31 results about "Motion coordination" patented technology

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 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 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.

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.

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 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 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.

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.

The invention discloses a robot dog-based intelligent detection system for an outer anticorrosive coating of a land long-distance pipeline. The robot dog-based intelligent detection system comprises a robot dog, a magnetic boot, an acquisition circuit mechanism arranged on the back of the robot dog, telescopic probes arranged on two feet on the left side of the robot dog and a probe arranged on the belly of the robot dog, the acquisition circuit mechanism comprises a circuit protection shell and a detection circuit arranged in the circuit protection shell; the detection circuit comprises an electromagnetic signal receiving coil conditioning module, an earth surface alternating current gradient detection conditioning module, a multi-frequency analog signal switching and acquisition module, a synchronous control logic and signal resolving module, a power management module, a wireless communication module and a motion collaboration module. According to the invention, based on autonomous navigation and path planning of the robot dog, intelligent and unmanned detection of the outer anticorrosive coating of the pipeline is realized, the detection efficiency and accuracy are improved, and the operation safety risk is reduced; and real-time data return and intelligent analysis and early warning are realized by fusing GIS and 4G remote transmission technologies.

The invention discloses a robot vision mode matching system in a dynamic scene, particularly discloses a robot vision mode matching system in a dynamic scene, and aims to solve the problems of unstable robot vision feature extraction, low matching accuracy and lack of real-time motion collaboration in a dynamic environment. The system comprises an environment sensing module, a feature processing module, a motion compensation module and a decision control module, scene and robot motion data are collected through multi-sensor fusion, and stable visual features are constructed by adopting multi-scale feature extraction and anti-interference feature descriptors; and compensating image distortion caused by robot motion based on a dynamic distortion model, and finally generating a closed-loop motion control instruction according to a feature matching result. According to the invention, the precision, robustness and real-time cooperation capability of robot vision matching in a dynamic scene are improved.

The application discloses a kind of mechanical arm motion coordination optimization control method and system, it includes: based on the initial and desired target pose of mechanical arm determines the difference between them and obtains pose error vector;Determine the vector error of mechanical arm based on pose error vector, and determine the control matrix of mechanical arm based on it;Based on control matrix, the operating parameters of mechanical arm are simulated control, and determine the pose error characteristics of mechanical arm after finishing;Based on pose error characteristics, the pose error state of mechanical arm is analyzed and evaluated, and obtains pose error state evaluation value;Based on pose error state evaluation value, optimization coefficient matrix is determined to optimize control matrix and obtains optimized motion control matrix.The application can pre-insight potential motion performance bottleneck by establishing control matrix and carrying out front simulation and quantitative evaluation, and dynamically optimize through data-driven adaptive optimization coefficient matrix, improve the flexibility and accuracy of mechanical arm, ensure that motion process is stable.

The invention provides a humanoid robot scene adaptive task planning method based on a multi-mode-motion coupling world model and related equipment, and belongs to the technical field of artificial intelligence and robots. The method comprises the following steps: receiving a task instruction, collecting multi-modal data, and uniformly encoding the multi-modal data to obtain multi-modal fusion embedded data; performing feature association on the multi-modal fusion embedded data through an improved multi-modal-motion coupling world model to obtain a text action instruction and a multi-modal feature vector; according to the multi-modal feature vector, motion constraint guided feature mapping is executed, and a condition feature vector is obtained; generating a fusion image to obtain the fusion image; and taking the text action instruction as a new task instruction, taking the fusion image as new multi-modal data, and returning to the step of receiving the task instruction, collecting the multi-modal data and then uniformly encoding until the output fusion image meets a preset condition. The motion coordination, scene adaptability and task success rate of the humanoid robot can be improved.

The invention discloses a bionic fish multi-source sensing fusion and multi-mode swimming method for three-dimensional motion control, and the method comprises the steps: carrying out the adaptive robust Kalman filtering of a multi-source depth fusion result based on inertial integration, a pressure type depth gauge and underwater distance measurement, and obtaining an optimal estimation value, and taking the optimal estimation value as the input of an SAC algorithm; an observation quality index mechanism based on short-time fluctuation evaluation is introduced, adaptive measurement noise is determined according to the real-time quality of each path of depth observation, dynamic weighted fusion of multi-source depth data is realized through robust Kalman filtering, residual monitoring between a fusion result and each path of observation is performed, and the real-time quality of each path of depth observation is determined. Online identification and suppression of abnormal observation and systematic deviation are realized; a target distance error, a course angle error and a fused submerging depth error are uniformly constructed into a reinforcement learning control state, so that horizontal motion control and vertical heaving control of the bionic fish are jointly optimized under the same decision framework, and task completion efficiency and motion coordination in a complex three-dimensional water area environment are improved.

The invention provides a five-axis machining method based on a mixed physical constraint neural network. The five-axis machining method comprises the following steps that S1, the posture and path of a workpiece are initially machined; s2, calculating initial no-load energy and driving energy based on the step S1; s3, collecting cutting energy experiment data and training a regression model; s4, executing H-PINN training by taking the total energy consumption as a target function; and S5, outputting an optimal clamping posture and tool posture instruction. According to the energy efficiency and singular point evasion five-axis machining method based on the hybrid physical constraint neural network, joint optimization of workpiece clamping and tool posture is achieved, and energy consumption is remarkably reduced while machining quality and motion coordination are guaranteed; and a high-precision, low-energy-consumption and extensible processing optimization solution is provided for the field of intelligent manufacturing.

This invention belongs to the field of artificial intelligence technology, specifically relating to a method and system for navigation and autonomous path planning of a composite robot based on a large task model. The method includes the following steps: 1. Constructing a vehicle-arm coordinated coupled kinematic or dynamic integrated model and identifying parameters; 2. Performing task-oriented coordinated control through behavior trees; 3. Performing task understanding and requirement modeling; 4. Collecting environmental data through sensors, performing environmental perception and real-time map construction; 5. Performing global path planning and dynamic execution, selecting the local optimal trajectory; 6. Performing motion control and feedback adjustment. This method improves the motion coordination and real-time performance of the composite robot, effectively avoiding joint position and speed exceeding limits.

The utility model relates to a kind of four-legged robot, belong to robot technical field.It include fuselage, mechanical leg, mechanical leg is located at the bottom of fuselage, mechanical leg includes mechanical leg connecting plate, first connecting table, second connecting table, first connecting table below is equipped with first connecting rod, second connecting rod, second connecting table below is equipped with third connecting rod, fourth connecting rod, first connecting rod and first connecting table are hinged, second connecting rod and first connecting rod are hinged, third connecting rod and second connecting table are hinged and, fourth connecting rod and third connecting rod are mutually hinged, second connecting rod and fourth connecting rod are mutually hinged, fourth connecting rod bottom is equipped with foot end.The utility model provides a kind of four-legged robot, its linear drive module realizes height flexible adjustment, adapts to different terrain, height and speed are adjustable, enhance obstacle-crossing ability;Multiple drive assembly controls multiple joint flexible movement, accurately controls foot end trajectory, improves movement coordination and efficiency.Optimization connecting rod length and angle design, reduce energy loss.

Device for a vehicle interior, comprising: a seat (14) that can be moved in one direction of travel; a seat actuator (60) for moving the seat (14) in the direction of travel; a console (10) that can be moved in the direction of travel; and a console actuator (64) for moving the console (10) in the direction of travel in coordination with the movement of the seat (14), characterized by the fact that the console (10) includes a foldable section (10b) at the front end of the console (10) for folding when a body section (10a) moves with the movable seat (14) in the direction of travel, and the collapsible section (10b) comprises a pair of laterally spaced, parallel side walls (10c), wherein the side walls (10c) comprise a pair of vertically spaced supports (10d) for supporting a net-like or mesh material (10e).

The invention discloses a prefabricated platform plate efficient mounting system based on an intelligent robot, and relates to the field of prefabricated platform plate construction. Comprising a multi-mode high-precision measuring and positioning module which is used for measuring and positioning an installation environment, a transportation carrier and a prefabricated slab in real time, and the output end of the multi-mode high-precision measuring and positioning module is in communication connection with the input end of a central cooperative control center; the central cooperative control center is used for processing sensing data, constructing a digital twin model and carrying out task planning and motion coordination, and the output end of the central cooperative control center is connected with the input end of the six-degree-of-freedom robot posture adjusting terminal and the input end of the automatic guiding transportation and docking module; and the six-degree-of-freedom robot posture adjusting terminal is used for executing high-precision six-dimensional posture adjustment, and alignment and leveling of the prefabricated slab are achieved. The system has the advantages of high installation precision, improved efficiency, improved safety, high digital management degree and reduced labor cost.

The invention relates to the technical field of flight simulation, and discloses a six-axis manned centrifuge overload simulation method, device, equipment and medium, the six-axis manned centrifuge overload simulation method comprises the following steps: obtaining six-degree-of-freedom motion parameters of a to-be-simulated aircraft, the six-degree-of-freedom motion parameters comprising a linear overload component and an angular velocity component; frequency domain decomposition and motion coordination are carried out on the linear overload component, motion coordination is carried out on the angular velocity component, and a motion control coordination solution used for synchronously controlling six motion axes of the six-axis manned centrifugal machine is generated; according to the motion control coordination solution, carrying out synchronous motion control on six motion shafts of the six-shaft manned centrifugal machine, and simulating and generating an overload environment corresponding to the six-degree-of-freedom motion parameters in the cabin, thereby expanding a sustainable simulation linear overload range, reducing extra angular motion stimulation caused by spindle speed change, and improving the simulation precision of the six-shaft manned centrifugal machine. And the authenticity of overload simulation is improved.