk avoidance as a core based on the elevation map, wherein the multi-objective optimization problem comprises a comprehensive cost function and a strict obstacle avoidance constraint; utilizing a reaction formula adjusting module of a capturable region theory to cope with a dynamic instability risk; and solving the multi-target and multi-constraint optimization problem in real time by adopting a hierarchical solving strategy, and finally generating an optimal foot end drop point considering safety and stability. According to the method, the terrain adaptability, the motion stability and the decision intelligence of the quadruped robot in an unstructured environment are remarkably improved through fine decoupling of a scene and quantitative avoidance of multi-source risks.

The invention provides an unmanned aerial vehicle route control method and related equipment. A standby landing point in an inspection route of a target unmanned aerial vehicle can be deployed according to a preset inspection route of the target unmanned aerial vehicle; when the electric quantity of the target unmanned aerial vehicle is not enough to complete all the inspection tasks in the inspection task execution process, safe standby drop is carried out at any time, and the battery remaining electric quantity of the target unmanned aerial vehicle is determined and recorded in real time according to the voltage of the battery of the target unmanned aerial vehicle; analyzing the total quantity of batteries required by the target unmanned aerial vehicle to complete the inspection route to be executed and the flight action; whether the current target unmanned aerial vehicle needs to be subjected to standby landing or not and whether standby landing conditions exist or not can be judged in real time according to the electric quantity consumption model and the remaining electric quantity of the unmanned aerial vehicle patrol inspection action; wherein the model can be dynamically adjusted according to external conditions, and if the model is dynamically adjusted according to external conditions, related alarm parameters of the target unmanned aerial vehicle are reported, so that a standby landing strategy of the target unmanned aerial vehicle can be determined based on the alarm parameters, and safe standby landing of the target unmanned aerial vehicle is realized.

The invention discloses a landscape object identification and explanation method and system, a medium and a product, and relates to the technical field of augmented reality. The method comprises the following steps: when the head motion state of a user is stable, triggering a camera to collect and recognize a single-frame image, matching a recognition result with a regional knowledge base, and generating a candidate object list and coarse-grained poses which are sorted according to spatial probability and historical popularity; performing feature point matching on a current frame and an ideal frame in the video stream, and calculating a fine-grained pose of a target landscape in the candidate object list relative to a camera coordinate system according to a matched target feature point; according to the fine-grained pose and the real-time eye movement data, determining a drop point part of the sight line of the user on the target landscape, forming a multi-dimensional query vector according to the drop point part, the intention of the user and the environment context parameters, and generating multimedia explanation content; and carrying out fusion rendering on the multimedia explanation content and the real-time video stream, and outputting and displaying. By implementing the technical scheme, the personalized multimedia explanation content can be generated.

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 relates to the technical field of artificial intelligence, in particular to a multi-dimensional tennis action analysis system, which comprises a data acquisition module, a data preprocessing module, an evaluation analysis module and a feedback interaction module, and is characterized in that the data acquisition module comprises a posture data acquisition unit, a ball path and walking tracking unit and a motion parameter acquisition unit; the data preprocessing module carries out space-time calibration on posture, track and motion parameters based on a timestamp synchronization mechanism, a fusion data set is formed through data cleaning and standardization processing, and the evaluation analysis module is used for distinguishing action types, integrating scores of posture dimensions, power generation dimensions and drop point dimensions and generating a comprehensive evaluation report; and the feedback interaction module displays an evaluation result in real time on an interface based on characters and visual icons and outputs historical analysis. According to the invention, the data validity is guaranteed, the error interference is eliminated, the analysis efficiency and the professionality of the evaluation result are improved, the use threshold is reduced, and the universality and practicability of the system are improved.

The invention discloses a shipborne fixed-wing aircraft landing guidance law design method and system, and belongs to the field of aircraft guidance law design. The problems that the multi-coordinate system coupling effect of ship motion and aircraft dynamics is not fully decoupled and an existing method is weak in adaptability to non-stable sea conditions are solved. The method comprises the following steps: defining related coordinate systems including a world coordinate system, a landing coordinate system and a ship body coordinate system; calculating an ideal landing point height change value caused by ship deck movement in real time according to the position of the ideal position in the ship body coordinate system; utilizing a KOA-LSTM hybrid forecasting model to predict a motion heave value of a ship deck at a future critical moment; designing a compensation value for the longitudinal position deviation based on the predicted motion heave value, and carrying out dynamic compensation correction on the longitudinal guide instruction; and according to the compensated guide instruction and the real-time position of the aircraft, calculating the transverse and longitudinal deviation of the aircraft relative to the expected landing trajectory to form closed-loop control. The device is mainly used for offshore operation.

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 an unmanned aerial vehicle flight management method and system for a vertical take-off and landing field. The method comprises the steps of determining an available take-off point set and an available landing point set from all unmanned aerial vehicle take-off and landing points of the vertical take-off and landing field; initial take-off information of the unmanned aerial vehicle taking off in the vertical take-off and landing field is obtained, the take-off point of the unmanned aerial vehicle is determined from the available take-off point set based on the initial take-off information of the unmanned aerial vehicle, and a take-off stage four-dimensional flight path flight plan of the unmanned aerial vehicle is determined, the initial takeoff information comprises a predetermined takeoff moment, a predetermined departure point and takeoff stage space constraint information of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to fly from the take-off point to a corresponding predetermined departure point based on the take-off stage four-dimensional flight path flight plan. Safe, fair and efficient flight management can be provided for the take-off and landing flight of unmanned aerial vehicles of different low-altitude business operation service providers taking off and landing in the vertical take-off and landing field within the range of the vertical take-off and landing field, low-altitude economy can be better served, and good market value is achieved.

The invention relates to an unmanned aerial vehicle route planning method and system for a low-altitude airspace, and the method comprises the steps: constructing a global airspace model for the flight of an unmanned aerial vehicle, enabling a fan-shaped grid airspace model in the global airspace model to be constructed based on a terminal area airspace, and enabling a uniform grid airspace model to be constructed based on an air route airspace; if the unmanned aerial vehicle is within the range of the fan-shaped grid airspace model, performing route planning on the unmanned aerial vehicle through a GOA * algorithm; and if the unmanned aerial vehicle is in the range of the uniform grid airspace model, performing route planning on the unmanned aerial vehicle through an A * algorithm. According to the method and the device, dynamic fan-shaped grid modeling is carried out on the terminal area airspace with large unmanned aerial vehicle density and complex air-ground elements, the narrow available airspace can be effectively utilized to carry out optimal route planning in the process that the unmanned aerial vehicle gradually gets close to a take-off and landing point, the flight safety of the unmanned aerial vehicle is greatly improved, and the method and the device have wide application prospects. The problem of how to improve the safety of the flight route of the unmanned aerial vehicle is solved.

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 provides a quick motion control method for a quadruped robot in a discrete terrain, which is used for improving the quick passing performance of the quadruped robot in a complex discrete terrain. According to the method, a multi-dimensional constraint model including dynamic constraints, kinematics constraints and the like is constructed, and limiting conditions of the robot during fast passing are systematically analyzed; an optimal safe landing point is searched by adopting an efficient optimization algorithm, and a dynamic response rapid motion controller is established on the basis of the optimal safe landing point, so that the posture and the foot end track of the robot are accurately regulated and controlled, and finally, the quadruped robot is ensured to have rapid and stable motion capability in discrete terrains.

The invention relates to the technical field of sports engineering, in particular to a table tennis track prediction and drop point analysis system. The system comprises a data acquisition module, a data processing module and a prediction module, the data acquisition module captures a motion image sequence through a visual sensor; the data processing module extracts a position coordinate time sequence and calculates motion parameters; the prediction module predicts a trajectory and a drop point in combination with a physical motion equation and a machine learning model. The physical motion equation comprises air resistance, gravity and Magnus effect items, and the machine learning model adopts a long short-term memory network to process time sequence data. According to the system, the tracking precision is improved through multi-sensor data fusion, model parameters are dynamically adjusted through an environment calibration module, and accurate and reliable trajectory prediction and drop point analysis are achieved.

The invention provides a hovercar landing decision-making method and device based on heterogeneous multiple sensors, and the method comprises the steps: carrying out the semantic segmentation of an RGB image collected by a hovercar through a semantic segmentation model when the hovercar is in a low-altitude middle-layer region, obtaining a ground static obstacle, and determining a plurality of landing regions; determining an optimal landing area from the plurality of landing areas based on safety, energy consumption and interactivity evaluation; when the hovercar enters a low-altitude low-layer area, dynamic obstacles in an optimal landing area are detected through the collected RGB images and point cloud data; and performing dynamic prediction on the dynamic obstacles in the optimal landing area, establishing a risk potential field, and taking a point with the minimum risk value in the risk potential field as an optimal landing point. According to the method, frequent switching of the hovercar can be avoided, the landing path is optimized, and energy consumption is reduced.

The invention discloses a multi-unmanned aerial vehicle inspection task re-planning method under stand-alone failure. The method comprises the following steps: acquiring a failure unmanned aerial vehicle number, a residual task point coordinate, a landing point coordinate, a standby unmanned aerial vehicle and a landing point coordinate; performing constraint clustering on the remaining tasks to be inspected, and realizing redistribution of the unmanned aerial vehicle, the task group and the landing point based on a clustering result and a Hungary algorithm; establishing a single unmanned aerial vehicle task re-planning model; obtaining a re-planned inspection path of each available unmanned aerial vehicle by using an improved ant colony algorithm; and if the inspection path of the unmanned aerial vehicle does not meet the energy consumption constraint, adding a standby unmanned aerial vehicle for re-planning. The task re-planning model of the single unmanned aerial vehicle is established, and the improved ant colony algorithm is designed to re-plan the inspection task of the single unmanned aerial vehicle, so that the calculation complexity of the multi-unmanned aerial vehicle task re-planning problem can be remarkably reduced, and the autonomous decision-making capability of the multi-unmanned aerial vehicle inspection system when the multi-unmanned aerial vehicle inspection system encounters a sudden abnormal state is improved; and stable operation of the multi-unmanned aerial vehicle inspection system is facilitated.

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.

An aircraft includes a flight plan and contingency data including a plurality of contingency landing sites. An aircraft communication system communicates with a ground control station via a communication link and detects a lost communication scenario in response to degradation in the communication link. An aircraft flight control system controls the aircraft en route according to the flight plan. In response to detecting the lost communication scenario, the flight control system routes the aircraft back to a last known location in which the communication link was not degraded. In response to failure to re-establish the communication link, the flight control system selects a landing site based on a current aircraft location relative to a plurality of potential landing sites including an origin airport, a destination airport, and a first continency landing site. The flight control system controls the aircraft to approach and land at the selected landing site.

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 multi-unmanned aerial vehicle routing inspection path planning method based on the mobile nest comprises the following steps: initializing a routing inspection task; confirming the position of the mobile nest; dividing an inspection area: calculating the maximum number of nodes which can be effectively covered by one flight task of a single unmanned aerial vehicle, selecting a Voronoi diagram division strategy, and constructing a space area by taking a take-off and landing point as a seed point, so that the distance from the node in each partition to the corresponding take-off and landing point is shortest; and a genetic algorithm and a 2-opt algorithm are combined to form a hybrid optimization strategy, and global optimal path planning of a multi-unmanned aerial vehicle cooperative task is obtained. According to the method, the patrol area division model based on the unmanned aerial vehicle performance, the node density and the topographic factors is established, the Voronoi diagram is combined with the boundary optimization strategy to realize balanced distribution of task loads, and the problem that a traditional division method cannot give consideration to the difference between the topographic capability and the flight capability is solved.

The invention discloses an urban logistics unmanned aerial vehicle take-off and landing point layout optimization method and system, and belongs to the technical field of path planning, and the method comprises the steps: taking all existing express cabinets in an urban region as a candidate take-off and landing point set, and obtaining the express cabinet transformation cost of each candidate take-off and landing point; obtaining the distribution cost from each candidate take-off and landing point to the demand point; determining customer coverage of all existing express cabinets in the urban area; obtaining all paths from each candidate take-off and landing point to the demand point without passing through the no-fly zone, and determining a plurality of take-off and landing point layout schemes corresponding to the selected take-off and landing points and the delivery paths based on all the paths as to-be-optimized individuals; a multi-objective optimization model is constructed by taking minimization of the sum of the transformation cost and the distribution cost of the express cabinet and maximization of the customer coverage degree as objectives, optimization is carried out on individuals to be optimized, and the optimal take-off and landing point layout and the planning result of the demand point range of the service of the take-off and landing point layout are determined. According to the method, reasonable and efficient operation of urban unmanned aerial vehicle logistics can be realized.

The invention relates to an airport site selection evaluation optimization method, which comprises the following steps of: inputting a candidate take-off and landing point set and a destination point set, acquiring geographic space data, airspace limitation data, population distribution data and meteorological environment data related to candidate take-off and landing points and flight paths, and carrying out standardization processing on the geographic space data, the airspace limitation data, the population distribution data and the meteorological environment data; for each candidate take-off and landing point, calculating a landform suitability score, a population density influence degree score, a flight efficiency score and a safety compliance score; allocating configurable weight coefficients for the four predetermined dimensions, and performing weighted summation to obtain a comprehensive score of each candidate take-off and landing point; and carrying out sorting according to the comprehensive scores of all the candidate rising and landing points, and outputting a site selection recommendation ranking. The technical defects that an existing low-altitude aircraft take-off and landing point site selection method is high in subjectivity, single in evaluation dimension, difficult to adapt to dynamic task requirements and neglect real three-dimensional airspace environment constraints can be solved, and an automatic, quantifiable and multi-constraint-condition comprehensive site selection decision is made.

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.

A tennis training robot serving track control method belongs to the technical field of serving equipment. The problem that an existing pitching machine can not meet the requirements of a user for specific drop points and tracks when pitching according to a preset mode is solved. A corresponding yaw angle, an optimal launching speed and an optimal pitch angle are generated according to input given target drop point coordinates and given target net passing height, and corresponding control signals are generated according to the yaw angle, the optimal launching speed and the optimal pitch angle to control a yaw motor, a friction wheel motor and a pitch motor of the training machine. Therefore, the serving track is controlled at a given target drop point and a given target net passing height. The method is mainly used for ball serving track control of the tennis training machine.

The invention relates to the field of unmanned aerial vehicle automatic landing control, and discloses an unmanned aerial vehicle wind-resistant landing control system which comprises an external wind-resistant structure module arranged on the periphery of an unmanned aerial vehicle landing area, and the external wind-resistant structure module adopts a fixed conical cover body design; the external windproof structure module guides external airflow into the landing area, and the size and the height of the top opening of the conical cover body are shown in the specification. A local low-wind-speed environment is constructed through the external windproof structure module, the wind speed of a landing area is effectively reduced, and the wind speed of the landing area is effectively reduced in combination with real-time estimation and accurate control of the environment perception and decision control module on the external wind speed and the tail-section attitude correction capability of the attitude correction and re-landing strategy module. The landing point alignment accuracy of the unmanned aerial vehicle under the condition of crosswind, gust or sudden wind direction change is remarkably improved, and horizontal drifting and landing failure caused by wind disturbance are effectively avoided.

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.