49 results about "Motion coordination" patented technology

The invention discloses a multi-view child motion coordination ability evaluation system and method based on deep learning, belongs to the technical field of motion evaluation, and solves the problems that child motion evaluation in the prior art mainly depends on manual observation and simple physical testing, and multiple angles and key details of child actions are difficult to synchronously track. The method comprises the following steps: training to obtain a skeleton point detection model and an athletic ability evaluation model, acquiring real-time video streams of personnel entering a field based on an acquisition camera, identifying skeleton key points in a preprocessing data set by the skeleton point detection model, performing multi-person detection on a personnel matching result based on an athletic area division method, and evaluating the athletic ability of the personnel. The exercise ability evaluation model carries out quantitative analysis on multi-person detection results; according to the invention, visual identification and motion state detection technologies are combined, a front view angle and side view angle dual-camera layout is adopted, and a deep learning algorithm is matched, so that automatic children dynamic motion evaluation is realized. The action process can be completely captured, and the detection accuracy and efficiency are improved.

The invention provides a double-machine lifting dynamic balance control method based on real-time load feedback, which comprises the following steps of: after a system is initialized, synchronously acquiring load, height, attitude, position, motion and environment data of two machines, and fusing and filtering; load, height, angle, position and motion coordination multiple deviations are calculated, and balance and safety are evaluated; generating a speed, position, attitude and safety comprehensive control strategy by using multi-objective optimization according to an evaluation result, and setting a priority and a look-ahead mechanism; executing instructions in a distributed manner and monitoring the instructions in real time; self-adaptive parameter adjustment and machine learning continuous optimization are carried out based on a feedback closed loop; and multi-stage safety monitoring and emergency processing are synchronized. According to the invention, the precision, safety and efficiency of hoisting operation can be improved, the operation difficulty and energy consumption are reduced, and the adaptability and reliability of the system in a complex environment are enhanced.

The invention belongs to the technical field of robot control, and particularly relates to a self-adaptive whole-body control method suitable for a quadruped robot in an uncertain dynamic environment, and the method integrates an extended state observer (ESO), a model prediction controller (MPC) and a whole-body controller (WBC) based on hierarchical optimization. And a closed-loop control architecture is constructed to improve the robustness and motion coordination ability of the quadruped robot in a complex environment. Firstly, external disturbance is estimated and compensated in real time through ESO; then, the MPC optimizes future system behaviors in a rolling manner under the condition of considering interference terms, and an expected foot end counter-acting force is output; and finally, the WBC is combined with the priorities of the multiple tasks to generate all joint control instructions in a constraint optimization form, and task collaboration and dynamic adaptation are achieved. The method has the advantages of being high in disturbance self-adaptive capacity, high in control precision, suitable for a multi-task environment and the like, and is particularly suitable for quadruped robot control tasks in complex dynamic scenes such as transportation and search and rescue.

The invention discloses a dexterous hand control device, a dexterous hand control method and a robot, and the dexterous hand control device comprises a communication interface which is used for being connected with an upper computer and receiving a control instruction sent by the upper computer; the whole-hand manager is connected with the communication interface; an independent communication channel is constructed between the multiple finger controllers and the whole hand manager, and connection is established through the communication channel. According to the invention, the plurality of finger controllers are connected with the whole hand manager, so that the whole hand manager can synchronously and coordinately manage the finger controllers, synchronous coordination control on the fingers or the motors is realized when the dexterous hand is controlled, and the action coordination and stability of the dexterous hand are improved.

The invention discloses a mobile audio-visual cooperative unmanned aerial vehicle detection system, and belongs to the technical field of intelligent detection and automatic control. The system comprises a mobile ROS unmanned vehicle platform, an audio-visual perception module, an embedded processing unit and an execution mechanism. The mobile ROS unmanned vehicle platform comprises a motion control system, a serial port communication module and a wireless communication module; the audio-visual perception module comprises an infrared visual acquisition unit and a four-channel audio acquisition array and is used for acquiring infrared image information and acoustic signals of the unmanned aerial vehicle; the embedded processing unit comprises a multi-modal data fusion processor and a motion cooperation controller and is used for synchronously processing the infrared image information and the acoustic signal and generating a control instruction; the execution mechanism comprises a two-degree-of-freedom steering engine holder and a self-adaptive cruise system. According to the invention, through audio-visual cooperation and dynamic mode switching, a fixed detection scene is not needed, continuous tracking of the unmanned aerial vehicle and blind area complement detection can be realized, and detection continuity and accuracy are improved.

The invention discloses a non-contact screening system for motion coordination based on computer vision, which relates to the field of computer vision, and comprises the following steps: acquiring a human body motion image through a non-contact camera, extracting human body key point coordinates frame by frame by using a deep learning algorithm after noise reduction and distortion correction, and constructing a time sequence data set; performing smooth jitter removal and interpolation processing to form standardized data; calculating track, rhythm and stability multi-dimensional motion coordination quantitative characteristics based on the data, and performing comparative analysis with a personal historical database to identify a motion function degradation trend; and based on age groups and scenes, customizing screening parameters, coordinating workflows of the components, and realizing full-process automatic screening. The method has the advantages that invasive and cross infection risks are avoided through non-contact acquisition, accurate and objective assessment of the exercise coordination is realized by means of deep learning and time series data analysis, exercise function degradation can be early warned, and an efficient and reliable scheme is provided for various exercise coordination screening scenes.

This invention relates to the field of cognitive testing techniques and sensor-based measurement systems to create a block design test-based cognitive ability and psychomotor profile assessment system that can be used in various age groups. This system integrates testing media in the form of physical blocks, digital simulations, or a combination of both, as well as a rotation sensor-based data acquisition module to record the orientation and movement of the blocks in real-time during the assembly process. The obtained rotation data is then processed to analyze the level of accuracy, speed, interaction patterns, and movement coordination that represent the user's cognitive abilities and psychomotor profile. Unlike conventional methods that rely on subjective observations by the examiner, this system is capable of conducting assessments objectively, measurably, and based on quantitative data.Furthermore, this system enables more efficient testing by storing results digitally for monitoring, evaluation, and research. This invention is intended to support a variety of applications, from monitoring cognitive development in children, evaluating cognitive performance in adults, to early detection of cognitive and psychomotor decline in the elderly.

The invention discloses a dance kicking training device which comprises a C-opening bottom frame, lifting armrest frames installed on the left side and the right side of the top end of the C-opening bottom frame, and a double-column type vertical frame fixed to the position, between the two lifting armrest frames, of the top end of the C-opening bottom frame, and two shells of a mirror symmetry structure are installed on the outer wall of one side of the double-column type vertical frame. A rotating shaft is rotationally installed at the lower position in the shell, a foot-binding type rocker arm structure is installed at the end, close to the lifting armrest frames, of the rotating shaft, and protractors used for marking the swing angle of the foot-binding type rocker arm structure are installed on the outer walls, close to each other, of the two lifting armrest frames. The action coordination and the body control ability of the trainee are cultivated through an instant physical belt training feedback mechanism, so that the trainee can intuitively feel the force generation speed and angle change of the coach, and the training interactivity and the real-time feedback effect are enhanced.

The application discloses a kind of equipment and method for horizontal section and large inclination section water conduit maintenance operation, including center force bearing structure, support mechanism, tension applying mechanism, movement coordination mechanism and operation platform system, tension applying mechanism and movement coordination mechanism cooperate, make all support arm form a stable support system that can adapt to water conduit shape and posture.The application is modularized, lightweight design, and the support arm can be folded, so that the maintenance operation equipment can pass through the narrow entrance, and after being unfolded in the water conduit, a large-size, high-rigidity stable operation platform is formed, and the maintenance operation equipment can also move in the horizontal section and large inclination section of the water conduit, solving the problem of water conduit maintenance.

The invention relates to a deformable multi-legged robot, in particular to a deformable multi-legged robot for complex terrains, and belongs to the field of robotics, mechanical structures and bionic structures. In order to solve the problems that an existing ball leg composite motion robot is limited in autonomous obstacle avoidance capacity, unstable in mode switching posture, insufficient in motion collaboration and free of a response mechanism for ball leg damage, the robot comprises a robot body and six deformation walking mechanisms. The deformation walking mechanism comprises a hip joint structure, a double-leg connecting structure and two walking motion structures; the deformation walking mechanisms are evenly distributed on the robot body in the circumferential direction, the connecting ends of the six hip joint structures are evenly distributed and installed on the robot body in the circumferential direction, the robot body drives the six hip joint structures to rotate around the robot body in the axial direction, each hip joint structure is provided with one double-leg connecting structure, and the hip joint structures drive the double-leg connecting structures to rotate. The two walking motion structures are installed on the two-leg connecting structure, and each walking motion structure achieves inward or outward stretching motion.

The invention relates to the technical field of treatment instruments, in particular to rehabilitation training auxiliary equipment for an Alzheimer's disease patient, and solves the problems that most treatment devices need to be treated through a computer, the patient generally difficultly understands and uses the treatment devices, the training content is single, and multiple trainings cannot be performed at the same time. Four discharging mechanisms are arranged on the surface of the training table assembly. A medical worker guides a patient to take training pattern plates, the training pattern plates are arranged in a sudoku mode, then the medical worker guides the patient to remember the patterns of the four training pattern plates in each column, and then the patient takes four training plates with pattern grooves in corresponding shapes. The four training pattern plates are arranged according to the sequence of the patterns of the four training pattern plates in each column, so that medical staff can guide the patient whether the sorting is wrong or not, and the device not only exercises the memory and judgment ability of the patient, but also can exercise the exercise coordination ability of the patient.

1. Name of the product in this design: Robot Controller (Visual Control). 2. Purpose of this design: To control the robot's visual perception, movement, coordination of the actions of each axis, and to realize automated operation. 3. The key design feature of this product is its shape. 4. Images or photos that best illustrate the design key points: Use state diagrams.

The invention provides a manufacturing data classification analysis method and device based on a clustering algorithm and a medium, and the method comprises the steps: generating an original motion data set through collecting the bending angle value and rotation resistance of each knuckle and the time when a finger reaches a target position; according to the original motion data set, motion coordination abnormal data with the angle difference exceeding a threshold value and uneven rotation resistance display damping is identified, and an abnormal data subset is generated; according to the abnormal data subset, identifying measurement values of multi-finger motion coordination imbalance, and determining an imbalance measurement value combination; processing the imbalance measurement value combination through a clustering algorithm to generate a cooperative motion function group set; motion types are grouped according to the cooperative motion function group set, and an optimized group structure is generated; and outputting a manufacturing data classification analysis result according to the optimized group structure.

The invention discloses a human body lower limb movement cooperation feature description method based on multi-joint cooperation CPG, and belongs to the field of human body movement analysis and robot control, and the method comprises the steps: constructing a lower limb multi-speed gait movement data set, and building a human body lower limb kinematics simplified model in combination with Denavit-Hartenberg parameters; a corresponding coefficient angular component method is adopted to quantify the cooperative relationship between the joints, and the cooperative relationship between the joints is accurately described; building a multi-joint cooperative control CPG model based on cooperative characteristic driving according to the multi-joint chain connection characteristics of the lower limbs of the human body; the motion trails of the six joints of the lower limb serve as the input of a multi-joint cooperative control CPG model based on cooperative feature driving, and dynamic mapping between the cooperative features of the six joints of the lower limb and CPG parameters is achieved through adaptive Hopf-CPG network fitting learning. According to the invention, accurate description of human body lower limb joint movement cooperation features is realized.

This invention discloses a deep learning-based kinematic analysis system and method for the human sitting-to-standing process, belonging to the field of motion analysis technology. It solves the technical problems of high testing costs, low accuracy, and low stability in existing STS (Seated-to-Stand) motion testing technologies, which hinder the effective promotion of STS motion testing. Based on deep learning technology, this invention automatically tracks human joint nodes and achieves fully automated analysis of multi-dimensional, refined motion characteristics for various human movements from sitting to standing. It can comprehensively evaluate the range of motion, efficiency, stability, and coordination of human movement. Furthermore, this invention only requires video acquisition equipment to achieve comprehensive kinematic analysis of STS motion, solving the problems of expensive, space-consuming, and time-consuming motion capture systems using motion sensors and multi-camera motion capture systems with reflective markers. This significantly reduces the operational difficulty and testing cost of STS kinematic analysis.

1. The name of the design product: robot controller (drive control). 2. The use of the design product: for controlling the movement of robots, coordinating the actions of each axis, and realizing automated operations and other functions. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

This invention discloses a method and system for editing 3D assets based on dual representation and skeleton control. The method includes: acquiring dual representations of the same 3D asset; predicting the skeleton through a mesh and establishing skinning weight control relationships; defining the motion coordination relationship between the mesh and Gaussian points using face-point binding and affine transformation, supporting distance-aware weighted updates of Gaussian parameters; receiving user spatial constraint instructions; using the skeleton pose as the optimization variable; and performing gradient modulation optimization by combining geometric deviation loss and visual rationality regularization terms; finally, driving mesh deformation and synchronously updating the Gaussian representation, achieving semantically controllable, geometrically faithful, and rendering-efficient 3D asset editing. This invention constructs an affine binding coordination mechanism between mesh triangles and Gaussian points by fusing 3D mesh and 3D Gaussian splash dual representations, enabling high-quality interactive editing of 3D assets while maintaining geometric structural integrity and supporting semantically clear and rendering-consistent results.

The invention discloses a mechanical arm motion coordination optimization control method and system. The method comprises the steps that the difference between an initial target pose and an expected target pose of a mechanical arm is determined based on the initial target pose and the expected target pose, and a pose error vector is obtained; a vector error of the mechanical arm is determined based on the pose error vector, and a control matrix of the mechanical arm is determined based on the vector error; simulation control is conducted on the operation parameters of the mechanical arm on the basis of the control matrix, and pose error characteristics of the mechanical arm after the simulation control is finished are determined; the pose error state of the mechanical arm is analyzed and evaluated based on the pose error features, and a pose error state evaluation value is obtained; and determining an optimization coefficient matrix based on the pose error state evaluation value, and optimizing the control matrix to obtain an optimized motion control matrix. By establishing the control matrix and conducting pre-simulation and quantitative evaluation, potential motion performance bottlenecks can be observed in advance, dynamic optimization is conducted through the data-driven self-adaptive optimization coefficient matrix, the flexibility and accuracy of the mechanical arm are improved, and it is ensured that the motion process is stable.

The application discloses a kind of seven-axis engraving robot joint shaft and synchronous monitoring method of rotary table, it is related to industrial robot technical field, comprising: when the numerical control system is started, run system macro file to carry out dynamic detection, ensure that rotary table and joint shaft are in task before movement coordination consistent.In the dynamic detection process, when the cutter approaches rotary table, the relative position of cutter and rotary table is detected in real time by sensor, and the data is transmitted to control system, and the cutter speed is dynamically adjusted according to the feedback data, to ensure that the rotary table slot is approached with smooth speed.Judge whether the cutter is accurately placed in the slot: if it is accurately placed and no collision occurs, it is determined that the rotary table and joint shaft are synchronous;Otherwise, it is determined that the rotary table and joint shaft are not synchronous and trigger system alarm, record error log and prompt operator to repair.Through dynamic detection and real-time adjustment of cutter speed, ensure that the joint shaft and rotary table movement is synchronous, improve processing accuracy and operation stability, while reducing equipment wear and tear and improving operation safety.

The invention belongs to an underwater robot control and decision-making technical scheme, and particularly relates to a multi-underwater robot formation control and decision-making method for seabed detection. A step of establishing a leader-follower system with a dynamic hierarchical relationship, including a step of implementing stable path tracking on a set detection path for a leader underwater robot of the constructed system by adopting an improved path tracking guide method based on a PID principle; a kinematics-based state prediction-tracking architecture is adopted for the formation of the follower underwater robots of the constructed system; in the face of comb-shaped detection path steering, the leader underwater robot and the follower underwater robot adopt an equivalent travel-based formation steering conversion decision strategy; the multi-degree-of-freedom control scheme of the underwater robot is realized by adopting an integral S-plane controller for the motion control of the underwater robot of the leader and the follower of the system. The method is used for solving the problems of formation keeping, path tracking and motion coordination under the underwater acoustic weak communication condition.

The invention relates to a multi-mechanical-arm cooperative control method based on multi-source time delay compensation cooperative optimization, and belongs to the field of automation and robot cooperative control. The method comprises the following steps: establishing a collaborative error dynamic model fused with a multi-source time delay compensation item offline, and designing a collaborative optimization objective function comprising a synchronization error, control energy consumption and a time delay compensation effect evaluation factor; and multi-source time lag identification is periodically performed during online operation, an optimization function is solved based on a distributed model prediction control framework, and a control instruction of each mechanical arm is generated. The time delay compensation problem is deeply embedded into the optimization process of cooperative control, and unified active management and global performance optimization of multi-source time delay of sensing, communication, calculation and the like are achieved. The synchronous precision and the motion coordination of the multiple mechanical arms in the environment with time varying and uncertain time delay are remarkably improved, the robustness of the system to sudden large time delay is enhanced, the rapid self-adaptive capacity is achieved, and the reliability and the overall performance of collaborative operation of the multiple mechanical arms in a complex industrial scene are greatly improved.

A computer-assisted medical system includes a robotic manipulator arm configured to support an instrument. The instrument includes an instrument axis and jaws disposed at a distal end of the instrument axis. The computer-assisted medical system also includes a controller coupled to the manipulator arm. The controller includes a computer processor and is configured to track movement of the instrument along an insertion axis of the instrument and coordinate the size of a jaw aperture defined by the jaws with the movement of the instrument along the insertion axis to achieve a target aperture.

The invention discloses a multi-view visual inspection machine, which is characterized in that (1) a single lens is used for high-efficiency coverage: a product inspection platform (rotating around a vertical center line and moving left and right), a visual inspection camera (swinging left and right around a horizontal center line extending front and back and moving front and back) and a camera (moving up and down) are cooperated in multi-dimensional movement; 360-degree omnibearing shooting can be realized only by a single lens (namely the lens of the camera), and compared with the traditional multi-camera layout, the hardware cost is greatly reduced, the equipment volume is reduced, and the space utilization rate is improved. And (2) the detection adaptability is stronger: the lens (namely the lens of the camera) can rotate by 90 degrees and move up and down / back and forth, the product detection platform can rotate by 360 degrees and move left and right, the detection requirements of irregular-shaped parts such as springs and hardware can be flexibly met, and details of each part can be accurately captured no matter whether the parts are symmetrical or not and have complex curved surfaces or not. And (3) the detection efficiency is improved: a single lens does not need to switch positions.

The invention relates to the technical field of robot control, in particular to a self-adaptive control method and system for an upper limb rehabilitation robot. Comprising the steps that motion data of upper limb joints of a patient are collected through a sensor array and fused to generate comprehensive motion vector representation, motion pattern classification is conducted through a classification model, and whether coordination deviation exists between the joints or not is judged; if deviation exists, joint deviation distribution information is obtained, robot control parameters are optimized through an optimization model, and an adjustment instruction sequence is generated to drive a robot actuator to conduct intervention; after intervention, the intervention effect is evaluated through feedback data, the personalized demand model is updated according to the effect, and a subsequent intervention scheme is optimized. According to the invention, the defects of an existing rehabilitation robot in coping with the complex motion coordination problem are overcome, the self-adaptive control based on real-time data and feedback is realized, and the rehabilitation treatment effect and the personalized level are remarkably improved.

Systems, methods, apparatuses, and computer-readable media for creating an observation video are described. The observation video may comprise a viewport that moves in coordination with motion of an HMD user's head and that shows portions of VR content being output to the HMD user at different times. For each of those times, motion data from the HMD may be used to determine a position, orientation, and / or shape of the viewport. The observation video may also include an element that represents the HMD user, which element may comprise a video element video isolated from video of the user captured by a camera, and / or which may comprise an animated avatar.

The subject of the invention is a method and system for controlling instrument gripping behavior. A computer-assisted medical system includes a robotic manipulator arm configured to support an instrument. The instrument includes an instrument shaft and a jaw disposed at a distal end of the instrument shaft. The computer-assisted medical system also includes a controller coupled to the manipulator arm. The controller includes a computer processor and is configured to track movement of the instrument along an insertion axis of the instrument and coordinate a size of a jaw aperture defined by the jaw with the movement of the instrument along the insertion axis to reach a target aperture.

The application provides a motion coordination control system and method based on machine learning and TSN deterministic communication, a terminal and a medium. The application is based on a communication and control joint optimization framework, has significant comprehensive performance advantages, can adaptively allocate TSN communication resources according to a control strategy, and has a control performance improvement of more than 15% and a communication resource utilization rate improvement of more than 30% compared with a traditional hierarchical scheme. A NN-MPC controller introduces communication constraint modeling and cooperates with a CBF safety filter to greatly improve control robustness and ensure system operation safety. Pareto optimality of a communication and control joint space is realized through integrated solving, and the limitation of hierarchical optimization is broken through. The system has high fault tolerance capability and can complete controller switching within 5 milliseconds and network switching within 2 milliseconds. Meanwhile, a double buffering mechanism is used to realize microsecond-level switching of GCL configuration, accurately match different recycling stage requirements, and further reduce resource redundancy waste.

The invention relates to a crystal ingot on-line measuring device and a grinding machining system applying the same, and relates to the field of machine tool machining. Comprising a workpiece movement cooperation system, a measuring mechanism and a data processing unit. The workpiece movement cooperation system drives the workpiece to move in the X-axis direction and / or rotate around the axis theta of the workpiece; and the measuring mechanism is used for realizing surface type sampling in the radial direction of the crystal ingot when the workpiece moves along the X direction, realizing surface type sampling in the circumferential direction of the workpiece when the workpiece rotates, and then feeding back surface type sampling data in the radial direction and the circumferential direction to the data processing unit. The thickness and surface quality of the crystal ingot workpiece can be accurately measured, the machining efficiency is improved, meanwhile, the measuring device can drive the measuring arm to rotate to avoid the grinding wheel through the servo motor, and it is guaranteed that follow-up machining is carried out smoothly.

This invention discloses a method and system for coordinated action control of automatic coupler uncoupling and recoupling, relating to the field of coupler coordinated control technology. The method includes: generating a target motion map based on coupler operating status information and disassembly actions during uncoupling and recoupling; generating a spatiotemporal constraint action set; constructing a virtual coupling phase axis, performing coordinated control analysis, and determining a coordinated lockable state interval; and synchronously adjusting the action execution rhythm of the master and slave robotic arms according to the coordinated lockable state interval, so that the couplers at both ends complete the uncoupling or recoupling operation according to the spatiotemporal constraint action set. This invention solves the technical problems of poor motion coordination in coupler uncoupling and recoupling operations, susceptibility to vehicle body disturbances and cycle conflicts, high jamming failure rate, and low efficiency of automated operations in existing technologies. It achieves precise coordination between the master and slave robotic arms and the vehicle body movement and the tipper cycle, improving the reliability and efficiency of automatic coupler uncoupling and recoupling operations.

The application discloses a dance leg kicking training device, which comprises a C-shaped bottom frame, liftable handrails installed on the left and right sides of the top of the C-shaped bottom frame, and a double-column stand fixed on the top of the C-shaped bottom frame between the two liftable handrails. Two housings in mirror-symmetrical structures are installed on the outer wall of one side of the double-column stand. A rotating shaft is rotatably installed at the lower position in the housing. A foot-binding rocker structure is installed on the end of the rotating shaft close to the liftable handrail. An angle gauge for marking the swing angle of the foot-binding rocker structure is installed on the outer wall close to the liftable handrail of the two liftable handrails. The application can cultivate the motion coordination and body control ability of the trainees through the instant physical band training feedback mechanism, so that the trainees can intuitively feel the force speed and angle change of the trainer, and the interactivity and real-time feedback effect of the training are enhanced.