201 results about "Motion measurement" patented technology

The invention discloses a multi-modal information fusion odometer construction method for star catalogue positioning, and relates to the technical field of star catalogue patroller positioning. The method comprises the following steps: carrying out space joint calibration on a monocular camera, a laser radar and an inertial measurement unit, reconstructing a laser radar point cloud by using a timestamp of a camera image, and realizing time synchronization of the camera image and the laser radar point cloud; establishing an IMU pre-integration error model; and performing motion compensation distortion removal on the laser point cloud by using an IMU pre-integration result, and extracting geometric features of the distorted laser point cloud based on a neighbor region smoothness calculation method of a fixed measurement distance. By researching a multimodal information fusion odometer method, the accumulative error of motion measurement is reduced, the positioning precision and stability are improved, technical support is provided for design and development of a star catalogue navigation system, and the problems that a single-modal star catalogue positioning method is weak in environment adaptive capacity and poor in algorithm generalization are solved.

An apparatus is removably attached to lug nuts of a vehicle's wheel assembly for use in determining imbalance forces of the wheel assembly during motion of the vehicle. The apparatus includes a plurality of data collection devices. Each data collection device is removably attachable to one lug nut of the same wheel. Each data collection device includes a single cup-shaped object and a motion measurement sensor. The data collection object is mounted to the vehicle's wheel by fitting the cup-shaped object over the lug nut of the wheel. The motion measurement sensor measures parameters that are used for calculating the imbalance forces during motion of the vehicle. A processor receives the measured parameters from motion measurement sensors of each of the data collection devices and uses the measured parameters to identify an instantaneous center of rotation of the wheel assembly for use in determining imbalance forces of the wheel assembly of the vehicle during motion of the vehicle.

The invention relates to the technical field of positioning, in particular to a device based on vision and 2D laser fusion positioning, and the device comprises a horizontal distance measurement module which is horizontally installed on a robot body and is used for collecting contour distance measurement data of a motion plane; the vertical vision module is installed on the robot body in a top view mode and used for collecting visual feature data of a vertical space; the calculation processing module is configured to construct a laser contour map and a visual feature map which are aligned in a coordinate system based on the contour distance measurement data and the visual feature data, determine an initial pose of the robot according to a given position or an optimal position of self-global matching of the laser contour map and the visual feature map, generate a predicted pose in combination with a motion measurement value, and send the predicted pose to the robot. And iteratively executing dual-mode observation filtering updating of laser contour matching optimization and visual reprojection matching optimization by taking the predicted pose as a center. According to the invention, through deep integration of a heterogeneous sensor architecture and a computing platform, an industrial scene-oriented all-weather positioning solution is constructed.

Microelectromechanical component (100) for motion measurement, comprising: a fortified section (118); a single, central anchor (106) coupled to the attached section (118) with four sides; a first non-straight suspension element (108) coupled to the anchor (106) on one side of the anchor (106); a second non-straight suspension member (120) coupled to the anchor (106) on the same side of the anchor (106), wherein the second non-straight suspension member (120) has a shape and position that mirrors the first non-straight suspension member (108) on a plane (122) bisecting the anchor; and a test mass (104) which is planar, wherein the test mass (104) is suspended at least partially on the first non-straight suspension member (108) and the second non-straight suspension member (120) such that the test mass (104) is rotatable about the anchor (106) and displaceable in a plane which is parallel to the attached section (118), where the first and second non-straight suspension members (108, 120) are bending bearings, wherein the first non-straight suspension member (108) has a C-shape, wherein the C-shape includes an inner section (110) which is coupled to the anchor (106) and extends towards the plane (122) bisecting the anchor, a central section (114) which includes a nearby section and has a distant section, whereby the near section is coupled to the inner section (110), and the far section extends away from the anchor (106) along the plane (122) bisecting the anchor and is coupled to an outer section (112) extending away from the plane (122) bisecting the anchor.

To provide a stage unit and a processing system which are advantageous for accurately positioning an electronic component at a desired position.SOLUTION: The stage unit 10 includes the base 11, the stage 12 on which the electronic component is placed, the stage moving mechanism 13 that moves the stage 12 with respect to the base 11, the movement measuring sensor 37 capable of directly or indirectly measuring the movement amount of the stage 12, and the control unit that controls the stage moving mechanism 13 based on the movement instruction command signal and moves the stage 12 so as to be arranged at the adjustment position indicated by the movement instruction command signal. The control unit controls the stage moving mechanism 13 based on the movement amount of the stage 12 indicated by the measurement result of the movement measuring sensor 37 and the adjustment position.SELECTED DRAWING: Figure 1

The invention provides a bridge dynamic displacement measurement method based on an unmanned aerial vehicle, and relates to the field of bridge health monitoring, and the method comprises the steps: obtaining a bridge image sequence through the unmanned aerial vehicle; obtaining transformation matrixes according to the relation between the other frames of images and the fixed measurement points of the reference frame, correcting the coordinates of the motion measurement points of the corresponding frames of images according to the transformation matrixes, obtaining a corrected bridge image sequence, and further obtaining an initial displacement signal; variational mode decomposition is carried out on the initial displacement signal, a constraint variational optimization problem is constructed, the optimization problem is solved through iteration to obtain each mode component of variational mode decomposition and a corresponding center frequency, and a low-frequency mode component is removed to obtain a displacement signal after secondary correction of the influence of the unmanned aerial vehicle; and obtaining the real displacement according to the scale factor between the image obtained by the unmanned aerial vehicle and the real world. The influence caused by the movement of the unmanned aerial vehicle is corrected, and the accuracy, reliability and stability of a measurement result are effectively improved.

The invention provides a collision control method, device and system, electronic equipment and a storage medium, the method is applied to automatic transportation equipment, the automatic transportation equipment comprises a track component and a plurality of moving components, and the track component comprises a linear track module and an arc track module connected with the linear track module. The plurality of moving parts move towards the arc track module along the linear track module, and the method comprises the following steps: when the plurality of moving parts move along the linear track module, acquiring motion control parameters and motion measurement data of the plurality of moving parts; and according to the motion control parameters and the motion measurement data of the plurality of moving parts, predicting whether adjacent moving parts in the plurality of moving parts have a collision risk when turning along the arc track module. Therefore, whether the collision risk exists in the turning process of the moving part or not is predicted in advance, risk prompting is carried out in time, follow-up possible collision can be avoided, and the safety of the automatic transportation equipment is improved.

A force and / or motion measurement system is disclosed herein. In one or more embodiments, the force and / or motion measurement system includes at least one kinematic sensor device configured to detect a position and / or movement of a body portion of a person, the at least one kinematic sensor device being mounted in a floor of a room or in a force measurement assembly; and at least one data processing device operatively coupled to the at least one kinematic sensor device, the at least one data processing device including at least one hardware component storing computer executable instructions, and the at least one data processing device configured to execute the computer executable instructions. The computer executable instructions comprise instructions for determining a position and / or movement of the person based upon output data from the at least one kinematic sensor device.

A method may include using a camera to capture a group of image exposures of an object, where each exposure is illuminated by a respective illumination pulse from a sequence of pulses. The method may further include determining pulse ratios of pairs of the time intervals that exist between the pulses, as well as a distance ratio of two of the distances between two pairs of the exposures. Additionally, the method may include comparing the distance ratio to the pulse ratios to determine a correlation between the illumination pulses and the exposures. The method may also further include using the correlation to determine characteristics of the object's motion, such as the object's velocity, position, speed, trajectory, orientation or spin rates.

The present disclosure relates to methods, systems, and apparatus, including computer programs encoded on computer storage media, for denoising magnetic measurements. An example method includes obtaining, using a plurality of magnetometers of a magnetically unshielded device, noisy magnetic measurement data of a magnetic field at least partially caused by an organ of a subject; obtaining, using one or more inertial measurement units (IMUs) of the magnetically unshielded device, a motional measurement of the plurality of magnetometers; determining cleaned magnetic field data based at least in part on the noisy magnetic measurement data and the motional measurement data; and taking an action based at least in part on the cleaned magnetic field data.

The invention belongs to the technical field of metal mines, and particularly relates to a track wear detection device and method, and the device is characterized in that the device comprises an electric drive motion measurement platform and a hybrid measurement system, the electric drive motion measurement platform comprises a frame, a brushless motor, a gear, a crown-shaped gear, a driving shaft, a driven shaft, a first driving wheel and a second driving wheel; the first driven wheel, the second driven wheel and the two lug plates are arranged on the two sides of the front end of the frame, and the hybrid measurement system comprises a first micron-order multi-line laser sensor, a second micron-order multi-line laser sensor, a displacement sensor, a first three-axis vibration sensor and a second three-axis vibration sensor. According to the invention, data such as holes, scratches, flatness, cracks and crack depth on the surface of the track can be obtained, and the closed-loop motion platform is combined to realize full-track three-dimensional data synthesis, eliminate or reduce the influence of mechanical vibration on measurement, calibrate the measurement result, identify the abnormal loss of the track, and improve the accuracy, stability and continuity of track detection.

The invention discloses an automatic detecting and adjusting device for a bogie. The automatic detecting and adjusting device comprises a gantry motion unit supporting device, a gantry type motion measuring unit and a gantry type motion adjusting unit. The gantry motion unit supporting device comprises two equipment foundations, a gantry motion bottom adjusting guide rail, a gantry motion top adjusting guide rail, a cross beam and stand columns, the two equipment foundations are symmetrically arranged on the two sides of the gantry motion unit supporting device, the two stand columns are installed on the equipment foundation on each side, and the cross beam of a high-low double-layer step structure is installed on the two stand columns. A gantry motion bottom adjusting guide rail is installed on a lower step of the cross beam and used for installing a gantry type motion measuring unit and achieving displacement of the gantry type motion measuring unit along the gantry motion bottom adjusting guide rail, and a gantry motion top adjusting guide rail is installed on an upper step of the cross beam. And the gantry type motion adjusting unit is mounted, and the displacement of the gantry type motion adjusting unit along the gantry motion top adjusting guide rail is realized. The device can be suitable for measurement and adjustment of bogies of various specifications and types, the measurement range is wide, and the adjustment efficiency is high.

The invention discloses a rocket simulation system and an adaptive augmentation control method, and the method comprises the steps: describing the controlled motion of a rigid body of a carrier rocket under a nominal condition, forming an expected tracking instruction through the design of model parameters, carrying out the difference between the expected tracking instruction and the attitude response of the actual disturbed motion of the carrier rocket, and generating an attitude angle deviation; the method comprises the following steps: establishing a flight control computer module as the input of a self-adaptive law to achieve the purpose of changing the gain of a PID controller in real time, establishing a rocket simulation system, embedding a rocket control strategy based on a self-adaptive augmentation control method in the flight control computer module, obtaining real-time data of a motion measurement module and real-time attitude information of a rocket calculated by a six-degree-of-freedom model module, and calculating the real-time attitude information of the rocket. And a control signal is output to the six-degree-of-freedom model module through a rocket control strategy. By adjusting the control parameters in real time, dynamic changes in the rocket flight process can be responded in real time, the control precision and adaptability of the rocket simulation system are improved, and an efficient and reliable solution is provided for rocket simulation and control.

The invention provides a motor control method and device, a transmission system, electronic equipment and a storage medium. The method comprises the following steps: when a plurality of mover modules are all located on a linear stator module, obtaining respective motion measurement data and motion control parameters of the plurality of mover modules; according to the respective motion measurement data and motion control parameters of the plurality of mover modules, predicting whether the plurality of mover modules collide when the plurality of mover modules turn along the arc-shaped stator module; and if the prediction result is that the plurality of mover modules collide when the plurality of mover modules turn along the arc-shaped stator module, and when the plurality of mover modules are all located on the linear stator module, at least adjusting motion control parameters of part of the plurality of mover modules, the distance between the plurality of rotor modules is controlled to be a safe distance, and the plurality of rotor modules are controlled to pass through the arc-shaped stator module according to the same moving speed.

The application belongs to the technical field of bridge intelligent construction, and specifically discloses a high-pier large-span continuous rigid-frame bridge pier settlement displacement monitoring method and system, which comprises the following steps: collecting image sequences at a main target of a pier and at a reference point sub-target under a main girder construction condition; processing the images, including low-illumination image enhancement and high-precision segmentation of optical marker points under a complex background; identifying the optical marker point center coordinates at the main target and the sub-target based on an adaptive threshold gradient Hough transform (ATGHT), extracting the displacement values at the main target of the pier and the reference point sub-target, and then compensating for the camera self-motion measurement error, so as to obtain the pier settlement value of the main girder in the cantilever construction process. The application utilizes a non-contact device to monitor the pier settlement displacement in the main girder construction stage, realizes non-contact, multi-measurement-point, high-precision and high-efficiency monitoring of the pier settlement displacement of the super-high-pier large-span continuous rigid-frame bridge under a complex background, and has the advantages of low cost, convenient use and flexible measurement point selection.

The invention relates to the technical field of VR, provides an interaction method with tactile feedback, gloves and virtual reality equipment, and is used for improving the flexibility and authenticity of interaction. According to the method, a plurality of infrared sensors and a plurality of motion sensors are installed on the hand back side of a glove, a virtual reality device determines the initial pose and orientation of the glove through a glove infrared image collected by a camera, the initial pose serves as prior, 3D gesture recognition is conducted through the glove infrared image, the accuracy and efficiency of gesture recognition are improved, and the user experience is improved. The initial pose is optimized by using motion measurement data acquired by the plurality of motion sensors, so that accurate positioning and 3D gesture recognition of the glove are realized, the accuracy and response speed of interaction between the glove and virtual reality equipment are improved, and meanwhile, a plurality of tactile feedback devices are mounted on the palm side of the glove, so that the accuracy and response speed of interaction between the glove and the virtual reality equipment are improved. The limitation of handle interaction and gesture interaction is solved, a more flexible operation mode and more real tactile feedback can be provided, and the immersive experience of a user is effectively improved.

The invention relates to the technical field of education, in particular to a health education interaction system and method based on virtual reality and deep learning. The health education interaction system creatively integrates motion sensing games, VR video teaching, personalized reading and a body measurement motion module, and all-around and immersive learning experience is created; the system motivates the participation degree of a user through a motion sensing game, interactive learning is achieved through VR video teaching, personalized reading meets the requirements of the user, and the health state is monitored through motion measurement. The intelligent analysis module is used for deeply mining data and providing personalized health assessment and suggestions; the self-learning unit continuously optimizes a knowledge base and a recommendation algorithm, and constructs a dynamic health knowledge graph; the system breaks through the limitation of traditional health education, improves the knowledge propagation efficiency and acceptance, effectively promotes the formation and maintenance of health behaviors, and brings revolutionary change to the field of health education.

The invention provides an industrial humanoid robot teleoperation cooperation system and method based on multi-modal motion capture fusion, and belongs to the technical field of industrial humanoid robots. According to the invention, an optical motion measurement module is used for collecting whole body position data of an operator in an unshielded scene; the inertial motion capture module is used for collecting joint angle data of an operator in a shielding scene; the mode switching module is used for switching working modes; the environment sensing module is used for collecting environment data, workpiece images and robot tail end contact force information and sending the information to the cooperative control unit. The force feedback device is used for converting the contact force information of the tail end of the robot into tactile vibration and collecting grip strength data of an operator; the cooperative control unit is used for fusing the multi-modal dynamic capture pose data and generating an execution instruction in combination with an obstacle avoidance algorithm and a force control model; the industrial humanoid robot is used for receiving the execution instruction. The operation stability and environmental adaptability of the robot in scenes such as high-precision assembly and heavy carrying can be improved.

This disclosure relates generally to real time analysis of range of motion (ROM), wherein ROM is a measurement of movement around a specific joint or body part. The existing techniques for ROM fail for measurements made in certain planes and are not very effective for ROM measurements for extremely slow and very fast movements. The disclosed provides a real time analysis of ROM based on computation of range of motion (ROM) of a joint and a set of ROM parameters using a gyroscope. The gyroscope collects data from a subject at pre-defined neutral position of the subject as well as a pre-defined rotation movement of a joint of the subject. The received data is corrected for bias and processed at real time to analyze the ROM by computing range of motion (ROM) of a joint and a set of ROM parameters.

The invention provides a method and equipment for assisting in improving exercise based on wearable electrical stimulation, wearable electrical stimulation equipment, exercise measurement equipment and a control terminal. Signal transmission is carried out among the wearable electrical stimulation equipment, the motion measurement equipment and the control terminal in a wired or wireless mode; the wearable electrical stimulation device comprises an electrical stimulation meter body, a main control module and a constant current source output module. The electrical stimulation meter body comprises two output ends, and two electrical stimulation currents are respectively output through the two output ends and respectively act on two different parts; the main control module is used for integrally controlling the equipment, and comprises the following steps: receiving electrical stimulation parameters set by a control terminal, and determining an electrical stimulation mode of working of the wearable electrical stimulation equipment based on the set electrical stimulation parameters; and the constant current source output module is used for outputting constant current.

The application discloses a kind of single-point mooring chain and anchor chain disc connection damage monitoring and inhibiting device and method, it is related to the inner turret type single-point mooring safety monitoring and protection technical field, the device is set in the tower body structure under the turret of the inner turret type single-point mooring system, including: motion measurement module, contact load measurement module, mooring chain measurement module, collaborative control module and inhibiting drive module, motion measurement module is used to obtain the motion characteristics of turret;Contact load measurement module is used to measure contact interface load and wear amount;Mooring chain measurement module is used to obtain chain body posture and tension;Collaborative control module carries out damage grade determination and instruction output;Inhibiting drive module executes pre-tightening force adjustment, mechanical locking and wear compensation to realize hierarchical inhibition.The application solves the problem of insufficient in-situ monitoring capability of contact interface in the prior art, lack of active inhibition means, realizes in-situ perception, intelligent determination and hierarchical inhibition of intelligent control of the damage of mooring chain and anchor chain disc connection.

The present disclosure provides a kind of inertial motion measurement double-axis rotation excitation enhancement method and system based on observability analysis.First, the system state space model of introducing double-axis rotation mechanism is constructed, the normalized observability analytical expression of sensor error under zero speed condition is derived based on Gramian matrix eigenvalue decomposition;Accordingly, the attitude condition of error observability maximization is determined, and the optimal rotation excitation strategy including a series of optimal observation positions is set;In the process of inertial navigation positioning assisted by zero speed update ZUPT, in non-zero speed interval, based on the optimal rotation excitation strategy, the IMU is sequentially guided to each optimal observation position by controlling double-axis rotation mechanism, to solve the problem of low error state observability caused by single carrier attitude in zero speed correction.The present application can realize full state high-precision estimation of three-axis accelerometer bias and gyroscope zero bias, effectively improve the precision and robustness of autonomous motion measurement in complex environment.

This invention discloses an error-compensated inductive sensor calibration method and system, comprising: controlling a macro-micro composite drive platform to drive a moving component on which an inductive sensor to be calibrated is mounted, causing it to continuously move relative to a fixed standard target surface; measuring the actual displacement of the moving component to obtain a standard displacement sequence; synchronously acquiring the actual output voltage of the inductive sensor to be calibrated during the movement process to form an actual measurement value sequence; calculating the measurement deviation, generating a measurement deviation sequence, and dividing the sequence into at least three compensation intervals according to the displacement range; establishing a compensation value lookup table in each compensation interval to generate calibration parameters for correcting zero-point offset, gain drift, and nonlinear characteristics. This invention combines displacement measurement with synchronous acquisition of sensor output, enabling targeted correction of zero-point offset, gain drift, and nonlinear errors, thus improving the precision and adaptability of the compensation.

The invention belongs to the field of vascular intervention simulation training, and particularly relates to an optical tracking type medical intervention instrument operation data acquisition device which comprises a device body and a virtual simulation system, a base of the device body is provided with a plurality of monitoring positions and a force feedback device, and each monitoring position is provided with an intervention limiting channel of a medical intervention instrument. The force feedback device is located between the adjacent monitoring positions, an inlet and an outlet of the force feedback device are communicated with the intervention limiting channel of each monitoring position through connecting pieces, each monitoring position is further provided with a motion measuring module used for collecting real-time horizontal displacement data and rotation angle data of the medical intervention instrument in a non-contact mode, and the base is further provided with a data processing module. The data processing module is in communication connection with the motion measurement modules, the force feedback device and the virtual simulation system. According to the invention, the three-dimensional space position and the rotation angle of the medical interventional instrument can be measured, and the motion data of the medical interventional instrument can drive the corresponding model in the virtual environment in real time, so that high-precision operation training and evaluation are realized.

The utility model discloses a shockproof filtering structure of a portable carrier motion measuring instrument, which comprises an upper shell, a lower shell, a probe mounting hole, a PCBA (Printed Circuit Board Assembly) board, a battery and a plurality of flexible connecting pieces, the upper shell is buckled on the lower shell, the probe mounting hole is arranged at the front end of the lower shell, the PCBA board is arranged in the probe mounting hole, and the flexible connecting pieces are arranged in the probe mounting hole. The upper shell and the lower shell are provided with probe mounting holes, the probe mounting holes are in cambered surface transition connection with the upper shell and the lower shell, the edge of the PCBA board is provided with a plurality of first positioning grooves, each first positioning groove is internally provided with a flexible connecting piece, the bottom of each flexible connecting piece is connected with a positioning column arranged on the lower shell, and the battery is detachably arranged on the upper side of the PCBA board. According to the utility model, the flexible connecting piece is matched and connected with the internal parts of the instrument, so that efficient seismic oscillation absorption can be realized, and the purpose of reducing peak or outrange reading is achieved on the premise of not adding an external filtering structure and ensuring the attractive appearance of the instrument, thereby ensuring the accuracy of measurement parameters of the instrument.

A device for monitoring a patient determines a set of predicted physiological variables using a model trained from physiological variables collected from the patient. The device receives a set of measured physiological variables and a motion measurement. The device compares the set of measured physiological variables to the set of predicted physiological variables to determine a residual vector. The device classifies the residual vector using a vector motion error based on the motion measurement, and performs an action based on the classification of the residual vector.

The invention belongs to the technical field of floating fan experiments, and provides a non-contact floating fan model motion measurement method, which adopts a device comprising an infrared light supplement lamp, an image collector, a PC (Personal Computer) and two cameras. Considering that a sensor cannot be additionally arranged on a fan blade and that the blade rotates and the fan floating platform also has six-degree-of-freedom movement in an experiment process, the method adopts a similar image processing method to respectively obtain space coordinates of the fan floating platform and the fan blade; and different motion analysis modes are adopted to solve each motion parameter of the floating fan. Non-contact motion measurement in the floating fan model experiment process is achieved, motion parameters of a fan floating platform and rotation parameters of fan blades can be obtained at the same time, only a binocular vision system composed of two cameras is adopted on equipment, operation is easy, analysis is reasonable, the whole measurement process is integrally and automatically completed, and the measurement efficiency is improved. And the method has a relatively high application value.

This invention relates to a measuring device, a scanning probe microscope, and a method for testing a sample. The measuring device for a scanning probe microscope includes: a sample receiving portion configured to receive a sample to be tested; a measuring probe disposed on a probe holder and having a probe tip, the sample being measured using the probe tip; a displacement device configured to move the measuring probe and the sample receiving portion relative to each other for measuring the sample, such that the measuring probe performs a scanning motion relative to the sample in at least one spatial direction for measuring the sample; a control device connected to the displacement device and controlling the relative motion between the measuring probe and the sample receiving portion; and a sensor device configured to detect a motion measurement signal of the actual motion of the measuring probe and / or the sample receiving portion and transmit the motion measurement signal to the control device.

This invention discloses a novel multi-sensory upper limb motion measurement system, comprising a soft felt garment (10), a motion measurement subsystem (12), and a sensory measurement subsystem (13) that respectively acquire multi-modal signals of motion and perception and transmit them to a multi-modal signal processing module (14) for amplification and filtering; a wireless signal concentrator (15) collects data from the multi-modal signal processing module (14); a computer client (16) integrates the multi-modal signals to construct an upper limb motion perception state information system, including an upper limb motion calculation model (11) and real-time multi-sensory information; the upper limb motion calculation model (11) calculates the data signals to form a motion model with real-time position coordinate data of each joint. This invention provides simple, accurate, and comprehensive real-time support for upper limb motion monitoring, which can effectively improve the accuracy and comprehensiveness of upper limb motion data acquisition and analysis in fields such as virtual reality interaction.