181 results about "Motion generation" patented technology

The invention discloses a flight vision obstacle avoidance method for a low-altitude inspection unmanned aerial vehicle, particularly relates to the technical field of image processing and computer vision, and is used for solving the problem of how to stably detect and reliably estimate the distance and contact time of such obstacles on the premise of only depending on airborne vision and being limited in calculation power and time delay. A space-time skeleton of a linear obstacle is constructed and continuously tracked in the strip-shaped candidates, and a grading distance and contact time are given in combination with an imaging time sequence difference and projection drift; uncertainties generated by the detection side and the self-motion are unified to the same coordinate and time mark, and risk density and safety envelope are formed through recursion; and then a path is updated according to a fixed priority of'deceleration-bypassing-still hovering 'by taking the risk as a hard constraint, so that high recall and stable distance evaluation and executable real-time avoidance can still be realized for a slender and swinging real obstacle under the conditions of only dependence on airborne vision and limited computing power and time delay. And the near loss event occurrence rate and the meaningless braking ratio are obviously reduced.

A method for training a model for generating a representation of long-term motion from a text input comprises: training a motion encoder of an autoencoder to compress and map an input motion into a latent representation comprising a sequence of latent vectors in a discrete latent space, each latent vector representing a fixed length of motion; training a quantization module to quantize the latent vectors to a sequence of quantized latent vectors in quantized latent space; and training a motion decoder to reconstruct the quantized sequence as a sequence of single-frame pose representations. A text encoder is trained to predict a latent sequence conditioned on a text input and a duration using the mapped latent representation as a target.

The invention discloses a motion planning method for a heterogeneous robot, and relates to the technical field of robots. The method comprises the following steps: step 1, subspace definition and differential homeomorphic mapping establishment; step 2, dynamic situation field construction; step 3, geometric motion generation; and 4, controlling system energy. According to the method, universal adaptation of robot systems with different configurations can be realized, the algorithm reuse rate is greatly improved, the development cost is remarkably reduced, efficient obstacle avoidance can be realized in a dynamic environment, and the method has excellent real-time performance and wide applicability and robustness.

The embodiment of the invention discloses an action generation method and device, a model training method and device, equipment, a storage medium and a product. The action generation method comprises the following steps: acquiring to-be-processed audio and noise features, separating voice component features, emotion component features and style component features from the to-be-processed audio, and performing feature fusion processing on the noise features, the emotion component features, the voice component features and the style component features through an action generation model to obtain an action result. And performing iterative denoising processing on the fusion features through the action generation model to obtain an action sequence corresponding to the audio to be processed. Therefore, in the action sequence generation process, the to-be-processed audio is separated into the component features of multiple dimensions, so that the information contained in the to-be-processed audio can be mined more finely, and the quality of the action video is improved.

The invention provides a road detection vehicle pavement disease detection method and system based on multi-sensor fusion, and relates to the technical field of road engineering detection, and the method comprises the steps: 1, configuring at least one two-dimensional image collection unit and at least one three-dimensional image collection unit on a detection vehicle to obtain a configuration result; 2, according to the configuration result, in the driving process of the detection vehicle, a geometric reference area used for multi-source data space alignment is established based on lane marking lines in a to-be-detected road surface area; and step 3, performing structured division on the geometric reference area to obtain regularly distributed detection areas, and calculating spatial geometric feature changes generated by vehicle composite motion in the detection areas based on distribution features of the detection areas in combination with translational motion and rotary composite motion states existing in the driving process of the detection vehicle so as to obtain the spatial geometric feature changes of the detection areas. And obtaining a rigid body space composite kinematics characteristic resolving result of the detection area. According to the invention, efficient, accurate and full-dimensional detection of pavement diseases is realized.

The invention discloses a text-to-action generation method and system based on body part fine-grained representation, and belongs to the field of human body action generation. Body part-level fine-grained discretization modeling is performed on human body actions to obtain an action encoder and an action decoder which can stably reconstruct a continuous action sequence; the method comprises the following steps: taking a part fine-grained discrete action space as a producible space, introducing video potential representation as space-time dynamic priori, establishing an alignment modeling mechanism of the video potential representation and the action discrete space, and training to obtain a conditional generation network, so as to realize stable prediction and iterative completion of an action discrete index sequence in a reasoning stage; and a continuous human body action sequence is reconstructed through an action decoder, and finally a human body action sequence which is consistent with text semantics, richer in details and more coherent in time sequence is generated. According to the method, the technical threshold and data dependence of action content production can be reduced, and the controllability and generalization ability of action generation are improved.

The invention relates to the technical field of chemical stirring, in particular to an automatic reagent stirring device for chemical experiments and a stirring method thereof. Comprising a reaction tank, a titration frame and a central control unit, a displaceable liquid storage titration assembly is arranged on the titration frame, a double-spectrum sensor is mounted on the titration frame, the titration device further comprises a liftable protective frame and a lifting frame, two sealing covers with an adjustable distance are mounted on the protective frame, an online monitoring system for monitoring chemical liquid reaction data is arranged between the two sealing covers, and the central control unit is connected with the lifting frame. Arc clamping plates are installed on the two sealing covers, a motion generation system is installed on the lifting frame, and a motion frame capable of vertically moving in a reciprocating mode and a forward stirring shaft capable of alternately rotating forwards and backwards are connected to the motion generation system. Through cooperative linkage of the liquid storage titration assembly, the double-spectrum sensor and the central control unit, the problem of low titration precision of a traditional artificial chemical titration mode is solved.

A motion generation system includes a tracking model, executed by a processor, configured to track at least one kinematic reference motion of a robotic device; a reward surrogate model, executed by the processor, that evaluates a performance of the tracking model with respect to the at least one kinematic reference motion and estimates at least one reward for the tracking model based on the performance; and a generative model, executed by the processor, configured to generate a motion for the robotic device based on a contextual input and the estimated at least one reward, wherein the generative model is trained with a pre-training operation and a refinement operation separate from the pre-training operation.

The invention discloses a listener video generation method based on multi-modal unified embedding space guidance, and the method comprises the steps: obtaining a first real video of a speaker, and extracting corresponding video features and audio features as initiating user features; performing emotion prediction according to the characteristics of the initiating user through a pre-trained emotion prediction model to obtain receiving emotion characteristics of the listener; fusing the initiating user features and the receiving emotion features through a modal self-adaptive hybrid expert encoder to obtain fused features; generating motion data corresponding to the listener according to the fusion features based on the cross attention layer through a pre-trained motion generation model; and rendering according to the action data to generate a head video corresponding to the listener. The method focuses on generating core action data instead of directly generating an original pixel video, and subsequent rendering steps are relatively independent, so that the calculation complexity of real-time generation is reduced, and the real-time potential of response is improved.

The invention provides an intelligent motion generation method, an intelligent motion generation system, electronic equipment and a computer readable storage medium, in the intelligent motion generation method, motion feature data are mapped and aligned to a virtual human skeleton structure, a preliminary motion sequence is obtained, and in addition, the motion feature data are mapped and aligned to the virtual human skeleton structure; and according to the virtual human skeleton structure and the preliminary action sequence, optimizing the action of the virtual human skeleton structure, and outputting an optimized action sequence, so that after the preliminary action sequence is obtained according to a redirection strategy based on the frame sequence of the video of the human body motion, the motion of the virtual human skeleton structure is optimized. And an optimized action sequence obtained by optimizing the preliminary action sequence can be more matched with the body shape of the virtual human.

The invention discloses an unmanned aerial vehicle multi-mode fusion radio positioning and signal identification method and system, and relates to the technical field of radio positioning and detection.The method comprises the steps that an airspace radio environment is continuously monitored in a monitoring area through all receiving stations, a power spectrum sequence and an unmanned aerial vehicle communication signal are obtained, and spectrum features are extracted from the power spectrum sequence; for the same launch event, acquiring a three-dimensional motion track of the unmanned aerial vehicle according to the arrival time of each receiving station; echo signals generated by unmanned aerial vehicle rotor wing and vehicle body movement are obtained through a radar, and micro-Doppler features are extracted from the echo signals; acquiring protocol related modulation features, cyclic spectrum features and protocol features according to the unmanned aerial vehicle communication signals; performing multi-modal feature fusion on the spectrum feature, the micro-Doppler feature, the modulation feature, the cyclic spectrum feature and the protocol feature to obtain a deep joint feature; identifying the type of the unmanned aerial vehicle according to the deep joint feature, and obtaining a type label; and constructing an unmanned aerial vehicle feature signature by using the category label, the three-dimensional motion trail and the depth joint feature. According to the invention, the accuracy, robustness and supervision capability of unmanned aerial vehicle positioning and signal detection in a complex environment can be improved.

The present invention provides a new control technique for a robot without using inverse kinematics. A disclosed motion retargeting device for motion generation of a robot is configured to provide first motion data of a person to a neural network that has undergone machine learning and generate second motion data for operating the robot by using the neural network. The neural network comprises: an encoder that encodes the first motion data into latent motion data on a latent space represented by a primitive skeleton that is a common skeleton structure between the person and the robot; and a decoder that generates the second motion data of the robot on the basis of the latent motion data and the skeleton information of the robot.

A system is provided that stabilizes an applicator in response to the motion caused by a user. The system includes a motion stabilizer; and an adapter that holds a cosmetic applicator. The motion stabilizer includes a receiver configured to be coupled with the adapter, at least one sensor configured to detect a movement caused by a user, circuitry configured to determine a compensation movement to offset the detected movement; and at least one motion generation device embedded in the receiver configured to control a motion of the cosmetic applicator according to the determined compensation movement, wherein the adapter includes circuitry that is configured to transmit an identifier to the receiver, the identifier indicating a type of the cosmetic applicator, and the motion generation device is configured to set at least one parameter for controlling the motion of the cosmetic applicator according to the type of the cosmetic applicator.

The invention provides an intelligent motion generation method and system of a human body, and electronic equipment, and the method comprises the steps: obtaining motion capture data based on video data, obtaining target motion information and an initial human body skeleton key point sequence based on the motion capture data, obtaining source skeleton motion data based on a human body structure prior key point sequence of the human body skeleton, and obtaining the target motion information and the initial human body skeleton key point sequence; obtaining a virtual human image based on the target motion information, obtaining a virtual human skeleton structure based on the virtual human image, obtaining redirected skeleton data, obtaining an optical flow graph and a mask graph based on the virtual human image and the redirected skeleton data, and obtaining an initial virtual human motion image sequence based on the optical flow graph and the mask graph; and acquiring a virtual human motion image sequence based on the initial virtual human motion image sequence, and acquiring motion output of the living agent based on the virtual human motion image sequence. Therefore, coherent and natural action generation is realized.

The invention discloses a method for simulating particle transport and related equipment, and relates to the technical field of radiotherapy, and the method comprises the steps: constructing an equivalent density model along a particle transport direction based on the structure parameters of an energy regulator combination, and building a matched boundary information table, the boundary information table at least records the position information of the downstream boundary of each energy regulator piece in the energy regulator combination, the equivalent water thickness accumulated from the incident end to the boundary, and the air gap length between the boundary and the upstream boundary of the next energy regulator piece; obtaining a particle current position and boundary information table; the medium area where the current free path of the particles is located is judged, and differential calculation is carried out on offset generated by movement of the particles in different areas according to the medium area until the particles pass through the energy regulator combination to be transported; according to the method, rapid and accurate judgment and differential offset calculation of the boundary are realized, so that the boundary processing complexity is remarkably reduced and the calculation efficiency is improved on the premise of ensuring the physical simulation precision when the particles pass through the energy regulator.

The embodiment of the utility model relates to a running board assembly and a running machine. Comprising a first running board; the end parts, close to each other, of the second running plate and the first running plate are rotationally connected; the first metal piece is arranged on the upper surface of the first running plate and the end face, close to the second running plate, of the first running plate; the second metal piece is arranged on the upper surface of the second running plate and the end face, close to the first running plate, of the second running plate. According to the running board, the first metal piece and the second metal piece between the first running board and the second running board are in contact, so that noise generated at the joint between the first running board and the second running board due to movement of a user can be avoided. Besides, through a first metal piece located on the upper surface of the first running plate and a second metal piece located on the upper surface of the second running plate, the smoothness between the running belt and the first running plate and the smoothness between the running belt and the second running plate can be improved, friction between the running belt and the first running plate and friction between the running belt and the second running plate are reduced, and therefore the experience feeling of a user is further improved.

The utility model discloses an electrostatic induction pendulum for earthquake monitoring and early warning based on electrostatic induction. The device comprises a pendulum and an electrostatic induction sensor, and tiny potential changes can be detected in the swinging process. As a core component, the electrostatic induction sensor consists of the following key parts: a weight module, a connecting layer I, an electrode layer, a connecting layer II and an electrostatic interaction layer. Wherein the weight module provides necessary mass so as to ensure the dynamic characteristics of the pendulum; the first connecting layer is used for fixing the connection between the weight module and the electrode layer; the electrode layer is responsible for detecting electrostatic induction signals generated by pendulum motion and converting the signals into measurable potential change; the second connecting layer is used for fixing the electrode layer and the electrostatic interaction layer; the material of the electrostatic interaction layer carries charges, and the electrostatic induction signal of the electrode layer is enhanced in the earthquake monitoring and early warning process. Through the design, the device can realize high-sensitivity monitoring of earthquake precursor, and can capture fine ground movement caused by earthquake waves. In combination with a data acquisition system and a machine learning algorithm, the device can analyze the signals in real time and automatically send early warning information to related departments and individuals when an abnormal vibration mode is detected, so that precious time is won for taking preventive measures.

The invention discloses a molded case circuit breaker on-off process dynamic simulation method based on a heterogeneous simulation system, and relates to the technical field of low-voltage electric appliance design and simulation. Loop current calculated by the first simulation subsystem is transmitted to the second simulation subsystem in real time and used for calculating electromagnetic force for driving a mechanism to move, and contact displacement generated by mechanism movement is immediately fed back to the first subsystem and used for dynamically updating resistance characteristics of an arc model, so that calculation of arc voltage is affected, and the simulation effect is achieved. The arc voltage is directly fed back to the circuit model to determine the current value at the next moment, so that a simulation chain for complete dynamic interaction of the circuit current, the electromagnetic force, the mechanical displacement, the arc resistance, the arc voltage and the circuit current is formed; therefore, the simulation model can reflect the dynamic evolution process of each physical quantity in the real on-off process in a self-consistent manner.

A measuring system comprises a stand having a base plate and a vertical column fastened thereto, a stand carriage that is movable along the vertical column and having a counter bearing for placing the object, a runner that is fastened to the stand carriage and is movable relative thereto in a guided manner and has an indenter for penetrating the object, having at least one force generation actuator, at least one motion generation actuator, wherein the indenter is coupled to the stand carriage via the actuators. The measuring system further comprises a metrology frame which is fastened to the counter bearing and is supported laterally on the vertical column, a displacement measuring unit for measuring a displacement of the stand carriage and / or the runner with the indenter. The measuring system comprises a force measuring circuit and a displacement measuring circuit both being are largely configured separately from one another.

To provide a tool for quickly, quietly, safely and easily removing a gas pressure lifting cylinder from a chair or table, which has been a difficult task since it requires repeated hammering and produces a loud noise when removing the cylinder. [Solution] In order to remove a gas-pressure lift cylinder from a chair or table, the jig of the present invention is equipped with a pressure receiving fixed plate, a push-out fixed plate, and a push-out tool.The cylinder, which has a connecting part fitted to it, is clamped and fixed between the pressure receiving fixed plate and the push-out fixed plate by the jig of the present invention, and the cylinder can be removed quietly, quickly, and easily by the pushing force of the rotating movement of the push-out tool.

The invention discloses an action generation method and device, a storage medium and a program product, and the method comprises the steps: obtaining a text sequence inputted by a first user, and determining an audio sequence corresponding to the text sequence; performing feature extraction on the text sequence and the audio sequence to obtain a text semantic feature sequence corresponding to the text sequence and an audio feature sequence and an audio beat feature sequence corresponding to the audio sequence; performing data alignment on the text semantic feature sequence and the audio feature sequence to obtain a text audio feature sequence; and based on the text audio feature sequence and the audio beat feature sequence, performing action generation through an action synthesis model to obtain a target action sequence of the second user.

The invention belongs to the technical field of mechanical arm automation control, and discloses a mechanical arm teleoperation system based on multi-scale feature fusion and an action generation method, the mechanical arm teleoperation system comprises a teaching arm, a learning arm, a signal acquisition module and a processor; a multi-scale feature extraction and adaptive feature fusion module and an action generation module are arranged in the processor; the signal acquisition module comprises a first camera and a second camera; the learning arm comprises a first base, a first joint, a second joint, a third joint and a fourth joint, the first joint, the second joint, the third joint and the fourth joint are arranged on the first base and sequentially connected, a clamping jaw and a support are fixed to the fourth joint, a camera is arranged on the support, and the teaching arm comprises a second base fixedly connected with the working face. A fifth joint, a sixth joint, a seventh joint and an eighth joint which are connected in sequence are arranged on the second base; a handle body and a control trigger are arranged at the end, away from the seventh joint, of the eighth joint. The invention provides the master-slave teleoperation physical platform with a compact structure.

This invention belongs to the field of vibration control technology and discloses a viscous damper for controlling vertical vibration. The viscous damper adopts a double-cylinder, unsealed structure. The two cylinders are connected by a connecting rod hole in the middle of the cylinder partition. One end of the connecting rod is rigidly connected to a piston inside the second cylinder, and the other end passes through the cylinder partition and the top plate of the first cylinder before connecting to a structure. The bottom of the second cylinder is connected to another structure. When the two structures generate a vertical relative velocity, the connecting rod drives the piston to move in the damping fluid of the second cylinder, generating viscous resistance and suppressing the relative motion of the two structures. This invention does not require strict sealing, has a simple structure, low manufacturing cost, and better durability. The damping coefficient can be dynamically adjusted as needed by the comb teeth or the gradually changing inner cavity of the cylinder, resulting in higher efficiency compared to traditional dampers. This invention can effectively control the vertical or slightly inclined relative motion between various large structures such as bridges, cables, building internal structures, and marine engineering projects caused by various dynamic loads.

The invention discloses an industrial robot and environment contact event identification method based on cross-modal learning, and the method comprises the steps: collecting a visual image and a force sense time sequence of the tail end of a robot, and extracting visual features and force sense features through convolution operation and continuous wavelet transformation; a force sense feature driving offset generation network is utilized to calculate a time offset scalar, time dimension deformable convolution is executed on visual features, and time-space accurate alignment of visual and tactile features is achieved; according to kinematics parameters of the robot, kinetic theoretical stress is calculated, a physical residual vector is obtained through difference between the kinetic theoretical stress and actually-measured force, and inertia force interference generated by motion of the robot is eliminated; mapping the physical residual error, fusing the mapped physical residual error with the aligned visual tactile features, and inputting the fused physical residual error into a neural network to identify a contact type; according to the method, a physical consistency constraint and anti-occlusion reconstruction mechanism is introduced in a model training stage, so that the problems that multi-modal data are asynchronous, and the model lacks physical interpretability and visual occlusion are effectively solved, and the accuracy and robustness of event recognition are improved.

Multiple motion parameters are determined from the simulated object mesh. These motion parameters include information on the virtual character's motion velocity, the object's deformation rate, and the object's deformation region size. Based on the first audio parameter control and the multiple motion parameters, a friction sound is retrieved from a friction audio database containing multiple sample friction sounds. The first audio parameter control is configured to control the characteristics of the friction sound. Based on the second audio parameter control and the multiple motion parameters, a crumpling sound is retrieved from a crumpling audio database containing multiple sample crumpling sounds. The second audio parameter control is configured to control the characteristics of the crumpling sound.

A motion generation device is configured to generate motion of a slide of a press device including the slide to which an upper die is attached, a bolster on which a lower die is placed, and a servomotor configured to move the slide reciprocally in the up and down direction. The motion generation device includes a motion generation section. The motion generation section is configured to generate a derivative motion of the slide at a cycle time different from the cycle time of the standard motion of the slide, such that the derivative motion includes the same motion as a first region of the standard motion including at least from top dead center to the end position of the molding region, and the speed of the slide at top dead center of the derivative motion is the same as the speed of the standard motion.

This invention provides a method and apparatus for generating 3D Gaussian digital humans with cross-domain motion generalization capabilities, relating to the field of 3D digital human technology. The method includes: identifying the state of a pre-rendered result of a basic 3D Gaussian digital human; and generating a target motion video through a video diffusion model when the state of the pre-rendered result is abnormal and meets preset conditions. The video diffusion model is a generative artificial intelligence network based on a diffusion denoising process. This invention, by identifying the state of the pre-rendered result of a basic 3D Gaussian digital human and generating a target motion video through a video diffusion model when the state is abnormal and meets preset conditions, directly avoids the physical distortion caused by forcibly restricting input through constraint methods. It effectively achieves high-quality cross-domain motion generation, thus solving the problem of rendering instability phenomena such as human body fragmentation and outline flickering when 3D Gaussian digital humans encounter complex cross-domain motions not covered by the training set, such as large twisting movements, in existing technologies. This significantly improves the visual stability of 3D digital humans under cross-domain motion.

The invention discloses a mechanical arm action generation method based on a self-supervised reconstruction task. And training a mechanical arm imitation learning strategy close to an expert strategy on the basis of the obtained expert motion trail for manually controlling the mechanical arm to complete the specified task. According to the mechanical arm imitation learning strategy, a de-noising diffusion probability model with U-Net as a backbone network is used, down-sampling and up-sampling coding is carried out on an action sequence after Gaussian noise is randomly added, a global condition vector is used in each coding layer to modulate features, the action increment is predicted, the control action of a mechanical arm is output, and the control action of the mechanical arm is obtained. And executing and completing the specified task. In the training process, a self-supervised reconstruction task is introduced, and the difference between the action based on middle-layer feature reconstruction, point cloud features and expert motion trails is compared, so that a denoising network is promoted to carry stronger observation semantics, the characterization ability of a model to a three-dimensional hidden space is enhanced, and the success rate and generalization ability of task execution of the mechanical arm are effectively improved.

This invention provides a laser cutting machine and its vibration reduction method, relating to the field of laser cutting. The solution includes a machine bed with a gantry movable in the X-direction, and a cutting component movable in the Y-direction on the gantry. It also includes: a counterweight, movable in the X-direction within the machine bed, capable of moving synchronously with the gantry; a drive assembly, mounted on the machine bed, driving the counterweight; and a controller electrically connected to both the gantry's drive motor and the drive assembly. The controller can acquire the gantry's motion parameters in real time and calculate the counterweight's X-direction motion parameters, ensuring that the counter-inertial force generated by the counterweight's X-direction movement is equal in magnitude and opposite in direction to the impact force generated by the gantry's movement. This invention reduces the impact of processing vibration on processing quality and equipment lifespan.

System for determining the amount of pressure applied to a brush head (12) and for providing feedback to a user as soon as a measured pressure reaches a predetermined threshold, the system comprising: a brush head (12); a drive unit (14) connected to the brush head (12), wherein the drive unit (14) has a drive shaft (42) which is activated to move the brush head (12) relative to the drive shaft (42); a magnet (60) which moves in a repeating manner as a function of the movement of the drive shaft (42); a Hall effect sensor (62) which generates a signal based on the movement of the magnet (60); a feedback device; and a microprocessor (64) connected to the Hall effect sensor (62) and the feedback device, wherein the microprocessor (64) is programmed to activate the feedback device as a function of the change in the speed of movement of the magnet (60), wherein the movement of the drive shaft (42) is a rotational movement, wherein the movement of the drive shaft (42) is an oscillating rotational movement about an axis, and wherein the microprocessor (64) generates a signal based on the change in the rotational speed of the drive shaft (42).